Floating walking device

Abstract

The invention relates to a floating walking device which comprises a chassis, a horizontal floating walking assembly installed at the bottom of the chassis, a floating bearing disc installed at the top of the chassis and a vertical floating assembly installed between the chassis and the floating bearing disc. The floating bearing disc floats in the vertical direction. According to the floating walking device, the equipment can stably walk under the extremely simple structure, more accurate control and feedback are provided, and the walking smoothness of the equipment is improved.

Description

Technical Field

[0001] The invention relates to the field of mobile equipment, in particular to a floating walking device. Background Art

[0002] In mobile equipment, wheels are usually rolled on tracks for movement, and the tracks are restricted according to the walking position requirements to ensure that the mobile equipment can move along the tracks. However, since the movement of the wheels of the mobile equipment along the tracks is forced guidance, when the tracks are not set as required or there are processing errors, there is a discrepancy between the slope height of the tracks and the required tracks, or there are installation and processing errors in the wheels of the mobile equipment, there is a high probability that the wheels of the mobile equipment will get stuck on the tracks during walking. Therefore, it is necessary to improve the existing technology in view of the high possibility of obstacles in the walking process of the mobile equipment. Summary of the invention

[0003] In view of the above, it is necessary to provide a floating walking device with simple structure and good walking smoothness.

[0004] To this end, the present invention provides a floating walking device, including a chassis, a horizontal floating walking assembly installed at the bottom of the chassis, a floating supporting plate installed at the top of the chassis, and a vertical floating assembly installed between the chassis and the floating supporting plate, wherein the chassis floats in the horizontal direction and the floating supporting plate floats in the vertical direction.

[0005] According to the floating walking device, the horizontal walking assembly includes a wheel seat, a wheel hub, a first universal bearing and a limiting structure, the wheel hub is installed on the wheel seat, the first universal bearing and the limiting structure are installed between the wheel seat and the chassis, and the wheel seat is movably installed on the chassis.

[0006] According to the floating walking device, the chassis includes a bottom plate, a side plate circumferentially surrounding the outer side of the bottom plate and a top plate covering the bottom plate, the wheel seat is installed on the bottom plate, and the first universal bearing and the limiting structure are installed between the wheel seat and the top plate.

[0007] According to the floating walking device, the first universal bearing includes a bracket seat and a steel ball installed on the bracket seat, the bracket seat is installed on the bottom of the top plate, the steel ball is in rolling contact with the wheel seat, or the bracket seat is installed on the wheel seat, and the steel ball is in contact with the bottom of the top plate.

[0008] According to the floating walking device, the limiting structure is provided with a limiting hole on the wheel seat and a limiting column installed in the limiting hole, and the upper end of the limiting column is fixedly connected to the top plate.

[0009] According to the floating walking device, the vertical floating component includes a mounting seat, a pre-tensioning limit mechanism, a hollow tube body, an elastic component installed in the hollow tube body, and a second universal bearing installed at the upper end of the hollow tube body, the second universal bearing is elastically connected to the elastic component, the lower end of the hollow tube body is fixedly connected to the mounting seat, the second universal bearing at the upper end of the hollow tube body is in rolling contact with the floating bearing plate, one end of the pre-tensioning limit mechanism is fixedly connected to the chassis, and the other end of the pre-tensioning limit mechanism is movably connected to the floating bearing plate for limiting.

[0010] According to the floating walking device, the pre-tensioning and limiting mechanism includes a first connecting rod and a second connecting rod, the starting end of the first connecting rod is fixedly connected to the chassis by a screw, the end of the first connecting rod is screwed to the starting end of the second connecting rod, the end of the second connecting rod passes through the floating supporting plate and is movably connected to the floating supporting plate, and the end of the second connecting rod is screwed with a nut that limits the distance between the chassis and the floating supporting plate.

[0011] According to the floating walking device, the elastic component is a return spring.

[0012] According to the floating walking device, the chassis is a square chassis, and the four corners of the square chassis are respectively installed with horizontal floating walking components and vertical floating components.

[0013] According to the floating walking device, it also includes a track, and the horizontal floating walking component runs on the track.

[0014] Compared with the prior art, the above-mentioned floating walking device gets rid of the adverse restrictions of the track through an omnidirectional floating device, so that the walking device can float in both horizontal and vertical directions, and the walking device can adaptively run smoothly and stably on a given track. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the specific implementation method, the drawings required for use in the description of the implementation method will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a structural schematic diagram of the floating walking device of the present invention.

[0017] Figure 2 It is a cross-sectional view of the floating walking device of the present invention.

[0018] Figure 3 It is a schematic diagram of the axial side section of the floating walking device of the present invention.

[0019] Figure 4 It is a partially enlarged schematic diagram of the axial side section of the floating walking device of the present invention.

[0020] Figure 5 It is a structural schematic diagram of the horizontal floating walking assembly of the floating walking device of the present invention.

[0021] Figure 6 It is an axial side cross-sectional view of a horizontal floating traveling assembly of the floating traveling device of the present invention.

[0022] Figure 7 It is a structural schematic diagram of the vertical floating assembly of the floating walking device of the present invention.

[0023] Figure 8 It is an axial side cross-sectional view of the vertical floating assembly of the floating walking device of the present invention.

[0024] Main component symbols

[0025] 1-chassis; 2-horizontal floating walking assembly; 3-floating bearing plate; 4-vertical floating assembly; 5-wheel seat; 6-wheel hub; 7-first universal bearing; 8-limiting structure; 9-bottom plate; 10-side plate; 11-top plate; 12-mounting seat; 13-pre-tensioning limiting mechanism; 14-hollow tube body; 15-elastic component; 16-second universal bearing; 17-track.

[0026] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0027] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. In the following description, many specific details are set forth in order to fully understand the present invention, and the embodiments described are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the art without making creative work are within the scope of protection of the present invention.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0029] In each embodiment, for the convenience of description and not to limit the present invention, the term "connection" used in the patent application specification and claims of the present invention is not limited to physical or mechanical connection, but may include electrical connection, whether direct or indirect. "Up", "down", "below", "left", "right", etc. are only used to indicate relative position relationship. When the absolute position of the described object changes, the relative position relationship also changes accordingly.

[0030] like Figures 1 to 8 As shown, a floating walking device includes a chassis 1, a horizontal floating walking assembly 2 installed at the bottom of the chassis 1, a floating bearing plate 3 installed at the top of the chassis 1, and a vertical floating assembly 4 installed between the chassis 1 and the floating bearing plate 3. The chassis 1 floats in the horizontal direction, and the floating bearing plate 3 floats in the vertical direction. The floating bearing plate 3 can carry equipment to be moved, such as a battery pack unlocking mechanism.

[0031] The horizontal walking assembly 2 includes a wheel seat 5, a wheel hub 6, a first universal bearing 7 and a limiting structure 8. The wheel hub 6 is installed on the wheel seat 5. The first universal bearing 7 and the limiting structure 8 are installed between the wheel seat 5 and the chassis 1. The wheel seat 5 is movably installed on the chassis 1.

[0032] The chassis 1 includes a bottom plate 9, a side plate 10 circumferentially surrounding the outside of the bottom plate 9, and a top plate 11 covering the bottom plate 9. The wheel seat 5 is installed on the bottom plate 9, and the first universal bearing 7 and the limiting structure 8 are installed between the wheel seat 5 and the top plate 11.

[0033] The first universal bearing 7 includes a bracket seat and a steel ball installed on the bracket seat, the bracket seat is installed on the bottom of the top plate 11, the steel ball is in rolling contact with the wheel seat 5, or the bracket seat is installed on the wheel seat 5, and the steel ball is in contact with the bottom of the top plate 11.

[0034] The limiting structure 8 is formed with a limiting hole on the wheel seat and a limiting column installed in the limiting hole, and the upper end of the limiting column is fixedly connected to the top plate 11 .

[0035] The vertical floating assembly 4 includes a mounting seat 12, a pre-tensioning limit mechanism 13, a hollow tube body 14, an elastic component 15 installed in the hollow tube body 14, and a second universal bearing 16 installed at the upper end of the hollow tube body 14. The second universal bearing 16 is elastically connected to the elastic component 15, the lower end of the hollow tube body 14 is fixedly connected to the mounting seat 12, the second universal bearing 16 at the upper end of the hollow tube body 14 is in rolling contact with the floating bearing plate 3, one end of the pre-tensioning limit mechanism 13 is fixedly connected to the chassis 1, and the other end of the pre-tensioning limit mechanism 13 is movably connected to the floating bearing plate 3 for limiting.

[0036] The pre-tensioning limit mechanism 13 includes a first connecting rod and a second connecting rod. The starting end of the first connecting rod is fixedly connected to the chassis 1 by a screw, the end of the first connecting rod is screwed to the starting end of the second connecting rod, the end of the second connecting rod passes through the floating supporting plate 3 and is movably connected to the floating supporting plate 3, and the end of the second connecting rod is screwed with a nut that limits the distance between the chassis 1 and the floating supporting plate 3.

[0037] The elastic component 15 is a return spring.

[0038] The chassis 1 is a square chassis, and the four corners of the square chassis are respectively installed with a horizontal floating walking component 2 and a vertical floating component 4.

[0039] It also includes a track 17, and the horizontal floating walking assembly 2 runs on the track 17. The hub 6 and the track 17 are used in combination to achieve linear motion, curved motion and even irregular motion, which depends on the track formed by the hub 6 and the track 17.

[0040] When there is a misalignment between the wheel seat 5 and the chassis 1, the universal characteristics of the first universal bearing 7 can be used to achieve floating in the horizontal plane to compensate for the misalignment between the wheel seat 5 and the chassis 1. In addition, the limiting structure 8 between the wheel seat 5 and the chassis 1 is used to limit the chassis 1 to float in the horizontal plane within a certain range, so that the chassis 1 runs according to the required track. In addition, the wheel hub 6 can avoid jamming during its operation on the track 17, ensuring the smooth running of the chassis 1.

[0041] The second universal bearing 16 can achieve vertical floating in the mounting seat 12. The second universal bearing 16 also supports the floating bearing plate 3. When the chassis 1 floats in the horizontal plane or the floating bearing plate 3 floats in the vertical direction, the relative positions of different groups of vertical floating components 4 in the horizontal plane will change. The universal characteristics of the first universal bearing 7 can be used to compensate for the relative displacement of different groups of vertical floating components 4 in the horizontal plane. Furthermore, the floating bearing plate 3 can achieve smooth vertical floating on the chassis 1, and the horizontal floating of the chassis 1 is integrated. The floating bearing plate 3 can achieve all-round floating in the horizontal, longitudinal and vertical directions when walking on the track 17. Furthermore, since the pre-tensioning limit mechanism 13 and the upper floating support plate 3 are limited in the horizontal plane and float in a circular ring, the initial height of the floating support plate 3 in the vertical direction is determined by the pre-tensioning limit mechanism 13. When the floating support plate 3 bears a heavy object and a lateral force in the horizontal plane, the floating support plate 3 will produce an offset in the horizontal plane and a displacement in the vertical direction. The offset in the horizontal plane depends on the circular ring range of the pre-tensioning limit mechanism 13 and the floating support plate 3 and whether the lateral force is greater than the friction force of the first universal bearing 7. Whether there is displacement in the vertical direction depends on whether the pressure of the heavy object on the floating support plate 3 is greater than the elastic force of the initial compression of the elastic component 15. In this way, when the lateral force disappears, the floating support plate 3 can return to its original position in the horizontal plane, and the vertical direction remains unchanged. Therefore, the vertical floating component 4 also has the ability to return to the center.

[0042] In the several specific embodiments provided by the present invention, it is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, so it is intended to include all changes within the meaning and scope of the equivalent elements of the claims. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0043] The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention is described in detail with reference to the above preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A floating walking device, characterized in that: It includes a chassis, a horizontal floating walking component installed at the bottom of the chassis, a floating bearing plate installed at the top of the chassis, and a vertical floating component installed between the chassis and the floating bearing plate. The chassis floats in the horizontal direction, and the floating bearing plate floats in the vertical direction.

2. The floating walking device according to claim 1, characterized in that: The horizontal walking assembly includes a wheel seat, a wheel hub, a first universal bearing and a limiting structure. The wheel hub is installed on the wheel seat. The first universal bearing and the limiting structure are installed between the wheel seat and the chassis. The wheel seat is movably installed on the chassis.

3. The floating walking device according to claim 2, characterized in that: The chassis includes a bottom plate, side plates circumferentially surrounding the outside of the bottom plate, and a top plate covering the bottom plate. The wheel seat is installed on the bottom plate, and the first universal bearing and the limiting structure are installed between the wheel seat and the top plate.

4. The floating walking device according to claim 3, characterized in that: The first universal bearing includes a bracket seat and a steel ball installed on the bracket seat, the bracket seat is installed on the bottom of the top plate, the steel ball is in rolling contact with the wheel seat, or the bracket seat is installed on the wheel seat, and the steel ball is in contact with the bottom of the top plate.

5. The floating walking device according to claim 3, characterized in that: The limiting structure is provided with a limiting hole on the wheel seat and a limiting column installed in the limiting hole, and the upper end of the limiting column is fixedly connected to the top plate.

6. The floating walking device according to claim 1, characterized in that: The vertical floating assembly includes a mounting seat, a pre-tensioning limit mechanism, a hollow tube body, an elastic component installed in the hollow tube body, and a second universal bearing installed at the upper end of the hollow tube body, the second universal bearing is elastically connected to the elastic component, the lower end of the hollow tube body is fixedly connected to the mounting seat, the second universal bearing at the upper end of the hollow tube body is in rolling contact with the floating bearing plate, one end of the pre-tensioning limit mechanism is fixedly connected to the chassis, and the other end of the pre-tensioning limit mechanism is movably connected to the floating bearing plate for limiting.

7. The floating walking device according to claim 6, characterized in that: The pre-tensioning and limiting mechanism includes a first connecting rod and a second connecting rod, the starting end of the first connecting rod is fixedly connected to the chassis by a screw, the end of the first connecting rod is threadedly connected to the starting end of the second connecting rod, the end of the second connecting rod passes through the floating supporting plate and is movably connected to the floating supporting plate, and the end of the second connecting rod is threadedly connected to a nut that limits the distance between the chassis and the floating supporting plate.

8. The floating walking device according to claim 6, characterized in that: The elastic component is a return spring.

9. The floating walking device according to claim 1, characterized in that: The chassis is a square chassis, and the four corners of the square chassis are respectively equipped with a horizontal floating walking component and a vertical floating component.

10. The floating walking device according to claim 1, characterized in that: It also includes a track, and the horizontal floating walking assembly runs on the track.

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