CN220023596U

CN220023596U - Walking equipment

Info

Publication number: CN220023596U
Application number: CN202321385972.8U
Authority: CN
Inventors: 陈逸奇; 甘帅; 郝新龙
Original assignee: Shenzhen Zongguan Innovation Co ltd
Current assignee: Shenzhen Zongguan Innovation Co ltd
Priority date: 2023-06-01
Filing date: 2023-06-01
Publication date: 2023-11-17
Anticipated expiration: 2033-06-01

Abstract

The utility model is suitable for the field of walking appliances and discloses walking equipment. The walking equipment comprises a machine body, a detection part and a movable wheel assembly, wherein the detection part is arranged on the machine body; the moving wheel assembly is used for supporting the machine body and driving the machine body to move; the movable wheel assembly comprises a suspension wheel component, the suspension wheel component comprises a first rotating wheel, a second rotating wheel, a suspension rod and a triggering component, the suspension rod comprises a rotating part, a first supporting rod part and a second supporting rod part, the rotating part is rotatably connected with the machine body, the first supporting rod part is connected between the rotating part and the first rotating wheel, and the second supporting rod part is connected between the rotating part and the second rotating wheel; the distance from the center of gravity of the suspension wheel member to the first rotating wheel is smaller than the distance from the central shaft of the rotating part to the first rotating wheel; the triggering component is arranged on the suspension rod and is used for rotating along with the suspension rod and triggering the detection component to generate a triggering signal when the suspension wheel component leaves the ground. The ground clearance detection scheme has simple structure and low cost.

Description

Walking equipment

Technical Field

The utility model relates to the field of walking equipment, in particular to walking equipment.

Background

The related art provides a walking equipment, for example, a lawn mower is equipped with two front wheels and two rear wheels, and two front wheels are the universal wheel, and every front wheel is connected with the fuselage alone respectively, and every front wheel corresponds respectively and is equipped with a detection part and trigger part. The detection component and the triggering component are used for ground clearance detection so as to ensure the use safety of equipment. When a front wheel is lifted off the ground, the triggering component corresponding to the front wheel triggers the detecting component of the front wheel to generate a triggering signal.

The walking equipment has the following defects in specific application: the two front wheels are separately installed and separated to perform ground clearance detection, so that the installation structure is complex and the cost is high.

Disclosure of Invention

The utility model aims to provide walking equipment, which aims to solve the technical problems of complex structure and high cost of a ground clearance detection scheme in the related technology.

In order to achieve the above purpose, the utility model provides the following scheme: a walking device comprising:

a body;

the detection component is arranged on the machine body;

the moving wheel assembly is used for supporting the machine body and driving the machine body to move; the mobile wheel assembly comprises a suspension wheel component, the suspension wheel component comprises a first rotating wheel, a second rotating wheel, a suspension rod and a triggering component, the suspension rod comprises a rotating part, a first supporting rod part and a second supporting rod part, the rotating part is rotatably connected with the machine body, the first supporting rod part is connected between the rotating part and the first rotating wheel, and the second supporting rod part is connected between the rotating part and the second rotating wheel;

the distance between the gravity center of the suspension wheel component and the first rotating wheel is smaller than the distance between the central shaft of the rotating part and the first rotating wheel, so that the suspension rod can rotate in a trend that the end of the first rotating wheel swings downwards and the end of the second rotating wheel swings upwards under the action of gravity of the suspension wheel component when the suspension wheel component leaves the ground;

The trigger component is arranged on the suspension rod and is used for rotating along with the suspension rod and triggering the detection component to generate a trigger signal when the suspension wheel component leaves the ground.

As one embodiment, the suspension wheel member further includes a weight provided to the first strut portion and/or the first rotating wheel such that a distance from a center of gravity of the suspension wheel member to the first rotating wheel is smaller than a distance from a center axis of the rotating portion to the first rotating wheel; or,

the sum of the weights of the first rotating wheel and the first supporting rod part is larger than the sum of the weights of the second rotating wheel and the second supporting rod part.

As an embodiment, the suspension wheel member further includes a first bearing and a second bearing, one axial end of the rotating portion is rotatably connected to the body through the first bearing, and the other axial end of the rotating portion is rotatably connected to the body through the second bearing; and/or the number of the groups of groups,

the trigger component is arranged on the rotating part and/or the second supporting rod part.

As one embodiment, the detecting component is centrally arranged above the rotating part along the length direction of the suspension rod, and the distance from the triggering component to the first rotating wheel is larger than the distance from the triggering component to the second rotating wheel; and/or the number of the groups of groups,

The detection component is a Hall element, and the triggering component is a magnet.

As an implementation mode, the walking equipment further comprises a cutting mechanism and a controller, wherein the cutting mechanism and the controller are both arranged on the machine body, the controller is respectively and electrically connected with the cutting mechanism, the moving wheel assembly and the detection component and is used for respectively controlling the cutting mechanism and the moving wheel assembly to work, the cutting mechanism is at least used for cutting plants under the control of the controller, and the controller is also used for controlling the cutting mechanism to stop running when receiving the trigger signal; and/or the number of the groups of groups,

the walking equipment is a mower or a crop harvester.

As an embodiment, the first wheel and/or the second wheel is a universal wheel.

As one embodiment, the suspension wheel member further comprises a first link, a second link, a third bearing and a fourth bearing;

the first connecting frame is rotatably connected to the first supporting rod part through the third bearing, and the first rotating wheel is arranged on the first connecting frame;

the second connecting frame is rotatably connected to the second supporting rod part through the fourth bearing, and the second rotating wheel is installed on the second connecting frame.

As one embodiment, the suspension wheel member further comprises a first electromagnet, a second electromagnet, a first magnetic component and a second magnetic component, wherein the first magnetic component is arranged on the first connecting frame, and the second magnetic component is arranged on the second connecting frame;

the first electromagnet is arranged at one end of the suspension rod and is used for adsorbing the first magnetic component under the condition of electrifying so as to keep the first rotating wheel in a straight-line running state;

the second electromagnet is arranged at the other end of the suspension rod and is used for adsorbing the second magnetic component under the condition of electrifying so as to enable the second rotating wheel to keep a straight-line running state.

As one embodiment, the first magnetic component is centrally disposed above the first rotating wheel along the axial direction of the first rotating wheel, and the second magnetic component is centrally disposed above the second rotating wheel along the axial direction of the second rotating wheel; and/or the number of the groups of groups,

the first magnetic component is a magnet, and the second magnetic component is a magnet.

As one embodiment, the central axis of the rotating part is perpendicular to the central axis of the third bearing; and/or the number of the groups of groups,

The center shaft of the rotating part is horizontally arranged, and the center shaft of the third bearing and the center shaft of the fourth bearing are vertically arranged.

As one embodiment, the walking device further comprises a handrail and a locking screw, wherein the handrail is provided with a holding part, a first rotating connecting part and an opening clamping groove, the opening clamping groove is arranged between the holding part and the first rotating connecting part along the length direction of the handrail, the holding part is used for being held by an operator, the handrail is rotatably connected with the machine body through the first rotating connecting part, and the opening clamping groove is provided with a first opening which is opened downwards; the locking screw is used for locking the armrest in the unfolded state to the machine body and loosening the armrest so that the armrest can rotate from the unfolded state to a folded state folded on the machine body under the action of external force;

the opening clamping groove is used for being matched with the local clamping position of the locking screw in the unfolding state.

As one implementation mode, the opening clamping groove is an arc groove with the radian being larger than the semicircle radian; the locking screw is provided with a first clamping rod part which is used for being matched with the opening clamping groove in a clamping way, and the first clamping rod part is cylindrical; and/or the number of the groups of groups,

The locking screw is a hand-turning screw, the locking screw comprises a first screw rod part, a first clamping rod part and a first hand-turning head part, the first screw rod part and the first hand-turning head part are respectively arranged at two ends of the first clamping rod part, the first screw rod part is used for being in threaded connection with the machine body, the first clamping rod part is used for being matched with the opening clamping groove in a clamping mode, and the first hand-turning head part is used for being held by an operator to be turned to tighten or loosen the locking screw.

As an embodiment, the walking device further comprises a foot support, wherein the foot support can be movably connected to the machine body, and the foot support is used for supporting part of the moving wheel assembly on the ground together when the handrail is in the folded state and the walking device is in the vertical state;

the foot support comprises a support rod, an elastic piece, a rotating member and a sliding member, wherein one end of the support rod is rotatably connected with the machine body through the rotating member; the sliding member is slidably connected with the supporting rod in a manner of being capable of sliding along the length direction of the supporting rod relative to the supporting rod, and is elastically connected with the rotating member through the elastic piece; the machine body is provided with a first sliding guide part, and the first sliding guide part is used for limiting the movement track of the sliding member when the supporting rod rotates relative to the machine body.

As one embodiment, the mobile wheel assembly further comprises at least one drive wheel, the drive wheel comprising a motor and a tire, the motor being mounted within the tire;

the tire comprises a tire body and a tire tread, wherein the tire body is provided with a radial outer surface, a first axial end surface and a second axial end surface, the first axial end surface and the second axial end surface are respectively formed at two axial ends of the tire body, the radial outer surface extends from the outer edge of the first axial end surface to the outer edge of the second axial end surface, the tire tread is convexly arranged on the radial outer surface, the tire tread comprises a plurality of bulges, and the bulges are distributed at intervals along the circumferential direction of the radial outer surface;

each of the protrusions extends from the first axial end face to the second axial end face;

in the axial orthographic projection of the tire, a plurality of projections of the raised outer edges are joined into a full circular pattern.

As one embodiment, the protrusions include a first linear extension extending along a first linear trajectory from the first axial end face toward the second axial end face, and a second linear extension extending along a second linear trajectory from the second axial end face to an end of the first linear extension away from the first axial end face, at least a portion of the first linear extension of any one of the protrusions shielding at least a portion of the first linear extension of an adjacent one of the protrusions in an axial orthographic projection of the tire; or,

The protrusion comprises a third linear extension, a fourth linear extension and a transitional connection, wherein the third linear extension extends from the first axial end face towards the second axial end face along a third linear track; the fourth linear extension extends from the second axial end face toward the first axial end face along a fourth linear trajectory; the transition connection portion extends from an end of the third linear extension portion away from the first axial end face to an end of the fourth linear extension portion away from the second axial end face; in an axial orthographic projection of the tire, at least a portion of the third linear extension of any one of the projections obscures at least a portion of the transition connection and/or at least a portion of the fourth linear extension of an adjacent one of the projections.

According to the walking equipment provided by the utility model, the machine body can be rotatably connected through the rotating part of the suspension rod, and the first rotating wheel and the second rotating wheel are respectively connected through the first supporting rod part and the second supporting rod part of the suspension rod, so that the first rotating wheel, the second rotating wheel and the suspension rod can be installed on the machine body as a whole suspension wheel component, and further the installation structure of the two rotating wheels is facilitated to be simplified, and the cost is reduced. In addition, the utility model sets the detecting part on the machine body and sets the triggering part on the hanging rod, and the distance from the center of gravity of the hanging wheel component to the first rotating wheel is set to be smaller than the distance from the central shaft of the rotating part to the first rotating wheel.

Drawings

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

FIG. 1 is a perspective view of a frame, a moving wheel assembly and a detecting unit according to a first embodiment of the present utility model;

FIG. 2 is an enlarged schematic view of a portion of FIG. 1 at A;

FIG. 3 is an enlarged partial schematic view at B in FIG. 1;

FIG. 4 is an exploded schematic view of a suspension wheel member provided in accordance with a first embodiment of the present utility model;

fig. 5 is a schematic perspective view of a walking device according to a first embodiment of the present utility model, in which a handrail is in an unfolded state and a foot support is in a storage position;

FIG. 6 is an enlarged partial schematic view at C in FIG. 5;

fig. 7 is a schematic perspective view of a walking device provided by the first embodiment of the utility model, in which a handrail is in a folded state and a foot support is in a supporting position;

fig. 8 is a schematic view of a walking device according to a first embodiment of the present utility model;

FIG. 9 is a schematic view of a handrail according to a first embodiment of the present utility model;

FIG. 10 is a partially enlarged schematic illustration of FIG. 9 at D;

FIG. 11 is a schematic view of a locking screw according to an embodiment of the present utility model;

FIG. 12 is a schematic view of a mounting plate according to a first embodiment of the present utility model;

FIG. 13 is a schematic view illustrating an assembly of a heel brace according to an embodiment of the present utility model;

FIG. 14 is an exploded view of a heel brace according to an embodiment of the present utility model;

fig. 15 is a schematic structural diagram of a connection seat according to a first embodiment of the present utility model;

FIG. 16 is a schematic perspective view of a driving wheel tire according to a first embodiment of the present utility model;

FIG. 17 is a schematic plan view of the front view of FIG. 16;

FIG. 18 is a top plan schematic view of FIG. 16;

fig. 19 is a schematic perspective view of a driving wheel tire according to a second embodiment of the present utility model;

FIG. 20 is a schematic plan view of the front view of FIG. 19;

fig. 21 is a top plan schematic view of fig. 19.

Reference numerals illustrate: 10. a walking device; 100. a body; 110. a main support; 111. a top strut; 112. a back support bar; 120. a mounting plate; 121. a connection hole; 122. a second rotational connection; 130. a connecting seat; 131. a first plate body; 1311. the first slide guiding curved surface; 1312. a first shaft hole; 132. a second plate body; 1321. the second slide guiding curved surface; 1322. a second shaft hole; 133. a third plate body; 1301. a first limit groove; 1302. the second limit groove; 200. a moving wheel assembly; 210. a hanging wheel member; 211. a first wheel; 212. a second wheel; 213. a hanging rod; 2131. a rotating part; 2132. a first strut portion; 2133. a second strut portion; 2134. a first connection sleeve; 2135. a second connecting sleeve; 214. a trigger member; 215. a first bearing; 216. a second bearing; 217. a first connection frame; 2171. a first connecting shaft; 218. a second connecting frame; 2181. a second connecting shaft; 219. a third bearing; 201. a fourth bearing; 202. a first electromagnet; 203. a second electromagnet; 204. a first magnetic member; 205. a second magnetic member; 206. a counterweight; 220. a driving wheel; 221. a tire; 2211. a tire body; 2201. a radially outer surface; 2202. a first axial end face; 2203. a second axial end surface; 2212. a tread; 2204. a protrusion; 2205. a first linear extension; 2206. a second linear extension; 2207. a third linear extension; 2208. a fourth linear extension; 2209. a transitional connection part; 2213. a mounting hole; 2214. a vibration damping hole; 2215. a separation groove; 222. a motor; 300. a detection member; 400. a cutting mechanism; 500. a controller; 600. an armrest; 610. a grip portion; 620. a first rotary connection; 630. an opening clamping groove; 631. a first opening; 640. an opening chute; 641. a second opening; 700. locking a screw; 710. a first detent lever portion; 720. a first screw portion; 730. a first rotatable head; 800. rotating the connecting piece; 900. a foot support; 910. a support rod; 911. a third shaft hole; 912. a second slide guide portion; 920. an elastic member; 930. a rotating member; 931. a first shaft portion; 932. a first clamping boss portion; 933. a second clamping boss portion; 940. a sliding member; 941. a second shaft portion; 942. a third click boss portion; 943. a fourth click boss portion; 950. foot pad.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Embodiment one:

as shown in fig. 1 and 5, a walking device 10 according to a first embodiment of the present utility model includes a main body 100 and a moving wheel assembly 200, wherein the moving wheel assembly 200 is connected to the main body 100 for supporting the main body 100 and moving the main body 100.

Referring to fig. 1, 2 and 5, as an embodiment, the walking apparatus 10 further includes a detecting member 300, and the detecting member 300 is provided on the body 100 for detecting whether the ground lift phenomenon of the moving wheel assembly 200 occurs. The ground lift phenomenon of the mobile wheel assembly 200 represents the ground lift phenomenon of the walking device 10. In a specific application, if the walking device 10 is lifted off the ground, the detecting component 300 generates a trigger signal (the trigger signal is a signal generated by the lifting-off of the detecting component 300 on the walking device 10), and the walking device 10 automatically performs corresponding processing measures (for example, controls at least part of the mechanisms to stop working or controls to turn off the power supply) according to the trigger signal, so that the use safety of the walking device 10 is ensured.

Referring to fig. 1, 2 and 5, as an embodiment, the moving wheel assembly 200 is provided with a trigger member 214, and the trigger member 214 is used to trigger the detecting member 300 to generate a trigger signal when the ground lift phenomenon occurs in the moving wheel assembly 200. The trigger component 214 is mainly configured to better trigger the detecting component 300 to generate a trigger signal when the moving wheel assembly 200 is lifted off the ground. When the walking device 10 normally walks or works on the ground, the trigger part 214 is positioned at a non-trigger position which does not trigger the detection part 300 to generate a trigger signal; when the moving wheel assembly 200 is lifted off, the trigger unit 214 moves to the trigger position where the trigger detecting unit 300 generates the trigger signal.

Referring to fig. 1, 4 and 5, as an embodiment, the moving wheel assembly 200 includes a hanging wheel member 210, the hanging wheel member 210 includes a first rotating wheel 211, a second rotating wheel 212, a hanging rod 213, and a triggering part 214, the first rotating wheel 211 and the second rotating wheel 212 are respectively installed at opposite ends of the hanging rod 213, the hanging rod 213 is connected to the body 100, the triggering part 214 is provided on the hanging rod 213, and the triggering part 214 is used to trigger the detecting part 300 to generate a triggering signal when the hanging wheel member 210 leaves the ground. In a specific application, the first rotating wheel 211, the second rotating wheel 212, the hanging rod 213 and the triggering component 214 can be assembled to form an integral hanging wheel component 210, and then the hanging wheel component 210 is installed on the machine body 100 at one time, so that only a structure for installing the hanging rod 213 is required to be arranged on the machine body 100, and structures for installing the first rotating wheel 211, the second rotating wheel 212 and the triggering component 214 are not required to be respectively arranged on the machine body 100, thereby being beneficial to simplifying the installation structures of the first rotating wheel 211, the second rotating wheel 212 and the triggering component 214; in addition, the first rotating wheel 211, the second rotating wheel 212, the suspension rod 213 and the triggering part 214 are mounted to the main body 100 as a whole suspension wheel member 210, which is beneficial to improving the mounting efficiency of the first rotating wheel 211, the second rotating wheel 212 and the triggering part 214 to the main body 100; and is beneficial to enabling the walking device 10 to adapt to various terrains and keeping the posture of the walking device 10 smooth.

In one embodiment, the suspension bar 213 is rotatably connected to the main body 100, i.e., the suspension bar 213 is mounted on the main body 100 to rotate relative to the main body 100 under the action of external force. The trigger part 214 is used to rotate with the suspension rod 213 and trigger the detection part 300 to generate a trigger signal when the suspension wheel member 210 leaves the ground. In this embodiment, the trigger member 214 is moved from the non-trigger position to the trigger position by rotation, which is simple in structure and easy to implement.

Referring to fig. 1, 4 and 5, as an embodiment, the suspension lever 213 includes a rotation portion 2131, a first strut portion 2132 and a second strut portion 2133, the rotation portion 2131 is rotatably connected to the main body 100, the first strut portion 2132 is connected between the rotation portion 2131 and the first rotor 211, and the second strut portion 2133 is connected between the rotation portion 2131 and the second rotor 212. The first strut portion 2132 and the second strut portion 2133 are provided on opposite sides of the rotating portion 2131. The turning portion 2131 is mainly used to implement a rotatable connection of the suspension bar 213 to the main body 100, so that a supporting fulcrum and a rotation center point can be provided for mounting the suspension wheel member 210 to the main body 100. The first strut portion 2132 is mainly used for connecting the suspension rod 213 to the first wheel 211, and the second strut portion 2133 is mainly used for connecting the suspension rod 213 to the second wheel 212. The rotation portion 2131, the first strut portion 2132 and the second strut portion 2133 may be formed by joining separately formed structures, or may be formed integrally.

As an embodiment, the distance from the center of gravity of the suspension wheel member 210 to the first rotating wheel 211 is smaller than the distance from the center axis of the rotating portion 2131 to the first rotating wheel 211, so that the suspension bar 213 can rotate in a direction in which the end of the first rotating wheel 211 swings downward and the end of the second rotating wheel 212 swings upward under the gravity of the suspension wheel member 210 when the suspension wheel member 210 leaves the ground. The central axis of the turning portion 2131 is a rotation pivot point of the suspension wheel member 210, that is, a rotation central axis of the suspension lever 213 turning with respect to the main body 100. In this embodiment, the distance from the center of gravity of the suspension wheel member 210 to the first rotating wheel 211 is smaller than the distance from the central axis of the rotating portion 2131 to the first rotating wheel 211 by using the lever principle, so that when the suspension wheel member 210 is lifted off the ground, the side of the first rotating wheel 211 swings downward because the side of the first rotating wheel 211 is heavier than the side of the second rotating wheel 212, and when the suspension rod 213 swings by a preset angle, the trigger part 214 moves to the trigger position where the trigger detecting part 300 generates the trigger signal, thereby realizing the lift-off detection of the suspension wheel member 210. In this embodiment, the lift detection scheme of the first wheel 211 and the second wheel 212 is implemented by using the single detection part 300 and the single trigger part 214, so that the lift detection device has the advantages of simple structure, low cost and easy implementation.

In one embodiment, the detection member 300 is a hall element and the trigger member 214 is a magnet. The hall element is a magnetic sensor based on the hall effect. In this embodiment, the detection part 300 has the following advantages by using the hall element: firm structure, small volume, light weight, long service life, convenient installation, low power consumption, high frequency, shock resistance, and resistance to pollution or corrosion of dust, greasy dirt, water vapor, salt fog and the like.

As an embodiment, the first rotating wheel 211 is mounted to an end of the first strut portion 2132 remote from the rotating portion 2131, and the second rotating wheel 212 is mounted to an end of the second strut portion 2133 remote from the rotating portion 2131.

Referring to fig. 1 and 4, as an embodiment, the suspension wheel member 210 further includes a first bearing 215 and a second bearing 216, and one axial end of the rotating portion 2131 is rotatably connected to the body 100 through the first bearing 215, and the other axial end of the rotating portion 2131 is rotatably connected to the body 100 through the second bearing 216. The first rotor 211 and the second rotor 212 are respectively disposed on two diametrically opposite sides of the rotating portion 2131. In this embodiment, the two axial ends of the rotating portion 2131 are supported on the machine body 100 through bearings, which is beneficial to ensuring the stability and reliability of the installation of the suspended wheel member 210, and to ensuring the stability of the rotation of the suspended wheel member 210.

In one embodiment, the central axis of the rotating portion 2131 is collinear with the central axes of the first bearing 215 and the second bearing 216, i.e., the central axis of the rotating portion 2131 is collinear with the central axes of the first bearing 215 and the second bearing 216.

As one embodiment, the center axis of the rotating portion 2131 is provided substantially horizontally. Here, the center axis of the rotating portion 2131 is substantially horizontal, and includes: the central axis of the rotating portion 2131 is horizontal, and the central axis of the rotating portion 2131 forms an included angle of + -10 degrees with the horizontal line.

As an embodiment, the center axis of the rotating portion 2131 is horizontally provided. The central axis of the first bearing 215 and the central axis of the second bearing 216 are also arranged horizontally, i.e.: the hanging rod 213 is rotatably connected to the main body 100 in such a manner that the rotation center axis is horizontally disposed.

As an embodiment, the length of the first strut portion 2132 is equal to the length of the second strut portion 2133, and the rotation portion 2131 is provided centrally along the length direction of the suspension rod 213. The distance of the center of gravity of the suspension wheel member 210 to the first wheel 211 is smaller than the distance to the second wheel 212, i.e. the distance of the center of gravity of the suspension wheel member 210 to the first wheel 211 is smaller than the distance to the second wheel 212 of the center of gravity of the suspension wheel member 210. The length of the hanging rod 213 is specifically: the extension dimension of the end of the first strut portion 2132 away from the rotational portion 2131 to the end of the second strut portion 2133 away from the rotational portion 2131. In the present embodiment, by centering the rotating portion 2131 and setting the center of gravity of the suspension wheel member 210 to be biased toward the first rotating wheel 211, the following effects can be achieved: the distance from the center of gravity of the suspension wheel member 210 to the first rotating wheel 211 is smaller than the distance from the center axis of the rotating portion 2131 to the first rotating wheel 211, so that the suspension rod 213 can rotate in a direction in which the end of the first rotating wheel 211 swings downward and the end of the second rotating wheel 212 swings upward under the gravity of the suspension wheel member 210 when the suspension wheel member 210 leaves the ground.

Referring to fig. 1 and 4, as an embodiment, the suspension wheel member 210 further includes a weight 206, and the weight 206 is provided to the first strut portion 2132 and/or the first wheel 211 such that a distance from a center of gravity of the suspension wheel member 210 to the first wheel 211 is smaller than a distance from a center axis of the rotating portion 2131 to the first wheel 211. When the hanging wheel member 210 is lifted off the ground, the first pole part 2132, the first rotor 211 and the counterweight 206 swing downward, and the second pole part 2133 and the second rotor 212 swing upward. In this embodiment, the weight of the suspension wheel member 210 is made unequal on both sides of the rotation center by providing the weights 206, so that the effect of making the distance from the center of gravity of the suspension wheel member 210 to the first turning wheel 211 smaller than the distance from the center axis of the turning portion 2131 to the first turning wheel 211 is achieved, and the implementation is simple and easy.

Of course, in a specific application, the manner for realizing that the distance from the center of gravity of the suspension wheel member 210 to the first rotating wheel 211 is smaller than the distance from the center axis of the rotating portion 2131 to the first rotating wheel 211 is not limited to the manner of disposing the weights 206 described above, and for example, the distance from the center of gravity of the suspension wheel member 210 to the first rotating wheel 211 may be made smaller than the distance from the center axis of the rotating portion 2131 to the first rotating wheel 211 by the following alternative embodiments: the sum of the weights of the first wheels 211 and the first pole portions 2132 is greater than the sum of the weights of the second wheels 212 and the second pole portions 2133, and the first pole portions 2132 may be designed to have a length greater than the length of the second pole, or the first pole may be designed to have a weight greater than the weight of the second pole, or the first wheels 211 may be designed to have a weight greater than the weight of the second wheels 212.

As one embodiment, the first and second strut portions 2132 and 2133 are hollow tube structures, which facilitates reducing the weight of the hanging wheel member 210.

As an embodiment, the counterweight 206 is disposed in the first strut portion 2132, which is simple in structure, easy to implement, and facilitates the maintenance of the aesthetics of the suspended wheel member 210. Of course, in a specific application, the arrangement of the weight 206 is not limited thereto, and for example, in an alternative embodiment, the weight 206 may be disposed outside the first strut portion 2132, or the weight 206 may be disposed on the first rotating wheel 211.

As one embodiment, the first strut portion 2132 and the second strut portion 2133 are integrally formed, and the rotating portion 2131 is welded to a central portion of the integrally formed structure in the longitudinal direction. Of course, in specific applications, the design of the first strut portion 2132, the second strut portion 2133 and the rotating portion 2131 is not limited thereto.

As an embodiment, the detecting member 300 is centrally provided above the suspension rod 213 in the length direction of the suspension rod 213, i.e., the detecting member 300 is located directly above the center line of the suspension rod 213. The distance from the trigger member 214 to the first wheel 211 is greater than the distance to the second wheel 212, i.e. the trigger member 214 is located on the side of the suspension bar 213 that is offset to the second wheel 212. In this embodiment, the detection member 300 is centrally disposed and the trigger member 214 is biased toward the second wheel 212 such that: when the first rotating wheel 211 and the second rotating wheel 212 are grounded, the triggering component 214 is not directly below the detecting component 300, and at the moment, the triggering component 214 does not trigger the detecting component 300 to generate a triggering signal; when the first rotating wheel 211 and the second rotating wheel 212 are separated from the ground, the hanging rod 213 rotates, and the triggering component 214 can rotate to the position right below the detecting component 300 along with the hanging rod 213, and at this time, the triggering component 214 triggers the detecting component 300 to generate a triggering signal.

As an embodiment, the trigger member 214 is provided on the rotating portion 2131 and/or the second strut portion 2133, that is, the trigger member 214 may be mounted on the rotating portion 2131, or may be mounted on the second strut portion 2133, or may be connected to both the rotating portion 2131 and the second strut portion 2133, as long as the trigger member 214 is ensured to be biased to the side of the second rotating wheel 212.

Referring to fig. 1, 2 and 4, as an embodiment, the trigger 214 is mounted on the rotating portion 2131, and the trigger 214 is located on the outer side wall of the rotating portion 2131 in a region biased toward the second wheel 212.

As one embodiment, the mounting position of the trigger member 214 satisfies the following requirements: when the suspension wheel member 210 is lifted off the ground, the suspension lever 213 deflects a preset angle by gravity, the trigger part 214 moves to the trigger position and triggers the detection part 300 to generate a trigger signal. The preset angle is 10 degrees, in this embodiment, the preset angle is set to 10 degrees, so that the suspension rod 213 can be detected to be off the ground by rotating by a smaller angle, which is beneficial to ensuring the use safety of the walking equipment 10; but also is beneficial to preventing the bad situation that the small angle deflection occurs and the bad situation is misjudged because of jolt vibration. Of course, in specific applications, the preset angle is not limited thereto, and the preset angle may be greater than 10 ° or less than 10 °, for example, may be 8 ° or 9 ° or 11 ° or 12 ° or 13 ° or 14 ° or 15 °.

In one embodiment, the trigger member 214 is mounted on a first housing, which is mounted on the rotating portion 2131 by screws. Of course, the manner in which the trigger member 214 is mounted is not limited to this in a particular application.

In one embodiment, the probe 300 is mounted on a second housing, which is mounted on the body 100 by screws. Of course, the manner of mounting the probe unit 300 is not limited thereto in a specific application.

As an embodiment, both the first wheel 211 and the second wheel 212 are universal wheels, i.e. both the first wheel 211 and the second wheel 212 are wheels rotatable by 360 ° horizontally. Of course, in a specific application, at least one of the first wheel 211 and the second wheel 212 may not necessarily be a universal wheel.

Referring to fig. 1, 3 and 4, as one embodiment, the hanging wheel member 210 further includes a first coupling frame 217, a second coupling frame 218, a third bearing 219 and a fourth bearing 201; the first connecting frame 217 is rotatably connected to the first strut portion 2132 through the third bearing 219, and the first rotating wheel 211 is mounted on the first connecting frame 217; the second link 218 is rotatably coupled to the second strut portion 2133 via a fourth bearing 201, and the second runner 212 is mounted to the second link 218. In this embodiment, the first connecting frame 217 and the third bearing 219 are mainly configured to perform a function that the first rotation wheel 211 can rotate horizontally by 360 °, and the second connecting frame 218 and the fourth bearing 201 are mainly configured to perform a function that the first rotation wheel 211 can rotate horizontally by 360 °.

As an embodiment, the central axis of the third bearing 219 is parallel to the central axis of the fourth bearing 201.

As an embodiment, the central axis of the third bearing 219 and the central axis of the fourth bearing 201 are vertically disposed, so that the first wheel 211 and the second wheel 212 can realize a horizontal 360 ° rotation function. Of course, in a specific application, it is also possible that the central axis of the third bearing 219 and the central axis of the fourth bearing 201 are slightly offset with respect to the vertical, for example by an offset in the range of 10 °.

As an embodiment, the central axis of the rotating portion 2131 is perpendicular to the central axis of the third bearing 219.

Referring to fig. 1, 3, 4 and 5, as an embodiment, the suspension wheel assembly 210 further includes a first electromagnet 202, a second electromagnet 203, a first magnetic component 204, and a second magnetic component 205, where the first magnetic component 204 is disposed on a first connecting frame 217 and the second magnetic component 205 is disposed on a second connecting frame 218; the first electromagnet 202 is disposed at one end of the suspension rod 213, and the first electromagnet 202 is used to attract the first magnetic component 204 under the condition of power to keep the first rotating wheel 211 in a straight running state; the second electromagnet 203 is disposed at the other end of the suspension bar 213, and the second electromagnet 203 is configured to attract the second magnetic member 205 under the power-on condition so as to maintain the second rotating wheel 212 in a straight running state. The first wheel 211 and the second wheel 212 are universal wheels. In a specific application, when the running device 10 needs to run straight, the running device 10 needs to keep the stable direction of the universal wheel, if no measure is taken to position the universal wheel, in a practical situation, the universal wheel is affected by various obstacles on the ground, so that the universal wheel shakes or the direction deviates, and the trafficability or stability of the running device 10 is affected. In this embodiment, by matching the electromagnet with the magnetic component (including matching the first electromagnet 202 with the first magnetic component 204 and matching the second electromagnet 203 with the second magnetic component 205), when the traveling device 10 needs to be controlled to travel straight, electromagnetic damping is added to the electromagnet, so that the auxiliary universal wheel maintains the straight direction, and the reliability of the traveling device 10 in straight traveling is fully ensured.

In one embodiment, the first magnetic member 204 is a magnet and the second magnetic member 205 is a magnet. In this way, the attraction force of the first electromagnet 202 on the first magnetic member 204 and the attraction force of the second electromagnet 203 on the second magnetic member 205 are favorably ensured. Of course, in a specific application, the first magnetic component 204 and/or the second magnetic component 205 are magnetic metals as alternative embodiments.

As an embodiment, the first magnetic member 204 is centered over the first wheel 211 along the axial direction of the first wheel 211, and the second magnetic member 205 is centered over the second wheel 212 along the axial direction of the second wheel 212. In this embodiment, the first magnetic component 204 is centered over the first rotating wheel 211, and the second magnetic component 205 is centered over the second rotating wheel 212, which is beneficial to reducing the adjustment of the installation positions of the first electromagnet 202, the second electromagnet 203, the first magnetic component 204 and the second magnetic component 205, and better ensuring: the first electromagnet 202 attracts the first magnetic member 204 in the energized state to keep the first runner 211 in a straight running state, and the second electromagnet 203 attracts the second magnetic member 205 in the energized state to keep the second runner 212 in a straight running state.

Referring to fig. 1, 3 and 4, as an embodiment, the end of the first strut portion 2132 remote from the rotating portion 2131 is provided with a first connecting sleeve 2134, the top of the first connecting frame 217 is provided with a first connecting shaft 2171 in a protruding manner, and the first connecting shaft 2171 is rotatably connected to the first connecting sleeve 2134 through the third bearing 219. The end of the second supporting rod portion 2133 far away from the rotating portion 2131 is provided with a second connecting sleeve 2135, the top of the second connecting frame 218 is convexly provided with a second connecting shaft 2181, and the second connecting shaft 2181 is rotatably connected with the second connecting sleeve 2135 through a fourth bearing 201.

Referring to fig. 1, 2 and 5, as an embodiment, the walking device 10 further includes a cutting mechanism 400 and a controller 500, wherein the cutting mechanism 400 and the controller 500 are both mounted on the machine body 100, the controller 500 is electrically connected with the cutting mechanism 400, the moving wheel assembly 200 and the detecting component 300 respectively, so as to control the cutting mechanism 400 and the moving wheel assembly 200 to work respectively, the cutting mechanism 400 is at least used for cutting plants under the control of the controller 500, the detecting component 300 is used for feeding back a detecting signal to the controller 500, and the controller 500 is also used for controlling the cutting mechanism 400 to stop running when receiving a trigger signal. In this embodiment, when the moving wheel assembly 200 is detected to be separated from the ground, the cutting mechanism 400 is controlled to stop running, which is beneficial to ensuring the safety of the running device 10.

As an embodiment, the first electromagnet 202 and the second electromagnet 203 are also electrically connected to the controller 500, respectively. In a specific application, when the traveling device 10 needs to be controlled to travel in a straight line, the controller 500 controls the first electromagnet 202 and the second electromagnet 203 to assist the universal wheels to maintain the straight line direction, so that the reliability of the traveling device 10 in the straight line is fully ensured.

As an embodiment, the walking device 10 further comprises a battery for powering the controller 500, the cutting mechanism 400, the moving wheel assembly 200, the detecting member 300, the first electromagnet 202 and the second electromagnet 203, such that the walking device 10 is adapted to operate for a long time outside the field.

As one embodiment, the walking device 10 is a lawn mower. The cutting mechanism 400 is at least for mowing under the control of the controller 500. Of course, in specific applications, the walking device 10 is not limited to a mower, i.e., the above-mentioned ground clearance detection scheme is not limited to a mower, but can be applied to other walking devices 10 requiring ground clearance detection, for example, the walking device 10 is a crop harvester, and the cutting mechanism 400 is at least used for harvesting crops under the control of the controller 500.

Referring to fig. 1, 5 and 7, as one embodiment, the moving wheel assembly 200 further includes at least one driving wheel 220, the driving wheel 220 for providing driving force for the traveling movement of the traveling apparatus 10.

Referring to fig. 1, as an embodiment, the driving wheel 220 includes a tire 221 and a motor 222, and the motor 222 is installed in the tire 221 to be compact. The motor 222 is used to drive the wheel 220 and the tire 221 to rotate. Of course, in a specific application, the arrangement of the driving wheel 220 is not limited thereto, and for example, the motor 222 may be disposed outside the tire 221 and connected to the tire 221 through a shaft structure as an alternative embodiment.

As one embodiment, the controller 500 may drive the walking device 10 to perform at least one of the following actions by controlling the operation of the motor 222: forward, backward and turn.

Referring to fig. 1, 16 and 17, as an embodiment, the tire 221 includes a tire body 2211 and a tread 2212, and the tire body 2211 is a main structure of the tire body 2211. The tread 2212 is formed on the outer surface of the tire body 2211 for increasing the anti-skid capability of the tire 221. The motor 222 is mounted within the tire body 2211.

Referring to fig. 16, 17, and 18, as an embodiment, a tire body 2211 has a radially outer surface 2201, a first axial end surface 2202, and a second axial end surface 2203, the first axial end surface 2202 and the second axial end surface 2203 being formed at both axial ends of the tire body 2211, respectively, the radially outer surface 2201 extending from an outer edge of the first axial end surface 2202 to an outer edge of the second axial end surface 2203, and a bead 2212 being formed protruding from the radially outer surface 2201. The radially outer surface 2201 is a ring of surface of the tire body 2211 located at the outermost side in the radial direction. The radial direction of the tire body 2211 is the diameter extending direction of the tire body 2211. The first axial end face 2202 and the second axial end face 2203 are disposed opposite one another. The first axial end surface 2202 and the second axial end surface 2203 are two end surfaces of the tire body 2211 that are located outermost in the axial direction.

Referring to fig. 16, 17 and 18, as one embodiment, the tread 2212 includes a plurality of protrusions 2204, the plurality of protrusions 2204 being circumferentially spaced apart along the radially outer surface 2201. Each projection 2204 is provided protruding from the radially outer surface 2201 of the tire body 2211.

Referring to fig. 1, 16 and 17, as an embodiment, in the axial orthographic projection of the tire 221, the outer edge projections of the plurality of protrusions 2204 are connected in a full circle pattern, that is: in an axial orthographic view of tire 221, the outer edges of plurality of protrusions 2204 are projected to join into a circumferentially closed pattern. The axial orthographic projection of the tire 221 is a two-dimensional projection pattern obtained by making an axial orthographic projection of the tire 221. In this embodiment, when the tire 221 is seen from one axial side of the tire 221, the outer edge of the tread 2212 is in a full circle shape, so that the tread 2212 always keeps contact with the ground when the tire 221 walks on the ground, thereby effectively improving the ground grabbing capability of the tire 221, further improving the anti-skid effect of the tire 221, and fully ensuring the ground grabbing capability and stability of the driving wheel 220.

As an embodiment, in the axial orthographic projection of the tyre 221, any two adjacent projections 2204 overlap at least partially, so as to ensure: in the axial orthographic projection of the tire 221, the outer edges of the plurality of protrusions 2204 are projected to be connected in a full circular pattern without the occurrence of the intermittent phenomenon of the tread 2212 in the circumferential direction.

Referring to fig. 16, 17 and 18, as an embodiment, each protrusion 2204 extends from the first axial end surface 2202 to the second axial end surface 2203, so that the contact area of the protrusion 2204 with the ground can be increased as much as possible with the limited area of the radially outer surface 2201, thereby facilitating the improvement of the anti-skid effect of the tire 221.

Referring to fig. 16, 17 and 18, as an embodiment, each of the protrusions 2204 has the same shape, and a separation groove 2215 is formed between any adjacent two of the protrusions 2204. The shape of each protrusion 2204 is the same, which is beneficial to making the structure of the tread 2212 simpler and easy to manufacture and shape. The formation of the separation groove 2215 may separate adjacent two of the protrusions 2204 such that none of the adjacent two protrusions 2204 are in contact with each other, to facilitate the anti-skid capability of the tread 2212. Although the separation groove 2215 can physically separate the adjacent protrusions 2204, by optimizing the shapes of the protrusions 2204 and the extension shape of the separation groove 2215, the adjacent protrusions 2204 can still overlap in the axial orthographic projection of the tire 221.

Referring to fig. 16, 17, and 18, in this embodiment, the protrusion 2204 includes a first linear extension 2205 and a second linear extension 2206, and the first linear extension 2205 extends along a first linear trajectory from the first axial end surface 2202 toward the second axial end surface 2203. The second linear extension 2206 extends from the second axial end surface 2203 to an end of the first linear extension 2205 away from the first axial end surface 2202 along the second linear trajectory, so that each projection 2204 extends continuously from one axial end of the tire body 2211 to the other axial end of the tire body 2211 without interruption. At least a portion of the first linear extension 2205 of any one of the protrusions 2204 obstructs at least a portion of the first linear extension 2205 of an adjacent one of the protrusions 2204 in the axial forward projection of the tire 221, such that the outer edges of the plurality of protrusions 2204 are projected to connect in a full circular pattern in the axial forward projection of the tire 221. Both the first linear extension 2205 and the second linear extension 2206 are linear protruding structures. The bump 2204 in this embodiment is formed by connecting two straight-line protruding structures, and has a regular and simple shape and is easy to manufacture.

As an embodiment, at least one of the first linear track and the second linear track is different from the central axis MN of the tire body 2211, which is advantageous in ensuring that: in an axial orthographic projection of the tire 221, at least a portion of the first linear extension 2205 of any one of the protrusions 2204 obscures at least a portion of the first linear extension 2205 of an adjacent one of the protrusions 2204. The out-of-plane straight line specifically refers to: the two straight lines are neither parallel nor intersecting.

In one embodiment, the first linear path and the second linear path are both different-plane lines from the central axis MN of the tire body 2211.

Referring to fig. 16, 17 and 18, as an embodiment, the first linear extension 2205 and the second linear extension 2206 of the same protrusion 2204 are connected to form a V-shaped structure. The first included angle E formed by the first linear extension 2205 and the second linear extension 2206 is an acute angle, which is more beneficial to ensuring: in an axial orthographic projection of the tire 221, at least a portion of the first linear extension 2205 of any one of the protrusions 2204 obscures at least a portion of the first linear extension 2205 of an adjacent one of the protrusions 2204. Of course, in a specific application, the shape of the first angle E formed by the first linear extension 2205 and the second linear extension 2206 is not limited thereto, for example, as an alternative embodiment, the first angle E formed by the first linear extension 2205 and the second linear extension 2206 is a right angle; alternatively, as another alternative embodiment, the first angle E formed by the first and second linear extensions 2205, 2206 is an obtuse angle.

As shown with reference to fig. 1, 16 and 17, as one embodiment, the tire body 2211 is further formed with a mounting hole 2213, the mounting hole 2213 being formed at a radial center position of the tire body 2211 for mounting the motor 222.

As shown in fig. 1, 16 and 17, as an embodiment, the tire body 2211 is further formed with a vibration damping hole 2214, and the vibration damping hole 2214 is provided between the mounting hole 2213 and the tread 2212 in the radial direction of the tire body 2211. The design of the vibration damping hole 2214 can improve the deformation buffering capacity of the tire 221, thereby being beneficial to improving the vibration damping capacity of the tire 221. In this embodiment, the tire 221 is optimally designed so that the tread 2212 of the tire 221 is a complete circle when seen from the side, thereby ensuring the stability and the gripping ability of the driving wheel 220. Further, by forming the vibration damping hole 2214 by partially hollowing out the tire body 2211, the deformation buffering vibration damping capability of the tire 221 can be improved.

As an embodiment, the first wheel 211 and the second wheel 212 are front wheels, and the driving wheel 220 is rear wheels, namely: the first wheel 211 and the second wheel 212 are located in front of the driving wheel 220 in the moving direction of the walking apparatus 10.

As an embodiment, the moving wheel assembly 200 includes a first wheel 211, a second wheel 212, and two driving wheels 220, one driving wheel 220 is located behind the first wheel 211, and the other driving wheel 220 is located behind the second wheel 212, namely: the walking apparatus 10 includes two front wheels and two rear wheels. Of course, the number of wheels and the manner in which the wheels are distributed included in the mobile wheel assembly 200 is not limited to this in particular application.

Referring to fig. 5, the walking apparatus 10 further includes a handrail 600 as one embodiment, one end of the handrail 600 is connected to the body 100, and the other end is used for an operator to hold. An operator may perform at least one of the following operations on the walking device 10 via the armrest 600: pushing the walking equipment 10 to move, pulling the walking equipment 10 to move, adjusting the moving direction of the walking equipment 10, and controlling the walking equipment 10 to work.

Referring to fig. 5 and 6, as an embodiment, the armrest 600 is foldably connected to the body 100, i.e., the armrest 600 may be folded over the body 100 when not in use, which may facilitate reducing the space occupied by the armrest 600 in a non-use condition. In this embodiment, the armrest 600 has an extended state and a collapsed state; in the unfolded state, the armrest 600 is obliquely disposed from the body 100 toward the rear upper side of the body 100; in the folded state, the armrest 600 is folded and overlapped on the body 100.

Referring to fig. 5 and 9, as an embodiment, the armrest 600 is formed with a grip portion 610 and a first rotation connection portion 620, the grip portion 610 is used for an operator to grip, and the armrest 600 is rotatably connected to the body 100 through the first rotation connection portion 620. The grip portion 610 and the first rotation connection portion 620 are disposed near both ends of the armrest 600, respectively, in the length direction of the armrest 600. The length direction of the armrest 600, specifically, the extending direction of the armrest 600, which has the longest dimension when the armrest is unfolded for use.

Referring to fig. 5, 7 and 9, as an embodiment, the walking apparatus 10 further includes a locking screw 700 for locking the armrest 600 in the unfolded state to the body 100 and for releasing the armrest 600 to enable the armrest 600 to rotate from the unfolded state to the folded state folded on the body 100 by an external force. When the armrest 600 is unfolded for use, the armrest 600 may be locked by the locking screw 700 such that the armrest 600 cannot rotate relative to the fuselage 100 in this state. When the armrest 600 is not in use and needs to be folded and stored, the locking screw 700 can be adjusted to enable the armrest 600 to rotate relative to the body 100 in the state, so that the armrest 600 can be folded on the body 100 under the action of external force. The foldable connection of the armrest 600 and the machine body 100 is realized through the first rotary connection part 620 and the locking screw 700 on the armrest 600, so that the connection structure of the armrest 600 and the machine body 100 is very simple; in a specific application, the armrest 600 can be folded onto the machine body 100 by loosening the locking screw 700 and then applying force to rotate the armrest 600, so that the folding operation of the armrest 600 is very simple and convenient.

Referring to fig. 5, 9 and 10, as an embodiment, the armrest 600 is further formed with an open-ended slot 630, the open-ended slot 630 being adapted to engage with a partial detent of the locking screw 700 in the deployed state. The open slot 630 is a slot that is partially open in the circumferential direction, i.e., the open slot 630 is not a slot that is closed in the circumferential direction. In this embodiment, under the condition that the armrest 600 is unfolded and used, the opening clamping groove 630 on the armrest 600 is matched with the locking screw 700 in a clamping way, so that the stability and reliability of the connection between the armrest 600 and the machine body 100 during unfolding and use are guaranteed, and the safety and reliability of the walking equipment 10 are improved.

Referring to fig. 5, 9 and 10, as an embodiment, the open card slot 630 is formed with a first opening 631 opened downward. The first opening 631 can ensure that the armrest 600 can be smoothly separated from the locking screw 700 during the process of rotating the armrest 600 from the unfolded state to the folded state, and ensure that the armrest 600 can be smoothly engaged with the locking screw 700 during the process of rotating the armrest 600 from the folded state to the unfolded state.

As an embodiment, the open clamping groove 630 is disposed between the holding portion 610 and the first rotating connection portion 620 along the length direction of the armrest 600, and the distance from the open clamping groove 630 to the holding portion 610 is smaller than the distance from the first rotating connection portion 620 to the holding portion 610, so that the locking connection point of the armrest 600 and the body 100 is located at the side of the rotating connection point of the armrest 600 and the body 100 facing the holding portion 610, thereby facilitating the armrest 600 to be folded onto the body 100 in a better rotating manner.

Referring to fig. 9, 10 and 11, as an embodiment, the open slot 630 is an arc slot with an arc greater than half a circular arc; the locking screw 700 is formed with a first locking bar portion 710 for locking engagement with the open locking groove 630, and the first locking bar portion 710 has a cylindrical shape. The semicircle radian is pi radian. In this embodiment, the opening clamping groove 630 and the first clamping rod 710 are matched through a smooth arc surface, so that the opening clamping groove 630 and the first clamping rod 710 can be smoothly separated or clamped when the armrest 600 rotates. In addition, the open clamping groove 630 is set to be an arc groove with the radian larger than the semicircle radian, so that when the first clamping rod portion 710 is in clamping fit with the open clamping groove 630, the armrest 600 cannot rotate relative to the first clamping rod, thereby being beneficial to ensuring the clamping reliability of the open clamping groove 630 and the first clamping rod portion 710.

As one embodiment, locking screw 700 is a hand-turned screw. The hand-turning screw is also called hand-screwing screw, which is a screw capable of being turned by hand to realize loosening and tightening without the aid of a screwdriver or a spanner for tool setting operation. In this embodiment, the locking screw 700 is a hand-turned screw, so that when the armrest 600 needs to be folded, an operator can loosen the locking screw 700 without any tool, and then turn the armrest 600 to fold the armrest 600, thereby bringing great convenience to the operator to fold the armrest 600.

Referring to fig. 5, 7 and 11, as an embodiment, the locking screw 700 further includes a first screw portion 720 and a first turning head portion 730, wherein the first screw portion 720 and the first turning head portion 730 are respectively disposed at two ends of the first clamping lever portion 710, the first screw portion 720 is in threaded connection with the body 100, and the first turning head portion 730 is used for being held by an operator to turn to tighten or loosen the locking screw 700.

As an embodiment, the first turning head 730 is a plum blossom-shaped nut on the outer peripheral wall or a nut with knurled outer side wall, so as to facilitate the hand-held turning of the operator.

In one embodiment, the outer diameter of the first detent lever 710 is greater than the outer diameter of the first screw portion 720 and less than the outer diameter of the first rotating hand portion 730. Because the first clamping rod 710 is used for being matched with the open clamping groove 630 in a clamping way, the outer diameter of the first clamping rod 710 is set to be larger than the outer diameter of the first screw rod 720, so that in specific application, when the folding handrail 600 needs to be rotated, the handrail 600 can be rotated only by screwing the first clamping rod 710 out of the open clamping groove 630, namely, screwing the first screw rod 720 into the open clamping groove 630, and the locking screw 700 does not need to be unscrewed from the machine body 100, thereby being beneficial to improving the folding efficiency of the handrail 600 and preventing the locking screw 700 from being lost.

Referring to fig. 5, 11 and 12, as an embodiment, a coupling hole 121 is formed in the body 100, and the coupling hole 121 is a screw hole for screw-coupling with the first screw portion 720.

Referring to fig. 5, 10 and 11, as an embodiment, the armrest 600 further has an opening chute 640 formed thereon, and the opening chute 640 has a second opening 641 opened downward, and the opening chute 640 is used for the first screw portion 720 to pass through. The opening chute 640 is provided to avoid the first screw portion 720 from being screwed in or out. The second opening 641 ensures that the opening chute 640 is smoothly separated from the first screw portion 720 during the process of rotating the armrest 600 from the unfolded state to the folded state, and ensures that the opening chute 640 is smoothly clamped outside the first screw portion 720 during the process of rotating the armrest 600 from the folded state to the unfolded state.

As one embodiment, the first rotation connection part 620 is an optical through hole formed on the armrest 600; the body 100 is formed with a second rotation connection part 122; the walking device 10 further includes a rotational coupling 800, the rotational coupling 800 is rotatably coupled to the first rotational coupling 620, and the rotational coupling 800 is fixedly coupled to the second rotational coupling 122. In this embodiment, the separate rotational connector 800 is used to rotationally connect the armrest 600 and the body 100, which is beneficial to simplifying the structure of the armrest 600 and the body 100, however, in a specific application, as an alternative embodiment, the rotatable connection between the body 100 and the armrest 600 may be directly achieved through the mating structures on the body 100 and the armrest 600, for example, one of the armrest 600 and the body 100 is provided with a protruding shaft, the other one is provided with a through hole that mates with the protruding shaft, and then the protruding shaft is snapped by a fastener.

In one embodiment, the rotational connector 800 is a hand screw and the second rotational connector 122 is a threaded hole formed in the body 100. In this embodiment, both the rotational connector 800 and the locking screw 700 are hand-turned screws, so that the mounting and dismounting of the armrest 600 on the body 100 can be performed by hand without any assistance. Of course, in a specific application, the arrangement of the rotary connector 800 is not limited thereto, and may be a pin or a combination of a shaft and a bearing.

As an embodiment, the rotational connector 800 is a component having the same structure as the locking screw 700, and the connection manner of the rotational connector 800 and the body 100 may refer to the connection manner of the locking screw 700 and the body 100, which will not be described in detail herein.

Referring to fig. 5, 7, 11 and 12, as one embodiment, the body 100 includes a main support 110 and a mounting plate 120, and the mounting plate 120 is fixedly coupled to the main support 110 by welding and/or screw coupling. The mounting plate 120 has a first screw hole (i.e., the connection hole 121) for screw-coupling with the first screw portion 720 and a second screw hole (i.e., the second rotation coupling portion 122) for rotating the coupling 800 formed thereon. Of course, in specific applications, the first threaded hole for screwing with the first screw portion 720 and the second threaded hole for rotating the connecting member 800 may also be directly formed on the main support 110, that is, the main support 110 and the mounting plate 120 may be integrally formed.

Referring to fig. 5 and 7, as one embodiment, the main support 110 includes a top pole 111, and the mounting plate 120 is fixed to the top of the top pole 111. In the folded state of the armrest 600, the extension rod is generally parallel to the top strut 111.

In one embodiment, the fuselage 100 further includes a shell (not shown) within which the main support 110 is housed.

Referring to fig. 5, 6 and 8, as an embodiment, the walking apparatus 10 further includes a foot stand 900, wherein the foot stand 900 is movably connected to the body 100, and the foot stand 900 is configured to be supported on the ground together with the part of the moving wheel assembly 200 when the armrest 600 is in the folded state and the walking apparatus 10 is in the erected state. Specifically, the foot rest 900 is for supporting on the ground together with the rear wheels (the driving wheels 220 in this embodiment) when the armrest 600 is in the folded state and the walking apparatus 10 is in the erected state. The foot support 900 is mainly used for assisting the walking device 10 to be folded and stand on the ground when not in use or in cleaning or maintenance, thereby being beneficial to reducing the occupied space for storing the walking device 10. In a specific application, when the walking device 10 needs to be folded and stored, the armrest 600 is folded on the body 100, and then the walking device 10 is raised up, and the foot support 900 is unfolded and supported on the ground. In this embodiment, after the walking device 10 is erected, the walking device is supported on the ground together with the rear wheels through the foot support 900, so that stability of the erected walking device 10 is ensured.

As one embodiment, the foot support 900 may be movably coupled to the body 100 near the rear wheels.

As an embodiment, the foot stand 900 is rotatably connected to the body 100, and the foot stand 900 can be rotated to the storage position and the support position respectively under the action of external force. In the storage position, the foot support 900 is received against the fuselage 100. At the support position, the foot rest 900 is unfolded with respect to the body 100, and at this time, if the walking apparatus 10 is erected, the foot rest 900 may be supported on the ground. In this embodiment, the stand 900 is converted between the storage position and the support position by rotation, so as to facilitate operation.

Referring to fig. 5, 6, 13 and 14, as one embodiment, the foot support 900 includes a support bar 910, an elastic piece 920, a rotating member 930, and a sliding member 940, one end of the support bar 910 being rotatably coupled to the body 100 through the rotating member 930; the sliding member 940 is slidably coupled to the support bar 910 in a manner capable of sliding along a length direction of the support bar 910 with respect to the support bar 910, and the sliding member 940 is elastically coupled to the rotating member 930 through the elastic piece 920; the body 100 is provided with a first slide guide portion for defining a movement trace of the sliding member 940 when the support bar 910 rotates with respect to the body 100. When the support rod 910 rotates under the action of external force, the sliding member 940 always keeps contact with the first sliding guide portion under the action of the elastic force of the elastic member 920, so that the stability and reliability of the support rotation are guaranteed.

As an embodiment, the support rod 910 is a hollow tube body, which has the characteristics of simple structure, light weight and low cost. Of course, the structure of the support bar 910 is not limited thereto in a specific application.

As an embodiment, the elastic element 920 is a tension spring, one end of which is connected to the rotating member 930, and the other end of which is connected to the sliding member 940.

As an embodiment, the elastic member 920 is disposed in the support rod 910, which is beneficial to improving the compactness of the heel brace 900 and improving the aesthetic appearance of the heel brace 900.

Referring to fig. 5, 13 and 14, as an embodiment, the support rod 910 is formed with a second slide guide 912, the second slide guide 912 is a slide guide groove, and the sliding member 940 is slidably inserted into the slide groove so as to be slidable along the length direction of the support rod 910. The extending dimension of the sliding guide groove along the length direction of the supporting rod 910 is larger than the radial dimension of the part of the sliding member 940 penetrating into the sliding guide groove, so as to ensure that the part of the sliding member 940 penetrating into the sliding guide groove can slide along the sliding guide groove, thereby the foot support 900 can overcome the elastic force of the elastic piece 920 to rotate under the action of external force.

Referring to fig. 5, 6 and 15, as an embodiment, the body 100 is provided with a connection base 130, the support bar 910 is rotatably connected to the connection base 130 by a rotation member 930, and the first sliding guide is formed on the connection base 130.

As one embodiment, the connection base 130 is connected to the rear side of the main support 110.

Referring to fig. 5, 6 and 7, as one embodiment, the main bracket 110 includes a back strut 112, and the connection seat 130 is fixed to the rear side of the back strut 112. In the stowed condition of the foot support 900, the support bar 910 abuts the back support bar 112.

Referring to fig. 5, 6 and 15, as an embodiment, the connection base 130 includes a first plate 131 and a second plate 132, and the first plate 131 and the second plate 132 are spaced apart; the rotating member 930 is rotatably connected to the first plate 131 and the second plate 132, and two axial ends of the rotating member 930 are respectively clamped outside the first plate 131 and the second plate 132; one end of the support bar 910 is connected to a portion of the rotating member 930 between the first plate 131 and the second plate 132; the first sliding guide part includes a first sliding guide curved surface 1311 formed on the first plate body 131 and a second sliding guide curved surface 1321 formed on the second plate body 132; the sliding member 940 is engaged with the first plate 131 and the second plate 132 at both axial ends thereof. The first sliding guide surface 1311 is formed on the rear side of the first plate 131, that is, the first sliding guide surface 1311 is formed on the surface of the first plate 131 away from the front wheel. The second sliding guide surface 1321 is formed on the rear side surface of the second plate 132, that is, the second sliding guide surface 1321 is formed on the surface of the second plate 132 away from the front wheel. The space between the first plate 131 and the second plate 132 may be used to keep away the rotation of the support bar 910. In this embodiment, the first plate 131 and the second plate 132 support and position the heel brace 900, and the first sliding guide surface 1311 and the second sliding guide surface 1321 define the rotation track of the heel brace 900, which has a simple structure and is easy to implement.

Referring to fig. 5, 6 and 15, as an embodiment, the connection base 130 further includes a third plate 133, and the third plate 133 is connected between the top end of the first plate 131 and the top end of the second plate 132. The third plate 133 may be used to limit the upper limit of the rotational deployment of the support bar 910. And the third plate 133 may connect the first plate 131 and the second plate 132 together, so that the connection base 130 may be conveniently mounted on the main support 110 as a unit, and the connection base 130 may be conveniently assembled with the main support 110.

Referring to fig. 5, 6 and 14, as an embodiment, the rotating member 930 includes a first shaft portion 931, a first boss portion 932 and a second boss portion 933, the first shaft portion 931 is sequentially inserted through the first plate 131, the support rod 910 and the second plate 132, the first boss portion 932 is protruded at one end of the first shaft portion 931 and abuts against a surface of the first plate 131 facing away from the second plate 132, and the second boss portion 933 is protruded at the other end of the first shaft portion 931 and abuts against a surface of the second plate 132 facing away from the first plate 131. The first penetrating shaft 931 penetrates the first plate 131 and the second plate 132, so that the first plate 131 and the second plate 132 can limit the rotation member 930 in the radial direction. The first clamping boss 932 is abutted against the surface of the first plate 131 opposite to the second plate 132, so that the first plate 131 can limit one axial end of the rotating member 930; the second positioning boss portion 933 abuts against the surface of the second plate 132 opposite to the first plate 131, so as to limit the axial other end of the rotating member 930 by the second plate 132. The first shaft 931 is disposed through the support rod 910, so that the support rod 910 and the rotating member 930 can be connected.

Referring to fig. 6, 14 and 15, as an embodiment, the first plate body 131 is formed with a first shaft hole 1312, the second plate body 132 is formed with a second shaft hole 1322, the support rod 910 is formed with a third shaft hole 911, and the first shaft hole 931 is sequentially inserted through the first shaft hole 1312, the third shaft hole 911 and the second shaft hole 1322. The first catching boss 932 has an outer diameter greater than the bore diameter of the first shaft hole 1312, and the second catching boss 933 has an outer diameter greater than the outer diameter of the second shaft hole 1322.

As an embodiment, the rotating member 930 includes a first pin shaft and a second pin shaft, the first pin shaft includes a first clamping boss portion 932 and a first shaft portion, the second pin shaft includes a second clamping boss portion 933 and a second shaft portion, one end of the first shaft portion is in plug-in fit with one end of the second shaft portion to form a first penetrating shaft portion 931, the first clamping boss portion 932 protrudes from the other end of the first shaft portion, and the second clamping boss portion 933 protrudes from the other end of the second shaft portion. In this embodiment, the rotating member 930 is designed to be formed by connecting two pins, so as to facilitate the assembly and disassembly of the rotating member 930 with the connecting seat 130, the supporting rod 910 and the elastic element 920.

Referring to fig. 6, 14 and 15, as an embodiment, the sliding member 940 includes a second shaft portion 941, a third positioning boss portion 942 and a fourth positioning boss portion 943, the second shaft portion 941 is slidably inserted through the connection support rod 910, the second shaft portion 941 is respectively abutted against the first sliding guide curved surface 1311 and the second sliding guide curved surface 1321, the third positioning boss portion 942 is protruded at one end of the second shaft portion 941 and abutted against the surface of the first plate 131 facing away from the second plate 132, and the fourth positioning boss portion 943 is protruded at the other end of the second shaft portion 941 and abutted against the surface of the second plate 132 facing away from the first plate 131. The second shaft portion 941 is slidably disposed through the support rod 910, so that the sliding member 940 and the support rod 910 can be slidably connected. The second through shaft 941 is respectively abutted against the first sliding guide surface 1311 and the second sliding guide surface 1321, so that the first plate 131 and the second plate 132 can guide and limit the movement track of the sliding member 940. The third clamping boss 942 is abutted against the surface of the first plate 131 opposite to the second plate 132, so that the first plate 131 can limit one axial end of the sliding member 940; the fourth clamping boss portion 943 abuts against the surface of the second plate 132 opposite to the first plate 131, so that the second plate 132 can limit the axial other end of the sliding member 940.

As an embodiment, one end of the elastic member 920 is sleeved outside the first shaft portion 931 or connected to the first shaft portion 931 through a hook, and the other end is sleeved outside the second shaft portion 941 or connected to the second shaft portion 941 through a hook.

As an embodiment, the sliding member 940 includes a third pin and a fourth pin, and the connection manner of the third pin and the fourth pin may refer to the connection manner of the first pin and the second pin, which will not be described in detail herein.

Referring to fig. 6, 8, 14 and 15, as an embodiment, a first limiting groove 1301 for the sliding member 940 to be locked when the stand 900 is unfolded in the support position is formed at the top end of the first sliding guide portion, and a second limiting groove 1302 for the sliding member 940 to be locked when the stand 900 is folded in the storage position is formed at the bottom end of the first sliding guide portion. When the foot support 900 is folded and in the storage position, the sliding member 940 is clamped in the second limiting groove 1302 under the action of the elastic member 920; when the heel brace 900 is in the unfolded and supported state, the sliding member 940 is locked in the first limiting groove 1301 under the action of the elastic element 920. When the sliding member 940 is clamped in the second limiting groove 1302 or the first limiting groove 1301, the operator rotates the supporting rod 910, and when the force exerted by the operator rotating the supporting rod 910 can overcome the elastic force of the elastic piece 920 on the sliding member 940, the sliding member 940 can slide out of the second limiting groove 1302 or the first limiting groove 1301, and the supporting rod 910 can rotate.

As one embodiment, the first limit groove 1301 includes a first groove formed at the top end of the first sliding guide surface 1311 and a second groove formed at the top end of the second sliding guide surface 1321. The second limiting groove 1302 includes a third groove formed at the bottom end of the first sliding guide surface 1311 and a fourth groove formed at the bottom end of the second sliding guide surface 1321.

Referring to fig. 6, 8 and 14, as one embodiment, the foot support 900 includes a foot pad 950, the foot pad 950 being provided at an end of the support bar 910 remote from the rotational member 930. The foot pad 950 is beneficial to enlarging the contact area between the foot support 900 and the ground, thereby being beneficial to preventing the bad phenomenon of overlarge deformation of the local stress of the foot support 900, and being beneficial to preventing the foot support 900 from scraping the ground.

As an embodiment, the working principle of the walking device 10 provided in this embodiment includes the following:

(1) The suspension wheel members 210 of the front axle suspension are formed by suspending two front wheels (i.e., the first wheel 211 and the second wheel 212) by the suspension bar 213, so that the walking apparatus 10 can be adapted to various terrains and maintain the posture of the walking apparatus 10 flat.

(2) When the front of the walking apparatus 10 is lifted, the suspension bar 213 starts to rotate around the central axis due to the unbalanced left and right weights of the suspension wheel member 210 suspended by the front axle, and the magnet faces the hall element after rotating by 10 °, and the hall element senses magnetic force and emits high level to the controller 500, thereby realizing the detection of lifting off the ground.

(3) When the traveling apparatus 10 needs to travel straight, the first electromagnet 202 and the second electromagnet 203 are energized to increase electromagnetic damping, and the universal wheels serving as front wheels are assisted to travel straight.

(4) The tire 221 of the drive wheel 220 has a tire tread 2212 that is a complete circle from the side, thereby ensuring the smoothness and grip of the tire 221. Further, by forming the vibration damping hole 2214 by partially hollowing out the tire body 2211, the deformation buffering vibration damping capability of the tire 221 can be improved.

(5) When the walking device 10 needs to be cleaned, maintained or stored, the armrest 600 can be folded on the body 100, and the walking device 10 can be erected to be placed on the ground, so that the occupied space for placing the walking device 10 is reduced.

Embodiment two:

referring to fig. 5, 16 and 19 to 21, the walking apparatus 10 provided in this embodiment is different from the first embodiment mainly in the shape of the protrusions 2204 forming the sipes 2212.

As an implementation, in this example, the protrusion 2204 includes a third linear extension 2207, a fourth linear extension 2208, and a transition connection 2209, where the third linear extension 2207 extends along a third linear trajectory from the first axial end surface 2202 toward the second axial end surface 2203; the fourth linear extension 2208 extends along a fourth linear trajectory from the second axial end face 2203 toward the first axial end face 2202, namely: the third linear extension 2207 and the fourth linear extension 2208 are both linear convex structures, and are regular and simple in shape. The transition connecting portion 2209 extends from the end of the third straight extending portion 2207 away from the first axial end face 2202 to the end of the fourth straight extending portion 2208 away from the second axial end face 2203, so that each projection 2204 extends continuously from one axial end of the tire body 2211 to the other axial end of the tire body 2211 without interruption. At least a portion of the third linear extension 2207 of any one of the protrusions 2204 obstructs at least a portion of the transition joint 2209 and/or at least a portion of the fourth linear extension 2208 of an adjacent one of the protrusions 2204 in an axial orthographic projection of the tire 221, such that the outer edges of the plurality of protrusions 2204 are projected to join into a full circular pattern in the axial orthographic projection of the tire 221.

As an embodiment, the transition joint 2209 extends along a fifth linear trajectory from an end of the third linear extension 2207 that is distal from the first axial end surface 2202 to an end of the fourth linear extension 2208 that is distal from the second axial end surface 2203. The third linear extension 2207, the fourth linear extension 2208 and the transition connection 2209 are all linear protruding structures, that is, the protrusion 2204 is formed by connecting three sections of linear protruding structures, which is regular and simple in shape and easy to manufacture. Of course, in a specific application, the extension shape of the transition connection portion 2209 is not limited thereto, for example, as an alternative embodiment, the transition connection portion 2209 extends along an arc track from an end of the third linear extension portion 2207 away from the first axial end surface 2202 to an end of the fourth linear extension portion 2208 away from the second axial end surface 2203, that is, the transition connection portion 2209 is an arc-shaped convex structure; alternatively, as another alternative embodiment, the transition connection 2209 is a track along a folded broken line segment, and extends from an end of the third linear extension 2207 away from the first axial end surface 2202 to an end of the fourth linear extension 2208 away from the second axial end surface 2203, that is, the transition connection 2209 is formed by connecting at least two linear protruding structures; alternatively, as yet another alternative embodiment, the transition joint 2209 is an end portion along an irregular trajectory extending from the third linear extension 2207 away from the first axial end surface 2202 to an end portion of the fourth linear extension 2208 away from the second axial end surface 2203.

As an embodiment, the third linear track and the fourth linear track are parallel to each other, that is, the third linear extension 2207 and the fourth linear extension 2208 are parallel to each other, which is beneficial to further improving the regularity of the shape of the tread 2212, easy to manufacture, and beneficial to improving the aesthetic property of the tread 2212.

As one embodiment, at least one of the third linear track and the fourth linear track is parallel to the central axis MN of the tire body 2211, that is, at least one of the third linear extension 2207 and the fourth linear extension 2208 is parallel to the central axis MN of the tire body 2211, which is advantageous for reducing the difficulty of manufacturing the tread pattern 2212.

As an embodiment, the third linear track and the fourth linear track are both parallel to the central axis MN of the tire body 2211, that is, the third linear extension 2207 and the fourth linear extension 2208 are both parallel to the central axis MN of the tire body 2211, which is beneficial to improving the regularity of the shape of the tread 2212 and reducing the manufacturing difficulty of the tread 2212.

As an embodiment, the second angle F formed by the transition connection portion 2209 and the third linear extension portion 2207 is an obtuse angle, and the third angle G formed by the transition connection portion 2209 and the fourth linear extension portion 2208 is an obtuse angle. Of course, in a specific application, the shape of the angle formed by the transition connection portion 2209 and the third and fourth linear extension portions 2207 and 2208 is not limited thereto, for example, as an alternative embodiment, the second angle F formed by the transition connection portion 2209 and the third linear extension portion 2207 is a right angle, and the third angle G formed by the transition connection portion 2209 and the fourth linear extension portion 2208 is a right angle; alternatively, as another alternative embodiment, the protrusion 2204 is "Z" -shaped, the second angle F formed by the transition portion 2209 and the third linear extension 2207 is an acute angle, and the third angle G formed by the transition portion 2209 and the fourth linear extension 2208 is an acute angle.

In addition to the above differences, the other parts of the walking apparatus 10 provided in this embodiment may refer to the first embodiment, and will not be described in detail herein.

The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structural changes made by the description of the present utility model and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the utility model.

Claims

1. A walking apparatus, characterized in that: comprising the following steps:

a body;

the detection component is arranged on the machine body;

2. The walking apparatus of claim 1 wherein: the suspension wheel component further comprises a counterweight which is arranged on the first supporting rod part and/or the first rotating wheel, so that the distance from the gravity center of the suspension wheel component to the first rotating wheel is smaller than the distance from the central shaft of the rotating part to the first rotating wheel; or,

3. The walking apparatus of claim 1 wherein: the suspension wheel component further comprises a first bearing and a second bearing, one axial end of the rotating part is rotatably connected with the machine body through the first bearing, and the other axial end of the rotating part is rotatably connected with the machine body through the second bearing; and/or the number of the groups of groups,

4. A walking apparatus as claimed in any one of claims 1 to 3, wherein: the detection component is centrally arranged above the rotating part along the length direction of the suspension rod, and the distance from the triggering component to the first rotating wheel is greater than the distance from the triggering component to the second rotating wheel; and/or the number of the groups of groups,

5. The walking apparatus of claim 1 wherein: the walking equipment further comprises a cutting mechanism and a controller, wherein the cutting mechanism and the controller are both arranged on the machine body, the controller is respectively and electrically connected with the cutting mechanism, the moving wheel assembly and the detection component and is used for respectively controlling the cutting mechanism and the moving wheel assembly to work, the cutting mechanism is at least used for cutting plants under the control of the controller, and the controller is also used for controlling the cutting mechanism to stop running when receiving the trigger signal; and/or the number of the groups of groups,

the walking equipment is a mower or a crop harvester.

6. A walking apparatus as claimed in any one of claims 1 to 3 or 5, wherein: the first rotating wheel and/or the second rotating wheel are universal wheels.

7. The walking apparatus of claim 6 wherein: the suspension wheel member further comprises a first connecting frame, a second connecting frame, a third bearing and a fourth bearing;

8. The walking apparatus of claim 7 wherein: the suspension wheel component further comprises a first electromagnet, a second electromagnet, a first magnetic component and a second magnetic component, wherein the first magnetic component is arranged on the first connecting frame, and the second magnetic component is arranged on the second connecting frame;

9. The walking apparatus of claim 8 wherein: the first magnetic component is arranged above the first rotating wheel in the center along the axial direction of the first rotating wheel, and the second magnetic component is arranged above the second rotating wheel in the center along the axial direction of the second rotating wheel; and/or the number of the groups of groups,

10. The walking apparatus of claim 7 wherein: the central axis of the rotating part is perpendicular to the central axis of the third bearing; and/or the number of the groups of groups,

11. A walking apparatus as claimed in any one of claims 1 to 3 or 5, wherein: the walking equipment further comprises a handrail and a locking screw, wherein the handrail is provided with a holding part, a first rotating connecting part and an opening clamping groove, the opening clamping groove is formed between the holding part and the first rotating connecting part along the length direction of the handrail, the holding part is used for holding by an operator, the handrail is rotatably connected with the machine body through the first rotating connecting part, and the opening clamping groove is provided with a first opening which is opened downwards; the locking screw is used for locking the armrest in the unfolded state to the machine body and loosening the armrest so that the armrest can rotate from the unfolded state to a folded state folded on the machine body under the action of external force;

12. The walking apparatus of claim 11 wherein: the opening clamping groove is an arc-shaped groove with the radian larger than that of a semicircle; the locking screw is provided with a first clamping rod part which is used for being matched with the opening clamping groove in a clamping way, and the first clamping rod part is cylindrical; and/or the number of the groups of groups,

13. The walking apparatus of claim 11 wherein: the walking equipment further comprises a foot support which can be movably connected to the machine body, and the foot support is used for supporting part of the moving wheel assembly on the ground together when the handrail is in the folded state and the walking equipment is in the vertical state;

14. A walking apparatus as claimed in any one of claims 1 to 3 or 5, wherein: the mobile wheel assembly further comprises at least one drive wheel, the drive wheel comprising a motor and a tire, the motor being mounted within the tire;

15. The walking apparatus of claim 14 wherein: the protrusions comprise first linear extensions and second linear extensions, the first linear extensions extending along a first linear trajectory from the first axial end face toward the second axial end face, the second linear extensions extending along a second linear trajectory from the second axial end face to an end of the first linear extensions remote from the first axial end face, at least a portion of the first linear extension of any one of the protrusions shielding at least a portion of the first linear extension of an adjacent one of the protrusions in an axial orthographic projection of the tire; or,

the protrusion comprises a third linear extension, a fourth linear extension and a transitional connection, wherein the third linear extension extends from the first axial end face towards the second axial end face along a third linear track;

the fourth linear extension extends from the second axial end face toward the first axial end face along a fourth linear trajectory; the transition connection portion extends from an end of the third linear extension portion away from the first axial end face to an end of the fourth linear extension portion away from the second axial end face; in an axial orthographic projection of the tire, at least a portion of the third linear extension of any one of the projections obscures at least a portion of the transition connection and/or at least a portion of the fourth linear extension of an adjacent one of the projections.