CN111168652B - Folding type supporting device and robot - Google Patents
Folding type supporting device and robot Download PDFInfo
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- CN111168652B CN111168652B CN202010059479.1A CN202010059479A CN111168652B CN 111168652 B CN111168652 B CN 111168652B CN 202010059479 A CN202010059479 A CN 202010059479A CN 111168652 B CN111168652 B CN 111168652B
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- support
- connecting rod
- leg assembly
- support leg
- assembly
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The application provides a foldable strutting arrangement and robot. The folding supporting device comprises a driving motor, a first transmission assembly and a second transmission assembly which are identical in structure and connected with the driving motor, and a first supporting leg assembly and a second supporting leg assembly which are identical in structure. The driving motor drives the first connecting rod of the first transmission assembly to selectively move along a first direction or a second direction opposite to the first direction. The moving direction of the second connecting rod of the second transmission assembly is opposite to the moving direction of the first connecting rod. The first supporting leg assembly is rotatably connected to the first connecting rod, the first connecting rod moving towards the first direction drives the first supporting leg assembly to rotate to a supporting state relative to the first connecting rod, and the first connecting rod moving towards the second direction drives the first supporting leg assembly to rotate to a folded state relative to the first connecting rod. The gravity center of the folding supporting device is lowered, and the stability of the folding supporting device is improved.
Description
Technical Field
The application relates to the technical field of mechanical equipment, in particular to a folding type supporting device and a robot.
Background
During the stop of an Automated Guided Vehicle (AGV), the fuselage is typically supported by support legs in the AGV. If the height of the support legs is too low, the obstacle crossing height of the automatic guiding carrier can be reduced, and if the height of the support legs is too high, the gravity center of the automatic guiding carrier is easily too high, which is not beneficial to improving the stability of the automatic guiding carrier.
Disclosure of Invention
The embodiment of the application provides a folding type supporting device and a robot, and aims to solve the technical problem.
The embodiment of the application realizes the aim through the following technical scheme.
In a first aspect, embodiments of the present application provide a foldable supporting device. The folding supporting device comprises a driving motor, a first transmission assembly, a second transmission assembly, a first supporting leg assembly and a second supporting leg assembly. The first transmission assembly is connected to a driving motor, and the first transmission assembly comprises a first connecting rod, and the driving motor drives the first connecting rod to selectively move along a first direction or a second direction, wherein the first direction is opposite to the second direction. The second transmission assembly is connected to the driving motor and comprises a second connecting rod, the driving motor drives the second connecting rod to selectively move along a second direction or a first direction, and the moving direction of the second connecting rod is opposite to that of the first connecting rod. First support leg subassembly rotationally connects in the head rod, and the head rod towards the first direction motion drives the relative head rod of first support leg subassembly and rotates to the support state, and the second connecting rod towards the second direction motion drives the relative head rod of first support leg subassembly and rotates to fold condition, and first support leg subassembly includes first support leg support, and first support leg support connection is in the head rod. The second supporting leg assembly is rotatably connected to the second connecting rod, the second connecting rod moving towards the second direction drives the first supporting leg assembly to rotate to a supporting state relative to the first connecting rod, the second connecting rod moving towards the first direction drives the second supporting leg assembly to rotate to a folding state relative to the second connecting rod, the second supporting leg assembly comprises a second supporting leg support, and the second supporting leg support is connected to the second connecting rod. A first support leg bracket of the first support leg assembly in the folded state is grounded, and a second support leg bracket of the second support leg assembly in the folded state is grounded; the first support leg assembly and the second support leg assembly are in a supporting state to increase the obstacle crossing height of the folding support device.
In some embodiments, the first transmission assembly further comprises a first gear set and a first rack, the first gear set is meshed with the first rack and is connected with the driving motor, the first connecting rod comprises a first telescopic sliding rod and a first pull rod which are connected, the first pull rod is connected with the first rack, and the first pull rod drives the first telescopic sliding rod to stretch and retract; the second transmission assembly further comprises a second gear set and a second rack, the second gear set is meshed with the second rack and meshed with the first gear set, the second connecting rod comprises a second telescopic sliding rod and a second pull rod which are connected, the second pull rod is connected to the second rack, the second pull rod drives the second telescopic sliding rod to stretch, and the rotation directions of the second gear set and the first gear set are opposite.
In some embodiments, the foldable support device further includes a bottom plate, the bottom plate includes a main plate body and an extension portion, the extension portion protrudes from the main plate body and forms a first gap and a second gap, the driving motor is mounted on the main plate body, the first transmission assembly and the second transmission assembly are mounted on the extension portion, the first connecting rod is located in the first gap, and the second connecting rod is located in the second gap.
In some embodiments, the collapsible support device further comprises a sliding sleeve coupled to the extension, the first and second connecting rods being slidably coupled to the sliding sleeve.
In some embodiments, the folding support device further comprises a first link and a second link, one end of the first link is hinged to the first support leg assembly, and the other end of the first link is hinged to the sliding sleeve; one end of the second connecting rod is hinged to the second supporting leg assembly, and the other end of the second connecting rod is hinged to the sliding sleeve.
In some embodiments, the foldable support device further comprises a first limit pull rod and a second limit pull rod, the first limit pull rod is provided with a first limit groove, the sliding sleeve comprises a first limit part, the first limit pull rod is hinged to the first support leg assembly, and the first limit part is slidably mounted in the first limit groove; the second limiting pull rod is provided with a second limiting groove, the sliding sleeve comprises a second limiting portion, the second limiting pull rod is hinged to the second supporting leg assembly, and the second limiting portion is slidably mounted in the second limiting groove.
In some embodiments, the first support leg assembly comprises a first hydraulic device mounted to the first support leg bracket and a first support foot, the first hydraulic device coupled to the first support foot; the second supporting leg assembly further comprises a second hydraulic device and a second supporting leg, the second hydraulic device is arranged on the second supporting leg support, and the second hydraulic device is connected to the first supporting leg.
In some embodiments, the first support leg assembly and the second support leg assembly are symmetrically disposed.
In some embodiments, the first support leg assembly is rotated 90 degrees from the support position to the collapsed position, the second support leg assembly is rotated in a direction opposite to the direction of rotation of the first support leg assembly, and the second support leg assembly is rotated 90 degrees from the support position to the collapsed position, the first support foot of the first support leg assembly in the collapsed position opposing the second support foot of the second support leg assembly in the collapsed position.
In a second aspect, embodiments of the present application provide a robot. The robot comprises the folding support device of any one of the embodiments.
The embodiment of the application provides a folding type supporting device and a robot, wherein a driving motor is used for driving a first transmission assembly and a second transmission assembly, the first transmission assembly drives a first supporting leg assembly to be in a supporting state or a folding state through a first connecting rod, the second transmission assembly drives a second supporting leg assembly to be in the supporting state or the folding state through a second connecting rod, and the first connecting rod and the second connecting rod move in opposite directions, so that the first supporting leg assembly and the second supporting leg assembly rotate in opposite directions, and the first supporting leg assembly and the second supporting leg assembly can be in the supporting state or the folding state at the same time; the first supporting leg assembly and the second supporting leg assembly are driven by the same driving motor, so that the number of the driving motors is reduced, and the situation that the folding supporting device occupies too much space is avoided; the first and second support leg assemblies in the folded state help to lower the center of gravity of the folding support device, improve the stability of the folding support device, and also help to make the folding support device compact; the first and second support leg assemblies in the support state help to increase the obstacle crossing height of the folding support device.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural view illustrating a first supporting leg assembly and a second supporting leg assembly of a foldable supporting device provided in an embodiment of the present application in a supporting state.
Fig. 2 is a schematic structural view of a first support leg assembly and a second support leg assembly of a folding support device provided by an embodiment of the present application in a folded state.
Fig. 3 is an enlarged schematic view at III of the folding support apparatus of fig. 1.
Fig. 4 is a schematic structural diagram of a driving motor, a first transmission assembly and a second transmission assembly of the folding support device of fig. 1.
Fig. 5 is a schematic structural view of a first support leg assembly of the folding support apparatus of fig. 1.
Fig. 6 is an enlarged schematic view at VI of the folding support apparatus of fig. 1.
Fig. 7 is a schematic structural view of a second support leg assembly of the folding support apparatus of fig. 1.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
Referring to fig. 1 and 2, a foldable support device 10 is provided according to an embodiment of the present disclosure. The folding support device 10 may be applied to an Automated Guided Vehicle (AGV) and is used to improve the stability and obstacle crossing height of the AGV.
The folding support apparatus 10 may include a first transmission assembly 11, a first support leg assembly 12, a second transmission assembly 13, a second support leg assembly 14, and a drive motor 15. The first transmission assembly 11 is connected with the first supporting leg assembly 12, the second transmission assembly 13 is connected with the second supporting leg assembly 14, and the driving motor 15 is connected with the first transmission assembly 11 and the second transmission assembly 13.
Referring to fig. 3, the first transmission assembly 11 may include a first connection rod 112, and the first connection rod 112 is connected between the first support leg assembly 12 and the driving motor 15. The first connecting rod 112 may include a first pull rod 1124 and a first telescoping slide bar 1122 connected thereto. The first link 1124 is connected to the driving motor 15. The first pulling rod 1124 is fixedly connected to the first telescopic sliding rod 1122, and the first pulling rod 1124 can drive the first telescopic sliding rod 1122 to extend and retract under the driving of the driving motor 15.
Referring to fig. 4, the first transmission assembly 11 may further include a first gear set 114 and a first rack 116, such that the first pull rod 1124 is connected to the driving motor 15 through the first rack 116 and the first gear set 114. For example, the first gear set 114 is connected to the driving motor 15, the first rack 116 is engaged with the first gear set 114, and the first rack 116 is connected to the first link 1124. The first rack 116 and the first pull rod 1124 may be integrally formed by a mold; the first rack 116 and the first pull rod 1124 may be two independent structures, and they may be fixedly connected by means of fastening, screwing, gluing, or the like.
Referring to fig. 3 and 5, the first support leg assembly 12 is rotatably connected to the first connecting rod 112, and the first support leg assembly 12 is rotatably connected to the first telescopic slide bar 1122. The first support leg assembly 12 may include a first support leg bracket 122, a first hydraulic device 124, and a first support foot 126, the first support leg bracket 122 being connected to the first connecting rod 112, the first hydraulic device 124 being connected between the first support leg bracket 122 and the first support foot 126.
The first support leg bracket 122 is rotatably connected to the first telescopic slide 1122. The first hydraulic device 124 is installed on the first support leg bracket 122, and the first hydraulic device 124 is connected to the first support leg 126. The first hydraulic device 124 may drive the first support foot 126 to move relative to the first support bracket such that the first support foot 126 may move in a direction toward the first support leg bracket 122 and may also move in a direction away from the first support leg bracket 122 to facilitate the folding support apparatus 10 being able to adjust its height via the first support leg assembly 12.
Referring to fig. 6, the structure of the second transmission assembly 13 may be the same as or different from that of the first transmission assembly 11. The second transmission assembly 13 may include a second connecting rod 132, and the second connecting rod 132 is connected between the second support leg assembly 14 and the driving motor 15. The second connecting rod 132 may include a second tie rod 1324 and a second telescoping slide rod 1322 that are connected. The second tie rod 1324 is connected to the driving motor 15. The second pulling rod 1324 is fixedly connected to the second telescopic sliding rod 1322, and the second pulling rod 1324 can drive the second telescopic sliding rod 1322 to extend and retract under the driving of the driving motor 15.
Referring to fig. 4, the second transmission assembly 13 may further include a second gear set 134 and a second rack 136. The second rack 136 is engaged with the second gear set 134, and the second rack 136 is connected with the second tie rod 1324. The second rack 136 and the second pull rod 1324 can be molded in two parts by adopting a mold; the second rack 136 and the second tie rod 1324 may be two independent structures, and they may be fixedly connected by means of fastening, screwing, gluing, or the like.
In some embodiments, the second gear set 134 is connected to the drive motor 15. For example, the number of the driving motors 15 is two, and the second gear set 134 and the first gear set 114 are both directly connected to a respective one of the driving motors 15.
In other embodiments, as shown in fig. 4, the driving motor 15 drives the first gear set 114 to rotate, the first gear set 114 is meshed with the second gear set 134, the rotation of the first gear set 114 drives the second gear set 134 to rotate, and the rotation directions of the second gear set 134 and the first gear set 114 are opposite. Since the same driving motor 15 is used to drive the first gear set 114 and the second gear set 134, the number of driving motors 15 can be reduced, and the space occupied by the folding supporting device 10 can be avoided.
In the above embodiment that the same driving motor 15 is used to drive the first gear set 114 and the second gear set 134, the first gear set 114 may include a first driving gear 1142 and a second driving gear 1144, the first driving gear 1142 and the second driving gear 1144 are coaxial and relatively fixed, the first driving gear 1142 is connected to the driving motor 15, and the second driving gear 1144 is engaged with the first rack 116. The second gear set 134 may include a first driven gear 1342 and a second driven gear 1344, the first driven gear 1342 and the second driven gear 1344 being coaxially fixed relative to each other, the first driven gear 1342 being engaged with the first driving gear 1142, and the second driven gear 1344 being engaged with the second rack 136. Under the driving of the driving motor 15, the first driving gear 1142 and the second driving gear 1144 rotate synchronously and in the same direction, the first driven gear 1342 and the second driven gear 1344 rotate synchronously and in the same direction, and the rotation direction of the first driven gear 1342 is opposite to the rotation direction of the first driving gear 1142.
Referring to FIGS. 6 and 7, the second support leg assembly 14 may be of the same or different construction than the first support leg assembly 12. The second support leg assembly 14 is rotatably connected to the second connecting rod 132, and the second support leg assembly 14 is rotatably connected to the second telescoping slide 1322. The second support leg assembly 14 may include a second support leg bracket 142, a second hydraulic device 144, and a second foot 146, the second support leg bracket 142 connected to the second connecting rod 132, the second hydraulic device 144 connected between the second support leg bracket 142 and the second foot 146.
The second support leg bracket 142 is rotatably connected to the second telescoping slide rod 1322. The second hydraulic device 144 is disposed on the second leg support 142, and the second hydraulic device 144 is connected to the second support foot 146. The second hydraulic device 144 may drive the second support foot 146 to move relative to the second support bracket such that the second support foot 146 may move in a direction toward the second support leg bracket 142 and may also move in a direction away from the second support leg bracket 142 to facilitate the folding support apparatus 10 adjusting its height via the second support leg assembly 14.
The second hydraulic device 144 and the first hydraulic device 124 can operate independently of each other, which helps the foldable support device 10 to level the chassis of the foldable support device 10 by adjusting the heights of the second support leg assembly 14 and the first support leg assembly 12 according to the actual unevenness of the road surface.
The driving motor 15 serves as a power source of the folding support device 10. The driving motor 15 may drive the first connecting rod 112 to selectively move in a first direction or a second direction, which is opposite to the first direction. The first connecting rod 112 moving in the first direction drives the first supporting leg assembly 12 to rotate relative to the first connecting rod 112 to a supporting state, and the first supporting foot 126 of the first supporting leg assembly 12 in the supporting state is grounded. The first connecting rod 112 moving in the second direction drives the first support leg assembly 12 to rotate relative to the first connecting rod 112 to a folded state, in which the first support leg bracket 122 of the first support leg assembly 12 is grounded. The first support leg assembly 12 is rotatable 90 degrees from the support position to the collapsed position.
The driving motor 15 may drive the second connecting rod 132 to selectively move in the second direction or the first direction. The second connecting rod 132 moving in the second direction drives the second supporting leg assembly 14 to rotate relative to the second connecting rod 132 to a supporting state, and the second supporting foot 146 of the second supporting leg assembly 14 in the supporting state is grounded. The second connecting rod 132 moving in the first direction drives the second support leg assembly 14 to rotate relative to the second connecting rod 132 to a folded state, the second support leg bracket 142 of the second support leg assembly 14 in the folded state is grounded, and the second support foot 146 of the second support leg assembly 14 in the folded state is opposite to the first support foot 126 of the first support leg assembly 12 in the folded state. The second support leg assembly 14 is rotatable 90 degrees from the support state to the collapsed state. The second support leg assembly 14 rotates in a direction opposite to the direction of rotation of the first support leg assembly 12, and the second support leg assembly 14 and one support leg assembly are symmetrically disposed.
The moving direction of the second connecting rod 132 is opposite to the moving direction of the first connecting rod 112 under the driving of the driving motor 15, that is, when the driving motor 15 drives the first connecting rod 112 to move along the first direction, the driving motor 15 drives the second connecting rod 132 to move along the second direction; when the driving motor 15 drives the first connecting rod 112 to move in the second direction, the driving motor 15 drives the second connecting rod 132 to move in the first direction, so that the first and second support leg assemblies 12 and 14 can be synchronously in the folding state or synchronously in the supporting state. As shown in FIG. 2, when the first and second support leg assemblies 12, 14 are in the collapsed condition, they help to lower the center of gravity of the folding support apparatus 10, improve the stability of the folding support apparatus 10, and also help to promote compactness of the folding support apparatus 10; as shown in FIG. 1, when the first and second support leg assemblies 12, 14 are in a supporting condition, they help to increase the obstacle crossing height of the folding support apparatus 10.
In some embodiments, the number of the first transmission assembly 11, the first support leg assembly 12, the second transmission assembly 13, the second support leg assembly 14 and the driving motor 15 is greater than or equal to two, for example, the number of the first transmission assembly 11, the first support leg assembly 12, the second transmission assembly 13, the second support leg assembly 14 and the driving motor 15 is two, one first transmission assembly 11, one first support leg assembly 12, one second transmission assembly 13, one second support leg assembly 14 and one driving motor 15 are cooperatively connected with each other, the other first transmission assembly 11, the other first support leg assembly 12, the other second transmission assembly 13, the other second support leg assembly 14 and the other driving motor 15 are cooperatively connected with each other, so that the two first support leg assemblies 12 and the two second support leg assemblies 14 can be synchronously in the supporting state (see fig. 1), and can be synchronously in a folded state (see fig. 2).
Referring to fig. 1, the foldable support device 10 may further include a bottom plate 16, and the bottom plate 16 may include a main plate 162 and an extending portion 164. The extension 164 protrudes from the main plate body 162 and forms a first notch 166 and a second notch 168. The driving motor 15 is mounted to the main plate body 162. The first transmission assembly 11 is mounted on the extending portion 164, the first connecting rod 112 is located in the first gap 166, the first gear set 114 can be fixed on the extending portion 164 through a bearing seat, and the first rack 116 can be slidably disposed on the extending portion 164. The second transmission assembly 13 is mounted on the extending portion 164, the second connecting rod 132 is located in the second gap 168, the second gear set 134 can be fixed to the extending portion 164 through a bearing seat, and the second rack 136 can be slidably disposed on the extending portion 164.
Referring to fig. 2, the first leg assembly 12 in the folded state may be partially disposed within the first gap 166, thereby fully utilizing the spatial position of the foldable support device 10 and facilitating the compact structure of the foldable support device 10. Likewise, the second support leg assembly 14 in the folded configuration may be partially disposed within the second gap 168, further contributing to the compact configuration of the folding support apparatus 10.
Referring to fig. 1 and 3, the foldable support device 10 may further include a sliding sleeve 17, the sliding sleeve 17 is connected to the extension 164, for example, the sliding sleeve 17 may be fixed to the extension 164 by a fastener such as a screw. The first connecting rod 112 is slidably connected to the sliding sleeve 17, for example, the first telescopic sliding rod 1122 is slidably connected to the sliding sleeve 17, and the first telescopic sliding rod 1122 can be retracted into the sliding sleeve 17 or extended out of the sliding sleeve 17 by the driving of the first pulling rod 1124. The second connecting rod 132 is slidably connected to the sliding sleeve 17, for example, the second telescopic sliding rod 1322 is slidably connected to the sliding sleeve 17, and the second telescopic sliding rod 1322 can be retracted into the sliding sleeve 17 or extended out of the sliding sleeve 17 by the driving of the first pulling rod 1124.
Referring to fig. 1 and 2, the foldable support device 10 may further include a first link 182. First link 182 is hingedly coupled at one end to first support leg assembly 12, and first link 182 may be hingedly coupled to first support leg bracket 122 in first support leg assembly 12. The other end of the first link 182 is hinged to the sliding sleeve 17. The number of the first links 182 may be greater than or equal to two, for example, in the present embodiment, the number of the first links 182 is two, and the two first links 182 are respectively located at two opposite sides of the first telescopic sliding rod 1122. The two first links 182 help to enhance the stability of the connection of the first support leg assembly 12 to the sliding sleeve 17.
Referring to fig. 1 and 2, the foldable support device 10 may further include a second link 184. One end of the second link 184 is hinged to the second leg assembly 14, and the second link 184 may be hinged to the second leg support 142 in the second leg assembly 14. The other end of the second link 184 is hinged to the sliding sleeve 17. The number of the second connecting rods 184 may be greater than or equal to two, for example, in this embodiment, the number of the second connecting rods 184 is two, and the two second connecting rods 184 are respectively located at two opposite sides of the second telescopic slide rod 1322. The two second linkages 184 help to enhance the stability of the connection of the second support leg assembly 14 to the sliding sleeve 17.
Referring to fig. 3, the foldable supporting device 10 may further include a first position-limiting pull rod 192. The first limit pull rod 192 is hinged to the first support leg assembly 12, e.g., the first limit pull rod 192 may be hinged to the first support leg bracket 122. The first position-limiting rod 192 can be slidably connected to the sliding sleeve 17, for example, the first position-limiting rod 192 is provided with a first position-limiting groove 1922, the sliding sleeve 17 can include a first position-limiting portion 172, and the first position-limiting portion 172 can be slidably mounted in the first position-limiting groove 1922. The number of the first limit pull rods 192 may be greater than or equal to two, for example, in the present embodiment, the number of the first limit pull rods 192 is two, and the two first limit pull rods 192 are respectively located at two opposite sides of the first support leg bracket 122. The two first limit pull rods 192 help to enhance the stability of the rotation of the first support leg bracket 122 relative to the sliding sleeve 17.
Referring to fig. 6, the foldable supporting device 10 may further include a second limit pull rod 194. The second limit pull rod 194 is hinged to the second support leg assembly 14, for example, the second limit pull rod 194 may be hinged to the second support leg bracket 142. The second limit rod 194 can be slidably connected to the sliding sleeve 17, for example, the second limit rod 194 is provided with a second limit groove 1942, the sliding sleeve 17 can include a second limit portion 174, and the second limit portion 174 can be slidably mounted in the second limit groove 1942. The number of the second limit pull rods 194 may be greater than or equal to two, for example, in the present embodiment, the number of the second limit pull rods 194 is two, and the two second limit pull rods 194 are respectively located at two opposite sides of the second support leg bracket 142. The two second limit pull rods 194 help to enhance the stability of the second support leg bracket 142 in rotation relative to the sliding sleeve 17.
The embodiment of the application also provides a robot (not shown). The robot comprises a folding support device 10 according to any of the embodiments described above. The robot adjusts the stability and obstacle crossing height of the robot through the folding supporting device 10.
The embodiment of the application provides a folding supporting device 10 and a robot, wherein a driving motor 15 is used for driving a first transmission assembly 11 and a second transmission assembly 13, so that the first transmission assembly 11 drives a first supporting leg assembly 12 to be in a supporting state or a folding state through a first connecting rod 112, and the second transmission assembly 13 drives a second supporting leg assembly 14 to be in a supporting state or a folding state through a second connecting rod 132, and because the moving directions of the first connecting rod 112 and the second connecting rod 132 are opposite, the rotating directions of the first supporting leg assembly 12 and the second supporting leg assembly 14 are opposite, so that the supporting state or the folding state can be simultaneously achieved; since the same driving motor 15 is used for driving the first supporting leg assembly 12 and the second supporting leg assembly 14, the number of the driving motors 15 is reduced, and the folding supporting device 10 is prevented from occupying too much space; when the first and second support leg assemblies 12, 14 are in the folded condition, they help to lower the center of gravity of the folding support apparatus 10, improve the stability of the folding support apparatus 10, and also help to promote compactness of the folding support apparatus 10; when the first and second support leg assemblies 12, 14 are in the support configuration, they help to increase the barrier height of the folding support apparatus 10.
In this application, the terms "mounted," "connected," "secured," and the like are to be construed broadly unless otherwise specifically stated or limited. For example, the connection can be fixed, detachable or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate member, or they may be connected through the inside of two elements, or they may be connected only through surface contact or through surface contact of an intermediate member. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "first," "second," and the like are used merely for distinguishing between descriptions and not intended to imply or imply a particular structure. The description of the terms "some embodiments," "other embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this application, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this application can be combined and combined by those skilled in the art without contradiction.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A folding support device, comprising:
a drive motor;
a first transmission assembly connected to the driving motor, the first transmission assembly including a first connecting rod, the driving motor driving the first connecting rod to selectively move in a first direction or a second direction, the first direction and the second direction being opposite;
the second transmission assembly is connected to the driving motor and comprises a second connecting rod, the driving motor drives the second connecting rod to selectively move along the second direction or the first direction, and the moving direction of the second connecting rod is opposite to that of the first connecting rod;
the first supporting leg assembly is rotatably connected to the first connecting rod, the first connecting rod moving towards the first direction drives the first supporting leg assembly to rotate to a supporting state relative to the first connecting rod, the first connecting rod moving towards the second direction drives the first supporting leg assembly to rotate to a folding state relative to the first connecting rod, the first supporting leg assembly comprises a first supporting leg support, and the first supporting leg support is connected to the first connecting rod; and
the second support leg assembly is rotatably connected to the second connecting rod, the second connecting rod moving towards the second direction drives the second support leg assembly to rotate relative to the second connecting rod to a support state, the second connecting rod moving towards the first direction drives the second support leg assembly to rotate relative to the second connecting rod to a folding state, the second support leg assembly comprises a second support leg support, and the second support leg support is connected to the second connecting rod;
the first support leg rest of the first support leg assembly in the collapsed condition is grounded and the second support leg rest of the second support leg assembly in the collapsed condition is grounded; the first and second support leg assemblies in the support state to increase an obstacle crossing height of the folding support apparatus.
2. The folding support device of claim 1, wherein the first transmission assembly further comprises a first gear set and a first rack, the first gear set being engaged with the first rack and being connected to the driving motor, the first connecting rod comprising a first telescoping slide bar and a first pull rod connected thereto, the first pull rod being connected to the first rack, the first pull rod driving the first telescoping slide bar to telescope;
the second transmission assembly further comprises a second gear set and a second rack, the second gear set is meshed with the second rack and meshed with the first gear set, the second connecting rod comprises a second telescopic sliding rod and a second pull rod which are connected, the second pull rod is connected to the second rack, the second pull rod drives the second telescopic sliding rod to stretch, and the rotation directions of the second gear set and the first gear set are opposite.
3. The folding support device of claim 2, further comprising a base panel including a main panel body and an extension portion protruding from the main panel body and defining a first notch and a second notch, wherein the drive motor is mounted to the main panel body, wherein the first and second drive assemblies are mounted to the extension portion, wherein the first link is located in the first notch and the second link is located in the second notch.
4. The folding support device of claim 3, further comprising a sliding sleeve coupled to said extension, said first and second links being slidably coupled to said sliding sleeve.
5. The folding support apparatus of claim 4, further comprising a first link and a second link, one end of said first link being hinged to said first support leg assembly and the other end of said first link being hinged to said sliding sleeve; one end of the second connecting rod is hinged to the second supporting leg assembly, and the other end of the second connecting rod is hinged to the sliding sleeve.
6. The folding support device of claim 4, further comprising a first limit pull rod and a second limit pull rod, wherein the first limit pull rod is provided with a first limit groove, wherein the sliding sleeve comprises a first limit portion, wherein the first limit pull rod is hinged to the first support leg assembly, and wherein the first limit portion is slidably mounted in the first limit groove; the second limiting pull rod is provided with a second limiting groove, the sliding sleeve comprises a second limiting portion, the second limiting pull rod is hinged to the second supporting leg assembly, and the second limiting portion is slidably mounted in the second limiting groove.
7. The folding support apparatus of claim 1, wherein said first support leg assembly includes a first hydraulic device and a first support foot, said first hydraulic device being mounted to said first support leg bracket, said first hydraulic device being connected to said first support foot;
the second supporting leg assembly further comprises a second hydraulic device and a second supporting leg, the second hydraulic device is arranged on the second supporting leg support, and the second hydraulic device is connected to the first supporting leg.
8. The folding support apparatus of claim 7, wherein the first support leg assembly and the second support leg assembly are symmetrically disposed.
9. The folding support apparatus of claim 7 wherein said first support leg assembly rotates 90 degrees from said support condition to said folded condition, said second support leg assembly rotates in a direction opposite to said first support leg assembly, said second support leg assembly rotates 90 degrees from said support condition to said folded condition, said first support foot of said first support leg assembly in said folded condition being opposed to said second support foot of said second support leg assembly in said folded condition.
10. A robot comprising a folding support device according to any one of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010059479.1A CN111168652B (en) | 2020-01-19 | 2020-01-19 | Folding type supporting device and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010059479.1A CN111168652B (en) | 2020-01-19 | 2020-01-19 | Folding type supporting device and robot |
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| CN111168652A CN111168652A (en) | 2020-05-19 |
| CN111168652B true CN111168652B (en) | 2021-04-02 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112050027A (en) * | 2020-08-26 | 2020-12-08 | 安徽乾方检测技术有限公司 | Drainage pipeline detection device capable of automatically crossing over obstacle |
| CN112829724B (en) * | 2021-01-19 | 2023-01-10 | 广东博智林机器人有限公司 | Support device and construction equipment |
| CN117067385B (en) * | 2023-09-07 | 2024-01-23 | 秦皇岛优益创联特种车辆制造有限公司 | Mobile prefabricated factory platform system |
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| SU1110708A1 (en) * | 1982-11-26 | 1984-08-30 | Белорусский институт механизации сельского хозяйства | Wheel-and-stepping propeller of vehicle |
| CN105146910A (en) * | 2014-03-31 | 2015-12-16 | 再兴电子(深圳)有限公司 | Adjustable height desk platform |
| CN208345671U (en) * | 2018-05-23 | 2019-01-08 | 广东全安智能工程有限公司 | A kind of drilling device for heating plant installation |
| CN208978573U (en) * | 2018-10-30 | 2019-06-14 | 山东科技大学 | A kind of dual-purpose comprehensive transportation robot in sea land |
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|---|---|---|---|---|
| SU1110708A1 (en) * | 1982-11-26 | 1984-08-30 | Белорусский институт механизации сельского хозяйства | Wheel-and-stepping propeller of vehicle |
| CN105146910A (en) * | 2014-03-31 | 2015-12-16 | 再兴电子(深圳)有限公司 | Adjustable height desk platform |
| CN208345671U (en) * | 2018-05-23 | 2019-01-08 | 广东全安智能工程有限公司 | A kind of drilling device for heating plant installation |
| CN208978573U (en) * | 2018-10-30 | 2019-06-14 | 山东科技大学 | A kind of dual-purpose comprehensive transportation robot in sea land |
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| CN111168652A (en) | 2020-05-19 |
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