CN218970777U

CN218970777U - Transmission mechanism and underwater cleaning device

Info

Publication number: CN218970777U
Application number: CN202222921601.9U
Authority: CN
Inventors: 余浅; 王义良
Original assignee: Tianjin Wangyuan Intelligent Technology Co ltd
Current assignee: Tianjin Wangyuan Intelligent Technology Co ltd
Priority date: 2022-11-03
Filing date: 2022-11-03
Publication date: 2023-05-05
Anticipated expiration: 2032-11-03

Abstract

The utility model provides a transmission mechanism and an underwater cleaning device, which comprise a base, a first transmission assembly and a second transmission assembly, wherein the first transmission assembly and the second transmission assembly are arranged on the base, the first transmission assembly is connected with the second transmission assembly, and the first transmission assembly drives the second transmission assembly to rotate. The utility model has the beneficial effects that the first transmission component and the second transmission component are integrally arranged on the base, so that the transmission mechanism is arranged in a modularized manner, and the utility model has high structural strength, is convenient to assemble and disassemble and is convenient to maintain.

Description

Transmission mechanism and underwater cleaning device

Technical Field

The utility model belongs to the technical field of underwater cleaning, and particularly relates to a transmission mechanism and an underwater cleaning device.

Background

The existing swimming pool cleaning robot has the defects that the transmission parts are directly arranged on the robot body, the strength of the supporting structure of the transmission parts is insufficient, and the operation of installing and maintaining the corresponding transmission parts is relatively complicated.

Disclosure of Invention

In view of the foregoing, the present utility model provides a transmission mechanism and an underwater cleaning device, so as to solve the above or other problems in the prior art.

In order to solve the technical problems, the utility model adopts the following technical scheme: the utility model provides a drive mechanism, includes the base, locates first drive assembly and second drive assembly on the base, and first drive assembly is connected with second drive assembly, and first drive assembly drives second drive assembly and rotates.

Further, the first transmission assembly and the second transmission assembly are respectively arranged on two side surfaces of the base.

Further, the first transmission assembly comprises a main driving piece, an intermediate transmission piece in transmission connection with the main driving piece, a main roller driving piece in transmission connection with the intermediate transmission piece and a slave roller driving piece, wherein the main driving piece, the intermediate transmission piece, the main roller driving piece and the slave roller driving piece are all connected with the base, and the main driving piece, the intermediate transmission piece, the main roller driving piece and the slave roller driving piece can rotate relative to the base.

Further, the second transmission assembly comprises a main transmission part, a secondary transmission part and a linkage part connected with the main transmission part and the secondary transmission part respectively, wherein the main transmission part is connected with a main roller driving part, the secondary transmission part is connected with a secondary roller driving part, the main roller driving part drives the main transmission part to rotate, and the driven transmission part and the secondary roller driving part are driven to rotate through the linkage part.

Further, the main roller driving piece comprises a first connecting shaft and a motion transmission part arranged on the first connecting shaft, the motion transmission part and the first connecting shaft are coaxially arranged, the motion transmission part drives the first connecting shaft to rotate, and one end of the first connecting shaft penetrates through the base and extends to one side of the base, on which the second transmission component is arranged.

Further, the secondary drum driving member includes a second connecting shaft, one end of which penetrates the base and extends to a side of the base where the second transmission assembly is provided.

Further, the main driving piece is connected with the first connecting shaft and is coaxially arranged.

Further, the slave transmission member is connected with the second connecting shaft and coaxially arranged.

Further, the main driving member, the intermediate transmission member and the main roller driving member all comprise at least a gear structure; the main driving part and the auxiliary driving part are belt wheels, and the linkage part is a synchronous belt.

Further, the novel anti-theft device further comprises a protective cover, wherein the protective cover is arranged on one side of the base, which is provided with the second transmission assembly, the protective cover is connected with the second transmission assembly, and the second transmission assembly can rotate relative to the protective cover.

An underwater cleaning device comprises a cleaning main body and a transmission mechanism, wherein the transmission mechanism is respectively connected with a power piece, a main roller and a secondary roller of the cleaning main body, the power piece drives the transmission mechanism to act, and the transmission mechanism drives the main roller and the secondary roller to rotate and drive the cleaning main body to walk.

By adopting the technical scheme, the base is arranged, the first transmission component and the second transmission component are respectively arranged at two sides of the base for power transmission, the first transmission component is connected with the power piece of the underwater cleaning device and is respectively connected with the main roller and the auxiliary roller, the first transmission component and the second transmission component are respectively connected with the power piece, the power piece drives the first transmission component to act, and the first transmission component drives the second transmission component to act, so that the main roller and the auxiliary roller are rotated, the walking of the underwater cleaning device is realized, and the cleaning of a swimming pool is realized; install first drive assembly and second drive assembly integration on the base for drive mechanism is the modularization setting, and structural strength is high, easy dismounting, be convenient for maintain.

Drawings

FIG. 1 is a schematic diagram of a side of a transmission mechanism according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of another side of a transmission mechanism according to an embodiment of the present utility model;

FIG. 3 is a schematic view of the connection between the main roller driving member and the main driving member according to an embodiment of the present utility model;

fig. 4 is a schematic structural view of a connection between a slave drum driving member and a slave transmission member according to an embodiment of the present utility model.

In the figure:

1. base 2, second transmission component 3 and protective cover

4. First transmission assembly 5, first bearing 6, third bearing

7. Fourth bearing 8, second bearing 20, linkage

21. Main driving member 22, auxiliary driving member 40 and main driving member

41. Intermediate transmission member 42, master drum drive member 43, slave drum drive member

420. The motion transferring body 421, the first connection shaft 422, and the first connection hole

423. First cavity structure 430, second connection shaft 431, and second connection hole

432. Second cavity structure

Detailed Description

The utility model will be further described with reference to the drawings and the specific examples.

Fig. 1 shows a schematic structural view of an embodiment of the present utility model, and the present embodiment relates to a transmission mechanism and an underwater cleaning device, where the transmission mechanism is mounted on a cleaning main body of the underwater cleaning device, a power member of the cleaning main body drives the transmission mechanism to act, the transmission mechanism transmits power to implement walking of the underwater cleaning device and drive a main drum and a slave drum to rotate, and cleans a swimming pool, and the transmission mechanism has a base, and a first transmission assembly and a second transmission assembly mounted on two sides of the base, and the transmission mechanism has high structural strength, high integration degree, convenient installation and disassembly, and convenient maintenance.

The transmission mechanism comprises a base 1, a first transmission assembly 4 and a second transmission assembly 2 which are arranged on the base 1, wherein the first transmission assembly 4 is connected with the second transmission assembly 2, and the first transmission assembly 4 drives the second transmission assembly 2 to rotate for power transmission; the setting of base 1 is convenient for the installation of first drive assembly 4 and second drive assembly 2, and simultaneously, base 1 plays the effect that the skeleton supported, and the intensity of base 1 is high, can bear the power that first drive assembly 4 and second drive assembly 2 produced in the transmission power in-process, and be difficult for yielding, is in the same place first drive assembly 4 and second drive assembly 2 integration, forms modularized drive structure, and drive mechanism's integrated level is high, is convenient for install and dismantle.

The first transmission component 4 and the second transmission component 2 are used for power transmission, driving the main roller and the auxiliary roller to rotate, and simultaneously realizing the walking of the underwater cleaning device, so that the main roller and the auxiliary roller clean the bottom and the wall of the swimming pool in the walking process of the underwater cleaning device.

In order to make the transmission mechanism compact, in this embodiment, the first transmission component 4 and the second transmission component 2 are respectively disposed on two sides of the base 1, that is, the first transmission component 4 is disposed on one side of the base 1, the second transmission component 2 is disposed on the other side of the base 1, and corresponding through holes are disposed on the base 1, so that the first transmission component 4 is connected with the second transmission component 2.

The base 1 is of a plate-shaped structure, and a plurality of reinforcing ribs are arranged on at least one side surface of the base 1 to strengthen the base 1, so that the base 1 can support the first transmission assembly 4 and the second transmission assembly 2, and the first transmission assembly 4 and the second transmission assembly 2 can perform power transmission action, and the base 1 cannot deform.

Of course, a plurality of lightening holes may be provided on the base 1 to lighten the weight of the base 1, and a plurality of lightening holes may be provided at other portions of the base 1 than the positions where the first and second transmission assemblies 4 and 2 are connected, so that the strength of the connection of the base 1 with the first and

second transmission assemblies

4 and 2 is sufficient to meet the strength requirement for supporting the first and

second transmission assemblies

4 and 2.

As shown in fig. 2, the first transmission assembly 4 includes a main driving element 40, an intermediate driving element 41 in transmission connection with the main driving element 40, a main drum driving element 42 in transmission connection with the intermediate driving element 41, and a slave drum driving element 43, the main driving element 40 drives the intermediate driving element 41 to operate, the intermediate driving element 41 drives the main drum driving element 42 to operate, the main drum driving element 42 is connected with the second transmission assembly 2 to drive the second transmission assembly 2 to operate, the slave drum driving element 43 is connected with the second transmission assembly 2, and the slave drum driving element 43 is driven by the second transmission assembly 2 to operate.

In the embodiment, the main driving member 40 and the intermediate driving member 41 are in meshed transmission, and the intermediate driving member 41 and the main roller driving member 42 are in meshed transmission, so that the structure is compact and the work is stable.

In the present embodiment, it is preferable that the main driving member 40, the intermediate transmission member 41 and the main drum driving member 42 each include at least a gear structure.

The main roller driving member 42 and the second transmission assembly 2 may be in a plug connection, or connected by a connecting member such as a screw, or other connection modes, which are selectively set according to actual requirements, and specific requirements are not made here.

The secondary drum driving member 43 and the secondary transmission assembly 2 may be connected in a plug-in manner, or may be connected by a connecting member such as a screw, or may be connected in other manners, and may be selectively arranged according to actual requirements, which is not specifically required herein.

The main driving member 40 is connected with the base 1, and the main driving member 40 can rotate relative to the base 1, a mounting groove is formed in the base 1, a bearing is mounted in the mounting groove, and the main driving member 40 is connected with the bearing, so that the main driving member 40 can rotate relative to the base 1. The main driving member 40 is used for being connected with a power member of the underwater cleaning device, the power member drives the main driving member 40 to act to provide power for the rotation of the main driving member 40, therefore, the main driving member 40 comprises a transmission main body and an extension shaft connected with the transmission main body, the transmission main body is coaxially arranged with the extension shaft and fixedly connected with the extension shaft, so that the transmission main body rotates along with the extension shaft, and in the embodiment, the transmission main body and the extension shaft are preferably integrally formed. The two ends of the extension shaft are positioned at two sides of the transmission main body, the shape and the size of the mounting groove are matched with those of the bearing, the bearing is mounted in the mounting groove, the outer ring of the bearing is contacted with the inner wall of the mounting groove, one end of the extension shaft is inserted into the inner ring of the bearing, the bearing is connected with the extension shaft, and under the action of the bearing, the extension shaft can rotate relative to the mounting groove, so that the transmission main body can rotate relative to the mounting groove. In order to reduce the volume of the transmission mechanism, a containing groove is arranged on the base 1, the containing groove and the mounting groove are coaxially arranged, namely, the mounting groove is positioned at the bottom of the containing groove, the shape of the containing groove is adapted to that of the transmission main body, one end of the extension shaft is connected with the bearing, and at least one part of the transmission main body is positioned in the containing groove and rotates in the containing groove, so that the transmission mechanism is compact in structure.

In this embodiment, the transmission body is preferably a gear structure.

The other end of the extension shaft is provided with a mounting hole, the mounting hole and the extension shaft are coaxially arranged, the shape of the mounting hole is matched with that of an output shaft of the power piece, so that the end of the extension shaft can be connected with the output shaft of the power piece in a plugging manner, or the extension shaft is connected with the output shaft of the power piece through a connecting piece such as a screw, so that the power piece drives the extension shaft to rotate, and the transmission main body is driven to rotate. In this embodiment, the shape of the mounting hole may be hexagonal or quadrangular.

The supporting cover is arranged at the opening of the accommodating groove and detachably connected with the base 1, the supporting cover is positioned on one side surface of the transmission main body, which is far away from the base 1, the supporting cover and the accommodating groove form an accommodating space, the transmission main body is positioned in the accommodating space, the supporting cover is provided with a through hole, the through hole and the accommodating groove are coaxially arranged, one end of the extending shaft, which is not connected with the bearing, is penetrated on the through hole, and the end of the extending shaft can also extend to the outside of the supporting cover so that the end is connected with the power piece. Of course, the through hole of the support cover can be provided with a bearing, so that the extension shaft is supported and is convenient to rotate, and friction between the extension shaft and the support cover is reduced.

An opening is formed in one side of the support cover, which is close to the middle transmission member 41, and a part of the transmission main body can extend out of the accommodating space so that the transmission main body is in meshed transmission connection with the middle transmission member 41, or the transmission main body is located in the accommodating space, and the middle transmission member 41 can partially enter the accommodating space to be in meshed transmission connection with the transmission main body.

The intermediate transmission member 41 is connected to the base 1, and the intermediate transmission member 41 is rotatable relative to the base 1, and a mounting shaft is provided on the base 1, and the intermediate transmission member 41 is mounted on the mounting shaft through a bearing, so that the intermediate transmission member 41 is rotatable relative to the base 1. In this embodiment, the intermediate transmission member 41 is preferably a gear.

Of course, in order to reduce the volume of the transmission mechanism, a groove communicating with the receiving groove is provided at a position on the base 1 corresponding to the intermediate transmission member 41, and the mounting shaft is mounted at the bottom of the groove, in which the intermediate transmission member 41 is located.

As shown in fig. 3, the main roller driving member 42 is connected to the base 1, and the main roller driving member 42 can rotate relative to the base 1, in this embodiment, the main roller driving member 42 may be connected to the base 1 through a first bearing 5, the main roller driving member 42 includes a first connecting shaft 421 and a motion transmission body 420 disposed on the first connecting shaft 421, the motion transmission body 420 is coaxially disposed with the first connecting shaft 421, the motion transmission body 420 drives the first connecting shaft 421 to rotate, and one end of the first connecting shaft 421 penetrates through the base 1 and extends to a side of the base 1 where the second transmission assembly 2 is disposed, and is connected to the second transmission assembly 2. The two ends of the first connecting shaft 421 are respectively located at two sides of the motion transmission body 420, and the first connecting shaft 421 is fixedly connected with the motion transmission body 420, and in this embodiment, is preferably integrally formed; the first bearing 5 is mounted on the first coupling shaft 421, and the first bearing 5 is mounted on the base 1 so as to mount the main drum driver 42 on the base 1.

A first mounting groove is formed in one side surface of the base 1, the shape and the size of the first mounting groove are matched with those of the first bearing 5, the first bearing 5 is mounted in the first mounting groove, the outer ring of the first bearing 5 is in contact with the inner wall of the first mounting groove, a first through hole is formed in the bottom of the first mounting groove, one end of the first connecting shaft 421 penetrates through the first bearing 5 and the first through hole and extends to the outer portion of the other side surface of the base 1, the first connecting shaft 421 penetrates through the first bearing 5 and the base 1, the end of the first connecting shaft 421 on the side is connected with the second transmission assembly 2, and the first bearing 5 is located on one side surface of the motion transmission main body 420, which faces the base 1.

In order to reduce the volume of the transmission mechanism, a first receiving groove coaxially provided with the first mounting groove is provided on the base 1 for receiving the motion transfer main body 420, the first receiving groove being in communication with the first mounting groove, i.e., the first mounting groove is located at the bottom of the first receiving groove, and the other end of the first connection shaft 421 extends out of the first receiving groove to be located outside the first receiving groove so that the end of the first connection shaft 421 is connected with the main drum of the underwater cleaning device. The end of the first connection shaft 421 has a first connection hole 422 so that the end is connected with the main drum in a plugging manner, the first connection hole 422 is coaxially disposed with the first connection shaft 421, and the first connection hole 422 may have a hexagonal or quadrangular shape, thereby realizing rapid installation and removal of the first connection shaft 421 from the main drum.

The first connecting shaft 421 has a first cavity structure 423 inside, and one end of the first cavity structure 423 is communicated with the first connecting hole 422, so that the supporting shaft of the main drum can extend into the first cavity structure 423, and the first cavity structure 423 accommodates the supporting shaft.

In this embodiment, the motion transmission body 420 is preferably a gear structure.

As shown in fig. 4, the above-mentioned slave drum driver 43 is connected to the base 1, and the slave drum driver 43 is rotatable relative to the base 1, and in this embodiment, the slave drum driver 43 is rotatably connected to the base 1 through the second bearing 8, so that the slave drum driver 43 can rotate relative to the base 1. The slave drum driving part 43 includes a second connection shaft 430, and one end of the second connection shaft 430 penetrates the base 1 and extends to a side of the base 1 where the second transmission assembly 2 is provided, and is connected with the second transmission assembly 2. The second connecting shaft 430 is connected with the base 1 through the second bearing 8, a second mounting groove is formed in one side surface of the base 1, the shape and the size of the second mounting groove are matched with those of the second bearing 8, the second bearing 8 is mounted in the second mounting groove, the outer ring of the second bearing 8 is contacted with the inner wall of the second mounting groove, a second through hole is formed in the bottom of the second mounting groove, one end of the second connecting shaft 430 sequentially penetrates through the second bearing 8 and the second through hole and extends to the other side surface of the base 1, the second connecting shaft 430 penetrates through the second bearing 8 and the base 1, and the end of the second connecting shaft 430 is connected with the second transmission assembly 2.

The other end of the second connection shaft 430 is located at one side of the base 1 provided with the second installation groove, the end of the second connection shaft 430 is connected with the slave drum, the end of the second connection shaft 430 is provided with a second connection hole 431 so as to be connected with the slave drum in an inserting mode, the second connection hole 431 is coaxially arranged with the second connection shaft 430, and the shape of the second connection hole 431 can be hexagonal or quadrilateral, so that the second connection shaft 430 can be quickly installed and detached from the slave drum. The second connection shaft 430 is provided at an inside thereof with a second cavity structure 432, and the second cavity structure 432 is communicated with the second connection hole 431 so that the support shaft of the slave drum can be inserted into the second cavity structure 432, and the second cavity structure 432 accommodates the support shaft of the slave drum.

The second transmission assembly 2 includes a main transmission member 21, a sub transmission member 22, and a linkage member 20 connected to the main transmission member 21 and the sub transmission member 22, respectively, the main transmission member 21 is connected to a main drum driving member 42, the sub transmission member 22 is connected to a sub drum driving member 43, and the main drum driving member 42 drives the main transmission member 21 to rotate, and drives the sub transmission member 22 and the sub drum driving member 43 to rotate through the linkage member 20.

In this embodiment, preferably, the master driving member 21 and the slave driving member 22 are both pulleys, and the linkage member 20 is a synchronous belt, and the synchronous belt is sleeved on the two pulleys.

The main driving member 21 is connected to the first connecting shaft 421, and is coaxially disposed, where the main driving member 21 is sleeved at one end of the first connecting shaft 421, which is not connected to the main drum, and is connected by a connecting member such as a screw, so that the main driving member 21 rotates along with the first connecting shaft 421.

The slave transmission member 22 is connected to the second connection shaft 430, and is coaxially disposed, and the slave transmission member 22 is fitted over one end of the second connection shaft 430, which is not connected to the slave cylinder, and is connected by a connection member such as a screw, so that the slave transmission member 22 rotates along with the second connection shaft 430.

The transmission mechanism further comprises a protective cover 3, wherein the protective cover 3 is arranged on one side of the base 1, on which the second transmission assembly 2 is arranged, the protective cover 3 is connected with the second transmission assembly 2, and the second transmission assembly 2 can rotate relative to the protective cover 3. The protection cover 3 is buckled on the main transmission piece 21 and the auxiliary transmission piece 22, the main transmission piece 21 and the auxiliary transmission piece 22 are protected, the protection cover 3 is connected with the main transmission piece 21 through the third bearing 6, so that the main transmission piece 21 can rotate relative to the protection cover 3, the protection cover 3 is connected with the auxiliary transmission piece 22 through the fourth bearing 7, so that the auxiliary transmission piece 22 can rotate relative to the protection cover 3, and the protection cover 3 cannot interfere the rotation of the main transmission piece 21 and the auxiliary transmission piece 22.

An underwater cleaning device comprises a cleaning main body and a transmission mechanism, wherein the transmission mechanism is respectively connected with a power piece of the cleaning main body, a main roller and a secondary roller, transmits power of the power piece, drives the main roller and the secondary roller to rotate, and drives the cleaning main body to walk. The power piece is connected with the main driving piece 40 of the first transmission assembly 4 in a plug-in manner, the main roller is connected with the main roller driving piece 42 of the first transmission assembly 4 in a plug-in manner, and the auxiliary roller is connected with the auxiliary roller driving piece 43 of the first transmission assembly 4 in a plug-in manner, so that the transmission mechanism and the cleaning main body can be quickly assembled and disassembled.

The power member is preferably an electric motor.

When the underwater cleaning device works, the power piece acts to drive the main driving piece 40 to rotate, the main driving piece 40 drives the middle transmission piece 41 to act, the middle transmission piece 41 drives the main roller driving piece 42 to rotate, the main roller driving piece 42 is connected with the main transmission piece 21, then the main roller driving piece 42 rotates, then the main roller rotates, the driven transmission piece 22 is driven to rotate through the linkage piece 20, the driven transmission piece 22 is connected with the driven roller driving piece 43, then the driven roller driving piece 43 rotates, then the driven roller rotates, the main roller and the driven roller clean the bottom and the side wall of the swimming pool, and meanwhile, the underwater cleaning device walks.

The foregoing describes the embodiments of the present utility model in detail, but the description is only a preferred embodiment of the present utility model and should not be construed as limiting the scope of the utility model. All equivalent changes and modifications within the scope of the present utility model are intended to be covered by the present utility model.

Claims

1. A transmission mechanism, characterized in that: the device comprises a base, a first transmission assembly and a second transmission assembly, wherein the first transmission assembly and the second transmission assembly are arranged on the base, the first transmission assembly is connected with the second transmission assembly, the first transmission assembly drives the second transmission assembly to rotate, and the first transmission assembly and the second transmission assembly are respectively arranged on two side surfaces of the base.

2. The transmission mechanism according to claim 1, wherein: the first transmission assembly comprises a main driving piece, an intermediate transmission piece in transmission connection with the main driving piece, a main roller driving piece and a slave roller driving piece, wherein the main roller driving piece is in transmission connection with the intermediate transmission piece, the main driving piece, the intermediate transmission piece, the main roller driving piece and the slave roller driving piece are connected with the base, and the main driving piece, the intermediate transmission piece, the main roller driving piece and the slave roller driving piece can rotate relative to the base.

3. The transmission mechanism according to claim 2, wherein: the second transmission assembly comprises a main transmission part, a secondary transmission part and a linkage part connected with the main transmission part and the secondary transmission part respectively, wherein the main transmission part is connected with the main roller driving part, the secondary transmission part is connected with the secondary roller driving part, the main roller driving part drives the main transmission part to rotate, and the secondary transmission part and the secondary roller driving part are driven to rotate through the linkage part.

4. A transmission according to claim 3, wherein: the main roller driving piece comprises a first connecting shaft and a motion transmission part arranged on the first connecting shaft, the motion transmission part is coaxially arranged with the first connecting shaft, the motion transmission part drives the first connecting shaft to rotate, and one end of the first connecting shaft penetrates through the base and extends to one side of the base, which is provided with the second transmission component.

5. The transmission mechanism according to claim 4, wherein: the secondary roller driving member comprises a second connecting shaft, and one end of the second connecting shaft penetrates through the base and extends to one side of the base, where the second transmission assembly is arranged.

6. The transmission mechanism according to claim 5, wherein: the main transmission piece is connected with the first connecting shaft and is coaxially arranged; the secondary transmission piece is connected with the second connecting shaft and is coaxially arranged.

7. The transmission mechanism according to claim 5 or 6, wherein: the main driving piece, the intermediate transmission piece and the main roller driving piece at least comprise gear structures; the main driving part and the auxiliary driving part are belt wheels, and the linkage part is a synchronous belt.

8. The transmission mechanism according to any one of claims 1 to 6, wherein: the novel transmission device comprises a base, and is characterized by further comprising a protective cover, wherein the protective cover is arranged on one side of the base, provided with the second transmission assembly, and is connected with the second transmission assembly, and the second transmission assembly can rotate relative to the protective cover.

9. An underwater cleaning device, characterized in that: the cleaning device comprises a cleaning main body and a transmission mechanism as claimed in any one of claims 1 to 8, wherein the transmission mechanism is respectively connected with a power piece, a main roller and a slave roller of the cleaning main body, the power piece drives the transmission mechanism to act, and the transmission mechanism drives the main roller and the slave roller to rotate and drive the cleaning main body to walk.