CN108407949B

CN108407949B - Driving device

Info

Publication number: CN108407949B
Application number: CN201810434236.4A
Authority: CN
Inventors: 韦崴; 涂斌; 戈本帅; 王剑; 李智星; 陈中元
Original assignee: Ninebot Beijing Technology Co Ltd
Current assignee: Ninebot Beijing Technology Co Ltd
Priority date: 2018-05-08
Filing date: 2018-05-08
Publication date: 2024-01-19
Anticipated expiration: 2038-05-08
Also published as: CN108407949A

Abstract

The embodiment of the application discloses running equipment, which comprises a frame, a wheel body, a sensor, a power device, a control device and a power supply; the frame comprises an accommodating space which is arranged on the bottom side surface of the frame and is concave, and the wheel body is arranged in the accommodating space; the frame can incline forwards or backwards relative to the wheel body when being stressed; the sensor detects pose information of the frame and sends the pose information to the control device, so that the control device drives the wheel body to rotate through the power device based on the pose information. The vehicle frame of this application embodiment is including setting up the accommodation space of indent on the bottom side of vehicle frame, and the wheel body setting is in the accommodation space, can effectively prevent the wheel body of running equipment and the obstacle collision of running equipment both sides in the in-process of running.

Description

Driving device

Technical Field

The present application relates to vehicles, and more particularly to a travel apparatus.

Background

The balance car is an advanced short-distance scooter, and pedestrians can quickly travel through the balance car. However, the wheels of the prior art traveling apparatus are generally disposed on both sides of the body of the balance car, and the wheels of the balance car are liable to collide with obstacles on both sides of the balance car during traveling.

Disclosure of Invention

The embodiment of the application provides a driving device for solving the problems existing in the prior art.

The technical scheme of the embodiment of the application is realized as follows:

the embodiment of the application provides a driving device, which comprises: the device comprises a frame, a wheel body, a sensor, a power device, a control device and a power supply;

the frame comprises an accommodating space which is arranged on the bottom side surface of the frame and is concave, and the wheel body is arranged in the accommodating space; the frame can incline forwards or backwards relative to the wheel body when being stressed;

the sensor detects pose information of the frame and sends the pose information to the control device, so that the control device drives the wheel body to rotate through the power device based on the pose information.

In some alternative implementations, the frame further includes a front inclined surface disposed at a front end of the frame, and a rear inclined surface disposed at a rear end of the frame; the front inclined surface is close to the accommodating space along the direction of being close to the bottom side surface of the frame; the rear inclined surface is close to the accommodating space along the direction close to the bottom side surface of the frame.

In some alternative implementations, when the frame falls from the first bearing surface to the second bearing surface, a gap exists between the rear inclined surface and a connecting surface between the first bearing surface and the second bearing surface; wherein a height difference exists between the first bearing surface and the second bearing surface.

In some alternative implementations, the frame top side is provided with a receiving cavity;

the power supply and the control device are arranged in the accommodating cavity;

the top side of the frame is also provided with a first opening communicated with the accommodating cavity; or, a second opening communicated with the accommodating cavity is further formed in one side of the frame.

In some alternative implementations, when the top side of the frame is further provided with a first opening in communication with the accommodating cavity, the frame further includes a first cover plate matched with the first opening, the first cover plate covers the first opening, and a first waterproof structure is provided between a wall forming the first opening and the first cover plate; or alternatively, the first and second heat exchangers may be,

when one side of the frame is further provided with a second opening communicated with the accommodating cavity, the frame further comprises a second cover plate matched with the second opening, the second cover plate covers the second opening, and a second waterproof structure is arranged between the wall forming the second opening and the second cover plate.

In some alternative implementations, the running apparatus further includes a power supply rack disposed within the receiving cavity, the power supply rack including a first end, a second end opposite the first end, and a connection connecting the first end and the second end;

a first power supply accommodating cavity is formed in the first end part, and a second power supply accommodating cavity is formed in the second end part; a side surface of the first end part opposite to the second end part, a side surface of the second end part opposite to the first end part and a bottom side surface of the connecting part form an avoidance opening;

the power supply is arranged in the first power supply accommodating cavity and the second power supply accommodating cavity; the control device is arranged on the top side of the connecting part.

In some alternative implementations, a side of the first end opposite the second end is proximate the relief opening in a direction proximate a bottom side of the first end; the side surface of the second end part, which is opposite to the first end part, is close to the avoidance opening along the direction of being close to the bottom side surface of the second end part.

In some optional implementations, the frame further includes two side walls disposed on two sides of the frame, and receiving openings disposed on bottom sides of the two side walls, respectively; the two side walls are opposite side walls forming the accommodating space;

The running equipment further comprises connecting shafts arranged at two ends of the wheel body; two ends of the connecting shaft are respectively exposed out of the wheel body, and two ends of the connecting shaft are respectively provided with an insertion part matched with the accommodating notch; the insertion parts are respectively inserted into the accommodating openings so that the wheel body is positioned in the accommodating space.

In some alternative implementations, the running apparatus further includes an elastic tongue, an actuation button, and a tread member disposed on a top side of the frame;

the elastic tongue is arranged at the bottom side of the pedal piece, and the starting button is arranged between the frame and the elastic tongue; the control device is electrically connected with the starting button;

when the pedal is pressed by the elastic tongue through the external force, the control device detects the working state of the starting button; the working states of the starting button comprise a pressing state and a bouncing state;

so that the control device drives the wheel body to rotate through the power device based on the working state of the starting button and the pose information of the frame.

In some alternative implementations, the running gear further includes an elastic wrap and a tread member disposed on a top side of the frame;

The elastic wrapping piece comprises an anti-slip part and a wrapping part positioned at the periphery of the elastic wrapping piece, the anti-slip part is positioned at the top side of the wrapping part, and a wrapping space is formed by the anti-slip part and the wrapping part; a first clamping groove is formed in the inner side of the wrapping part;

the periphery of the frame and the periphery of the pedal are respectively matched with the inner side of the wrapping part, and the periphery of the frame is provided with a first flange matched with the first clamping groove;

the wrapping part wraps the periphery of the frame and the periphery of the pedal, and the wrapping part is in interference fit with the periphery of the frame and the periphery of the pedal respectively; the first flange is located in the first clamping groove, the treading piece is located in the wrapping space, and the top side of the treading piece is attached to the anti-slip portion.

In some optional implementations, a second clamping groove is further formed in the inner side of the wrapping part, and a second flange matched with the second clamping groove is formed on the periphery of the treading piece;

the second flange is positioned in the second clamping groove.

In some alternative implementations, the running gear further includes a mount that mates with the underside of the wrap;

the outer side of the wrapping part is also provided with a third clamping groove, and the inner side of the fixing frame is provided with a third flange matched with the third clamping groove;

The fixing frame is clamped outside the bottom side of the wrapping part, and the fixing frame is in interference fit with the bottom side of the wrapping part; the third flange is positioned in the third clamping groove.

In some alternative implementations, the driving apparatus further includes a bump guard;

the anti-collision device comprises: a support member and a buffer member; the support comprises a wrapping core located outside the support; the buffer piece is elastic, is wrapped outside the wrapping core part, and is connected with the support piece by being wrapped outside the wrapping core part;

the inner side of the supporting piece is connected with the front end of the frame; and/or the inner side of the supporting piece is connected with the rear end of the frame.

In some alternative implementations, a package clamping groove is arranged on the inner side of the buffer piece, and the package clamping groove is wrapped outside the package core part;

the buffer piece is provided with a flanging part extending to the bottom side of the frame, and an anti-collision space is formed between the flanging part and the frame;

the frame also comprises a brake lamp and a lamp shade, wherein the lamp shade is covered outside the brake lamp, and the brake lamp and the lamp shade are both positioned in the anti-collision space.

In this embodiment of the application, the frame is including setting up the accommodation space of indent on the bottom side of frame, the wheel body sets up in the accommodation space, can effectively prevent the wheel body of running equipment and the barrier collision of running equipment both sides in the process of running.

Drawings

FIG. 1 is a schematic view of an alternative construction of a running apparatus in an embodiment of the present application;

FIG. 2 is a schematic view of an alternative construction of the running apparatus in an embodiment of the present application;

FIG. 3 is a schematic view of an alternative construction of the running apparatus in an embodiment of the present application;

FIG. 4 is a schematic view of an alternative driving state of the driving apparatus according to the embodiment of the present application;

FIG. 5 is a schematic view of an alternative construction of the running apparatus in an embodiment of the present application;

FIG. 6 is a schematic view of an alternative construction of the running apparatus in an embodiment of the present application;

FIG. 7 is a schematic view of an alternative construction of the running apparatus in an embodiment of the present application;

FIG. 8 is a schematic view of an alternative partial construction of a running apparatus in an embodiment of the present application;

FIG. 9 is a schematic view of an alternative partial construction of the running apparatus in an embodiment of the present application;

FIG. 10 is a schematic view of an alternative construction of the running apparatus in an embodiment of the present application;

FIG. 11 is a schematic view of an alternative construction of the running apparatus in an embodiment of the present application;

FIG. 12 is a schematic view of an alternative construction of the running apparatus in an embodiment of the present application;

FIG. 13 is a schematic view of an alternative construction of the running apparatus in an embodiment of the present application;

FIG. 14 is a schematic view of an alternative construction of the running apparatus in an embodiment of the present application;

FIG. 15 is a schematic view of an alternative construction of the running apparatus in an embodiment of the present application;

FIG. 16 is a schematic view of an alternative construction of the running apparatus in an embodiment of the present application;

FIG. 17 is a schematic view of an alternative construction of the running apparatus in an embodiment of the present application;

FIG. 18 is a schematic view of an alternative partial construction of a running apparatus in an embodiment of the present application;

FIG. 19 is a schematic view of an alternative partial construction of the running apparatus in an embodiment of the present application;

FIG. 20 is a schematic view of an alternative partial construction of a running apparatus in an embodiment of the present application;

FIG. 21 is a schematic view of an alternative construction of the running apparatus in an embodiment of the present application;

FIG. 22 is an exploded view of an alternative construction of the running gear of the embodiment of the present application;

FIG. 23 is a schematic view of an alternative construction of a power rack of the running gear in an embodiment of the present application;

FIG. 24 is a schematic view of an alternative configuration of a power rack of the running gear in an embodiment of the present application;

FIG. 25 is an exploded view of an alternative construction of the running gear in an embodiment of the present application;

FIG. 26 is a schematic view of an alternative construction of the running apparatus in an embodiment of the present application;

FIG. 27 is a schematic view of an alternative construction of the running apparatus in an embodiment of the present application;

FIG. 28 is a schematic view of an alternative configuration of a bump guard of a running gear in an embodiment of the present application;

fig. 29 is a schematic view of an alternative construction of the running apparatus in the embodiment of the present application.

Reference numerals: 100. a wheel body; 110. a connecting shaft; 111. an insertion section; 112. a first concave plane; 113. a first carrying part; 114. a second carrying part; 115. positioning a shaft shoulder; 116. a threaded portion; 117. a second concave plane; 200. a frame; 210. an accommodating space; 220. the accommodating notch; 230. sinking grooves; 231. a limit rib; 241. a front inclined surface; 251. a rear inclined surface; 261. a receiving chamber; 262. a first waterproof groove; 263. a first seal; 264. a threaded hole; 270. a first cover plate; 271. a first flange; 280. two side walls; 281. a side chamber; 282. convex ribs; 310. a first load bearing pad; 320. a second load bearing pad; 330. a locking gasket; 340. a nut; 400. a power supply rack; 410. a first end; 411. a first power supply accommodating chamber; 412. the first limit rib; 420. a second end; 421. a second power supply accommodating chamber; 422. the second limit rib; 430. a connection part; 440. an avoidance opening; 511. a first flange; 520. a pedal; 521. a second flange; 530. a wrapping portion; 531. a first clamping groove; 532. a second clamping groove; 533. a third clamping groove; 540. an anti-slip part; 560. a fixing frame; 561. a third flange; 600. an anti-collision device; 610. a buffer member; 611. wrapping the clamping groove; 612. a burring part; 620. a support; 621. wrapping the core; 622. a shielding part; 627. a fixing hole; 601. an anti-collision space; 602. a brake light; 603. a lamp shade; 700. a wire harness; 800. a bearing surface; 801. a first bearing surface; 802. a second bearing surface.

Detailed Description

The present application will be described in further detail with reference to the accompanying drawings and specific examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

In the description of the embodiments of the present application, unless otherwise indicated and defined, the term "connected" should be construed broadly, and for example, may be an electrical connection, may be a communication between two elements, may be a direct connection, or may be an indirect connection via an intermediary, and it will be understood by those skilled in the art that the specific meaning of the term may be understood according to the specific circumstances.

It should be noted that, the term "first\second\third" in the embodiments of the present application is merely to distinguish similar objects, and does not represent a specific order for the objects, it is to be understood that "first\second\third" may interchange a specific order or sequence where allowed. It is to be understood that the "first\second\third" distinguishing objects may be interchanged where appropriate such that the embodiments of the present application described herein may be implemented in sequences other than those illustrated or described herein.

The following describes the traveling apparatus according to the embodiment of the present application in detail with reference to fig. 1 to 29.

As shown in fig. 22, the embodiment of the present application describes a running apparatus including a frame 200, a wheel body 100, a sensor, a power device, a control device, and a power source; the frame comprises an accommodating space 210 which is arranged on the bottom side surface of the frame 200 and is concave, and the wheel body 100 is arranged in the accommodating space 210; the frame 200 can tilt forward or backward relative to the wheel body 100 when being stressed; the sensor detects pose information of the frame 200 and sends the pose information to a control device, so that the control device drives the wheel body 100 to rotate through the power device based on the pose information.

In the embodiment of the present application, the pose information of the frame 200, that is, the angle of forward tilting or backward tilting of the frame 200. It will be appreciated by those skilled in the art that the wheel 100 is rotatable relative to the frame 200 by means of the structure connected to the frame 200, and that the frame 200 can be tilted forward or backward relative to the wheel 100 by means of the structure connected to the wheel 100 when subjected to a force; the pose information of the frame 200 may be an angle of forward tilting or an angle of backward tilting of the frame 200 relative to the wheel body 100 when the frame 200 is stressed. Here, since the wheel body 100 contacts the support surface 800 when the traveling apparatus travels on the support surface 800, the frame 200 can be tilted forward or backward with respect to the support surface 800 by the structure connected to the wheel body 100 when being forced; the pose information of the frame 200 may be an angle of forward tilting or an angle of backward tilting of the frame 200 with respect to the support surface 800 when the frame 200 is stressed.

In this embodiment, a person skilled in the art may set the shape and structure of the frame 200 according to actual needs, as long as the concave accommodating space 210 is provided on the bottom side of the frame 200. Here, the accommodating space 210 is used to provide the wheel body 100 connected to the frame 200. As shown in fig. 16, in order to facilitate the placement of the wheel body 100 connected to the frame 200 in the accommodating space 210, the shape of the accommodating space 210 matches the shape of the wheel body 100. One configuration of frame 200 is exemplarily shown below.

For example, as shown in fig. 1 and 2, in one structure of the frame 200, the frame may further include a front inclined surface 241 provided at a front end of the frame 200, and a rear inclined surface 251 provided at a rear end of the frame 200; the front inclined surface 241 is adjacent to the accommodating space 210 in a direction of being adjacent to the bottom side surface of the frame 200; the rear inclined surface 251 is close to the accommodating space 210 along a direction approaching to the bottom side of the frame 200.

In one structure of the frame 200, a person skilled in the art may set the shape of the front inclined surface 241 according to actual needs, as long as the front inclined surface 241 approaches the accommodating space 210 along the direction approaching the bottom side of the frame 200, so as to facilitate avoiding the obstacle at the bottom side in front of the frame 200. The front inclined surface 241 may be a flat surface or a convex-concave surface. For example, the front inclined surface 241 may be a plane, or may be an arc surface, or may be partially a plane, and the remaining portion may be an arc surface. It will be appreciated by those skilled in the art that in order to minimize the impact of the front end of the frame 200 with an obstacle at the bottom side of the front of the frame 200, the front inclined angle is less than or equal to the approach angle of the frame 200, wherein the front inclined angle is the smallest of the angles formed by the front inclined surface 241 and the support surface 800 on which the frame 200 operates. Here, the approach angle of the frame 200 refers to an angle between a tangent line drawn by the front end protruding point of the frame 200 toward the wheel body 100 and the supporting surface 800 on which the frame 200 operates when the frame 200 is at rest in a full load. Fig. 3 exemplarily shows that when the front inclined surface 241 is a plane, the front inclined angle a is equal to or less than the approach angle A1 of the frame 200.

Here, the front inclined surface 241 approaches the accommodating space 210 in a direction approaching the bottom side surface of the frame 200, that is, the front inclined surface 241 extends toward the bottom side surface of the frame 200 and also extends toward the accommodating space 210.

Here, the rear inclined surface 251 approaches the accommodating space 210 in a direction approaching the bottom side surface of the frame 200, that is, the rear inclined surface 251 extends toward the accommodating space 210 while extending toward the bottom side surface of the frame 200.

In one structure of the frame 200, a person skilled in the art may set the shape of the rear inclined surface 251 according to actual needs, as long as the rear inclined surface 251 approaches the accommodating space 210 along the direction of approaching the bottom side of the frame 200, so as to facilitate avoiding the obstacle at the bottom side behind the frame 200. The rear inclined surface 251 may be a flat surface or a convex-concave surface. For example, the rear inclined surface 251 may be a plane, or may be an arc surface, or may be partially a plane, and the remaining portion may be an arc surface. It will be appreciated by those skilled in the art that in order to minimize the impact of the rear end of frame 200 with an obstacle at the bottom rear side of frame 200, the rear tilt angle is less than or equal to the departure angle of frame 200, wherein the rear tilt angle is the smallest of the angles formed by rear tilt face 251 and bearing surface 800 upon which frame 200 operates. Here, the departure angle of the frame 200 refers to the angle between the tangent line drawn by the rear end protruding point of the frame 200 to the wheel body 100 and the supporting surface 800 where the frame 200 operates when the frame 200 is at rest in a full load. Fig. 3 exemplarily shows that the rear inclined angle B is equal to or less than the approach angle B1 of the frame 200 when the rear inclined surface 251 is a plane.

It will be appreciated by those skilled in the art that when the front inclined surface is planar; the rear inclined surface can be a plane, can be an arc surface, can be a plane in part, and can be an arc surface in the rest part. When the front inclined surface is an arc surface; the rear inclined surface can be a plane, can be an arc surface, can be a plane in part, and can be an arc surface in the rest part. When the front inclined surface is partially a plane and the rest part is an arc surface; the rear inclined surface can be a plane, can be an arc surface, can be a plane in part, and can be an arc surface in the rest part.

Here, as shown in fig. 4, when the frame 200 falls from the first support surface 801 where the frame 200 operates to the second support surface 802 where the frame 200 operates during traveling, a gap exists between the rear inclined surface 251 and the connection surface between the first support surface 801 where the frame 200 operates and the second support surface 802 where the frame 200 operates; wherein, a height difference H exists between the first supporting surface 801 where the frame 200 works and the second supporting surface 802 where the frame 200 works; this prevents the rear inclined surface 251 of the vehicle frame 200 from colliding with the connection surface between the first support surface 801 on which the vehicle frame 200 operates and the second support surface 802 on which the vehicle frame 200 operates, that is, the rear inclined surface 251 collides with the step surface when the vehicle frame 200 falls from the step surface. Fig. 4 exemplarily shows a state where the frame 200 is dropped from a first supporting surface 801 where the frame 200 operates to a second supporting surface 802 where the frame 200 operates at a speed of 5.4KM/H (1.5 m/s). Here, L is the movement envelope curve of the wheel body 100 when the frame 200 falls from the first support surface 801 on which the frame 200 operates to the second support surface 802 on which the frame 200 operates at a speed of 5.4KM/H (1.5 m/s).

Here, the connection surface is a surface connecting the first support surface 801 on which the frame 200 operates and the second support surface 802 on which the frame 200 operates. The connecting surface can be a plane or a curved surface. Fig. 4 shows an exemplary connection plane as plane M.

In some alternative implementations of one structure of the frame 200, as shown in fig. 1 and 5, the top side of the frame 200 is provided with a receiving cavity 261; the top side surface of the frame 200 is further provided with a first opening communicated with the accommodating cavity 261; or, a second opening communicating with the accommodating cavity 261 is further provided on one side of the frame 200. Fig. 1 and 5 exemplarily show a case where the top side of the frame 200 is further provided with a first opening communicating with the receiving cavity 261.

In this implementation, the receiving cavity 261 is used to house other structures. The shape and configuration of the receiving cavity 261 can be set by those skilled in the art according to other configurations that may be placed as desired. For example, as shown in fig. 6, a threaded hole 264 may be provided in the housing 261 to secure other structures placed in the housing 261. As one implementation, a power rack and/or a control circuit board may be placed within the receiving cavity 261; the power supply rack and/or the control circuit board can be fixed in the accommodating cavity 261 through the threaded holes 264, so that the power supply rack and/or the control circuit board is prevented from shaking.

In this embodiment, in order to seal other structures placed in the accommodating cavity 261, when the top side surface of the frame 200 is further provided with a first opening communicating with the accommodating cavity 261, the frame 200 may further include a first cover plate 270 matching with the first opening, the first cover plate 270 covers the first opening, and a first waterproof structure is provided between a wall forming the first opening and the first cover plate 270; or, when a second opening communicating with the accommodating cavity 261 is further provided on one side of the frame 200, the frame 200 further includes a second cover plate matched with the second opening, the second cover plate covers the second opening, and a second waterproof structure is provided between a wall forming the second opening and the second cover plate. Of course, the frame 200 may not be provided with a cover plate.

Here, the shape and structure of the first waterproof structure may be set according to actual needs by those skilled in the art as long as water can be prevented from entering the receiving chamber 261 from the gap between the first opening and the first cover plate 270. For example, the first waterproof structure may include waterproof glue disposed between the first opening and the first cover plate 270. As another example, as shown in fig. 7, the first waterproof structure may include a first waterproof groove 262 provided on a wall of the first opening, and a first flange 271 provided on the first cover plate 270 to be matched with the first waterproof groove 262, the first flange 271 being located in the waterproof groove. Here, the cross-sectional shape of the first waterproof groove 262 may be a triangle or a U-shape, and fig. 7 exemplarily shows that the cross-sectional shape of the first waterproof groove 262 is a rectangle. Here, the cross-sectional shape of the first flange 271 may be triangular or U-shaped, and fig. 7 exemplarily shows that the cross-sectional shape of the first flange 271 is rectangular.

As an implementation manner, as shown in fig. 8, the first waterproof structure may further include a first sealing member 263 disposed in the first waterproof groove 262, and the first flange 271 is inserted into the first sealing member 263; so as to further improve the water resistance of the first waterproof structure. As shown in fig. 9, when the control circuit board is placed in the accommodation chamber 261, the wire harness 700 connected to the control circuit board may be disposed in the first sealing member 263, and sealing of the wire harness 700 is achieved by the first sealing member 263, so that sealing of the wire harness 700 is simple and reliable. Here, a person skilled in the art may set the material of the first seal 263 according to actual needs, as long as the first flange 271 can be inserted into the first seal 263. For example, the first seal 263 may be a first solidified seal or a first elastic seal. Here, the first coagulation seal is capable of changing from a non-solid state to a solid state, and when the non-solid state first coagulation seal is placed in the first water-repellent tank 262, the first flange 271 is inserted into the non-solid state first coagulation seal of the first water-repellent tank 262, and the solid state first coagulation seal seals between the first flange 271 and the first water-repellent tank 262. In an application scenario, the first setting seal is a first setting gel. Here, the first elastic sealing member can wrap the structure inserted in the first elastic sealing member, and when the first elastic sealing member is placed in the first waterproof groove 262, the first flange 271 is inserted in the first elastic sealing member of the first waterproof groove 262, and the first elastic sealing member wraps the first flange 271 inserted in the first elastic sealing member to seal between the first flange 271 and the first waterproof groove 262. In an application scenario, the first setting seal is a first elastomeric soft gel.

It will be appreciated by those skilled in the art that in order to prevent the first sealing member 263 from overflowing or exposing the outer side of the vehicle frame 200, the height of the outer sidewall of the first water blocking groove 262 is greater than the height of the inner sidewall of the first water blocking groove 262, as shown in fig. 8.

Here, the shape and structure of the second waterproof structure may be set according to actual needs by those skilled in the art as long as water can be prevented from entering the receiving chamber 261 from the gap between the second opening and the second cover plate. For example, the second waterproof structure may include a waterproof glue disposed between the second opening and the second cover plate. For another example, the second waterproof structure may include a second waterproof groove provided on a wall of the second opening, and a second flange provided on the second cover plate to be matched with the second waterproof groove, the second flange being located in the waterproof groove. Here, the cross-sectional shape of the second waterproof groove may be triangular, may be U-shaped, or may be rectangular. Here, the cross-sectional shape of the second flange may be triangular, may be U-shaped, or may be rectangular.

As one implementation, the second waterproof structure may further include a second sealing member disposed in the second waterproof groove, the second flange being inserted in the second sealing member; so as to further improve the water resistance of the second waterproof structure. When the control circuit board is placed in the accommodating cavity 261, the wire harness 700 connected with the control circuit board can be arranged in the second sealing member, and sealing of the wire harness 700 is achieved through the second sealing member, so that sealing of the wire harness 700 is simple and reliable. Here, the material of the second seal may be provided as required by a person skilled in the art, as long as the second flange can be inserted into the second seal. For example, the second sealing member may be a second solidified sealing member or a second elastic sealing member. Here, the second coagulation seal is capable of changing from a non-solid state to a solid state, and when the non-solid second coagulation seal is placed into the second waterproof tank, the second flange is inserted into the non-solid second coagulation seal of the second waterproof tank, and the solid second coagulation seal seals between the second flange and the second waterproof tank. In an application scenario, the second setting sealant is a second setting glue. Here, the second elastic sealing member can wrap the structure inserted in the second elastic sealing member, and when the second elastic sealing member is placed in the second waterproof groove, the second flange is inserted in the second elastic sealing member of the second waterproof groove, and the second elastic sealing member wraps the second flange inserted in the second elastic sealing member to seal between the second flange and the second waterproof groove. The second solidification sealing piece is made of second elastic soft rubber in an application scene.

It will be appreciated by those skilled in the art that the height of the outer sidewall of the second water shield is greater than the height of the inner sidewall of the second water shield in order to prevent the non-solid second seal from overflowing or exposing the outer side of the frame 200.

In the present embodiment, the power device is connected to the wheel body 100; so as to provide a rotational driving force to the wheel body 100; thereby enabling the running gear to run on the support surface 800 through the wheel body 100. It will be appreciated by those skilled in the art that the power take off of the power plant is coupled to the wheel 100 to drive the wheel 100 in rotation. The configuration and shape of the power plant can be set by those skilled in the art according to actual needs. For example, the power device may be an electric motor, and the wheel body 100 is disposed on a rotor outside the electric motor; the running apparatus supplies running power through the motor inside the wheel body 100. The motor here may be an in-wheel motor.

In this embodiment, a person skilled in the art may set the connection structure between the wheel body 100 and the frame 200 according to actual needs, as long as the wheel body 100 is disposed in the accommodating space 210, and the frame 200 may be tilted forward or backward relative to the wheel body 100 by the connection mechanism. One connection structure of the wheel body 100 and the frame 200 is exemplarily shown below.

For example, as shown in fig. 10 to 21, in one connecting structure of the wheel body 100 and the frame 200, the frame 200 further includes two side walls 280 disposed on two sides of the frame 200, and receiving openings 220 disposed on bottom sides of the two side walls 280, respectively; the two sidewalls 280 are opposite sidewalls forming the accommodating space 210; the driving apparatus further includes connecting shafts 110 provided at both ends of the wheel body 100; two ends of the connecting shaft 110 are exposed outside the wheel body, and two ends of the connecting shaft 110 are respectively provided with an insertion part 111 matched with the accommodating notch 220; the insertion portions 111 are respectively inserted into the accommodating openings 220, so that the wheel body 100 is located in the accommodating space 210.

In a connection structure between the wheel body 100 and the frame 200, as shown in fig. 7 and 11, a person skilled in the art may set the shape and structure of the two side walls 280 according to actual needs. For example, both sides of the front inclined surface 241 are adjacent to the receiving gap 220 in a direction of being adjacent to the bottom side surface of the vehicle frame 200, and both sides of the rear inclined surface 251 are adjacent to the receiving gap 220 in a direction of being adjacent to the bottom side surface of the vehicle frame 200, so that the vehicle frame 200 may have an inverted triangle-like shape. For another example, at least one ring of ribs 282 may be disposed on the outer sides of the two side walls 280, and a side chamber 281 is formed by the inner side walls of the at least one ring of ribs 282 and the two side walls 280; so that other structures are provided in the side chamber 281 and the strength of the frame 200 can be enhanced. Here, the shape and number of the side chambers 281 surrounded by the at least one turn of ribs 282 may be set according to actual needs by those skilled in the art. For example, the side chamber 281 may be circular or rectangular. For another example, the at least one turn of the protruding ribs 282 may include three turns of the protruding ribs 282, and may include four turns of the protruding ribs 282. Fig. 7 exemplarily shows that the receiving slits 220 are respectively located at the middle portions of the two side walls 280; the at least one ring of ribs 282 includes two rings of ribs 282, and the two rings of ribs 282 are located at two sides of the accommodating opening 220, so that two symmetrical side chambers 281 may be formed.

In one connection structure between the wheel body 100 and the frame 200, the accommodating notch 220 is used for installing the wheel body 100 disposed in the accommodating space 210. The cross-sectional shape of the receiving opening 220 may be set according to actual needs by those skilled in the art. Fig. 7 exemplarily shows that the receiving cutout 220 has a cross-sectional shape similar to an n-shape in order to facilitate mounting of the wheel body 100.

In a connection structure between the wheel body 100 and the frame 200, as shown in fig. 10 and 17, two ends of the connecting shaft 110 are exposed outside the wheel body 100, and two ends of the connecting shaft 110 are respectively provided with an insertion portion 111 matching with the accommodating notch 220; the insertion parts 111 are respectively inserted into the accommodating openings 220 so as to enable the accommodating space 210 to be in; because the insertion parts 111 on both sides can be inserted into the accommodating openings 220 at the same time, the assembly difficulty is small and the assembly time is short.

Here, the insertion portion 111 is matched with the receiving cutout 220, that is, the shape of the insertion portion 111 is matched with the shape of the receiving cutout 220, so that the insertion portion 111 is smoothly inserted into the receiving cutout 220. The cross-sectional shape of the insertion portion 111 may be set as desired by those skilled in the art. For example, the cross-sectional shape of the insertion portion 111 may be rectangular or elliptical. Fig. 12 and 14 exemplarily show that the cross-sectional shape of the receiving cutout 220 is similar to an n-shape, and the cross-sectional shape of the insertion portion 111 is a circle.

In some alternative implementations of a connection structure between the wheel body 100 and the frame 200, the driving apparatus may further include a clamping structure, and the insertion portion 111 is clamped on two opposite sidewalls of the accommodating space 210 by the clamping structure, so that the connecting shaft 110 is fixedly disposed circumferentially; thereby preventing the connection shaft 110 from rotating in the circumferential direction of the connection shaft 110.

In this embodiment, a person skilled in the art may set the structure of the clamping structure according to actual needs, as long as the connection shaft 110 is prevented from rotating along the circumferential direction of the connection shaft 110. Two specific structures of the chucking structure are listed below by way of example.

For example, in a first specific structure of the clamping structure, the clamping structure includes a card disposed on the insertion portion 111, and a card slot disposed on the two side walls 280, the card slot being matched with the card, the card being disposed in the card slot, the insertion portion 111 being disposed in the card slot by the card to fix the connection shaft 110 along the circumferential direction of the connection shaft 110; the connection shaft 110 is prevented from rotating in the circumferential direction of the connection shaft 110.

As another example, as shown in fig. 17 and 21, in a second specific structure of the clamping structure, the insertion portion 111 is cylindrical, the clamping structure includes a first concave plane 112, the first concave plane 112 is located on a cylindrical surface of the insertion portion 111, and a distance between a surface of the cylindrical surface of the insertion portion 111 opposite to the first concave plane 112 and the first concave plane 112 matches a width of the accommodating gap 220; the first concave plane 112 is located on the width side of the accommodating opening 220; the insertion portion 111 is clamped in the accommodating opening 220 through the first concave plane 112, so that the connection shaft 110 is fixedly arranged in the circumferential direction; thereby preventing the connection shaft 110 from rotating in the circumferential direction of the connection shaft 110.

Here, the distance between the surface of the cylindrical surface of the insertion portion 111 opposite to the first concave plane 112 and the first concave plane 112 is matched with the width of the accommodating gap 220, that is, the distance between the surface of the cylindrical surface of the insertion portion 111 opposite to the first concave plane 112 and the first concave plane 112 is similar to the width of the accommodating gap 220, so that when the insertion portions are respectively inserted into the accommodating gaps, the gap between the first concave plane 112 and the accommodating gap 220 is as small as possible. Here, the distance between the surfaces of the cylindrical surface of the insertion portion 111 opposite to the first concave plane 112 is similar to the width of the accommodating gap 220 and is smaller than the diameter of the insertion portion 111, and the first concave plane 112 is disposed on the width side of the accommodating gap 220, so that the connection shaft 110 cannot be rotated due to the larger diameter of the insertion portion 111; thereby achieving a circumferentially fixed arrangement of the connecting shaft 110.

It will be appreciated by those skilled in the art that the gripping structure herein further comprises a portion of the insertion portion 111 connected to the first recess plane 112, and that the portion of the insertion portion 111 connected to the first recess plane 112 forms a platform structure, i.e. a gripping structure, with the first recess plane 112. Here, the first concave plane 112 is the main working surface of the chucking structure.

It will be appreciated by those skilled in the art that the insertion portion 111 may also fix the connection shaft 110 along the circumferential direction of the connection shaft 110 by means of two recessed planes. As an implementation manner, as shown in fig. 10, the clamping structure further includes a second concave plane 117, where the second concave plane 117 is located on an opposite side of the first concave plane 112, and a distance between the second concave plane 117 and the first concave plane 112 matches a width of the accommodating gap 220; the first concave planes 112 are respectively located at one side of the width sides of the accommodating gaps 220, and the second concave planes 117 are respectively located at the other side of the width sides of the accommodating gaps 220; the insertion portion 111 is clamped in the accommodating opening 220 by the first concave plane 112 and the second concave plane 117, so that the connecting shaft 110 is circumferentially fixed.

Here, the distance between the second concave plane 117 and the first concave plane 112 is matched with the width of the accommodating gap 220, that is, the distance between the second concave plane 117 and the first concave plane 112 is matched with the width of the accommodating gap 220, so that when the insertion parts are respectively inserted into the accommodating gaps, the gap between the first concave plane 112 and the accommodating gap 220 is as small as possible, and the gap between the second concave plane 117 and the accommodating gap 220 is as small as possible. Here, the distance between the second concave plane 117 and the first concave plane 112 is similar to the width of the accommodating gap 220 and is smaller than the diameter of the insertion portion 111, the first concave plane 112 is disposed at one side of the width of the accommodating gap 220, the second concave plane 117 is disposed at the other side of the width of the accommodating gap 220, and the connecting shaft 110 cannot be rotated due to the larger diameter of the insertion portion 111; thereby achieving a circumferentially fixed arrangement of the connecting shaft 110.

It will be appreciated by those skilled in the art that the gripping structure herein further comprises a portion of the insertion portion 111 connected to the first recess plane 112 and the second recess plane 117, respectively, and that the portion of the insertion portion 111 connected to the first recess plane 112 and the second recess plane 117, respectively, the first recess plane 112 and the second recess plane 117 together form a platform structure, i.e. a gripping structure. Here, the first recess plane 112 and the second recess plane 117 are the main working surfaces of the clamping structure.

In some alternative implementations of a connection structure between the wheel body 100 and the frame 200, as shown in fig. 13 and 15, the running apparatus may further include two first bearing pads 310, and sink slots 230 respectively disposed on the outer sides of the two side walls 280 and respectively corresponding to the accommodating openings 220; the two ends of the connecting shaft 110 are respectively provided with a first bearing part 113 corresponding to the sinking groove 230; the outer rings of the two first bearing gaskets 310 are respectively matched with the sinking grooves 230, and the inner holes of the two first bearing gaskets 310 are respectively matched with the first bearing parts 113; the inner holes of the two first bearing gaskets 310 are respectively sleeved on the first bearing parts 113, the outer rings of the two first bearing gaskets 310 are respectively clamped in the sinking grooves 230, and the first bearing parts 113 bear the frame 200 through the two first bearing gaskets 310.

In this implementation manner, the inner holes of the two first bearing gaskets 310 are respectively sleeved on the first bearing portions 113, the outer rings of the two first bearing gaskets 310 are respectively clamped in the sinking grooves 230, and the first bearing portions 113 bear the frame 200 through the two first bearing gaskets 310; the gravity and/or the external force borne by the frame 200 is transmitted to the two first bearing pads 310 through the outer rings of the two first bearing pads 310, and then transmitted to the first bearing portion 113 through the inner holes of the two first bearing pads 310; in this way, with the same force, since the contact area of the frame 200 under the force is increased by the two first bearing pads 310, the pressure of the frame 200 becomes smaller, so that the supporting performance of the frame 200 can be increased, and when the frame 200 is under too much force, the damage of the stressed contact surface of the frame 200 can be effectively prevented.

In this implementation, one skilled in the art may set the thickness and diameter of the first load bearing pad 310 based on the weight of the frame 200 or/and the external forces to which the frame 200 is subjected. It will be appreciated that the greater the thickness of the first load bearing pad 310 and/or the greater the diameter of the first load bearing pad 310, the greater the force bearing contact area, and thus the load bearing capacity, of the frame 200.

In this implementation manner, as shown in fig. 14 and 15, the sink 230 corresponds to the accommodating opening 220, that is, the sink 230 is disposed at the accommodating opening 220, so that when the first bearing portion 113 is located at the sink 230, the inner holes of the two first bearing gaskets 310 are respectively sleeved on the first bearing portion 113, and when the outer rings of the two first bearing gaskets 310 are respectively clamped in the sink 230.

Here, the countersink 230 is configured to clamp the first bearing pads 310, and outer rings of the two first bearing pads 310 are respectively matched with the countersink 230, that is, a shape of the countersink 230 is matched with a shape of outer rings of the two first bearing pads 310. The sectional shape of the sink 230 may be set by those skilled in the art according to actual needs, as long as the two first bearing pads 310 can be respectively clamped in the sink 230. It should be understood by those skilled in the art that when the cross-sectional shape of the sink 230 is circular, the contact area of the sink 230 with the outer ring of the first carrier spacer 310 can be increased; thereby increasing the support performance of the connection shaft 110 to the frame 200. The sink 230 may be directly disposed on the outer sides of the two sidewalls 280, or may be disposed on the outer sides of the two sidewalls 280 by other structures. For example, as shown in fig. 21, the connection structure may further include a limit rib 231 disposed on the outer sides of the two side walls 280 and corresponding to the accommodating opening 220, respectively; the limiting rib 231 forms the sink 230 near the side of the accommodating opening 220. Here, the number of the limit ribs 231 may be one or more. When the number of the limit ribs 231 is one, one limit rib 231 is clamped with the first bearing pad 310; when the number of the limiting ribs 231 is plural, the plurality of limiting ribs 231 jointly clamp the first bearing pad 310. Fig. 21 exemplarily shows that the cross section of the limiting rib 231 is circular, and the limiting rib 231 has an opening on the side of the accommodating gap 220, and the width of the opening is smaller than the diameter of the inner ring surface of the limiting rib 231 near the side of the accommodating gap 220; so that the first bearing pad 310 is clamped in the countersink 230 to limit the movement of the connecting shaft 110 along the direction away from the accommodating gap 220, thereby preventing the connecting shaft 110 from being separated from the accommodating gap 220.

Here, the first bearing portion 113 is configured to support the first bearing pads 310, and the inner holes of the two first bearing pads 310 are respectively matched with the first bearing portion 113, that is, the shape of the first bearing portion 113 is matched with the shape of the inner holes of the two first bearing pads 310. The cross-sectional shape of the first bearing portion 113 may be set by a person skilled in the art according to actual needs, as long as the two first bearing pads 310 can be sleeved on the first bearing portion 113. Fig. 14 and 17 exemplarily show that the cross-sectional shape of the first bearing portion 113 is circular so as to be able to increase the contact area of the first bearing portion 113 with the inner hole of the first bearing pad 310; thereby increasing the support performance of the frame 200. Here, the gap between the first bearing portion 113 and the two first bearing pads 310 may be set according to actual needs by those skilled in the art. For example, the diameter of the first bearing portion 113 may be equal to the diameter of the inner hole of the first bearing pad 310, may be greater than the diameter of the inner hole of the first bearing pad 310, or may be less than the diameter of the inner hole of the first bearing pad 310. It should be understood by those skilled in the art that when the inner holes of the two first bearing pads 310 are respectively sleeved on the first bearing portions 113, the smaller the gap between the first bearing portions 113 and the two first bearing pads 310, the larger the contact area, and the better the bearing performance of the first bearing pads 310.

It should be understood by those skilled in the art that when the connection structure includes both the clamping structure and the first bearing portion 113, the clamping structure may be directly disposed on the first bearing portion 113 or may not be disposed on the first bearing portion 113. Fig. 21 exemplarily shows that the chucking structure includes a first concave plane 112 and a second concave plane 117, and the first concave plane 112 and the second concave plane 117 are disposed on the first bearing 113.

In some alternative implementations of a connection structure of the wheel body 100 and the frame 200, the running gear further includes two second carrier pads 320; the two ends of the connecting shaft 110 are respectively provided with a second bearing part 114 corresponding to the outer side surfaces of the two side walls 280; the second bearing portion 114 is provided with positioning shoulders 115 matched with the outer side surfaces of the two side walls 280 respectively; the inner holes of the two second bearing pads 320 are respectively matched with the second bearing portions 114; the inner holes of the two second bearing pads 320 are respectively sleeved on the second bearing portion 114.

In this implementation, one skilled in the art may set the thickness of the second load bearing shim 320 based on the axial force that the second load bearing shim 320 is subjected to. It will be appreciated that the greater the thickness of the second load bearing shim 320, the greater the axial force that can be tolerated.

In this embodiment, in order to prevent the two second bearing pads 320 from applying too much force to the frame 200 to damage the frame 200, the second bearing portions 114 are respectively provided with positioning shoulders 115 matching with the outer side surfaces of the two side walls 280. The following exemplary three setting positions of the positioning shoulder 115 are mainly described by taking one side of the opposite side walls of the accommodating space 210 as an example, and the other side of the opposite side walls of the accommodating space 210 is similar, which is not described herein again.

For example, as shown in fig. 20, in the first setting position of the positioning shaft shoulder 115, one side of the second bearing pad 320 abuts against the positioning shaft shoulder 115, and a first preset distance H1 is formed between one side of the second bearing pad 320 and the outer side of one side of the opposite side walls of the accommodating space 210; thus, the second load bearing shim 320 is subjected to the force exerted by the second load bearing shim 320 via the locating shoulder 115; the deformation of one side of the opposite side walls of the accommodating space 210 is effectively prevented from being too large, and the frame 200 is prevented from being damaged. Here, the smaller the first preset distance H1, the better to prevent the frame 200 from axially moving in the connection shaft 110.

As another example, as shown in fig. 19, in the second setting position of the positioning shoulder 115, one side of the second bearing pad 320 abuts against the outer side surface of one side of the opposite two sidewalls of the accommodating space 210, and a second preset distance H2 is formed between one side of the second bearing pad 320 and the positioning shoulder 115; in this way, the second bearing pad 320 receives the force applied by the second bearing pad 320 through one side of the opposite sidewalls of the accommodating space 210; when the force applied by the two second bearing pads 320 is too large to cause the deformation of one side of the opposite side walls of the accommodating space 210 to reach the second preset distance H2, the second bearing pads 320 contact with the positioning shaft shoulder 115, and can also bear the force applied by the second bearing pads 320 through the positioning shaft shoulder 115; the frame 200 is effectively prevented from being damaged due to the too large deformation of one side of the opposite side walls of the accommodating space 210. Here, the smaller the second preset distance H2, the better to reduce the deformation amount of the frame 200.

As another example, as shown in fig. 18, one side of the second bearing pad 320 abuts against the positioning shoulder 115, and abuts against the outer side surfaces of one side of the opposite sidewalls of the accommodating space 210; in this way, the second bearing pad 320 bears the force applied by the second bearing pad 320 by positioning the shaft shoulder 115 and one side of the opposite side walls of the accommodating space 210, so that the deformation of one side of the opposite side walls of the accommodating space 210 can be effectively prevented from being too large, and the frame 200 is damaged; while also preventing axial play of the frame 200 at the connection shaft 110.

In this embodiment, the fixing manner of the two second bearing pads 320 at the two ends of the connecting shaft 110 is not limited. Two ways of securing the two second carrier washers 320 to the two ends of the connecting shaft 110 are exemplarily shown below.

For example, in the first manner of fixing the two second bearing pads 320 at two ends of the connecting shaft 110, the connecting structure may include a collar, and the two ends of the connecting shaft 110 further have grooves respectively matching with the collar, where the collar is located.

For another example, in the second fixing manner of the two second bearing pads 320 at the two ends of the connecting shaft 110, as shown in fig. 14, the two ends of the connecting shaft 110 further have screw portions 116 adjacent to the second bearing portions 114, and the screw portions 116 are located outside the second bearing portions 114; the connecting structure further comprises two nuts 340 respectively matched with the threaded portions 116, wherein the two nuts 340 are respectively connected with the threaded portions 116 and respectively abut against the two second bearing gaskets 320 to press the two second bearing gaskets 320. It should be understood by those skilled in the art that the connection structure may further include a locking washer 330 in order to prevent the two nuts 340 from loosening; the anti-loose gaskets 330 are respectively sleeved at two ends of the connecting shaft 110 and are positioned between the two nuts 340 and the two second bearing gaskets 320; the anti-loose washer 330 is respectively abutted against the two nuts 340 and the two second bearing washers 320.

It will be appreciated by those skilled in the art that the second carrier spacer 320 and the first carrier spacer 310 may be the same spacer or may be different spacers. Fig. 18-20 exemplarily illustrate that the first bearing pad 310 and the second bearing pad 320 are the same pad, and the first bearing portion 113 and the second bearing portion 114 are the same shaft section; in this way, the second load bearing shim 320 is capable of bearing both the frame 200 and the axial force.

In one connection structure between the wheel body 100 and the frame 200, two ends of the connecting shaft 110 are exposed outside the wheel body 100, and the insertion parts 111 are inserted into the accommodating openings 220 respectively, so that the wheel body 100 is located in the accommodating space; because the insertion parts 111 on both sides can be inserted into the accommodating openings 220 at the same time, the assembly difficulty is small and the assembly time is short.

In the embodiment of the present application, it should be understood by those skilled in the art that the control device is electrically connected to the power device and the sensor, respectively, so as to implement information transmission.

In this embodiment of the present application, a person skilled in the art may set a specific setting position and a specific structure of the sensor according to actual needs, so long as the sensor can detect pose information of the frame and send the pose information to the control device. For example, the sensor may be disposed on a surface of the frame, may be disposed inside the frame, or may be disposed on other structures coupled to the frame. For another example, the sensor may be an inertial measurement unit (Inertial measurement unit, IMU). As an implementation manner, when the top side of the frame 200 is provided with a containing cavity 261; when the accommodating cavity is provided with a circuit control board, the inertial measurement unit (Inertial measurement unit, IMU) can be arranged on the circuit control board so as to avoid damage in the running process.

In the present embodiment, it should be understood by those skilled in the art that the power source is electrically connected to the power device and the control device, respectively, so as to supply the power device and the control device with electric power.

Here, the specific position of the power supply is not limited, and the power supply may be provided in the traveling apparatus row or may be provided in another structure outside the traveling apparatus. For example, the power source may be provided on the frame 200 or on another structure connected to the frame 200. As an implementation manner, when the top side of the frame is provided with a containing cavity 261; the power source may be disposed within the receiving cavity 261.

In this embodiment, a person skilled in the art may set the structure of the control device according to actual needs, so long as the control device can control the power device to drive the wheel body to rotate based on the pose information. Here, a person skilled in the art may set how the control device drives the wheel body to rotate through the power device based on the pose information according to actual needs. For example, when the sensor detects that the frame is inclined forwards, the control device can control the power device to drive the wheel body to rotate in an accelerating way; when the sensor detects that the frame is inclined backwards, the control device can control the power device to drive the wheel body to rotate in a decelerating way; when the sensor detects that the frame is not inclined, the control device can control the power device to drive the wheel body to rotate at a constant speed. Here, the specific position where the control device is provided is not limited, and the control device may be provided in the traveling apparatus row or may be provided in another structure other than the traveling apparatus. For example, the control device may be provided on the frame 200, or may be provided on another structure connected to the frame 200. As an implementation manner, when the top side of the frame is provided with a containing cavity 261; when a circuit control board is disposed in the accommodating cavity 261, the control device may be disposed on the circuit control board.

One configuration in which the control device and the power supply are disposed in the accommodation chamber is exemplarily shown below.

For example, as shown in fig. 23 and 24, in one structure in which the control device and the power source are provided in the accommodation chamber 261, the running apparatus may further include a power source frame 400 provided in the accommodation chamber, the power source frame 400 including a first end 410, a second end 420 opposite to the first end 410, and a connection portion 430 connecting the first end 410 and the second end 420; a first power supply accommodating cavity 411 is arranged in the first end portion 410, and a second power supply accommodating cavity 421 is arranged in the second end portion 420; a side surface of the first end portion 410 opposite to the second end portion 420, a side surface of the second end portion 420 opposite to the first end portion 410, and a bottom side surface of the connection portion 430 form a relief opening 440; the power supply is arranged in the first power supply accommodating cavity 411 and the second power supply accommodating cavity 421; the control device is disposed at the top side of the connection part 430.

In one structure in which the control device and the power supply are disposed in the accommodating cavity 261, a through hole matching with the threaded hole 264 may be disposed at the bottom side of the power supply frame 400, and the through hole matching with the threaded hole 264 and the threaded hole 264 may be connected by a bolt, thereby fixing the power supply frame 400 in the accommodating cavity 261.

In one structure in which the control device and the power source are disposed in the housing 261, a person skilled in the art may set the shape and structure of the first end portion 410 according to actual needs, as long as the first power source housing 411 can be disposed in the first end portion 410. Fig. 23 schematically illustrates that the first end portion 410 is triangular-like, and that the side of the first end portion 410 facing away from the second end portion 420 is adjacent to the relief opening 440 in a direction towards the bottom side of the first end portion 410; so as to save space. As an implementation manner, the side of the first end 410 opposite to the second end 420 may be a plane or an arc surface.

In one structure in which the control device and the power source are disposed in the receiving chamber 261, a person skilled in the art may set the shape and structure of the second end 420 according to actual needs, as long as the second power source receiving chamber 421 can be disposed in the second end 420. Fig. 23 exemplarily shows that a side of the second end 420 opposite to the first end 410 approaches the relief opening 440 in a direction approaching a bottom side of the first end 410; so as to save space. As an implementation manner, the side of the second end 420 opposite to the first end 410 may be a plane or an arc surface.

It should be understood by those skilled in the art that when the side of the first end 410 opposite to the second end 420 is planar, the side of the second end 420 opposite to the first end 410 may be planar or cambered. When the opposite sides of the first end 410 and the second end 420 are arc surfaces, the opposite sides of the second end 420 and the first end 410 may be plane surfaces or arc surfaces.

Here, the shape and structure of the second end 420 may be the same as or different from the shape and structure of the first end 410. Fig. 23 and 24 exemplarily show that the structure of the second end 420 is similar to that of the first end 410, the shape of the second end 420 is similar to that of a triangle, and the shape of the first end 410 is similar to that of the triangle; such a distribution of the first end 410 and the second end 420 on two opposite sides of the power frame can ensure that the power frame is relatively smooth.

In one structure in which the control device and the power source are disposed in the housing 261, as shown in fig. 24, a person skilled in the art may set the shape of the first power source housing 411 according to actual needs. For example, the first power supply accommodating chamber 411 may have a rectangular parallelepiped shape or a cylindrical shape. It will be appreciated by those skilled in the art that in order to provide a larger capacity first power receiving cavity 411, the first power receiving cavity 411 should accommodate the shape and configuration of the first end portion 410. Fig. 24 exemplarily shows that when the first end portion 410 is shaped like a triangle, the first power supply accommodating chamber 411 is shaped like a triangle so as to provide the larger first power supply accommodating chamber 411 with a limited structure as much as possible.

It should be understood by those skilled in the art that the shape of the power supply is a regular shape, and when the shape of the first power supply accommodating cavity 411 is irregular, the first power supply accommodating cavity 411 may be divided into a plurality of regular cavities so as to accommodate the power supply unit having a regular shape. Here, a plurality of power supply units constitute a power supply. For example, a first limiting rib 412 may be disposed in the first power supply accommodating cavity 411, and the first power supply accommodating cavity is separated into at least two first cavities by the first limiting rib 412. As one implementation manner, the first limiting ribs 412 are located at two sides of the first end 410, and the first power supply accommodating cavity 411 is divided into the at least two first cavities at two sides of the first end 410 by the first limiting ribs 412, and the at least two first cavities are communicated at a middle part of the first end 410; so as to save materials and reduce the weight of the power supply rack.

Here, the shape of the first cavity may be rectangular parallelepiped or cylindrical. The number of the first cavities can be three or four. Fig. 24 exemplarily illustrates that a first limiting rib 412 is disposed in the first power supply accommodating cavity 411, and the first power supply accommodating cavity 411 is divided into four first cavities by the first limiting rib 412; the four first cavities are cylindrical in shape.

In one structure in which the control device and the power source are disposed in the accommodation chamber 261, as shown in fig. 24, a person skilled in the art may set the shape of the second power source accommodation chamber 421 according to actual needs. For example, the second power supply accommodating chamber 421 may have a rectangular parallelepiped shape or a cylindrical shape. It will be appreciated by those skilled in the art that in order to provide a larger capacity second power receiving cavity 421, the second power receiving cavity 421 should accommodate the shape and configuration of the second end 420. Fig. 24 exemplarily shows that when the second end 420 is shaped like a triangle, the second power receiving chamber 421 is shaped like a triangle so as to provide a larger second power receiving chamber 421 with a limited structure as much as possible.

It should be understood by those skilled in the art that the shape of the power supply is a regular shape, and when the shape of the second power supply accommodating chamber 421 is irregular, the second power supply accommodating chamber 421 may be divided into a plurality of regular chambers so as to accommodate the power supply unit having a regular shape. Here, a plurality of power supply units constitute a power supply. For example, a second limiting rib 422 may be disposed in the second power supply accommodating cavity 421, and the second power supply accommodating cavity 421 is divided into at least two second cavities by the second limiting rib 422. As one implementation manner, the second limiting ribs 422 are located at two sides of the second end 420, and the second power supply accommodating cavity 421 is divided into the at least two second cavities by the second limiting ribs 422 at two sides of the second end 420, and the at least two second cavities are communicated at a middle part of the second end 420; so as to save materials and reduce the weight of the power supply rack.

Here, the second cavity may have a rectangular parallelepiped shape or a cylindrical shape. The number of the second cavities can be three or four. Fig. 24 exemplarily illustrates that the second power supply accommodating cavity 421 is provided with a second limiting rib 422, and the second power supply accommodating cavity 421 is divided into four second cavities by the second limiting rib 422; the four second cavities are cylindrical in shape.

It should be understood by those skilled in the art that the shape of the second power receiving chamber 421 may be the same as or different from the shape of the first power receiving chamber 411. Fig. 23 and 24 exemplarily show that the shape of the second power receiving chamber 421 is the same as the shape of the first power receiving chamber 411, and both are triangle-like. Here, the structure of the second power supply accommodating chamber 421 may be the same as or different from the structure of the first power supply accommodating chamber 411. Fig. 23 and 24 exemplarily show that the second power receiving chamber 421 has the same structure as the first power receiving chamber 411 and is divided into a plurality of chambers by a stopper rib.

Here, the shape of the at least two second cavities and the shape of the at least two first cavities may be the same or may be different. Fig. 23 and 24 exemplarily show that the shape of at least two second cavities and the shape of at least two first cavities are the same and both are cylindrical; so that a plurality of identically shaped power cells can be placed. The number of the at least two second cavities and the number of the at least two first cavities may be the same or different. Fig. 23 and 24 exemplarily show that the number of at least two second cavities is the same as the number of at least two first cavities, and are all four. When the shape of the at least two second cavities is the same as the shape of the at least two first cavities, the same number of power supply monomers can be placed on two opposite sides of the power supply frame when the number of the at least two second cavities is the same as the number of the at least two first cavities, so that the power supply frame can be ensured to be relatively stable. It should be understood by those skilled in the art that the at least two first cavities and the at least two second cavities may be symmetrically disposed with respect to the connection portion 430; thus, the power supply frame can be ensured to be relatively stable.

In one structure in which the control device and the power supply are disposed in the accommodating cavity 261, the avoidance opening 440 is used for avoiding the wheel body 100 connected with the power supply frame, and the power supply frame is provided with power supply accommodating cavities at two ends; this makes it possible to minimize the volume of the running apparatus. Those skilled in the art can configure the shape of the escape opening 440 according to other structures that are actually needed for the escape. Fig. 23 and 24 exemplarily show that the cross-sectional shape of the escape opening 440 is arc-shaped; so as to avoid the cylindrical wheel body 100.

In some alternative implementations of embodiments of the present application, as shown in fig. 25 to 27, the running apparatus further includes an elastic wrap and a tread member 520 disposed on a top side of the frame 200; the elastic wrapping member includes an anti-slip portion 540 and a wrapping portion 530 located at the periphery of the elastic wrapping member, the anti-slip portion 540 is located at the top side of the wrapping portion 530, and the anti-slip portion 540 and the wrapping portion 530 form a wrapping space; a first clamping groove 531 is formed on the inner side of the wrapping part 530; the periphery of the frame 200 and the periphery of the tread 520 are respectively matched with the inner side of the wrapping part 530, and the periphery of the frame 200 is provided with a first flange 511 matched with the first clamping groove 531; the wrapping part 530 wraps the periphery of the frame 200 and the periphery of the tread 520, and the wrapping part 530 is in interference fit with the periphery of the frame 200 and the periphery of the tread 520 respectively; the first flange 511 is located in the first clamping groove 531, the tread 520 is located in the wrapping space, and the top side of the tread 520 is attached to the anti-slip portion 540.

In this embodiment, the shape and structure of the elastic wrap may be set by those skilled in the art according to actual needs, as long as the elastic wrap includes the anti-slip part 540 and the wrap part 530 located at the periphery of the elastic wrap. The material of the elastic wrapping is an elastic material. For example, the material of the elastic wrapping piece can be rubber, elastic plastic, or other elastic polymer materials.

In this embodiment, the shape and structure of the first card slot 531 may be set according to actual needs by those skilled in the art. Fig. 26 exemplarily shows that the cross-sectional shape of the first card groove 531 is rectangular. Fig. 27 exemplarily shows that the cross-sectional shape of the first card groove 531 is L-shaped.

In this embodiment, as shown in fig. 25, the anti-slip part 540 is located at the top side of the wrapping part 530, and the anti-slip part 540 and the wrapping part 530 form a wrapping space. When contacting the pedal covered by the elastic covering member, the pedal can be contacted with the anti-slip part 540, and the anti-slip part 540 has elasticity, so that the pedal can be prevented from sliding, and is more comfortable to contact with the elastic anti-slip part 540, so that the user experience is better. Here, the anti-slip part 540 and the wrap part 530 may be integrally formed; or, the anti-slip part 540 is connected with the wrapping part 530 through a connection structure; or, the anti-slip part 540 is adhered to the wrap part 530.

In this implementation manner, the elastic wrapping member wraps the periphery of the frame 200 and the periphery of the tread member 520 through the wrapping portion 530, and the wrapping portion 530 is in interference fit with the periphery of the frame 200 and the periphery of the tread member 520, respectively; thus, the periphery of the frame 200 and the periphery of the tread member 520 can be tightly wrapped by the elasticity of the wrapping portion 530; the first flange 511 is located in the first clamping groove 531, and the wrapping portion 530 further clamps the frame 200 by the first flange 511 being located in the first clamping groove 531, so as to prevent the frame 200 from being separated from the wrapping portion 530; meanwhile, when the tread member 520 is mounted on the frame 200, the wrapping portion 530 of the elastic wrapping member is only required to wrap the periphery of the frame 200 and the periphery of the tread member 520, and the first flange 511 is located in the first clamping groove 531, so that the operation is simple and the time is saved; and the elastic wrapping piece has elasticity, so that the elastic wrapping piece is not easy to damage.

It will be appreciated by those skilled in the art that the frame perimeter and the tread element 520 perimeter are respectively matched to the inside of the wrapping 530, meaning that the shape and configuration of the inside of the wrapping 530 matches both the shape and configuration of the frame 200 perimeter and the shape and configuration of the tread element 520 perimeter, such that the elastic wrapping secures the tread element 520 to the frame by the elasticity of the wrapping 530 wrapping the frame perimeter and the tread element 520 perimeter.

Here, the first flange 511 is matched with the first card groove 531, that is, the cross-sectional shape of the first flange 511 is matched with the cross-sectional shape of the first card groove 531. The cross-sectional shape of the first flange 511 may be set according to actual needs as long as it matches the cross-sectional shape of the first card groove 531. For example, the cross-sectional shape of the first card groove 531 may be a trapezoid, and correspondingly, the cross-sectional shape of the first flange 511 is a trapezoid; the cross-sectional shape of the first catching groove 531 may be triangular, and correspondingly, the cross-sectional shape of the first flange 511 is triangular. Fig. 26 exemplarily shows that the cross-sectional shape of the first card groove 531 is rectangular, and correspondingly, the cross-sectional shape of the first flange 511 is rectangular; so as to facilitate processing and manufacturing. Fig. 27 exemplarily shows that the cross-sectional shape of the first card groove 531 is L-shaped, and correspondingly, the cross-sectional shape of the first flange 511 is L-shaped; so as to facilitate processing and manufacturing.

In this embodiment, the shape and structure of the tread member 520 may be set by those skilled in the art according to actual needs, as long as the shape and structure of the periphery of the tread member 520 matches the shape and structure of the inner side of the wrapping portion 530. In order to more firmly wrap the wrapping portion 530 around the periphery of the tread member 520, as shown in fig. 26, a second clamping groove 532 may be further provided on the inner side of the wrapping portion 530, the periphery of the tread member 520 is provided with a second flange 521 matching with the second clamping groove 532, and when the wrapping portion 530 wraps around the periphery of the tread member 520, the second flange 521 is located in the second clamping groove 532; to prevent the wrap 530 from being separated from the periphery of the tread 520. Of course, the tread element 520 may not have the second flange 521 around its periphery.

Here, the sectional shape of the second card slot 532 may be set according to actual needs. For example, the second card slot 532 may have a trapezoidal cross section or a triangular cross section. Fig. 26 exemplarily shows that the second card slot 532 has a rectangular cross section for easy manufacturing.

Here, the second flange 521 is matched with the second card slot 532, that is, the sectional shape of the second flange 521 is matched with the sectional shape of the second card slot 532. The cross-sectional shape of the second flange 521 may be set according to actual needs as long as it matches the cross-sectional shape of the second card slot 532. For example, the cross-sectional shape of the second card slot 532 is trapezoidal, and correspondingly, the cross-sectional shape of the second flange 521 may be trapezoidal; the second card slot 532 may have a triangular cross-sectional shape, and correspondingly, the second flange 521 may have a triangular cross-sectional shape. Fig. 26 exemplarily shows that the cross-sectional shape of the second card slot 532 is rectangular, and correspondingly, the cross-sectional shape of the second flange 521 is rectangular; so as to facilitate processing and manufacturing.

It should be understood by those skilled in the art that the cross-sectional shape of the second card slot 532 and the cross-sectional shape of the first card slot 531 may be the same or different. Fig. 26 exemplarily shows that the cross-sectional shape of the second card slot 532 and the cross-sectional shape of the first card slot 531 are rectangular for easy manufacturing.

In this embodiment, as shown in fig. 25 and 27, the driving apparatus may further include a fixing frame 560 matched with the bottom side of the wrap 530; the outer side of the wrapping part 530 is further provided with a third clamping groove 533, and a third flange 561 matched with the third clamping groove 533 is arranged on the inner side of the fixing frame 560; the fixing frame 560 is clamped outside the bottom side of the wrapping portion 530, the fixing frame 560 is in interference fit with the bottom side of the wrapping portion 530, and the third flange 561 is located in the third clamping groove 533; therefore, the bottom side of the wrapping portion 530 can be clamped through the fixing frame 560, so that the elastic wrapping member tightly wraps the periphery of the frame 200 and the periphery of the tread member 520, the wrapping performance is better, and the connection is more reliable. Fig. 27 illustrates that the third flange 561 is positioned in the third clamping groove 533 when the elastic wrapping member wraps the periphery of the frame 200 and the periphery of the tread member 520, so that the fixing frame 560 is prevented from being separated from the frame 200, and the fixing frame 560 is more reliably connected with the frame 200.

Here, the fixing frame 560 is matched with the bottom side of the packing part 530, i.e., the structure and shape of the fixing frame 560 is matched with the structure and shape of the bottom side of the packing part 530. The structure and shape of the fixing frame 560 can be set by those skilled in the art according to actual needs, so long as the structure and shape of the bottom side of the wrapping portion 530 are matched. Fig. 27 exemplarily shows that when the wrapping portion 530 is V-shaped, the fixing frame 560 is V-shaped correspondingly.

Here, the cross-sectional shape of the third clamping groove 533 may be set according to actual needs. For example, the third clamping groove 533 may have a U-shaped cross section or a triangular shape. Fig. 27 exemplarily shows that the third clamping groove 533 has a rectangular cross section for easy manufacture. For another example, the distance between the third clamping groove 533 and the bottom side surface of the wrapping portion 530 may be smaller than the distance between the first clamping groove 531 and the bottom side surface of the wrapping portion 530, or may be larger than the distance between the first clamping groove 531 and the bottom side surface of the wrapping portion 530. Fig. 27 exemplarily shows that the distance between the third clamping groove 533 and the bottom side of the wrapping portion 530 is smaller than the distance between the first clamping groove 531 and the bottom side of the wrapping portion 530, so that the wrapping property of the wrapping portion 530 is better.

Here, the third flange 561 is matched with the third catching groove 533, i.e., the sectional shape of the third flange 561 is matched with the sectional shape of the third catching groove 533. The cross-sectional shape of the third flange 561 may be provided according to actual needs as long as it matches the cross-sectional shape of the third clamping groove 533. For example, the cross-sectional shape of the third clamping groove 533 is U-shaped, and correspondingly, the cross-sectional shape of the third flange 561 may be U-shaped; the cross-sectional shape of the third catching groove 533 is triangular, and correspondingly, the cross-sectional shape of the third flange 561 may be triangular. Fig. 27 exemplarily shows that the cross-sectional shape of the third clamping groove 533 is rectangular, and correspondingly, the cross-sectional shape of the third flange 561 is rectangular; so as to facilitate processing and manufacturing.

Here, in order to prevent the fixing structure from being broken by the contact of the fixing frame 560 with other objects, the top side of the wrap 530 may protrude from the outer side of the fixing frame 560; thus, when the fixing structure is dropped, the top side of the elastic wrapping part 530 is contacted with other objects, so that the fixing frame 560 is effectively protected. Of course, the top side of the wrapping portion 530 may not protrude from the outer side of the fixing frame 560.

Here, when the tread member 520 is mounted on the frame 200, the wrapping portion 530 of the elastic wrapping member is only required to wrap the periphery of the frame 200 and the periphery of the tread member 520, and the fixing frame 560 is only required to be fastened to the outer side of the wrapping portion 530, so that the operation is simple and the connection is reliable.

In some alternative implementations of the embodiments of the present application, as shown in fig. 22 and 28, the driving apparatus further includes a collision avoidance device 600; the bump guard 600 includes: a support 620 and a buffer 610; the support 620 includes a wrap core 621 located outside the support 620; the buffer member 610 has elasticity, the buffer member 610 is wrapped around the wrapping core 621, and the buffer member 610 is connected to the support member 620 by being wrapped around the wrapping core 621; the inner side of the supporting member 620 is connected to the front end of the frame 200; and/or, the inside of the support 620 is connected to the rear end of the frame 200.

In the present embodiment, the support 620 serves as a support skeleton for supporting the buffer 610. The shape and structure of the support 620 may be set according to actual needs by those skilled in the art as long as the support 620 includes a wrap core 621 positioned outside the support 620. For example, the support 620 may have a trapezoid shape, a triangle shape, or a rectangle shape. Here, the wrap core 621 refers to a portion of the support 620 wrapped by the buffer 610. The shape and configuration of the wrap core 621 may be provided as desired by those skilled in the art. For example, the shape of the wrapping core 621 may be a bar shape or a column shape. Fig. 28 exemplarily shows that the shape of the support 620 is similar to a U shape, the wrap core 621 is disposed along the circumference of the support 620, and the wrap core 621 is U-shaped.

Here, the supporter 620 further includes a shielding part 622 coupled to the inside of the wrap core 621. The shielding portion 622 is used for connecting with the frame 200, and a person skilled in the art can set the shape and structure of the shielding portion 622 according to actual needs. For example, as shown in fig. 28, the shielding portion 622 may further be provided with a fixing hole 627, and the anti-collision device 600 is connected to the frame 200 through the fixing hole 627. For another example, the shielding portion 622 may further be provided with a buckle, and the bump guard 600 is connected to the frame 200 through the buckle.

In the present embodiment, a buffer 610 is used to wrap the wrap core 621 outside the support 620. The shape and structure of the buffering member 610 may be provided according to actual needs by those skilled in the art, as long as the buffering member 610 can be wrapped outside the wrapping core 621. For example, as shown in fig. 28, the buffer member 610 may be provided with a wrapping slot 611 on the inner side, and the wrapping slot 611 wraps the wrapping core 621; this can increase the wrapping area of the cushioning members 610 and the wrapping core 621, so that the cushioning members 610 can be prevented from being detached from the wrapping core 621. As another example, as shown in fig. 28, the supporting member 620 has a U shape, and the buffering member 610 has a U shape; the wrapping core 621 is circumferentially disposed along the support 620, and the wrapping core 621 is U-shaped; correspondingly, the wrapping clamping groove 611 is circumferentially arranged along the buffer member 610, and the wrapping clamping groove 611 is U-shaped; in this way, the cushioning member 610 wraps the wrapping core 621 on the outer side of the U-shaped supporting member 620, so that the bumper 600 contacts the cushioning member 610 as much as possible when colliding with other structures, and the elastic cushioning member 610 absorbs the impact force of the collision, thereby effectively reducing the risk of the bumper 600 being damaged. As another example, as shown in fig. 29, the cushion is provided with a flange portion 612 extending toward the bottom side of the frame, and a collision avoidance space 601 is formed between the flange portion 612 and the frame; the frame 200 further comprises a brake lamp 602 and a lamp shade 603, wherein the lamp shade 603 is covered outside the brake lamp 602, and the brake lamp 602 and the lamp shade 603 are both positioned in the anti-collision space 601; so that the brake lamp 602 and the lamp housing 603 are protected by the buffer 610, and other structures are prevented from colliding with the brake lamp 602 and the lamp housing 603.

In the embodiment of the application, after the running device is started, the running device can enter a self-balancing mode. During travel, the driving device has a high sensitivity to the pitch angle (the position of the carriage), i.e. a high acceleration can be obtained by a low pitch angle. However, in the process of getting on the vehicle, the situation that the initial pitching angle is too large, the acceleration is too fast and the balance vehicle is out of control is easily caused; in order to avoid such a situation where acceleration is too fast and control is lost, it is necessary to provide a status switching device, i.e. the sensitivity of the control system to the pitch angle is low in case of no standing person. A state switching device is exemplarily shown below.

For example, in one state switching device, the running apparatus further includes an elastic tongue, an actuation button, and a pedal 520 provided on the top side of the frame 200; the elastic tongue is arranged at the bottom side of the pedal 520, and the starting button is arranged between the frame 200 and the elastic tongue; the control device is electrically connected with the starting button; when the pedal 520 is pressed against the start button by the elastic tongue by an external force, the control device detects the working state of the start button; the working states of the starting button comprise a pressing state and a bouncing state; so that the control device drives the wheel body to rotate through the power device based on the working state of the starting button and the pose information of the frame.

Here, the driver may stand on the tread member 520, and when the tread member 520 is pressed against the start button by the elastic tongue to make the working state of the start button in the pressed state, the control device controls the driving apparatus to have high sensitivity to the pitching angle (the pose of the frame); when the driver leaves the pedal 520 and the elastic tongue is reset to make the operating state of the start button in the sprung state, the control device controls the driving apparatus to have low sensitivity to the pitching angle (the position of the frame).

In this embodiment of the present application, the traveling device may be a balance car or a robot.

The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A running apparatus, characterized in that the running apparatus comprises: the device comprises a frame, a wheel body, a sensor, a power device, a control device and a power supply;

the sensor detects pose information of the frame and sends the pose information to the control device so that the control device drives the wheel body to rotate through the power device based on the pose information;

the running equipment further comprises an elastic wrapping piece and a treading piece arranged on the top side of the frame; the elastic wrapping piece comprises an anti-slip part and a wrapping part positioned at the periphery of the elastic wrapping piece, the anti-slip part is positioned at the top side of the wrapping part, and a wrapping space is formed by the anti-slip part and the wrapping part; a first clamping groove is formed in the inner side of the wrapping part;

The wrapping part wraps the periphery of the frame and the periphery of the pedal, and the wrapping part is in interference fit with the periphery of the frame and the periphery of the pedal respectively; the first flange is positioned in the first clamping groove, the treading piece is positioned in the wrapping space, and the top side of the treading piece is attached to the anti-skid part;

a second clamping groove is further formed in the inner side of the wrapping part, and a second flange matched with the second clamping groove is arranged on the periphery of the treading piece; the second flange is positioned in the second clamping groove;

the running equipment further comprises a fixing frame matched with the bottom side of the wrapping part;

2. The running apparatus according to claim 1, wherein the frame further comprises a front inclined surface provided at a front end of the frame, and a rear inclined surface provided at a rear end of the frame; the front inclined surface is close to the accommodating space along the direction of being close to the bottom side surface of the frame; the rear inclined surface is close to the accommodating space along the direction close to the bottom side surface of the frame.

3. The running apparatus according to claim 2, wherein a gap exists between the rear inclined surface and a connection surface between the first support surface and the second support surface when the frame falls from the first support surface to the second support surface during running; wherein a height difference exists between the first bearing surface and the second bearing surface.

4. The running apparatus according to claim 2, wherein the frame top side is provided with a receiving chamber;

5. The running apparatus according to claim 4, wherein when the top side of the frame is further provided with a first opening communicating with the accommodation chamber, the frame further includes a first cover plate mated with the first opening, the first cover plate covers the first opening, and a first waterproof structure is provided between a wall forming the first opening and the first cover plate; or alternatively, the first and second heat exchangers may be,

6. The running apparatus according to claim 4, further comprising a power supply rack provided in the accommodation chamber, the power supply rack including a first end portion, a second end portion opposite to the first end portion, a connecting portion connecting the first end portion and the second end portion;

7. The running apparatus according to claim 6, wherein a side of the first end opposite to the second end is adjacent to the escape opening in a direction approaching a bottom side of the first end; the side surface of the second end part, which is opposite to the first end part, is close to the avoidance opening along the direction of being close to the bottom side surface of the second end part.

8. The running apparatus according to claim 1, wherein the frame further comprises two side walls provided on both sides of the frame, and receiving slits provided on bottom sides of the two side walls, respectively; the two side walls are opposite side walls forming the accommodating space;

9. The running apparatus according to claim 1, further comprising an elastic tongue, an actuation button, and a tread member provided on a top side of the frame;

10. The running apparatus according to claim 1, further comprising a bump guard;

11. The running apparatus according to claim 10, wherein a wrap-around groove is provided inside the buffer, the wrap-around groove being wrapped around the wrap-around core;