CN117183643A - Running gear and wheeled running gear - Google Patents

Abstract

The application relates to a traveling mechanism and wheeled traveling equipment, wherein the traveling mechanism comprises a mounting frame, a connecting seat, a driving piece, a wheel body and an elastic piece, wherein the connecting seat is connected to the mounting frame in a sliding manner along the vertical direction, the driving piece is connected with the connecting seat, the wheel body is connected with the driving piece, and the elastic piece is configured to apply acting force towards one side of the ground to the connecting seat when the wheel body travels on the ground. According to the travelling mechanism and the wheel type travelling equipment, when passing through the raised or lowered position on the ground, the connecting seat, the driving piece and the wheel body move along the vertical direction relative to the mounting frame, and the wheel body keeps stably contacted with the ground under the action of the elastic piece so as to stably support the mounting frame.

Description

Running gear and wheeled running gear

Technical Field

The application relates to the technical field of walking machinery, in particular to a walking mechanism and wheel type walking equipment.

Background

For wheeled traveling equipment such as a wheeled mobile platform and a wheeled robot, when the mechanical arm is carried for exploration, search and rescue, transportation and other operations, the stability and dynamic performance of the wheeled traveling equipment are related to the working accuracy of the carried mechanical arm. Therefore, the research on the travelling mechanism of the wheel type travelling equipment is very important, and in the related technology, the independent suspension system and the dependent suspension system are adopted to ensure that the wheel type travelling equipment travels stably, so that the posture of a mechanical arm carried by the wheel type travelling equipment is ensured to be stable to a certain extent.

However, the wheeled walking equipment has high requirements on the flatness of the walking road surface, and when walking on uneven road surfaces, the movement is easy to be unstable, the walking precision is difficult to control, and the specific expression is as follows: when the wheel type walking equipment passes through a raised pavement, the wheels are lifted by the impact force of the pavement, and when the wheel type walking equipment passes through a low-lying pavement, the wheels can be stamped empty and settled. In the process, the wheel base between the front wheel and the rear wheel and the wheel distance between the front wheel can be changed, the accuracy of the motion parameters of the wheel type walking equipment is affected, the actual motion position of the wheels does not correspond to the preset motion position, the walking precision of the wheels is low, and the tail end precision of the mechanical arm carried by the wheel type walking equipment is reduced.

Disclosure of Invention

The application provides a traveling mechanism and wheel type traveling equipment comprising the traveling mechanism, which aim to solve the technical problems of unstable motion and low traveling precision.

In one aspect, an embodiment of the present application provides a walking mechanism, including:

a mounting frame;

the connecting seat is connected with the mounting frame in a sliding manner along the vertical direction;

the driving piece is connected with the connecting seat;

the wheel body is connected with the driving piece and can rotate relative to the connecting seat under the drive of the driving piece; a kind of electronic device with high-pressure air-conditioning system

The elastic piece is arranged between the connecting seat and the mounting frame, and is configured to apply acting force towards one side of the ground to the connecting seat when the wheel body walks on the ground.

On the other hand, the embodiment of the application provides wheeled walking equipment, which comprises a main body and the walking mechanism, wherein the mounting frame is connected with the main body.

The traveling mechanism comprises a mounting frame, a connecting seat, a driving piece, a wheel body and an elastic piece, wherein the connecting seat is connected to the mounting frame in a sliding manner along the vertical direction, the driving piece is connected with the connecting seat, and the wheel body is connected with the driving piece, so that when the wheel body passes through a bulge or a low-lying position on the ground, the connecting seat, the driving piece and the wheel body move along the vertical direction relative to the mounting frame together, and the driving precision of the driving piece to the wheel body is maintained. Moreover, the elastic component is configured as when the wheel body walks on ground, the elastic component can apply the effort towards the wheel body place side of ground through the connecting seat, thereby the wheel body can keep the steady contact with ground under the effect of elastic component in the subaerial walking process, simultaneously, the wheel body is when protruding or low-lying position on ground, the elastic component can adapt to and produce deformation so that the wheel body can be lifted or descend through the connecting seat relative mounting bracket, and then the mounting bracket can remain steady throughout under the support of wheel body, because the wheel body only can be lifted or descend along vertical direction along with driving piece and connecting seat together when passing protruding or low-lying position, thereby can not cause the wheel tread and the wheelbase of wheeled running gear change, the running precision has been promoted effectively, still have good running precision when the rugged ground of wheeled running gear.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a wheeled walking device according to an embodiment;

FIG. 2 is an exploded view of the wheeled walking device shown in FIG. 1;

fig. 3 is a schematic structural view of a traveling mechanism of a wheeled traveling apparatus according to an embodiment;

FIG. 4 is an exploded view of the travel mechanism shown in FIG. 3;

fig. 5 is a schematic diagram of an assembly structure of a connecting seat and a mounting frame in the walking mechanism according to an embodiment;

FIG. 6 is a schematic view showing the connection base sliding upward relative to the mounting frame in the running mechanism shown in FIG. 5;

FIG. 7 is a schematic view of the structures of the first support and the second support in the walking mechanism according to an embodiment;

FIG. 8 is an exploded view of an embodiment of a running gear;

FIG. 9 is a schematic view of a top plate of a mounting frame in a walking mechanism according to an embodiment;

FIG. 10 is a schematic view of an installation structure of a compression spring between a connecting seat and a top plate in a running mechanism according to an embodiment;

FIG. 11 is another schematic view from another perspective of the mounting structure of the compression spring shown in FIG. 10 between the connection block and the top plate;

FIG. 12 is a schematic illustration of a wheeled walking device of an embodiment walking on a flat ground surface;

FIG. 13 is a schematic diagram of the forces of the connection base and compression spring when the wheeled walking device of an embodiment walks on a flat ground;

FIG. 14 is a schematic illustration of a wheeled walking device of an embodiment walking on a depressed uneven ground;

FIG. 15 is a schematic diagram showing the forces of the connecting seat and the compression spring when the wheel body passes over the protruding obstacle during the running process of the wheeled walking device according to an embodiment;

fig. 16 is a schematic diagram showing the forces of the connecting seat and the compression spring when the wheel body passes over the pit obstacle during the running process of the wheeled running device according to an embodiment.

Reference numerals illustrate:

100. wheel type walking equipment; 10. a main body; 11. a section bar; 12. a first mounting plate; 13. a second mounting plate; 20. a walking mechanism; 21. a mounting frame; 211. a connecting plate; 211a, elastic pads; 212. a first support plate; 213. a second support plate; 214. a top plate; 214a, a first limit groove; 22. a connecting seat; 22a, a second limit groove; 221. a flange plate; 23. a driving member; 231. a driving motor; 231a, output shaft; 232. a flange shaft; 232a, a baffle; 24. a wheel body; 25. an elastic member; 251. a compression spring; 26. a slide rail; 27. a slide block; 28. a first support; 28a, a first annular groove; 29. a second support; 29a, a second annular groove; r, the ground; t, a bulge obstruction; A. pit obstruction.

Detailed Description

In order that the application may be readily understood, a more complete description of the application will be rendered by reference to the appended drawings. Preferred embodiments of the present application are shown in the drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

While this application is susceptible of embodiment in different forms, there is shown in the drawings and will herein be described in detail, specific embodiments thereof with the understanding that the present disclosure is to be considered as an exemplification of the principles of the disclosure and is not intended to limit the application to that as illustrated.

Thus, rather than implying that each embodiment of the present application must have the characteristics described, one of the characteristics described in this disclosure will be used to describe one embodiment of the present disclosure. Furthermore, it should be noted that the present application describes a number of features. Although certain features may be combined together to illustrate a possible system design, such features may be used in other combinations not explicitly described. Thus, unless otherwise indicated, the illustrated combinations are not intended to be limiting.

In the embodiment shown in the drawings, indications of orientation (such as up, down, left, right, front and rear) are used to explain the structure and movement of the various elements of the application are not absolute but relative. These descriptions are appropriate when these elements are in the positions shown in the drawings. If the description of the position of these elements changes, the indication of these directions changes accordingly.

In the description of the present application, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted.

As shown in fig. 1 and 2, the present application provides a wheeled walking device 100, which includes a main body 10 and a walking mechanism 20, wherein the walking mechanism 20 is connected with the main body 10, and the walking mechanism 20 is used for walking to realize the overall movement of the wheeled walking device 100.

It should be noted that, the main body 10 may be connected to a plurality of traveling mechanisms 20 to move smoothly under the support of the traveling mechanisms 20. For easy understanding, fig. 1 and 2 show that the wheeled walking device 100 includes 4 walking mechanisms 20, the 4 walking mechanisms 20 are symmetrically disposed in the walking direction of the wheeled walking device 100, at this time, each side of the main body 10 has 2 walking mechanisms 20, during the movement of the wheeled walking device 100, the 4 walking mechanisms 20 can have a good supporting effect on the main body 10, and, as the 4 walking mechanisms 20 walk on the ground, the wheeled walking device 100 moves as a whole.

In some embodiments, the main body 10 includes a plurality of profiles 11, and the plurality of profiles 11 are connected in a frame structure, and upper and lower sides of the frame structure are respectively connected to the first mounting plate 12 and the second mounting plate 13, so that the mechanical arm and other elements are respectively carried by the first mounting plate 12 and the second mounting plate 13. In this embodiment, when the main body 10 is manufactured by adopting the profile 11, the profiles 11 with different sizes can be spliced by the corner connector, so that the assembly structure is simple, the cost is low, and the main body 10 with different sizes can be built by changing the sizes of the profiles 11 according to actual requirements. The structure of the main body 10 is not limited herein.

As shown in fig. 3 and 4, the running gear 20 includes a mounting bracket 21, a connecting base 22, a driving member 23, a wheel body 24, and an elastic member 25.

The connecting seat 22 is slidably connected to the mounting frame 21 along a vertical direction, so that the connecting seat 22 can vertically slide relative to the mounting frame 21. The vertical direction refers to a direction perpendicular to a horizontal plane when the wheeled walking device 100 is placed on the horizontal plane.

In some embodiments, the connection seat 22 and the mounting frame 21 may be slidably connected through cooperation of a sliding rail and a sliding block, for example, as shown in fig. 4 and fig. 5, the mounting frame 21 is provided with a sliding rail 26, and the connection seat 22 is connected with a sliding block 27 matched with the sliding rail 26, so that the connection seat 22 can slide relative to the mounting frame 21.

Other sliding connection structures can be adopted between the connecting seat 22 and the mounting frame 21, for example, the connecting seat 22 is provided with a sliding protrusion, the mounting frame 21 is provided with a sliding groove, and the sliding protrusion is in sliding fit with the sliding groove, so that the sliding connection between the connecting seat 22 and the mounting frame 21 is realized.

The following describes the mounting structure of the connection base 22 and the mounting frame 21 by taking the sliding connection between the connection base 22 and the mounting frame 21 as an example by matching the sliding blocks 27 with the sliding rails 26.

The slider 27 is mounted together with the slide rail 26 so that the slider 27 can move on the slide rail 26. Since the slide rail 26 has a guiding and limiting effect on the slide rail 27, the slide rail 27 can only move vertically on the slide rail 26, and then the slide rail 26 on which the slide rail 27 has been mounted is mounted to the mount 21, and it is ensured that the slide rail 26 is vertical, so that the slide rail 27 can slide vertically along the slide rail 26. The slide rail 26 can be fixedly mounted on the mounting frame 21 by bolts.

In some embodiments, as shown in fig. 4 and 5, two sets of guide rails and sliding blocks 27 are symmetrically installed on the mounting frame 21, and two sides of the connection seat 22 are respectively slidably connected with the mounting frame 21. By this arrangement, on the one hand, both sides of the connection seat 22 are reliably slidably connected to the mounting frame 21, and the connection seat 22 is movable only in the vertical direction by the guiding action of the corresponding slider 27 and the slide rail 26. On the other hand, since both sides of the connecting base 22 are slidably connected with the mounting frame 21, the connecting base 22 has good bending strength to reduce deformation of the connecting base 22.

Further, through holes are formed in both sides of the connection seat 22, and the slider 27 is provided with threaded holes corresponding to the through holes, so that bolts passing through the threaded holes are matched with the through holes, and the connection seat 22 and the slider 27 can be stably connected.

Referring to fig. 3 and 4 again, the driving member 23 is connected to the connecting base 22, the wheel body 24 is connected to the driving member 23, and the wheel body 24 can rotate relative to the connecting base 22 under the driving of the driving member 23. During the travel of the wheeled walking device 100 on the ground, the wheel 24 contacts the ground such that the attachment base 22 is subjected to upward forces from the wheel 24. Because the connecting seat 22 can move along the vertical direction relative to the mounting frame 21, the connecting seat 22 can adapt to lifting or descending of the wheel body 24 and the driving piece 23 relative to the mounting frame 21, so as to meet the requirement that the wheel body 24 keeps good contact with the ground when passing through the uneven ground, and provide support for the walking process of the wheeled walking equipment 100.

It should be noted that, since the connecting seat 22 and the wheel body 24 are connected with the driving member 23, the three parts can slide along the vertical direction relative to the mounting frame 21 as a whole, even if the wheel body 24 passes through the uneven ground, the driving member 23 and the wheel body 24 always keep consistent movement displacement with the connecting seat 22 in the vertical direction, so that the driving precision of the driving member 23 to the wheel body 24 is effectively maintained, and the influence of the flatness of the ground through which the wheel body 24 passes is avoided.

In some embodiments, the connection base 22 includes a flange 221, the driving member 23 includes a driving motor 231, the driving motor 231 is connected to the flange 221, and an output shaft 231a of the driving motor 231 is connected to the wheel body 24. The driving motor 231 and the flange 221 may be connected by bolts. The output shaft 231a of the driving motor 231 and the wheel body 24 can be connected through plug-in fit or bolts.

The driving member 23 includes a flange shaft 232, the flange shaft 232 is connected to an output shaft 231a of the driving motor 231, and the flange shaft 232 is connected to the wheel body 24, so that the output shaft 231a of the driving motor 231 can transmit torque to the wheel body 24 via the flange shaft 232 to realize rotation of the wheel body 24. In this embodiment, the output shaft 231a of the driving motor 231 may be connected to the flange shaft 232 by bolts, and the flange shaft 232 may be in plug-in connection with the wheel body 24. In some embodiments, a blocking piece 232a may be further disposed on a side of the wheel 24 facing away from the flange shaft 232, where the blocking piece 232a is connected to the flange shaft 232, and the blocking piece 232a is used to further limit the wheel 24 from being separated from the flange shaft 232, so as to improve the connection stability between the wheel 24 and the flange shaft 232.

As shown in fig. 3 to 5, the elastic member 25 is disposed between the connecting seat 22 and the mounting frame 21, and the elastic member 25 is configured such that when the wheel 24 walks on the ground, the elastic member 25 can apply a force to the wheel 24 toward the side of the ground via the connecting seat 22, so that the wheel 24 keeps contact with the ground, and the elastic member 25 maintains the stability of the mounting frame 21 when the wheel 24 lifts or descends due to its deformation, thereby improving the overall movement stability of the wheeled walking device 100.

In this embodiment, when the wheel 24 passes through the raised or lowered position on the ground, the elastic member 25 can adapt to generate deformation so that the wheel 24 can be lifted or lowered relative to the mounting frame 21 via the connection seat 22, and then the mounting frame 21 can be kept stable all the time under the support of the wheel 24. Because the connecting seat 22 is slidably connected to the mounting frame 21 along the vertical direction, the wheel body 24 only rises or descends along the vertical direction relative to the mounting frame 21 when passing through the raised or lowered position, so that the wheel tread and the wheel base of the wheel type walking equipment 100 are not changed, the walking precision is effectively improved, and the wheel type walking equipment 100 still has good walking precision when running on uneven ground.

As shown in fig. 1, the wheel base is the distance L between two adjacent wheels 24 in the axial direction of the wheels 24, and the wheel base is the distance Z between two adjacent wheels 24 in the traveling direction of the wheels 24. Thus, whether track or wheel base, is indicative of the distance between adjacent wheels 24 in the horizontal direction. Based on the fact that the wheel body 24 is lifted or lowered relative to the mounting frame 21 in the vertical direction when passing through the raised or lowered position, displacement cannot be generated relative to the mounting frame 21 in the axial direction and the traveling direction of the wheel body 24, and accordingly the wheel body 24 cannot cause changes in the wheel base and the wheel base of the wheel type traveling equipment 100 due to uneven pits on the ground on which the wheel body 24 travels.

In some embodiments, the wheeled walking device 100 includes a robotic arm coupled to the body 10. Based on the running mechanism 20, the wheel body 24 does not cause the change of the wheel tread and the wheel base of the wheel-type running equipment 100 due to the uneven pothole of the running ground, so that the running precision is good. Therefore, even when the wheeled walking device 100 travels over a depressed uneven ground, the mechanical arm connected to the main body 10 is less affected by the ground to maintain good operation accuracy. It should be noted that the mechanical arm may be used to perform tasks such as gripping or handling, and is not limited herein.

Further, in the embodiment in which a plurality of running gears 20 are connected to the main body 10, the wheelbase and tread of the wheeled running apparatus 100 can be made to meet the need by reasonably setting the connection position of the mounting bracket 21 of each running gear 20 to the main body 10.

Specifically, in some embodiments, the mounting bracket 21 is detachably connected to the main body 10, thereby facilitating the connection of the mounting bracket 21 to different positions of the main body 10 to achieve adjustment of the wheel base and the wheel base.

In some embodiments, the mounting frame 21 is movably connected with the main body 10, and the relative position of the mounting frame 21 and the main body 10 is adjusted in an electronically controlled manner, so as to realize adjustment of the wheel track or the wheel base.

Specifically, the wheeled walking device 100 includes a first driving mechanism and at least 2 walking mechanisms 20, and the mounting frame 21 of at least 1 walking mechanism 20 is connected to the first driving mechanism and can move horizontally relative to the main body 10 under the driving of the first driving mechanism. It will be appreciated that the direction of horizontal movement of the mounting frame 21 relative to the main body 10 may be a direction corresponding to adjustment of the wheelbase, and that the wheelbase of the wheeled walking device 100 may be adjusted when the first drive mechanism drives the mounting frame 21 to move horizontally relative to the main body 10. In some embodiments, the direction of the horizontal movement of the mounting frame 21 relative to the main body 10 may also be a direction corresponding to the adjustment of the track, and in this case, the first driving mechanism drives the horizontal movement of the mounting frame 21 relative to the main body 10, so as to adjust the track of the wheeled walking device 100. In some embodiments, the direction in which the mounting bracket 21 moves horizontally with respect to the main body 10 may also be a direction corresponding to the simultaneous adjustment of the wheel base and the wheel track, that is, the direction in which the mounting bracket 21 moves horizontally with respect to the main body 10 is a horizontal direction perpendicular to the vertical direction, but the mounting bracket 21 moves in this direction with respect to the main body 10 with displacement in the direction of the adjustment of the wheel base and displacement in the direction of the adjustment of the wheel track.

It should be noted that, in some embodiments, the wheel base and the wheel base of the wheeled walking apparatus 100 are adjusted by changing the size of the main body 10, so that the wheeled walking apparatus 100 can bear loads of different weights, and the requirement of carrying mechanical arms of different weights is satisfied.

Specifically, the wheeled walking device 100 includes a second driving mechanism and at least 2 walking mechanisms 20, the main body 10 includes at least 2 profiles 11 capable of moving relatively, the second driving mechanism is used for driving the at least 2 profiles 11 to move relatively along a horizontal direction, the at least 2 walking mechanisms 20 are connected to the at least 2 profiles 11 in a one-to-one correspondence, so that along with adjustment of the relative positions of the profiles 11, the distance between the walking mechanisms 20 on the profiles 11 changes, and then adjustment of the wheel track or the wheel base can be realized.

It should be noted that, because the structures of the connecting seat 22, the driving member 23, the wheel body 24, the elastic member 25, and the like in the running mechanism 20 are all assembled with the mounting frame 21, the running mechanism 20 can be used as an independent module, and modular assembly is realized, so that the running mechanism can be integrally mounted to the main body 10. Specifically, when the running gear 20 is required to be attached to the main body 10, the mounting bracket 21 is only required to be connected to the main body 10. Therefore, whether the mounting frame 21 is mounted at different positions of the main body 10 in a detachable connection manner or the relative positions of the running mechanisms 20 are adjusted through corresponding driving mechanisms, the running mechanisms 20 can be conveniently adapted to the adjustment requirements of the wheel base and the wheel base, so that when mechanical arms with different weights are required to be mounted, the wheel type running equipment 100 can flexibly adjust the wheel base and the wheel base according to actual requirements, has rich expansibility and compatibility, and effectively saves the redesign and processing cost.

The structure of the first driving mechanism and the structure of the second driving mechanism can be the same or different, so long as the corresponding structure can be driven to complete corresponding operation.

Taking the first driving mechanism as an example, the first driving mechanism may be a motor-screw structure as a mechanism for driving the mount 21 to move horizontally with respect to the main body 10.

Specifically, the first driving mechanism comprises a motor, a screw, a slider and a guide rail, the mounting frame 21 is connected with the guide rail through the slider, the guide rail is connected with the main body 10, the screw is in threaded connection with the slider, an output shaft of the motor is connected with the screw and is used for driving the screw to rotate, so that the slider can be driven by the screw threads to move along the guide rail, the mounting frame 21 moves along the guide rail relative to the main body 10, and then the mounting frame 21 moves relative to the main body 10. It can be understood that the guide rail is a horizontal guide rail, and specifically can be arranged along the direction of adjusting the wheel base, or can be arranged along the direction of adjusting the wheel base, which is not described herein.

In some embodiments, the driving mode of the motor and the screw rod may be replaced by an air cylinder, specifically, a telescopic rod of the air cylinder is connected with the sliding block, and the telescopic rod of the air cylinder is utilized to drive the sliding block to move in a translational manner relative to the guide rail, so that the mounting frame 21 on the sliding block moves along the guide rail, the position of the mounting frame 21 relative to the main body 10 is adjusted, and then the effect of adjusting the track or the wheel base is achieved.

As shown in connection with fig. 5 and 6, the elastic member 25 is configured to be in a compressed state when the wheel body 24 is walked on the ground, and it is understood that the length of the elastic member 25 in the compressed state is smaller than that in the natural state.

In some embodiments, the mounting 21 is coupled to a first mount 28 and the connection mount 22 is coupled to a second mount 29. The elastic member 25 is configured such that when the wheel body 24 is walking on the ground, on the one hand, the elastic member 25 is in a compressed state; on the other hand, both ends of the elastic member 25 are radially limited to the first support 28 and the second support 29, respectively.

For ease of understanding, the elastic member 25 is exemplified as including a compression spring 251. When the wheel body 24 walks on the ground, the compression spring 251 is compressed by the connection base 22 and the mounting frame 21, and at this time, the length of the compression spring 251 is smaller than that in a natural state.

In the embodiment in which the mounting frame 21 is connected with the first support 28 and the connecting seat 22 is connected with the second support 29, two ends of the compression spring 251 are respectively limited to the first support 28 and the second support 29 in the radial direction, so that the compression spring 251 has good stability between the connecting seat 22 and the mounting frame 21, and is not easy to fall off when being repeatedly compressed.

The type of the elastic member 25 is not limited herein. For example, the elastic member 25 may be an elastic rod or an elastic rod capable of being compressed, in addition to the compression spring 251 described above.

The first support 28 may be welded to the mounting frame 21, may be integrally formed with the mounting frame 21, or may be connected to the mounting frame 21 by a screw. The connection structure between the first support 28 and the mounting frame 21 is not limited herein. Accordingly, the second support 29 may also be connected to the connection base 22 by adopting a similar connection structure, which is not described herein.

Further, as shown in fig. 7, a first annular groove 28a is provided on a side of the first support 28 facing the second support 29, and a second annular groove 29a is provided on a side of the second support 29 facing the first support 28. One end of the compression spring 251 is received in the first annular groove 28a, and the other end is received in the second annular groove 29a, so that the compression spring 251 stably moves in a telescopic manner between the first support 28 and the second support 29, and is not easily moved out from between the first support 28 and the second support 29.

It should be noted that, the elastic member 25 is not limited to an elastic member (such as the compression spring 251) capable of being compressed, and in some embodiments, the elastic member 25 may also be an elastic member capable of being stretched, specifically, one end of the elastic member 25 is fixed relative to the mounting frame 21, the elastic member 25 is fixed relative to the connection seat 22, and the elastic member 25 is configured to be in a stretched state when the wheel body 24 walks on the ground. It will be appreciated that the length of the elastic member 25 in the stretched state is greater than that in the natural state. The elastic member capable of being stretched includes, but is not limited to, a tension spring, but may also be a tension cord or elastic cord, without limitation.

The plurality of elastic members 25 are provided, and the plurality of elastic members 25 are arranged such that forces applied to the wheel body 24 on both sides in the traveling direction of the wheel body 24 are equal in magnitude and in the same direction. Here, the two sides in the traveling direction of the wheel body 24 refer to the two sides of a vertical tangential plane passing through the center of the wheel body 24. Based on the plurality of elastic members 25 being configured such that the forces applied to the wheel body 24 on both sides of the wheel body 24 in the traveling direction are equal in magnitude and in the same direction, the forces on both sides of the connecting seat 22 are balanced during the traveling process of the wheel body 24 on the ground, which is beneficial to maintaining the sliding stability of the connecting seat 22 relative to the mounting frame 21.

Referring to fig. 8, the mounting frame 21 includes a connection plate 211, a first support plate 212 and a second support plate 213, wherein the first support plate 212 and the second support plate 213 are respectively and vertically connected to two ends of the connection plate 211, one side of the connection seat 22 is slidably connected to the first support plate 212, and the other side is slidably connected to the second support plate 213.

Further, the connecting plate 211 is provided with an elastic pad 211a, and the elastic pad 211a is configured to buffer the contact force between the connecting seat 22 and the connecting plate 211, so as to avoid larger vibration of the running mechanism 20 in the running process caused by overlarge impact force between the connecting seat 22 and the connecting plate 211, and reduce the possibility of damage caused by impact between the connecting seat 22 and the connecting plate 211. The elastic pad 211a may be connected to the connection plate 211 by bonding, or may be connected to the connection plate 211 by a bolt, which is not limited herein.

With continued reference to fig. 8, the mounting bracket 21 includes a top plate 214, both ends of the top plate 214 are respectively connected to the first support plate 212 and the second support plate 213, and the elastic member 25 includes a compression spring 251, one end of the compression spring 251 is in contact with the top plate 214, and the other end is in contact with the connection seat 22, so that the compression spring 251 is elastically disposed between the connection seat 22 and the mounting bracket 21. The connection manner between the top plate 214 and the first support plate 212 and the second support plate 213 may be a snap connection, or may be a screw connection, which is not limited herein.

In this embodiment, a limiting structure may be provided to radially limit the two ends of the compression spring 251, so that the compression spring 251 is not easy to fall off. Specifically, as shown in fig. 8 and 9, a first limiting groove 214a is formed in a side of the top plate 214 facing the connection plate 211, and a second limiting groove 22a is formed in a side of the connection seat 22 facing the top plate 214. As shown in fig. 10 and 11, one end of the compression spring 251 is received in the first limiting groove 214a, and the other end is received in the second limiting groove 22a, so that the compression spring 251 is not easily separated, and the compression spring 251 stably stretches and contracts when the connection seat 22 vertically slides relative to the mounting frame 21.

The first and second limiting grooves 214a and 22a may be annular grooves to better radially limit the ends of the compression spring 251. In other embodiments, the first limiting groove 214a and the second limiting groove 22a may be other grooves, such as triangular, quadrangular or hexagonal grooves, but also may be other grooves of irregular images, which are not limited herein.

In the embodiment of the present application, the type and the type of the elastic member 25 may be configured as needed, and specifically, the elastic member 25 of an appropriate type and type is selected in advance when the running gear 20 is assembled. Taking the elastic member 25 as the compression spring 251 as an example, the compression spring 251 is in a natural state after the compression spring 251 is assembled between the connection base 22 and the mounting frame 21.

In some embodiments, when the wheeled walking device 100 equipped with the walking mechanism 20 is placed on the ground, since the wheel body 24 contacts the ground to support the whole wheeled walking device 100, the reaction force of the ground to the wheel body 24 moves the connection base 22 vertically upward relative to the mounting frame 21, and the compression spring 251 is compressed to generate elastic force. The compression amount of the compression spring 251 depends on the pressing force of the connection base 22 and the mounting bracket 21 thereto. It will be appreciated that the construction of running gear 20 need not be changed, as only compression springs 251 of different stiffness and length need be replaced for different design requirements.

The principle of operation of the running gear 20 during running of the wheeled running apparatus 100 on the ground R will be described below with reference to fig. 12 to 16.

As shown in fig. 12 and 13, when the wheeled walking device 100 travels on the flat ground R, each wheel body 24 receives the reaction force of the ground R to generate the upward thrust N on the connection base 22 under the entire gravity of the wheeled walking device 100, and at this time, the compression spring 251 is compressed by the pressing force P of the connection base 22 and the mounting frame 21, since each of the walking mechanisms 20 supports the wheeled walking device 100. At this time, the four traveling mechanisms 20 are in the same state, and the state of each compression spring 251 is stable all the time after being compressed by an external force, so that the movement of the main body 10 is stable when the mechanical arm is mounted on the main body 10 to perform work, and the operation accuracy of the mechanical arm is not affected.

As shown in fig. 14, when the wheeled walking device 100 is driven on a depressed uneven ground surface R, some of the wheels 24 encounter a raised obstacle T, some of the wheels 24 encounter a recessed obstacle a, or no obstacle is encountered. The force-bearing state of the running mechanism 20 against the protruding obstacle T is shown in fig. 15, specifically, when the running mechanism 20 passes over the protruding obstacle T, the wheel body 24 transmits the reaction force N of the ground R and the protruding impact force F to the connecting seat 22, and at this time, the connecting seat 22 moves vertically upwards relative to the mounting frame 21, so that the spring 251 is further compressed, and the mounting frame 21 is maintained stable. At this time, the compression spring 251 receives a force P' greater than P.

As shown in fig. 16, when the running mechanism 20 is crossing the pit obstacle a, the wheel 24 will suddenly lose the support of the ground R, so the reaction force n=0 of the ground R to the wheel 24, at this time, since the compression spring 251 is still pressed by the connection seat 22 and the mounting frame 21, the compression spring 251 has an elastic force with a magnitude of P, so when the wheel 24 will suddenly lose the support of the ground R, the compression spring 251 will resume deformation and extend, so that the connection seat 22 moves vertically downward relative to the mounting frame 21 until the wheel 24 contacts the pit ground R, and the gravity of the running mechanism 20 is balanced by the reaction force balance wheel type running device 100 of the ground R again.

Whether the compression spring 251 is compressed or extended, the wheel body 24 can always contact with the ground R and provide stable support for the mounting frame 21, so that the main body 10 connected with the mounting frame 21 is stable, and thus, the wheel type walking device 100 can always keep stable running through independent adjustment of each walking mechanism 20, and when the mechanical arm is connected to the main body 10 for operation, the running precision of the mechanical arm is less influenced by the low-lying unevenness of the ground R, so as to maintain good action precision.

The mechanical arm may be connected to the main body 10 by welding, or may be detachably connected to the main body 10 by a structure such as a bolt or a buckle.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be regarded as the scope of the present application.

The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims (13)

1. A running gear, characterized in that includes:

a mounting frame;

the connecting seat is connected with the mounting frame in a sliding manner along the vertical direction;

the driving piece is connected with the connecting seat;

the wheel body is connected with the driving piece and can rotate relative to the connecting seat under the drive of the driving piece; a kind of electronic device with high-pressure air-conditioning system

The elastic piece is arranged between the connecting seat and the mounting frame, and is configured to apply acting force towards one side of the ground to the connecting seat when the wheel body walks on the ground.

2. The running gear of claim 1, wherein the mounting frame is connected with a first support, the connecting seat is connected with a second support, the elastic member is configured to be in a compressed state when the wheel body runs on the ground, and two ends of the elastic member are respectively located on the first support and the second support in a radial direction.

3. The running gear of claim 2, wherein a first annular groove is formed in a side of the first support facing the second support, a second annular groove is formed in a side of the second support facing the first support, one end of the compression spring is accommodated in the first annular groove, and the other end of the compression spring is accommodated in the second annular groove.

4. The running gear of claim 1, wherein one end of the elastic member is fixed to the mounting frame, the other end is fixed to the connecting base, and the elastic member is configured to be in a stretched state when the wheel body runs on the ground.

5. The running gear according to claim 1, wherein the elastic members are plural, and the plural elastic members are configured such that forces applied to the wheel body on both sides in the running direction of the wheel body are equal in magnitude and in the same direction.

6. The walking mechanism of claim 1, wherein the mounting frame comprises a connecting plate, a first supporting plate and a second supporting plate, the first supporting plate and the second supporting plate are respectively and vertically connected to two ends of the connecting plate, one side of the connecting seat is in sliding connection with the first supporting plate, and the other side of the connecting seat is in sliding connection with the second supporting plate.

7. The running gear of claim 6, wherein the connection plate is provided with an elastic pad configured to cushion a contact force between the connection base and the connection plate.

8. The running gear according to claim 6 or 7, wherein the mounting frame comprises a top plate, both ends of the top plate are respectively connected with the first support plate and the second support plate, and the elastic member comprises a compression spring, one end of the compression spring is in contact with the top plate, and the other end of the compression spring is in contact with the connecting seat.

9. The travel mechanism of claim 8, wherein a first limit groove is formed in a side of the top plate facing the connecting plate, a second limit groove is formed in a side of the connecting seat facing the top plate, and one end of the compression spring is accommodated in the first limit groove while the other end is accommodated in the second limit groove.

10. The running gear of claim 1, wherein the connection base comprises a flange, the driving member comprises a driving motor, the driving motor is connected to the flange, and an output shaft of the driving motor is connected to the wheel body.

11. A wheeled walking device comprising a main body and the walking mechanism of any one of claims 1 to 10, said mounting being connected to said main body.

12. The wheeled walking device of claim 11, wherein said mounting is detachably connected to said body and/or said wheeled walking device comprises a robotic arm connected to said body.

13. The wheeled walking device of claim 11, comprising a first drive mechanism and at least 2 of said walking mechanisms, said mounting frame of at least 1 of said walking mechanisms being connected to said first drive mechanism and being capable of moving horizontally relative to said body under the urging of said first drive mechanism;

and/or the main body comprises at least 2 profiles which can move relatively, the second driving mechanism is used for driving at least 2 profiles to move relatively along the horizontal direction, and at least 2 travelling mechanisms are connected with at least 2 profiles in a one-to-one correspondence.