WO2024021639A1

WO2024021639A1 - Walking device and harvester

Info

Publication number: WO2024021639A1
Application number: PCT/CN2023/082789
Authority: WO
Inventors: 魏基栋; 陈少杰; 徐远俊; 李永清
Original assignee: 松灵机器人(深圳)有限公司
Priority date: 2022-07-28
Filing date: 2023-03-21
Publication date: 2024-02-01
Also published as: CN217835282U

Abstract

A walking device (1) and a harvester (1000). The walking device (1) comprises a base (10), a mounting member (20), a walking mechanism (30) and a buffer mechanism (40), wherein the mounting member (20) is mounted on the base (10); the walking mechanism (30) comprises a connecting member (31) and two walking wheels (32), the connecting member (31) being rotatably arranged on the mounting member (20) in a penetrating manner, the two walking wheels (32) being respectively rotatably arranged at opposite ends of the connecting member (31), and a rotating shaft of the connecting member (31) being perpendicular to rotating shafts of the walking wheels (32); and one end of the buffer mechanism (40) is movably connected to the mounting member (20), and the other end thereof is connected to the connecting member (31). In this way, the safety and stability of the walking device (1) in a working state are improved.

Description

Traveling equipment and harvesters

Technical field

This application relates to the field of shock absorption technology, specifically to a walking device and a harvester.

Background technique

As the types of harvesters increase, the harvesters on the market are even more mixed. How to improve the safety and stability of the walking device and harvester in working conditions has become a technical problem that needs to be solved.

Contents of the invention

The purpose of this application is to provide a walking device and a harvester to improve the safety and stability of the walking device and the harvester in working conditions.

In a first aspect, this application provides a walking device, including:

base;

Installation piece, installed on the base;

The traveling mechanism includes a connecting piece and two running wheels. The connecting piece is rotatably installed on the mounting piece. The two running wheels are rotatably installed at the opposite ends of the connecting piece. The rotation axis of the connecting piece is perpendicular to the rotation axis of the running wheel; and

Buffering mechanism, one end of the buffering mechanism is connected to the mounting piece, and the other end is connected to the connecting piece. The buffer mechanism includes a fixed piece, a limiting piece and an elastic piece. The fixed piece is installed on the mounting piece, and the elastic piece is sleeved on the limiting piece. One end of the limiting piece is movably connected to the The other end of the fixing piece is connected to the connecting piece and can move in a direction closer to or away from the fixing piece.

In the walking device provided by this application, the mounting piece is installed on the base, one end of the buffer mechanism is mounted on the mounting piece and is fixedly connected to the mounting piece, and the other end of the buffer mechanism is connected to the connecting piece. When the running wheel of the walking device hits an obstacle during walking, the running wheel will be subject to the horizontal force exerted by the obstacle. The running wheel will transfer the force to the base through the buffer mechanism, thereby preventing the connector from breaking and being damaged. and other phenomena to improve the safety and stability of the walking device and harvester under working conditions.

Wherein, the buffer mechanism includes a fixed piece, a limiting piece and an elastic piece. The fixed piece is installed on the mounting piece. One end of the limiting piece is movably connected to the fixed piece, and the other end of the limiting piece is connected to the connecting piece. , the limiting member can move in a direction closer to or away from the fixed member, the elastic member is sleeved outside the limiting member, one end of the elastic member contacts the fixed member, and the elastic member The other end contacts the limiting member.

Wherein, the fixing member has a movable space, and an end of the limiting member away from the connecting member is movably disposed in the movable space.

Wherein, the limiter includes a first limiter and a second limiter connected to the first limiter, the elastic member is sleeved on the second limiter, and the elastic member is located at between the first limiting part and the fixing part.

Wherein, the first limiting part is provided at an end of the second limiting part close to the connecting piece, and both the first limiting part and the elastic member are located outside the movable space.

Wherein, the limiting member further includes a third limiting part, the third limiting part is provided at an end of the second limiting part away from the connecting piece, and the fixing piece is close to an end of the connecting piece. A stopper is provided at the end, and the stopper is used to limit the third limiter in the movable space.

Wherein, the fixing part includes a first sub-fixing part and a second sub-fixing part connected to the first sub-fixing part, and the The first sub-fixing part and the second sub-fixing part are connected and enclosed to form the movable space. The second sub-fixing part is provided with a guide hole connected with the movable space. The third limiting part passes through Passing through the guide hole and extending into the movable space, the stopper is configured as the second sub-fixing piece.

Wherein, the first limiting part is provided at the end of the second limiting part away from the connecting piece, the first limiting part and the elastic member are both located in the movable space, and the fixed A stopper is provided at the end of the component close to the connecting piece. The stopper is used to limit the first limiter in the movable space. One end of the elastic member is connected to the stopper. , the other end of the elastic member is connected to the first limiting part.

Wherein, the limiter includes a first limiter, a second limiter and a third limiter, and the second limiter is connected to the first limiter and the third limiter. , the end of the fixing member close to the connecting member is provided with a stopper, the stopper is used to limit the third limiter in the movable space, the elastic member includes a first bullet elastic member and a second elastic member, the first elastic member is sleeved on the second limiting part and is located between the first limiting part and the stopper part, the second elastic member The piece is sleeved on the second limiting part and located between the third limiting part and the stopper part.

Wherein, the fixing member includes a body part, a first extension part and a second extension part. The first extension part and the second extension part are respectively connected to the same side of the body part, and the body part is movably connected. The limiting member, the first extension part and the second extension part are installed on the mounting part.

Wherein, the second extension part and the first extension part are arranged in sequence along the forward direction of the walking device, and the length of the first extension part is shorter than the length of the second extension part.

Wherein, the mounting piece has first mounting slots and second mounting slots spaced apart, and the first mounting slots and the second mounting slots are located on the surface of the mounting piece away from the base, and the first mounting slot is The groove is used to receive the first extension part, and the second mounting groove is used to receive the second extension part.

The first extension portion is in contact with the first side wall of the first installation groove, and the second extension portion is in contact with the second side wall of the second installation groove.

Wherein, the extension direction of the first extension part and the extension direction of the second extension part are the same and perpendicular to the forward direction of the walking device.

Wherein, the walking device further includes a ball joint connector, and the limiting member is connected to the connecting member through the ball joint connector.

Wherein, the end of the fixing piece close to the connecting piece is provided with a stopper, and the stopper is used to limit the end of the limiting piece away from the connecting piece in the movable space, and the The limiting member is inserted through the stop portion and forms a gap with the stop portion.

Wherein, a limiting block is provided on the mounting member, and the limiting block is used to limit the rotation angle of the connecting member.

Wherein, the number of the buffering mechanisms is two, the two buffering mechanisms are distributed at two opposite ends of the connecting piece, and the two buffering mechanisms are spaced apart on the same side of the connecting piece. .

In a second aspect, this application provides a harvester, including:

The walking device and the driving motor, the driving motor is used to drive the walking device to walk.

Wherein, the drive motor is arranged in the traveling wheel; the harvester also includes a power supply device, the power supply device is arranged on the base, and the connector has a through hole, and the through hole is used to set all The wires of the power supply device are used to electrically connect the power supply device and the driving motor.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. General skills in the field For technicians, other drawings can also be obtained based on these drawings without exerting creative work.

Figure 1 is a schematic three-dimensional structural diagram of a harvester provided by an embodiment of the present application;

Figure 2 is a partial three-dimensional structural schematic diagram of a walking device provided by an embodiment of the present application;

Figure 3 is a schematic structural diagram of the back of a walking device provided by an embodiment of the present application;

Figure 4 is a schematic three-dimensional structural diagram of a buffer mechanism provided by an embodiment of the present application;

Figure 5 is an exploded schematic diagram of a buffer mechanism provided by an embodiment of the present application;

Figure 6 is a schematic three-dimensional structural diagram of an installation piece provided by an embodiment of the present application;

Figure 7 is an exploded schematic diagram of a walking mechanism provided by the embodiment of the present application;

FIG. 8 is a partial structural schematic diagram of an installation component provided by an embodiment of the present application.

Label description: Harvester-1000, traveling device-1, drive motor-2, base-10, mounting piece-20, first installation slot-21, first side wall-211, second installation slot-22, second Side wall-221, running mechanism-30, connecting piece-31, through hole-311, running wheel-32, buffer mechanism-40, fixing piece-41, stopper 413, first sub-fixing piece-411, second Sub-fixer-412, guide hole-4120, gap-4121, first extension part-4111, second extension part-4112, body part-4113, activity space-410, receiving slot-4114, limiter-42, First limiting part-421, second limiting part-422, third limiting part-423, elastic part-43, first elastic part-431, second elastic part-432, wire-50, limit Bit block-51, ball joint connector-60.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

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

It should be noted that the terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than describing a specific sequence. Furthermore, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion.

In this manual, for convenience, "middle", "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner" are used , "outside" and other words indicating the orientation or positional relationship are used to illustrate the positional relationship of the constituent elements with reference to the drawings. They are only for the convenience of describing this specification and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation. , are constructed and operate in specific orientations and therefore should not be construed as limitations on the disclosure. The positional relationship of the constituent elements is appropriately changed depending on the direction of the described constituent elements. Therefore, they are not limited to the words and phrases described in the specification, and may be appropriately replaced according to circumstances.

In this manual, unless otherwise expressly stated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, or an electrical connection; it can be a direct connection, an indirect connection through an intermediate piece, or an internal connection between two elements. For those of ordinary skill in the art, the meanings of the above terms in this disclosure can be understood according to the circumstances.

As the urban green area continues to increase, more and more lawns need to be maintained. However, problems such as the aging population have led to an increasingly serious problem of labor shortage. In order to liberate the labor force, automatic lawn mowing harvesters will gradually become popular. For the working environment of the harvester on the grass, it needs to meet the following functions: the grass is uneven, and there are obstacles such as grass roots and various small stones and tree roots. The harvester needs to be able to adapt to various road conditions when running on the lawn. , to ensure passability, the harvester needs to have good off-road capabilities; and if the harvester's traveling wheels hit a larger obstacle during travel, the harvester's axle needs to be able to withstand the impact of the obstacle without causing an accident. damage to ensure that the harvester can move and work normally.

Based on the above requirements, please refer to Figure 1 , which is a schematic three-dimensional structural diagram of a harvester provided by an embodiment of the present application. The present application provides a harvester 1000 that can improve safety and stability in working conditions. The harvester 1000 includes a walking device 1 and a driving motor 2 . The driving motor 2 is used to drive the walking device 1 walk.

Please refer to FIGS. 2 and 3 . FIG. 2 is a partial three-dimensional structural diagram of a walking device provided by an embodiment of the present application. FIG. 3 is a schematic structural view of the back of a walking device provided by an embodiment of the present application. The traveling device 1 includes a base 10 , a mounting member 20 , a traveling mechanism 30 and a buffer mechanism 40 . The mounting member 20 is installed on the base 10 . The running mechanism 30 includes a connecting piece 31 and two running wheels 32. The connecting piece 31 is rotatably installed on the mounting member 20, and the two running wheels 32 are rotatably installed on the connecting piece. At the opposite ends of the connecting member 31 , the rotation axis of the connecting member 31 is perpendicular to the rotation axis of the running wheel 32 .

The mounting member 20 is installed on the base 10. Specifically, the mounting member 20 is fixed on the base 10. The fixed connection method of the mounting member 20 and the base 10 includes but is not limited to threads, Snap and other connections.

The two running wheels 32 are rotatably disposed at opposite ends of the connecting member 31, and the connecting member 31 is rotatably installed on the mounting member 20, that is, when the harvester 1000 is placed on the placement surface, When an obstacle is encountered during the movement, one of the running wheels 32 abuts the obstacle and the other running wheel 32 is located on the placement surface. The running wheel 32 abutting the obstacle and the running wheel 32 located on the placement surface The running wheels 32 have different heights, and the running wheels 32 contacting obstacles can drive the connecting member 31 to rotate relative to the base 10 . Optionally, the obstacles include, but are not limited to, other obstacles such as raised stones, branches, or sunken earth pits.

In this embodiment, the driving motor 2 is a hub motor. In other embodiments, the driving motor 2 can also be other types of motors, which is not limited in this application.

In the walking device 1 provided by this application, the mounting member 20 is installed on the base 10 , one end of the buffer mechanism 40 is connected to the mounting member 20 , and the other end is connected to the connecting member 31 . When the running wheel 32 of the walking device 1 hits an obstacle during walking, the running wheel 32 will receive a horizontal force exerted by the obstacle, and the running wheel 32 will transfer the force through the buffer mechanism 40 to the base 10, thereby preventing the connector 31 from breaking, being damaged, etc., thereby improving the safety and stability of the harvester 1000 in working conditions.

The buffer mechanism 40 includes a fixed part 41, a limiting part 42 and an elastic part 43. The fixed part 41 is installed on the mounting part 20. One end of the limiting part 42 is movably connected to the fixed part 41, and the other end of the limiting part 42 is movably connected to the fixed part 41. One end is connected to the connecting piece 31 . The limiting member 42 can move toward or away from the fixing member 41 . The elastic member 43 is sleeved on the limiting member 42 , one end of the elastic member contacts the fixing member, and the other end of the elastic member contacts the limiting member.

The fixing component 41 is installed on the mounting component 20 and is fixedly connected to the mounting component 20 . Optionally, the fixed connection method between the fixing part 41 and the mounting part 20 includes but is not limited to threaded connection.

The elastic member 43 is sleeved on the limiting member 42 , one end of the elastic member 43 contacts the limiting member 42 , and the other end contacts the fixing member 41 . When the harvester 1000 encounters an obstacle during the movement of the placement surface, one of the traveling wheels 32 will be displaced in the vertical direction when passing the obstacle, thereby driving the connecting piece 31 and the fixed The limiting member 42 connected to the connecting member 31 is displaced in the vertical direction. The limiting member 42 abuts the elastic member 43 and causes the elastic member 43 to elastically deform when moving. The elastic member 43 elastically deforms to offset the impact force transmitted from the obstacle to the limiting member 42 .

Specifically, for example, when the obstacle encountered by the harvester 1000 during the movement of the placement surface is a raised object, the running wheels 32 will move along the direction away from the placement surface when passing the obstacle. The stopper 42 moves in the direction away from the placement surface, and the stopper 42 contacts the elastic member 43 and compresses the elastic member 43 when moving. The elastic member 43 is compressed to offset the impact force transmitted by the obstacle to the limiting member 42; when the obstacle encountered by the harvester 1000 during the movement of the placement surface is a sunken pit. , when the running wheel 32 passes the obstacle, it will move in a direction close to the surface of the pit, and the limiting member 42 contacts the elastic member 43 and causes the elastic member 43 to stretch when moving. The elastic member 43 is stretched to buffer the impact force generated when the running wheel 32 enters the pit.

In one embodiment, the number of the buffer mechanisms 40 is two, and the two buffer mechanisms 40 are respectively disposed at two opposite ends of the connector 31 . The two buffer mechanisms 40 are spaced apart on the same side of the connecting member 31 . Each running wheel 32 is provided with a corresponding buffer mechanism 40 for buffering the impact force suffered by the running wheel 32 .

In other embodiments, the number of the buffer mechanisms 40 may also be multiple. For example, the number of the buffer mechanisms 40 may be four, that is, two buffer mechanisms are provided for each running wheel 32 . 40, which can buffer the impact force suffered by the running wheel 32 to a greater extent.

Please refer to Figures 3, 4 and 5. Figure 4 is a schematic three-dimensional structural diagram of a buffer mechanism provided by an embodiment of the present application. Figure 5 is an exploded schematic diagram of a buffer mechanism provided by an embodiment of the present application. The fixing member 41 has an movable space 410 , and the end of the limiting member 42 away from the connecting member 31 is movably disposed in the movable space 410 .

For example, in this embodiment, the fixing part 41 includes a first sub-fixing part 411 and a second sub-fixing part 412 connected to the first sub-fixing part 411 . The first sub-fixing part 411 and the second sub-fixing part 412 are connected and enclosed to form the activity space 410 . The second sub-fixing member 412 has a guide hole 4120 connected with the movable space 410 . One end of the limiting member 42 away from the connecting member 31 passes through the guide hole 4120 and extends into the movable space 410 .

The second sub-fixing part 412 is connected to the first sub-fixing part 411, and the second sub-fixing part 412 is fixedly connected to the first sub-fixing part 411. In this embodiment, the first sub-fixing part 411 and the second sub-fixing part 412 are detachably connected together. For example, the second sub-fixing part 412 is fixed to the first sub-fixing part 411 The connection method includes but is not limited to threaded fixing, thereby facilitating the installation of the fixing part 41 and the limiting part 42 . In some embodiments, the first sub-fixing part 411 and the second sub-fixing part 412 can also be non-detachably connected together, for example, the first sub-fixing part 411 and the second sub-fixing part 412 are integrated. Forming or fixing by welding, thereby enhancing the connection strength between the first sub-fixing part 411 and the second sub-fixing part 412, and improving the first sub-fixing part 411 and the second sub-fixing part 412. Reliability of active connections. It can be understood that in some embodiments, the second sub-fixing member 412 can also be omitted.

A stopper 413 is provided at an end of the fixing member 41 close to the connecting member 31 . The stopper 413 is used to limit the end of the limiter 42 away from the connector 31 in the movable space 410 to prevent the limiter 42 from moving out of the movable space 410 . Exemplarily in this embodiment, the stopper 413 is configured as the second sub-fixing part 412 . In some other embodiments, the stopper 413 may also be an annular stopper disposed in the movable space 410 of the fixing member 41 . The annular stopper can be an open-loop structure or a closed-loop structure.

In some embodiments, an end cap 414 is provided at the end of the fixing member 41 away from the connecting member 31 . The end cover 414 is sealingly connected to the fixing member 41. On the one hand, it prevents the limiting member 42 located in the movable space 410 from being affected by the external environment, such as external objects entering the movable space 410 and affecting the On the other hand, the movement of the limiting member 42 and the end cover 414 can also prevent the limiting member 42 from excessively moving toward or away from the fixing member 41 , thereby protecting the safety of the walking device 1 . The end caps 414 can be fixedly connected together through screwing, welding, buckling, bolt locking, etc., which is not specifically limited in this application.

For example, in this embodiment, the first sub-fixing member 411 has a substantially cylindrical structure. The first sub-fixing part 411 has a receiving groove 4114, the second sub-fixing part 412 is connected to the first sub-fixing part 411 and is provided corresponding to the receiving groove 4114, and the limiting part 42 can be movably penetrated. The second sub-fixing part 412 is partially located in the receiving groove 4114, so that the limiting part 42 can be movably connected to the fixing part 41. The first sub-fixing part 411 and the second sub-fixing part 412 are cooperatively connected to form the movable space 410, whereby the limiting part 42 can pass through the second sub-fixing part 412 and move in the movable space. Move up and down in space 410.

Specifically, the limiting member 42 passes through the second sub-fixing member 412 and is partially located in the receiving groove 4114 . Specifically, the second sub-fixing member 412 has a guide hole 4120 that can be used to allow the limiting member 42 to pass through and allow part of the limiting member 42 to be disposed in the receiving groove 4114 . The limiting member 42 can be movably connected to the fixing member 41, and the second sub-fixing member 412 can limit the limiting member 42 so that it can only move in a preset direction. When the running wheels 32 of the walking device 1 encounter a raised obstacle, the running wheels 32 will drive to the obstacle and drive the connecting piece 31 to move in a direction away from the placement surface; When the traveling wheel 32 of the traveling device 1 passes over a raised obstacle, the connecting member 31 is driven to move in a direction closer to the placement surface. The limiting member 42 can move along with the connecting member 31 in a direction away from or close to the placement surface to prevent the connecting member 31 from being broken or damaged.

Please refer to Figure 3, Figure 4 and Figure 5 again. The first sub-fixing part 411 includes a body part 4113, a first extension part 4111 and a second extension part 4112. The first extension part 4111 and the second extension part 4112 They are respectively connected to the same side of the main body part 4113. The main body part 4113 is movably connected to the limiting member 42. The first extension part 4111 and the second extension part 4112 are installed on the mounting part 20.

The first extension part 4111 and the second extension part 4112 are respectively connected to the same side of the body part 4113, and the first extension part 4111 and the second extension part 4112 are installed on the mounting member 20 superior. It should be noted that in this embodiment, the first extension part 4111, the second extension part 4112 and the main body part 4113 are an integral structure. For convenience of description, they are artificially named differently. It should not be construed as a limitation on this application.

The first extension part 4111 and the second extension part 4112 of the first sub-fixing part 411 are fixedly connected to the mounting part 20, and both ends of the first sub-fixing part 411 are fixedly connected to the installation part. 20 to enhance the stability of the fixed connection between the fixing component 41 and the mounting component 20 .

In this embodiment, the shape of the first extension part 4111 and the second extension part 4112 is flat, which can increase the size of the first extension part 4111 and the second extension part 4112 and the mounting piece. 20 of the contact area, thereby increasing the conductive area between the first extension part 4111 and the second extension part 4112 and the mounting member 20, which can reduce the The probability that the extension part 4112 will break or be damaged when it is stressed. In addition, the shape of the first extension part 4111 and the second extension part 4112 is flat, which can reduce the overall height of the walking device 1, making it easier for the walking device 1 to work in a more demanding environment, and increasing the height of the walking device 1. The use range and capabilities of the walking device 1.

Please refer to Figures 2, 4 and 5. The first extension part 4111 is closer to the front end of the walking device 1 than the second extension part 4112, that is, the second extension part 4112 and the third extension part 4112 are closer to the front end of the walking device 1. An extension portion 4111 is arranged sequentially along the forward direction of the walking device 1 . The length of the first extension part 4111 is less than the length of the second extension part 4112.

When the walking device 1 encounters the obstacle during walking, the front end of the walking device 1 first approaches and hits the obstacle, and the first extension portion 4111 bears a larger impact force. Reducing the length of the first extension part 4111 can reduce the moment of the first extension part 4111, so that the first extension part 4111 can withstand a larger impact force without causing damage such as breakage, thereby improving the overall performance of the first extension part 4111. The durability performance and service life of the first extension part 4111 are described.

Optionally, this application does not specifically limit the length ratio between the first extension part 4111 and the second extension part 4112, and can be adjusted accordingly according to the type and specifications of the walking device 1.

The extension direction of the first extension part 4111 is the same as the extension direction of the second extension part 4112, and is perpendicular to the forward direction of the walking device 1, thereby facilitating processing and assembly, and making the first extension part 4111 The force on the first extension part 4111 and the second extension part 4112 is relatively uniform, thereby preventing the first extension part 4111 and the second extension part 4112 from being damaged such as breakage, thereby improving the efficiency of the first extension part 4111 and the second extension part 4112. Durable performance and service life of extension 4112.

Please refer to Figures 2, 5 and 6. Figure 6 is a schematic three-dimensional structural diagram of an installation component provided by an embodiment of the present application. The mounting member 20 has first mounting grooves 21 and second mounting grooves 22 arranged at intervals. The first mounting grooves 21 and the second mounting grooves 22 are located on the surface of the mounting member 20 away from the base 10. The first installation groove 21 is used to receive the first extension part 4111, and the second installation groove 22 is used to receive the second extension part 4112.

The first side wall 211 of the first installation groove 21 can contact the first extension part 4111, and the second side wall 221 of the second installation groove 22 can contact the second extension part 4112, which can increase the The contact area between the first extension part 4111 and the second extension part 4112 and the mounting member 20 is large, and the first extension part 4111 and the second extension part 4112 can pass through the first installation groove. The first side wall 211 of 21 and the second side wall 221 of the second mounting groove 22 transmit the horizontal impact force of the fixing part 41 to the mounting part 20 to lower the first extension part. The probability that 4111 and the second extension part 4112 will be damaged such as breakage.

The first side wall 211 of the first mounting groove 21 includes a first side, a second side, and a third side that are bent and connected in sequence. The first side and the third side are located between the second side and the first side. On the same side, the connection between the first side and the second side is provided with a chamfer, and the corresponding position of the first extension 4111 is also provided with a chamfer. The endurance performance of the first extension part 4111 and the first mounting groove 21 can be improved, and the service life of the walking device 1 can be improved. Similarly, the second side wall 221 of the second installation groove 22 includes a first side, a second side, and a third side that are bent and connected in sequence. The first side and the third side are located on the third side. On the same side of the two side surfaces, the connection between the first side surface and the second side surface is provided with a chamfer, and the corresponding position of the second extension part 4112 is also provided with a chamfer. The endurance performance of the second extension part 4112 and the second mounting groove 22 can be improved, and the service life of the walking device 1 can be improved.

Please refer to FIGS. 3 to 5 again. For example, in this embodiment, the limiting member 42 includes a first limiting part 421 , a second limiting part 422 and a third limiting part 423 . The second limiting part 422 is connected to the first limiting part 421 and the third limiting part 423 . The first limiting part 421 is provided at one end of the second limiting part 422 close to the connecting member 31 , and the third limiting part 423 is provided at an end of the second limiting part 422 away from the connecting member 31 . 31 on one end. The stopper 413 is provided at the end of the fixing member 41 close to the connecting member 31 . The stopper 413 is used to limit the third limiting portion 423 in the movable space. The elastic member 43 includes a first elastic member 431 and a second elastic member 432 . The first elastic member 431 is sleeved on the second limiting part 422 and is located between the first limiting part 421 and the stopper 413. The second elastic member 432 is sleeved on The second limiting part 422 is located between the third limiting part 423 and the stopper part 413 . The following description takes the stopper 413 configured as the second sub-fixing member 412 as an example.

Specifically, the limiting member 42 includes a first limiting part 421 , a second limiting part 422 and a third limiting part 423 which are connected in sequence. The first limiting part 421 and the third limiting part 423 protruding from the second limiting portion 422 . The first limiting part 421 is movably connected to the second sub-fixing member 412. The elastic member 43 includes a first elastic member 431 and a second elastic member 432. The first elastic member 431 is Provided on the second limiting part 422 and between the first limiting part 421 and the second sub-fixing part 412, the second elastic member 432 is sleeved on the second limiting part 422 and is located between the third limiting portion 423 and the second sub-fixing member 412 .

The first elastic member 431 is sleeved on the second limiting part 422 and is located between the first limiting part 421 and the second sub-fixing part 412. Specifically, the first elastic member One end of the member 431 is connected to the second sub-fixing member 412, and the other end is connected to the first limiting part 421. The second elastic member 432 is sleeved on the second limiting part 422 and is located between the third limiting part 423 and the second sub-fixing part 412. Specifically, the second elastic member 432 Connect one end of The other end of the second sub-fixing part 412 is connected to the third limiting part 423.

When the harvester 1000 encounters an obstacle during the movement of the placement surface, one of the traveling wheels 32 will be displaced in the vertical direction when passing the obstacle, thereby driving the connecting piece 31 and the fixed The first limiting portion 421 and the third limiting portion 423 connected to the connecting member 31 are displaced in the vertical direction. The first limiting portion 421 abuts the first elastic member 431 and moves in the vertical direction. The first elastic member 431 is elastically deformed when moving, the third limiting portion 423 is in contact with the second elastic member 432 and the second elastic member 432 is elastically deformed when moving, The first elastic member 431 and the second elastic member 432 both undergo elastic deformation to offset the impact force transmitted from the obstacle to the limiting member 42 .

In one embodiment, the limiting member 42 includes a first limiting part 421 , a second limiting part 422 and a third limiting part 423 connected in sequence. The first limiting part 421 and the third limiting part 423 protrude from the second limiting part 422 . The first limiting part 421 is provided at the end of the second limiting part 422 close to the connecting piece 31 , and both the first limiting part 421 and the elastic member 43 are located outside the movable space 410 . The third limiting part 423 is movably connected to the second sub-fixing part 412. The elastic member 43 is sleeved on the second limiting part 422 and is located between the second sub-fixing part 412 and the second fixing part 412. between the first limiting parts 421. The third limiting portion 423 is provided at an end of the second limiting portion 422 away from the connecting member 31 . The fixing member 41 is provided with a stopper 413 at an end close to the connecting member 31 . The stopper 413 is used to limit the third limiter 423 within the movable space 410 .

Specifically, the third limiting part 423 protrudes from the second limiting part 422, and the third limiting part 423 can be movably connected to the second sub-fixing part 412, thereby achieving the limiting part. The position member 42 moves within the activity space 410 of the fixed member 41 . Optionally, the third limiting part 423 blocks the guide hole 4120 of the second sub-fixing part 412 to prevent the limiting part 42 from moving away from the first sub-fixing part 411 when removed from the receiving slot 4114. Specifically, the radial size of the guide hole 4120 is smaller than the radial size of the cross section of the third limiting portion 423 perpendicular to the moving direction of the limiting member 42 . In some embodiments, the third limiting part 423 may be omitted, that is, the limiting member 42 includes a first limiting part 421 and a second limiting part 422 connected to the first limiting part 421 . The elastic member 43 is sleeved on the second limiting part 422 , and the elastic member 43 is located between the first limiting part 421 and the fixing member 41 .

The elastic member 43 is sleeved on the second limiting part 422 and is located between the second sub-fixing part 412 and the first limiting part 421 . Specifically, one end of the elastic member 43 is connected to the second sub-fixing member 412, and the other end is connected to the first limiting part 421; or, one end of the elastic member 43 is in contact with the second sub-fixing member 412, The other end contacts the first limiting portion 421 . When the harvester 1000 encounters an obstacle during the movement of the placement surface, one of the traveling wheels 32 will be displaced in the vertical direction when passing the obstacle, thereby driving the connecting piece 31 and the fixed The first limiting portion 421 connected to the connecting piece 31 is displaced in the vertical direction. The first limiting portion 421 abuts the elastic member 43 and makes the elastic member 43 elastic when moving. The elastic member 43 elastically deforms to offset the impact force transmitted by the obstacle to the first limiting portion 421 .

In another embodiment, the limiting member 42 includes a first limiting part 421 , a second limiting part 422 and a third limiting part 423 connected in sequence. The first limiting part 421 and the third limiting part 423 protrude from the second limiting part 422 . The third limiting part 423 is movably connected to the second sub-fixing part 412 . The elastic member 43 is sleeved on the second limiting part 422 and is located between the second sub-fixing part 412 and the third limiting part 423 . Specifically, one end of the elastic member 43 is connected to the second sub-fixing member 412 , and the other end is connected to the third limiting part 423 . When the harvester 1000 encounters an obstacle during the movement of the placement surface, one of the traveling wheels 32 will be displaced in the vertical direction when passing the obstacle, thereby driving the connecting piece 31 and the fixed The third limiting portion 423 connected to the connecting piece 31 is displaced in the vertical direction. The third limiting portion 423 stretches the elastic member 43 and makes the elastic member 43 elastic when moving. deform, the elastic member 43 elastically deforms to offset the impact of the obstacle transmitted to the third limiting portion 423 Hit power.

In some embodiments, the first limiting part 421 may be omitted, that is, the third limiting part 423 in FIG. 5 serves as the first limiting part, and the first limiting part is disposed on the second limiting part. The limiting part 422 is far away from the end of the connecting member 31 , the first limiting part and the elastic member 43 are both located in the movable space 410 , and the fixing member 41 is close to the end of the connecting member 31 A stopper 413 is provided. The stopper 413 is used to limit the first limiter in the movable space. One end of the elastic member 43 is connected to the stopper 413. The elastic member 413 is connected to the stopper 413. The other end of 43 is connected to the first limiting part.

Please refer to FIGS. 3 to 5 together. The walking device 1 also includes a ball hinge connection 60 . The limiting member 42 is connected to the connecting member 31 through the ball hinge connecting member 60 .

The end of the fixing member 41 close to the connecting member 31 is provided with a stopper 413. The stopper 413 is used to limit the end of the limiter 42 away from the connecting member 31 in the movable space. 410, the limiting member 42 penetrates the stopper 413, and forms a gap 4121 between the stopper 413 and the stopper 413, thereby increasing the rotation angle of the limiter 42, thereby ensuring the limit. The movement of the member 42 in the movable space 410 is smooth, and the limiting member 42 and the connecting member 31 are prevented from being broken or damaged. Specifically, the radial dimension of the second limiting portion 422 of the limiting member 42 in the cross section perpendicular to the moving direction of the limiting member 42 is larger than the guide hole 4120 of the second sub-fixing member 412 radial size. Therefore, when the second limiting portion 422 of the limiting member 42 blocks the hole wall of the guide hole 4120 of the second sub-fixing member 412, the limiting member 42 will hold the walking device 1 The horizontal force is transferred to the base 10 through the fixing part 41, thereby improving the use safety of the walking device 1.

Please refer to Figures 1, 7 and 8. Figure 7 is an exploded schematic diagram of a walking mechanism 30 provided in an embodiment of the present application. Figure 8 is a partial structural schematic diagram of a mounting member 20 provided in an embodiment of the present application. The driving motor 2 is arranged in the traveling wheel 32 . The harvester 1000 also includes a power supply device (not shown). The power supply device is provided on the base 10. The connector 31 has a through hole 311, and the through hole 311 is used to set the power supply device. Wires 50 are used to electrically connect the power supply device and the driving motor 2 .

The connecting piece 31 has the through hole 311, and the through hole 311 can be used to arrange the wire 50 of the power supply device to facilitate the electrical connection between the driving motor 2 and the power supply device, and to connect the wire 50 is disposed in the connector 31, which can prevent the wire 50 from being affected by the external environment to a certain extent, such as the influence of rain and other weather on the wire 50.

The mounting member 20 is also provided with a limiting block 51 , which can be used to limit the rotation of the connecting member 31 to prevent the connecting member 31 from hitting other structural components at an excessively large rotation angle.

The above are some embodiments of the present application. It should be pointed out that for those of ordinary skill in the technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications are also regarded as This is the protection scope of this application.

Claims

A walking device, characterized in that it includes:

base;

Installation piece, installed on the base;

The traveling mechanism includes a connecting piece and two running wheels. The connecting piece is rotatably installed on the mounting piece. The two running wheels are rotatably installed at the opposite ends of the connecting piece. The rotation axis of the connecting piece is perpendicular to the rotation axis of the running wheel; and

Buffering mechanism, one end of the buffering mechanism is connected to the mounting piece, and the other end is connected to the connecting piece.
The walking device according to claim 1, characterized in that the buffer mechanism includes a fixed part, a limiting part and an elastic part, the fixed part is installed on the mounting part, and one end of the limiting part is movably connected. The other end of the fixing part is connected to the connecting part, the limiting part can move in a direction closer to or away from the fixing part, the elastic part is set outside the limiting part, and the elastic part One end is in contact with the fixing member, and the other end of the elastic member is in contact with the limiting member.
The walking device according to claim 2, wherein the fixing member has a movable space, and an end of the limiting member away from the connecting member is movably disposed in the movable space.
The walking device according to claim 3, wherein the limiting member includes a first limiting part and a second limiting part connected to the first limiting part, and the elastic member is sleeved on the first limiting part. As for the second limiting part, the elastic member is located between the first limiting part and the fixing part.
The walking device according to claim 4, wherein the first limiting part is provided at an end of the second limiting part close to the connecting piece, and the first limiting part and the elastic items are located outside the activity space.
The walking device according to claim 5, wherein the limiting member further includes a third limiting portion, and the third limiting portion is provided at an end of the second limiting portion away from the connecting member. part, the end of the fixing part close to the connecting part is provided with a stop part, and the stop part is used to limit the third limiting part in the movable space.
The walking device according to claim 6, wherein the fixing part includes a first sub-fixing part and a second sub-fixing part connected to the first sub-fixing part, and the first sub-fixing part and the first sub-fixing part are The second sub-fixing part is connected and enclosed to form the activity space, the second sub-fixing part is provided with a guide hole connected with the activity space, and the third limiting part passes through the guide hole and extends Into the movable space, the stopper is configured as the second sub-fixing part.
The walking device according to claim 4, characterized in that the first limiting part is provided at an end of the second limiting part away from the connecting piece, and the first limiting part and the elastic The parts are all located in the movable space, and the end of the fixing piece close to the connecting piece is provided with a stopper, and the stopper is used to limit the first limiting part in the movable space, One end of the elastic member is connected to the stop part, and the other end of the elastic member is connected to the first limiting part.
The walking device according to claim 3, wherein the limiting member includes a first limiting part, a second limiting part, and a second limiting part. and a third limiting part. The second limiting part is connected to the first limiting part and the third limiting part. A stop is provided at the end of the fixing piece close to the connecting piece. part, the stop part is used to limit the third limiting part in the movable space, the elastic member includes a first elastic member and a second elastic member, the first elastic member covers is provided on the second limiting part and between the first limiting part and the stopper part, and the second elastic member is sleeved on the second limiting part and located on the third between the limiting part and the stopper part.
The walking device according to claim 2, wherein the fixing member includes a body part, a first extension part and a second extension part, and the first extension part and the second extension part are respectively connected to the On the same side of the body part, the body part is movably connected to the limiting member, and the first extension part and the second extension part are installed on the mounting part.
The walking device according to claim 10, wherein the second extension part and the first extension part are arranged in sequence along the forward direction of the walking device, and the length of the first extension part is less than the length of the first extension part. the length of the second extension.
The walking device according to claim 10, wherein the mounting piece has first mounting grooves and second mounting grooves arranged at intervals, and the first mounting groove and the second mounting groove are located on the mounting piece. On the surface facing away from the base, the first mounting groove is used to receive the first extending portion, and the second mounting groove is used to receive the second extending portion.
The walking device according to claim 12, wherein the first extension part is in contact with the first side wall of the first installation groove, and the second extension part is in contact with the first side wall of the second installation groove. The two side walls are in contact.
The walking device according to claim 11, wherein the extension direction of the first extension part and the extension direction of the second extension part are the same and perpendicular to the forward direction of the walking device.
The walking device according to claim 3, characterized in that the walking device further includes a ball hinge connection member, and the limiting member is connected to the connecting member through the ball hinge connection member.
The walking device according to claim 15, wherein the end of the fixing member close to the connecting member is provided with a stopper, and the stopper is used to limit the positioning member away from the connection. One end of the member is in the movable space, and the limiting member is inserted through the stop portion and forms a gap with the stop portion.
The walking device according to claim 1, characterized in that a limiting block is provided on the mounting member, and the limiting block is used to limit the rotation angle of the connecting member.
The walking device according to claim 1, characterized in that the number of the buffer mechanisms is two, and the two buffer mechanisms are distributed at two opposite ends of the connecting piece, and the two buffer mechanisms The buffering mechanisms are spaced apart on the same side of the connecting piece.
A harvester is characterized by including:

The walking device according to any one of claims 1-18; and

A driving motor is used to drive the walking device to move.
The harvester according to claim 19, characterized in that the drive motor is arranged in the traveling wheel; the harvester further includes a power supply device, the power supply device is arranged on the base, and the connector There is a through hole, the through hole is used to arrange the wire of the power supply device, and the wire is used to electrically connect the power supply device and the driving motor.