CN218661222U - Damper, walking wheel device and mobile robot - Google Patents

Abstract

The application provides a shock absorption mechanism, a walking wheel device and a mobile robot, wherein the shock absorption mechanism comprises a first support and at least two shock absorption assemblies, the at least two shock absorption assemblies are arranged on the same side of the first support, and each shock absorption assembly comprises a first limiting piece, an elastic piece and a second limiting piece; the first limiting piece is arranged on the first support; the elastic piece is sleeved on the first limiting piece; the second limiting part can be slidably connected with one end, deviating from the first support, of the first limiting part along a first direction, the first support, the first limiting part and the second limiting part are matched to limit the elastic part between the first support and the second limiting part, and the first direction is the arrangement direction of the first support, the first limiting part and the second limiting part. The application provides a damper can make mobile robot meet the vibrations that mobile robot received when the barrier under operating condition, and then makes mobile robot's whole have higher reliable and stable nature.

Description

Damper, walking wheel device and mobile robot

Technical Field

The application relates to the technical field of robots, in particular to a damping mechanism, a walking wheel device and a mobile robot.

Background

With the development of science and technology, the types and functions of robots are more and more. However, when the four-wheel four-turn mobile robot in the related art meets and passes over an obstacle, the overall stability of the mobile robot is insufficient.

SUMMERY OF THE UTILITY MODEL

The application aims to provide a damper, a walking wheel device and a mobile robot, and aims to solve the technical problem that when a four-wheel four-turn mobile robot in the prior art meets an obstacle and crosses the obstacle, the overall stability of the mobile robot is insufficient.

In a first aspect, the present application provides a damping mechanism comprising:

a first bracket; and

at least two damper, at least two damper set up in same one side of first support, damper includes:

the first limiting piece is arranged on the first support;

the elastic piece is sleeved on the first limiting piece; and

the second limiting part can be connected with one end, deviating from the first support, of the first limiting part in a sliding mode along a first direction, the first support, the first limiting part and the second limiting part are matched to limit the elastic part between the first support and the second limiting part, and the first direction is the arrangement direction of the first support, the first limiting part and the second limiting part.

In the damping mechanism provided by the application, at least two damping assemblies are arranged on the same side of the first support, an elastic piece is arranged on each damping assembly, the first support, the first limiting piece and the second limiting piece are matched to limit the elastic piece between the first support and the second limiting piece, and the second limiting piece can be connected with one end, deviating from the first support, of the first limiting piece in a sliding mode along the first direction. The application provides a damper can make mobile robot meet the barrier under operating condition when, and a plurality of elastic components are in compression state jointly and cushion the vibrations that mobile robot received, and then make mobile robot's whole have higher reliability and stability.

The second locating part is provided with a limiting groove, the limiting groove extends along the first direction, the first locating part comprises a limiting post and a first limiting part, the first limiting part is located at the end part, close to the second locating part, of the limiting post, the first limiting part is arranged in the limiting groove, and the first limiting part is matched with the limiting groove and used for enabling the first locating part to be connected with the second locating part in a sliding mode along the first direction.

The damping component further comprises a second limiting part, the second limiting part is sleeved on the limiting column and arranged at an interval with the first limiting part, the elastic part comprises a first sub elastic part and a second sub elastic part, the first sub elastic part is located between the second limiting part and the first support, and the second sub elastic part is located between the second limiting part and the second limiting part.

The shock absorption assembly comprises a first support, a second support, a first internal thread, a second internal thread, a first internal thread and a second internal thread, wherein the first support is close to one end of the first support, the external thread is arranged on the end of the first support, the fixed nut is provided with a first internal thread, the position of the first support, corresponding to the first support, is provided with the second internal thread, the thread direction of the first internal thread is opposite to that of the second internal thread, and the first internal thread of the fixed nut and the second internal thread of the first support are connected with the external thread of the first support.

In a second aspect, the present application provides a road wheel apparatus comprising:

the walking wheel is provided with a first middle shaft and rotates around the first middle shaft; and the damping mechanism is connected with the first middle shaft.

Wherein, at least two the quantity of damper is 4, wherein two the damper interval set up in one side of walking wheel, two in addition the damper interval set up in the opposite side of walking wheel.

The walking wheel device further comprises a fastener, a stop piece and a second support which are sequentially arranged, the second support is fixedly connected with the second limiting piece, a matching part is arranged on the first middle shaft, and the fastener is matched with the matching part to fix the walking wheel with the second support; the stopper is provided between the second bracket and the fastener to fix the fastener with the second bracket.

The walking wheel device further comprises a steering driving piece, wherein the steering driving piece is arranged on the first support and used for adjusting the traveling direction of the walking wheel.

The travelling wheel is also provided with a second middle shaft, the second middle shaft is perpendicular to the first middle shaft, and an output shaft of the steering driving piece is coaxial with the second middle shaft.

In a second aspect, the present application provides a mobile robot comprising:

a robot body; and the walking wheel device is arranged on the robot body and is used for driving the robot body to advance.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic perspective view of a mobile robot provided in an embodiment of the present application;

fig. 2 is a schematic perspective view of a travelling wheel device provided in an embodiment of the present application;

fig. 3 is an exploded view of a travelling wheel device according to an embodiment of the present disclosure;

FIG. 4 is an exploded view of a shock assembly according to an embodiment of the present disclosure;

fig. 5 is a schematic cross-sectional structure diagram of a mobile robot according to an embodiment of the present application.

Description of the reference symbols:

the robot comprises a mobile robot-1000, a robot body-1001, a walking wheel device-1002, a walking wheel-1, a first middle shaft-11, a shock absorption mechanism-2, a first support-21, a second support-12, a shock absorption assembly-13, a first limiting part-131, a limiting column-1311, a first limiting part-1312, a second limiting part-132, a limiting groove-1321, an elastic part-133, a first sub elastic part-1331, a second sub elastic part-1332, a second limiting part-14, a first annular part-141, a second annular part-142, a fixing nut-15, a fastener-16, a stopper-17 and a steering driving part-18.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without inventive step, are within the scope of the present disclosure.

Reference herein to "an embodiment" or "an implementation" means that a particular feature, structure, or characteristic described in connection with the embodiment or implementation can be included in at least one embodiment of the present application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

It should be noted that the terms "first", "second", and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions.

In this specification, for convenience, words such as "middle", "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicating orientations or positional relationships are used to explain positional relationships of constituent elements with reference to the drawings, only for convenience of description and simplification of description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present disclosure. The positional relationship of the constituent elements is appropriately changed according to the described directions of the constituent elements. Therefore, the words described in the specification are not limited to the words described in the specification, and may be replaced as appropriate.

In this specification, the terms "mounted," "connected," and "connected" are to be construed broadly unless otherwise specifically indicated and limited. For example, it may be a fixed connection, or a removable connection, or an integral connection; can be a mechanical connection, or an electrical connection; either directly or indirectly through intervening components, or both may be interconnected. The meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate.

The existing four-wheel four-turn mobile robot chassis is additionally provided with a suspension design in order to ensure that the chassis has certain obstacle crossing capability and can better ensure the stability of the chassis, but some special suspension designs are required in order to better match a vehicle body design and a four-wheel four-turn special chassis motion mode.

For simplicity and reliability, a hub motor is used for a plurality of chassis products of the four-wheel four-rotation mobile robot, a shock absorber is arranged on one side or two sides of a steering first support to form a suspension structure, a walking wheel of the structure can be compressed through a compression spring in the motion process, the impact is buffered to obtain certain shock absorption capacity, and meanwhile, a cross shaft also has certain stroke, so that the chassis has certain obstacle crossing capacity and better trafficability.

In the chassis of the four-wheel four-rotation mobile robot in the related art, a shock absorber is mostly installed on one side, and the chassis has a poor using effect in the motion of the chassis. And with using the bumper shock absorber as the connection structure of walking wheel and frame, the connected mode is then crucial, and in the mobile robot chassis of correlation technique, the bumper shock absorber is for articulated while fixed connection on one side with the connection structure of walking wheel and frame, can make the stability of chassis very poor, lacks the rigidity, and the walking wheel can have the risk of skidding to lead to the motion anomaly with the installation adoption bolt-up of hanging. Meanwhile, when the four-wheel four-turn mobile robot is in damping operation, the movement track of the wheels does not move up and down along the axis of the steering rotating shaft, so that the wheel track can change in the movement, and the change of the wheel track influences the walking angle of the robot in the use of the four-wheel four-turn mobile robot chassis and can bring extra pressure to a steering structure.

Referring to fig. 1, based on the problems of the overall structure of the robot, the present application provides a mobile robot 1000 to solve the problems. The mobile robot 1000 comprises a robot body 1001 and a walking wheel device 1002, wherein the walking wheel device 1002 is arranged on the robot body 1001 and is used for driving the robot body 1001 to advance.

Referring to fig. 1 and 2, the road wheel device 1002 includes a road wheel 1 and a damping mechanism 2. The walking wheel 1 is provided with a first middle shaft 11, and the walking wheel 1 rotates around the first middle shaft 11. The damping mechanism 2 is connected to the first middle axle 11 and is configured to buffer vibration generated by the mobile robot 1000 in a motion state, so as to protect an internal structure of the mobile robot 1000 and prevent the internal structure of the mobile robot 1000 from being damaged due to the vibration.

Specifically, the traveling wheel 1 has a hub motor. The walking wheel 1 rotates around the first middle axle 11, in other words, the first middle axle 11 and the walking wheel 1 have the same rotating shaft position.

Referring to fig. 1, fig. 2 and fig. 3, the damping mechanism 2 includes a first bracket 21 and at least two damping elements 13, the at least two damping elements 13 are disposed on the same side of the first bracket 21, and the damping elements 13 include a first limiting member 131, an elastic member 133 and a second limiting member 132. The first limiting member 131 is disposed on the first bracket 21. The elastic member 133 is sleeved on the first limiting member 131. The second limiting member 132 can be slidably connected to an end of the first limiting member 131 departing from the first bracket 21 along a first direction, the first bracket 21, the first limiting member 131 and the second limiting member 132 are matched to limit the elastic member 133 between the first bracket 21 and the second limiting member 132, and the first direction is an arrangement direction of the first bracket 21, the first limiting member 131 and the second limiting member 132.

The first limiting member 131 is disposed on the first bracket 21, and specifically, the first limiting member 131 is in threaded connection with the first bracket 21, so that the first limiting member 131 and the first bracket 21 are relatively fixed.

The elastic member 133 is sleeved on the first limiting member 131, and optionally, the elastic member 133 includes, but is not limited to, a damping spring.

The second limiting member 132 is disposed opposite to the first bracket 21, and the second limiting member 132 can be slidably connected to an end of the first limiting member 131 departing from the first bracket 21 along a first direction, in other words, the second limiting member 132 can slide relative to the first limiting member 131 and move along a direction toward or away from the first bracket 21 through the first limiting member 131.

The first bracket 21, the first limiting member 131 and the second limiting member 132 are matched to limit the elastic member 133 between the first bracket 21 and the second limiting member 132. Specifically, one end of the elastic member 133 abuts against the first bracket 21, and the other end of the elastic member 133 abuts against the second limiting member 132, so that the elastic member 133 is fixed between the first bracket 21 and the second limiting member 132 in a stationary state of the mobile robot 1000.

The elastic member 133 is sleeved on the first limiting member 131, and the second limiting member 132 is fixedly connected with the road wheel 1. The elastic member 133 is in a compressed state when the mobile robot 1000 is in a static state, and applies a force to the second limiting member 132 in a direction away from the first bracket 21, and the walking wheel 1 abuts against a placing surface and applies a force in an opposite direction to the second limiting member 132, so that the second limiting member 132 does not slide relative to the first bracket 21 when the mobile robot 1000 is in a static state, and the second limiting member 132 and the first bracket 21 are relatively fixed. When the mobile robot 1000 is in a working state and one of the walking wheels 1 encounters an obstacle, the walking wheel 1 abuts against the obstacle, and the obstacle applies an acting force to the walking wheel 1 in a direction towards the first bracket 21, so that the walking wheel 1 drives the second limiting member 132 of the damping mechanism 2 to move in a direction close to the first bracket 21. One end of the elastic member 133 abuts against the second limiting member 132, so that when the second limiting member 132 moves toward the direction close to the first bracket 21, the elastic member 133 is continuously compressed, and the elastic member 133 further releases a larger elastic force to balance the force of the obstacle on the second limiting member 132, so that the whole mobile robot 1000 maintains a relatively stable state.

The application provides be provided with two at least in damper 2 damper 13, and all be provided with on every damper 13 the elastic component 133. When the mobile robot 1000 encounters an obstacle in an operating state, the overall stability and reliability of the mobile robot 1000 can be improved. In addition, the first limiting member 131 in the shock absorbing assembly 13 is in threaded connection with the first bracket 21, so that the connection rigidity can be enhanced, and the stability of the first bracket 21 and the chassis in the mobile robot 1000 can be improved.

The damping mechanism 2 includes at least two damping assemblies 13, and optionally, the number of the damping assemblies 13 in the damping mechanism 2 may also be 3, or 4, or more than 4, which is not limited in the present application.

Referring to fig. 1, 2 and 3 again, in one embodiment, the number of at least two shock absorbing assemblies 13 is 4, wherein two shock absorbing assemblies 13 are disposed at one side of the traveling wheel 1 at intervals, and the other two shock absorbing assemblies 13 are disposed at the other side of the traveling wheel 1 at intervals.

The relative both sides of walking wheel 1 all are provided with two damper 13, improvement that can be further mobile robot 1000 is meetting the stability when the barrier. Meanwhile, the elastic members 133 in the shock absorption assemblies 13 on both sides simultaneously perform compression movement, so that the cross-axis stroke of the mobile robot 1000 during obstacle crossing can be increased, and meanwhile, the elastic members 133 on both sides can absorb most of vibration, so that the chassis of the mobile robot 1000 has better obstacle crossing capability and better stability.

When only half of the wheels of the walking wheels 1 press on the obstacle, the two shock-absorbing assemblies 13 are arranged on the two sides, the first limiting member 131 and the first support 21 of each shock-absorbing assembly 13 are fixedly connected, the elastic members 133 on the two sides move together, and even if only half of the walking wheels 1 press on the obstacle, the stability of the mobile robot 1000 can be improved under the combined action of the shock-absorbing assemblies 13.

Referring to fig. 2, 3, 4 and 5, the second limiting member 132 has a limiting slot 1321, the limiting slot 1321 extends along the first direction, the first limiting member 131 includes a limiting post 1311 and a first limiting portion 1312, the first limiting portion 1312 is located at an end portion of the limiting post 1311 close to the second limiting member 132, the first limiting portion 1312 is disposed in the limiting slot 1321, and the first limiting portion 1312 is engaged with the limiting slot 1321, so that the first limiting member 131 can be slidably connected to the second limiting member 132 along the first direction.

At least part of the limiting column 1311 is arranged in the limiting groove 1321 and connected with the first limiting part 1312, and the radial dimension of the first limiting part 1312 is larger than that of the limiting column 1311. The limiting groove 1321 has a stepped surface therein, and the stepped surface can be used to abut against an outer peripheral side surface of the first limiting portion 1312 and engage with the first limiting portion 1312, so that the second limiting member 132 and the first limiting member 131 are relatively fixed.

Specifically, the limiting groove 1321 has a first limiting groove and a second limiting groove. The radial dimension of the first limit groove corresponds to the radial dimension of the limit column 1311, the radial dimension of the second limit groove corresponds to the radial dimension of the second limit portion 14, and the first limit groove and the second limit groove form the stepped surface, so that the walking wheel 1 of the mobile robot 1000 always moves away from the first bracket 21 in a suspended state. The traveling wheels 1 and the damper mechanism 2 can be prevented from being detached from the robot body 1001.

Referring to fig. 2, 3, 4 and 5, the shock absorbing assembly 13 further includes a second position-limiting portion 14, the second position-limiting portion 14 is disposed on the position-limiting pillar 1311 and spaced apart from the first position-limiting portion 1312, the elastic member 133 includes a first sub-elastic member 1331 and a second sub-elastic member 1332, the first sub-elastic member 1331 is located between the second position-limiting portion 14 and the first bracket 21, and the second sub-elastic member 1332 is located between the second position-limiting portion 14 and the second position-limiting member 132.

The second position-limiting portion 14 includes a first annular portion 141 and a second annular portion 142, and the first annular portion 141 is disposed on at least one of two opposite surfaces of the second annular portion 142. The first annular portion 141 is disposed coaxially with the second annular portion 142. The outer diameter of the first annular portion 141 is smaller than the outer diameter of the second annular portion 142, and the outer diameter of the first annular portion 141 is smaller than the inner diameter of the elastic member 133, so that the first annular portion 141 can pass through the elastic member 133. The second annular portion 142 is configured to abut the first sub-elastic piece 1331 and the second sub-elastic piece 1332. The second stopper portion 14 may be displaced to some extent according to the degree of elastic deformation of the elastic member 133. The first annular portion 141 has a certain size in the axial direction, and may be used to enable the elastic member 133 to abut against the second limiting member 132 in a state of extreme compression, so as to limit the traveling wheel 1 to continue moving towards the first bracket 21, and prevent the traveling wheel 1 from abutting against the first bracket 21.

Alternatively, the axial size of the first annular portion 141 is not limited in the present application, and may be specially designed according to the specification of the mobile robot 1000.

The first sub-elastic piece 1331 and the second sub-elastic piece 1332 include, but are not limited to, an integral structure or a split structure, and for the sake of convenience of distinguishing the two, the first sub-elastic piece 1331 and the second sub-elastic piece 1332 are named differently by people, and should not be construed as limiting the present application. Similarly, the first annular portion 141 and the second annular portion 142 include, but are not limited to, an integral structure or a separate structure, and for the sake of convenience in distinguishing between the two, they are named differently by human, and should not be construed as limiting the present application.

Referring to fig. 4 and 5, the damping assembly 13 further includes a fixing nut 15, and the fixing nut 15 fixes the first limiting member 131 and the first bracket 21 relatively.

In one embodiment, one end of the first limiting member 131 close to the first bracket 21 has an external thread, the fixing nut 15 has a first internal thread, the first bracket 21 has a second internal thread at a position corresponding to the limiting post 1311, the first internal thread and the second internal thread have opposite thread directions, and the first internal thread of the fixing nut 15 and the second internal thread of the first bracket 21 are connected with the external thread of the limiting post 1311. The fixing nut 15 and the first bracket 21 are fixed by reverse threads, so that the stability and reliability of connection among the fixing nut 15, the first bracket 21 and the limiting column 1311 are enhanced.

In another embodiment, the fixing nut 15 and the first bracket 21 have internal threads in the same direction, the outer periphery of the end of the limiting column 1311 facing away from the first limiting portion 1312 has a first external thread and a second external thread, the first external thread is farther away from the first limiting portion 1312 than the second external thread, the first external thread and the second external thread have opposite thread directions, and the portion of the limiting column 1311 corresponding to the first external thread is in threaded connection with the first bracket 21. The fixing nut 15 is screwed with the position of the limiting column 1311 corresponding to the second external thread. The fixing nut 15 and the first bracket 21 are fixed by reverse threads, so that the stability and reliability of connection among the fixing nut 15, the first bracket 21 and the limiting column 1311 are enhanced. All of the above are within the scope of the present application.

Referring to fig. 3, the walking wheel device 1002 further includes a fastening member 16, a stopping member 17 and a second bracket 12, which are sequentially disposed, the second bracket 12 is fixedly connected to the second limiting member 132, a matching portion is disposed on the first middle axle 11, and the fastening member 16 is matched with the matching portion to fix the walking wheel 1 and the second bracket 12. The stopper 17 is provided between the second bracket 12 and the fastener 16 to fix the fastener 16 to the second bracket 12.

Specifically, the second bracket 12 is further provided with a stop groove corresponding to the stop member 17, and when the stop member 17 is disposed between the second bracket 12 and the fastening member 16, at least a portion of the stop member 17 is also disposed in the stop groove to limit the rotation of the stop member 17 relative to the second bracket 12. The second support 12 is ensured to be connected with the connecting shaft of the first middle shaft 11 more safely and reliably, and meanwhile, the relative rotation between the travelling wheel 1 and the shock absorption assembly 13 is ensured to be multiple.

In an embodiment, the second bracket 12 has a flat mounting position corresponding to the first middle axle 11, so that the fastening will fix the second bracket 12 to the first middle axle 11, and in other embodiments, the second bracket 12 may be fixed to the first middle axle 11 in other manners, which is not specifically limited in this application.

The road wheel device 1002 further comprises a steering driving member 18, and the steering driving member 18 is arranged on the first bracket 21 and used for adjusting the traveling direction of the road wheel 1.

Alternatively, the steering drive 18 includes, but is not limited to, a rotary electric motor.

The travelling wheel 1 is also provided with a second middle shaft, the second middle shaft is perpendicular to the first middle shaft 11, and an output shaft of the steering driving piece 18 is coaxially arranged with the second middle shaft.

The output shaft of the steering driving member 18 is coaxially arranged with the second middle shaft, so that the chassis stability of the mobile robot 1000 is higher, and meanwhile, the mobile robot 1000 is ensured not to increase redundant burden to the steering driving member 18 when steering is performed in a working state of the shock absorption assembly 13.

While the foregoing is directed to embodiments of the present application, it will be appreciated by those skilled in the art that various changes and modifications may be made without departing from the principles of the application, and it is intended that such changes and modifications be covered by the scope of the application.

Claims (10)

1. A shock absorbing mechanism, comprising:

a first bracket; and

at least two damper, at least two damper set up in same one side of first support, damper includes:

the first limiting piece is arranged on the first support;

the elastic piece is sleeved on the first limiting piece; and

the second limiting part can be connected with one end, deviating from the first support, of the first limiting part in a sliding mode along a first direction, the first support, the first limiting part and the second limiting part are matched to limit the elastic part between the first support and the second limiting part, and the first direction is the arrangement direction of the first support, the first limiting part and the second limiting part.

2. The damping mechanism according to claim 1, wherein the second limiting member has a limiting groove extending along the first direction, the first limiting member includes a limiting post and a first limiting portion, the first limiting portion is located at an end of the limiting post close to the second limiting member, the first limiting portion is disposed in the limiting groove, and the first limiting portion is engaged with the limiting groove to enable the first limiting member to be slidably connected to the second limiting member along the first direction.

3. The damping mechanism as claimed in claim 2, wherein the damping assembly further comprises a second position-limiting portion, the second position-limiting portion is disposed on the position-limiting post and spaced from the first position-limiting portion, the elastic member comprises a first sub-elastic member and a second sub-elastic member, the first sub-elastic member is disposed between the second position-limiting portion and the first bracket, and the second sub-elastic member is disposed between the second position-limiting portion and the second position-limiting portion.

4. The shock absorbing mechanism according to claim 2, wherein an end of the retaining post adjacent to the first bracket has an external thread, the shock absorbing assembly further comprises a fixing nut having a first internal thread, the first bracket has a second internal thread at a position corresponding to the retaining post, the first internal thread and the second internal thread are opposite in thread direction, and the first internal thread of the fixing nut and the second internal thread of the first bracket are connected to the external thread of the retaining post.

5. A road wheel device, comprising:

the walking wheel is provided with a first middle shaft and rotates around the first middle shaft; and

the cushioning mechanism of any of claims 1-4, attached to the first bottom bracket.

6. The walking wheel device of claim 5, wherein the number of at least two shock-absorbing assemblies is 4, two shock-absorbing assemblies are arranged on one side of the walking wheel at intervals, and the other two shock-absorbing assemblies are arranged on the other side of the walking wheel at intervals.

7. The walking wheel device of claim 5, further comprising a fastener, a stop member and a second bracket, wherein the fastener, the stop member and the second bracket are sequentially arranged, the second bracket is fixedly connected with the second limit member, a matching portion is arranged on the first middle shaft, and the fastener is matched with the matching portion to fix the walking wheel with the second bracket; the stopper is provided between the second bracket and the fastener to fix the fastener with the second bracket.

8. The road wheel assembly of claim 5, further comprising a steering drive member disposed on the first bracket for adjusting the direction of travel of the road wheel.

9. The road wheel assembly of claim 8, wherein the road wheel assembly further comprises a second central axle, the second central axle is perpendicular to the first central axle, and the output shaft of the steering drive member is coaxially disposed with the second central axle.

10. A mobile robot, comprising:

a robot body; and

the walking wheel device of any one of claims 5-9, which is arranged on the robot body for driving the robot body to travel.

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