CN211765948U

CN211765948U - Running gear, robot and vehicle

Info

Publication number: CN211765948U
Application number: CN202020004236.3U
Authority: CN
Inventors: 李勇; 张传泰; 程大海
Original assignee: Xuzhou Construction Machinery Group Co Ltd XCMG
Current assignee: Xuzhou Construction Machinery Group Co Ltd XCMG
Priority date: 2020-01-02
Filing date: 2020-01-02
Publication date: 2020-10-27
Anticipated expiration: 2030-01-02

Abstract

The present disclosure provides a traveling mechanism, a robot, and a vehicle. The running gear includes: a wheel carrier having a central shaft and three or more traveling wheel mounting portions distributed around the central shaft; more than three traveling wheels which are correspondingly arranged on the more than three traveling wheel mounting parts one by one; the walking driving mechanism comprises a walking motor and a walking transmission mechanism, the walking transmission mechanism is in driving connection with the walking motor, and the walking transmission mechanism is in driving connection with more than three traveling wheels so as to drive the plurality of traveling wheels to synchronously rotate around the axes of the traveling wheels; and the overturning driving mechanism comprises an overturning motor and an overturning transmission mechanism, and the overturning transmission mechanism is in driving connection with the wheel carrier so as to drive the wheel carrier to overturn around the central shaft. The robot and the vehicle include the aforementioned traveling mechanism. According to the walking mechanism, the robot and the vehicle disclosed by the invention, the obstacle crossing and trench crossing functions are realized, and the flat ground running and the obstacle crossing and trench crossing actions are independent.

Description

Running gear, robot and vehicle

Technical Field

The present disclosure relates to the field of robots and vehicles, and more particularly, to a traveling mechanism, a robot, and a vehicle.

Background

In recent years, robots are more and more frequently used for detection and rescue in dangerous environments such as fire, earthquake, debris flow and the like. The obstacle crossing and trench crossing capability of the robot in a complex environment determines the practical performance of the robot.

At present, there are two kinds of walking mechanisms for obstacle crossing and trench crossing: the crawler-type mechanism has good road passing capacity, but is large in size and weight, complex in structure and weak in adaptability to complex environments; and secondly, the triangular star-shaped wheel type mechanism has stronger practicability, but generally consists of a multi-stage fixed shaft and an epicyclic gear train, and has the defects of complex structure, difficult maintenance and the like.

SUMMERY OF THE UTILITY MODEL

A first aspect of the present disclosure provides a traveling mechanism, including:

a wheel carrier having a central shaft and three or more traveling wheel mounting portions distributed around the central shaft;

more than three traveling wheels which are correspondingly arranged on the more than three traveling wheel mounting parts one by one;

the walking driving mechanism comprises a walking motor and a walking transmission mechanism, the walking transmission mechanism is in driving connection with the walking motor, and the walking transmission mechanism is in driving connection with the more than three traveling wheels so as to drive the plurality of traveling wheels to synchronously rotate around the axes of the traveling wheels; and

and the overturning driving mechanism comprises an overturning motor and an overturning transmission mechanism, and the overturning transmission mechanism is in driving connection with the wheel carrier so as to drive the wheel carrier to overturn around the central shaft.

In some embodiments, the tilting drive mechanism comprises a frame and a suspension cylinder, the tilting drive mechanism comprises a balance arm, a first end of the balance arm is rotatably connected with the wheel frame, a second end of the balance arm is rotatably connected with the frame, one of a cylinder body and a piston rod of the suspension cylinder is rotatably connected with the frame, and the other one of the cylinder body and the piston rod is rotatably connected with the balance arm.

In some embodiments, the tilting drive mechanism includes a balance arm, the balance arm includes a cylinder part and an arm part which are integrally formed, the cylinder part is coaxially and rotatably connected with the wheel carrier, a first end of the arm part is fixedly connected with the cylinder part, and the tilting motor is mounted at a second end of the arm part.

In some embodiments, the center of the wheel frame is provided with a balance arm mounting hole, a barrel part of the balance arm is mounted in the balance arm mounting hole, and the barrel part is connected with the wheel frame in an axially fixed mode and in a circumferential direction in a rotatable mode.

In some embodiments, the walking transmission mechanism comprises a walking speed reducer in driving connection with the walking motor, and the walking motor and the walking speed reducer are located in the barrel portion.

In some embodiments, the wheel frame comprises a first wheel frame body and a second wheel frame body which are arranged at intervals, travel wheel mounting holes corresponding to the travel wheels in a one-to-one correspondence are formed in the first wheel frame body and the second wheel frame body, wheel bodies of the three or more travel wheels are located between the first wheel frame body and the second wheel frame body, and wheel shafts of the three or more travel wheels are mounted in the travel wheel mounting holes.

In some embodiments, the traveling transmission mechanism includes a traveling speed reducer and a first chain transmission mechanism, the traveling motor is in driving connection with the traveling speed reducer, the first chain transmission mechanism includes a central sprocket, a plurality of planetary sprockets and a traveling chain, the traveling speed reducer is in driving connection with the central sprocket, the traveling chain is meshed with the central sprocket and the plurality of planetary sprockets, and the plurality of planetary sprockets are in driving connection with the wheel shafts of the three or more traveling wheels in a one-to-one correspondence manner.

In some embodiments, the first chain drive comprises at least one idler sprocket rotatably connected to the wheel carrier, the idler sprocket being located between two adjacent planet sprockets, the travelling chain meshing with the idler sprocket.

In some embodiments, the overturning transmission mechanism includes an overturning speed reducer and a second chain transmission mechanism, the overturning motor is in driving connection with the overturning speed reducer, the second chain transmission mechanism includes an overturning small chain wheel, an overturning large chain wheel and an overturning chain, the overturning small chain wheel is in driving connection with the overturning speed reducer, the overturning large chain wheel is coaxially and fixedly connected with the wheel carrier, and the overturning chain is meshed with the overturning small chain wheel and the overturning large chain wheel respectively.

In some embodiments, at least a portion of the walking transmission mechanism and at least a portion of the flipping transmission mechanism are located at both axial ends of the wheel frame, respectively.

A second aspect of the present disclosure provides a robot including the traveling mechanism according to the first aspect of the present disclosure.

A third aspect of the present disclosure provides a vehicle including the running gear of the first aspect of the present disclosure.

The walking mechanism has the functions of obstacle crossing and trench crossing, the flat ground running, the obstacle crossing and the trench crossing are independent, when the obstacle crossing running is carried out, the overturning motor actively drives the wheel carrier to overturn and cross over a barrier wall with a certain height, and when the trench crossing running is carried out, the overturning motor can drive the wheel carrier to actively overturn and cross over the trench, and can also drive the wheel carrier not to overturn, so that two travelling wheels are kept to simultaneously land and cross over the trench with a certain width.

The robot and the vehicle of the present disclosure include the traveling mechanism of the present disclosure, which has the same advantages as the traveling mechanism.

Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

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

fig. 1 is an isometric view of a travel mechanism of some embodiments of the present disclosure on a first side.

Fig. 2 is an isometric view of a travel mechanism on a second side of some embodiments of the present disclosure.

Fig. 3 is a schematic structural view of a traveling mechanism crossing an obstacle wall in an active obstacle crossing mode according to some embodiments of the present disclosure.

Fig. 4 is a schematic structural view of the travelling mechanism of some embodiments of the disclosure crossing the trench in the adaptive trench crossing mode.

Fig. 5 is a schematic structural view of the travelling mechanism of some embodiments of the present disclosure crossing the trench in the active crossing mode.

In fig. 1 to 5, each reference numeral represents:

1-a balance arm; 2-a walking motor; 3, a wheel carrier; 4, a walking transmission shaft; 5-a travelling wheel; 6-overturning the large chain wheel; 7, turning over the chain; 8, turning over the motor; 9-overturning the speed reducer; 10, turning over the transmission shaft; 11-a frame; 12-hanging oil cylinders; 13-overturning the small chain wheel; 14-a planetary sprocket; 15-a walking chain; 16-a tension sprocket; 17-a central sprocket; and 18, a walking speed reducer.

Detailed Description

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present disclosure, it should be understood that the terms "first", "second", etc. are used to define the components, and are used only for convenience of distinguishing the corresponding components, and if not otherwise stated, the terms have no special meaning, and thus, should not be construed as limiting the scope of the present disclosure.

As shown in fig. 1 and 2, the traveling mechanism provided in the present disclosure includes a wheel frame 3, three or more traveling wheels 5, a traveling driving mechanism, and a turning driving mechanism.

The wheel carrier 3 has a central axis and three or more traveling wheel mounting portions distributed around the central axis. The three or more traveling wheels 5 are mounted on the three or more traveling wheel mounting portions in a one-to-one correspondence. The walking driving mechanism comprises a walking motor 2 and a walking transmission mechanism. The walking transmission mechanism is in driving connection with the walking motor 2. The walking transmission mechanism is in driving connection with more than three traveling wheels 5 so as to drive the more than three traveling wheels 5 to synchronously rotate around the axes of the traveling wheels. The overturning driving mechanism comprises an overturning motor 8 and an overturning transmission mechanism. The turning transmission mechanism is in driving connection with the wheel frame 3 to drive the wheel frame 3 to turn around the central axis thereof.

The travelling mechanism of the embodiment of the disclosure has the obstacle crossing and trench crossing functions, the flat ground travelling, the obstacle crossing and the trench crossing are independent, when the obstacle crossing travelling is performed, the turning motor actively drives the wheel carrier to turn over and cross over the obstacle wall with a certain height, and when the trench crossing travelling is performed, the turning motor can drive the wheel carrier to actively turn over and cross over the trench, and can also drive the wheel carrier not to turn over, so that two travelling wheels are kept to simultaneously land and cross over the trench with a certain width.

As shown in fig. 1 and 2, in the traveling mechanism according to some embodiments of the present disclosure, the traveling mechanism includes a frame 11 and a suspension cylinder 12. The tumble drive mechanism includes a balance arm 1. The first end of the balance arm 1 is rotatably connected with the wheel carrier 3, and the second end of the balance arm 1 is rotatably connected with the frame 11. One of the cylinder body and the piston rod of the suspension cylinder 12 is rotatably connected to the frame 11, and the other is rotatably connected to the balance arm 1.

The suspension oil cylinder is arranged and rotatably connected with the balance arm and the frame respectively, so that the wheel frame can freely swing when the walking mechanism runs on the flat ground, and the wheels are tightly attached to the ground, thereby being beneficial to ensuring the smoothness during walking.

As shown in fig. 1 and 2, in the traveling mechanism according to some embodiments of the present disclosure, the balance arm 1 of the tumble driving mechanism includes a cylinder portion and an arm portion that are integrally formed, the cylinder portion is coaxially and rotatably connected to the wheel carrier 3, a first end of the arm portion is fixedly connected to the cylinder portion, and the tumble motor 8 is mounted to a second end of the arm portion. The arrangement of the balance arm 1 is beneficial to the connection and arrangement of all components of the turnover driving mechanism and the turnover driving mechanism with the wheel carrier 3, the walking driving mechanism, the frame, the suspension oil cylinder and other components.

As shown in fig. 1 and 2, in the traveling mechanism according to some embodiments of the present disclosure, a balance arm mounting hole is provided at the center of the wheel carrier 3, a cylindrical portion of the balance arm 1 is mounted in the balance arm mounting hole, and the cylindrical portion is connected to the wheel carrier 3 in an axially fixed manner and in a circumferential direction in a rotatable manner. The connection mode of the balance arm 1 and the wheel carrier 3 enables the arrangement of the balance arm 1 and the wheel carrier 3 to be compact, and the miniaturization of the walking mechanism is facilitated.

As shown in fig. 1 and 2, in the travelling mechanism according to some embodiments of the present disclosure, the travelling transmission mechanism includes a travelling reducer 18 drivingly connected to the travelling motor 2, and the travelling motor 2 and the travelling reducer 18 are located in the drum. The arrangement makes the arrangement of the walking driving mechanism and related components compact, and is beneficial to the miniaturization of the walking mechanism.

As shown in fig. 1 and 2, in the travelling mechanism according to some embodiments of the present disclosure, the wheel frame 3 includes a first wheel frame body and a second wheel frame body that are arranged at an interval, travel wheel mounting holes that are in one-to-one correspondence with the travel wheels 5 are formed in the first wheel frame body and the second wheel frame body, wheel bodies of more than three travel wheels 5 are located between the first wheel frame body and the second wheel frame body, and wheel shafts of more than three travel wheels 5 are mounted in the travel wheel mounting holes. The arrangement ensures that the two ends of the wheel shaft of the travelling wheel 5 are stably supported by the wheel frame 3, and is beneficial to the uniform stress of the travelling wheel 5.

The following describes the traveling mechanism according to some embodiments of the present disclosure with reference to fig. 1 to 5.

As shown in fig. 1 and 2, the traveling mechanism includes a wheel frame 3, three traveling wheels 5, a traveling drive mechanism, a turning drive mechanism, a frame 11, and a suspension cylinder 12. The walking driving mechanism and the overturning driving mechanism are two mutually independent driving mechanisms.

Wherein the walking driving mechanism mainly comprises a walking motor 2 and a walking transmission mechanism. The walking transmission mechanism comprises a walking speed reducer 18 and a first chain transmission mechanism which are connected with the walking motor 2. The first chain transmission comprises a central sprocket 17, three planetary sprockets 14, a travelling chain 15 and a tension sprocket 16.

The walking motor 2 is in driving connection with a walking speed reducer 18. As shown in fig. 1 and 2, an output shaft of the travel motor 2 is connected to an input shaft of the travel reducer 18. The travel reducer 18 is drivingly connected to the center sprocket 17, for example, an output shaft of the travel reducer 18 is fixedly connected to the center sprocket 17. The traveling chain 15 meshes with a central sprocket 17 and three planetary sprockets 14, and the three planetary sprockets 14 are in one-to-one driving connection with the wheel shafts 4 of the three traveling wheels 5, for example, each planetary sprocket 14 is fixedly connected with the wheel shaft 4 of the corresponding traveling wheel 5. The tension sprocket 16 is rotatably connected to the wheel carrier 3, the tension sprocket 16 is located between two adjacent planetary sprockets 14, and the traveling chain 15 is meshed with the tension sprocket 16.

After the power output by the traveling motor 2 is decelerated and torque-increased by the traveling speed reducer 18, the power is transmitted to the central chain wheel 17, the central chain wheel 17 rotates to drive the traveling chain 15 to transmit the power to the planetary chain wheel 14, and finally the power is transmitted to the traveling wheel 5 through the wheel shaft 4 of the traveling wheel 5.

The overturning driving mechanism mainly comprises a balance arm 1, an overturning motor 8, an overturning speed reducer 9 and a second chain transmission mechanism. The second chain transmission mechanism comprises a small overturning chain wheel 13, a large overturning chain wheel 6 and an overturning chain 7. The overturning motor 8 is in driving connection with an overturning speed reducer 9. As shown in fig. 1 and 2, an output shaft of the tumble motor 8 is connected to a tumble reducer 9. The overturning small chain wheel 13 is in driving connection with the overturning speed reducer 9. For example, the small overturning sprocket 13 is fixedly connected with the output shaft of the overturning reducer 9 through the transmission shaft 10. The overturning large chain wheel 6 is coaxially and fixedly connected with the wheel carrier 3. The overturning chain 7 is respectively meshed with the overturning small chain wheel 13 and the overturning large chain wheel 6.

After the power output by the turnover motor 8 is decelerated and torque-increased by the turnover speed reducer 9, the power is transmitted to the turnover small chain wheel 13 through the transmission shaft 10, the turnover small chain wheel 13 rotates to drive the turnover chain 7 to transmit the power to the turnover large chain wheel 6, and finally the power is transmitted to the wheel carrier 3 fixedly connected with the turnover large chain wheel 6, so that the wheel carrier 3 is driven to turn.

As shown in fig. 1 and 2, in the traveling mechanism according to some embodiments of the present disclosure, at least a portion of the traveling transmission mechanism and at least a portion of the tilting transmission mechanism are respectively located at both axial ends of the wheel frame 3. As shown in fig. 1 and 2, the first chain transmission of the travel transmission is located outside the first reel body; the turnover transmission mechanism is positioned on the outer side of the second wheel frame body. The arrangement is favorable for preventing unnecessary interference of the walking transmission mechanism and the overturning transmission mechanism during arrangement or operation, and is also favorable for installation and maintenance of the walking transmission mechanism and the overturning transmission mechanism.

The cylinder part of the balance arm 1 comprises a first hollow cylinder, and the arm part of the balance arm 1 comprises two flat plates arranged in parallel at intervals. The first ends of the two flat plates are fixedly connected with the circumferential outer surface of the first hollow cylinder, the overturning motor 8, the overturning speed reducer 9, the transmission shaft 10 and the overturning small chain wheel 13 are arranged at the second ends of the two flat plates, and the second ends of the two flat plates are hinged with the frame 11.

As shown in fig. 1 and 2, the first and second bogie bodies of the bogie 3 each include bogie plates. The wheel frame plate is a triangle star-shaped flat plate distributed at equal angles. Each corner of the triangular star-shaped flat plate is provided with a traveling wheel mounting hole. The wheel carrier 3 further comprises a second hollow cylinder fixedly connected to the middle of the two wheel carrier plates. The hollow portion of the second hollow cylinder constitutes a balance arm mounting hole of the wheel carrier 3.

As shown in fig. 1 and 2, the first hollow cylinder of the balance arm 1 is fitted into the second hollow cylinder of the wheel frame 3 and relatively fixed in the axial direction of the wheel frame 3, and at the same time, the wheel frame 3 is rotatable about the balance arm 1.

As shown in fig. 1 and 2, the suspension cylinder 12 is hinged to the balance arm 1 and the frame 11, respectively, so as to connect the walking driving mechanism and the overturning driving mechanism to the frame 11 to support the equipment, such as a robot, on which the walking mechanism is located for walking movement. One end of the suspension oil cylinder 12 is hinged with the mounting holes on the two flat plates of the balance arm 1, and the other end is hinged with the mounting hole on the frame 11.

The traveling motor 2 and the traveling reducer 18 are installed in the inner cylinder of the balance arm 1, thereby shortening the axial dimension of the mechanism and facilitating the miniaturization of the traveling mechanism.

The three travelling wheels 5 are respectively arranged on three angles of the wheel frame 3 and between the front triangular star-shaped flat plate and the rear triangular star-shaped flat plate of the wheel frame 3, and are of a simply supported beam structure and good in stress type.

The wheel shaft 4 fixedly connects the planetary chain wheel 14 and the wheel body of the traveling wheel 5 together respectively, so that the traveling wheel 5 and the planetary chain wheel 14 rotate synchronously.

The two tensioning sprockets 16 are respectively installed at the intersection positions of two side lines of the triangle star shape of the wheel carrier 3, and on one hand, the tensioning sprockets play a role in tensioning the walking chain 15, and on the other hand, the moving direction of the walking chain 15 can be changed. The projection planes of the walking chains 15 are distributed in the triangular star-shaped flat plate of the wheel carrier 3, so that the walking chains 15 are prevented from interfering with obstacles when the obstacles and the trenches are crossed.

As shown in fig. 3, the traveling mechanism of the embodiment of the present disclosure has an active obstacle crossing mode, and when an obstacle wall is higher than the radius of the traveling wheel, the turnover driving mechanism is actively operated to cross the obstacle wall.

In addition, the travelling mechanism of the embodiment of the disclosure also has a self-adaptive obstacle crossing mode, and when the vehicle quickly passes through a lower obstacle wall with the height lower than the radius height of the travelling wheel and the like, the wheel carrier can rotate around the balance arm under the combined action of the vehicle travelling kinetic energy and the rear wheel propelling force under the condition that the overturning driving mechanism is not started, so that the quick overturning and wall crossing actions are completed, and the obstacle is quickly crossed in a self-adaptive manner.

As shown in fig. 4 and 5, the travelling mechanism of the embodiment of the present disclosure has a trench crossing mode. When a trench is encountered, there are two modes of crossing the trench:

firstly, in the self-adaptive trench crossing mode, the turning motor is started to overcome the self gravity, and the two travelling wheels are kept parallel to the ground to cross the trench, as shown in fig. 4.

The other is an active trench crossing mode, in which when a single travelling wheel falls into the trench, the turning motor is started to turn the wheel frame actively to cross the trench, as shown in fig. 5.

When the travelling mechanism of the embodiment of the disclosure runs on a rough road, the wheel carrier can swing freely around the balance arm, and the two travelling wheels simultaneously land under the action of gravity, so that the smoothness during running is ensured.

The embodiment of the disclosure also provides a robot, which comprises the walking mechanism of the embodiment of the disclosure. The robot has the advantages of the walking mechanism of the embodiment of the disclosure.

The embodiment of the disclosure also provides a vehicle, which comprises the travelling mechanism of the embodiment of the disclosure. The vehicle has the advantages of the travelling mechanism of the embodiment of the disclosure.

As can be seen from the above description, the traveling mechanism, the robot, and the vehicle according to the above embodiments of the present disclosure have at least one of the following advantages:

the walking driving mechanism and the overturning driving mechanism are mutually independent and can be switched freely. The traveling driving mechanism drives the traveling wheel to rotate to finish the advancing and retreating of the vehicle, and the overturning driving mechanism drives the wheel carrier to overturn to finish the obstacle crossing and trench crossing functions of the vehicle.

Can satisfy two trench crossing modes and improve the reliability of trench crossing.

The wheel carrier and the balance arm are axially fixed and can freely rotate, smoothness during running on a flat road is guaranteed, and when the wheel carrier meets an obstacle wall, the wheel carrier can self-adaptively and quickly cross the obstacle by means of the combined action of vehicle running kinetic energy and rear wheel propelling force.

After a walking motor of the walking driving mechanism passes through the walking speed reducer, power is directly transmitted to the traveling wheel through the walking chain by the central chain wheel, the mechanism is simple in operation principle and high in reliability, and the lightweight requirement is met.

Finally, it should be noted that: the above examples are intended only to illustrate the technical solutions of the present disclosure and not to limit them; although the present disclosure has been described in detail with reference to preferred embodiments, those of ordinary skill in the art will understand that: modifications to the embodiments of the disclosure or equivalent replacements of parts of the technical features may be made, which are all covered by the technical solution claimed by the disclosure.

Claims

1. A travel mechanism, comprising:

a wheel carrier (3) having a central axis and three or more traveling wheel mounting portions distributed around the central axis;

more than three traveling wheels (5) which are correspondingly arranged on the more than three traveling wheel mounting parts one by one;

the walking driving mechanism comprises a walking motor (2) and a walking transmission mechanism, the walking transmission mechanism is in driving connection with the walking motor (2), and the walking transmission mechanism is in driving connection with the more than three walking wheels (5) so as to drive the multiple walking wheels (5) to synchronously rotate around the axes of the walking transmission mechanism; and

and the overturning driving mechanism comprises an overturning motor (8) and an overturning transmission mechanism, and the overturning transmission mechanism is in driving connection with the wheel carrier (3) so as to drive the wheel carrier (3) to overturn around the central shaft.

2. The traveling mechanism according to claim 1, characterized by comprising a frame (11) and a suspension cylinder (12), wherein the tilt driving mechanism comprises a balance arm (1), a first end of the balance arm (1) is rotatably connected with the wheel carrier (3), a second end of the balance arm (1) is rotatably connected with the frame (11), one of a cylinder body and a piston rod of the suspension cylinder (12) is rotatably connected with the frame (11), and the other is rotatably connected with the balance arm (1).

3. The running gear according to claim 1, characterized in that the tilting drive mechanism comprises a balance arm (1), the balance arm (1) comprises a cylinder part and an arm part which are integrally formed, the cylinder part is coaxially and rotatably connected with the wheel carrier (3), a first end of the arm part is fixedly connected with the cylinder part, and the tilting motor (8) is mounted at a second end of the arm part.

4. A running gear according to claim 3, characterized in that a balance arm mounting hole is provided in the center of the wheel carrier (3), and a cylindrical portion of the balance arm (1) is mounted in the balance arm mounting hole, and the cylindrical portion is connected to the wheel carrier (3) so as to be relatively fixed in the axial direction and rotatably connected in the circumferential direction.

5. The running gear according to claim 4, characterized in that the running gear comprises a running gear reducer (18) in driving connection with the running motor (2), the running motor (2) and the running gear reducer (18) being located inside the drum.

6. The traveling mechanism according to claim 1, wherein the wheel frame (3) comprises a first wheel frame body and a second wheel frame body which are arranged at intervals, traveling wheel mounting holes corresponding to the traveling wheels (5) in a one-to-one manner are formed in the first wheel frame body and the second wheel frame body, wheel bodies of the three or more traveling wheels (5) are located between the first wheel frame body and the second wheel frame body, and wheel shafts of the three or more traveling wheels (5) are mounted in the traveling wheel mounting holes.

7. The running gear according to claim 1, characterized in that the running gear comprises a running reducer (18) and a first chain transmission, the running motor (2) is in driving connection with the running reducer (18), the first chain transmission comprises a central sprocket (17), a plurality of planetary sprockets (14) and a running chain (15), the running reducer (18) and the central sprocket (17) are in driving connection, the running chain (15) is meshed with the central sprocket (17) and the plurality of planetary sprockets (14), and the plurality of planetary sprockets (14) are in driving connection with the axles of the more than three running wheels (5) in one-to-one correspondence.

8. Travelling mechanism according to claim 7, characterised in that the first chain transmission comprises at least one idler sprocket (16), which idler sprocket (16) is rotatably connected to the wheel carrier (3), which idler sprocket (16) is located between two adjacent planetary sprockets (14), the travelling chain (15) meshing with the idler sprocket (16).

9. The traveling mechanism according to claim 1, characterized in that the turnover transmission mechanism comprises a turnover reducer (9) and a second chain transmission mechanism, the turnover motor (8) is in driving connection with the turnover reducer (9), the second chain transmission mechanism comprises a small turnover chain wheel (13), a large turnover chain wheel (6) and a turnover chain (7), the small turnover chain wheel (13) is in driving connection with the turnover reducer (9), the large turnover chain wheel (6) is coaxially and fixedly connected with the wheel carrier (3), and the turnover chain (7) is respectively meshed with the small turnover chain wheel (13) and the large turnover chain wheel (6).

10. Travelling mechanism according to claim 1, characterized in that at least a part of the travelling transmission mechanism and at least a part of the tilting transmission mechanism are located at the two axial ends of the wheel carrier (3), respectively.

11. A robot, characterized by comprising a walking mechanism according to any one of claims 1 to 10.

12. A vehicle, characterized by comprising a running gear according to any one of claims 1 to 10.