Supporting device for supporting movable equipment and movable equipment

Abstract

The utility model relates to a support device for supporting a movable device, comprising: a bottom plate assembly comprising a bottom plate disposed at the bottom of the movable device; the present utility model relates to a kickstand comprising a base plate, a plurality of kickstand assemblies, the plurality of kickstand assemblies comprising at least three kickstand assemblies disposed at intervals along the base plate, each kickstand assembly comprising a driving device and a kickstand, and a first sensor attached to the kickstand of each kickstand assembly to sense a magnitude of a supporting force acting on each kickstand, the foot supports are driven by the driving device to move towards or away from the bottom plate, so that the supporting force, sensed by the first sensor, on the at least three foot supports is larger than zero. The supporting device is provided with the foot supports, the machine body of the movable equipment is stabilized by ensuring that at least three foot supports are stressed, the equipment is prevented from shaking, and therefore it is ensured that the equipment can accurately execute expected actions. In addition, the invention also relates to a mobile device.

Description

Technical Field

[0001] The present invention relates to a supporting device for supporting a movable device. In addition, the present invention also relates to a movable device. Background Art

[0002] Guided vehicles such as power guided vehicles or other movable devices that can be self-propelled, manually propelled, or a combination of human propelled and self-propelled can be used in hospitals, factories, warehouses and other environments to improve transfer efficiency, reduce labor costs, and in some cases provide greater movement accuracy and consistency.

[0003] Generally, existing movable devices can use a power source such as a battery or an engine to provide power, and can use a power device (motor) and a drive wheel to provide driving force or auxiliary power. For example, the drive wheels of these devices can be connected to the power device (motor) through a transmission device (rotating shaft). When driving, the movable device of this structure must rely on the rotation of the motor to drive the movable device to move forward.

[0004] Mobile equipment can use built-in control systems and sensors to assist navigation without human intervention. Mobile equipment can use a variety of guidance technologies and can be reprogrammed and adjusted to suit different transportation tasks and routes. In addition, mobile equipment needs to be equipped with a variety of safety features, such as collision detection sensors and emergency stop mechanisms, to ensure the safety of people and goods.

[0005] The working modes of commonly used guided vehicles or other movable devices are generally divided into traveling mode and stationary mode. The traveling mode is to move the movable device itself or the device together with the load from one place to another. The stationary mode means that the movable device remains stationary after traveling to the predetermined position and performs certain actions. When the movable device is stationary, it is generally required to keep the body of the device stable, which is usually achieved by keeping the wheels stationary or locking them.

[0006] However, since there may be clearance between the wheels and the body of the equipment (for example, due to the existence of a suspension mechanism or a spring / damping mechanism), or the wheels may be displaced for other reasons, the body of the movable device may also shake accordingly during operation, making it impossible for the movable device or the guided vehicle to operate normally.

[0007] Therefore, there is a need for an improved movable device which can be provided with a supporting device to overcome one or more disadvantages existing in the prior art. Summary of the invention

[0008] The purpose of the present invention is to enable a movable device (such as a guided vehicle or other types of movable device) to keep the body of the movable device stable when it is stationary, to prevent the device from shaking, and to ensure that the device can accurately perform the desired action. According to the present invention, this purpose is achieved by a supporting device for supporting the movable device.

[0009] According to one aspect of the present invention, a supporting device for supporting a movable device is proposed, which supporting device may include: a base plate assembly, the base plate assembly includes a base plate arranged at the bottom of the movable device; a plurality of leg support assemblies, the plurality of leg support assemblies include at least three leg support assemblies spaced apart along the base plate, each leg support assembly includes a driving device and a leg support, and a first sensor, the first sensor is attached to the leg support of each leg support assembly to sense the magnitude of the supporting force acting on each leg support, wherein the leg support is driven by the driving device to move toward or away from the base plate, so that the supporting force on at least three leg supports sensed by the first sensor is greater than zero.

[0010] The supporting device is provided with legs and stabilizes the body of the movable device by ensuring that at least three legs are stressed, thereby preventing the device from shaking and ensuring that the device can accurately perform the desired action.

[0011] According to the above aspects of the present invention, preferably, the base plate assembly can also be provided with a plurality of traveling wheels, wherein, as the foot support of at least one of the plurality of foot support assemblies is driven by the driving device to move away from the base plate, a gap is formed between at least one of the plurality of traveling wheels and the supporting surface.

[0012] This arrangement can achieve a favorable force-bearing mode for the foot support, so that part or all of the traveling wheels are not stressed, thereby ensuring that the equipment can be held or supported more stably.

[0013] According to the above aspects of the present invention, preferably, a second sensor may be further included, and the second sensor may be used to sense whether the bottom plate of the movable device is in a horizontal state. In this way, on the one hand, the movable device can be more stably held or supported, and on the other hand, various operating components on the device can be ensured to operate more reliably.

[0014] According to the above aspects of the present invention, preferably, the plurality of foot support assemblies may include five foot support assemblies, wherein two foot support assemblies are respectively arranged on both sides of the base plate relative to the travel direction of the movable device, and one foot support assembly is arranged at the front or rear of the base plate.

[0015] This arrangement can better balance the center of gravity of the device and ensure that the operating part is well supported.

[0016] According to the above aspects of the present invention, preferably, the driving device may include: an electric motor, which provides driving force; and a screw transmission device or a worm gear transmission device connected between the electric motor and the foot support, for driving the foot support to reciprocate.

[0017] Actuating the foot support by means of a motor and a lead screw nut or a worm gear allows a simpler control strategy and ensures precision in the movement of the foot support.

[0018] According to the above aspect of the present invention, preferably, the supporting device may further include a third sensor which senses a rotation angle of the first shaft connected to the motor.

[0019] Through this arrangement, closed-loop control can be formed for the movement of the foot support, further improving the control accuracy of the foot support.

[0020] According to the above aspects of the present invention, preferably, the driving device may also include a first pulley attached to the first shaft, and the third sensor may also include a second pulley, a second shaft on which the second pulley is mounted, and an encoder connected to the second shaft, wherein the first pulley is connected to the second pulley via a synchronous belt so that the encoder can sense the rotation angle of the first shaft.

[0021] This arrangement can more reliably sense the rotation angle of the first shaft in real time and can implement an additional linkage mechanism.

[0022] According to the above aspects of the present invention, preferably, the supporting device may further include a manual driving mechanism, which may be connected to the foot support and used to manually drive the foot support to move toward or away from the base plate.

[0023] The manual drive mechanism allows manual operation in abnormal situations such as power failure of the movable device, such as retracting the foot support, etc., to allow the operator to move the device.

[0024] According to the above aspects of the present invention, preferably, the manual drive mechanism may include a suspension shell part, an input part carried by the suspension shell part, a first transmission member attached to the input part, and a second transmission member cooperating with the first transmission member, wherein the second transmission member is fixed to the second shaft, thereby transmitting power from the input part to the first shaft via the second shaft to drive the foot support to move toward or away from the base plate.

[0025] The manual drive mechanism can share some structures or components with the third sensor, thereby increasing the integration of the device and improving reliability.

[0026] According to the above aspects of the present invention, preferably, the driving device may include a pneumatic or hydraulic driving device to drive the foot support to move toward or away from the base plate.

[0027] In this way, the foot support can be directly driven by means of a pneumatic or hydraulic drive device, and linear movement can be achieved, thereby improving movement efficiency.

[0028] According to the above aspect of the present invention, preferably, the supporting device may include a return switch, and the return switch is configured to cut off the power of the driving device when the foot support moves toward the base plate to a predetermined position.

[0029] In this way, it can be ensured that the foot support can return to the original state and damage to the device caused by interference or collision between the foot support and other components can be avoided.

[0030] According to the above aspect of the present invention, preferably, the foot support may include a cushioning pad, which is arranged on the end of the foot support. Through this arrangement, vibration caused by extending the foot support can be at least partially reduced.

[0031] According to the above aspects of the present invention, preferably, in order to better achieve the balance of the equipment, the driving device may further include a controller, and the controller controls the driving device according to the received signal of the first sensor so that the supporting force on each foot support is the same.

[0032] According to the above aspects of the present invention, preferably, the support force of each of the at least three foot supports sensed by the first sensor is between 100N and 200N. In this way, each foot support can withstand a force of 10kg to 20kg, ensuring that the device is more stable.

[0033] According to another aspect of the present invention, a movable device is provided. The movable device may include the supporting device according to the above aspect and a body, wherein the supporting device is arranged at the bottom of the body.

[0034] Therefore, the support device of the present invention can meet the use requirements, overcome the shortcomings of the prior art and achieve the predetermined purpose. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to further clearly describe the supporting device according to the present invention, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. In the accompanying drawings:

[0036] Figure 1 shows a schematic perspective view of a movable device according to a non-limiting embodiment of the present invention;

[0037] Figure 2 shows a schematic perspective view of a support device according to a non-limiting embodiment of the present invention;

[0038] Figure 3 shows another schematic perspective view of a support device according to a non-limiting embodiment of the present invention;

[0039] Figure 4 a schematic enlarged view showing a support device according to a non-limiting embodiment of the present invention; and

[0040] Figure 5 A schematic cross-sectional view of a support device according to a non-limiting embodiment of the present invention is shown.

[0041] The above drawings are merely schematic and are not drawn strictly to scale.

[0042] List of reference numerals in the figures and embodiments:

[0043] 1000 - Removable devices, including:

[0044] 100 - Support device, including:

[0045] 10 - Base plate assembly, including:

[0046] 11 - bottom plate;

[0047] 12 – travelling wheel;

[0048] 20 - Kickstand assembly, including:

[0049] 21 - Driving device, including:

[0050] 211 - electric motor;

[0051] 212 - first axis;

[0052] 212A-screw nut;

[0053] 212B-foot support screw shaft;

[0054] 212C - guide;

[0055] 213 - first pulley;

[0056] 214-timing belt;

[0057] 22 – foot support;

[0058] 22A - cushion;

[0059] 30 - first sensor;

[0060] 31 - wire;

[0061] 30A - Second sensor;

[0062] 40 - The third sensor comprises:

[0063] 41 - second pulley;

[0064] 42 - second axis;

[0065] 43 - encoder;

[0066] 50 - return switch;

[0067] 60 - Manual drive mechanism, including:

[0068] 61 - suspension housing portion;

[0069] 62 - input unit;

[0070] 63-first transmission member;

[0071] 64-second transmission member;

[0072] 100A-Support housing, including:

[0073] 110 - first housing portion;

[0074] 110A - Mounting flange;

[0075] 120 - second housing part;

[0076] 130 - third housing part;

[0077] 140 - fourth housing part;

[0078] 140A - intermediate housing section;

[0079] 200-Ontology;

[0080] 200A - handle;

[0081] A – direction of movement;

[0082] R - Direction of travel. DETAILED DESCRIPTION

[0083] It should be understood that, unless expressly stated otherwise, the present invention may adopt various alternative orientations and step sequences. It should also be understood that the specific devices shown in the drawings and described in the specification are merely exemplary embodiments of the inventive concepts disclosed and defined herein. Therefore, unless otherwise expressly stated, the specific orientations, directions or other features of the various embodiments disclosed should not be considered as limiting.

[0084] Figure 1 A schematic perspective view of a movable device 1000 according to a non-limiting embodiment of the present invention is shown.

[0085] The movable device 1000 may be, for example, a guided vehicle, including an automatic guided vehicle (AGV), a power-assisted guided vehicle, and other movable devices that can be driven by an electric motor or a motor and can be pushed or pulled by manpower.

[0086] As shown in the figure, the movable device 1000 may include a supporting device 100 and a body (or fuselage) 200. The supporting device 100 may be disposed at the bottom of the body 200 to support the movable device 1000. The body 200 may be substantially box-shaped, and various operating devices may be accommodated therein and may be provided with a handle 200A for an operator to push or pull the movable device 1000.

[0087] Figure 2 1 shows a schematic perspective view of a support device 100 according to a non-limiting embodiment of the present invention, and Figure 3 Another schematic perspective view of a support device 100 according to a non-limiting embodiment of the present invention is shown.

[0088] As shown in the figures and as a non-limiting embodiment, the supporting device 100 may mainly include a base plate assembly 10 , a plurality of foot support assemblies 20 and a first sensor 30 .

[0089] The base plate assembly 10 may include a base plate 11 disposed at the bottom of the movable device 1000 and a plurality of traveling wheels 12 mounted to the base plate 11 , such as four traveling wheels 12 schematically shown in the drawings.

[0090] In the embodiment shown in the drawings, the base plate 11 can support various operating devices and is provided with various attachment portions, such as corresponding openings, recesses and mounting holes (such as threaded holes) and the like.

[0091] Four traveling wheels 12 can be respectively arranged at the four corners of the bottom plate 11. Two of the traveling wheels 12 can be provided with a drive or connected to a drive, for example, connected via a clutch, and used as driving wheels. The other two traveling wheels 12 can be free wheels or driven wheels.

[0092] The traveling wheel 12 may be attached to the base plate 11 via a corresponding suspension device or a buffer device (e.g., a spring damping device). Therefore, there may be play between the traveling wheel 12 and the base plate 11, or the traveling wheel 12 may be displaced due to other reasons, for example, when the number of devices accommodated or carried by the body 200 changes, or when an operator touches or presses the body 200.

[0093] The supporting device 100 may include a supporting housing 100A, which may be formed by combining a plurality of housing parts to accommodate and carry the components of the supporting device 100. For example, Figure 2 As schematically shown in FIG. 1 , the support housing 100A may include four housing portions, namely, a first housing portion 110 , a second housing portion 120 , a third housing portion 130 and a fourth housing portion 140 .

[0094] The first housing portion 110 and the third housing portion 130 may be located substantially above the bottom plate 11, while the second housing portion 120 and the fourth housing portion 140 may be located substantially below the bottom plate 11. As an example, the first housing portion 110 and the third housing portion 130 may be formed as an integral piece and may be fixed to the upper surface of the bottom plate 11. For example, the first housing portion 110 may fit into a substantially U-shaped notch provided at the periphery of the bottom plate 11, and may be fixed to the bottom plate 11 by means of fasteners or welding or other connection methods.

[0095] like Figure 2 As shown and as a non-limiting example, the first housing portion 110 may have a mounting flange 110A, on which a plurality of threaded holes may be provided to be fastened to corresponding threaded holes on the base plate 11 via bolts or screws.

[0096] The second housing portion 120 and the fourth housing portion 140 may be connected to the first housing portion 110 and the third housing portion 130, respectively, for example, detachably connected via fasteners, so as to facilitate installation of corresponding components therein. In the embodiment shown in the drawings, the fourth housing portion 140 may also be composed of two parts, namely, an intermediate housing portion 140A and a suspension housing portion 61. The intermediate housing portion 140A may be located between the third housing portion 130 and the suspension housing portion 61, so that the suspension housing portion 61 is suspended below the intermediate housing portion 140A.

[0097] Specifically, and as described in more detail below in conjunction with the drawings, the first housing portion 110 (eg, an upper portion thereof) may be connected to a housing of the motor 211 (eg, via threaded fasteners) or house at least a portion of the motor 211 .

[0098] In addition, the first housing portion 110 (e.g., the lower portion thereof) can be attached to the second housing portion 120 and together enclose a first accommodation space. The first accommodation space can accommodate the first shaft 212, the screw nut 212A, the foot support screw shaft 212B, the guide 212C, the first pulley 213, and at least a portion of the synchronous belt 214.

[0099] The third housing portion 130 (e.g., the upper portion thereof) may be connected to the housing of the encoder 43 or may accommodate at least a portion of the encoder 43. In addition, the third housing portion 130 (e.g., the lower portion thereof) may be attached to the fourth housing portion 140 and together enclose a second accommodation space. The second accommodation space may accommodate the second pulley 41, the second shaft 42, the first transmission member 63, the second transmission member 64, the input portion 62, and at least a portion of the synchronous belt 214, etc.

[0100] The plurality of foot support assemblies 20 may include at least three foot support assemblies 20 spaced apart along the bottom plate 11. For example, one foot support assembly 20 may be disposed on three adjacent sides of the bottom plate 11, respectively.

[0101] In the preferred embodiment shown in the drawings, the plurality of foot support assemblies 20 may include five foot support assemblies 20. Specifically, two foot support assemblies 20 may be arranged on both sides of the bottom plate 11 relative to the travel direction R of the movable device 1000. For example, the foot support assemblies 20 may be arranged bilaterally symmetrically. In addition, one foot support assembly 20 may be arranged at the front or rear of the bottom plate 11. This arrangement can better balance the center of gravity of the movable device 1000 and ensure that the operating part is well supported.

[0102] It should be understood that the number of the above-mentioned foot support assemblies 20 is only schematic, and those skilled in the art may set other numbers of foot support assemblies 20, for example, four, six, seven, etc., without departing from the scope of the present invention, and the arrangement position of the foot support assemblies 20 may also be different from that shown.

[0103] Figure 4 shows a schematic enlarged view of a support device 100 according to a non-limiting embodiment of the present invention; and Figure 5 A schematic cross-sectional view of a support device 100 according to a non-limiting embodiment of the present invention is shown.

[0104] As shown in the figure, each foot support assembly 20 may include a driving device 21 and a foot support 22. The driving device 21 and the foot support 22 may be carried by the first housing portion 110 and the second housing portion 120, respectively.

[0105] In the embodiment including five foot support assemblies 20, as described above, two foot support assemblies 20 may be arranged on both sides of the base plate 11, respectively, and the two foot support assemblies 20 on each side may be arranged so that the two foot supports 22 are spaced as far apart as possible to more stably support the movable device 1000. Figure 2 As schematically shown in FIG. 1 , the foot supports 22 are arranged close to corresponding corners of the base plate 11 or close to the traveling wheels 12 .

[0106] The motor 211 can be used to provide driving force. As a preferred embodiment, the motor 211 can be a stepping motor to achieve more precise rotation or displacement control.

[0107] The first shaft 212 may be an output shaft of the motor 211 or an output shaft connected to the motor 211. A thread may be provided on the first shaft 212, so that the first shaft 212 forms a lead screw shaft at least partially threaded.

[0108] The screw shaft can cooperate with the screw nut 212A, so that as the first shaft 212 rotates, the screw nut 212A will reciprocate along the moving direction A. In this way, the rotational motion output by the motor 211 is converted into the linear motion of the screw nut 212A. This control strategy is simpler and can achieve more accurate displacement control, while achieving self-locking of reverse motion transmission.

[0109] Continue to refer Figure 5 The screw nut 212A may be fixedly connected to the foot support screw shaft 212B, so that the foot support screw shaft 212B moves synchronously with the screw nut 212A.

[0110] As shown and as a non-limiting example, the lead screw nut 212A may be segmented cylindrical and in a first segment ( Figure 5 The flange portion with an increased diameter is provided at the upper section of the present invention, and the outer diameter of the flange portion can be substantially equal to the outer diameter of the foot support screw shaft 212B, while at the second section ( Figure 5 The lower section of the first shaft 212 has a mating portion with a reduced diameter, and the outer diameter of the mating portion can be substantially equal to the inner diameter of the foot support screw shaft 212B, so as to achieve fixed mating between the screw nut 212A and the foot support screw shaft 212B through, for example, welding, bonding, and threaded connection. The internal through hole of the screw nut 212A can be provided with a female thread that mates with the male thread on the first shaft 212.

[0111] In order to facilitate the movement of the foot support screw shaft 212B along the moving direction A, preferably, the driving device 21 may also be provided with a guide member 212C. The guide member 212C may be in the form of a sliding bushing or a sliding bearing, and two guide members 212C may be provided in parallel. The guide member 212C may be fitted inside the second housing portion 120 and guide the foot support screw shaft 212B.

[0112] As shown and as a non-limiting example, two guides 212C may be provided at both ends of the second housing portion 120 , such as at the upper and lower ends of the inner space thereof, respectively.

[0113] exist Figure 5 In the illustrated embodiment, the drive device 21 further includes a first pulley 213 attached to the first shaft 212 , which first pulley 213 may be coupled to the second pulley 41 via a timing belt 214 , and will be described in further detail below.

[0114] At the end of the foot support screw shaft 212B ( Figure 5 At the lower end of the base plate 11, a foot support 22 is provided. Thus, as the foot support screw shaft 212B moves along the moving direction A, the foot support 22 can be driven by the driving device 21 to move toward or away from the base plate 11. The specific moving direction depends on the rotation direction of the motor 211.

[0115] Preferably, the foot support 22 may include a buffer pad 22A, which may be disposed on the end of the foot support 22. For example, the buffer pad 22A may be detachably mounted on the foot support 22 in a form-fitting manner. When in use, the foot support 22 may contact a supporting surface (e.g., the ground or a supporting surface of a fixed object) via the buffer pad 22A to reduce vibration caused by the extension of the foot support 22. The buffer pad 22A may be made of various buffering and absorbing materials, such as rubber, various elastic composite materials, and the like.

[0116] In order to stably support the body of the movable device 1000, the supporting device 100 can be configured so that the supporting force on at least three foot supports 22 is greater than zero, thereby preventing the device from shaking and ensuring that the device can accurately perform the desired action.

[0117] In order to sense the magnitude of the supporting force applied to the foot support 22, a first sensor 30 may be provided. The first sensor 30 may be attached to the foot support 22 of each foot support assembly 20 to sense the magnitude of the supporting force acting on each foot support 22.

[0118] For example, the first sensor 30 may be attached to one end of the foot support 22 ( Figure 5 As an example, the first sensor 30 may be a micro or ultra-micro axial tension and pressure sensor (or a micro axial force sensor), and may be provided with threaded mounting portions on both sides for threaded connection to the foot support 22 or the foot support screw shaft 212B, and may be used to adjust the preload force / preload force to optimize the force measurement accuracy.

[0119] In the embodiment including the cushion pad 22A, the first sensor 30 may be connected between the cushion pad 22A and the foot support 22. The first sensor 30 may be connected to the controller via a corresponding wire 31 to send a corresponding signal to the controller (not shown).

[0120] In an alternative embodiment not shown, the screw transmission device formed by the screw shaft and the screw nut 212A can be replaced by a worm gear transmission device. The worm gear transmission device can also be connected between the motor 211 and the foot support 22 to drive the foot support 22 to reciprocate, and can also have a reverse motion self-locking function.

[0121] In another alternative embodiment not shown, the driving device 21 may also include a pneumatic or hydraulic driving device to drive the foot support 22 to move toward or away from the base plate 11. The pneumatic or hydraulic driving device may be a linear drive, thereby directly driving the foot support 22 to perform linear reciprocating motion, so as to be applicable to operating scenarios requiring higher movement efficiency.

[0122] In operation, as the foot support 22 of at least one of the plurality of foot support assemblies 20 is driven by the driving device 21 to move away from the base plate 11, a gap is formed between at least one of the plurality of traveling wheels 12 and the support surface. Preferably, all the traveling wheels 12 form a gap with the support surface, so that the movable device 1000 is supported only by the supporting device 100. In this way, part or all of the traveling wheels 12 are not subjected to force, thereby ensuring that the movable device 1000 can be held or supported more stably.

[0123] Although not shown in the drawings, the support device 100 according to the present invention may further include a controller. The controller may control the driving device 21 according to the received signal from the first sensor 30 so that the support force on each foot support 22 is substantially the same.

[0124] Preferably, the supporting force on each foot support 22 sensed by the first sensor 30 is between 100 N and 200 N. In other words, each foot support bears a force of about 10 kg to 20 kg, thereby ensuring that the movable device 1000 is supported more stably.

[0125] In addition, if Figure 1 and 2 As schematically shown in FIG. 1 , the support device 100 may further include a second sensor 30A, which may be, for example, a gyroscope, a level (such as a two-dimensional level sensor), or an inclination sensor. The second sensor 30A may be disposed on the upper surface of the base plate 11 (such as Figure 1 and 2 ) or on the lower surface, it is used to sense whether the bottom plate 11 of the movable device 1000 is in a horizontal state. In this way, while stably holding or supporting the movable device 1000, it is ensured that various operating components on the device can operate more reliably.

[0126] Continue to refer to Figure 5 The supporting device 100 according to the present invention may further include a third sensor 40 , which may be used to sense a rotation angle of the first shaft 212 connected to the motor 211 .

[0127] Specifically, the third sensor 40 may include a second pulley 41, a second shaft 42 on which the second pulley 41 is installed, and an encoder 43 coupled to the second shaft.

[0128] In this way, the first pulley 213 is connected to the second pulley 41 via the synchronous belt 214, so that the encoder 43 can sense the rotation angle of the first shaft 212. As a preferred embodiment, the first pulley 213 and the second pulley 41 can each be a toothed pulley, and the synchronous belt 214 can be a corresponding toothed belt. This arrangement can more reliably sense the rotation angle of the first shaft 212 in real time, and can implement additional linkage mechanisms, for example, linkage with the manual drive mechanism 60 described in more detail below.

[0129] like Figure 4 and 5 As shown in more detail in FIG. 1 and as a preferred embodiment, the support device 100 may further include a manual drive mechanism 60. The manual drive mechanism 60 may be connected to the foot support 22, for example, via a corresponding transmission device, for manually driving the foot support 22 toward or away from the base plate 11.

[0130] The manual drive mechanism 60 according to the present invention allows manual operation in abnormal situations such as power failure of the movable device 1000, such as retracting the foot support 22, etc., to allow the operator to move the device.

[0131] For example, the manual drive mechanism 60 may include a suspension housing portion 61 , an input portion 62 carried by the suspension housing portion 61 , a first transmission member 63 attached to the input portion 62 , and a second transmission member 64 cooperating with the first transmission member 63 .

[0132] As described above, the suspension housing portion 61 may be attached to the third housing portion 130 via the intermediate housing portion 140A, thereby being fixed to the base plate 11 to securely support the various portions of the manual drive mechanism 60 .

[0133] like Figure 4 As shown, the input part 62 can be an input shaft with a polygonal interface so that the input shaft can be rotated by a matching tool. The input shaft drives the first transmission member 63 to move, and then drives the second transmission member 64 matched with the first transmission member 63 to move. In this way, by fixing the second transmission member 64 to the second shaft 42, the power from the input part 62 can be transmitted to the second shaft 42.

[0134] As an example, the first transmission member 63 and the second transmission member 64 may be in the form of a worm and a worm wheel, or alternatively in the form of two bevel gears. Of course, those skilled in the art may also conceive of other types of transmission structures, as long as they can convert the rotational motion around the rotational axis of the input portion 62 into the rotational motion around the rotational axis of the second shaft 42, that is, achieve a substantially 90-degree direction change of the rotational motion.

[0135] As described above, since the second shaft 42 is fixed to the second pulley 41, and the second pulley 41 is connected to the first pulley 213 via the timing belt 214, the first pulley 213 is fixed to the first shaft 212. Therefore, the rotational movement of the second shaft 42 is transmitted to the first shaft 212. As described above, the rotation of the first shaft 212 drives the screw nut 212A and the foot support screw shaft 212B to reciprocate along the moving direction A, thereby driving the foot support 22 to move toward or away from the base plate 11.

[0136] In this way, the operator can manually rotate the input portion 62 to drive the foot support 22 to move toward or away from the base plate 11. It can be seen that the manual drive mechanism 60 can share some structures or components (such as the second pulley 41, the second shaft 42 and the synchronous belt 214, etc.) with the third sensor 40, which increases the integration of the device and improves reliability.

[0137] Preferably, due to the matching nature between the first shaft 212 and the lead screw nut 212A, the lead screw shaft and the lead screw nut form a self-locking, so that the movement is not transmitted from the foot support 22 to the first shaft 212 or the input part 62. In other words, during operation, when the motor 211 or the input part 62 is not operated, the force acting on the foot support 22 will not cause the first shaft 212 to rotate, nor will it cause the foot support 22 to move toward or away from the base plate 11, so that the movable device 1000 can be reliably supported or held.

[0138] like Figure 4 and 5 As schematically shown, the support device 100 according to the present invention may further include a return switch 50, which is configured to cut off the power of the drive device 21 when the foot support 22 moves to a predetermined position toward the base plate 11. The return switch 50 may be in the form of a limit switch, and may be provided with a trigger portion, which is arranged at a predetermined position on the movement path of the lead screw nut 212A, so that once the lead screw nut 212A moves to the predetermined position, the power of the drive device 21 is cut off, for example, the motor 211 is powered off, or alternatively, the clutch is disengaged to prevent the lead screw nut 212A from continuing to move, thereby avoiding interference or collision of other components and causing damage to the device.

[0139] According to a non-limiting example of the present invention, the first sensor 30, the second sensor 30A, the third sensor 40 and / or the return switch 50 can form a closed system / closed loop system, so as to more accurately control the displacement accuracy of the foot support 22, and can be used for mutual inspection and self-inspection of the system. For example, it can be used to check whether there is an abnormality in the foot support assembly 20 or the balance condition of the movable device 1000.

[0140] In the initial state or travel mode of the movable device 1000, all the foot support assemblies 20 of the support device 100 can be kept or returned to the initial non-extended position. In the operating device or static mode of the movable device 1000, it is necessary to keep the fuselage stable. At this time, the motor 211 can rotate according to the specified instructions, and the controller can collect data from the encoder 43 of the third sensor 40 in real time. In this process, the controller can make a judgment according to a predetermined logic to determine whether there is an abnormality, so as to correspond to different conditions.

[0141] As used herein, the terms "inside" and "outside" to indicate position or orientation, and the terms "first", "second", etc. to indicate order are only intended to enable those of ordinary skill in the art to better understand the concept of the present invention shown in the form of a preferred embodiment, and are not intended to limit the present invention. Unless otherwise specified, all orders, positions or orientations are only used for the purpose of distinguishing one element / component / structure from another element / component / structure, and unless otherwise specified, do not represent any particular order, order of operation, direction or orientation. For example, in an alternative embodiment, the "first transmission member" may be the "second transmission member".

[0142] As used herein, unless otherwise indicated, the terms "substantially" and "approximately" are interpreted to mean plus or minus five percent of the value or range of values, or to mean a deviation of plus or minus five percent of the shape and / or position.

[0143] In summary, the supporting device 100 according to the embodiment of the present invention overcomes the shortcomings of the prior art and achieves the intended purpose of the invention.

[0144] Although the supporting device of the present invention is described above in conjunction with the preferred embodiments, those skilled in the art should recognize that the above examples are only for illustration and cannot be used as limitations of the present invention. Therefore, various modifications and variations can be made to the present invention within the spirit of the claims, and these modifications and variations will fall within the scope required by the claims of the present invention.

Claims

1. A supporting device (100) for supporting a movable device (1000), comprising: A bottom plate assembly (10), the bottom plate assembly comprising a bottom plate (11) arranged at the bottom of the movable device (1000); a plurality of foot support assemblies (20), the plurality of foot support assemblies comprising at least three foot support assemblies (20) spaced apart along the base plate (11), each foot support assembly (20) comprising a drive device (21) and a foot support (22), and a first sensor (30) attached to the foot support (22) of each foot support assembly (20) to sense the magnitude of the supporting force acting on each foot support (22), The foot supports (22) are driven by the driving device (21) to move toward or away from the base plate (11), so that the supporting force on at least three foot supports (22) sensed by the first sensor (30) is greater than zero.

2. The supporting device (100) according to claim 1, characterized in that: The base plate assembly (10) is also provided with a plurality of traveling wheels (12), wherein, as the foot support (22) of at least one of the plurality of foot support assemblies (20) is driven by the driving device (21) to move away from the base plate (11), a gap is formed between at least one of the plurality of traveling wheels (12) and a supporting surface.

3. The supporting device (100) according to claim 1, characterized in that: It also includes a second sensor (30A) for sensing whether the bottom plate (11) of the movable device (1000) is in a horizontal state.

4. The supporting device (100) according to claim 1, characterized in that: The multiple foot support assemblies include five foot support assemblies (20), wherein two foot support assemblies (20) are arranged on both sides of the base plate (11) relative to the travel direction of the movable device, and one foot support assembly (20) is arranged at the front or rear of the base plate (11).

5. The supporting device (100) according to claim 1, characterized in that: The driving device (21) comprises: an electric motor (211) which provides a driving force; and A screw transmission device or a worm gear transmission device connected between the motor (211) and the foot support (22) is used to drive the foot support (22) to reciprocate.

6. The supporting device (100) according to claim 5, characterized in that: A third sensor (40) is also included, the third sensor sensing the rotation angle of the first shaft (212) connected to the motor (211).

7. The supporting device (100) according to claim 6, characterized in that: The drive device (21) further comprises a first pulley (213) attached to the first shaft (212), The third sensor (40) further includes a second pulley (41), a second shaft (42) on which the second pulley is mounted, and an encoder (43) coupled to the second shaft. The first pulley (213) is connected to the second pulley (41) via a synchronous belt (214), so that the encoder (43) can sense the rotation angle of the first shaft (212).

8. The supporting device (100) according to claim 7, characterized in that: It also includes a manual drive mechanism (60), which is connected to the foot support (22) and is used to manually drive the foot support (22) to move toward or away from the base plate (11).

9. The supporting device (100) according to claim 8, characterized in that: The manual drive mechanism (60) includes a suspension housing portion (61), an input portion (62) supported by the suspension housing portion, a first transmission member (63) attached to the input portion, and a second transmission member (64) cooperating with the first transmission member, wherein the second transmission member is fixed to the second shaft (42), thereby transmitting power from the input portion (62) to the first shaft (212) via the second shaft (42) to drive the foot support (22) to move toward or away from the base plate (11).

10. The supporting device (100) according to claim 1, characterized in that: The driving device comprises a pneumatic or hydraulic driving device to drive the foot support (22) to move toward or away from the base plate (11).

11. The supporting device (100) according to any one of claims 1 to 10, characterized in that: A return switch (50) is included, wherein the return switch is configured to cut off the power of the driving device (21) when the foot support (22) moves toward the base plate (11) to a predetermined position.

12. The supporting device (100) according to any one of claims 1 to 10, characterized in that: The foot support (22) includes a cushion (22A) disposed on a distal end of the foot support (22).

13. A movable device (1000), comprising a supporting device (100) according to any one of claims 1 to 12 and a body (200), wherein the supporting device is arranged at the bottom of the body (200).

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