CN109808529B - A walking unit of an unmanned water spray robot and method thereof - Google Patents

Abstract

The invention discloses a walking unit of an unmanned water-spraying robot, which includes a walking body. Crawler wheel units are provided on both sides of the walking body. A charging device is hollowed out on the rear end wall of the walking body. The head is probed out of the outlet. A rack drive motor is fixedly installed in the inner cavity of the walking body. An output gear is synchronously connected to the output shaft of the rack drive motor. The structure of the invention is simple, and the charging connector can move synchronously with the guide rail. Move outward until the charging head probe port is protruded. After the battery is fully charged, restart the rack drive motor, thereby causing the output gear to begin to rotate counterclockwise, and then make the charging connector move inward synchronously with the guide rail to retract the charging head probe port. inside, thereby completing the separation of the charging connector from the charging connector of the charging pile, and realizing the charging connector to be retracted into the interior of the walking body, thus preventing the unmanned water spray robot from getting wet with the charging connector during the spraying work.

Description

A walking unit of an unmanned water spray robot and method thereof

Technical field

The invention belongs to the field of walking robots.

Background technique

Battery-powered unmanned sprinkler robots often experience power outages during walking and working. They need to have the function of automatically returning to a predetermined charging station for charging. Since the sprinkler robot is surrounded by a large amount of spray during its operation, Water mist, so the charging connector is completely exposed and can easily cause damage and short circuit.

Contents of the invention

Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a walking unit of an unmanned water spray robot that can automatically detect the charging connector and a method thereof.

Technical solution: In order to achieve the above object, a walking unit of an unmanned water spray robot of the present invention includes a walking body, and crawler wheel units are respectively provided on both sides of the walking body; the tail end wall of the walking body is The hollow is provided with a charging head probe opening. A rack drive motor is fixedly installed in the inner cavity of the walking body. An output gear is synchronously connected to the output shaft of the rack drive motor; the inner cavity of the walking body is also fixedly mounted with a rack drive motor. A horizontal guide rail groove, a guide rail is movable in the guide rail groove, a rack is integrally connected to the guide rail along the length direction, the tooth body on the rack is meshed with the output gear, and the guide rail is close to the charging One end of the head probe outlet is connected to a charging connector through an elastic component, and the charging connector can move outward synchronously with the guide rail to protrude out of the charging head probe outlet.

Furthermore, the automatic charging method of the walking unit of the unmanned water spray robot can promptly notify the spraying work when the battery is about to be exhausted during the working process of the walking body, and immediately walk to the location of the nearest battery charging pile; and then fine-tune Position the walking body so that the charging head probe port at the rear end of the walking body is aligned with the charging connector socket of the charging pile, then start the rack drive motor, and then the output gear begins to rotate clockwise. At this time, the teeth on the rack are in contact with the output The gears make a meshing motion, so that the rack drives the guide rail to move along the extension direction of the guide rail groove, and then the charging connector moves outward synchronously with the guide rail to the charging head probe outlet, and then the charging connector protruding out of the charging head probe outlet is just inserted. On the charging connector of the charging pile, the charging effect is achieved; after the battery is fully charged, the rack drive motor is restarted, so that the output gear begins to rotate counterclockwise, and the charging connector moves inward synchronously with the guide rail to retract the charging head. Exploring the inside of the outlet, the separation of the charging connector from the charging connector of the charging pile is completed, and the charging connector is retracted into the walking body, thus preventing the unmanned water spray robot from getting wet with the charging connector during the spraying work.

Further, the track wheel unit includes a rubber track; a plurality of anti-slip protrusions are provided on the outside of the rubber track, and each of the anti-slip protrusions is arrayed equidistantly along the outline direction of the rubber track; the inner surface of the rubber track is There are a number of meshing lugs arranged in an equidistant array along the contour direction in the middle of the side; the inside of the rubber track is provided with a track drive wheel, a tensioning guide wheel, a roller, a roller support connecting rod, an elastic shock absorber, and a shock absorber Support and supporting sprocket wheels; the track driving wheel and the tensioning guide wheel are respectively tensioned at the front and rear ends of the inside of the rubber track, and the track driving wheel and the tensioning guide wheel are meshed with a number of the inside surfaces of the rubber track The convex joints are meshed; the supporting sprocket is rollingly connected to the lower side of the upper section of the rubber crawler track; four supporting wheels equidistantly arranged in the front and rear direction are rollingly connected to the upper side of the lower section of the rubber crawler track;

Each of the track wheels corresponds to a track wheel support link, and the length direction of the track wheel support link forms an angle of 45 degrees with the ground; the upper end of the track wheel support link passes through the tenth The hinge piece is hingedly connected to the side wall of the walking body, and the lower end of the support connecting rod of the supporting wheel is connected to the corresponding supporting wheel through coaxial rotation of the rotating shaft; the middle part of the supporting connecting rod of the supporting wheel is fixedly installed with a tenth A hinged piece; the lower end of the vertical elastic shock absorber is hinged on the eleventh hinge, the upper end of the elastic shock absorber is hingedly connected to the shock absorber support, and the shock absorbing support is fixedly connected to the The side wall of the walking body;

The walking body is also provided with a crawler drive motor and a reducer. The output end of the crawler drive motor is connected to the power input end of the reducer. The power output end of the reducer is driven and connected to all the parts through a second coupling. The track drive wheel.

Beneficial effects: The structure of the present invention is simple. The charging connector can move outward synchronously with the guide rail until the charging head is probed out of the outlet. After the battery is full, the rack drive motor is restarted, thereby causing the output gear to start to rotate counterclockwise, and then Make the charging connector move inward synchronously with the guide rail to retract the charging head probe opening, thereby completing the separation of the charging connector and the charging connector of the charging pile, and realizing the charging connector to be retracted into the walking body, avoiding unmanned spraying The water robot wets the charging connector during sprinkler work.

Description of the drawings

Figure 1 is a schematic diagram of the structure of the charging head;

Figure 2 is a schematic diagram of the charging head, elastic parts, and rack;

Figure 3 is a partial structural diagram of Figure 2;

Figure 4 is a schematic diagram of the overall structure of the robot;

Figure 5 is a schematic structural diagram of the actuator height adjustment mechanism and water spray actuator;

Figure 6 is a schematic structural diagram of the water spray actuator;

Figure 7 is a schematic diagram of Figure 6 with the liquid outlet pipe hidden;

Figure 8 is a first schematic diagram of the inclination angle adjustment of the gear bracket;

Figure 9 is a second schematic diagram of the inclination angle adjustment of the gear bracket;

Figure 10 is a front view of the crawler traveling unit;

Figure 11 is a schematic diagram of the track wheel unit;

Figure 12 is a schematic diagram of the internal structure of the crawler wheel unit with the external crawler tracks hidden;

Figure 13 is a top view of the crawler traveling unit;

Figure 14 is a schematic structural diagram of the water supply system.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

In order to better introduce the technological progress of the present invention, this embodiment is introduced in conjunction with the robot as a whole. As shown in Figures 1 to 14, an unmanned water spray robot includes a crawler-type walking unit 41. The crawler-type walking unit 41 A water tank unit 38 is provided on the water tank unit 38, and a water injection pipe 29 is also provided on the water tank unit 38; it also includes a water spray actuator 26. The water outlet end of the water tank unit 38 and the water inlet end of the water spray actuator 26 pass through the water supply system. Connection; An actuator height adjustment mechanism 27 is also installed on the upper side of the water tank unit 38, and the water spray actuator 26 is installed on the actuator height adjustment mechanism 27.

A top platform 101 is fixedly installed on the upper side of the water tank unit 38; the actuator height adjustment mechanism 27 includes a first lifting frame 66 and a second lifting frame 73; the lower end of the first lifting frame 66 passes through a first hinge. 63 is hinged with the front end of the top platform 101; the upper end of the first lifting frame 66 and the lower end of the second lifting frame 73 are hinged with the second hinge 71; the water spray actuator 26 is installed on the On the second lifting frame 73;

The water supply system includes a water tank outlet pipe 43, a high-pressure water pump 46, a riser pipe 67, a diverter pipe 74, a battery valve 75 and a water outlet pipe 76; the water outlet end of the water tank unit 38 is connected to the high-pressure water pump through the water tank outlet pipe 43. The water inlet end of 46, the water outlet end of the high-pressure water pump 46 is connected to the water inlet end of the riser pipe 67, and the water outlet end of the riser pipe 67 is connected to the water inlet ends of the two shunt pipes 74;

The two battery valves 75 are fixedly installed in parallel on the second lifting frame 73 , and the water outlets of the two shunt pipes 74 are connected to the water inlets of the two battery valves 75 respectively; The water inlet ends of the two water outlet pipes 76 are respectively connected to the liquid inlet ends of the two water outlet pipes 76, and the water outlet ends of the two water outlet pipes 76 are respectively connected to the water inlet ends of several high-pressure nozzles 79 on the water spray actuator 26; the riser pipe 67 and the water outlet pipe 76 are all liquid-conducting hose structures;

The first hinge seat 59 is fixedly installed on the tail of the top platform 101, and the second hinge seat 64 is also fixedly installed on the first lifting frame 66; the actuator height adjustment mechanism 27 also includes a first push rod linear motor. 60 and the second linear push rod linear motor 69; the tail end of the first linear push rod motor 60 is hingedly connected to the first hinge base 59 through a third hinge 58; The end of the first linear push rod 61 is hingedly connected to the second hinge seat 64 through a fourth hinge 62; the rear end of the second linear push rod linear motor 69 is hingedly connected to the second hinge 64 through a fifth hinge 65. The hinge base 64; the end of the second linear push rod 70 of the second linear push rod linear motor 69 is hingedly connected to the middle position of the second lifting frame 73 through the sixth hinge component 72.

The water spray actuator 26 includes an inclined gear bracket 83. The short end of the gear bracket 83 is indirectly connected to the top of the second lifting bracket 73 through a seventh hinge 078; the top of the second lifting bracket 73 is A screw motor 92 is also fixedly installed at the position. The output end of the screw motor 92 is driven and connected to a screw 94 through a first coupling 93. It also includes a displacement block 90 perpendicular to the screw 94. The displacement The block 90 is provided with a screw threaded hole, and the screw 94 is drivingly connected to the screw threaded hole; two guide rods 89 are symmetrically and fixedly connected to both sides of the displacement block 90 ; the second lifting frame 73 Two guide grooves 8 are symmetrically arranged in the beam body on both sides. The ends of the two guide rods 89 can respectively extend into the two guide grooves 8 , and the guide rods 89 can move along the length direction of the guide groove 8 Sliding; it also includes a connecting rod 91, the lower end of which is hingedly connected to the upper end of the displacement block 90 through an eighth hinge 080; the upper end of the connecting rod 91 is hingedly connected to the gear bracket through a ninth hinge 079 The upper end of 83;

A left gear 86 and a right gear 87 are respectively rotatably installed in the gear bracket 83, and the left gear 86 and the right gear 87 mesh with each other; both sides of the gear bracket 83 also include mutually symmetrical left driving arms 78 and right driving arms. 84. The roots of the left driving arm 78 and the right driving arm 84 are respectively fixedly connected to the left gear 86 and the right gear 87; both sides of the gear bracket 83 also include mutually symmetrical left link arms 77 and right link arms. 85. The roots of the left link arm 77 and the right link arm 85 are respectively hingedly connected to the gear bracket 83; the gear bracket 83 is also fixedly installed with a gear drive motor 82, and the gear drive motor 82 is drivingly connected to the gear bracket 83. Left gear 86 or right gear 87;

A left water spray seat 81.1 and a right water spray seat 81.2 are also symmetrically arranged on both sides of the gear bracket 83. The ends of the left driving arm 78 and the left link arm 77 are respectively hingedly connected to the two ends of the left water spray seat 81.1. , the ends of the right driving arm 84 and the right link arm 85 are respectively hingedly connected to the two ends of the right water spray seat 81.2; the left water spray seat 81.1 and the right water spray seat 81.2 are respectively provided with a number of high-pressure nozzles 79 , the nozzle 80 of each high-pressure nozzle 79 is arranged outward.

The crawler-type traveling unit 41 includes a traveling body 3, and the water tank unit 38 is fixed above the traveling body 3; crawler wheel units 2 are respectively provided on both sides of the traveling body 3;

In this embodiment, the rear end wall 17 of the traveling body 3 is hollowed out with a charging head detection port 16. A rack drive motor 19 is fixedly installed in the inner cavity of the traveling body 3. The output shaft of the rack drive motor 19 An output gear 20 is synchronously connected to the top; the inner cavity of the traveling body 3 is also fixedly installed with a horizontal guide rail groove 22, and a guide rail 24 is movable in the guide rail groove 22. The guide rail 24 is integrally connected along the length direction. Rack 50, the tooth body 53 on the rack 50 is meshed with the output gear 20, and the end of the guide rail 24 close to the charging head detection port 16 is connected to the charging connector 15 through an elastic member 54. The charging connector 15 It can move outward synchronously with the guide rail 24 until the charging head detection port 16 is exposed.

Further, when the walking body 3 encounters a situation where the battery is about to run out, the spraying work is promptly notified, and the walking body 3 immediately walks to the location of the nearest battery charging pile; and then the position of the walking body 3 is fine-tuned so that the tail of the walking body 3 The charging head probing port 16 of the end is aligned with the charging connector socket of the charging pile, and then the rack drive motor 19 is started, thereby causing the output gear 20 to start to rotate clockwise. At this time, the tooth body 53 on the rack 50 meshes with the output gear 20 , and then the rack 50 drives the guide rail 24 to move along the extension direction of the guide rail groove 22, and then the charging connector 15 moves outward synchronously with the guide rail 24 to the charging head detection port 16, and then the charging head detection port 16 is detected for charging. The connector 15 is just inserted into the charging connector of the charging pile to achieve the charging effect; after the battery is fully charged, the rack drive motor 19 is restarted, causing the output gear 20 to start to rotate counterclockwise, thereby synchronizing the charging connector 15 with the guide rail 24 Move inward to retract the charging head probe opening 16, thereby completing the separation of the charging connector 15 from the charging connector of the charging pile, and realizing the charging connector 15 to be retracted into the walking body 3, thus preventing the unmanned water spraying robot from spraying water. The charging connector 15 will get wet during the shower work.

The track wheel unit 2 includes a rubber track 12; a number of anti-skid protrusions 13 are provided on the outside of the rubber track 12, and each of the anti-slip protrusions 13 is arrayed equidistantly along the outline direction of the rubber track 12; the rubber There are a number of meshing lugs 11 arranged equidistantly along the contour direction in the middle of the inner side of the crawler track 12; the inner side of the rubber crawler track 12 is provided with a crawler drive wheel 1, a tensioning guide wheel 14, a roller 9, and a roller support connecting rod. 8. Elastic shock absorber 4, shock absorber support 5 and supporting sprocket 6; the crawler drive wheel 1 and the tensioning guide wheel 14 are respectively tensioned at the front and rear ends of the inside of the rubber crawler track 12, and the crawler drive wheel 1 1 and the tensioning guide wheel 14 are meshed with a number of meshing lugs 11 on the inner surface of the rubber crawler track 12; the supporting sprocket 6 is rollingly connected to the lower side of the upper belt 14.1 of the rubber crawler track 12; four edges The rollers 9 arranged equidistantly in the front and rear directions are rollingly connected to the upper side of the lower belt 14.2 of the rubber track 12;

Each of the rollers 9 corresponds to a roller support connecting rod 8, and the length direction of the roller support connecting rod 8 forms an angle of 45 degrees with the ground; The upper end is hingedly connected to the side wall of the traveling body 3 through the tenth hinge 7, and the lower end of the roller support link 8 is connected to the corresponding roller 9 through coaxial rotation of the rotating shaft; the roller support link An eleventh hinge 10 is fixedly installed in the middle of the rod 8; the lower end of the vertical elastic shock absorber 4 is hinged on the eleventh hinge 10, and the upper end of the elastic shock absorber 4 is hingedly connected to the damper. Shock absorber support 5, the shock absorbing support 5 is fixedly connected to the side wall of the walking body 3;

The walking body 3 is also provided with a crawler drive motor 39 and a reducer 39. The output end of the crawler drive motor 39 is connected to the power input end of the reducer 39. The power output end of the reducer 39 passes through the second The coupling 40 is drivingly connected to the crawler drive wheel 1 .

The third hinge part 58 is A, the fourth hinge part 62 is B, the first hinge part 63 is C; the fifth hinge part 65 is a, the sixth hinge part 72 is b, and the The second hinge 71 is c; the triangle formed by the connection line between ABC is triangle D, and the triangle formed by the connection line between abc is triangle d; it is satisfied that triangle D and triangle d are congruent.

The operation method, process and technological progress of this plan are summarized:

If the height of the water spray actuator 26 needs to be lowered or raised, the first linear push rod motor 60 and the second linear push rod linear motor 69 are simultaneously controlled to make the first linear push rod 61 and the second linear push rod 70 The first linear push rod 61 and the first linear push rod 61 make a synchronous shortening or synchronous extending movement, thereby causing the water spray actuator 26 to move downward or upward, thereby lowering or raising the height of the water spray actuator 26. The two linear push rods 70 are synchronously shortened or synchronously extended. The triangle D formed by the connection between ABC and the triangle d formed by the connection between abc still maintains a congruent state. According to its structure, As long as the first linear push rod 61 and the second linear push rod 70 are synchronously shortened or synchronously extended, the inclination angle of the second lifting frame 73 and the ground can always remain unchanged, thereby realizing the change of the water spray actuator. 26 while not changing the attitude of the water spray actuator 26;

The first degree of freedom adjustment method of the water spray actuator 2: control the screw motor 92 to rotate the screw 94, and then the rotation of the screw 94 drives the displacement block 90 to displace along the screw 94. At the same time, the two sides of the displacement block 90 The guide rods 89 on the side slide adaptively in the two guide grooves 8; the movement of the displacement block 90 drives the gear bracket 83 to rotate along the seventh hinge 078 through the connecting rod 91, thereby changing the attitude of the gear bracket 83, thereby realizing the control of each high voltage. The spray angle of the nozzle 80 of the nozzle 79 is adjusted;

The second degree of freedom movement method of the water spray actuator 2: controlling the gear drive motor 82 to drive the left gear 86 or the right gear 87 to perform periodic back-and-forth meshing motion, thereby causing the nozzle 80 of each high-pressure nozzle 79 to swing back and forth to a certain extent. , thereby increasing its spray range and uniformity.

The above are only the preferred embodiments of the present invention. It should be pointed out that those of ordinary skill in the art can make several improvements and modifications without departing from the principles of the present invention. These improvements and modifications can also be made. should be regarded as the protection scope of the present invention.

Claims (3)

1. The utility model provides a walking unit of unmanned water spray robot which characterized in that: the crawler wheel type walking machine comprises a walking machine body (3), wherein crawler wheel units (2) are respectively arranged on two sides of the walking machine body (3); a charging head detection outlet (16) is hollowed out on a tail end wall body (17) of the walking body (3), a rack driving motor (19) is fixedly arranged in an inner cavity of the walking body (3), and an output gear (20) is synchronously connected to an output shaft of the rack driving motor (19); the inner cavity of the walking machine body (3) is fixedly provided with a horizontal guide rail groove (22), a guide rail (24) is movably arranged in the guide rail groove (22), a rack (50) is integrally connected to the guide rail (24) along the length direction, a tooth body (53) on the rack (50) is meshed with the output gear (20), one end, close to a charging head detection outlet (16), of the guide rail (24) is connected with a charging joint (15) through an elastic part (54), and the charging joint (15) can synchronously move outwards along with the guide rail (24) until the charging head detection outlet (16) is detected;

the device also comprises a water tank unit (38), a water spraying actuator (26), a top platform (101) and an actuator height adjusting mechanism (27);

the actuator height adjusting mechanism (27) comprises a first lifting frame (66) and a second lifting frame (73); the lower end of the first lifting frame (66) is hinged with the front end of the top platform (101) through a first hinge piece (63); the upper end of the first lifting frame (66) is hinged with the lower end of the second lifting frame (73) through a second hinge (71); the water spraying actuator (26) is arranged on the second lifting frame (73);

the tail part of the top platform (101) is fixedly provided with a first hinging seat (59), and the first lifting frame (66) is also fixedly provided with a second hinging seat (64); the device also comprises a first push rod linear motor (60) and a second push rod linear motor (69); the tail end of the first push rod linear motor (60) is hinged with the first hinge seat (59) through a third hinge piece (58); the tail end of a first linear push rod (61) of the first push rod linear motor (60) is hinged with a second hinge seat (64) through a fourth hinge piece (62); the tail end of the second linear push rod linear motor (69) is hinged with a second hinge seat (64) through a fifth hinge piece (65); the tail end of a second linear push rod (70) of the second linear push rod linear motor (69) is hinged and connected to the middle position of a second lifting frame (73) through a sixth hinge component (72);

the third hinge (58) is A, the fourth hinge (62) is B, and the first hinge (63) is C; the fifth hinge (65) is a, the sixth hinge part (72) is b, and the second hinge (71) is c; the triangle formed by the connecting lines between ABC is triangle D, and the triangle formed by the connecting lines between ABC is triangle D; meets the requirement of triangle D and triangle D.

2. The automatic charging method for the traveling unit of the unmanned water spraying robot according to claim 1, wherein: when the running machine body (3) runs into the condition that the battery is about to run out, the spraying work is timely notified, and the running machine body immediately walks to the position of the nearby battery charging pile; then fine-tuning the position of the walking machine body (3) to enable a charging head detection opening (16) at the tail end of the walking machine body (3) to be aligned with a charging joint socket of a charging pile, then starting a rack driving motor (19) to enable an output gear (20) to start to rotate clockwise, at the moment, a tooth body (53) on a rack (50) and the output gear (20) are meshed to move, and then the rack (50) drives a guide rail (24) to move along the extending direction of a guide rail groove (22), and further a charging joint (15) synchronously moves outwards along with the guide rail (24) to extend out of the charging head detection opening (16), and further the charging joint (15) extending out of the charging head detection opening (16) is just inserted into the charging joint of the charging pile, so that a charging effect is achieved; after the battery is full, the rack driving motor (19) is restarted, the output gear (20) starts to rotate anticlockwise, the charging connector (15) moves inwards to the inside of the retracted charging connector detection opening (16) along with the guide rail (24) synchronously, the charging connector (15) and the charging connector of the charging pile are separated, the charging connector (15) is retracted to the inside of the walking machine body (3), and the unmanned water spraying robot is prevented from wetting the charging connector (15) in the spraying work engineering.

3. The unmanned water spray robot walking unit of claim 1, wherein: the crawler wheel unit (2) comprises a rubber crawler belt (12); the outer side of the rubber crawler (12) is provided with a plurality of anti-skid protrusions (13), and the anti-skid protrusions (13) are equidistantly arrayed along the contour direction of the rubber crawler (12); the middle part of the inner side surface of the rubber track (12) is provided with a plurality of meshing convex sections (11) in an equidistant array along the contour direction; the inner side of the rubber crawler (12) is provided with a crawler driving wheel (1), a tensioning guide wheel (14), a thrust wheel (9), a thrust wheel supporting connecting rod (8), an elastic shock absorber (4), a shock absorber support (5) and a supporting chain wheel (6); the crawler driving wheel (1) and the tensioning guide wheel (14) are respectively tensioned at the front end and the rear end of the inner side of the rubber crawler (12), and the crawler driving wheel (1) and the tensioning guide wheel (14) are meshed with a plurality of meshing convex sections (11) on the inner side surface of the rubber crawler (12); the support chain wheel (6) is in rolling connection with the lower side surface of the upper section belt (14.1) of the rubber crawler belt (12); four thrust wheels (9) which are equidistantly arranged along the front-back direction are connected with the upper side surface of a lower section belt (14.2) of the rubber crawler belt (12) in a rolling way;

each thrust wheel (9) is correspondingly provided with a thrust wheel supporting connecting rod (8), and the length direction of the thrust wheel supporting connecting rod (8) forms an included angle of 45 degrees with the ground; the upper end of the supporting connecting rod (8) of the supporting wheel is hinged with the side wall of the walking machine body (3) through a tenth hinge piece (7), and the lower end of the supporting connecting rod (8) of the supporting wheel is coaxially and rotatably connected with the corresponding supporting wheel (9) through a rotating shaft; an eleventh hinging piece (10) is fixedly arranged in the middle of the supporting wheel supporting connecting rod (8); the lower end of the vertical elastic shock absorber (4) is hinged to the eleventh hinge piece (10), the upper end of the elastic shock absorber (4) is hinged to the shock absorber support (5), and the shock absorber support (5) is fixedly connected to the side wall of the walking machine body (3);

the crawler belt type crawler belt machine is characterized in that a crawler belt driving motor (39) and a speed reducer (39) are further arranged in the walking machine body (3), the output end of the crawler belt driving motor (39) is connected with the power input end of the speed reducer (39), and the power output end of the speed reducer (39) is in driving connection with the crawler belt driving wheel (1) through a second coupling (40).