A floating suspension wheel and walking chassis assembly

Abstract

The utility model provides a kind of floating suspension wheel and walking chassis assembly, floating suspension wheel includes floating drive wheel and floating suspension mechanism, floating suspension mechanism includes floating mounting plate, suspension oil cylinder and first drive wheel mounting plate, the cylinder body and piston rod of suspension oil cylinder are respectively hinged with floating mounting plate and first drive wheel mounting plate, floating drive wheel is installed on first drive wheel mounting plate, floating drive wheel is up and down floatingly installed in floating mounting plate by first drive wheel mounting plate and suspension oil cylinder, realize the up and down floating of floating drive wheel, then floating drive wheel can self-adapt ground uneven, floating drive wheel and ground always keep reliable contact, avoid walking chassis assembly to go skew. The cylinder body of suspension oil cylinder and floating mounting plate in the application, and the piston rod of suspension oil cylinder and first drive wheel mounting plate are hinged structure, leave adjustment redundancy space, allow the adjustment of each component of floating suspension mechanism when installing, improve assembly accuracy.

Description

Technical Field

[0001] This utility model relates to the field of work vehicle chassis technology, and in particular to a floating suspension wheel and a walking chassis assembly equipped with the floating suspension wheel. Background Technology

[0002] Currently, various engineering operations utilize mechanical work vehicles, which come in a wide variety and can be classified according to their purpose and function. Examples include road rollers, power maintenance vehicles, ladder trucks, high-pressure cleaning vehicles, automatic painting vehicles, and automatic rust removal vehicles. Among these, automatic painting vehicles are widely used in shipbuilding and ship repair, primarily for automatically painting the exterior of ships to form a paint film.

[0003] Typically, an automated painting vehicle includes a chassis assembly, a tower fixed to the chassis assembly, a telescopic boom mounted on the tower and capable of being raised and lowered, and painting equipment mounted at the front end of the telescopic boom. For example, Chinese invention patent application number 202110573747.6 discloses an automated painting platform for ships. In this existing automated painting platform, a pair of solid tires are mounted on the bottom of the vehicle body as driving wheels to propel the vehicle body. However, this prior art has the following drawbacks: 1. The vehicle body bears heavy loads, and the support provided by only two solid tires is unreliable, especially when the vehicle body turns; 2. When the ground is uneven, the solid tires are prone to slipping due to the high wheel pressure, causing the vehicle body to deviate from the set route, thus affecting the painting quality. Utility Model Content

[0004] In view of the shortcomings of the prior art described above, the technical problem to be solved by this utility model is to provide a floating suspension wheel that can reliably maintain contact with the ground at all times, avoid slippage, and has high assembly precision.

[0005] To achieve the above objectives, this utility model provides a floating suspension wheel, including a floating drive wheel and a floating suspension mechanism. The floating suspension mechanism includes a floating mounting plate, a suspension cylinder, and a first drive wheel mounting plate. The cylinder body and piston rod of the suspension cylinder are respectively hinged to the floating mounting plate and the first drive wheel mounting plate. The floating drive wheel is mounted on the first drive wheel mounting plate. The floating drive wheel can be mounted on the floating mounting plate in a vertically floating manner through the first drive wheel mounting plate and the suspension cylinder.

[0006] Furthermore, the floating suspension mechanism also includes a wheel pressure detector, which is used to detect the wheel pressure of the floating drive wheel.

[0007] Furthermore, the floating suspension mechanism also includes a slide rail mechanism disposed between the floating mounting plate and the first drive wheel mounting plate, the slide rail mechanism being used to guide the up-and-down movement of the first drive wheel mounting plate.

[0008] Furthermore, there are two suspension cylinders, which are symmetrically arranged on both sides of the floating mounting plate; there are two sets of slide rail mechanisms, which are symmetrically arranged between the two suspension cylinders.

[0009] Furthermore, the floating suspension mechanism also includes a limiting block fixed to the floating mounting plate. The limiting block is distributed on the top of the slide rail mechanism and can abut against the slider in the slide rail mechanism.

[0010] Furthermore, the floating drive wheel includes a travel drive source and a drive wheel body connected to the travel drive source. The travel drive source is fixed to the first drive wheel mounting plate and is a wheel-side reducer.

[0011] Furthermore, the rotation axis of the cylinder body of the suspension cylinder and the floating mounting plate is perpendicular to the central axis of the floating drive wheel and the floating direction of the floating drive wheel, and the piston rod of the suspension cylinder and the rotation axis of the first drive wheel mounting plate are parallel to the central axis of the floating drive wheel.

[0012] This utility model also provides a walking chassis assembly, including a walking chassis and at least one floating suspension wheel as described above, wherein the floating mounting plate is fixed to the walking chassis.

[0013] As described above, the floating suspension wheel and chassis assembly of this utility model have the following beneficial effects:

[0014] 1. In the floating suspension wheel involved in this application, the floating drive wheel can be mounted on the floating mounting plate in a way that allows it to float up and down via the first drive wheel mounting plate and the suspension cylinder. This enables the floating drive wheel to adapt to uneven ground conditions and maintain reliable contact with the ground at all times. This prevents the floating drive wheel from slipping due to uneven ground conditions, thereby preventing the chassis assembly from veering off course and reliably ensuring that the chassis assembly can move along the set route.

[0015] 2. In the floating suspension wheel involved in this application, the cylinder body of the suspension cylinder and the floating mounting plate, as well as the piston rod of the suspension cylinder and the first drive wheel mounting plate, adopt a hinged structure, leaving adjustment redundancy space, allowing some adjustments to each component of the floating suspension mechanism during installation, thereby improving the assembly accuracy of the floating suspension mechanism. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the ship exterior spraying device of this utility model.

[0017] Figures 2 to 4 for Figure 1 Schematic diagrams of the central chassis assembly from different perspectives.

[0018] Figure 5 for Figure 2 A structural diagram of the floating suspension wheel.

[0019] Figure 6 for Figure 2 A partial structural diagram of the rotary lifting device.

[0020] Figure 7 for Figure 2 A partial structural diagram of the anchoring mechanism.

[0021] Component designation explanation

[0022] 10. Walking chassis

[0023] 20 Fixed drive wheels

[0024] 30 floating drive wheels

[0025] 40 swivel wheels

[0026] 50 Floating Suspension Mechanism

[0027] 51 Floating Mounting Plate

[0028] 52 Suspension cylinder

[0029] 53 First drive wheel mounting plate

[0030] 54 Slide rail mechanism

[0031] 55 Limiting block

[0032] 60 legs

[0033] 70 Second drive wheel mounting plate

[0034] 80 Lifting Device

[0035] 81 Lifting Connector

[0036] 82 Lifting Rod

[0037] 83 Support base

[0038] 84 Fixed Lifting Device

[0039] 85 Rotary Lifting Device

[0040] 90 Rotating Mechanism

[0041] 91 Connecting base

[0042] 92 Support shaft

[0043] 93 Rotary boom

[0044] 111 Walking Drive Source

[0045] 112 Drive wheel body

[0046] 120 Anchoring Mechanism

[0047] 121 First Shackle

[0048] 122 First ring

[0049] 123 Anchoring rope

[0050] 124 Second ring

[0051] 125 Second Shackle

[0052] 126 Spiral Buckle

[0053] 127 Third Shackle

[0054] 131 Tower

[0055] 132 Lifting Drive Source

[0056] 133 Lifting transmission mechanism

[0057] 134 Control Tower

[0058] 135 telescopic boom

[0059] 136 Spraying Equipment Detailed Implementation

[0060] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification.

[0061] It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding. They are not intended to limit the scope of this invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, provided they do not affect the effectiveness or purpose of this invention, should still fall within the scope of the technical content disclosed herein. Furthermore, terms such as "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity and not intended to limit the scope of this invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of this invention.

[0062] It should also be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or may be connected to an intermediary component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component through an intermediary component.

[0063] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0064] This invention provides a floating suspension wheel and a chassis assembly including the floating suspension wheel. The chassis assembly can be used in various types of mechanical work vehicles, such as ladder trucks and automatic painting vehicles. Figure 1 An automatic painting vehicle for ship exteriors is shown, which is used in the field of ship painting to automatically paint the exterior of ships.

[0065] like Figures 2 to 4 As shown, the chassis assembly of this utility model includes a chassis 10 and at least one floating suspension wheel. Figure 5 As shown, the floating suspension wheel of this utility model includes a floating drive wheel 30 and a floating suspension mechanism 50. The floating suspension mechanism 50 includes a floating mounting plate 51, a suspension cylinder 52, and a first drive wheel mounting plate 53. The floating mounting plate 51 is fixed to the chassis 10 by several bolts. The piston rod of the suspension cylinder 52 extends downward from its cylinder body. The upper end of the cylinder body of the suspension cylinder 52 is hinged to the floating mounting plate 51, and the lower end of the piston rod of the suspension cylinder 52 is hinged to the first drive wheel mounting plate 53. The floating drive wheel 30 is mounted on the first drive wheel mounting plate 53. The floating drive wheel 30 can be buoyantly mounted on the floating mounting plate 51 via the first drive wheel mounting plate 53 and the suspension cylinder 52. The floating mounting plate 51 of the floating suspension wheel is fixed to the side of the chassis 10, thereby mounting the entire floating suspension wheel on the chassis 10.

[0066] During the painting process, the chassis 10 moves along a predetermined route parallel to the curve of the ship's exterior, thus enabling the chassis assembly and the ship's exterior painting device to move along the predetermined route as a whole. For ease of description, in the following embodiments, the direction of travel of the chassis assembly is defined as the left-right direction, and the horizontal direction perpendicular to the direction of travel of the chassis assembly is defined as the front-back direction. Therefore, the front-back direction is also the parallel direction between the chassis assembly and the ship's exterior. Figure 1 As shown, the ship exterior painting device of this utility model includes a traveling chassis assembly, a tower 131, a lifting drive source 132 (preferably a winch), a lifting transmission mechanism 133 (preferably a wire rope pulley mechanism), a tower 134, a telescopic boom 135, and a painting device 136. The tower 131 is a multi-section structure assembled vertically, with its bottom fixed to the top surface of the traveling chassis assembly. The lifting drive source 132 is fixed to the top surface of the traveling chassis assembly. The tower 134 is vertically and vertically mounted on the tower 131. The lifting drive source 132 is connected to the tower 134 via the lifting transmission mechanism 133, driving the tower 134 to rise and fall. The telescopic boom 135 can horizontally extend and retract in the front-rear direction. The rear end of the telescopic boom 135 is fixedly connected to the tower 134, and the painting device 136 is installed at the front end of the telescopic boom 135. During the ship exterior painting operation, the lifting drive source 132 drives the tower 134 and the telescopic boom 135 to rise and fall together through the lifting transmission mechanism 133. The telescopic boom 135 extends forward, thereby moving the painting equipment 136 to the target area. Combined with the movement and travel of the mobile chassis assembly, the ship exterior can be automatically painted. In addition to carrying the tower 131 and the lifting drive source 132, the mobile chassis assembly is also used to carry the generator set, hydraulic station, paint booth, and operator's cab of the ship exterior painting equipment.

[0067] During the movement and travel of the chassis 10, the floating suspension mechanism 50 uses a suspension cylinder 52 with constant pressure to push against the floating drive wheel 30, causing the floating drive wheel 30 to float up and down autonomously. This allows the floating drive wheel 30 to automatically rise or fall according to the unevenness of the ground, thus adapting to the unevenness of the ground. This ensures that the floating drive wheel 30 is always in contact with the ground, preventing it from slipping due to uneven ground and thus preventing the chassis assembly from veering off course. This reliably ensures that the chassis assembly can move along the set route. Furthermore, since there may be positional errors in the components of the floating suspension mechanism 50 during manufacturing and assembly, the cylinder body of the suspension cylinder 52 and the floating mounting plate 51, as well as the piston rod of the suspension cylinder 52 and the first drive wheel mounting plate 53, are hinged. This provides adjustment redundancy and allows for some adjustments to the components of the floating suspension mechanism 50 during installation, improving the assembly accuracy of the floating suspension mechanism 50.

[0068] Furthermore, such as Figure 5As shown, the upper end of the cylinder body of the suspension cylinder 52 is hinged to the floating mounting plate 51 via left-right extending pins. These left-right extending pins constitute the rotation axis of the hinge between the cylinder body of the suspension cylinder 52 and the floating mounting plate 51. Therefore, the rotation axis of the cylinder body of the suspension cylinder 52 and the floating mounting plate 51 is perpendicular to the central axis of the floating drive wheel 30 and also perpendicular to the floating direction of the floating drive wheel 30. The lower end of the piston rod of the suspension cylinder 52 is hinged to the first drive wheel mounting plate 53 via front-rear extending pins. These front-rear extending pins constitute the rotation axis of the hinge between the piston rod of the suspension cylinder 52 and the first drive wheel mounting plate 53. Therefore, the rotation axis of the piston rod of the suspension cylinder 52 and the first drive wheel mounting plate 53 is parallel to the central axis of the floating drive wheel 30.

[0069] Furthermore, the floating suspension mechanism 50 also includes a wheel pressure detector, which is used to detect the wheel pressure of the floating drive wheel 30 and obtain the real-time wheel pressure of the floating drive wheel 30 based on the feedback from the wheel pressure detector. When the floating drive wheel 30 is suspended due to uneven ground, and the wheel pressure of the floating drive wheel 30 fed back by the wheel pressure detector is insufficient or below a set threshold, the piston rod of the suspension cylinder 52 automatically extends downward, driving the floating drive wheel 30 downward through the first drive wheel mounting plate 53 until the wheel pressure of the floating drive wheel 30 reaches the set threshold. Conversely, when the floating drive wheel 30 is lifted by the ground, and the wheel pressure of the floating drive wheel 30 fed back by the wheel pressure detector is too high or exceeds the set threshold, the piston rod of the suspension cylinder 52 automatically retracts upward, driving the floating drive wheel 30 upward through the first drive wheel mounting plate 53 until the wheel pressure of the floating drive wheel 30 reaches the set threshold.

[0070] Furthermore, such as Figure 5 As shown, the floating suspension mechanism 50 also includes a vertically extending slide rail mechanism 54, which connects the floating mounting plate 51 and the first drive wheel mounting plate 53. During the autonomous vertical floating of the floating drive wheel 30, the slide rail mechanism 54 guides the vertical movement of the first drive wheel mounting plate 53, improving the accuracy of the vertical floating of the floating drive wheel 30. Furthermore, a limit stop 55 is fixed on the floating mounting plate 51. The limit stop 55 is located at the top of the slide rail mechanism 54 and abuts against the slider in the slide rail mechanism 54, thus limiting the upward movement of the floating drive wheel 30.

[0071] Preferably, such as Figure 5 As shown, in the floating suspension mechanism 50, there are two suspension cylinders 52, which are symmetrically arranged on the left and right sides of the floating mounting plate 51; there are also two sets of slide rail mechanisms 54, which are arranged side by side, and the two sets of slide rail mechanisms 54 are distributed between the two suspension cylinders 52.

[0072] Preferably, such as Figure 5As shown, the floating drive wheel 30 includes a travel drive source 111 and a drive wheel body 112 connected to the travel drive source 111. The travel drive source 111 is fixed to the first drive wheel mounting plate 53. The travel drive source 111 is preferably a wheel-side reducer. The output shaft of the wheel-side reducer is fixedly connected to the drive wheel body 112 by several bolts, directly driving the drive wheel body 112 to rotate. The wheel-side reducer of the floating drive wheel 30 is fixed to the first drive wheel mounting plate 53 by several bolts, thereby mounting the floating drive wheel 30 as a whole onto the first drive wheel mounting plate 53. In this application, the floating drive wheel 30 is set as the driving wheel of the chassis assembly. The travel drive source 111 drives the floating drive wheel 30 to rotate, thereby driving the chassis assembly to move.

[0073] Furthermore, such as Figures 2 to 4 As shown, the chassis assembly of this utility model, in addition to the aforementioned chassis 10 and floating suspension wheels, also includes a fixed drive wheel 20 and a pair of omnidirectional wheels 40. One floating suspension wheel is provided. The fixed drive wheel 20 and the floating suspension wheel are respectively installed on the front and rear sides of the chassis 10 along a direction perpendicular to its travel direction. The pair of omnidirectional wheels 40 are installed on the left and right sides of the chassis 10 along its travel direction. The fixed drive wheel 20 also includes a travel drive source 111 and a drive wheel body 112 connected to the travel drive source 111. Therefore, in this chassis assembly, the fixed drive wheel 20 and the floating drive wheel 30 are the driving wheels, and the omnidirectional wheels 40 are the following wheels. The chassis assembly adopts a four-wheel support structure consisting of the fixed drive wheel 20, the floating drive wheel 30, and the two omnidirectional wheels 40, which improves the overall support stability, ensures stable operation of the ship's exterior painting device, and thus improves the painting quality. In particular, the fixed drive wheel 20 and the two omnidirectional wheels 40 are always coplanar with the ground, while the floating drive wheel 30 has an up-and-down floating structure. A floating point is set in the four-wheel support structure, and the floating drive wheel 30 can adapt to the plane where the fixed drive wheel 20 and the two omnidirectional wheels 40 are located. This ensures that during the movement of the chassis assembly, all four wheels—the fixed drive wheel 20, the floating drive wheel 30, and the two omnidirectional wheels 40—are always in contact with the ground. No drive wheel 20 or the floating drive wheel 30 will be suspended in the air, effectively preventing the fixed drive wheel 20 and the floating drive wheel 30 from slipping. As a result, the chassis assembly will not deviate from its course, reliably ensuring that the chassis assembly can move and walk along the set route.

[0074] Preferably, such as Figures 2 to 4As shown, the fixed drive wheel 20 and the floating drive wheel 30 are distributed along the centerline in the left-right direction of the chassis 10. The wheel-side reducers of the fixed drive wheel 20 and the floating drive wheel 30 are independently controlled, thereby independently regulating the speed of the fixed drive wheel 20 and the floating drive wheel 30. When the fixed drive wheel 20 and the floating drive wheel 30 rotate synchronously in the forward direction, the chassis assembly travels in a straight line in the forward direction; when the fixed drive wheel 20 and the floating drive wheel 30 rotate synchronously in the reverse direction, the chassis assembly travels in a straight line in the opposite direction; when the fixed drive wheel 20 and the floating drive wheel 30 rotate at different speeds, the chassis assembly travels along a curve, realizing the turning control of the chassis assembly. In addition, using the fixed drive wheel 20 and the floating drive wheel 30 as the driving wheels to drive the chassis assembly in straight-line travel, turning travel, and U-turns eliminates the need to lay tracks on the dock floor of the shipyard or ship repair yard, shortens the painting cycle, and significantly improves painting efficiency.

[0075] Furthermore, such as Figure 2 and Figure 3 As shown, the telescopic arm 135 in the ship exterior painting device is a cantilever structure extending forward. Based on this, this application provides a forward-extending support leg 60 at the middle position of the front side of the chassis assembly. The fixed drive wheel 20 or the floating drive wheel 30 is installed at the front end of the support leg 60 to improve the support stability of the chassis assembly. In this embodiment, the fixed drive wheel 20 is installed at the front end of the support leg 60, and the floating drive wheel 30 is installed at the rear side of the chassis 10. The support leg 60 is a rectangular structure and extends horizontally back and forth in a direction perpendicular to the walking direction of the chassis 10. The rear end of the support leg 60 is fixed to the front side of the chassis 10 by several bolts, and the front end of the support leg 60 is fixed to the second drive wheel mounting plate 70 by several bolts. The fixed drive wheel 20 is installed on the second drive wheel mounting plate 70, that is, the wheel-side reducer of the fixed drive wheel 20 is fixed to the second drive wheel mounting plate 70 by several bolts. Furthermore, the forward extension structure of the outriggers 60 in the chassis assembly makes the fixed drive wheel 20 farther away from the center of gravity of the chassis 10 relative to the floating drive wheel 30. As a result, the load-bearing capacity of the fixed drive wheel 20 is less than that of the floating drive wheel 30, and the floating drive wheel 30 is the main load-bearing component.

[0076] Furthermore, such as Figure 2 , Figure 3 and Figure 6As shown, the chassis assembly also includes several lifting devices 80. Each lifting device 80 includes a lifting connecting seat 81 mounted on the chassis 10, a lifting rod 82 movably mounted on the lifting connecting seat 81, a support base 83 fixed to the lower end of the lifting rod 82, and a lifting drive source mounted on the lifting connecting seat 81. The lifting drive source is not shown in the figure. The lifting drive source is connected to the lifting rod 82. The lower end of the lifting rod 82 extends downward from the lifting connecting seat 81, and the support base 83 is located on the lower side of the lifting connecting seat 81. When the ship's exterior painting device is in operation, the lifting rod 82 is in an upward retracted state, and the support base 83 is suspended above the ground. When the ship's exterior painting device is under maintenance, the lifting drive source drives the lifting rod 82 to extend downward until the support base 83 touches the ground, thereby temporarily fixing the ship's exterior painting device for easy maintenance.

[0077] Preferably, the lifting drive source can be a hand crank, a hydraulic cylinder, or an electric cylinder. When the lifting drive source is a hand crank, the hand crank is connected to the lifting rod 82 through a transmission assembly, driving the lifting rod 82 to move up or down. When the lifting drive source is a hydraulic cylinder or an electric cylinder, the piston rod of the hydraulic cylinder or electric cylinder can be directly connected to the lifting rod 82, directly driving the lifting rod 82 to move up or down.

[0078] Furthermore, such as Figure 2 and Figure 3 As shown, there are four lifting devices 80: two fixed lifting devices 84 and two rotating lifting devices 85. The two fixed lifting devices 84, along with the fixed drive wheels 20, are located on the front side of the chassis 10, and are positioned on the left and right sides of the outriggers 60 along the traveling direction of the chassis 10. The lifting connecting seats 81 of the fixed lifting devices 84 are directly fixed to the front side of the chassis 10 by several bolts. The two rotating lifting devices 85, along with the floating drive wheels 30, are located on the rear side of the chassis 10, and are positioned on the left and right sides of the floating drive wheels 30 along the traveling direction of the chassis 10. The lifting connecting seats 81 of the rotating lifting devices 85 are preferably rotatably mounted on the rear side of the chassis 10 via a rotating mechanism 90. Figure 5As shown, the rotating mechanism 90 includes a pair of connecting bases 91 fixed to the rear side of the chassis 10, a vertically extending support shaft 92, and a rotating boom 93. The support shaft 92 is fixed in the pair of connecting bases 91, and one end of the rotating boom 93 is rotatably connected to the support shaft 92. The lifting connecting seat 81 of the rotating lifting device 85 is fixed to the other end of the rotating boom 93 by several bolts. With this configuration, since the outriggers 60 are already provided on the front side of the chassis assembly, even if both lifting devices 80 on the front side are set as non-rotatable fixed lifting devices 84, there is no problem of excessive width in the front-rear direction. However, on the rear side of the traveling chassis assembly, both lifting devices 80 are configured as rotatable rotating lifting devices 85. When not in use, the rotating boom 93 is not rotated out and is attached to the rear side of the traveling chassis 10, and the rotating lifting device 85 is in a retracted state, thereby avoiding excessive width in the front-to-back direction and preventing the two rear lifting devices 80 from colliding with other equipment in the dock. When needed, the rotating boom 93 is rotated out around the support shaft 92, and the rotating lifting device 85 is in an extended state.

[0079] Furthermore, such as Figure 2 and Figure 3 As shown, the chassis assembly also includes anchoring mechanisms 120 located at the four corners of the chassis 10; as Figure 7 As shown, each anchoring mechanism 120 includes a first shackle 121, a first collar 122, an anchoring rope 123, a second collar 124, a second shackle 125, a spiral buckle 126, and a third shackle 127 connected in sequence. Connecting lugs are provided at the corners of the traveling chassis 10, and the first shackle 121 passes through these connecting lugs. When the ship's exterior painting equipment is not in operation, the anchoring mechanism 120 anchors the equipment at a specific location.

[0080] In summary, this utility model effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0081] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A floating suspension wheel, characterized in that: The system includes a floating drive wheel (30) and a floating suspension mechanism (50). The floating suspension mechanism (50) includes a floating mounting plate (51), a suspension cylinder (52), and a first drive wheel mounting plate (53). The cylinder body and piston rod of the suspension cylinder (52) are respectively hinged to the floating mounting plate (51) and the first drive wheel mounting plate (53). The floating drive wheel (30) is mounted on the first drive wheel mounting plate (53). The floating drive wheel (30) can be mounted on the floating mounting plate (51) in a floating manner through the first drive wheel mounting plate (53) and the suspension cylinder (52).

2. The floating suspension wheel according to claim 1, characterized in that: The floating suspension mechanism (50) also includes a wheel pressure detector for detecting the wheel pressure of the floating drive wheel (30).

3. The floating suspension wheel according to claim 1, characterized in that: The floating suspension mechanism (50) further includes a slide rail mechanism (54) disposed between the floating mounting plate (51) and the first drive wheel mounting plate (53), the slide rail mechanism (54) being used to guide the up and down movement of the first drive wheel mounting plate (53).

4. The floating suspension wheel according to claim 3, characterized in that: There are two suspension cylinders (52), which are symmetrically arranged on both sides of the floating mounting plate (51); there are two sets of slide rail mechanisms (54), which are symmetrically arranged between the two suspension cylinders (52).

5. The floating suspension wheel according to claim 3, characterized in that: The floating suspension mechanism (50) also includes a limiting block (55) fixed on the floating mounting plate (51). The limiting block (55) is distributed on the top of the slide rail mechanism (54) and can abut against the slider in the slide rail mechanism (54).

6. The floating suspension wheel according to claim 1, characterized in that: The floating drive wheel (30) includes a walking drive source (111) and a drive wheel body (112) connected to the walking drive source (111). The walking drive source (111) is fixed to the first drive wheel mounting plate (53). The walking drive source (111) is a wheel-side reducer.

7. The floating suspension wheel according to claim 1, characterized in that: The cylinder body of the suspension cylinder (52) and the rotation axis of the floating mounting plate (51) are perpendicular to the central axis of the floating drive wheel (30) and the floating direction of the floating drive wheel (30). The piston rod of the suspension cylinder (52) and the rotation axis of the first drive wheel mounting plate (53) are parallel to the central axis of the floating drive wheel (30).

8. A chassis assembly comprising a chassis (10), characterized in that: It also includes at least one floating suspension wheel as described in any one of claims 1-7, wherein the floating mounting plate (51) is fixed to the walking chassis (10).

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