Mobile device and mobile equipment

Abstract

The invention relates to the technical field of complex terrain mobile equipment, and particularly discloses a mobile device and mobile equipment. The moving device comprises a moving platform, a first supporting mechanism and a second supporting mechanism, the first supporting mechanism comprises at least two sets of first supporting assemblies, the first supporting assemblies are in sliding connection with the moving platform, each first supporting assembly comprises a plurality of first supporting pieces, and the first supporting pieces are telescopic; the second supporting mechanism comprises at least two sets of second supporting assemblies, the at least two sets of second supporting assemblies are selectively arranged on the two sides of the first supporting mechanism, the second supporting assemblies are connected with the moving platform in a sliding mode, each second supporting assembly comprises a plurality of second supporting pieces, and the second supporting pieces are telescopic. According to the moving device, the stability of the moving platform and the state of being parallel to the ground can be kept in the complex terrain obstacle crossing process, it is ensured that the moving device can stably operate under any condition, the loading capacity of the moving device is high, and the moving device can meet various transportation requirements.

Description

Technical Field

[0001] This application relates to the technical field of mobile devices in complex terrains, and particularly to a mobile device and a mobile apparatus. Background Art

[0002] Existing mobile devices, such as legged robots, humanoid robots, wheel-legged robots, multi-wheel robots, and tracked stair-climbing machines, etc., have stability problems when moving on complex terrains. When these devices move on complex terrains such as stairs, slopes, and uneven ground, it is often difficult to keep the main body stable and parallel to the ground, resulting in the device being prone to tilting or losing balance. Especially when moving on stairs, it is very difficult for these devices to maintain stability and is prone to slipping or tilting. This seriously affects the stability and safety of these devices in complex terrains and limits their application scope. Therefore, there is an urgent need for a mobile device that can adapt to complex terrains to keep the main body stable and parallel to the ground during obstacle crossing on complex terrains such as stairs, slopes, and uneven ground, ensuring the stable operation of the device in various situations. Summary of the Invention

[0003] In view of the above, it is necessary to provide a mobile device and a mobile apparatus that can keep the main body stable and parallel to the ground during obstacle crossing on complex terrains such as stairs, slopes, and uneven ground, ensure the stable operation of the device in any situation, and at the same time enhance the load-bearing capacity of the mobile device and the mobile apparatus.

[0004] An embodiment of this application provides a mobile device, including: A mobile platform; A first support mechanism, including at least two groups of first support components spaced along a first direction, each group of the first support components is slidably connected to the mobile platform along a second direction perpendicular to the first direction, each group of the first support components includes a plurality of first support members spaced along the second direction, and each of the first support members can be telescoped along a third direction perpendicular to the first direction and the second direction; and A second support mechanism, including at least two groups of second support components spaced along the first direction, the at least two groups of second support components are selectively arranged on both sides of the first support mechanism, each group of the second support components is slidably connected to the mobile platform along the second direction, each group of the second support components includes a plurality of second support members spaced along the second direction, and each of the second support members can be telescoped along the third direction.

[0005] When the above-mentioned mobile device is in use, for example, when climbing stairs, the forward direction of the mobile device is the second direction. At least two sets of second support components of the second support mechanism level the surface, that is, the second support members of at least two sets of second support components are extended or shortened to make the mobile platform in a parallel state; after the mobile platform is in a parallel state, the second support members of at least two sets of second support components are extended to steadily lift the mobile platform and the first support mechanism, and the mobile platform and the first support mechanism are lifted by at least the height of one step in front; after the mobile platform and the first support mechanism are lifted by the height of one step in front, at least two sets of first support components of the first support mechanism move forward along the second direction relative to the mobile platform to above the front stairs. After at least two sets of first support components move to above the front stairs, the first support members of at least two sets of first support components are extended to abut against the stairs below, so that the mobile platform remains in a parallel state; after the first support members of at least two sets of first support components are extended to abut against the stairs below, the mobile platform moves forward along the second direction relative to at least two sets of second support components to above at least two sets of first support components that were previously moved out; after the mobile platform moves to above at least two sets of first support components that were previously moved out, the second support members of at least two sets of second support components are shortened and move forward along the second direction relative to the mobile platform to the mobile platform. After at least two sets of second support components move to the mobile platform, the second support members of at least two sets of second support components are extended to abut against the stairs below, and the mobile device moves one step. In this way, the work of extending the second support members of the second support components, moving the first support components to the next step, extending the first support members of the first support components to abut against the stairs below, moving the mobile platform to the previously moved-out first support components, shortening the second support members of the second support components, moving the second support components to the previously moved-out mobile platform, and extending the second support members of the second support components to abut against the stairs below is alternately carried out to achieve the continuous forward movement of the mobile device when climbing stairs. It can be understood that when the mobile device is actually in use, it can also first level the surface through at least two sets of first support components of the first support mechanism, and then alternately carry out the work of extending the first support members of the first support components, moving the second support components to the next step, extending the second support members of the second support components to abut against the stairs below, moving the mobile platform to the previously moved-out second support components, shortening the first support members of the first support components, moving the first support components to the previously moved-out mobile platform, and extending the first support members of the first support components to abut against the stairs below, which can also achieve the continuous forward movement of the mobile device when climbing stairs.

[0006] The mobile device according to the embodiments of the present application can, through the coordinated cooperation of at least two groups of first support components of the first support mechanism and at least two groups of second support components of the second support mechanism, maintain the mobile platform in a stable and parallel-to-the-ground state when crossing obstacles on complex terrains such as stairs, slopes, and uneven ground, ensuring stable operation. It is applicable to the transportation of goods or personnel in various scenarios such as inside urban buildings, unpaved roads, and urban roads lacking barrier-free facilities, and has the advantages of flexible movement on complex terrains, high load capacity, easy manufacturing and control, and low cost. In addition, by defining at least two groups of first support components and at least two groups of second support components, when the mobile device moves forward, at least two groups of first support components or at least two groups of second support components effectively support the mobile platform, thereby enhancing the load capacity of the mobile device and enabling the mobile device to be applicable to various transportation requirements.

[0007] In some embodiments, the mobile device further includes a plurality of sensors, and each of the first support members and each of the second support members are provided with the sensors, and the sensors are configured to detect the height of the corresponding first support member or the corresponding second support member in the third direction.

[0008] The above-mentioned mobile device, by providing sensors on each first support member and each second support member to detect the height of the corresponding first support member and the corresponding second support member in the third direction, thereby detecting the actual height of the mobile device from the ground and being able to detect the height change of the mobile device, which is beneficial to realizing intelligent management and automated operation of the mobile device.

[0009] In some embodiments, the mobile device further includes a first sliding mechanism, and each group of the first support components and each group of the second support components are slidably connected to the mobile platform along the second direction through the first sliding mechanism. The first sliding mechanism includes a first base, a first sliding seat, a first rack, a first driving member, and a first gear. The first base is connected to the mobile platform, the first sliding seat is slidably connected to the first base, the first sliding seat is connected to the corresponding plurality of first support members or the corresponding plurality of second support members, the first rack is disposed on the first sliding seat, the first driving member is disposed on the first base, and the first gear is drivingly connected to the first driving member and meshed with the first rack.

[0010] The above-mentioned mobile device, by providing the first sliding mechanism, enables the first support components and the second support components to be slidably connected to the mobile platform respectively, and the first support components can slide independently from the mobile platform, and the second support components can slide independently from the mobile platform, thereby enabling the mobile device to achieve the alternating movement of the first support components, the second support components, and the mobile platform.

[0011] In some embodiments, the first base is provided with a sliding groove. The first sliding seat includes a first base plate, a first vertical plate, and a plurality of first rotating members. One side of the first base plate facing away from the first base is connected to the corresponding plurality of first support members or the corresponding plurality of second support members. The first vertical plate is perpendicularly connected to one side of the first base plate facing the first base, and the first vertical plate extends into the sliding groove. The plurality of first rotating members are equally spaced along the first direction on both sides of the first vertical plate. Each first rotating member is rotatably connected to the first vertical plate, and each first rotating member is rotatably abutted against the two groove walls of the sliding groove along the third direction.

[0012] For the above-mentioned moving device, by providing a sliding groove on the first base and setting the specific structure of the first sliding seat, the sliding between the first sliding seat and the first base is smooth, thereby ensuring the smooth movement of the moving device.

[0013] In some embodiments, the moving platform includes a moving table, a rotating table, and a rotating mechanism. The moving table is disposed above the rotating table. The moving table is rotatably connected to the rotating table. The rotating mechanism is connected between the moving table and the rotating table. The rotating mechanism is configured to drive the moving table and the rotating table to rotate relative to each other. Among them, at least two groups of the first support assemblies are slidably connected to the rotating table along the second direction, and at least two groups of the second support assemblies are slidably connected to the moving table along the second direction.

[0014] For the above-mentioned moving device, by setting the above-mentioned specific features of the moving platform, the moving device also has a steering function, improving the versatility of the moving device.

[0015] In some embodiments, the rotating mechanism includes an internal gear ring, a power member, and a power gear. The internal gear ring is disposed on one side of the rotating table facing the moving table. The power member is disposed on the moving table. The power gear is connected to the power member and meshed with the internal gear ring.

[0016] For the above-mentioned moving device, by setting the above-mentioned specific structure of the rotating mechanism, relative rotation between the rotating table and the moving table is achieved.

[0017] In some embodiments, the mobile device further includes a third sliding mechanism. The first support assembly and the adjacent second support assembly are slidably connected to the mobile platform along the second direction through a set of the third sliding mechanisms. The third sliding mechanism includes a sliding frame, sliding members, third racks, third driving members, and third gears. The sliding frame is connected to the mobile platform. The first support assembly and the adjacent second support assembly are respectively located on both sides of the corresponding sliding frame. The number of the sliding members is two, and the two sliding members are respectively slidably disposed on both sides of the sliding frame and are respectively connected to a plurality of the first support members and a plurality of the second support members on the corresponding side. The number of the third racks is two, and each third rack is connected to a corresponding plurality of the first support members or a corresponding plurality of the second support members. The number of the third driving members is two, and the two third driving members are respectively disposed on both sides of the sliding frame. The number of the third gears is two and is respectively drivingly connected to the two third driving members in one-to-one correspondence. The two third gears are respectively meshed with the two third racks in one-to-one correspondence.

[0018] For the above-mentioned mobile device, by providing the third sliding mechanism, the first support assembly and the second support assembly are respectively slidably connected to the mobile platform, and the first support assembly can slide independently from the mobile platform, and the second support assembly can slide independently from the mobile platform, so that the mobile device realizes the alternating movement of the first support assembly, the second support assembly, and the mobile platform.

[0019] In some embodiments, the mobile device further includes a fourth sliding mechanism. Each group of the first support assemblies and each group of the second support assemblies are slidably connected to the mobile platform along the second direction through the fourth sliding mechanism. The fourth sliding mechanism includes a guide rail member, a slider member, and a driving assembly. One of the guide rail member and the slider member is connected to the mobile platform, and the other is connected to a corresponding plurality of the first support members or a corresponding plurality of the second support members. The driving assembly is connected between the guide rail member and the slider member, and the driving assembly drives the relative sliding between the guide rail member and the slider member.

[0020] For the above-mentioned mobile device, by providing the fourth sliding mechanism, the first support assembly and the second support assembly are respectively slidably connected to the mobile platform, and the first support assembly can slide independently from the mobile platform, and the second support assembly can slide independently from the mobile platform, so that the mobile device realizes the alternating movement of the first support assembly, the second support assembly, and the mobile platform.

[0021] In some embodiments, the mobile device further includes a vision mechanism disposed on the mobile platform. The vision mechanism is configured to acquire images around the mobile device, identify information in the images, and control the first support mechanism and the second support mechanism according to the information.

[0022] For the above-mentioned mobile device, by providing a vision mechanism, the mobile device realizes the function of visual recognition, enhancing the functionality of the mobile device.

[0023] An embodiment of the present application further provides a mobile device, including the mobile device described in any one of the above technical solutions.

[0024] For the mobile device in the embodiment of the present application, through the coordinated cooperation of at least two groups of first support components of the first support mechanism and at least two groups of second support components of the second support mechanism in the mobile device, it can maintain the stability of the mobile platform and the state parallel to the ground during obstacle crossing on complex terrains such as stairs, slopes, and uneven ground, ensuring that the mobile device can operate stably under any circumstances. The mobile device in the embodiment of the present application is applicable to the transportation of goods or personnel in various scenarios such as inside urban buildings, unpaved roads, and urban roads lacking barrier-free facilities, and can move flexibly on complex terrains, and also has the characteristics of high load capacity, easy manufacturing and control, and low cost. In addition, by defining at least two groups of first support components and at least two groups of second support components, when the mobile device moves forward, at least two groups of first support components or at least two groups of second support components effectively support the mobile platform, thereby enhancing the load capacity of the mobile device and enabling the mobile device to be applicable to various transportation needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic structural diagram of a mobile device provided by the first embodiment of the present application.

[0026] Figure 2 is Figure 1 an exploded schematic diagram of the shown mobile device.

[0027] Figure 3 is a schematic structural diagram of a mobile device provided by the second embodiment of the present application.

[0028] Figure 4 is Figure 3 an exploded schematic diagram of the shown mobile device.

[0029] Figure 5 is a schematic structural diagram of a mobile device provided by the third embodiment of the present application.

[0030] Figure 6 is Figure 5 an exploded schematic diagram of the shown mobile device.

[0031] Figure 7 It is a schematic structural diagram of a mobile device provided by the fourth embodiment of the present application.

[0032] Main element symbol description: mobile devices 100, 200, 300, 400, mobile platform 10, mobile station 11, rotating table 12, rotating mechanism 13, internal gear ring 131, power member 132, power gear 133, first support mechanism 20, first support assembly 21, first support member 211, second support mechanism 30, second support assembly 31, second support member 311, sensor 40, first sliding mechanism 50, first base 51, sliding groove 511, first sliding seat 52, first substrate 521, first vertical plate 522, first rotating member 523, first rack 53, first driving member 54, first gear 55, second sliding mechanism 60, second base 61, sliding groove 611, second sliding seat 62, second substrate 621, second vertical plate 622, second rotating member 623, second rack 63, second driving member 64, second gear 65, third sliding mechanism 70, sliding frame 71, first cross bar 711, second cross bar 712, third cross bar 713, fourth cross bar 714, first vertical bar 715, second vertical bar 716, first short bar 717, second short bar 718, sliding groove 719, sliding member 72, third rack 73, third driving member 74, third gear 75, rolling member 76, roller member 77, wheel 80. Detailed implementation manners

[0033] The following details the implementation manners of the present application. Examples of the implementation manners are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The implementation manners described below with reference to the accompanying drawings are exemplary only for explaining the present application and should not be construed as limiting the present application.

[0034] In the description of the present application, it should be understood that the terms indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for facilitating the description of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, it should be noted that the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0035] In the description of the present application, it should be noted that unless otherwise clearly specified and defined, the term "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection that can communicate with each other. It can be a direct connection or an indirect connection through an intermediate medium. It can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to specific circumstances.

[0036] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0037] Please refer to Figure 1 and Figure 2 , the first embodiment of the present application provides a mobile device 100. The mobile device 100 can maintain a stable movement and a state parallel to the ground during obstacle crossing on complex terrains such as stairs, slopes, and uneven ground, ensuring stable operation in any situation. The mobile device 100 can be applied to the transportation of goods or personnel in various scenarios such as inside urban buildings, unpaved roads, rugged mountains, broken roads, urban roads without barrier-free facilities, or other difficult-to-pass places, and can move flexibly on complex terrains. It also has the characteristics of high load capacity, easy manufacturing and control, and low cost.

[0038] For the convenience of understanding and description, the XYZ coordinate system defined as Figure 1 is shown in the present embodiment of the application. Among them, the X-axis direction can be the first direction, the Y-axis direction can be the second direction, and the Z-axis direction can be the third direction. The first direction, the second direction, and the third direction are perpendicular to each other. The mobile device 100 of this embodiment moves along the second direction. It can be understood that this is not a limitation on the embodiments of the present application.

[0039] The mobile device 100 includes a mobile platform 10, a first support mechanism 20, and a second support mechanism 30. Among them, the mobile platform 10 can be adaptively changed according to the use of the mobile device 100. In this embodiment, the mobile device 100 is used for cargo transportation, and the mobile platform 10 is used for load bearing. The mobile platform 10 is generally U-shaped. Four wheels 80 are provided at the bottom of the mobile device 100. The mobile device 100 moves on a plane through the four wheels 80. Each wheel 80 can be driven to rotate by a separate motor. When the mobile device 100 needs to move on complex terrains, it moves on complex terrains through the coordinated cooperation and alternating advancement of the first support mechanism 20 and the second support mechanism 30. It can be understood that in other embodiments, the shape of the mobile platform 10 can also be adaptively changed, and the embodiments of the present application do not make specific limitations on this.

[0040] The first support mechanism 20 includes at least two groups of first support components 21 arranged at intervals in the first direction. The structures of at least two groups of first support components 21 are substantially similar. Each group of first support components 21 is slidably connected to the moving platform 10 in a second direction perpendicular to the first direction. Each group of first support components 21 includes a plurality of first support members 211 arranged at intervals in the second direction, and each first support member 211 is telescopable in a third direction perpendicular to the first direction and the second direction, that is, the first support member 211 can extend or contract in the third direction. The second support mechanism 30 includes at least two groups of second support components 31 arranged at intervals in the first direction. The structures of at least two groups of second support components 31 are substantially similar. At least two groups of second support components 31 are selectively arranged on both sides of the first support mechanism 20. Each group of second support components 31 is slidably connected to the moving platform 10 in the second direction. Each group of second support components 31 includes a plurality of second support members 311 arranged at intervals in the second direction, and each second support member 311 is telescopable in the third direction, that is, the second support member 311 can extend or contract in the third direction. Among them, the fact that at least two groups of second support components 31 are selectively arranged on both sides of the first support mechanism 20 can be understood as follows: if the number of second support components 31 is two groups, one group of second support components 31 is arranged on each side of the first support mechanism 20; if the number of second support components 31 is three groups, one group and two groups of second support components 31 are arranged on both sides of the first support mechanism 20 respectively; if the number of second support components 31 is four groups, one group and three groups of second support components 31 can be arranged on both sides of the first support mechanism 20 respectively, or two groups of second support components 31 can be arranged on both sides respectively; if the number of second support components 31 is five groups, one group and four groups of second support components 31 can be arranged on both sides of the first support mechanism 20 respectively, or two groups and three groups of second support components 31 can be arranged on both sides respectively; the number of second support components 31 can also be more groups, and the embodiments of the present application will not elaborate on this anymore.

[0041] In this embodiment, the first support mechanism 20 includes two groups of first support components 21, and the second support mechanism 30 includes two groups of second support components 31. Each group of first support components 21 includes three first support members 211, and each group of second support components 31 includes three second support members 311. The structures of the first support member 211 and the second support member 311 are substantially similar. The first support member 211 and the second support member 311 can both be electric telescopic rods, and each support member has the property of waterproofing, so that the mobile device 100 has the property of waterproofing. It can be understood that in other embodiments, the first support member 211 and the second support member 311 can also be linear cylinders or other functional structures capable of telescoping, and the embodiments of the present application do not make specific limitations on this.

[0042] When the mobile device 100 of this embodiment is in use, such as when climbing stairs, the forward direction of the mobile device 100 is the second direction. Place the mobile device 100 on the ground. First, the two sets of second support components 31 of the second support mechanism 30 are leveled, that is, the second support members 311 of the two sets of second support components 31 are extended or shortened to make the mobile platform 10 parallel to the ground; then, when the mobile platform 10 is in a state parallel to the ground, the second support members 311 of the two sets of second support components 31 are extended to steadily lift the mobile platform 10 and the first support mechanism 20, and the mobile platform 10 and the first support mechanism 20 are lifted at least the height of one step of the front stairs; subsequently, when the mobile platform 10 and the first support mechanism 20 are lifted the height of one step of the front stairs, the two sets of first support components 21 of the first support mechanism 20 move forward along the second direction relative to the mobile platform 10 to above the front stairs. When the two sets of first support components 21 move forward to above the front stairs, the first support members 211 of the two sets of first support components 21 are extended to abut against the stairs below them, so that the mobile platform 10 remains in a parallel state; then, when the first support members 211 of the two sets of first support components 21 are extended to abut against the stairs below them, the mobile platform 10 moves forward along the second direction relative to the two sets of second support components 31 to the two sets of first support components 21 that were previously moved out; then, when the mobile platform 10 moves forward to the two sets of first support components 21 that were previously moved out, the second support members 311 of the two sets of second support components 31 are shortened and move forward along the second direction relative to the mobile platform 10 to the mobile platform 10. When the two sets of second support components 31 move forward to the mobile platform 10, the second support members 311 of the two sets of second support components 31 are extended to abut against the stairs below them, and the mobile device 100 moves one step of the stairs; thus, the operations of extending the second support members 311 of the second support components 31, moving the first support components 21 to the next step of the stairs, extending the first support members 211 of the first support components 21 to abut against the stairs below them, moving the mobile platform 10 to the first support components 21 that were previously moved out, shortening the second support members 311 of the second support components 31, moving the second support components 31 to the previously moved out mobile platform 10, and extending the second support members 311 of the second support components 31 to abut against the stairs below them are alternately performed to achieve the continuous forward movement of the mobile device 100 when climbing stairs.

[0043] Understandably, in other embodiments, when the mobile device 100 is in actual use, it can first level itself through the two sets of first support components 21 of the first support mechanism 20, and then alternately perform the operations of extending the first support member 211 of the first support component 21, advancing the second support component 31 to the next step of the staircase, extending the second support member 311 of the second support component 31 to abut against the staircase below it, advancing the mobile platform 10 onto the previously moved-out second support component 31, shortening the first support member 211 of the first support component 21, advancing the first support component 21 onto the previously moved-out mobile platform 10, and extending the first support member 211 of the first support component 21 to abut against the staircase below it. Similarly, the continuous advancement of the mobile device 100 during stair climbing can be achieved.

[0044] Understandably, in other embodiments, when the mobile device 100 needs to cross an obstacle at a large angle, such as climbing a steep staircase or crossing a large obstacle, the ratio of the width of the first support component 21 and the second support component 31 of the mobile device 100 in the second direction to the telescopic length of the first support member 211 and the second support member 311 is the maximum slope at which the mobile device 100 can stand stably. By changing the ratio of the width of the first support component 21 and the second support component 31 in the second direction to the telescopic length of the first support member 211 and the second support member 311 according to the actual situation, a greater slope climbing and passing ability can be provided, thereby enabling the mobile device 100 to achieve better passability.

[0045] In this embodiment, the mobile device 100 further includes a plurality of sensors 40. A sensor 40 is disposed on each first support member 211 and each second support member 311. The sensor 40 is configured to detect the height of the corresponding first support member 211 or the corresponding second support member 311 in the third direction. Among them, the sensor 40 can be an ultrasonic sensor, a laser ranging sensor, a distance sensor, a pressure sensor, etc. Thus, by disposing the sensors 40 on each first support member 211 and each second support member 311 to detect the height of the corresponding first support member 211 and the corresponding second support member 311 in the third direction, the actual height of the mobile device 100 from the ground can be detected, and the height change of the mobile device 100 can be detected, which is beneficial to realizing the intelligent management and automatic operation of the mobile device 100.

[0046] Understandably, the mobile device 100 may also include a controller, a remote control interface, etc. The controller can be built with an autonomous navigation algorithm to automatically plan the optimal path and adjust the route in a timely manner when encountering obstacles. By setting up a remote control interface, the mobile device 100 can also be remotely controlled through terminals such as smartphones and tablets, which is convenient for use in different scenarios. Exemplarily, when sensors 40 are provided on both the first support member 211 and the second support member 311, when the first support assembly 21 levels, the sensors on all the first support members 211 detect the height between them and the ground and send the detected values to the controller. The controller receives the data from the sensors and calculates the target length that each first support member 211 needs to adjust to ensure that the heights of the four corners of the mobile platform 10 are the same. When the heights of the four corners of the mobile platform 10 are the same, the mobile platform 10 is in a state parallel to the ground. The controller sends instructions to the first support member 211 according to the calculation results to adjust the length of each first support member 211 until the target length is reached. During the adjustment process, the controller receives the height values detected by the sensors 40 in real time and continuously adjusts the length of the first support member 211 according to the actual height difference until the heights of the four corners are the same. Understandably, after all the first support members 211 are adjusted to the target length, the controller can choose to lock the mobile device 100 to fix the positions of all the first support members 211 to prevent the mobile device 100 from losing the horizontal state again due to external interference.

[0047] In order to enable the first support component 21 and the second support component 31 to be slidably connected to the mobile platform 10 respectively, in this embodiment, the mobile device 100 further includes a first sliding mechanism 50, and the number of groups of the first sliding mechanism 50 is four. The four groups of the first sliding mechanism 50 respectively correspond to the two groups of the first support components 21 and the two groups of the second support components 31 one by one. Both the first support component 21 and the second support component 31 are slidably connected to the mobile platform 10 along the second direction through the first sliding mechanism 50. Specifically, each group of the first sliding mechanism 50 includes a first base 51, a first sliding seat 52, a first rack 53, a first driving member 54 and a first gear 55. The first base 51 is connected to the mobile platform 10, the first sliding seat 52 is slidably connected to the first base 51, and the first sliding seat 52 is connected to a corresponding plurality of first support members 211 or a corresponding plurality of second support members 311. The first rack 53 is disposed on the first sliding seat 52, and the first rack 53 extends along the second direction. The number of the first driving members 54 is two, and the first driving members 54 can be motors. The two first driving members 54 are disposed on the first base 51 at intervals along the second direction. The number of the first gears 55 is two and is respectively connected to the two first driving members 54 one by one. The two first gears 55 are both meshed with the first rack 53. Thus, by providing the first sliding mechanism 50, the first support component 21 and the second support component 31 are respectively slidably connected to the mobile platform 10, and the first support component 21 can slide independently relative to the mobile platform 10, and the second support component 31 can slide independently relative to the mobile platform 10, so that the mobile device 100 realizes the alternating movement of the first support component 21, the second support component 31 and the mobile platform 10. It can be understood that the first driving member 54 drives the first gear 55 to rotate, and relative movement occurs between the first gear 55 and the first rack 53. On the one hand, when the first driving member 54 and the first gear 55 are in a fixed state, the first rack 53 moves, that is, the first support component 21 and the second support component 31 move relative to the mobile platform 10. On the other hand, when the first rack 53 is in a fixed state, the first driving member 54 and the first gear 55 move, that is, the mobile platform 10 moves relative to the first support component 21 and the second support component 31, so that the mobile device 100 realizes the alternating movement of the first support component 21, the second support component 31 and the mobile platform 10.

[0048] In this embodiment, a sliding groove 511 is formed in the first base 51. The first sliding seat 52 includes a first substrate 521, a first vertical plate 522 and a plurality of first rotating members 523. One side of the first substrate 521 facing away from the first base 51 is connected to the corresponding plurality of first support members 211 or the corresponding plurality of second support members 311. The first vertical plate 522 is vertically connected to one side of the first substrate 521 facing the first base 51, and the first vertical plate 522 extends into the sliding groove 511. The plurality of first rotating members 523 are equally spaced along the first direction on both sides of the first vertical plate 522. Each first rotating member 523 is rotatably connected to the first vertical plate 522, and each first rotating member 523 is rotatably abutted against the two groove walls of the sliding groove 511 along the third direction. The first rotating member 523 can be a roller, a bearing, etc. In this way, by providing the sliding groove 511 on the first base 51 and the specific structure of the first sliding seat 52, the sliding between the first sliding seat 52 and the first base 51 is smooth, thereby ensuring the smooth movement of the mobile device 100.

[0049] In this embodiment, the mobile device 100 further includes a vision mechanism (not shown in the figure). The vision mechanism is disposed on the mobile platform 10 and is configured to acquire images around the mobile device 100, identify information in the images, and control the first support mechanism 20, the second support mechanism 30 and the first sliding mechanism 50 according to the information. In this way, by providing the vision mechanism, the mobile device 100 realizes the function of vision recognition, enhancing the functionality of the mobile device 100. Among them, the vision mechanism can be composed of a camera, a light source, a processor, etc. The principle of the vision mechanism in this application embodiment will not be elaborated.

[0050] The mobile device 100 according to the embodiment of the present application has usage scenarios including but not limited to: carrying heavy objects in old communities without elevators, water transportation, material transportation in mountainous areas, material transportation after the road surface is damaged by earthquakes or on unpaved roads, carrying people, complex terrains with high load requirements such as carrying construction waste, using the mobile platform 10 to replace the legs of a humanoid robot to enhance its load capacity and stability. Through the coordinated cooperation of the two sets of first support components 21 of the first support mechanism 20 and the two sets of second support components 31 of the second support mechanism 30, the mobile device 100 can maintain the mobile platform 10 in a stable and parallel-to-the-ground state during obstacle crossing on complex terrains such as stairs, slopes, and uneven ground, ensuring the stable operation of the mobile device 100 in any situation. The mobile device 100 according to the embodiment of the present application is applicable to the transportation of goods or people in various scenarios such as inside urban buildings, unpaved roads, and urban roads lacking barrier-free facilities, can move flexibly on complex terrains, and also has the characteristics of high load capacity, easy manufacturing and control, and low cost. In addition, by defining that the first support mechanism 20 includes at least two sets of first support components 21 and the second support mechanism 30 includes at least two sets of second support components 31, when the mobile device 100 moves forward, the mobile platform 10 is effectively supported by at least two sets of first support components 21 or at least two sets of second support components 31, thereby enhancing the load capacity of the mobile device 100 and enabling the mobile device 100 to be applicable to various transportation needs.

[0051] Please refer to Figure 3 and Figure 4 In the second embodiment of the present application, a mobile device 200 is provided. The structure of the mobile device 200 in this embodiment is substantially similar to that of the mobile device 100 provided in the first embodiment. The difference is that the mobile device 200 in this embodiment also has a steering function. Specifically, the mobile platform 10 includes a mobile stage 11, a rotating stage 12, and a rotating mechanism 13. The mobile stage 11 is disposed above the rotating stage 12, the mobile stage 11 is rotatably connected to the rotating stage 12, and the rotating mechanism 13 is connected between the mobile stage 11 and the rotating stage 12. The rotating mechanism 13 is configured to drive the mobile stage 11 and the rotating stage 12 to rotate relative to each other. Among them, both sets of first support components 21 are slidably connected to the rotating stage 12 along the second direction, and both sets of second support components 31 are slidably connected to the mobile stage 11 along the second direction. In this way, by setting the above specific features of the mobile platform 10 in this embodiment, the mobile device 200 also has a steering function, improving the versatility of the mobile device 200.

[0052] When the above-mentioned mobile device 200 is turning, it first levels itself automatically through two sets of first support components 21 of the first support mechanism 20; then, after the mobile device 200 is leveled, the first support members 211 of the two sets of first support components 21 extend to smoothly lift the mobile platform 10 and the second support mechanism 30, so that the mobile platform 10 and the second support mechanism 30 are lifted off the ground; when the mobile platform 10 and the second support mechanism 30 are lifted off the ground, the rotating mechanism 13 drives the mobile stage 11 to rotate to a specified angle; when the mobile stage 11 rotates to the specified angle, the second support members 311 of the two sets of second support components 31 of the second support mechanism 30 extend by corresponding lengths according to the height of the terrain below to abut against the ground below, so that the mobile platform 10 remains parallel, and at the same time the mobile device 200 stands stably on the ground; then, the first support members 211 of the two sets of first support components 21 shorten to leave the ground; when the first support members 211 of the two sets of first support components 21 are lifted off the ground, the rotating mechanism 13 drives the rotating stage 12 to rotate to a specified angle; when the rotating stage 12 rotates to the specified angle, the first support members 211 of the two sets of first support components 21 extend by corresponding lengths according to the height of the terrain below to abut against the ground below and support the mobile platform 10 at the same time; finally, the second support members 311 of the two sets of second support components 31 shorten to leave the ground, thus completing the turning operation.

[0053] In this embodiment, the mobile device 200 further includes four sets of second sliding mechanisms 60, and the structure of the second sliding mechanism 60 is substantially similar to that of the first sliding mechanism 50. In this embodiment, the four sets of second sliding mechanisms 60 respectively correspond to two sets of first support components 21 and two sets of second support components 31 one by one. The first support component 21 is slidably connected to the rotating platform 12 along the second direction through the second sliding mechanism 60, and the second support component 31 is slidably connected to the moving platform 11 along the second direction through the second sliding mechanism 60. Specifically, each set of second sliding mechanisms 60 includes a second base 61, a second sliding seat 62, a second rack 63, a second driving member 64 and a second gear 65. The second base 61 is connected to the corresponding moving platform 11 or the corresponding rotating platform 12. The second sliding seat 62 is slidably connected to the second base 61, and the second sliding seat 62 is connected to the corresponding plurality of first support members 211 or the corresponding plurality of second support members 311. The second rack 63 is disposed on the second sliding seat 62 and extends along the second direction. The number of the second driving members 64 is two, and the second driving members 64 can be motors. The two second driving members 64 are spaced apart along the second direction on the second base 61. The number of the second gears 65 is two and is respectively connected to the two second driving members 64 one by one. The two second gears 65 are both meshed with the second rack 63. In this way, by providing the second sliding mechanism 60, the first support component 21 and the second support component 31 are respectively slidably connected to the rotating platform 12 and the moving platform 11, and the first support component 21 can slide independently from the rotating platform 12, and the second support component 31 can slide independently from the moving platform 11, so that the mobile device 200 realizes the alternating movement of the first support component 21, the second support component 31 and the mobile platform 10.

[0054] In this embodiment, the second base 61 is provided with a sliding groove 611. The second sliding seat 62 includes a second base plate 621, a second vertical plate 622 and a plurality of second rotating members 623. The side of the second base plate 621 facing away from the second base 61 is connected to the corresponding plurality of first support members 211 or the corresponding plurality of second support members 311. The second vertical plate 622 is perpendicularly connected to the side of the second base plate 621 facing the second base 61, and the second vertical plate 622 extends into the sliding groove 611. The plurality of second rotating members 623 are equally divided along the first direction on both sides of the second vertical plate 622. Each second rotating member 623 is rotatably connected to the second vertical plate 622, and each second rotating member 623 is rotatably abutted against the two groove walls of the sliding groove 611 along the third direction. The second rotating member 623 can be a roller, a bearing, etc. In this way, by providing the sliding groove 611 on the second base 61 and setting the specific structure of the second sliding seat 62, the sliding between the second sliding seat 62 and the second base 61 is smooth, thereby ensuring the smooth movement of the mobile device 200.

[0055] In this embodiment, the rotating mechanism 13 includes an internal gear ring 131, a power member 132, and a power gear 133. The internal gear ring 131 is disposed on the side of the rotating table 12 facing the moving table 11. The power member 132 is disposed on the moving table 11. The power member 132 can be a motor. The power gear 133 is connected to the power member 132 and meshed with the internal gear ring 131. Thus, by providing the above specific structure of the rotating mechanism 13, relative rotation between the rotating table 12 and the moving table 11 is achieved.

[0056] Please refer to Figure 5 and Figure 6, the third embodiment of the present application provides a mobile device 300. The structure of the mobile device 300 provided in this embodiment is generally similar to that of the mobile device 100 provided in the first embodiment. The difference is that in this embodiment, the mobile device 300 is used for transporting people. The mobile platform 10 is roughly seat-shaped, and two wheels 80 are provided at the bottom of the mobile platform 10. The mobile device 300 moves on a plane through the two wheels 80, and each wheel 80 can be driven to rotate by a separate motor. In this embodiment, the mobile device 300 further includes two sets of third sliding mechanisms 70. The first support assembly 21 and the adjacent second support assembly 31 are slidably connected to the mobile platform 10 along the second direction through a set of third sliding mechanisms 70. Specifically, each set of third sliding mechanisms 70 includes a sliding frame 71, a sliding member 72, a third rack 73, a third driving member 74, and a third gear 75. The sliding frame 71 is connected to the mobile platform 10. The first support assembly 21 and the adjacent second support assembly 31 are respectively located on both sides of the corresponding sliding frame 71. The number of sliding members 72 is two, and the two sliding members 72 are respectively slidably disposed on both sides of the sliding frame 71. The inner sliding member 72 is connected to the corresponding plurality of first support members 211, and the outer sliding member 72 is connected to the corresponding plurality of second support members 311. The number of third racks 73 is two, and each third rack 73 is connected to the corresponding plurality of first support members 211 or the corresponding plurality of second support members 311. The two third racks 73 are respectively located on both sides of the sliding frame 71. The number of third driving members 74 is two. The third driving member 74 can be a motor. The two third driving members 74 are respectively disposed on both sides of the sliding frame 71, and the two third driving members 74 are respectively spaced apart along the second direction so that the two third driving members 74 do not interfere with each other. The number of third gears 75 is two and is respectively connected to the two third driving members 74 in one-to-one correspondence. The two third gears 75 are respectively meshed with the two third racks 73 in one-to-one correspondence. Thus, by providing the third sliding mechanism 70, the first support assembly 21 and the second support assembly 31 are respectively slidably connected to the mobile platform 10, and the first support assembly 21 can slide independently from the mobile platform 10, and the second support assembly 31 can slide independently from the mobile platform 10, so that the mobile device 300 realizes the alternating movement of the first support assembly 21, the second support assembly 31, and the mobile platform 10.

[0057] In this embodiment, the sliding frame 71 includes a first cross bar 711, a second cross bar 712, a third cross bar 713, a fourth cross bar 714, a first vertical bar 715, a second vertical bar 716, a first short bar 717 and a second short bar 718. The first cross bar 711, the second cross bar 712, the third cross bar 713 and the fourth cross bar 714 are sequentially arranged at intervals from top to bottom in the third direction. The first cross bar 711 is further connected to the moving platform 10, and the first cross bar 711, the second cross bar 712, the third cross bar 713 and the fourth cross bar 714 are alternately arranged in a staggered manner. The first vertical bar 715 is connected between the first cross bar 711 and the third cross bar 713. The second vertical bar 716 is connected between the second cross bar 712 and the fourth cross bar 714. The first short bar 717 is connected between the first vertical bar 715 and the second cross bar 712. The second short bar 718 is connected between the second vertical bar 716 and the third cross bar 713. Among them, the number of sliding members 72 is four. The first support assembly 21 corresponds to two sliding members 72, and the second support assembly 31 corresponds to two sliding members 72. The two sliding members 72 on the first support assembly 21 are arranged at intervals in the third direction, and the two sliding members 72 on the first support assembly 21 are respectively slidably arranged on the first cross bar 711 and the third cross bar 713. The two sliding members 72 on the second support assembly 31 are arranged at intervals in the third direction, and the two sliding members 72 on the second support assembly 31 are respectively slidably arranged on the second cross bar 712 and the fourth cross bar 714. Two third driving members 74 are respectively arranged on the first short bar 717 and the second short bar 718, and the two third driving members 74 are arranged in a staggered manner in the third direction. Correspondingly, the third rack 73 and the third gear 75 are also arranged in a staggered manner in the third direction, so that there is a drop between the first support assembly 21 and the second support assembly 31 in the third direction. In this way, by setting the specific structure of the sliding frame 71, the installation of structures such as the first support assembly 21 and the second support assembly 31 is realized, ensuring that there is no interference between the first support assembly 21 and the second support assembly 31, and ensuring the independence of the respective movements of the first support assembly 21 and the second support assembly 31.

[0058] To ensure the smooth sliding between the sliding member 72 and the sliding frame 71, in this embodiment, the third sliding mechanism 70 further includes a plurality of rolling members 76. The plurality of rolling members 76 are equally divided into two groups, and the two groups of rolling members 76 correspond to the two sliding members 72 one by one. Each group of rolling members 76 is equally divided into two rows along the third direction, and the corresponding sliding member 72 is slidably disposed between the corresponding two rows of rolling members 76. Specifically, in this embodiment, chutes 719 are formed on the first cross bar 711, the second cross bar 712, the third cross bar 713 and the fourth cross bar 714. The chutes 719 on the first cross bar 711 and the third cross bar 713 face the second support assembly 31, and the chutes 719 on the second cross bar 712 and the fourth cross bar 714 face the first support assembly 21. The corresponding sliding member 72 is located in the corresponding chute 719 and is disposed between the corresponding two rows of rolling members 76. Further, two rolling members 76 arranged vertically are provided at the notch of each chute 719. The moving device 300 further includes roller members 77. One roller member 77 is provided on each side of each sliding member 72, and the roller members 77 are all abutted against the upper and lower groove walls of the corresponding chute 719. In this way, by providing the above-mentioned rolling members 76, the sliding between the sliding member 72 and the sliding frame 71 is made smooth, thereby ensuring the smooth movement of the moving device 300. By further providing the above-mentioned roller members 77, the smoothness of the sliding between the sliding member 72 and the sliding frame 71 is further ensured, and the manufacturing difficulty of the third sliding mechanism 70 is reduced.

[0059] It can be understood that in other embodiments, the moving devices 100, 200, 300 may further include a fourth sliding mechanism (not shown in the figure), and the fourth sliding mechanism may replace the first sliding mechanism 50, the second sliding mechanism 60 and the third sliding mechanism 70. Each group of the first support assemblies 21 and each group of the second support assemblies 31 may also be slidably connected to the moving platform 10 along the second direction through the fourth sliding mechanism. The fourth sliding mechanism includes a guide rail member (not shown in the figure), a slider member (not shown in the figure) and a driving assembly (not shown in the figure). The guide rail member and the slider member extend along the second direction and their lengths are substantially equal. One of the guide rail member and the slider member is connected to the moving platform 10, and the other is connected to the corresponding plurality of first support members 211 or the corresponding plurality of second support members 311. The driving assembly is connected between the guide rail member and the slider member, and the driving assembly drives the relative sliding between the guide rail member and the slider member. Among them, the driving assembly may be a ball screw drive, a synchronous belt drive, a linear motor drive, a hydraulic or pneumatic drive, etc. In this way, by providing the fourth sliding mechanism, the first support assembly 21 and the second support assembly 31 are respectively slidably connected to the moving platform 10, and the first support assembly 21 can slide independently from the moving platform 10, and the second support assembly 31 can slide independently from the moving platform 10, so that the moving devices 100, 200, 300 realize the alternating movement of the first support assembly 21, the second support assembly 31 and the moving platform 10.

[0060] Please refer to Figure 7 , a fourth embodiment of the present application provides a mobile device 400. The structure of the mobile device 400 in this embodiment is substantially similar to that of the mobile device 100 provided in the first embodiment. The difference is that in the mobile device 400 of this embodiment, the first support mechanism 20 includes three groups of first support components 21, and the second support mechanism 30 includes two groups of second support components 31. Both the first support component 21 and the second support component 31 are slidably connected to the mobile platform 10 through the first sliding mechanism 50. In this way, by defining that the first support mechanism 20 includes three groups of first support components 21, when the mobile device 400 moves forward, the mobile platform 10 is effectively supported by the three groups of first support components 21, thereby enhancing the load-bearing capacity of the mobile device 400 and enabling the mobile device 400 to be applicable to various transportation requirements.

[0061] It can be understood that in other embodiments, the first support mechanism 20 may further include four groups, five groups or more groups of first support components 21, and the second support mechanism 30 may further include three groups, four groups or more groups of second support components 31, which can be specifically set according to actual situations, and the embodiments of the present application do not make specific limitations in this regard.

[0062] The embodiment of the present application also provides a mobile device (not shown in the figure). The mobile device includes the mobile devices 100, 200, 300, 400 described in any one of the first embodiment, the second embodiment, the third embodiment, and the fourth embodiment. Through the coordinated cooperation of the first support mechanism 20 and the second support mechanism 30 in the mobile devices 100, 200, 300, 400, the mobile device in the embodiment of the present application can maintain the mobile platform 10 in a stable and parallel state to the ground during obstacle crossing on complex terrains such as stairs, slopes, and uneven ground, ensuring that the mobile device can operate stably in any situation. The mobile device in the embodiment of the present application is applicable to the transportation of goods or personnel in various scenarios such as inside urban buildings, unpaved roads, and urban roads lacking barrier-free facilities, and can move flexibly on complex terrains, and also has the characteristics of high load-bearing, easy manufacturing and control, and low cost.

[0063] For those skilled in the art, it is obvious that the present application is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present application is defined by the appended claims rather than the above description. Therefore, it is intended to cover all changes falling within the meaning and scope of the equivalent elements of the claims in the present application.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit them. Although the present application has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A mobile device, characterized in that: include: Mobile platforms; A first support mechanism comprises at least two groups of first support assemblies spaced apart along a first direction, each group of the first support assemblies is slidably connected to the mobile platform along a second direction perpendicular to the first direction, each group of the first support assemblies comprises a plurality of first support members spaced apart along the second direction, each of the first support members can be extended and retracted along a third direction perpendicular to the first direction and the second direction; and The second support mechanism includes at least two groups of second support components spaced apart along the first direction, at least two groups of the second support components can be selectively arranged on both sides of the first support mechanism, each group of the second support components is slidably connected to the mobile platform along the second direction, each group of the second support components includes a plurality of second support members spaced apart along the second direction, and each of the second support members can be telescopic along the third direction.

2. The mobile device according to claim 1, wherein: The mobile device further includes a plurality of sensors, each of the first supporting members and each of the second supporting members is provided with the sensors, and the sensors are configured to detect the height of the corresponding first supporting member or the corresponding second supporting member in the third direction.

3. The mobile device according to claim 1, wherein: The mobile device also includes a first sliding mechanism, each group of the first support components and each group of the second support components are slidably connected to the mobile platform along the second direction through the first sliding mechanism, the first sliding mechanism includes a first base, a first sliding seat, a first rack, a first driving member and a first gear, the first base is connected to the mobile platform, the first sliding seat is slidably connected to the first base, the first sliding seat is connected to a corresponding plurality of the first support members or a corresponding plurality of the second support members, the first rack is arranged on the first sliding seat, the first driving member is arranged on the first base, and the first gear is drivingly connected to the first driving member and meshingly connected to the first rack.

4. The mobile device according to claim 3, wherein: The first base is provided with a sliding groove, and the first sliding base includes a first substrate, a first vertical plate and a plurality of first rotating members. The side of the first substrate facing away from the first base is connected to the corresponding plurality of first supporting members or the corresponding plurality of second supporting members, the first vertical plate is vertically connected to the side of the first substrate facing the first base, the first vertical plate extends into the sliding groove, and the plurality of first rotating members are equally divided and arranged on both sides of the first vertical plate along the first direction, each of the first rotating members is rotatably connected to the first vertical plate, and each of the first rotating members is rotatably abutted against the two groove walls of the sliding groove along the third direction.

5. The mobile device according to claim 1, wherein: The mobile platform includes a mobile table, a rotating table and a rotating mechanism, wherein the mobile table is arranged above the rotating table, the mobile table is rotatably connected to the rotating table, the rotating mechanism is connected between the mobile table and the rotating table, and the rotating mechanism is configured to drive the mobile table and the rotating table to rotate relative to each other, wherein at least two groups of the first supporting components are slidably connected to the rotating table along the second direction, and at least two groups of the second supporting components are slidably connected to the mobile table along the second direction.

6. The mobile device according to claim 5, characterized in that The rotating mechanism includes an internal gear ring, a power piece and a power gear. The internal gear ring is arranged on a side of the rotating platform facing the moving platform. The power piece is arranged on the moving platform. The power gear is connected to the power piece and meshed with the internal gear ring.

7. The mobile device according to claim 1, wherein: The moving device also includes a third sliding mechanism, the first supporting assembly and the adjacent second supporting assembly are slidably connected to the moving platform along the second direction through a group of the third sliding mechanisms, the third sliding mechanism includes a sliding frame, a sliding member, a third rack, a third driving member and a third gear, the sliding frame is connected to the moving platform, the first supporting assembly and the adjacent second supporting assembly are respectively located on both sides of the corresponding sliding frame, the number of the sliding members is two, the two sliding members are respectively slidably arranged on both sides of the sliding frame, and are respectively connected to the plurality of first supporting members on the corresponding side and the plurality of second supporting members on the corresponding side, the number of the third racks is two, each of the third racks is connected to the corresponding plurality of first supporting members or the corresponding plurality of second supporting members, the number of the third driving members is two, the two third driving members are respectively arranged on both sides of the sliding frame, the number of the third gears is two and are respectively driven and connected to the two third driving members in a one-to-one correspondence, and the two third gears are respectively meshed and connected to the two third racks in a one-to-one correspondence.

8. The mobile device according to claim 1, wherein: The mobile device also includes a fourth sliding mechanism, each group of the first support components and each group of the second support components are slidably connected to the mobile platform along the second direction through the fourth sliding mechanism, the fourth sliding mechanism includes a guide rail member, a slider member and a driving assembly, one of the guide rail member and the slider member is connected to the mobile platform, and the other is connected to a corresponding plurality of the first support members or a corresponding plurality of the second support members, the driving assembly is connected between the guide rail member and the slider member, and the driving assembly drives the guide rail member and the slider member to slide relative to each other.

9. The mobile device according to claim 1, wherein: The mobile device further includes a visual mechanism, which is disposed on the mobile platform and configured to acquire an image around the mobile device, identify information in the image, and control the first supporting mechanism and the second supporting mechanism according to the information.

10. A mobile device, characterized in that: Comprising the mobile device as claimed in any one of claims 1 to 9.

Images