CN112145680A

CN112145680A - Automatic walking equipment with adjustable reduction ratio and driving method thereof

Info

Publication number: CN112145680A
Application number: CN202011141505.1A
Authority: CN
Inventors: 成孟哲; 周国扬; 刘楷; 汪洋; 王近
Original assignee: Nanjing Sumec Intelligent Technology Co Ltd
Current assignee: Nanjing Sumec Intelligent Technology Co Ltd
Priority date: 2020-10-22
Filing date: 2020-10-22
Publication date: 2020-12-29

Abstract

The invention provides automatic walking equipment with an adjustable speed reduction ratio and a driving method thereof. The invention can transmit the torque output by the motor according to different reduction ratios through the gear shifting reduction box, so that the automatic walking equipment can obtain better driving effect. The transmission of motor moment of torsion can be controlled in setting up of clutch, when automatic walking equipment turned, rotated and produced bigger difference in rotational speed between the inside and outside walking wheel through breaking away from the motor for automatic walking equipment turned to more conveniently.

Description

Automatic walking equipment with adjustable reduction ratio and driving method thereof

Technical Field

The invention relates to the field of garden tools, in particular to automatic walking equipment with an adjustable reduction ratio and a driving method thereof.

Background

Automatic walking equipment such as a mowing robot and the like generally adopts a motor to drive a driving wheel to move so as to realize automatic walking. Because the motor has a high rotating speed, a reduction gearbox is generally required to be arranged between the motor and the driving wheel for reducing the speed.

The reduction ratio of the existing reduction gearbox for the automatic walking equipment is fixed, and the ratio of the rotating speed of the motor to the rotating speed of the driving wheel is fixed. When some special road conditions are encountered, the fixed reduction ratio cannot easily meet the driving requirement.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the automatic walking equipment with the adjustable speed reduction ratio and the driving method thereof. The invention specifically adopts the following technical scheme.

First, in order to achieve the above object, an automatic walking apparatus with an adjustable reduction ratio is proposed, which includes: the clutch is used for cutting off or transmitting the torque output by the driving element to the road wheels; and the gear shifting reduction box is connected with the clutch and is used for transmitting the torque output by the driving element according to the set reduction ratio.

Optionally, the automatic walking device with the adjustable reduction ratio is as described in any one of the above, wherein the gear shifting reduction box has a plurality of gears, and the adjustment range of the reduction ratio at each gear is between 81:1 and 213: 1.

Optionally, the automatic walking device with the adjustable reduction ratio is as described above, wherein the clutch is connected with the gear shifting reduction box and/or the walking wheel.

Optionally, the automatic walking device with the adjustable speed reduction ratio is as described above, wherein the clutch is directly disposed on a driving shaft of the walking wheel, or the clutch is connected to the driving shaft of the walking wheel through a transmission structure.

Optionally, the automatic walking device with the adjustable reduction ratio as described above, wherein the walking wheels are respectively and independently connected with corresponding driving elements, and the clutch and/or the gear shifting reduction box are respectively and independently arranged between each walking wheel and the driving element correspondingly connected with the walking wheel.

Optionally, the automatic walking device with the adjustable reduction ratio is as described above, wherein two ends of the driving shaft are respectively connected to two walking wheels; the clutches are respectively arranged at two ends of the driving shaft and are respectively used for independently cutting off or transmitting the torque output by the driving element to each travelling wheel.

Optionally, as mentioned in any above, the automatic walking device with adjustable reduction ratio, wherein the gear shifting reduction box includes: the first gear shifting assembly is arranged at the input end of the gear shifting reduction box and used for receiving and transmitting the torque output by the driving element; the second gear shifting assembly is respectively provided with gear meshing pieces matched with different reduction ratios, and the gear meshing pieces are driven by the first gear shifting assembly; and the gear shifting component can move on the second gear shifting assembly and is connected with the corresponding gear engagement piece, and the second gear shifting assembly is arranged to transmit the torque output by the driving element according to the reduction ratio matched with the gear engagement piece.

Optionally, the automatic walking device with an adjustable speed reduction ratio as described in any one of the above, wherein the second gear shifting assembly includes: a second shift shaft connected with a torque output device for outputting torque; a gear engagement member provided on the second shift shaft for transmission through the shift member when connected thereto, the second shift shaft being arranged to rotate synchronously with the gear engagement member.

Optionally, the automatic walking apparatus with an adjustable reduction ratio as described in any one of the above, wherein the gear engagement member includes: the first gear shifting driven gear is connected to one end of the second gear shifting shaft in a sliding mode, a first speed reduction ratio is formed between the first gear shifting driven gear and the first gear shifting assembly, and a first gear connecting structure is arranged at the side end of the first gear shifting driven gear and used for being fixedly connected with a gear shifting component in an inserting mode; and the second gear shifting driven gear is connected to the other end of the second gear shifting shaft in a sliding manner, a second speed reduction ratio is formed between the second gear shifting driven gear and the first gear shifting assembly, and a second gear connecting structure is arranged at the side end of the second gear shifting driven gear and is used for being fixedly connected with the gear shifting component in an inserting manner.

Optionally, the automatic walking device with an adjustable reduction ratio is as described in any one of the above, wherein the gear shifting component is engaged with the second gear shifting shaft and is arranged between the first gear shifting driven gear and the second gear shifting driven gear; the gear shifting component can be abutted with the first gear connecting structure on one side of the first gear shifting driven gear when moving to the first position along the second gear shifting shaft, and the second gear shifting shaft is arranged to synchronously rotate along with the first gear shifting driven gear; the gear shifting component can be abutted with a second gear connecting structure on the other side of the second gear shifting driven gear when moving to a second position along the second gear shifting shaft, and the second gear shifting shaft is arranged to synchronously rotate along with the second gear shifting driven gear.

Optionally, the automatic walking device with an adjustable reduction ratio as described in any one of the above, wherein the shifting unit includes: the inner part of the gear shifting slide block is meshed with the middle part of the second gear shifting shaft; and the moving component is connected with the gear shifting slide block and is used for driving the gear shifting slide block to move between the gear engaging pieces along the second gear shifting shaft.

Optionally, the automatic walking device with adjustable reduction ratio as described in any one of the above, wherein the shift slider includes: the spline hole is arranged inside the gear shifting slide block and is used for being meshed with a mounting spline arranged on the surface of a second gear shifting shaft to drive the second gear shifting shaft to synchronously rotate along with the gear shifting slide block; and the connecting columns are respectively arranged on the end surfaces of two sides of the gear shifting sliding block in a protruding mode and are used for being fixedly connected with the gear meshing piece in an inserting mode.

Optionally, the automatic walking device with an adjustable speed reduction ratio as described in any one of the above, wherein the diameter of the connecting column does not exceed the width of the first gear connecting structure or the second gear connecting structure; the first gear connecting structure is an arc-shaped groove formed in the surface of the side wall of the first gear shifting driven gear along the circumferential direction of the first gear shifting driven gear; the second gear connecting structure is an arc-shaped groove formed in the surface of the side wall of the second gear shifting driven gear along the circumferential direction of the second gear shifting driven gear; after the connecting column is inserted into the arc-shaped groove, the connecting column rotates to abut against the side wall of the arc-shaped groove, and the second gear shifting shaft is limited to synchronously rotate along with the first gear shifting driven gear or the second gear shifting driven gear.

Optionally, the automatic walking device with the adjustable reduction ratio is characterized in that a shifting fork is further connected between the shifting slider and the moving part, and one end of the shifting fork is provided with a positioning fork opening for clamping and fixing the shifting fork on the periphery of the shifting slider; and the other end of the shifting fork is provided with a mounting hole for fixedly connecting with the moving part.

Meanwhile, in order to achieve the above object, the present invention further provides a driving method of an automatic traveling apparatus, which is used for driving the automatic traveling apparatus with an adjustable reduction ratio as described above, wherein a driving element of the automatic traveling apparatus drives a traveling wheel and/or a driving shaft through the clutch and the gear shifting reduction box.

Optionally, in the driving method of the automatic walking device, when the vehicle is turning, the clutch connected to the walking wheel on one side of the automatic walking device cuts off the torque output from the driving element to the walking wheel on the side; the clutch connected with the other side travelling wheel of the automatic travelling device keeps transmitting the torque output by the driving element to the side travelling wheel.

Advantageous effects

The invention is provided with a clutch and a gear shifting reduction box between a motor and a travelling wheel of automatic travelling equipment. The invention can transmit the torque output by the motor according to different reduction ratios through the gear shifting reduction box, so that the automatic walking equipment can obtain better driving effect. Particularly aiming at the rotating speed range of a motor used by the product of the department of China, which is 3240-5940r/min, the invention can realize the switching of two reduction ratio gears through two gear meshing parts, and control the rotating speed of a traveling wheel of automatic traveling equipment to be 28-40r/min so as to meet the driving requirement of traveling operation.

The transmission of the motor torque can be controlled through the clutch, when the automatic walking equipment turns, the transmission of the motor to the walking wheel on one side is cut off through the clutch, so that the walking wheel disengaged from the rotation of the motor stops rotating, and the walking wheel on the other side continues rotating. Therefore, when the automatic walking equipment turns, a larger rotating speed difference can be generated between the inner side walking wheel and the outer side walking wheel, so that the automatic walking equipment is more convenient to steer. When the automatic walking equipment turns to the right place, the disengaged clutch can reset, so that the walking wheels on the two sides rotate simultaneously to drive the automatic walking equipment to advance.

Preferably, the clutch can be arranged between the output end of the reduction gearbox and the travelling wheel. The invention can independently configure a motor, a clutch and a reduction gearbox matched with each walking wheel, and can also connect two walking wheels through a rotating shaft according to requirements and uniformly configure a single motor for driving each walking wheel connected with the rotating shaft. The invention has various driving modes and can adapt to different operation requirements.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic structural diagram of an apparatus for adjusting a reduction ratio according to a first embodiment of the present invention;

FIG. 2 is a schematic structural diagram of an apparatus for adjusting a reduction ratio according to a second embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a device with an adjustable reduction ratio according to a third embodiment of the present invention;

FIG. 4 is a schematic structural diagram of an apparatus for adjusting a reduction ratio according to a fourth embodiment of the present invention;

FIG. 5 is a schematic view of the arrangement of the gear shifting reduction box adopted by the invention;

FIG. 6 is a perspective view of the shift gearbox of FIG. 5;

FIG. 7 is an enlarged view of the shift gearbox of FIG. 5;

FIG. 8 is a schematic structural view of a shifting unit employed in the present invention;

FIG. 9 is an enlarged view of the shift feature of FIG. 8;

FIG. 10 is an exploded view of the shifting unit of FIG. 8;

FIG. 11 is a schematic structural view of a shift block in the shift unit employed in the present invention;

FIG. 12 is a schematic view of the first shift driven gear of the shifting unit employed in the present invention;

fig. 13 is a schematic view of a fork structure in a shift unit employed in the present invention.

In the drawings, 1 is a fuselage; 2. 2a, 2b, 2c, 2d are all motors; 3. 3a, 3b, 3c, 3d are all clutches; 4a, 4b, 4c and 4d are gear shifting reduction boxes; 5 is a walking wheel; 6 is a drive shaft; 7 is an intermediate drive shaft; 401 is a primary reduction gear; 410 is a first shift assembly; 420 is a second shift assembly; 430 is a gear control assembly; 411 is a first shift shaft; 412 is a two-stage reduction driven gear; 413 is a first shift driving gear; 414 is a second shift driving gear; 415 is a two-stage reduction driven gear mounting portion; 421 is a second shift shaft; 422 is the output drive gear; 423 is a first shift driven gear; 424 is a second shift driven gear; 425 is a shift slider; 426 is a mounting spline; 427 is the gear shifting driven gear mounting part; 431 is a moving part; 432 is a shift fork; 4231 is a mounting hole for a gear-shifting driven gear I; 4232 is a connecting groove; 4251 is a positioning groove; 4252 is a splined bore; 4253 is a connecting column; 4321 is a positioning fork; 4322 are mounting holes; 601 is an output driven gear.

Detailed Description

In order to make the purpose and technical solution of the embodiments of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

The meaning of "and/or" in the present invention means that the respective single or both of them exist individually or in combination.

The meaning of "inside and outside" in the invention means that the direction from the outer shell of the automatic walking equipment to the device with the adjustable speed reduction ratio inside is inside, and vice versa, relative to the automatic walking equipment per se; and not as a specific limitation on the mechanism of the device of the present invention.

The term "connected" as used herein may mean either a direct connection between the components or an indirect connection between the components via other components.

The invention provides automatic walking equipment with a function of adjusting a reduction ratio, which comprises a machine body 1 and a power mechanism arranged in the machine body 1. The power mechanism comprises a driving element and a travelling wheel 5 driven by the driving element, and a clutch 3 and a gear shifting reduction box are further arranged between the driving element and the travelling wheel 5. The driving element of the automatic walking device of the invention can be a power output element such as a motor 2, and the clutch 3 can be realized by a device such as an electromagnetic clutch 3.

The specific arrangement form of the power mechanism can comprise the following types:

form 1: as shown in figure 1, two travelling wheels 5 are arranged at two ends of a driving shaft 6, a clutch 3a is arranged at the output end of a motor 2a, the output end of the clutch 3a is connected with the input end of a gear shifting reduction box 4a, and the output end of the gear shifting reduction box 4a is connected with the driving shaft 6 through a transmission structure.

Form 2: as shown in fig. 2, two traveling wheels 5 are arranged at two ends of a driving shaft 6, the output end of a motor 2b is connected with the input end of a gear shifting reduction box 4b, the output end of the gear shifting reduction box 4b is connected with a clutch 3b, and the output end of the clutch 3b is connected with the driving shaft 6 through a transmission structure.

Form 3: as shown in figure 3, both ends of the intermediate driving shaft 7 are connected with the clutches 3c, the output ends of the two clutches 3c are connected with the travelling wheels 5, the output end of the motor 2c is connected with the input end of the gear shifting reduction box 4c, and the output end of the gear shifting reduction box 4c is connected with the intermediate driving shaft 7 through a transmission structure.

Form 4: as shown in fig. 4, each walking wheel 5 is provided with an independent motor 2d for driving, the output end of the motor 2d is connected with the input end of a gear shifting reduction box 4d, the output end of the gear shifting reduction box 4d is connected with a clutch 3d, and the output end of the clutch 3d is connected with the walking wheel 5.

The forms 1-3 are all in the form of a single motor 2 driving a road wheel 5, wherein the

forms

1 and 2 are in the conventional clutch 3 arrangement mode, and the advantages of simple structure and less elements of the whole power mechanism are achieved, wherein the form 2 is preferred. In the form 3, the clutches 3 are arranged on the intermediate driving shaft 76, in the actual use process, the two clutches 3 are simultaneously disengaged for gear shifting, and when a single clutch 3 is disengaged, the driving function of a single walking wheel 5 can be realized, so that the actions of steering and the like of the automatic walking equipment are facilitated.

The automatic walking device adopting the structure of the form 3 can realize the steering operation of the automatic walking device through a single driving motor. When the automatic walking equipment needs to steer, the clutch 3 on one side is controlled to be disengaged, the walking wheel 5 on the side stops rotating, the walking wheel 5 on the other side continues to rotate under the driving of the driving motor, and a rotating speed difference is generated between the walking wheel and the walking wheel disengaged from the clutch, so that the steering is realized. When the automatic walking equipment turns to the right place, the disengaged clutch 3 can reset again, so that the two walking wheels 5 rotate simultaneously to drive the automatic walking equipment to advance. In this way, in order to prevent the side road wheels from slipping after the clutch 3 is disengaged, a separate brake device may be provided for the road wheels 5. Therefore, the traction wheel slip influence on the steering can be avoided by arranging a brake between the clutch 3 and the traction wheel 5.

In the invention, the automatic walking equipment can also be provided with a brake between the driving motor and the walking wheels, and the brake can forcibly control the walking wheels to make the walking wheels not rotate. When the automatic walking equipment stops on the positions of the ramp and the like, the walking wheels can be locked by the brake, so that the automatic walking equipment is prevented from skidding on the slope surface.

Form 4 drives through independent motor 2 for every walking wheel 5, and the reduction ratio between every walking wheel 5 and its corresponding motor 2 can be adjusted separately, because its each walking wheel 5 can independent control, controls more in a flexible way, can deal with more complicated environmental factor.

By adopting the automatic walking equipment with the structure, a high gear can be adopted when the automatic walking equipment moves in a flat area, so that the efficiency of the motor 2 is ensured; a low gear can be adopted during starting or ascending, so that sufficient torque is ensured; when the automatic walking equipment sinks into the hollow concave part of the road surface, the low gear and the small speed reduction ratio can be adopted, the rotating speed of the motor 2 is reduced, the torque is improved, and the automatic walking equipment is favorable for taking off the hollow. Meanwhile, the automatic walking equipment in the forms 3 and 4 can realize independent movement of the single walking wheel 5, so that the automatic walking equipment can be conveniently adjusted in actions such as steering and turning.

The following takes the form 1 as an example to specifically describe the specific structure of the shift reduction gearbox.

The gear shifting reduction box comprises a box body, and a multi-stage reduction gear and a gear shifting part which are arranged in the box body. For convenience of illustration, the present embodiment will be described using only the first reduction gear 401, and the case structure will be omitted from the description.

As shown in fig. 5-8, two traveling wheels 5 can be arranged at two ends of a driving shaft 6, the output end of the motor 2 is connected with the clutch 3, the output end of the clutch 3 is meshed with a first-stage reduction gear 401, the first-stage reduction gear 401 is in transmission connection with the input end of the gear shifting reduction box 4, and the output end of the gear shifting reduction box 4 is in transmission connection with the driving shaft 6. Wherein the shifting gearbox 4 comprises a first shifting assembly 410, a second shifting assembly 420 and shifting parts. The first reduction gear 401 is composed of two coaxial gears with different tooth numbers, and is engaged with the first shift assembly 410 to transmit torque thereto.

As shown in fig. 9 and 10, the first gear shifting assembly 410 includes a first gear shifting shaft 411, a first gear shifting driving gear 413 and a second gear shifting driving gear 414 are disposed on the first gear shifting shaft 411, and a two-stage reduction driven gear 412 is further mounted on the first gear shifting shaft 411. The secondary reduction driven gear 412 is engaged with the end of the primary reduction gear 401 having the smaller number of teeth.

The second gear shifting assembly 420 includes a second gear shifting shaft 421, a mounting spline 426 is disposed on the second gear shifting shaft 421, and two gear shifting driven gear mounting portions 427 are respectively disposed at two ends of the mounting spline 426. The two shift driven gear mounting portions 427 are respectively sleeved with a first shift driven gear 423 and a second shift driven gear 424, the first shift driven gear 423 is engaged with the first shift driving gear 413, and the second shift driven gear 424 is engaged with the second shift driving gear 414.

A shift slider 425 is slidably coupled to the mounting spline 426. As shown in fig. 11, the shift slider 425 is provided with a positioning groove 4251 at the periphery thereof, a spline hole 4252 is formed at the center of the shift slider 425 corresponding to the mounting spline 426, and connecting columns 4253 are uniformly distributed on both side surfaces of the shift slider 425.

Arc-shaped grooves are further respectively arranged on the first shifting driven gear 423 and the second shifting driven gear 424 corresponding to the connecting column 4253 as connecting grooves 4232. Fig. 12 shows the structure of the connection slot 4232 by taking the first shift driving gear 413 as an example. When the shift slider 425 slides on the mounting spline 426, the coupling post 4253 is inserted into the coupling groove 4232 of only one of the first shift driven gear 423 or the second shift driven gear 424.

The second shift shaft 421 is further provided with an output driving gear 422. The output driving gear 422 meshes with an output driven gear 601 on the drive shaft 6 as a torque output means for outputting torque.

The shifting means may in particular be realized by a gear control assembly 43. Which includes a moving part 431 and a shift fork 432. The structure of the shift fork 432 is shown in fig. 13, one end of which is a positioning fork opening 4321, the positioning fork opening 4321 is embedded into a positioning groove 4251 arranged on the periphery of the shift slider 425; the other end of the shift fork 432 is provided with a shift fork mounting hole 4322 for coupling with the moving part 431. The moving member 431 drives the shifting fork 432 to move, and further drives the shifting slider 425 to move axially along the second shifting shaft 421.

The moving member 431 may be implemented by a telescopic element such as a cylinder.

In actual use, the first shift driving gear 413 meshes with the first shift driven gear 423, the second shift driving gear 414 meshes with the second shift driven gear 424, and the gear ratios of the two sets are different. The shift slider 425 is driven by the moving member 431 to move, and the upper connecting column 4253 of the shift slider 425 is inserted into the corresponding connecting groove 4232 of the first shift driven gear 423 or the second shift driven gear 424 to complete the shift operation. Different gear shifting driven gears drive a second gear shifting shaft (421) to rotate, and the reduction ratio of the whole gear shifting reduction box can be correspondingly set and adjusted.

In conclusion, the clutch and the gear shifting reduction box are arranged between the motor and the travelling wheel of the automatic travelling equipment, and the torque output by the motor is transmitted through the gear shifting reduction box according to different reduction ratios, so that the automatic travelling equipment can be switched to a high-speed gear when moving in a flat area, and the efficiency of the motor is ensured; the device can be switched to a low-speed gear when starting or ascending a slope, so that sufficient torque is ensured; when the automatic walking equipment is sunk into a depression on a road surface, the gear meshing part can be switched to a low-speed gear and adopts a large reduction ratio, so that the rotating speed output by the motor is reduced, the torque is improved, and the automatic walking equipment is favorable for taking off the depression.

The invention can be further provided with a clutch to be correspondingly opened or closed, so that the rotating speed difference is generated between the travelling wheels on different sides of the automatic travelling equipment driven by a single motor, and the steering action of the automatic travelling equipment is completed.

The above are merely embodiments of the present invention, which are described in detail and with particularity, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present invention, and these changes and modifications are within the scope of the present invention.

Claims

1. An automatic walking device with an adjustable speed reduction ratio, comprising:

the clutch (3) is used for cutting off or transmitting the torque output by the driving element to the road wheels (5);

and the gear shifting reduction box (4) is connected with the clutch (3) and is used for transmitting the torque output by the driving element according to a set reduction ratio.

2. Automatic walking device with adjustable reduction ratio according to claim 1, characterized in that said gear-shifting reduction box (4) has several gears, the reduction ratio adjustment range at each gear is between 81:1 and 213: 1.

3. Automatic walking device with adjustable reduction ratio according to claim 1, characterized in that said clutch (3) is connected to said gear-shifting reduction box (4) and/or to the walking wheels (5).

4. Automatic walking device with adjustable reduction ratio according to claim 3, characterized in that the clutch (3) is arranged directly on the drive shaft (6) of the walking wheel (5) or the clutch (3) is connected with the drive shaft (6) of the walking wheel (5) by a transmission structure.

5. Automatic walking device with adjustable reduction ratio according to claim 3, characterized in that the walking wheels (5) are independently connected with corresponding driving elements, respectively, and the clutch (3) and/or gear shifting reduction box (4) are independently arranged between each walking wheel (5) and its corresponding connected driving element, respectively.

6. Automatic walking device with adjustable reduction ratio according to claim 4, characterized in that said driving shaft (6) is connected at its two ends to two walking wheels (5), respectively;

the clutches (3) are respectively arranged at two ends of the driving shaft (6) and are respectively used for independently cutting off or transmitting the torque output by the driving element to each travelling wheel (5).

7. Automatic walking device with adjustable reduction ratio according to claim 1, characterized in that said gear-shifting reduction box (4) comprises:

the first gear shifting assembly (410) is arranged at the input end of the gear shifting reduction box (4) and is used for receiving and transmitting the torque output by the driving element;

second gearshift assemblies (420) on which gear engagement members matching different reduction ratios are respectively provided, the gear engagement members being driven by the first gearshift assemblies (410);

and the gear shifting component can move on the second gear shifting assembly (420) and is connected with the corresponding gear engagement piece, and the second gear shifting assembly (420) is arranged to transmit the torque output by the driving element according to the reduction ratio matched with the gear engagement piece.

8. Automatic walking device with adjustable reduction ratio according to claim 7, characterized in that said second shifting assembly (420) comprises:

a second shift shaft (421) to which a torque output device is connected for outputting torque;

a gear engagement member provided on the second shift shaft (421) for transmission by the shift member when connected thereto, the second shift shaft (421) being arranged to rotate synchronously with the gear engagement member.

9. The automatic walking apparatus with adjustable reduction ratio according to claim 8, wherein said gear engagement member comprises:

the first gear shifting driven gear (423) is connected to one end of the second gear shifting shaft (421) in a sliding mode, a first reduction ratio is formed between the first gear shifting driven gear and the first gear shifting assembly (410), and a first gear connecting structure is arranged at the side end of the first gear shifting driven gear (423) and used for being fixedly connected with a gear shifting component in an inserting mode;

and the second gear shifting driven gear (424) is connected to the other end of the second gear shifting shaft (421) in a sliding manner, a second speed reduction ratio is formed between the second gear shifting driven gear and the first gear shifting assembly (410), and a second gear connecting structure is arranged at the side end of the second gear shifting driven gear (424) and is used for being fixedly connected with a gear shifting component in an inserting manner.

10. The automated walking apparatus with adjustable reduction ratio according to claim 9, wherein the shifting member is engaged with the second shifting shaft (421) and is disposed between the first shifting driven gear (423) and the second shifting driven gear (424);

the gear shifting component can be abutted with a first gear connecting structure at one side of the first gear shifting driven gear (423) when moving to a first position along the second gear shifting shaft (421), and the second gear shifting shaft (421) is arranged to synchronously rotate along with the first gear shifting driven gear (423);

when the gear shifting component moves to a second position along the second gear shifting shaft (421), the gear shifting component can be abutted with a second gear connecting structure on the other side of the second gear shifting driven gear (424), and the second gear shifting shaft (421) is arranged to rotate synchronously with the second gear shifting driven gear (424).

11. The automated walking apparatus with adjustable reduction ratio according to claim 7, wherein said shifting means comprises:

a shift slider (425) whose inside is engaged with the middle portion of the second shift shaft (421);

-moving means (431) connected to said shifting slider (425) for driving said shifting slider (425) along said second shifting shaft (421) between the gear engaging members.

12. The adjustable reduction ratio automatic walking device of claim 11, wherein the shift slider (425) comprises:

the spline hole (4252) is arranged inside the gear shifting slide block (425) and is used for being meshed with a mounting spline (426) arranged on the surface of the second gear shifting shaft (421) to drive the second gear shifting shaft (421) to synchronously rotate along with the gear shifting slide block (425);

and the connecting columns (4253) are respectively arranged on the end surfaces of two sides of the gear shifting sliding block (425) in a protruding mode and are used for being fixedly connected with the gear meshing piece in an inserting mode.

13. Automatic walking device with adjustable reduction ratio according to claim 12, characterized in that the diameter of the connecting column (4253) does not exceed the width of the first or second gear connection;

the first gear connecting structure is an arc-shaped groove formed in the surface of the side wall of the first gear shifting driven gear (423) along the circumferential direction;

the second gear connecting structure is an arc-shaped groove formed in the surface of the side wall of the second gear shifting driven gear (424) along the circumferential direction;

after the connecting column (4253) is inserted into the arc-shaped groove, the connecting column rotates and abuts against the side wall of the arc-shaped groove, and the second gear shifting shaft (421) is limited to synchronously rotate along with the first gear shifting driven gear (423) or the second gear shifting driven gear (424).

14. The automatic walking device with adjustable reduction ratio according to claim 11, wherein a shift fork (432) is further connected between said shift slider (425) and said moving member (431), and one end of said shift fork (432) is provided with a positioning fork opening (4321) for being snap-fitted and fixed to the outer circumference of said shift slider (425); the other end of the shifting fork (432) is provided with a mounting hole (4322) which is fixedly connected with the moving part (431).

15. A method for driving an automatic walking device, characterized in that it is used for driving an automatic walking device with adjustable reduction ratio according to any of claims 1-14, the driving element of which drives the walking wheels (5) and/or the driving axle (6) through the clutch (3) and the gear shifting reduction box (4).

16. The driving method of an automatic traveling apparatus according to claim 15, wherein the clutch (3) connected to the traveling wheel (5) on one side of the automatic traveling apparatus cuts off the torque output from the driving element to the traveling wheel (5) on the one side when steering;

the clutch connected with the other side travelling wheel (5) of the automatic travelling device keeps transmitting the torque output by the driving element to the side travelling wheel (5).