CN211223657U - Running gear and unmanned vehicle - Google Patents

Abstract

The utility model provides a running gear and unmanned car, including first roller train, the second roller train, the track, drive wheel and inducer, first roller train has two at least first gyro wheels, the second roller train has two at least second gyro wheels, the inboard top of track is located to one of first roller train and this two of second roller train, the inboard below of track is located to another, the inboard both ends of locating the track that drive wheel and inducer are relative, drive wheel and track transmission cooperation, wherein, first roller train and second roller train are connected with drive assembly respectively, first roller train and the second roller train of being connected with it through the drive assembly drive swing in the vertical plane of track in order to change the shape of track. The traveling device provided by the scheme can enable the vehicle to be turned over by 180 degrees, the original riding wheel becomes the loading wheel through the deformation of the crawler belt, the original loading wheel becomes the riding wheel, and the traveling system structure and the traveling function of the vehicle which are not different compared with those before turning over are realized.

Description

Running gear and unmanned vehicle

Technical Field

The utility model relates to a running gear field particularly, relates to a running gear and an unmanned car.

Background

When the vehicle runs in special environments such as severe outdoor environments and dangerous environments, the current crawler-type vehicle may roll over, the vehicle cannot continue to run after the vehicle rolls over for 180 degrees, and people and equipment can only be abandoned or dispatched for rescue, but rescue people and equipment are placed in dangerous situations when the vehicle is rescued, and no good method is available at present for solving the difficulties.

SUMMERY OF THE UTILITY MODEL

In order to solve at least one of the above technical problems, an object of the present invention is to provide a walking device.

In order to achieve the above object, an embodiment of the first aspect of the present invention provides a walking device, which comprises a first roller set, a second roller set, a track, a driving wheel and an inducer, the first roller group is provided with at least two first rollers, the second roller group is provided with at least two second rollers, one of the first roller set and the second roller set is arranged above the inner side of the crawler belt, and the other one is arranged below the inner side of the crawler belt, the driving wheel and the inducer are oppositely arranged at two ends of the inner side of the crawler belt, the driving wheel is in transmission fit with the crawler belt, the first roller group and the second roller group are respectively connected with a driving component, and the driving components drive the first roller group and the second roller group connected with the first roller group and the second roller group to swing in a longitudinal vertical plane of the crawler belt so as to change the shape of the crawler belt.

The traveling device provided by the above embodiment of the present invention, one of the first roller set and the second roller set is disposed above the inner side of the track, and the other is disposed below the inner side of the track, for example, the first roller set is a supporting roller to support the upper supporting section of the track, and the second roller set is a loading roller to support the lower supporting section of the track, after the traveling device is tilted, the upper supporting section of the track is converted into the lower supporting section, and the lower supporting section is converted into the upper supporting section, the driving assembly drives the first roller set and the second roller set connected thereto to swing to change the shape of the track, so that the first roller set is converted into the lower supporting section of the track supported by the loading roller, the second roller set is converted into the upper supporting section of the track supported by the supporting roller, so that the first roller set and the second roller set are mutually backup, and the functions of the first roller set and the second roller set are mutually converted by the driving assembly driving roller swing, and further, the walking device can continue to walk without rescue after being tipped over.

In addition, the utility model provides a running gear in above-mentioned embodiment can also have following additional technical characterstic:

in the above technical solution, the number of the first rollers is the same as the number of the second rollers.

In this scheme, the quantity of first gyro wheel and second gyro wheel is the same, and like this, running gear all has a plurality of gyro wheels to support the last section of track before tumbling, and the weight of a plurality of gyro wheels burden automobile body and the lower branch section of supporting the track for whole motorcycle type is unanimous before tumbling after running gear tumbles, thereby more stable of walking after tumbling.

In the above technical solution, adjacent first rollers are distributed at intervals, and/or adjacent second rollers are distributed at intervals.

In this scheme, adjacent first gyro wheel (second gyro wheel) distribute with the interval, and the overall arrangement of structure is more reasonable like this, can not take place to interfere when driving piece drive first gyro wheel (second gyro wheel) that links to each other with it, and first gyro wheel (second gyro wheel) wobbling is more smooth and easy.

In the technical scheme, the periphery of the inducer is provided with driving teeth in transmission fit with the crawler.

In this scheme, the periphery of inducer is equipped with the drive tooth, and drive tooth and track meshing drive track motion also can utilize the inducer drive track motion after tumbling like this, and inducer and drive wheel also can drive the track motion simultaneously, form front and back dual drive wheel structure to provide bigger drive power and braking power.

In any of the above technical solutions, the driving assembly includes a rocker arm and a driving member, one end of the rocker arm is hinged to the wheel axle of the first roller or the wheel axle of the second roller, the other end of the rocker arm is provided with a hinged portion, the hinged portion is adapted to be hinged to a vehicle body, the driving member is connected to the rocker arm, and the driving member drives the rocker arm to rotate so that the first roller or the second roller swings up and down around the hinged portion.

In this scheme, the driving piece can adopt pneumatic cylinder or electric putter, and on the one hand, the driving piece can be passive upper and lower telescopic deformation under the exogenic action, reduces vibrations, and on the other hand, the driving piece can be initiatively upper and lower telescopic deformation in order to drive the rocking arm and rotate, and the one end and the automobile body of rocking arm are articulated, and the other end swing is and follows to lift up the relative ground of automobile body or reduce, and the rocking arm rotates the upper and lower position that changes the gyro wheel to make running gear all can realize the walking around tumbling.

In the above technical solution, the traveling device further includes a position sensor for detecting a rotation position of the rocker arm, and the position sensor is connected to a controller for controlling the driving member to operate.

In this scheme, the rotation angle of rocking arm is confirmed according to the positional information of the rocking arm that position sensor detected, and is more accurate to the rotation control of rocking arm like this, and then more accurate to the swing control of gyro wheel, and the gyro wheel wobbling position is different, and is also different to the dynamics of track tensioning, can change the tensioning force of gyro wheel to the track through rocking arm position response information, and like this, running gear is before tumbling, and the track is all by appropriate tensioning, and it is all more smooth and easy to travel before tumbling.

In any one of the above technical solutions, the driving member is a telescopic driving member, one end of the telescopic driving member is hinged to the rocker arm, and the other end of the telescopic driving member is adapted to be hinged to the vehicle body.

In this scheme, flexible driving piece has simple structure, equipment convenience, advantage that control accuracy is high.

In any one of the above technical solutions, the walking device further includes a pressure sensor for detecting the driving force of the telescopic driving member, and the pressure sensor is connected with a controller for controlling the action of the telescopic driving member.

In this scheme, confirm driving piece drive dynamics according to the flexible driving piece drive force information that pressure sensor detected, it is more accurate to the control of flexible driving piece like this, and then more accurate to the swing control of gyro wheel.

An embodiment of the second aspect of the utility model provides an unmanned vehicle, which comprises a carriage body, the both sides of automobile body are provided with respectively as in above-mentioned arbitrary technical scheme running gear, when first roller train outwards swings to extreme position, the track salient of first roller train one side in the up end of automobile body, when the second roller train outwards swings to extreme position, the track salient of second roller train one side in the lower terminal surface of automobile body.

The utility model discloses above-mentioned embodiment provides an unmanned car, through being provided with among the above-mentioned arbitrary technical scheme running gear to have above all beneficial effect, no longer describe here.

In the technical scheme, the vehicle body is symmetrical in front and back; and/or bilateral symmetry of the vehicle body; and/or the vehicle body is vertically symmetrical.

In this case, the vehicle body is of a relatively symmetrical configuration, so that after a rollover of the running gear, the vehicle body does not deteriorate in the driving function after the rollover, as before the rollover.

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

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural view illustrating a first traveling state of an unmanned vehicle according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a second walking state of the unmanned vehicle according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a third traveling state of the unmanned vehicle according to an embodiment of the present invention;

fig. 4 is a schematic perspective view of an unmanned vehicle according to an embodiment of the present invention.

Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 4 is:

100 running gear, 110 first roller group, 110a first roller, 120 second roller group, 120a second roller, 130 crawler belt, 131 upper branch section, 132 lower branch section, 133 guide tooth, 140 driving wheel, 150 driving component, 151 rocker arm, 152 driving component, 153 hinge part, 160 inducer, 200 unmanned vehicle, 210 vehicle body.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

The walking device 100 and the unmanned vehicle 200 according to some embodiments of the present invention will be described with reference to fig. 1 to 4.

As shown in fig. 1 and 3, the walking device 100 according to the embodiment of the first aspect of the present invention includes a first roller set 110, a second roller set 120, a track 130, a driving wheel 140, and an inducer 160.

The first roller set 110 has at least two first rollers 110a, the second roller set 120 has at least two second rollers 120a, and one of the first roller set 110 and the second roller set 120 is disposed above the inner side of the crawler 130, and the other is disposed below the inner side of the crawler 130.

The driving wheel 140 and the inducer 160 are oppositely disposed at two ends of the inner side of the track 130, the driving wheel 140 is in transmission fit with the track 130, wherein the first roller set 110 and the second roller set 120 are respectively connected with a driving assembly 150, and the driving assembly 150 drives the first roller set 110 and the second roller set 120 connected therewith to swing in a vertical plane in the longitudinal direction of the track 130 so as to change the shape of the track 130.

For example, as shown in fig. 1, fig. 1 shows a first walking state of the walking device 100, it can be understood that the track 130 has an upper branch section 131 and a lower branch section 132, the lower branch section 132 is in contact with the ground, the upper branch section 131 is located above the lower branch section 132, wherein the first roller set 110 is located on the upper branch section 131 of the track 130 and plays a role of tensioning, and the second roller set 120 is located on the lower branch section 132 of the track 130 and plays a role of bearing, that is, at this time, the first roller set 110 is a supporting roller, the second roller set 120 is a loading roller, and the driving wheel 140 is embedded with a driving motor or a hydraulic motor as a power source to drive the track 130 to move; as shown in fig. 2, fig. 2 is a second walking state of the walking device 100, the driving assembly 150 drives the first roller set 110 and the second roller set 120 connected thereto to swing upward for a certain distance, in detail, the driving assembly 150 drives the first roller 110a connected thereto to rotate clockwise, and the driving assembly 150 drives the second roller 120a connected thereto to rotate counterclockwise, so that the vehicle body 210 of the unmanned vehicle 200 is closer to the ground than the first walking state, the vehicle body 210 in fig. 1 is highest off the ground and is suitable for low-speed off-road running, the driving assembly 150 drives the rollers to swing, the walking device 100 changes from the first walking state to the second walking state, the vehicle body 210 is lower off the ground and is suitable for high-speed running in better road conditions, the rollers are driven by the driving assembly 150 to swing to change the shape of the track 130, so that the vehicle has a plurality of different walking states, and the different walking states are suitable for different vehicle speeds, so that the traveling device 100 can select corresponding traveling states according to different terrains, and can realize the change of the contact area between the track 130 and the ground and the distance between the vehicle body 210 and the ground by changing the support shape of the track 130, so as to realize efficient passing under different road conditions, fig. 3 shows a third traveling state of the traveling device 100, the driving assembly 150 continues to drive the rollers to swing, the traveling device 100 becomes the third traveling state in fig. 3, i.e. the traveling state after the first traveling state in fig. 1 is tilted 180 degrees, after the traveling device 100 is tilted 180 degrees, the upper branch section 131 of the original track 130 becomes the lower branch section 132, the lower branch section 132 of the original track 130 becomes the upper branch section 131, at this time, the second roller set 120 is positioned at the upper branch section 131 of the track 130 along with the tilting of the vehicle body 210, so as to play a role of tensioning, the first roller set 110 is positioned at the lower branch 132 of the track 130 along with the vehicle body 210, that is, at this time, the first roller set 110 is a loading wheel, the second roller set 120 is a supporting wheel, the first roller set 110 and the second roller set 120 complete function exchange, and the vehicle body 210 can still continue to run after being turned over by 180 degrees.

In the walking device 100 provided by the above embodiment of the present invention, the first roller set 110 and the second roller set 120 are distributed up and down, for example, the first roller set 110 is the upper section 131 of the supporting track 130 of the supporting track, and the second roller set 120 is the lower section 132 of the supporting track 130 of the loading wheel, after the walking device 100 is tilted, the upper section 131 of the supporting track 130 is converted into the lower section 132, the lower section 132 is converted into the upper section 131, the driving component 150 drives the first roller set 110 and the second roller set 120 connected thereto to swing to change the shape of the supporting track 130, so that the first roller set 110 is converted into the lower section 132 of the supporting track 130 of the loading wheel, the second roller set 120 is converted into the upper section 131 of the supporting track 130 of the supporting track, so that the first roller set 110 and the second roller set 120 are backup for each other, the functions of the first roller set 110 and the second roller set 120 are mutually converted by driving the driving component 150 to swing the rollers, thereby realizing that the walking device 100 can continue walking without rescue after tipping.

In one embodiment of the present invention, the number of the first rollers 110a is the same as the number of the second rollers 120 a. Thus, the traveling apparatus 100 has a plurality of rollers supporting the upper leg 131 of the crawler 130 before the tip-over, and the plurality of rollers bear the weight of the vehicle body 210 and support the lower leg 132 of the crawler 130, so that the entire vehicle type is consistent with that before the tip-over after the tip-over of the traveling apparatus 100, thereby more stably traveling after the tip-over.

In an embodiment of the present invention, a plurality of first rollers 110a are disposed side by side in the track 130; the adjacent first rollers 110a are distributed at intervals, and a plurality of second rollers 120a are arranged in the crawler 130 side by side; the adjacent second rollers 120a are spaced apart from each other. The arrangement of the structure is more reasonable, interference does not occur when the driving member 152 drives the first roller 110a (the second roller 120a) connected with the driving member, and the first roller 110a (the second roller 120a) swings more smoothly.

For example, as shown in fig. 1, the walking device 100 has two first rollers 110a and two second rollers 120a, wherein the two first rollers 110a respectively and alternately abut against the upper section 131 of the track 130 and tension the upper section 131 of the track 130, the two second rollers 120a respectively and alternately abut against the lower section 132 of the track 130 and bear the weight of the walking device 100, and the two first rollers 110a and the two second rollers 120a are vertically and symmetrically distributed, the swing spaces of the driving assemblies 150 connected to each roller are staggered, interference between the driving assemblies 150 does not occur during driving, and the rollers swing more smoothly.

In an embodiment of the present invention, the inducer 160 and the driving wheel 140 are spaced apart from each other, and the inducer 160 and the driving wheel 140 support the front and rear sides of the crawler 130 together, wherein the plurality of first rollers 110a swing in a direction close to the inducer 160 and the driving wheel 140, and the plurality of second rollers 120a swing in a direction away from the inducer 160 and the driving wheel 140, or the plurality of first rollers 110a swing in a direction away from the inducer 160 and the driving wheel 140, and the plurality of second rollers 120a swing in a direction close to the inducer 160 and the driving wheel 140. The first roller 110a swings simultaneously with the second roller 120a to change the shape of the crawler 130, so that the crawler 130 can be adapted to the terrain after the rollover, and can continue to walk after the rollover.

Further, the inducer 160 is provided with drive teeth on its outer periphery. The driving teeth are meshed with the crawler 130 to drive the crawler 130 to move, so that the inducer 160 can also be used for driving the crawler 130 to move after the vehicle is tipped, and the inducer 160 and the driving wheel 140 can also simultaneously drive the crawler 130 to move, thereby forming a front-rear dual-drive wheel 140 structure, and providing larger driving force and braking force.

In an embodiment of the present invention, the driving assembly 150 includes a swing arm 151 and a driving member 152, one end of the swing arm 151 is hinged to the axle of the first roller 110a or the axle of the second roller 120a, the other end of the swing arm is provided with a hinge portion 153, the hinge portion 153 is adapted to be hinged to the vehicle body 210, the driving member 152 is connected to the swing arm 151, and the swing arm 151 is driven by the driving member 152 to rotate so as to swing the first roller 110a or the second roller 120a up and down around the hinge portion. The driving member 152 may be a hydraulic cylinder or an electric push rod, on one hand, the driving member 152 may passively extend and deform up and down under the action of an external force to reduce vibration, on the other hand, the driving member 152 may actively extend and deform up and down to drive the swing arm 151 to rotate, one end of the swing arm 151 is hinged to the vehicle body 210, the other end of the swing arm 151 swings to lift or lower the vehicle body 210 relative to the ground, and the swing arm 151 rotates to change the up-and-down position of the roller, so that the walking device 100 can walk before and after being tilted.

Further, the walking device 100 further includes a position sensor for detecting the rotational position of the swing arm 151, and the position sensor is connected to a controller for controlling the operation of the driving member 152. The rotation angle of the rocker arm 151 is determined according to the position information of the rocker arm 151 detected by the position sensor, so that the rotation control of the rocker arm 151 is more accurate, the swing control of the roller is more accurate, the swinging position of the roller is different, the tension force of the crawler 130 is also different, and the tension force of the roller on the crawler 130 can be changed through the position sensing information of the rocker arm 151 and the pressure sensing information of the driving piece 152, so that the crawler 130 is properly tensioned before and after the walking device 100 is tipped, and the walking device runs more smoothly before and after the tipping.

In one embodiment of the present invention, the driving member 152 is a telescopic driving member, one end of which is hinged to the rocker arm 151, and the other end is adapted to be hinged to the vehicle body 210. Has the advantages of simple structure, convenient assembly and high control precision.

Further, the walking device 100 further includes a pressure sensor for detecting the driving force of the telescopic driving member, and the pressure sensor is connected to a controller for controlling the action of the telescopic driving member. The driving force of the driving piece is determined according to the driving force information of the telescopic driving piece detected by the pressure sensor, so that the control of the telescopic driving piece is more accurate, and the swing of the roller is more accurate.

In one embodiment of the present invention, the track 130 has guide teeth 133. In detail, the crawler 130 is a metal pin chain structure crawler 130 or a rubber integral crawler 130, three rows of teeth are arranged on the inner side of the crawler 130, wherein the height of the middle row of teeth is higher than the height of the two rows of teeth on the two sides of the middle row of teeth, the middle row of teeth form a guide tooth 133, the engaging force of the crawler 130 and the driving wheel 140 is enhanced by the guide tooth 133, and the crawler 130 moves along the guide direction of the guide tooth 133 in the tipping process so as to prevent the crawler 130 from derailing in the tipping process.

The embodiment of the second aspect of the present invention provides an unmanned vehicle 200, including a vehicle body 210, the both sides of the vehicle body 210 are respectively provided with the running gear 100 as in any one of the above technical solutions, when the first roller set 110 swings outwards to the limit position, the track 130 of one side of the first roller set 110 protrudes from the upper end surface of the vehicle body 210, and when the second roller set 120 swings outwards to the limit position, the track of one side of the second roller set 120 protrudes from the lower end surface of the vehicle body 210.

The utility model discloses unmanned car 200 that above-mentioned embodiment provided is through being provided with among the above-mentioned arbitrary technical scheme running gear to have above all beneficial effect, no longer describe here.

Further, the vehicle body 210 is symmetrical in the front-rear direction; and/or left-right symmetry of body 210; and/or the vehicle body 210 is symmetrical up and down. The vehicle body 210 has a relatively symmetrical structure, so that the vehicle body 210 does not deteriorate the traveling function of the vehicle after the rollover of the traveling apparatus 100, as before the rollover.

In an embodiment of the present invention, as shown in fig. 4, the two sides of the unmanned vehicle 200 are respectively provided with a traveling device 100, and the vehicle body 210 of the unmanned vehicle 200 is front-back symmetric, left-right symmetric, and top-bottom symmetric, so that the vehicle body 210 is relatively unchanged before and after tipping, wherein the traveling device 100 comprises at least two first rollers 110a, at least two second rollers 120a, a crawler 130, an inducer 160, and a driving wheel 140, the first rollers 110a, the second rollers 120a, the inducer 160, and the driving wheel 140 are disposed on the inner side of the crawler 130 and support the crawler 130, the driving wheel 140 is in transmission fit with the crawler 130 and drives the crawler 130 to rotate, the inducer 160 and the driving wheel 140 are respectively disposed on the front and back sides of the crawler 130 and are symmetrically distributed, the first rollers 110a and the second rollers 120a are distributed up and down, wherein the first rollers 110a and the second rollers 120a are respectively connected with a driving assembly 150, the first roller 110a and the second roller 120a connected thereto are driven to swing by the driving assembly 150 to change the shape of the track 130.

The driving assembly 150 includes a balance elbow rocker 151 and a lifting oil and gas cylinder, one end of the balance elbow rocker 151 is hinged to the vehicle body 210 through a balance elbow shaft, the other end is hinged to the first roller 110a through a first roller shaft, or hinged to the second roller 120a through a second roller shaft, the middle is hinged to a lifting oil and gas cylinder (or a lifting electric cylinder, etc.), the lifting oil and gas cylinder can provide a passive lifting function, which plays a role in driving vibration damping and vehicle body 210 supporting, and can also provide an active lifting function, which plays a role in adjusting the lifting of the vehicle body 210 and the transformation and deformation of the upper and lower support sections 132 of the crawler 130, wherein, as shown in fig. 1, the unmanned vehicle is in a first walking state, the first roller 110a is located at the upper support section 131 of the crawler 130 and plays a role in tensioning, the second roller 120a is located at the lower support section 132 of the crawler 130 and plays a role in bearing, that is, at this, the second roller 120a is a bogie, as shown in fig. 3, the unmanned vehicle is in a third traveling state, that is, after the unmanned vehicle in fig. 1 is tilted 180 degrees, the second roller 120a is located at the upper section 131 of the track 130 and plays a role of tensioning, the first roller 110a is located at the lower section 132 of the track 130 and plays a role of bearing, that is, at this time, the first roller 110a is a bogie, the second roller 120a is a supporting wheel, and at the same time, because the supporting wheel is connected with a balance elbow rocker 151, the supporting wheel is used for tensioning the track 130, the lifting oil cylinder has a pressure monitoring function to adjust the tension of the track 130, the track 130 has a high guide tooth 133 structure to prevent the track 130 from derailing during the tilting process, the bogie takes a role of bearing the weight of the whole vehicle, and the supporting wheel actively actuate the balance elbow rocker 151 through the lifting oil cylinder to realize function exchange after the tilting, so that the vehicle has a function of driving without difference after the vehicle is tilted, the supporting wheel plays a role of tensioning the track 130 and supporting the upper section 131 of the track 130, the tension of the tensioning wheel tensioning the track 130 depends on the position sensing information of the balance elbow rocker 151 connected with the tensioning wheel and the pressure sensing information of the liftable oil cylinder, the walking device 100 in fig. 1 only has two loading wheels and two supporting wheels on one side, a person skilled in the art can also design three or more loading wheels and supporting wheels according to specific requirements, the driving wheel 140 provides driving power for the track 130, and can also form a single-side dual-drive wheel structure with the inducer 160 to provide larger driving force and braking force, in short, the walking device provided by the scheme can enable the vehicle to change into the lower section 132, the original lower section 132 into the upper section 131, the original supporting wheel into the loading wheel and the original loading wheel into the supporting wheel after the vehicle is tipped over for 180 degrees, the structure and the running function of the running system of the vehicle are realized, which are not different compared with the running system before the vehicle rolls over.

To sum up, the utility model provides a running gear and unmanned car, first gyro wheel and second gyro wheel distribute from top to bottom, for example, first gyro wheel supports the last section of propping of track for the riding wheel, and the second gyro wheel supports the lower section of track for the bogie wheel, after running gear takes place to tumble, the last section of track converts the lower section, the lower section converts the upper section into the upper section, first gyro wheel and the swing of second gyro wheel that drive assembly drive is connected with it is in order to change the shape of track, thus, first gyro wheel converts the lower section that the bogie wheel supported the track thereupon, the second gyro wheel converts the last section that the riding wheel supported the track into, make first gyro wheel and second gyro wheel each other backup, the function that realizes first gyro wheel and second gyro wheel through drive assembly drive roller swing converts each other, and then realize that running gear can continue to walk and need not rescue after tumbling.

In the present invention, the terms "mounting", "connecting", "fixing" and the like are used in a broad sense, for example, "connecting" may be a fixed connection, a detachable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the description of the present invention, it should be understood that the terms "inside" and "outside" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or unit indicated must have a specific orientation, be constructed and operated in a specific orientation, and therefore, should not be construed as limiting the present invention.

In the description of the present specification, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides a walking device, its characterized in that includes first roller train, second roller train, track, drive wheel and inducer, first roller train has at least two first gyro wheels, the second roller train has at least two second gyro wheels, one of first roller train and the two of second roller train locates the top of the inboard of track, the other locates the below of the inboard of track, drive wheel and inducer relative locate the both ends of the inboard of track, the drive wheel with the track transmission cooperation, wherein, first roller train and second roller train are connected with drive assembly respectively, through drive assembly drive with it be connected first roller train and the second roller train swing in the vertical plane of track with change the shape of track.

2. Walking device according to claim 1,

the number of the first rollers is the same as that of the second rollers.

3. Walking device according to claim 1 or 2,

the adjacent first rollers are distributed at intervals, and/or the adjacent second rollers are distributed at intervals.

4. Walking device according to claim 1 or 2,

and driving teeth in transmission fit with the caterpillar are arranged on the periphery of the inducer.

5. The walking device according to claim 1 or 2, wherein the driving assembly comprises a rocker arm and a driving member, one end of the rocker arm is hinged to the axle of the first roller or the axle of the second roller, the other end of the rocker arm is provided with a hinge portion, the hinge portion is adapted to be hinged to a vehicle body, the driving member is connected to the rocker arm, and the rocker arm is driven to rotate by the driving member so that the first roller or the second roller swings up and down around the hinge portion.

6. Walking device according to claim 5,

the walking device further comprises a position sensor for detecting the rotation position of the rocker arm, and the position sensor is connected with a controller for controlling the driving piece to act.

7. The walking device of claim 5, wherein the driving member is a telescopic driving member, one end of the telescopic driving member is hinged to the rocker arm, and the other end of the telescopic driving member is adapted to be hinged to a vehicle body.

8. Walking device according to claim 7,

the walking device further comprises a pressure sensor for detecting the driving force of the telescopic driving piece, and the pressure sensor is connected with a controller for controlling the telescopic driving piece to act.

9. An unmanned vehicle is characterized by comprising a vehicle body, wherein the two sides of the vehicle body are respectively provided with the traveling devices as claimed in any one of claims 1 to 8, when the first roller group swings outwards to a limit position, the crawler belt on one side of the first roller group protrudes out of the upper end surface of the vehicle body, and when the second roller group swings outwards to a limit position, the crawler belt on one side of the second roller group protrudes out of the lower end surface of the vehicle body.

10. The unmanned vehicle of claim 9,

the front and the back of the vehicle body are symmetrical; and/or

The vehicle body is symmetrical left and right; and/or

The car body is symmetrical up and down.

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