阅读说明：本技术 踏板机构、行走装置、行走系统及医疗设备 (Pedal mechanism, walking device, walking system and medical equipment ) 是由 张金婴 黄群 于 2019-09-04 设计创作，主要内容包括：本发明涉及医疗器械技术领域,提供了一种踏板机构、行走装置、行走系统及医疗设备,包括第一踏板、滑块、滑轨、第一连杆机构和第二连杆机构；第一踏板旋转下压至处于下压状态的过程中,第一踏板通过第一连杆机构驱动滑块滑动至第一止点；第一踏板旋转抬起至处于抬起状态的过程中,第一踏板通过第二连杆机构驱动滑块滑动至第一止点；驱动滑块从第一止点运动至第二止点的过程中,第一连杆机构和第二连杆机构分别驱动第一踏板至第一踏板处于复位状态。操作第一踏板至下压状态和抬起状态,操作位置明确、可识别,易于辨别当前档位,操作滑块实现第一踏板的复位状态,解决了操作第一踏板达到复位状态难度大,难以界定脚轮档位的问题。(The invention relates to the technical field of medical instruments, and provides a pedal mechanism, a walking device, a walking system and medical equipment, which comprise a first pedal, a sliding block, a sliding rail, a first connecting rod mechanism and a second connecting rod mechanism; in the process that the first pedal rotates and is pressed down to be in a pressed-down state, the first pedal drives the sliding block to slide to a first stop point through the first connecting rod mechanism; in the process that the first pedal rotates and is lifted to be in a lifting state, the first pedal drives the sliding block to slide to a first stop point through the second connecting rod mechanism; in the process that the driving slide block moves from the first dead point to the second dead point, the first connecting rod mechanism and the second connecting rod mechanism respectively drive the first pedal until the first pedal is in a reset state. The first pedal is operated to a pressed state and a lifted state, the operation position is clear and recognizable, the current gear is easy to distinguish, the reset state of the first pedal is realized by the operation sliding block, and the problems that the difficulty in operating the first pedal to reach the reset state is high and the gear of the caster is difficult to define are solved.)

1. A pedal mechanism characterized by: comprises a first pedal, a sliding block, a sliding rail, a first connecting rod mechanism and a second connecting rod mechanism, wherein the first pedal can rotate along a rotation center, the sliding block can be arranged in the sliding rail in a sliding way, the sliding block has a first stop point and a second stop point along the sliding of the sliding rail, the first connecting rod mechanism comprises a first crank and a first connecting rod which are connected in a rotating way, the second connecting rod mechanism comprises a second crank and a second connecting rod which are connected in a rotating way, and the first connecting rod and the second connecting rod are both connected with the sliding block in a rotating way, wherein,

when the first pedal is pressed and rotated to a pressing state, the first pedal drives the sliding block to slide to the first stop point through the first link mechanism or the second link mechanism;

when the first pedal is pressed to rotate to a lifting state, the first pedal drives the sliding block to slide to the first stop point through the first link mechanism or the second link mechanism;

when the sliding block is driven to slide from the first dead point to the second dead point, the sliding block drives the first pedal to rotate to a reset state through the first link mechanism and/or the second link mechanism.

2. The pedal mechanism as set forth in claim 1, wherein: the first connecting rod mechanism and the second connecting rod mechanism are respectively provided with a limiting part;

when the first pedal is pressed to rotate, the first pedal drives the first connecting rod mechanism and the second connecting rod mechanism to rotate through the limiting part;

when the sliding block is driven to slide from the first dead point to the second dead point, the first connecting rod mechanism or the second connecting rod mechanism drives the first pedal to rotate through the corresponding limiting part under the action of the sliding block.

3. The pedal mechanism as set forth in claim 2, wherein: the limiting part of the first connecting rod mechanism comprises a first stop block, and the first stop block is arranged on the first crank; the limiting part of the second connecting rod mechanism comprises a second stop block, and the second stop block is arranged on the second crank.

4. The pedal mechanism as set forth in claim 2, wherein: the first pedal is provided with a stopping part,

when the sliding block slides to the second dead point, the limiting part of the first connecting rod mechanism and the limiting part of the second connecting rod mechanism carry out stopping limiting through the stopping part.

5. The pedal mechanism as set forth in claim 4, wherein:

the stopping portion comprises a first stopping arm and a second stopping arm, the first stopping arm is arranged on one side, corresponding to the first crank, of the first pedal, and the second stopping arm is arranged on one side, corresponding to the second crank, of the first pedal.

6. The pedal mechanism as set forth in claim 5, wherein: the first blocking arm and the second blocking arm extend from the rotation center of the first pedal, and an angle is formed between the first blocking arm and the second blocking arm; the limiting part of the first link mechanism and the limiting part of the second link mechanism are both positioned on the inner side or the outer side of the angle.

7. The pedal mechanism as set forth in claim 1, wherein: the first crank is arranged on the upper side of the first connecting rod, and the second crank is arranged on the upper side of the second connecting rod; the first end of the first crank is hinged to the first end of the second crank, the second end of the first crank is hinged to the first end of the first connecting rod, the second end of the second crank is hinged to the first end of the second connecting rod, and the second end of the first connecting rod and the second end of the second connecting rod are hinged to the sliding block.

8. The pedal mechanism as set forth in claim 7, wherein: the center of articulation of the first and second cranks is collinear with the center of rotation of the first pedal.

9. The pedal mechanism as set forth in claim 1, wherein: the sliding block is connected with the first pedal, and the sliding block is connected with the second pedal.

10. The pedal mechanism according to any one of claims 1 to 9, wherein: and a connecting line between the joint of the first crank and the first connecting rod and the joint of the second crank and the second connecting rod is used as a reference line, the first crank and the first connecting rod are respectively positioned at two sides of the reference line, and the second crank and the second connecting rod are also respectively positioned at two sides of the reference line.

11. The pedal mechanism according to any one of claims 1 to 9, wherein: and a connecting line between the joint of the first crank and the first connecting rod and the joint of the second crank and the second connecting rod is used as a reference line, the first crank and the first connecting rod are both positioned on the same side of the reference line, and the second crank and the second connecting rod are both positioned on the same side of the reference line.

12. The pedal mechanism as set forth in claim 1, wherein: the first pedal comprises a first plate body and a second plate body, and the first plate body and the second plate body are symmetrically arranged on two sides of the rotation center of the first pedal.

13. A walking device is characterized in that: comprising a caster wheel having a gear shift mechanism capable of shifting the caster wheel between a first gear, a second gear and a third gear, and a pedal mechanism according to any one of claims 1 to 12;

the gear shifting mechanism is connected with the first pedal, so that when the first pedal is in the pressed state, the caster is in a first gear; when the first pedal is in the reset state, the caster is in a second gear; when the first pedal is in the lifting state, the caster is in a third gear.

14. A walking system, characterized in that: comprising a main walking system comprising a first caster, a second caster, a main central control device and the pedal mechanism of any one of claims 1 to 12, wherein,

the first caster has a first gear shift mechanism that is capable of shifting the first caster between a first gear, a second gear, and a third gear; the second caster has a second gear shift mechanism that is capable of shifting the second caster between a first gear, a second gear, and a third gear;

the first pedal is connected with the main central control device, and the main central control device is used for transmitting the rotation of the first pedal to the first gear shifting mechanism and the second gear shifting mechanism;

when the first pedal is in the depressed state, the first caster and the second caster are in a first gear; when the first pedal is in the reset state, the first caster and the second caster are in a second gear; when the first pedal is in the lifted state, the first caster and the second caster are in a third gear.

15. The walking system of claim 14, wherein:

the main central control device comprises a first rocker, a first connecting rod and a second connecting rod are respectively connected to two ends of the first rocker in a rotating mode, a first shaft is arranged at the other end of the first connecting rod and used for transmitting rotation to the first gear shifting mechanism, and a second shaft is arranged at the other end of the second connecting rod and used for transmitting rotation to the second gear shifting mechanism;

the main central control device further comprises a driving rod, one end of the driving rod is fixedly provided with a rotating shaft, the axis of the rotating shaft is collinear with the rotating center of the first pedal, and the rotating shaft is connected to the first pedal and rotates synchronously with the first pedal; the other end of the driving rod is hinged to the rod part of the first rocker.

16. The walking system of claim 15, wherein: the auxiliary traveling system comprises a third caster, a fourth caster and an auxiliary central control device, the third caster is provided with a third gear shifting mechanism, and the third gear shifting mechanism can enable the third caster to be switched among a first gear, a second gear and a third gear; the fourth caster has a fourth gear shift mechanism that is capable of shifting the fourth caster between a first gear, a second gear, and a third gear; the transmission device is used for transmitting the motion of the main central control device to the auxiliary walking system, and the auxiliary central control device is used for enabling the third caster wheel and the fourth caster wheel to synchronously switch gears.

17. The walking system of claim 16, wherein: the transmission device comprises a transmission rod, one end of the transmission rod is in transmission connection with the first connecting rod, and the other end of the transmission rod is used for transmitting rotation to the third gear shifting mechanism;

the auxiliary central control device comprises a second rocker, two ends of the second rocker are respectively and rotatably connected with a third side link and a fourth side link, the other end of the third side link is provided with a third shaft, and the transmission rod is connected with the third shaft and can drive the third shaft to synchronously rotate; the other end of the fourth side link is provided with a fourth shaft, and the fourth shaft is used for transmitting rotation to the fourth gear shifting mechanism.

18. The walking system of claim 14, wherein: the main central control device comprises a main central control shaft, and the main central control shaft synchronously rotates along with the rotation of the first pedal; two ends of the main central control shaft are respectively connected with the first gear shifting mechanism and the second gear shifting mechanism and drive the first gear shifting mechanism and the second gear shifting mechanism to synchronously switch gears of the first caster and the second caster.

19. The walking system of claim 18, wherein: the rotation center of the first pedal is collinear with the central axis of the main central control shaft, and the sliding block is provided with a sliding hole for avoiding the main central control shaft.

20. Walking system according to claim 18 or 19, characterized in that: the auxiliary traveling system comprises a third caster, a fourth caster and an auxiliary central control device, the third caster is provided with a third gear shifting mechanism, and the third gear shifting mechanism can enable the third caster to be switched among a first gear, a second gear and a third gear; the fourth caster has a fourth gear shift mechanism that is capable of shifting the fourth caster between a first gear, a second gear, and a third gear; the transmission device is used for transmitting the motion of the main central control device to the auxiliary walking system, and the auxiliary central control device is used for enabling the third caster wheel and the fourth caster wheel to synchronously switch gears.

21. The walking system of claim 20, wherein: the auxiliary central control device comprises an auxiliary central control shaft, and the transmission device is used for synchronously transmitting the rotation of the main central control shaft to the auxiliary central control shaft; two ends of the auxiliary central control shaft are respectively connected with the third gear shifting mechanism and the fourth gear shifting mechanism and drive the third gear shifting mechanism and the fourth gear shifting mechanism to synchronously switch gears of the third caster and the fourth caster.

22. The walking system of claim 21, wherein: the transmission device comprises a first inhaul cable, a second inhaul cable, a first connecting piece and a second connecting piece, wherein the first connecting piece is fixedly connected to the main central control shaft, and the second connecting piece is fixedly connected to the auxiliary central control shaft; one protruding end of the first connecting piece is connected with one protruding end of the second connecting piece through a first inhaul cable, the other protruding end of the first connecting piece is connected with the other protruding end of the second connecting piece through a second inhaul cable, and the first inhaul cable and the second inhaul cable are in a tensioning state.

23. A medical device, characterized by: comprising the walking device of claim 13.

24. A medical device, characterized by: comprising a walking system as claimed in any one of claims 14 to 22.

Technical Field

The invention relates to the field of medical instruments, in particular to a pedal mechanism, a walking device, a walking system and medical equipment.

Background

The movable medical equipment is generally provided with a caster wheel with a first gear, a second gear and a third gear at the bottom of the equipment to form a walking system convenient for the equipment to move, and three gears of the caster wheel are switched by a pedal to enable the caster wheel to be correspondingly in three states of orientation, freedom and locking, so that the straight-going, brake releasing and brake control of the equipment are realized, for example, when one end of the pedal is lifted (or pressed), the caster wheel belongs to the orientation state, the caster wheel can only rotate but not turn, and the equipment can only move straight; when one end of the pedal is pressed (or lifted), the caster is in a locking state, and the caster can not rotate and turn, so that the braking of the equipment is realized; when the pedal is horizontal, the caster is in a free state, the caster can rotate and turn, and the equipment can be braked. However, in the actual operation process, the gear of the caster is difficult to define through the pedal control caster, that is, the operator is difficult to distinguish the current gear of the caster through the operation on the pedal, especially the free state gear, the operator is difficult to control the force to make the pedal reach the horizontal state, the misoperation is easy, multiple attempts are usually needed, and the inconvenience is brought to the actual use.

Disclosure of Invention

According to an embodiment of the present invention, a pedal mechanism is provided to solve a problem that a gear of a caster is difficult to be defined by controlling the caster with a pedal, and a walking device, a walking system and a medical device having the pedal mechanism are provided.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a first aspect of an embodiment of the present invention provides a pedal mechanism, including a first pedal, a slider, a slide rail, a first link mechanism, and a second link mechanism, where the first pedal is capable of rotating along a rotation center, the slider is slidably disposed in the slide rail, the slider has a first dead point and a second dead point along the slide rail, the first link mechanism includes a first crank and a first link rod that are rotatably connected, the second link mechanism includes a second crank and a second link rod that are rotatably connected, and both the first link rod and the second link rod are rotatably connected to the slider, where when the first pedal is pressed to rotate to a pressed state, the first pedal drives the slider to slide to the first dead point through the first link mechanism or the second link mechanism; when the first pedal is pressed to rotate to a lifting state, the first pedal drives the sliding block to slide to the first stop point through the first link mechanism or the second link mechanism; when the sliding block is driven to slide from the first dead point to the second dead point, the sliding block drives the first pedal to rotate to a reset state through the first link mechanism and/or the second link mechanism.

As an improvement of the above technical solution, the first link mechanism and the second link mechanism are respectively provided with a limiting part; when the first pedal is pressed to rotate, the first pedal drives the first connecting rod mechanism and the second connecting rod mechanism to rotate through the limiting part; when the sliding block is driven to slide from the first dead point to the second dead point, the first connecting rod mechanism or the second connecting rod mechanism drives the first pedal to rotate through the corresponding limiting part under the action of the sliding block.

As a further improvement of the above technical solution, the limiting portion of the first link mechanism includes a first stopper, and the first stopper is disposed on the first crank; the limiting part of the second connecting rod mechanism comprises a second stop block, and the second stop block is arranged on the second crank.

As a further improvement of the above technical solution, the first pedal is provided with a stopping portion, and when the sliding block slides to the second dead point, the limiting portion of the first link mechanism and the limiting portion of the second link mechanism perform stopping and limiting through the stopping portion.

As a further improvement of the above technical solution, the stopping portion includes a first stopping arm and a second stopping arm, the first stopping arm is disposed on the first pedal on a side corresponding to the first crank, and the second stopping arm is disposed on the first pedal on a side corresponding to the second crank.

As a further improvement of the above technical solution, the first blocking arm and the second blocking arm both extend from a rotation center of the first pedal, and an angle is formed between the first blocking arm and the second blocking arm; the limiting part of the first link mechanism and the limiting part of the second link mechanism are both positioned on the inner side or the outer side of the angle.

In another preferred embodiment, the first crank is provided on an upper side of the first connecting rod, and the second crank is provided on an upper side of the second connecting rod; the first end of the first crank is hinged to the first end of the second crank, the second end of the first crank is hinged to the first end of the first connecting rod, the second end of the second crank is hinged to the first end of the second connecting rod, and the second end of the first connecting rod and the second end of the second connecting rod are hinged to the sliding block.

Further, the center of articulation of the first crank and the second crank is collinear with the center of rotation of the first pedal.

Preferably, the pedal mechanism further comprises a second pedal, and the second pedal is connected to the sliding block, or the second pedal and the sliding block are formed into an integral structure.

As a further improvement of the above technical solution, a connecting line between a junction of the first crank and the first connecting rod and a junction of the second crank and the second connecting rod is used as a reference line, the first crank and the first connecting rod are respectively located at two sides of the reference line, and the second crank and the second connecting rod are also respectively located at two sides of the reference line.

As a further improvement of the above technical solution, a connecting line between a junction of the first crank and the first connecting rod and a junction of the second crank and the second connecting rod is taken as a reference line, the first crank and the first connecting rod are both located on the same side of the reference line, and the second crank and the second connecting rod are both located on the same side of the reference line.

Preferably, the first pedal comprises a first plate body and a second plate body, and the first plate body and the second plate body are symmetrically arranged on two sides of the rotation center of the first pedal.

In a second aspect of the embodiments of the present invention, there is provided a traveling device, including a caster and the pedal mechanism of any of the above technical solutions, wherein the caster has a gear shift mechanism that can switch the caster among a first gear, a second gear, and a third gear; the gear shifting mechanism is connected with the first pedal, so that when the first pedal is in the pressed state, the caster is in a first gear; when the first pedal is in the reset state, the caster is in a second gear; when the first pedal is in the lifting state, the caster is in a third gear.

In a third aspect of the embodiments of the present invention, there is provided a traveling system, including a main traveling system, where the main traveling system includes a first caster, a second caster, a main central control device, and a pedal mechanism according to any of the above technical solutions, where the first caster has a first gear shift mechanism, and the first gear shift mechanism can switch the first caster among a first gear, a second gear, and a third gear; the second caster has a second gear shift mechanism that is capable of shifting the second caster between a first gear, a second gear, and a third gear; the first pedal is connected with the main central control device, and the main central control device is used for transmitting the rotation of the first pedal to the first gear shifting mechanism and the second gear shifting mechanism; when the first pedal is in the depressed state, the first caster and the second caster are in a first gear; when the first pedal is in the reset state, the first caster and the second caster are in a second gear; when the first pedal is in the lifted state, the first caster and the second caster are in a third gear.

As an improvement of the above technical solution, the main central control device includes a first rocker, two ends of the first rocker are respectively rotatably connected with a first side link and a second side link, the other end of the first side link is provided with a first shaft, the first shaft is used for transmitting rotation to the first gear shifting mechanism, the other end of the second side link is provided with a second shaft, and the second shaft is used for transmitting rotation to the second gear shifting mechanism; the main central control device further comprises a driving rod, one end of the driving rod is fixedly provided with a rotating shaft, the axis of the rotating shaft is collinear with the rotating center of the first pedal, and the rotating shaft is connected to the first pedal and rotates synchronously with the first pedal; the other end of the driving rod is hinged to the rod part of the first rocker.

As a further improvement of the above technical solution, the auxiliary traveling system further comprises a secondary traveling system and a transmission device, wherein the secondary traveling system comprises a third caster, a fourth caster and a secondary central control device, the third caster is provided with a third gear shifting mechanism, and the third gear shifting mechanism can shift the third caster among a first gear, a second gear and a third gear; the fourth caster has a fourth gear shift mechanism that is capable of shifting the fourth caster between a first gear, a second gear, and a third gear; the transmission device is used for transmitting the motion of the main central control device to the auxiliary walking system, and the auxiliary central control device is used for enabling the third caster wheel and the fourth caster wheel to synchronously switch gears.

As a further improvement of the above technical solution, the transmission device includes a transmission rod, one end of the transmission rod is in transmission connection with the first frame link, and the other end of the transmission rod is used for transmitting rotation to the third gear shifting mechanism; the auxiliary central control device comprises a second rocker, two ends of the second rocker are respectively and rotatably connected with a third side link and a fourth side link, the other end of the third side link is provided with a third shaft, and the transmission rod is connected with the third shaft and can drive the third shaft to synchronously rotate; the other end of the fourth side link is provided with a fourth shaft, and the fourth shaft is used for transmitting rotation to the fourth gear shifting mechanism.

As another preferred embodiment, the main central control device comprises a main central control shaft, and the main central control shaft synchronously rotates along with the rotation of the first pedal; two ends of the main central control shaft are respectively connected with the first gear shifting mechanism and the second gear shifting mechanism and drive the first gear shifting mechanism and the second gear shifting mechanism to synchronously switch gears of the first caster and the second caster.

As an improvement of the technical scheme, the rotation center of the first pedal is collinear with the central axis of the main central control shaft, and the sliding block is provided with a sliding hole for avoiding the main central control shaft.

As a further improvement of the above technical solution, the auxiliary traveling system further comprises a secondary traveling system and a transmission device, wherein the secondary traveling system comprises a third caster, a fourth caster and a secondary central control device, the third caster is provided with a third gear shifting mechanism, and the third gear shifting mechanism can shift the third caster among a first gear, a second gear and a third gear; the fourth caster has a fourth gear shift mechanism that is capable of shifting the fourth caster between a first gear, a second gear, and a third gear; the transmission device is used for transmitting the motion of the main central control device to the auxiliary walking system, and the auxiliary central control device is used for enabling the third caster wheel and the fourth caster wheel to synchronously switch gears.

As a further improvement of the above technical solution, the secondary central control device includes a secondary central control shaft, and the transmission device is used for synchronously transmitting the rotation of the primary central control shaft to the secondary central control shaft; two ends of the auxiliary central control shaft are respectively connected with the third gear shifting mechanism and the fourth gear shifting mechanism and drive the third gear shifting mechanism and the fourth gear shifting mechanism to synchronously switch gears of the third caster and the fourth caster.

As a further improvement of the above technical solution, the transmission device includes a first cable, a second cable, a first connecting member and a second connecting member, the first connecting member is fixedly connected to the main central control shaft, and the second connecting member is fixedly connected to the auxiliary central control shaft; one protruding end of the first connecting piece is connected with one protruding end of the second connecting piece through a first inhaul cable, the other protruding end of the first connecting piece is connected with the other protruding end of the second connecting piece through a second inhaul cable, and the first inhaul cable and the second inhaul cable are in a tensioning state.

In a fourth aspect of the embodiments of the present invention, a medical device is provided, which includes the walking device in any one of the above technical solutions, and the medical device implements straight movement, braking or braking release by the walking device.

In a fifth aspect of the embodiment of the present invention, another medical device is provided, which includes the walking system in any of the above technical solutions, and the medical device realizes straight movement, braking or braking release through the walking system.

The technical scheme at least has the following advantages or beneficial effects:

the pedal mechanism comprises a first pedal, a sliding block, a sliding rail, a first connecting rod mechanism and a second connecting rod mechanism; in the process that the first pedal rotates and is pressed down to be in a pressed-down state, the first pedal drives the sliding block to slide to a first stop point through the first connecting rod mechanism; in the process that the first pedal rotates and is lifted to be in a lifting state, the first pedal drives the sliding block to slide to a first stop point through the second connecting rod mechanism; in the process that the driving slide block moves from the first dead point to the second dead point, the first connecting rod mechanism and the second connecting rod mechanism respectively drive the first pedal until the first pedal is in a reset state. The first pedal is operated to a pressed state and a lifted state, the operation position is clear and recognizable, the current gear is easy to distinguish, the reset state of the first pedal is realized by the operation sliding block, and the problems that the difficulty in operating the first pedal to reach the reset state is high and the gear of the caster is difficult to define are solved.

Drawings

In order to more clearly illustrate the technical solution in the embodiments of the present invention, the following will briefly explain the drawings used in the description of the embodiments:

FIG. 1 is a schematic structural view of a first embodiment of a pedal mechanism of the present invention;

FIG. 2 is a schematic diagram of several states of the embodiment shown in FIG. 1;

FIG. 3 is a schematic structural view of a second embodiment of the pedal mechanism of the present invention;

FIG. 4 is a schematic diagram of several states of the embodiment of FIG. 3;

FIG. 5 is a schematic structural view of an embodiment of the walking device;

FIG. 6 is a schematic structural view of a first embodiment of the walking system;

FIG. 7 is a schematic structural view (partial structure is omitted) of a second embodiment of the walking system;

FIG. 8 is a schematic structural view of a third embodiment of the walking system;

fig. 9 is a schematic structural diagram of a fourth embodiment of the walking system.

Detailed Description

Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the purpose of the drawings is to graphically supplement the description of the text portion of the specification, so that each feature and the whole technical solution of the present invention can be visually and vividly understood, but the scope of the present invention should not be construed as being limited thereto.

In the description of the present invention, if an orientation description is referred to, for example, the orientations or positional relationships indicated by "upper", "lower", "front", "rear", "left", "right", etc. are based on the orientations or positional relationships shown in the drawings, only for convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. If a feature is referred to as being "disposed," "secured," or "connected" to another feature, it can be directly disposed, secured, or connected to the other feature or be indirectly disposed, secured, or connected to the other feature.

In the description of the present invention, if "a number" is referred to, it means one or more, if "a number" is referred to, it means two or more, if "more than", "less than" or "more than" is referred to, it is understood that the number is not included, and if "more than", "less than" or "within" is referred to, it is understood that the number is included. If reference is made to "first" or "second", this should be understood to distinguish between features and not to indicate or imply relative importance or to implicitly indicate the number of indicated features or to implicitly indicate the precedence of the indicated features.

In addition, unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Fig. 1 is a schematic structural diagram of a first embodiment of a pedal mechanism of the present invention, and fig. 2 is a schematic diagram of several states of the embodiment shown in fig. 1, please refer to fig. 1 and 2 simultaneously.

The pedal mechanism 14 includes a first pedal 141, a slider 147, a slide rail 148, a first link mechanism and a second link mechanism, the first pedal 141 can rotate along a rotation center 142, in practical implementation, the first pedal can be rotatably connected to a rack, the slide rail 148 is fixedly connected to the rack, the slider 147 is slidably connected to the slide rail 148, in this embodiment, the first link mechanism includes a first crank 143 and a first link 144, the second link mechanism includes a second crank 145 and a second link 146, the first crank 143 is disposed on an upper side of the first link 144, and the second crank 145 is disposed on an upper side of the second link 146; the first end of the first crank 143 is hinged with the first end of the second crank 145, the second end of the first crank 143 is hinged with the first end of the first connecting rod 144, the second end of the second crank 145 is hinged with the first end of the second connecting rod 146, and the second end of the first connecting rod 144 and the second end of the second connecting rod 146 are both hinged with the sliding block 147, so that only one of the first crank 143 or the second crank 145 needs to be driven to rotate, the sliding block 147 is driven to slide towards one end of the sliding rail 148, and the sliding block 147 is driven to slide towards the other end of the sliding rail 148, so that the first crank 143 and the second crank 145 are driven to rotate simultaneously, the sliding of the sliding block 147 along the sliding rail 148 has a first dead point A and a second dead point B, the first dead point a and the second dead point B can be realized by providing corresponding limiting structures for the sliding range of the sliding block, or by providing a corresponding restriction to the movement of the first linkage or the second linkage. When the first pedal 141 rotates to be in a depressed state, the slider 147 slides to a first dead point a; when the first pedal 141 rotates to be in a lifting state, the slide block 147 slides to a first dead point A; when the driving slider 147 slides to the second dead point B, the first pedal 147 is in the reset state to be reset, so that the first pedal 141 can be reset by driving the slider 147, the pedal mechanism 14 has a reset function, and compared with a mode of controlling the pedal by foot pedal, the problem of gear shift failure or two-gear connection caused by difficulty in controlling the force is avoided, and misoperation can be avoided.

The first link mechanism and the second link mechanism are respectively provided with a limiting part, and the first pedal 141 drives the first crank 143 or the second crank 145 to rotate through the limiting part.

Referring to fig. 2, several states of the pedal mechanism 14 are generally as follows:

as shown in fig. 2 a, the first pedal 141 is rotated and pressed down along the rotation center 142, the first crank 143 can be driven to rotate to the highest position by the limiting part, at this time, the slider 147 slides to the first dead point a, the first pedal 141 is in a pressed-down state, and the second connecting rod 146 and the second crank 145 are linked with each other along with the sliding of the slider 147;

as shown in fig. 2B, the sliding block 147 is pushed to slide toward the other side of the first dead point a, and the first crank 143 and the second crank 145 are driven to rotate until the first pedal 141 abuts against the limiting portion, at this time, the first crank 143 and the second crank 145 stop rotating due to being limited, the sliding block 147 slides to the second dead point B, and the first pedal 141 reaches the reset state;

as shown in c in fig. 2, the first pedal 141 is lifted by rotating along the rotation center 142, the second crank 145 can be driven by the limiting portion to rotate to the highest position, at this time, the slider 147 slides to the first dead point a, the first pedal 141 is in the lifted state, and the first link 144 and the first crank 143 are linked with each other along with the sliding of the slider 147;

the first pedal 141 can be reset by pushing the slide block 147 to slide toward the other side of the first dead center a, as shown in fig. 2 b.

The first pedal is provided with a stopping part, and when the sliding block slides to a second dead point B, the limiting part of the first connecting rod mechanism and the limiting part of the second connecting rod mechanism carry out stopping limiting through the stopping part. The stopping portion includes a first stopping arm 1411 and a second stopping arm 1412, the first stopping arm 1411 is disposed on the first pedal 141 at a side corresponding to the first crank 143, and the second stopping arm 1412 is disposed on the first pedal 141 at a side corresponding to the second crank 145.

Specifically, the first stopper arm 1411 and the second stopper arm 1412 each extend from the center of rotation of the first pedal 141, and the first stopper arm 1411 and the second stopper arm 1412 have an angle therebetween; the limiting portion of the first link mechanism and the limiting portion of the second link mechanism are both outside the angle, so that the first blocking arm 1411 and the second blocking arm 1412 can push the limiting portion of the first link mechanism or the limiting portion of the second link mechanism to drive the first link mechanism or the second link mechanism to move when rotating with the first pedal 141.

The first connecting rod mechanism and the second connecting rod mechanism are identical in structure and are symmetrically arranged, so that the structure can be simplified, and the movement stability can be guaranteed. Furthermore, the hinge centers of the first crank and the second crank are collinear with the rotation center of the first pedal, so that the structure is simple and easy to implement.

For the position limiting part, the first crank 143 and the second crank 145 may be provided with a stopper, specifically, the first crank 143 may be provided with a first stopper 1431, the second crank 145 may be provided with a second stopper 1451, meanwhile, the first pedal 141 may be provided with a first stopper 1411 on a side corresponding to the first crank 143, the first pedal 141 may be provided with a second stopper 1412 on a side corresponding to the second crank 145, the first stopper 1411 and the second stopper 1412 may be connected to the first pedal 141 by a fixed connection manner, or may be formed as an integrated structure with the first pedal 141; when the first pedal 141 is in the reset state, the first stopper 1431 is located on the upper side of the first stopper arm 1411, and the second stopper 1451 is located on the upper side of the second stopper arm 1412. Therefore, during the process of pressing the first pedal 141, the first blocking arm 1411 abuts against the first stop 1431, so as to drive the first crank 143 to rotate, and drive the slider 147 to slide through the first connecting rod 144; in the resetting process, the slider 147 drives the first link 144 and the second link 146 to slide towards the second dead point B, so as to drive the first crank 143 and the second crank 145 to rotate until the first stop 1431 abuts against the upper portion of the first stop arm 1411, the second stop 1451 abuts against the upper portion of the second stop arm 1412, at this time, the first crank 143 and the second crank 145 are limited, so that the slider 147 reaches the second dead point B, and the first pedal 141 is reset to the resetting state; during the process of lifting the first pedal 141, the second stopper 1451 is held by the second stopper 1412, so as to rotate the second crank 145 and drive the slider 147 to slide through the second link 146.

The first stop block and the second stop block can be arranged on the first connecting rod and the second connecting rod respectively instead (not shown), and similarly, the first stop block and the second stop block are respectively pushed by the first stop arm and the second stop arm, so that the first connecting rod mechanism can move to enable the slide block to correspondingly slide, and the resetting process is similar to the technical scheme. In specific implementation, a second pedal 149 may be further provided, and the second pedal 149 is connected to the slider 147, or the second pedal 149 and the slider 147 are formed into an integral structure, so that the second pedal 149 moves synchronously with the sliding of the slider 147, and correspondingly, when the first pedal 141 is pressed down, the slider 147 is pushed to slide to the first dead point a through the first connecting rod 144 and the first crank 143, and the second pedal 149 is lifted; the second pedal 149 is pressed down to enable the slide block 147 to slide towards the second dead point B until the first crank 143 and the second crank 145 are limited, and at the moment, the first pedal 141 is reset to a reset state; when the first pedal 141 is lifted, the slider 147 is pushed by the second link 146 and the second crank 145 to slide to the first dead point a, and the second pedal 149 is lifted.

The depressed state and the raised state of the first pedal 141 can be realized by directly operating the first pedal 141, and the depressed state and the raised state of the first pedal 141 are clear and recognizable, and it is easy to identify the current gear, and the reset state of the first pedal 141 can be realized by operating the slider 147 or other structures connected with the slider 147, such as the second pedal 149, and the reset state of the first pedal 141 is realized by operating the second pedal 149, the operation is convenient, and the state is clear and recognizable, and the crank has corresponding limit, so that the slider 147 has obvious first dead point a and second dead point B, compared with the conventional reset state of directly operating the first pedal, the reset state is realized by operating the slider 147 or other structures connected with the slider 147, so that the operation is more direct and clear, and no excessive control force is needed, and the corresponding more stable pedal state can be reached, therefore, the problem that the gear state of the caster is difficult to define by controlling the caster through the pedal is solved, and the accuracy and the convenience of operation are improved.

A connecting line between a connection point of the first crank 143 and the first link 144 and a connection point of the second crank 145 and the second link 146 is used as a reference line, the first crank 143 and the first link 144 of the pedal mechanism 14 of the present embodiment are respectively located on two sides of the reference line, and the second crank 145 and the second link 146 are also respectively located on two sides of the reference line. Referring to the orientation shown in fig. 1 and 2, the first dead point a is located above the second dead point B, and both pressing and lifting the first pedal 141 can drive the slider 147 to slide upward to the first dead point a; the second pedal 149 is pushed downwards to drive the slide block 147 to slide downwards, the first crank 143 and the second crank 145 rotate downwards until being limited, at this time, the slide block 147 slides to the second dead point B, and the first pedal 141 is reset.

As for the pedal, the operation of depressing is more convenient for the foot operation than the operation of raising during the actual operation, and therefore, the first pedal 141 can be modified with reference to fig. 1: the plate bodies of the first pedal 141 include a first plate body 1413 and a second plate body 1414, and the first plate body 1413 and the second plate body 1414 are symmetrically disposed on both sides of the rotation center 142 of the first pedal 141, so that the "pressed state" of the first pedal 141 can be realized by pressing down the first plate body 1413, and the "lifted state" of the first pedal 141 can be realized by pressing down the second plate body 1414. Therefore, by pressing down the first plate 1413 and the second plate 1414 on both sides of the first pedal 141, respectively, different states of the pedal mechanism 14 can be realized, which is more convenient for practical operation. The first pedal 141 can be rotated to any designated position between the depressed state and the raised state as the reset state position of the first pedal 141, and the position can be determined according to actual design and installation requirements, for example, in this embodiment, the extending direction of the slide rail 148 is a vertical direction, the direction perpendicular to the vertical direction is a horizontal direction, and the plate body of the first pedal 141 is set to be the reset position when extending along the horizontal direction, that is: when the driving slider 147 slides to the reset position of the first pedal 141, the plate body of the first pedal 141 rotates to a position extending along the horizontal direction, and at this time, the first pedal 141 is in the reset state, and the recognizability is obvious.

Fig. 3 is a schematic structural diagram of a second embodiment of the pedal mechanism of the present invention, fig. 4 is a schematic diagram of several states of the embodiment shown in fig. 3, and referring to fig. 3 and 4, the first embodiment of the pedal mechanism can be reasonably changed according to the principle of the linkage mechanism, for example, in the pedal mechanism 14 ' of the present embodiment, a connecting line between a connecting point of the first crank 143 ' and the first link 144 ' and a connecting point of the second crank 145 ' and the second link 146 ' is used as a reference line, the reference line is only used as a reference, and is not an actual structure, and the first crank 143 ' and the first link 144 ' are located on the same side of the reference line; the second crank 145 'and the second link 146' are located on the same side of the reference line, and the position of the position-limiting structure is different from that of the first embodiment of the pedal mechanism, in this embodiment, the position-limiting portion of the first link mechanism and the position-limiting portion of the second link mechanism are both located inside the angle between the first stopper arm 1411 and the second stopper arm 1412, so that the first stopper arm 1411 and the second stopper arm 1412 can push the position-limiting portion of the first link mechanism or the position-limiting portion of the second link mechanism to drive the first link mechanism or the second link mechanism to move when rotating with the first pedal 141. In this embodiment, the limit portion of the first link mechanism is set to be the first stopper 1431 'provided on the first crank 143', and the limit portion of the second link mechanism is set to be the second stopper 1451 'provided on the second crank 145', and the first stopper 1431 'and the second stopper 1451' are located inside an angle between the first stopper 1411 and the second stopper 1412, so that when the first pedal 141 is in the reset state, the first stopper 1431 'is located at a lower side of the first stopper 1411, and the second stopper 1451' is located at a lower side of the second stopper 1412.

At this time, when the first pedal 141 is pressed down, the second stopper 1451 'is abutted by the second stopper 1412 to drive the second crank 145' to swing downward, so that the second link 146 'drives the slider to slide upward until the limit abutment occurs between the first link 144' and the first stopper 1431 ', and the slider 147 reaches the first stop point a'; the second pedal 149 is pushed downwards to enable the sliding block to slide downwards, the first connecting rod 144 ' and the second connecting rod 146 ' drive the first crank 143 ' and the second crank 145 ' to rotate upwards until the first crank 143 ' and the second crank 145 ' are limited by the first stop 1431 ' and the second stop 1451 ', respectively, and at the moment, the sliding block slides to a second stop point B ', and the first pedal 141 is reset; the first pedal 141 is lifted, so that the first blocking arm 1411 abuts against the first stop 1431 'to drive the first crank 143' to swing downward, and the first connecting rod 144 'drives the sliding block 147 to slide upward until the position between the first connecting rod 144' and the first stop 1431 'is limited and abutted, and the sliding block reaches the first stop point a', where in this embodiment, the first stop point a 'is located above the second stop point B'.

A comparative illustration of the first pedal 141 in three states, see fig. 4:

as shown in fig. 4 a, the first pedal 141 is rotated and pressed down along the rotation center 142, and the second crank 145 ' can be driven to rotate to the lowest position by the limiting portion, at this time, the second link 146 ' drives the slider 147 to slide to the first dead point a ', the first pedal 141 is in a pressed-down state, and the first link 144 ' and the first crank 143 ' are linked with each other along with the sliding of the slider 147;

as shown in fig. 4B, the sliding block 147 is pushed to slide toward the other side of the first dead point a ', the first connecting rod 144' and the second connecting rod 146 'drive the first crank 143' and the second crank 145 'to rotate until the first pedal 141 abuts against the limiting portion, at this time, the first crank 143 and the second crank 145 stop rotating due to being limited, and the sliding block 147 slides to the second dead point B', and the first pedal 141 reaches the reset state;

as shown in fig. 4 c, the first pedal 141 is lifted by rotating along the rotation center 142, and the first crank 143 ' can be driven by the limiting portion to rotate to the lowest position, at this time, the first link 144 ' drives the slider 147 to slide to the first dead point a ', the first pedal 141 is in the lifted state, and the second link 146 ' and the second crank 145 ' are linked with each other along with the sliding of the slider 147.

Fig. 5 is a schematic structural view of an embodiment of a walking device, referring to fig. 5 in combination with fig. 1 and 2, the walking device of the embodiment includes a caster 201 and a pedal mechanism (taking the first embodiment of the pedal mechanism as an example), the caster 201 has a gear shift mechanism, and the gear shift mechanism can shift the caster 201 among a first gear, a second gear and a third gear; three states of orientation, freedom and locking corresponding to the caster 201; for the conventional caster 201 with three gears, the gear shifting mechanism comprises a cam and a control shaft, when the gear is shifted, the control rod can make linear motion in the axial direction only by adopting an external structure to drive the cam to rotate, the positions of the control rod are a first position, a second position and a third position corresponding to the three gears, so that three states of orientation, freedom and locking of the caster are realized, the caster is a common central control caster, and the structure and the principle of the caster are not described herein.

The gear shifting mechanism is connected to the first pedal 141, so that when the first pedal 141 is in a pressed state, the caster 201 is in a first gear position and is in an oriented state; when the sliding block 147 slides to drive the first pedal 141 to be in a reset state, the caster 201 is in a second gear and is in a free state, namely a universal rotation state; when the first pedal 141 is lifted, the caster 201 is in the third gear position, and the locked state is exhibited. The depressed state and the raised state of the first pedal 141 are realized by directly operating the first pedal 141, the state of the first pedal 141 is clear and recognizable, and the reset state of the first pedal 141 can be realized by operating the slider 147 or other structures connected with the slider 147, for example, in the first embodiment, the second pedal 149 connected with the slider 147 is provided, the reset state of the first pedal 141 is realized by operating the second pedal 149, the operation is convenient, the state is clear and recognizable, so that the problem that the gear state of the caster 201 is difficult to define by controlling the caster 201 through the pedal is solved, and the accuracy and convenience of the operation are improved.

This running gear can be applied to traveling system jointly as other wheels of direction control's main control truckle 201 cooperation, orientation through this main control truckle 201, free and locking state realize traveling system's craspedodrome, release and brake, and can know by the aforesaid, the structure setting of pedal mechanism 14, make the operation more direct and clear and definite, do not need too much control dynamics, can reach corresponding comparatively stable footboard state, thereby solved and be difficult to the problem of definiting truckle 201 gear state through footboard control truckle 201, running gear's operating accuracy and convenience are improved. When the walking device is applied to a trolley walking system, one or two or more walking devices can be reasonably arranged according to needs.

Fig. 6 is a schematic structural diagram of a first embodiment of a walking system, referring to fig. 6, and in combination with fig. 1 and 2, the walking system of this embodiment includes a main walking system 10, the main walking system 10 includes a first caster 11, a second caster 12, a main central control device 13, and a pedal mechanism 14 (taking the first embodiment of the pedal mechanism as an example), wherein:

the first caster 11 has a first gear shift mechanism capable of switching the first caster 11 between a first gear, a second gear and a third gear, corresponding to three states of orientation, freedom and locking of the first caster 11; the second caster 12 has a second gear shift mechanism capable of shifting the second caster 12 between a first gear, a second gear and a third gear, corresponding to three states of orientation, freedom and locking of the second caster 12; the first pedal 141 is connected with the main central control device 13, and the main central control device 13 is used for transmitting the rotation of the first pedal 141 to the first gear shifting mechanism and the second gear shifting mechanism; first truckle 11 and second truckle 12 all can adopt the truckle of conventional three gears, to conventional three-gear truckle, its gearshift includes cam and control shaft, during the gear shift, only need adopt the exterior structure drive cam to rotate and can make the control lever be linear motion at its axial, correspond three gear, the position of control lever is position one, position two and position three, thereby realize the directional of truckle, freedom and locking three state, three-gear truckle is well accuse truckle commonly used, its structure and principle do not do this and describe again.

When the first pedal 141 is pressed down, the first caster 11 and the second caster 12 are in the first gear position, and are in the orientation state; when the first pedal 141 is in the reset state, the first caster 11 and the second caster 12 are in the second gear, and are in the free state; when the first pedal 141 is in the lifted state, the first caster 11 and the second caster 12 are in the third gear position, and the locked state is exhibited.

The main central control device 13 includes a first rocker 132, two ends of the first rocker 132 are respectively rotatably connected with a first connecting rod 133 and a second connecting rod 134, the other end of the first connecting rod 133 is provided with a first shaft 1331, the first shaft 1331 is used for transmitting rotation to the first gear shifting mechanism, the other end of the second connecting rod 134 is provided with a second shaft 1341, and the second shaft 1341 is used for transmitting rotation to the second gear shifting mechanism;

the main central control device 13 further includes an active rod 135, one end of the active rod 135 is fixedly provided with a rotating shaft 1351, an axis of the rotating shaft 1351 is collinear with the rotation center 142 of the first pedal 141, the rotating shaft 1351 is connected to the first pedal 141 and rotates synchronously with the first pedal 141, the connecting between the rotating shaft 1351 and the first pedal 141 may be a fixed connection, or may be a connection configured to prevent the rotating shaft 1351 and the first pedal 141 from rotating relatively, such as a mating connection between a square shaft and a square hole, or a mating connection between another polygonal shaft and a corresponding polygonal hole, or a flat position is provided on the rotating shaft 1351, a special-shaped hole mating with the flat position is provided on the first pedal 141, so that the rotating shaft 1351 and the first pedal 141 can be prevented from rotating relatively, and the rotating shaft 1351 and the first pedal 141 can rotate synchronously.

The other end of the active lever 135 is hinged to the lever portion of the first rocker 132, so that when the first pedal 141 rotates along the rotation center 142 thereof, the active lever 135 synchronously rotates, and simultaneously the active lever 135 drives the first rocker 132 to swing, so that the first link rod 133 and the second link rod 134 at the two ends of the first rocker 132 synchronously rotate, and the rotation range is between the first position and the second position, thereby realizing synchronous gear shifting operation of the first gear shifting mechanism and the second gear shifting mechanism.

When the first pedal 141 is in a depressed state, the first and second link rods 133 and 134 are rotated to the first position, and the first and second gear shifting mechanisms switch the first and second casters 11 and 12 to the first gear; when the first pedal 141 is in the reset state, the first and second link rods 133 and 134 are rotated to the third position between the first and second positions, and the first and second gear shifting mechanisms switch the first and second casters 11 and 12 to the second gear; when the first pedal 141 is in the lifted state, the first and second link rods 133 and 134 are rotated to the second position, and the first and second gear shifting mechanisms switch the first and second casters 11 and 12 to the third gear. The design of the first link rod 133, the second link rod 134, the first rocking rod 132 and the driving rod 135 can be calculated according to the specific requirement by combining the basic transmission principle of the conventional rod connection, and the details are not repeated herein.

The traveling system comprises a frame 40, a sliding rail 148 on the caster mechanism 14 is fixedly connected to the frame 40, a first pedal 141 is rotatably connected to the frame 40, in practical application, the frame 40 comprises a frame 42, a support 41 is arranged on the frame 42, the sliding rail 148 is connected with the support 41, the frame 42 can be used for bearing equipment needing to move, a first caster 11 and a second caster 12 are arranged at the bottom of one side of the frame 42 and used as main control casters for direction control, other conventional casters without a gear shifting function can be configured and used as auxiliary conveying wheels, and the straight traveling, the brake releasing and the brake of the traveling system are realized through the orientation, free state and the locking state of the first caster 11 and the second caster 12.

Fig. 7 is a schematic structural diagram (parts of structures are omitted) of a second embodiment of the walking system, and referring to fig. 6 and 7, the present embodiment is an improvement on the first embodiment of the walking system, on the basis of the structure of the first embodiment of the walking system, the walking system of the present embodiment further includes a secondary walking system 20 and a transmission device 30, the secondary walking system 20 includes a third caster 21, a fourth caster 22 and a secondary central control device 23, and the third caster 21 has a third gear shift mechanism, which can switch the third caster 21 among a first gear, a second gear and a third gear, corresponding to three states of orientation, freedom and locking of the third caster 21; the fourth caster 22 has a fourth gear shift mechanism that enables the fourth caster 22 to shift between the first gear, the second gear, and the third gear, corresponding to three states of orientation, freedom, and locking of the fourth caster 22. The transmission device 30 is used for transmitting the movement of the main central control device 13 to the auxiliary walking system 20, and the auxiliary central control device 23 is used for enabling the third caster 21 and the fourth caster 22 to synchronously switch gears.

The auxiliary central control device 23 comprises a second rocker 232, the transmission device 30 comprises a transmission rod 301, one end of the transmission rod 301 is in transmission connection with the first link rod 133, and the other end of the transmission rod 301 is used for transmitting rotation to the third gear shifting mechanism; when the first pedal 141 is rotated, the first link rod 133 rotates along with it, and simultaneously drives the transmission rod 301 to rotate synchronously, so that the third gear shifting mechanism can be driven to shift the third caster 21. The transmission rod 301 and the first link rod 133 may be fixedly connected, or connected between the first pedal 141 and the rotating shaft 1351 of the driving rod 135, or connected in other conventional ways, as long as the transmission rod 301 and the first link rod 133 do not rotate relatively.

The two ends of the second rocker 232 are respectively rotatably connected with a third side link 233 and a fourth side link 234, the other end of the third side link 233 is provided with a third shaft 2331, the other end of the fourth side link 234 is provided with a fourth shaft 2341, the fourth shaft 2341 is used for transmitting rotation to the fourth gear shift mechanism, the transmission rod 301 is connected with the third shaft 2331 and can drive the third shaft 2331 to synchronously rotate, so that the third side link 233 rotates to drive the second rocker 232 to rotate, the fourth side link 234 synchronously rotates, and the fourth gear shift mechanism is driven to shift gears for the fourth caster 22. The first caster 11, the second caster 12, the third caster 21 and the fourth caster 22 may be the same three-speed caster, and the first link rod 133, the second link rod 134, the third link rod 233 and the fourth link rod 234 are set to be equal in length. The third caster 21 and the fourth caster 22 are respectively disposed on the other side of the bottom of the frame 42 corresponding to the first caster 11 and the second caster 12, and contribute to maintaining stable transportation of the running system.

Fig. 8 is a schematic structural diagram of a third embodiment of the walking system, and referring to fig. 8 and referring to the first embodiment of the walking system, the present embodiment is different from the first embodiment of the walking system in the main central control device, the connection manner between the main central control device and the pedal mechanism 14, and the other structure is substantially the same as that of the first embodiment of the walking system.

In this embodiment, the main central control device 13' includes a main central control shaft 131, the first pedal 141 is connected to the main central control shaft 131, the main central control shaft 131 rotates synchronously with the rotation of the first pedal 141, and the axis of the main central control shaft 131 can be set to be collinear with the rotation center 142 of the first pedal 141, at this time, the main central control shaft 131 passes through the slider 147 and the slide rail 148, the slider 147 is provided with a slide hole 15 for avoiding the main central control shaft 131, when the slider 147 slides between the first dead point and the second dead point, the slide hole 15 extends a length to accommodate the main central control shaft 131, so as to avoid the interference between the slider 147 and the main central control shaft 131 when the slider 147 slides along the slide rail 148; an abdicating notch 1481 can be arranged on the slide rail 148 at a position corresponding to the slide hole 15, which is convenient for assembly and enables the structure of assembling the pedal mechanism 14 and the main central control shaft 131 to be more compact; the first pedal 141 is fixedly connected with the main central control shaft 131 or connected in a mutual rotation-incapable way, for example, a polygonal shaft hole is matched and sleeved; the rotation of the first pedal 141 causes the main central control shaft 131 to rotate synchronously, and the two ends of the main central control shaft 131 are connected to the first and second shifting mechanisms, respectively, so that the main central control shaft 131 can transmit the rotation synchronously to the first and second shifting mechanisms, thereby driving the first and second shifting mechanisms to synchronously switch the gears of the first and second casters 11 and 12. As can be seen from the foregoing, the pedal mechanism 14 is structurally configured to enable the gear shifting operation to be more direct and definite, and the first pedal 141 can reach the corresponding state without excessive control force, so that the problem that the caster is difficult to define the gear state of the caster through pedal control is solved, and the operation accuracy and convenience of the traveling system are improved. In specific implementation, the slide rail 148 and the slide block 147 can be arranged in a vertical state, at the moment, the upper plate surface of the second pedal 149 is in a horizontal state, and the pedal mechanism can be reset by vertically pressing down the second pedal 149; alternatively, the slide rails 148 and the sliders 147 may be arranged obliquely, so that the extending directions of the slide rails 148 and the sliders 147 are inclined to the vertical direction, and the second pedal 149 is inclined to the horizontal direction accordingly, thereby facilitating the pedaling operation.

In practical application, the walking system can be also provided with other wheels as auxiliary conveying wheels, the first caster 11 and the second caster 12 can be used as main control casters for direction control, the other wheels can be conventional casters without a gear shifting function, and the straight movement, the brake release and the brake of the walking system can be realized through the orientation, the freedom and the locking state of the first caster 11 and the second caster 12.

Fig. 9 is a schematic structural diagram of a fourth embodiment of the running system, and referring to fig. 9 in combination with the third embodiment of the running system, this embodiment is an improvement on the third embodiment of the previous running system, and on the basis of its structure, the running system further includes a secondary running system 20 'and a transmission device 30', the secondary running system 20 'includes a third caster 21, a fourth caster 22 and a secondary central control device 23', and the third caster 21 has a third gear shift mechanism, which can switch the third caster 21 among the first gear, the second gear and the third gear, corresponding to three states of orientation, freedom and locking of the third caster 21; the fourth caster 22 has a fourth gear shift mechanism that enables the fourth caster 22 to shift between the first gear, the second gear, and the third gear, corresponding to three states of orientation, freedom, and locking of the fourth caster 22. The transmission device 30 'is used for transmitting the motion of the main central control device 13' to the auxiliary walking system 20 ', and the auxiliary central control device 23' is used for enabling the third caster 21 and the fourth caster 22 to synchronously switch gears.

The auxiliary central control device 23 'includes an auxiliary central control shaft 231, the transmission device 30' is used for synchronously transmitting the rotation of the main central control shaft 131 to the auxiliary central control shaft 231, and two ends of the auxiliary central control shaft 231 are respectively connected with the third gear shifting mechanism and the fourth gear shifting mechanism and drive the third gear shifting mechanism and the fourth gear shifting mechanism to synchronously switch the gears of the third caster 21 and the fourth caster 22. The connection mode of the secondary central control shaft 231 with the third caster 21 and the fourth caster 22 can refer to the connection mode of the primary central control shaft 131 with the first caster 11 and the second caster 12.

The transmission device 30' comprises a first cable 33, a second cable 34, a first connecting piece 31 and a second connecting piece 32, wherein the first connecting piece 31 is fixedly connected to the main central control shaft 131, and the second connecting piece 32 is fixedly connected to the auxiliary central control shaft 231; one protruding end of the first link 31 and one protruding end of the second link 32 are connected by a first cable 33, and the other protruding end of the first link 31 and the other protruding end of the second link 32 are connected by a second cable 34; the first cable 33 and the second cable 34 are both in a tensioned state.

When the main central control shaft 131 rotates along the first direction, the first connecting piece 31 rotates along with the main central control shaft and pulls the first cable 33 to pull the second connecting piece 32 to rotate synchronously, so that the auxiliary central control shaft 231 rotates synchronously to realize the transmission of rotation, therefore, the third caster 21 and the fourth caster 22 can be driven to shift gears synchronously with the first caster 11 and the second caster 12, and the second cable 34 is linked and tightened along with the first caster 11 and the second caster 12, so that the continuity of the transmission of rotation is realized;

when the main central control shaft 131 rotates in a second direction opposite to the first direction, the first connecting member 31 rotates in a reverse direction, so that the second pulling cable 34 is pulled to pull the second connecting member 32 to rotate synchronously, the auxiliary central control shaft 231 rotates synchronously, and the rotation is transmitted, so that the third caster 21 and the fourth caster 22 can be driven to shift gears synchronously with the first caster 11 and the second caster 12, and the first pulling cable 33 is pulled tightly.

The near end of the first connecting piece 31 is provided with a first pulley 35 and a second pulley 36, the near end of the second connecting piece 32 is provided with a third pulley 37 and a fourth pulley 38, two ends of the first cable 33 respectively wind around the first pulley 35 and the third pulley 37 and then are connected with the first connecting piece 31 and the second connecting piece 32, the first pulley 35 and the third pulley 37 can play a role in guiding the first cable 33, two ends of the second cable 34 respectively wind around the second pulley 36 and the fourth pulley 38 and then are connected with the second connecting piece 32, and the second pulley 36 and the fourth pulley 38 can play a role in guiding the second cable 34. In this embodiment, the first connecting member 31 includes a first main body 313 and two protruding ends disposed on the connecting main body 313, the first main body 313 is configured to be connected with the main central control shaft 131, the two protruding ends are respectively configured to be connected with a first cable and a second cable, specifically, the first main body 313 is provided with a connecting hole configured to be sleeved on the main central control shaft 131, one side of the first main body 313 is provided with a first protruding end 311 protruding outward along the radial direction of the connecting hole, the other side of the first main body 313 is provided with a second protruding end 312 protruding outward along the radial direction of the connecting hole, the first protruding end 311 and the second protruding end 312 are opposite in position, the relative position is not limited to absolute relative, but is approximately opposite in orientation, and the first main body 313 may be configured to be a disk shape or a; the second connecting member 32 is provided with a second main body 323, a third protruding end 321 and a fourth protruding end 322, and the structure of the second connecting member 32 is the same as that of the first connecting member 31, that is, the second main body 323, the third protruding end 321 and the fourth protruding end 322 are respectively corresponding to the first main body 313, the first protruding end 311 and the second protruding end 312 of the first connecting member 31 and have the same structure, which is not described herein again; both ends of the first cable 33 are connected to the first protruding end 311 of the first link 31 and the third protruding end 321 of the second link 32, respectively, and both ends of the second cable 34 are connected to the second protruding end 312 of the first link 31 and the third protruding end 321 of the second link 31, respectively

The second protruding end 322 of the second connector 32. The second link 32 is symmetrically arranged with respect to the first link 31, and with reference to the orientation of the drawing, the first pulley 35 is arranged directly below or obliquely below the first protruding end 311 of the first link 31, and the third pulley 37 is arranged directly below or obliquely below the third protruding end 321 of the second link 32, so that the first cable 33 can be steered and guided; the second pulley 36 is disposed directly below or obliquely below the second projecting end 312 of the first link 31, and the fourth pulley 38 is disposed directly below or obliquely below the fourth projecting end 322 of the second link 32, so that the direction change and guidance of the second cable 34 can be performed. Further, the present embodiment is provided with a wire protector 39, and the first and second wires 33 and 34 pass through the wire protector 39 and are exposed from both ends of the wire protector 39 so as to connect the first and second links 31 and 32.

The walking system comprises a frame 40, the frame 40 comprises a frame 42, the frame 42 can be used for bearing equipment needing to move, the first caster 11, the second caster 12, the third caster 21 and the fourth caster 22 are respectively arranged at four corners of the frame 42, the transmission device is arranged at one side of the frame 42, the first pulley 35 and the second pulley 36 are connected to one end, close to the second caster 12, of the frame 42, the third pulley 37 and the fourth pulley 38 are connected to one end, close to the fourth caster 22, of the frame 42, or the first pulley 35 and the second pulley 36 are connected to one end, close to the first caster 11, of the frame 42; the third pulley 37 and the fourth pulley 38 are connected to one end of the frame 42 close to the third caster 21; the middle parts of the first cable 33 and the second cable 24 can be further provided with a wire protecting sleeve 39, two ends of the wire protecting sleeve 39 are connected to the frame 42 through a connecting piece 43, and the wire protecting sleeve 39 can play a role in protecting and guiding the first cable 33 and the second cable 34.

In the above embodiment, the corresponding relationship between the position state of the first pedal and the gear state of the caster may be opposite to the corresponding relationship explained above according to the difference of the caster and the difference of the actual requirement, for example: when the first pedal is in a pressed state, the caster is in a first gear and corresponds to a locking state of the caster; when the first pedal is in a lifting state, the caster is in a third gear and corresponds to a caster orientation state; the first pedal reset state corresponds to the second gear of the caster and is still in a free state of the caster.

The embodiment provides a medical device (not shown in the figure), which comprises a device main machine and a traveling gear in the front, wherein the traveling gear is arranged below the device main machine and used for bearing and conveying the device main machine, and the traveling gear is used for realizing the straight traveling, the brake releasing or the brake of the medical device through the gear shifting operation of the traveling gear.

The embodiment also provides another medical device (not shown) which comprises a device main machine and the walking system of any one of the previous embodiments, wherein the walking system is arranged below the device main machine and used for carrying and conveying the device main machine, and the walking, the braking or the braking of the medical device is realized through the gear shifting operation of the walking device.

The medical equipment in the embodiment can be cart-type ultrasonic diagnosis medical equipment, gears of the cart-type ultrasonic diagnosis medical equipment can be switched in the moving process through the walking system, flexible operation of orientation, brake release and brake is achieved, in addition, when the caster wheel mechanism is used for switching the gears, the pressing, lifting and resetting states of the pedals can be accurately defined, obvious identifiability is realized, and misoperation can be avoided.

The above description is only for the preferred embodiment of the present invention, but the present invention is not limited to the above embodiment, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are included in the scope defined by the claims of the present application.