support device

Abstract

The application discloses a supporting device, relates to the technical field of material transfer, and aims to solve the technical problem that truck wheels are prone to collapse when unloading materials in soft geology. The supporting device comprises a supporting platform, a first supporting frame, a second supporting frame, a first walking assembly and a second walking assembly. The first walking assembly comprises a first walking wheel and a first driving piece. The first walking wheel is rotationally connected with the first supporting frame. The first supporting frame is connected with the supporting platform through the first driving piece. The first driving piece is used for driving the first supporting frame to relatively move with the supporting platform, so as to support the first walking wheel in a first hovering station and a first walking station. The second walking assembly comprises a second walking wheel and a second driving piece. The second walking wheel is rotationally connected with the second supporting frame. The second supporting frame is connected with the supporting platform through the second driving piece. The second driving piece is used for driving the second supporting frame to relatively move with the supporting platform, so as to support the second walking wheel in a second hovering station and a second walking station.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of material transfer, in particular to a supporting device. BACKGROUND

[0002] In the process of mining operation, a large amount of work is to transport the rock-soil layer covering the ore body. A large amount of rock-soil needs to be transported to the dump site by truck and other transport vehicles for stacking to form a new stacking platform.

[0003] During the truck dumping process, the rock-soil accumulated in the dump site is relatively soft, and truck wheel collapse accidents often occur. In particular, when the truck bed is at the maximum inclination angle, the center of gravity pressure of the truck bed is transferred to the position of the rear wheels. At this time, the pressure of the rear wheels acting on the ground increases, and the soil supporting the rear wheels is soft and difficult to support the pressure caused by the inclination of the truck bed, resulting in the collapse of the truck rear wheels and the lifting of the front wheels. Once the truck rear wheels collapse, it needs to be rescued by a crane, which takes several hours, or the truck tilts and rolls, causing vehicle damage and personal injury, which poses a great risk to production safety. SUMMARY

[0004] The purpose of the present application is to provide a supporting device to solve the technical problem that the current truck is prone to wheel collapse when unloading in soft geology.

[0005] The first aspect of the present application provides a supporting device for supporting the rear wheels of a truck during truck unloading in an open-pit mine. The supporting device interacts with the truck, and the supporting device comprises:

[0006] A supporting platform, a first support frame and a second support frame, the first support frame and the second support frame are respectively located on both sides of the supporting platform along a first direction, and the first direction is parallel to the plane where the supporting platform is located;

[0007] A first walking assembly comprising a first walking wheel and a first driving member, the first walking wheel is rotatably connected with the first support frame, the first support frame is connected with the supporting platform through the first driving member, and the first driving member is used to drive the first support frame and the supporting platform to move relative to each other, so that the first support frame can support the first walking wheel in a first idle position and a first walking position. In the first idle position, the first walking wheel is above the supporting platform, and in the first walking position, at least part of the first walking wheel extends downward out of the supporting platform;

[0008] The second walking assembly comprises a second walking wheel and a second driving member, the second walking wheel is rotationally connected with the second support frame, the second support frame is connected with the support platform through the second driving member, the second driving member is used to drive the second support frame to move relative to the support platform, so that the second support frame can support the second walking wheel in the second hovering position and the second walking position, in the second hovering position, the second walking wheel is above the support platform, in the second walking position, at least part of the second walking wheel extends downward from the support platform;

[0009] The first walking wheel and the second walking wheel are opposite in the first direction;

[0010] When the first walking wheel is in the first hovering position and the second walking wheel is in the second hovering position, the attitude information of the support device is sent to the truck, and the truck can move the rear wheels onto the support platform according to the attitude information.

[0011] In the above scheme, based on the support device provided by the application, during the movement of the support platform, the first driving member and the second driving member can drive the first support frame and the second support frame to move relative to the support platform, so that at least part of the first walking wheel and the second walking wheel extend downward from the support platform to support the ground, increasing the smoothness of the movement of the support platform and facilitating the movement of the support platform to the target position; after the support platform moves to the target position such as soft soil, the first driving member and the second driving member can drive the first support frame and the second support frame to move relative to the support platform, so that the first walking wheel and the second walking wheel are supported above the support platform, at this time, the support platform contacts the soft soil to provide a flat support surface, and the truck or other transport vehicle moves to the top of the support platform, and the support platform provides a support base for the truck, avoiding the direct contact between the truck and the soft soil, preventing the wheels from collapsing, and increasing the safety of the construction.

[0012] Optionally, one end of the first driving member is connected with the support platform, and the other end is connected with the first support frame, the first driving member is used to drive the support platform and the first support frame to move relative to each other along the second direction;

[0013] One end of the second driving member is connected with the support platform, and the other end is connected with the second support frame, the second driving member is used to drive the support platform and the second support frame to move relative to each other along the second direction;

[0014] The second direction is perpendicular to the plane in which the support platform is located.

[0015] In the above scheme, the first driving member and the second driving member can drive the first support frame and the second support frame to move relative to the support platform through linear driving, so that the first walking wheel and the second walking wheel can be moved to the first hovering station, the second hovering station or the first walking station and the second walking station respectively, which is convenient to drive and can provide sufficient support force.

[0016] Optionally, the first walking assembly is a plurality of, the plurality of first walking assemblies are arranged at intervals along a third direction, and the plurality of first walking wheels are rotatably connected with the first support frame respectively; one end of the plurality of first driving members is connected with the first support frame, and the other end of the plurality of first driving members is connected with the support platform;

[0017] The second walking assembly is a plurality of, the plurality of second walking assemblies are arranged at intervals along a third direction, and the plurality of second walking wheels are rotatably connected with the second support frame respectively; one end of the plurality of second driving members is connected with the second support frame, and the other end of the plurality of second driving members is connected with the support platform;

[0018] The third direction is parallel to the plane in which the support platform is located and perpendicular to the first direction.

[0019] In the above scheme, the design of the plurality of first walking assemblies and the plurality of second walking assemblies can increase the stability of the support platform during walking and non-walking, and facilitate the movement and placement of the support platform.

[0020] Optionally, the first walking assembly further comprises a first driven wheel rotatably connected with the first support frame.

[0021] The second walking assembly further comprises a second driven wheel rotatably connected with the second support frame.

[0022] In the above scheme, the first driven wheel and the second driven wheel can move synchronously with the first support frame and the second support frame, without the need to configure additional driving members for the first driven wheel and the second driven wheel, which can reduce the number of first driving members and second driving members and save equipment cost.

[0023] Optionally, the first driving member comprises a first hydraulic cylinder, a first air cylinder or a first electric push rod.

[0024] The second driving member comprises a second hydraulic cylinder, a second air cylinder or a second electric push rod.

[0025] In the above scheme, the first driving member and the second driving member adopt linear driving mode, which is simple in structure, reduces space occupation, and makes the overall structure of the support device more compact.

[0026] Optionally, the first support frame is hinged to the support platform, and an axis of the first support frame is parallel to the first direction and is arranged at a position spaced from a connecting position of the first walking wheel and the first support frame; and the first driving member is configured to drive the first support frame to rotate.

[0027] The second support frame is hinged to the support platform, and an axis of the second support frame is parallel to the first direction and is arranged at a position spaced from a connecting position of the second walking wheel and the second support frame; and the second driving member is configured to drive the second support frame to rotate.

[0028] In the above scheme, the first driving member is configured to drive the first support frame to rotate, and the second driving member is configured to drive the second support frame to rotate, so as to change the positions of the first walking wheel and the second walking wheel relative to the support platform, and the structure is simple and convenient to adjust.

[0029] Optionally, the first support frame comprises a plurality of first supports, and the plurality of first supports are arranged along a third direction and are respectively hinged to the support platform; the first walking assembly is a plurality of first walking assemblies, the first walking wheel of each first walking assembly is connected to one of the first supports, and the first driving member of each first walking assembly is configured to drive one of the first supports to rotate.

[0030] The second support frame comprises a plurality of second supports, and the plurality of second supports are arranged along the third direction and are respectively hinged to the support platform; the second walking assembly is a plurality of second walking assemblies, the second walking wheel of each second walking assembly is connected to one of the second supports, and the second driving member of each second walking assembly is configured to drive one of the second supports to rotate.

[0031] The third direction is parallel to a plane in which the support platform is located and is perpendicular to the first direction, and the plurality of first walking wheels and the plurality of second walking wheels correspond to each other along the first direction.

[0032] In the above scheme, the plurality of first driving members and the plurality of second driving members are respectively configured to drive the plurality of first supports and the plurality of second supports to rotate, so that the plurality of first walking wheels and the plurality of second walking wheels can move synchronously, the walking and hovering requirements of the first walking wheel and the second walking wheel are met, and the design of the plurality of first walking assemblies and the plurality of second walking assemblies can increase the stability of the support platform when the support platform is walking and not walking, thereby facilitating the movement and placement of the support platform.

[0033] Optionally, the first driving member comprises a third hydraulic cylinder, a third pneumatic cylinder or a third electric push rod, one end of the third hydraulic cylinder, the third pneumatic cylinder or the third electric push rod is hinged to the first support, and the other end is hinged to the support platform.

[0034] The second driving member comprises a fourth hydraulic cylinder, a fourth pneumatic cylinder or a fourth electric push rod, one end of the fourth hydraulic cylinder, the fourth pneumatic cylinder or the fourth electric push rod is hingedly connected with the first support, and the other end is hingedly connected with the support platform.

[0035] In the above scheme, the first driving member and the second driving member adopt a linear driving mode, which is simple in structure, reduces space occupation, and makes the overall structure of the support device more compact.

[0036] Optionally, the first support frame further comprises a plurality of third supports, the third supports are hingedly connected with the support platform, and the plurality of first supports and the plurality of third supports are arranged alternately; the first walking assembly further comprises a third driven wheel and a first connecting rod, the third driven wheel is rotationally connected with the third support, one end of the first connecting rod is hingedly connected with the first support, and the other end is hingedly connected with the third support, and the first support can drive the third support to move synchronously through the first connecting rod.

[0037] The second support frame further comprises a plurality of fourth supports, the fourth supports are hingedly connected with the support platform, and the plurality of second supports and the plurality of fourth supports are arranged alternately; the second walking assembly further comprises a fourth driven wheel and a second connecting rod, the fourth driven wheel is rotationally connected with the fourth support, one end of the second connecting rod is hingedly connected with the second support, and the other end is hingedly connected with the fourth support, and the second support can drive the third support to move synchronously through the second connecting rod.

[0038] In the above scheme, as the first driving member drives the first support to rotate, the first support drives the third support to rotate synchronously through the first connecting rod, so that the first support and the third support drive the first driving wheel and the third driven wheel to rotate synchronously; similarly, as the second driving member drives the second support to rotate, the second support drives the fourth support to rotate synchronously through the second connecting rod, so that the second support and the fourth support drive the second driving wheel and the fourth driven wheel to rotate synchronously. This design can reduce the number of first driving members and second driving members, saving equipment cost.

[0039] Optionally, the first walking assembly further comprises a third driving member, the first walking wheel is connected with the first support frame through the third driving member, and the third driving member is used for driving the first walking wheel to rotate.

[0040] The second walking assembly further comprises a fourth driving member, the second walking wheel is connected with the second support frame through the fourth driving member, and the fourth driving member is used for driving the second walking wheel to rotate.

[0041] In the above scheme, the third driving member and the fourth driving member can drive the first walking wheel and the second walking wheel to rotate respectively, thereby realizing independent driving of the supporting device, reducing human participation and reference of external equipment, increasing work efficiency and reducing cost. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0043] Figure 1 A structural schematic diagram of a supporting device in a first design mode is provided for the embodiments of the present application.

[0044] Figure 2 A partial schematic diagram of a supporting device in a first design mode is provided for the embodiments of the present application.

[0045] Figure 3 A structural schematic diagram of a supporting device in a second design mode is provided for the embodiments of the present application.

[0046] Figure 4 A structural schematic diagram of a supporting device in a second design mode when the supporting device is in a walking state is provided for the embodiments of the present application.

[0047] Figure 5 A structural schematic diagram of a supporting device in a second design mode when the supporting device is in a supporting state is provided for the embodiments of the present application.

[0048] Figure 6 A top view of a supporting device is provided for the embodiments of the present application.

[0049] REFERENCE SIGNS:

[0050] 1, supporting platform; 11, radar; 12, positioning module; 13, power supply module; 14, control module; 2, first supporting frame; 21, first support; 22, third support; 3, second supporting frame; 31, second support; 32, fourth support; 4, first walking assembly; 41, first walking wheel; 42, first driving member; 43, first hovering station; 44, first walking station; 45, third driven wheel; 46, first connecting rod; 5, second walking assembly; 51, second walking wheel; 52, second driving member; 53, second hovering station; 54, second walking station; 55, fourth driven wheel; 56, second connecting rod. DETAILED DESCRIPTION

[0051] In the embodiments of the present application, the terms "first", "second", "third", "fourth", "fifth", and "sixth" are used only for descriptive purposes and are not used to connote or imply a relative importance or a specific order of the technical features being described. Thus, a feature defined with "first", "second", "third", "fourth", "fifth", or "sixth" can explicitly or implicitly include one or more of the features.

[0052] In the embodiments of the present application, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0053] "A and / or B" includes the following three combinations: A alone, B alone, and a combination of A and B.

[0054] In the embodiments of the present application, "parallel", "perpendicular", and "equal" include the stated condition and a condition close to the stated condition, the close condition being within an acceptable deviation range, wherein the acceptable deviation range is determined by a person of ordinary skill in the art taking into account the measurement being discussed and the error associated with the measurement of the specific quantity (i.e., limitations of the measurement system). For example, "parallel" includes absolute parallel and near-parallel, wherein the acceptable deviation range of near-parallel can be, for example, a deviation within 5°; "perpendicular" includes absolute perpendicular and near-perpendicular, wherein the acceptable deviation range of near-perpendicular can also be, for example, a deviation within 5°. "Equal" includes absolute equality and near-equality, wherein the acceptable deviation range of near-equality can be, for example, a difference between the two quantities that is less than or equal to 5% of either quantity.

[0055] In the truck dumping process, due to the soft rock and soil accumulated in the dump, truck wheel collapse accidents often occur, especially when the truck bed is at the maximum inclination angle, the center of gravity pressure of the truck bed is transferred to the position of the rear wheel, at this time, the pressure of the rear wheel acting on the ground increases, and the soft soil supporting the rear wheel is difficult to support the pressure brought by the tilting of the truck bed, resulting in the collapse of the truck rear wheel and the lifting of the front wheel. To this end, the application provides a support device, which can be moved above the soft soil ground, which can be a truck unloading area, so that the support device contacts the soft soil ground to provide a support foundation for the truck. The truck moves onto the support device for corresponding loading and unloading operation to avoid the collapse of the truck wheel. At this time, the support device can be used as an open-pit dump truck unloading area anti-collapse support device.

[0056] The design of the support device is described below with specific examples:

[0057] As shown in Figure 1 and Figure 3 , the support device provided by the application comprises a support platform 1, a first support frame 2, a second support frame 3, a first walking assembly 4 and a second walking assembly 5.

[0058] The first support frame 2 and the second support frame 3 are respectively located on both sides of the support platform 1 along a first direction, and the first direction is parallel to the plane where the support platform 1 is located, wherein the first direction is the X-axis direction in Figure 3 .

[0059] The first walking assembly 4 comprises a first walking wheel 41 and a first driving member 42, and the first walking wheel 41 is rotationally connected with the first support frame 2, so that the first walking wheel 41 can rotate relative to the first support frame 2, and the rotation shaft of the first walking wheel 41 is parallel to the first direction. The first support frame 2 is connected with the support platform 1 through the first driving member 42, and the first driving member 42 is used to drive the relative movement of the first support frame 2 and the support platform 1, that is, the first driving member 42 can drive one of the first support frame 2 and the support platform 1 to move relative to the other of the first support frame 2 and the support platform 1, so as to change the relative position of the first support frame 2 and the support platform 1, and further enable the first support frame 2 to support the first walking wheel 41 in the first idle position 43 and the first walking position 44. As shown in Figure 4 , under the first idle position 43, the first walking wheel 41 is located above the support platform 1, and at this time, the bottom of the support platform 1 is in contact with the support surface such as the ground. As shown in Figure 5 , under the first walking position 44, at least part of the first walking wheel 41 extends downward beyond the support platform 1, and at this time, the first walking wheel 41 is in contact with the support surface such as the ground.

[0060] The second walking assembly 5 comprises a second walking wheel 51 and a second driving member 52. The second walking wheel 51 is rotationally connected with the second support frame 3, so that the second walking wheel 51 can rotate relative to the second support frame 3, and the rotation axis of the second walking wheel 51 is parallel to the first direction. The second support frame 3 is connected with the support platform 1 through the second driving member 52, and the second driving member 52 is used to drive the second support frame 3 to move relative to the support platform 1, that is, the second driving member 52 can drive one of the second support frame 3 and the support platform 1 to move relative to the other one of the second support frame 3 and the support platform 1, so as to change the relative position of the second support frame 3 and the support platform 1, and then the second support frame 3 can support the second walking wheel 51 in the second hovering station 53 and the second walking station 54. As shown in Figure 4 the second walking station 54, at least part of the second walking wheel 51 extends downward from the support platform 1, and at this time, the second walking wheel 51 is in contact with the support surface such as the ground. Figure 5 the second walking station 54, at least part of the second walking wheel 51 extends downward from the support platform 1, and at this time, the second walking wheel 51 is in contact with the support surface such as the ground.

[0061] The first walking wheel 41 and the second walking wheel 51 are relatively positioned along the first direction, so that the first walking wheel 41 and the second walking wheel 51 are used in cooperation to increase the smoothness during the movement of the support platform 1.

[0062] Based on the support equipment provided by the present application, during the movement of the support platform 1, the first driving member 42 and the second driving member 52 can drive the first support frame 2 and the second support frame 3 to move relative to the support platform 1, so that at least part of the first walking wheel 41 and the second walking wheel 51 extend downward from the support platform 1 to support the ground, thereby increasing the smoothness of the movement of the support platform 1 and facilitating the movement of the support platform 1 to the target position; after the support platform 1 moves to the target position such as soft soil, the first driving member 42 and the second driving member 52 can drive the first support frame 2 and the second support frame 3 to move relative to the support platform 1, so that the first walking wheel 41 and the second walking wheel 51 are supported above the support platform 1, and at this time, the support platform 1 is in contact with the soft soil to provide a flat support surface. A transport vehicle such as a truck can move to the top of the support platform 1, and the support platform 1 can provide a support base for the truck to avoid direct contact between the truck and the soft soil, thereby avoiding the situation that the wheels collapse, the rescue time is wasted, and the truck rolls backward, and avoiding the situation that the vehicle is damaged and the personnel is injured, thereby increasing the safety of the construction.

[0063] In some embodiments, the support equipment is combined with Figure 1 and Figure 2As shown, one end of the first driving member 42 is connected with the support platform 1, and the other end is connected with the first support frame 2. The first walking wheel 41 is connected to the outer side of the first support frame 2, where the outer side refers to the side away from the second support frame 3, and the first walking wheel 41 is located on the outer side of the support platform 1 along the first direction. The first driving member 42 is used to drive the relative movement of the support platform 1 and the first support frame 2 along the second direction, so that the first support frame 2 can drive the first walking wheel 41 to extend downward out of the support platform 1 or above the support platform 1. One end of the second driving member 52 is connected with the support platform 1, and the other end is connected with the second support frame 3. The second walking wheel 51 is connected to the outer side of the second support frame 3, where the outer side refers to the side away from the first support frame 2, and the second walking wheel 51 is located on the outer side of the support platform 1 along the first direction. The second driving member 52 is used to drive the relative movement of the support platform 1 and the second support frame 3 along the second direction, so that the second support frame 3 can drive the second walking wheel 51 to extend downward out of the support platform 1 or above the support platform 1. The second direction is perpendicular to the plane in which the support platform 1 is located, that is, the Z-axis direction in the coordinate system shown in FIG. 1. Figure 3

[0064] In this design, the first driving member 42 and the second driving member 52 can drive the first support frame 2 and the second support frame 3 to move relative to the support platform 1 through linear driving, so that the first walking wheel 41 and the second walking wheel 51 can be moved to the first hovering station 43, the second hovering station 53, or the first walking station 44, the second walking station 54, respectively. The driving is convenient, and sufficient support force can be provided.

[0065] In some embodiments, the first walking assembly 4 and the second walking assembly 5 are one, at this time, the support platform 1 can be manually pulled by the staff to move the support platform 1 to the target position; or the support platform 1 is connected to the towing head (the weight of the towing head is lighter, and the wheels will not collapse), and the support platform 1 is driven to move to the target position by the towing head, at this time, the first walking wheel 41 and the second walking wheel 51 assist the support platform 1 to move.

[0066] In some embodiments, as shown in FIG. 2, the first walking assembly 4 and the second walking assembly 5 are two, and the first walking assembly 4 and the second walking assembly 5 are connected to the support platform 1 through the first driving member 42 and the second driving member 52 respectively. Figure 1 ​As shown, the first walking assembly 4 is multiple, the multiple first walking assemblies 4 are arranged along the third direction, and the multiple first walking wheels 41 are rotatably connected with the first support frame 2. The first walking wheel 41 can be connected with the first support frame 2 through the first walking support, and the first walking wheel 41 is rotatably arranged on the first walking support to support the first walking wheel 41 on the outside of the support platform 1 through the first walking support. One end of the multiple first driving members 42 is connected with the first support frame 2, and the other end of the multiple first driving members 42 is connected with the support platform 1, so that the first support frame 2 and the support platform 1 are synchronously driven to move along the second direction through the multiple first driving members 42, so that the multiple first walking wheels 41 are synchronously moved along the vertical direction.

[0067] The second walking assembly 5 is multiple, the multiple second walking assemblies 5 are arranged along the third direction, and the multiple second walking wheels 51 are rotatably connected with the second support frame 3. The second walking wheel 51 can be connected with the second support frame 3 through the second walking support, and the second walking wheel 51 is rotatably arranged on the second walking support to support the second walking wheel 51 on the outside of the support platform 1 through the second walking support. One end of the multiple second driving members 52 is connected with the second support frame 3, and the other end of the multiple second driving members 52 is connected with the support platform 1, so that the second support frame 3 and the support platform 1 are synchronously driven to move along the second direction through the multiple second driving members 52, so that the multiple second walking wheels 51 are synchronously moved along the vertical direction.

[0068] The third direction is parallel to the plane where the support platform 1 is located and perpendicular to the first direction. The third direction at this position is the Y-axis direction in the coordinate system. Figure 3 The number of the multiple first walking wheels 41 and the multiple second walking wheels 51 is the same, and they correspond to each other along the first direction.

[0069] At this time, the support platform 1 can be manually pulled by the staff to move the support platform 1 to the target position; or the support platform 1 is connected to the tractor head (the weight of the tractor head is lighter, and the wheels will not collapse), and the support platform 1 is driven to move to the target position by the tractor head, at this time, the multiple first walking wheels 41 and the second walking wheels 51 assist the support platform 1 to move stably. In addition, a power device can also be configured on the support platform 1 to drive the corresponding first walking wheels 41 and second walking wheels 51 to walk, so as to realize automatic movement.

[0070] In this design, the design of multiple first walking assemblies 4 and multiple second walking assemblies 5 can increase the stability of the support platform 1 when walking and not walking, and facilitate the movement and placement of the support platform 1.

[0071] In some embodiments, the first walking assembly 4 further comprises a first driven wheel, the first driven wheel being rotationally connected with the first support frame 2, and the first driven wheel moving synchronously with the first walking wheel 41 when the first driving member 42 drives the first support frame 2 to move. The second walking assembly 5 further comprises a second driven wheel, the second driven wheel being rotationally connected with the second support frame 3, and the second driven wheel moving synchronously with the second walking wheel 51 when the second driving member 52 drives the second support frame 3 to move.

[0072] In this design, the first driven wheel and the second driven wheel can move synchronously with the first support frame 2 and the second support frame 3, and no additional driving member needs to be configured for the first driven wheel and the second driven wheel, thereby reducing the number of the first driving member 42 and the second driving member 52 and saving equipment cost.

[0073] In some embodiments, the first driving member 42 comprises a first hydraulic cylinder, a first pneumatic cylinder or a first electric push rod, and preferably, the first driving member 42 adopts the first hydraulic cylinder to provide driving force. One end of the first hydraulic cylinder is hingedly connected with the first support frame 2, and the other end of the first hydraulic cylinder is hingedly connected with the support platform 1. The second driving member 52 comprises a second hydraulic cylinder, a second pneumatic cylinder or a second electric push rod, and preferably, the second driving member 52 adopts the second hydraulic cylinder to provide driving force. One end of the second hydraulic cylinder is hingedly connected with the second support frame 3, and the other end of the second hydraulic cylinder is hingedly connected with the support platform 1.

[0074] In this design, the first driving member 42 and the second driving member 52 adopt a linear driving mode, which is simple in structure, reduces space occupation, and makes the overall structure of the support device more compact.

[0075] In some embodiments, as shown in Figure 3 , Figure 4 and Figure 5 , the first support frame 2 is hingedly connected with the support platform 1, the hinging shaft of the first support frame 2 is parallel to the first direction and is arranged at a position spaced apart from the connection position of the first walking wheel 41 and the first support frame 2, and the first driving member 42 is configured to drive the first support frame 2 to rotate. Since the hinging shaft of the first support frame 2 is eccentric to the first walking wheel 41, when the first driving member 42 drives the first support frame 2 to rotate, the first support frame 2 will drive the first walking wheel 41 to rotate around the hinging shaft of the first support frame 2 to change the position of the first walking wheel 41 in the vertical direction.

[0076] The second support frame 3 is hinged to the support platform 1, and the hinge shaft of the second support frame 3 is parallel to the first direction and is arranged at a position spaced from the connecting position of the second walking wheel 51 and the second support frame 3; and the second driving member 52 is used to drive the second support frame 3 to rotate. Since the second walking wheel 51 is eccentric to the hinge shaft of the second support frame 3, when the second driving member 52 drives the second support frame 3 to rotate, the second support frame 3 will drive the second walking wheel 51 to rotate around the hinge shaft of the second support frame 3, so as to change the position of the second walking wheel 51 in the vertical direction.

[0077] In this design, the first driving member 42 is used to drive the first support frame 2 to rotate, and the second driving member 52 is used to drive the second support frame 3 to rotate, so as to change the position of the first walking wheel 41 and the second walking wheel 51 relative to the support platform 1, which is simple in structure and convenient to adjust.

[0078] In some embodiments, the first support frame 2 is one, the second support frame 3 is one, and correspondingly, the first walking assembly 4 and the second walking assembly 5 are also one each. At this time, the support platform 1 can be manually pulled by the staff to move the support platform 1 to the target position; or the support platform 1 is connected to the towing head (the weight of the towing head is lighter, and the wheels will not collapse), and the support platform 1 is driven by the towing head to move to the target position, at this time, the first walking wheel 41 and the second walking wheel 51 assist the support platform 1 to move.

[0079] In some embodiments, in combination with the embodiments shown in Figure 3 , Figure 4 and Figure 5 , the first support frame 2 includes a plurality of first supports 21, and the plurality of first supports 21 are arranged at intervals along the third direction and are respectively hinged to the support platform 1. The first walking wheel 41 can be connected to the first support 21 through a first walking support, and the first walking wheel 41 is rotatably arranged on the first walking support to support the first walking wheel 41 outside the support platform 1 through the first walking support. The first walking assembly 4 is a plurality of, and the first walking wheel 41 of each first walking assembly 4 is connected to one of the first supports 21; and the first driving member 42 of each first walking assembly 4 drives one of the first supports 21 to rotate, respectively.

[0080] The second support frame 3 includes a plurality of second supports 31, and the plurality of second supports 31 are arranged at intervals along the third direction and are respectively hinged to the support platform 1. The second walking wheel 51 can be connected to the second support 31 through a second walking support, and the second walking wheel 51 is rotatably arranged on the second walking support to support the second walking wheel 51 outside the support platform 1 through the second walking support. The second walking assembly 5 is a plurality of, and the second walking wheel 51 of each second walking assembly 5 is connected to one of the second supports 31; and the second driving member 52 of each second walking assembly 5 drives one of the second supports 31 to rotate, respectively.

[0081] The third direction is parallel to the plane in which the support platform 1 is located and perpendicular to the first direction. The plurality of first walking wheels 41 and the plurality of second walking wheels 51 correspond to each other along the first direction.

[0082] In this design, the plurality of first driving members 42 and the plurality of second driving members 52 drive the plurality of first supports 21 and the plurality of second supports 31 to rotate, respectively, so that the plurality of first walking wheels 41 and the plurality of second walking wheels 51 can move synchronously, meeting the walking and hovering requirements of the first walking wheels 41 and the second walking wheels 51. The design of the plurality of first walking assemblies 4 and the plurality of second walking assemblies 5 can increase the stability of the support platform 1 when walking and not walking, facilitating the movement and placement of the support platform 1.

[0083] In some embodiments, in combination with Figure 3 , Figure 4 and Figure 5 , the first support 21 adopts a triangular support structure, one of the angles of the first support 21 is hinged to the support platform 1, the other angle of the first support 21 is hinged to the first walking wheel 41, and the other angle of the first support 21 is hinged to the first driving member 42. The second support 31 adopts a triangular support structure, one of the angles of the second support 31 is hinged to the support platform 1, the other angle of the second support 31 is hinged to the second walking wheel 51, and the other angle of the second support 31 is hinged to the second driving member 52.

[0084] This design of the first support 21 and the second support 31 is simple in structure and can provide a stable support basis.

[0085] In some embodiments, the first driving member 42 includes a third hydraulic cylinder, a third pneumatic cylinder, or a third electric push rod, one end of the third hydraulic cylinder, the third pneumatic cylinder, or the third electric push rod is hinged to the first support 21, and the other end is hinged to the support platform 1; preferably, the first driving member 42 adopts a third hydraulic cylinder to provide driving force. The second driving member 52 includes a fourth hydraulic cylinder, a fourth pneumatic cylinder, or a fourth electric push rod, one end of the fourth hydraulic cylinder, the fourth pneumatic cylinder, or the fourth electric push rod is hinged to the first support 21, and the other end is hinged to the support platform 1; preferably, the second driving member 52 adopts a fourth hydraulic cylinder to provide driving force.

[0086] In this design, the first driving member 42 and the second driving member 52 adopt a linear driving mode, which is simple in structure, reduces space occupation, and makes the overall structure of the support device more compact.

[0087] In other embodiments, the first driving component 42 includes a first driving motor and a first reducer, both mounted on the support platform 1. The output end of the first driving motor is connected to the input end of the first reducer, and the output end of the first reducer is connected to the hinge shaft of the first bracket 21. The first bracket 21 is fixedly connected to its hinge shaft, so that the first bracket 21 can rotate around the axis of its hinge shaft through the cooperation of the first driving motor and the first reducer. The second driving component 52 includes a second driving motor and a second reducer, both mounted on the support platform 1. The output end of the second driving motor is connected to the input end of the second reducer, and the output end of the second reducer is connected to the hinge shaft of the second bracket 31. The second bracket 31 is fixedly connected to its hinge shaft, so that the second bracket 31 can rotate around its hinge shaft through the cooperation of the second driving motor and the second reducer.

[0088] It can be seen that the way the first driving component 42 drives the first bracket 21 to rotate, and the way the second driving component 52 drives the second bracket 31 to rotate, are not limited and can be designed according to actual needs.

[0089] In some implementations, such as Figure 3 As shown, the first support frame 2 also includes multiple third supports 22, which are hinged to the support platform 1. Multiple first supports 21 and multiple third supports 22 are alternately arranged. The first walking assembly 4 also includes a third driven wheel 45 and a first connecting rod 46. The third driven wheel 45 is rotatably connected to the third support 22. One end of the first connecting rod 46 is hinged to the first support 21 and the other end is hinged to the third support 22. The first support 21 can drive the third support 22 to move synchronously through the first connecting rod 46.

[0090] The second support frame 3 also includes multiple fourth supports 32, which are hinged to the support platform 1. Multiple second supports 31 and multiple fourth supports 32 are alternately arranged. The second walking component 5 also includes a fourth driven wheel 55 and a second connecting rod 56. The fourth driven wheel 55 is rotatably connected to the fourth support 32. One end of the second connecting rod 56 is hinged to the second support 31 and the other end is hinged to the fourth support 32. The second support 31 can drive the third support 22 to move synchronously through the second connecting rod 56.

[0091] With the first driving member 42 driving the first support frame 21 to rotate, the first support frame 21 drives the third support frame 22 to rotate synchronously through the first connecting rod 46, so that the first support frame 21 and the third support frame 22 drive the first driving wheel and the third driven wheel 45 to rotate synchronously; similarly, with the second driving member 52 driving the second support frame 31 to rotate, the second support frame 31 drives the fourth support frame 32 to rotate synchronously through the second connecting rod 56, so that the second support frame 31 and the fourth support frame 32 drive the second driving wheel and the fourth driven wheel 55 to rotate synchronously. This design can reduce the number of first driving members 42 and second driving members 52, saving equipment costs.

[0092] In some embodiments, the first walking assembly 4 further comprises a third driving member, and the first walking wheel 41 is connected with the first support frame 2 through the third driving member, and the third driving member is used to drive the first walking wheel 41 to rotate. The second walking assembly 5 further comprises a fourth driving member, and the second walking wheel 51 is connected with the second support frame 3 through the fourth driving member, and the fourth driving member is used to drive the second walking wheel 51 to rotate. It can be understood that in this design, the first walking assembly 4 and the second walking assembly 5 should be multiple, and the multiple here is two or more. In addition, the corresponding first driving member 42 and the second driving member 52 are provided with the third driving member and the fourth driving member to ensure that the support platform 1 can walk stably independently.

[0093] In this design, the third driving member and the fourth driving member can respectively drive the first walking wheel 41 and the second walking wheel 51 to rotate, thereby realizing independent driving of the support device, reducing human participation and external equipment reference, increasing work efficiency, and reducing costs.

[0094] In some embodiments, the third driving member comprises a first hub motor, one part of the first hub motor is connected with the first support frame 2, and the other part of the first hub motor is located inside the first walking wheel 41 and connected with the first walking wheel 41, and the first walking wheel 41 can be driven to rotate by the first hub motor. The fourth driving member comprises a second hub motor, one part of the second hub motor is connected with the second support frame 3, and the other part of the second hub motor is located inside the second walking wheel 51 and connected with the second walking wheel 51, and the second walking wheel 51 can be driven to rotate by the second hub motor.

[0095] It can be understood that the third driving member and the fourth driving member can also be other driving motors connected with the first support frame 2 and the second support frame 3, which are not limited, and can be designed according to actual needs.

[0096] In some embodiments, as Figure 6As shown, the support platform 1 is further provided with a power supply module 13, which is used to provide energy for the third driving member and the fourth driving member. The power supply module 13 includes a battery, which is detachably connected to the support platform 1 to provide energy for the third driving member and the fourth driving member. When the battery is insufficient, charging or battery replacement can be performed. The replaced battery is charged by a solar panel on the dump site, and the fully charged battery is used as a backup. In addition, the support platform 1 can be provided with a diesel generator as a hybrid power source to supply power to the support platform 1.

[0097] With the development of intelligent mining, unmanned operation of open-pit mines is gradually developing. In some embodiments, the support device further includes a control module 14 electrically connected to the first driving member 42 and the second driving member 52. The working state of the first driving member 42 and the second driving member 52 can be controlled through the control module 14, so that the first driving member 42 and the second driving member 52 can automatically drive the first support frame 2 and the second support frame 3, and automatic control is realized.

[0098] In some embodiments, the control module 14 is electrically connected to the third driving member and the fourth driving member. The control module 14 can control the movement path of the third driving member and the fourth driving member, so that the support platform 1 can automatically move to a target position.

[0099] In this design, when the support platform 1 moves, the first driving member 42 and the second driving member 52 drive the first support frame 2 and the second support frame 3 to move relative to the support platform 1, so that the first support frame 2 and the second support frame 3 support the first walking wheel 41 and the second walking wheel 51 in the first walking station 44 and the second walking station 54, respectively. The support platform 1 is lifted and moved by the third driving member and the fourth driving member to drive the first walking wheel 41 and the second walking wheel 51, so that the support platform 1 can automatically move to a target position, which can be a unloading point of the goods. After the support platform 1 moves to the target position, the first driving member 42 and the second driving member 52 drive the first support frame 2 and the second support frame 3 to move relative to the support platform 1, so that the first support frame 2 and the second support frame 3 support the first walking wheel 41 and the second walking wheel 51 in the first hovering station 43 and the second hovering station 53, respectively. The support platform 1 lands and contacts the ground. The width of the support platform 1 is greater than the width of the truck, and the truck can move to the top of the support platform 1. At this time, the entire truck is supported by the bearing surface contacting the support platform 1 on the ground.

[0100] It can be understood that in some embodiments, the width of the support platform 1 is less than the width of the truck and greater than the width of the wheels of the truck, at this time, two support platforms 1 are used in cooperation. One support platform 1 can be used for the wheels on one side of the truck to move above it for supporting the weight of that side of the truck, and the other support platform 1 can be used for the wheels on the other side of the truck to move above it for supporting the weight of that side of the truck.

[0101] In this design, the width of a single support platform 1 is smaller, facilitating the storage of the support platform 1 and increasing the flexibility of the movement of the support platform 1, preventing the phenomenon of a single support platform 1 being too wide and not being able to move.

[0102] In some embodiments, as shown in Figure 6 The support platform 1 is also provided with a positioning module 12, a radar 11, and a radio network, so as to form a command system. The positioning module 12 can use RTK positioning technology. RTK is the abbreviation of Real-Time Kinematic, which refers to real-time dynamic positioning technology. It is a high-precision positioning technology based on the global navigation satellite system, which can provide centimeter-level to decimeter-level positioning accuracy in real-time scenarios. In this application, the center position coordinates and heading of the support platform 1 can be collected, and the boundary line of the unloading point can be calculated. For example, the boundary line of the unloading point is the slope bottom line of the retaining wall, which provides the outermost boundary line for the truck unloading. The radar 11 can be combined with image recognition technology to realize obstacle avoidance, collision avoidance, and unloading point recognition during the movement of the support platform 1. The radar 11 can be a millimeter wave radar 11 or a laser radar 11. The image recognition technology uses a camera for recognition. Radio networking refers to connecting multiple communication nodes through radio signals to form a network communication system. In this application, radio networking is used to realize the wireless interconnection and intercommunication between the support platform 1 and the truck. For the truck coming to the dump site, the unloading command is given, including the alignment information, the reversing path planning, the lifting and unloading command, the end of the unloading command, and the exit walking route, etc. Among them, the unmanned truck can be taken over, and various control commands of the intelligent dump process are given to realize automatic dumping. In addition, remote control can be provided through a public network and a video monitoring system to realize remote command, and manual intervention can be provided by the command personnel for remote control and scheduling, increasing the flexibility of use.

[0103] This design realizes automatic alignment of the vehicle and the support platform 1, planning of the reversing path, giving of the unloading and unloading command, determination of the unloading point boundary coordinates, automatic control of the dumping process, determination of the position of the next unloading point, and planning of the walking path, and the radar 11 realizes intelligent obstacle avoidance. The positioning, automatic avoidance, path planning, and operation process planning are conventional technologies, and will not be described in detail here.

[0104] In an embodiment, after the completion of each round of unloading, the support platform can autonomously move to the next unloading point, enter the hovering station, and notify the truck of the unloading point position through radio networking. The truck can plan the unloading path according to the position coordinates of the support platform. Before the truck reaches the unloading point for unloading, the rear wheels of the truck are moved onto the support platform. During the movement, the truck needs to be accurately aligned with the moving platform. That is, the wide side of the support platform needs to be roughly parallel to the straight line between the rear row or two rear wheels of the truck, so that the support platform can better support the rear wheels. Therefore, in order to achieve more accurate alignment, in an optional embodiment,

[0105] The support platform determines the center position coordinates of the support platform and the boundary position coordinates of the support platform based on the RTK positioning coordinates, the position information of the support platform, and the size information of the support platform.

[0106] The truck also has a truck positioning device. The truck positioning device can also determine the rear wheel position coordinates of the truck through the RTK positioning coordinates of the truck, the position information of the truck on the truck, and the size information of the truck.

[0107] The radar in the support platform scans according to the set scanning direction (usually perpendicular to the wide side direction of the support platform), and constructs obstacle information in the set direction. In this embodiment, the radar can use a multi-line laser radar and is installed with a receiver. A laser target can be installed on the rear row of the truck. Specifically, a reflective strip can be attached to the lower rear side of the truck along the width direction of the truck, and the length of the reflective strip can be 30%-70% of the width of the truck. Alternatively, a plurality of reflective points can be attached to the lower rear side of the truck along the width direction of the truck at a predetermined distance.

[0108] After obtaining the truck width direction, the offset angle between the truck width direction and the wide side direction of the support platform is determined based on the set scanning direction, the angle between the scanning direction and the wide side direction of the support platform, and the truck width direction.

[0109] The truck adjusts the direction of the truck based on the offset angle. When the offset angle is less than a predetermined angle, and the deviation between the center position of the truck width and the center position of the support platform in the width direction is less than a set deviation, that is, the wide side of the support platform is roughly parallel to the straight line between the rear row or two rear wheels of the truck, and the width direction is in an aligned state, the truck can be moved linearly. Until the rear wheels reach the center area of the support platform (which can be determined by the center position coordinates of the support platform and the rear wheel position coordinates), the support of the rear wheels of the truck is completed, and the truck can enter the unloading state.

[0110] In the description of the embodiments of the present application, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0111] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A support apparatus, characterized by, A device for supporting the rear wheels of an open-pit mine truck during unloading, the supporting device interacting with the truck, the supporting device comprising: The support platform, the first support frame, and the second support frame are located on both sides of the support platform along a first direction, which is parallel to the plane in which the support platform is located. The first walking component includes a first walking wheel and a first driving member. The first walking wheel is rotatably connected to the first support frame. The first support frame is connected to the support platform through the first driving member. The first driving member is used to drive the first support frame to move relative to the support platform, so that the first support frame can support the first walking wheel in a first idle position and a first walking position. In the first idle position, the first walking wheel is located above the support platform. In the first walking position, at least a portion of the first walking wheel extends downward out of the support platform. The second traveling component includes a second traveling wheel and a second driving member. The second traveling wheel is rotatably connected to the second support frame. The second support frame is connected to the support platform through the second driving member. The second driving member is used to drive the second support frame to move relative to the support platform, so that the second support frame can support the second traveling wheel in a second idle position and a second traveling position. In the second idle position, the second traveling wheel is located above the support platform. In the second traveling position, at least a portion of the second traveling wheel extends downward out of the support platform. The first traveling wheel and the second traveling wheel are positioned opposite each other along the first direction; The support platform is also equipped with a positioning module, radar, and radio frequency networking; the truck is equipped with a truck positioning device, and the positioning module and the truck positioning device adopt RTK positioning. After each round of unloading is completed, the support platform moves autonomously to the next unloading point. When the first traveling wheel is in the first idle position and the second traveling wheel is in the second idle position, the support platform descends and contacts the ground. The support platform contacts the soft soil to provide a flat support surface. The attitude information of the support device is sent to the truck, and the truck can move its rear wheels onto the support platform according to the attitude information, specifically including: The support platform uses RTK positioning coordinates. The position information of the positioning device on the support platform and the size information of the support platform determine the center position coordinates and boundary position coordinates of the support platform. The truck's rear wheel position coordinates are determined using the truck's RTK positioning coordinates, the position information of the truck positioning device on the truck, and the size information of the truck. The radar in the support platform scans in a set direction to determine the width of the truck; The offset angle between the truck width direction and the support platform width direction is determined based on the set scanning direction, the angle between the scanning direction and the support platform width direction, and the truck width direction. The truck adjusts the truck orientation based on the offset angle, when the offset angle is less than a preset angle and a deviation between the truck width center position and the support platform center position in the width direction is less than a set deviation, the truck moves in a straight line until the rear wheels reach the center area of the support platform; The weight of the truck is borne by the bearing surface in contact with the ground and the support platform.

2. The support apparatus according to claim 1, characterized by One end of the first driving member is connected with the support platform, and the other end is connected with the first support frame, and the first driving member is used to drive the support platform and the first support frame to move relatively along the second direction; One end of the second driving member is connected with the support platform, and the other end is connected with the second support frame, and the second driving member is used to drive the support platform and the second support frame to move relatively along the second direction; The second direction is perpendicular to the plane where the support platform is located.

3. The support apparatus according to claim 2, wherein The first walking assembly is a plurality of, a plurality of first walking assemblies are arranged along the third direction, a plurality of first walking wheels are respectively connected with the first support frame; one end of a plurality of first driving members is connected with the first support frame, and the other end of a plurality of first driving members is connected with the support platform; The second walking assembly is a plurality of, a plurality of second walking assemblies are arranged along the third direction, a plurality of second walking wheels are respectively connected with the second support frame, one end of a plurality of second driving members is connected with the second support frame, and the other end of a plurality of second driving members is connected with the support platform; The third direction is parallel to the plane where the support platform is located and perpendicular to the first direction.

4. The support apparatus according to claim 2, characterized by The first walking assembly further comprises a first driven wheel, and the first driven wheel is rotatably connected with the first support frame. The second walking assembly further comprises a second driven wheel, and the second driven wheel is rotatably connected with the second support frame.

5. The support apparatus according to claim 2, wherein The first driving member comprises a first hydraulic cylinder, a first air cylinder or a first electric push rod; The second driving member comprises a second hydraulic cylinder, a second air cylinder or a second electric push rod.

6. The support apparatus of claim 1, wherein The first support frame is hinged with the support platform, and the hinge shaft of the first support frame is arranged in parallel to the first direction and is spaced apart from the connection position of the first walking wheel and the first support frame; the first driving member is used to drive the first support frame to rotate; The second support frame is hinged with the support platform, and the hinge shaft of the second support frame is arranged in parallel to the first direction and is spaced apart from the connection position of the second walking wheel and the second support frame; the second driving member is used to drive the second support frame to rotate.

7. The support apparatus according to claim 6, characterized by The first support frame comprises a plurality of first supports, and the plurality of first supports are arranged along the third direction and are respectively hinged with the support platform; the first walking assembly is a plurality of, the first walking wheel of each first walking assembly is connected with one of the first supports; the first driving member of each first walking assembly drives one of the first supports to rotate respectively; The second support frame comprises a plurality of second supports which are arranged at intervals along the third direction and are respectively hinged to the support platform; the second walking assembly is a plurality of, the second walking wheel of each second walking assembly is connected with one of the second supports; the second driving member of each second walking assembly respectively drives one of the second supports to rotate; The third direction is parallel to the plane in which the support platform is located and is perpendicular to the first direction, and the first walking wheel and the second walking wheel correspond to each other along the first direction.

8. The support apparatus according to claim 7, characterized by The first driving member comprises a third hydraulic cylinder, a third pneumatic cylinder or a third electric push rod, one end of the third hydraulic cylinder, the third pneumatic cylinder or the third electric push rod is hinged to the first support, and the other end is hinged to the support platform; The second driving member comprises a fourth hydraulic cylinder, a fourth pneumatic cylinder or a fourth electric push rod, one end of the fourth hydraulic cylinder, the fourth pneumatic cylinder or the fourth electric push rod is hinged to the first support, and the other end is hinged to the support platform.

9. The support apparatus of claim 7, wherein, The first support frame further comprises a plurality of third supports which are hinged to the support platform, and the first supports and the third supports are arranged alternately; the first walking assembly further comprises a third driven wheel and a first connecting rod, the third driven wheel is rotatably connected with the third support, one end of the first connecting rod is hinged to the first support, and the other end is hinged to the third support, and the first support can drive the third support to move synchronously through the first connecting rod; The second support frame further comprises a plurality of fourth supports which are hinged to the support platform, and the second supports and the fourth supports are arranged alternately; the second walking assembly further comprises a fourth driven wheel and a second connecting rod, the fourth driven wheel is rotatably connected with the fourth support, one end of the second connecting rod is hinged to the second support, and the other end is hinged to the fourth support, and the second support can drive the third support to move synchronously through the second connecting rod.

10. Support apparatus according to any one of claims 1-9, characterized in that The first walking assembly further comprises a third driving member, the first walking wheel is connected with the first support frame through the third driving member, and the third driving member is used to drive the first walking wheel to rotate; The second walking assembly further comprises a fourth driving member, the second walking wheel is connected with the second support frame through the fourth driving member, and the fourth driving member is used to drive the second walking wheel to rotate.

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