CN210284434U - Double-support leg group walking platform - Google Patents
Double-support leg group walking platform Download PDFInfo
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- CN210284434U CN210284434U CN201921083359.4U CN201921083359U CN210284434U CN 210284434 U CN210284434 U CN 210284434U CN 201921083359 U CN201921083359 U CN 201921083359U CN 210284434 U CN210284434 U CN 210284434U
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Abstract
The utility model provides a double bracing leg group walking platform, include: the bed frame, load platform, two supporting leg groups. The utility model discloses a turning of robot is realized in the rotation of the supporting leg among the supporting leg group, and turning radius is little, and walking platform's simple structure is convenient for realize, and walking platform adopts two supporting leg groups to support, is convenient for advance on unevenness's road surface, and the supporting leg in every supporting leg group of group can be controlled the flexible length of adjustment alone, and every supporting leg can contact with the road surface, avoids the supporting leg unsettled, improves walking platform's stability.
Description
Technical Field
The utility model relates to a robot field, specifically speaking relate to a walking platform is organized to two support legs.
Background
The walking robot is a humanoid robot having a humanoid shape. The walking robot sends the ground state back to the computer through the gravity sensor of the body and the touch sensor of the sole of the foot, and the computer makes judgment according to the road condition so as to balance the body and walk stably in all directions. It can not only walk on a flat road, but also on a step or an inclined road. The standing is stable, the foot can not be pushed down, and the standing posture of the body can be kept even if the sole is uneven.
With the development of science and technology, robots are applied to various industries, but the turning radius of the current walking robot is large, for example, a construction robot has an uneven working road, an AGV chassis of the robot can work on a flat road, and a support leg of the robot provides a support point for the robot, but when the degree of unevenness of the ground is large, the walking of the robot is unstable and is easy to incline.
In summary, the conventional walking robot has problems of large turning radius, complicated structure and improved walking stability.
SUMMERY OF THE UTILITY MODEL
Therefore, the utility model discloses the technical problem that will solve lies in that the robot turn radius among the prior art is big, and the structure is complicated, and the robot fuselage receives the influence of the unsmooth degree in ground and the problem of slope easily when walking.
In order to solve the technical problem, the utility model provides a double bracing leg group platform and control method thereof.
The technical scheme of the utility model is that:
a dual support leg set walking platform comprising:
the device comprises a base frame, a loading platform and two support leg groups, namely a first support leg group and a second support leg group;
the loading platform is arranged above the base frame and can be controlled to move between two ends of the base frame;
the two supporting leg groups can be respectively and independently rotatably arranged below the base frame and are positioned at two sides of the base frame;
each of the two support leg groups is provided with a plurality of support legs, and the plurality of support legs of each support leg group form surface support for the ground;
each supporting leg can be controlled to rotate independently and change the telescopic length;
when the walking platform walks, the two supporting leg groups alternately step out to finish walking action, and the walking platform of the two supporting leg groups is ensured to be in a stable and horizontal state.
Above-mentioned scheme is preferred, and every supporting leg group and bed frame are formed with the normal running fit structure.
The base frame is provided with a plurality of supporting leg groups, each supporting leg group is provided with a connecting frame, the connecting frame is rotatably and fixedly supported below the base frame, and the plurality of supporting leg groups of each supporting leg group are arranged below the corresponding connecting frame.
Preferably, the chassis forms a circumferential guide groove, the support frame forms a circumferential guide rail, and the guide rail moves in the guide groove; a supporting hole is formed in the middle of the chassis, a supporting shaft is formed in the middle of the supporting frame, and the supporting shaft and the supporting hole are rotatably matched together.
Preferably, each supporting leg group is provided with a rotary driver, and the driver is one of an electric motor, a hydraulic motor, an electric push rod, a hydraulic rod and a pneumatic push rod; each supporting leg is one of electric push rod, hydraulic stem, pneumatic stem or electronic expansion bracket, and each supporting leg group all is equipped with rotary actuator, and each supporting leg all is equipped with flexible driver.
Above-mentioned scheme is preferred, and the width of bed frame between two support leg groups is adjustable, and the minimum width of bed frame is greater than load platform width.
The utility model also provides a control method of two support leg group walking platform specifically does:
the first supporting leg group and the second supporting leg group are both arranged on the ground;
when the double-support leg group walking platform needs to move, controlling one leg group to step out first;
when the leg group to be stepped is the first support leg group, the load platform is moved to the position of the second support leg group, and the gravity center of the double-support leg group walking platform falls on the second support leg group;
shortening the first support leg group;
the base frame, the first supporting leg group and the load platform integrally rotate around the second supporting leg group;
in the process or after the first supporting leg group rotates to the appointed direction around the second supporting leg group, the first supporting leg group is reset and rotated;
when the first support leg group finishes the process of resetting and rotating or after the process, the first support leg group extends until the first support leg group falls back to the ground, and the first support leg group finishes the resetting and rotating before the first support leg group falls to the ground;
when the first support leg group falls back to the ground, the load platform moves to a first telescopic retreating position, and the gravity center of the double-support-leg-group walking platform is transferred from the second support leg group to the first support leg group;
and finishing the movement of one support leg group of the double-support leg group walking platform to the ground.
Preferably, the control method for the double-support-leg walking platform comprises the following specific implementation steps:
after the first supporting leg group finishes the movement of the ground, controlling the second supporting leg group to step out;
the loading platform is moved to the position of the first support leg group, and the gravity center of the double-support leg group walking platform falls on the first support leg group;
shortening the second supporting leg group;
the base frame, the second supporting leg group and the load platform integrally rotate around the first supporting leg group;
in the process or after the second supporting leg group rotates to the appointed direction around the first supporting leg group, the second supporting leg group is reset and rotated;
when the second supporting leg group finishes the process of resetting and rotating or after the process, the second supporting leg group extends until the second supporting leg group falls back to the ground, and the second supporting leg group finishes the resetting and rotating before the second supporting leg group falls to the ground;
when the second support leg group falls back to the ground, the load platform moves to the position of the first telescopic leg, and the gravity center of the walking platform of the double support leg group is transferred from the first support leg group to the second support leg group to prepare for the next movement;
therefore, the movement of the two support leg sets to the ground of the double-support leg set walking platform is completed.
Preferably, when the second supporting leg group falls back to the ground and the gravity center moves to the second leg, the walking platform can retract the first supporting leg group again and rotate around the second leg, and continuous movement can be realized by repeating the steps.
Preferably, in the above scheme, the rotation resetting is to zero a rotation angle formed by the first support leg group or the second support leg group and the base frame due to the rotation in the previous period.
Preferably, when any one supporting leg group falls back to the ground, the group of supporting legs is extended to the position where the base frame can be kept horizontal under the condition that the monitored pressure of each supporting leg of the supporting group is equal.
Compared with the prior art, the utility model discloses a turning of robot is realized in the rotation of the supporting leg among the supporting leg group, and turning radius is little, and walking platform's simple structure is convenient for realize, and walking platform adopts two supporting leg groups to support, is convenient for advance on unevenness's road surface, and the supporting leg in every supporting leg group of group can be controlled the flexible length of adjustment alone, and every supporting leg can with the road surface contact, avoids the supporting leg unsettled, improves walking platform's stability.
Drawings
In order to make the content of the invention more clearly understood, the following description of the invention in detail according to the embodiments of the invention with reference to the accompanying drawings is provided for explaining the invention, but the exemplary embodiments of the invention and the description thereof are provided for explaining the invention and do not constitute an undue limitation to the invention, wherein
Fig. 1 is a schematic perspective view of an embodiment of the present invention;
FIG. 2 is an enlarged view of a portion of an embodiment of the present invention;
FIG. 3 is another enlarged view of a portion of an embodiment of the present invention;
FIG. 4 is a schematic diagram of the operation of an embodiment of the present invention;
FIG. 5 is a schematic perspective view of an embodiment of the present invention with a telescopic rod as a support leg (6 support legs in total);
fig. 6 is a schematic perspective view of an embodiment of the present invention, in which a telescopic rod is used as a support leg (8 support legs in total).
The reference numbers in the figures denote:
1. a load platform; 2-a base frame; 21-a guide groove; 22-a screw rod; 23-baffle plate fixing parts; 24-a load platform drive motor; 3-a first set of support legs; 4-a second set of support legs; 41-a first support leg; 421-a first support leg chassis; 4211-a first support leg drive mechanism; 42111-first support leg extension drive motor; 43-a second support leg; 431-a second support leg chassis; 4311-second support leg drive mechanism; 43111-a second support leg telescopic driving motor; 44-a third support leg; 441-a third support leg chassis; 5-a chassis; 51-chassis drive motor; 6-moving part
A1A2A3 is a first supporting leg; B1B2B3 is a second supporting foot
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Example 1:
as shown in fig. 1 to 3, a dual-support leg set walking platform comprises: the supporting device comprises a base frame 2, a loading platform 1 and two supporting leg groups, namely a first supporting leg group 3 and a second supporting leg group 4.
The loading platform 1 is arranged above the base frame 2, in order to realize the movement of the loading platform, the loading platform 1 is movably arranged on the base frame and is preferably in threaded fit with a screw rod 22, the screw rod 22 is fixed on the base frame 2 through a baffle fixing piece 23, one end of the screw rod 22 is also connected with a loading platform driving motor 24, when the loading platform driving motor 24 drives the screw rod to rotate, the moving platform realizes reciprocating movement in the horizontal direction through threaded fit with the screw rod, so that the loading platform 1 can be controlled to move between two ends of the base frame 2, and the loading platform 1 can adaptively move according to taken supporting legs to change the gravity center position of the walking platform and prevent the platform from overturning in the walking process; further preferably, a relatively movable structure is formed between the loading platform 1 and the base frame 2: the loading platform 1 forms a moving part 6, which cooperates with the base frame 2 to form a guide rail cooperating with the moving part 6, in particular, the moving part 6 can be optimized as a roller or a slide with a sliding groove. The load platform 1 configures the load platform 1 movement driver.
The two supporting leg groups can be respectively and independently rotatably arranged below the base frame 2 and positioned at two sides of the base frame 2, each supporting leg group of the two supporting leg groups is provided with a plurality of supporting legs, and the plurality of supporting legs of each supporting leg group form surface support for the ground; the supporting legs of each supporting leg group can be controlled to rotate independently and change the telescopic length; when the walking platform walks, the two supporting leg groups alternately step out to finish walking action, and the walking platform of the two supporting leg groups is ensured to be in a stable and horizontal state.
In order to realize the cooperative control of the supporting leg group, the bottoms of the two sides of the base frame 2 are respectively provided with a chassis 5 corresponding to the supporting leg group, the chassis 5 is rotationally fixed below the base frame 2, the chassis 5 can be driven by a chassis driving motor to rotate, and each supporting leg of the supporting leg group is rotationally fixed below the corresponding chassis 5. The specific rotating structure is preferably provided with a circumferential guide groove 21 on the chassis 5, and the circumferential guide groove 21 is connected with a connecting frame to form a circumferential guide rail, and the guide rail moves in the guide groove 21; a supporting hole is formed in the middle of the chassis 5, a supporting shaft is formed in the middle of the connecting frame, and the supporting shaft and the supporting hole are matched in a rotating mode, so that the supporting leg group connected with the connecting frame can rotate and move conveniently.
Preferably, each set of support legs is provided with a rotary drive which may be provided on a corresponding chassis.
Each supporting leg is one of electric push rod, hydraulic stem, pneumatic stem or electronic expansion bracket, and the expansion bracket is adopted to this embodiment. Preferably, each group of supporting legs comprises three supporting legs, namely a first supporting leg 41, a second supporting leg 43 and a third supporting leg 44, wherein the bottoms of the first supporting leg 41, the second supporting leg 43 and the third supporting leg 44 are respectively provided with a first supporting leg chassis 421, a second supporting leg chassis 431 and a third supporting leg chassis 441, so that the contact area between the supporting legs and the road surface is increased, and the stability is improved.
Preferably, each supporting leg is telescopic, as shown in fig. 5-6, the supporting leg can be an electric push rod or one of a hydraulic rod, a pneumatic rod or an electric telescopic frame, and each supporting leg is provided with a telescopic driving motor so that each supporting leg of the walking platform can still be in contact with the road surface at the uneven position of the traveling road surface, and the phenomenon that the supporting leg is suspended is avoided. The supporting legs can be controlled to stretch independently according to the horizontal state monitoring of the load and the concave-convex degree of the landing road surface of the supporting legs, and the load platform 1 is guaranteed to be stable and horizontal. When the supporting legs need to stretch out and draw back, the first supporting leg stretching driving motor 42111 drives the corresponding supporting legs to complete stretching actions through the first supporting leg driving mechanism 4211, the second supporting leg stretching driving motor 43111 drives the second supporting leg driving mechanism 4311, and the third supporting leg stretching driving motor (not shown) drives the corresponding supporting legs through the third supporting leg driving mechanism (not shown) respectively.
In order to further realize the cooperative control of the supporting leg groups, it is preferable that each of the two supporting leg groups is provided with a common connecting frame, a plurality of supporting legs of each supporting leg group are arranged under the corresponding connecting frame, each supporting leg can be independently stretched and contracted, and the stretching length can be independently controlled. The number of the supporting legs is preferably 3 or more, more supporting points are provided for the platform, and the stability of the supporting legs on the road surface is improved.
Further preferably, in order to better control the load platform 1 to maintain stability and maintain a horizontal state, each supporting leg can be provided with a pressure sensor, the pressure sensors sense the contact degree between the supporting legs and the road surface, sense signals are transmitted to the controller of the platform, and the telescopic length of the supporting legs is controlled and adjusted.
In order to avoid inconvenience caused by lifting of the walking platform, the length of the base frame 2 between the two support leg groups can be adjusted according to actual use conditions, the minimum width of the base frame 2 is greater than the width of the load platform 1, and stable supporting force is provided for the load platform 1.
Example 2:
taking the above embodiment as a preferred example, an embodiment of a control method for a dual-support leg group walking platform is provided below, where the control method includes:
as shown in fig. 4:
when the walking platform does not move, the first support leg group 3 and the second support leg group 4 are both arranged on the ground;
when the double-support-leg-group walking platform needs to move, the first support leg group 3 or the second support leg group 4 is controlled to step out first, the support legs can be controlled to step out according to the degree of the concave-convex degree of the road surface at the position where the support legs are located, which is transmitted back by the pressure sensors on the support legs, and one support leg group in the two support leg groups is not fixed to step out first;
when the leg group to be stepped is the first supporting leg group 3, the load platform 1 is moved to the position of the second supporting leg group 4, the gravity center of the walking platform of the double supporting leg group falls on the second supporting leg group 4, and the gravity center of the walking platform is moved once, namely, the walking platform is moved to the second supporting leg group 4.
Controlling the first support leg group 3 to shorten;
the control pedestal 2, the first supporting leg group 3 and the loading platform 1 integrally rotate around the second supporting leg group 4, and the rotating angle can be adjusted according to the requirement.
In the process that the first supporting leg group 3 rotates to the appointed direction around the second supporting leg group 4, the first supporting leg group 3 is controlled to reset and rotate, so that the first supporting leg group 3 is zero in angle with the base frame 2 due to rotation, the load platform 1 in the walking platform is horizontal, and the inclination is avoided.
After the first support leg group 3 completes the resetting and rotating process, each support leg in the first support leg group 3 is extended until the support leg falls back to the ground, and the support leg group is ensured to enable the load platform 1 to be stable and keep horizontal;
after the first support leg group 3 falls back to the ground, the load platform 1 is moved to the position of the first telescopic leg group, the gravity center of the double-support leg group walking platform is transferred to the first support leg group 3 from the second support leg group 4, and the second support leg group 4 carries out the step of moving the first support leg group 3.
And finishing the movement of one support leg group of the double-support leg group walking platform to the ground.
After the first supporting leg group 3 finishes moving to the ground, the second supporting leg group 4 is controlled to step out;
the load platform 1 is controlled to move to the position of the first support leg group 3, the gravity center of the double-support leg group walking platform falls on the first support leg group 3, and the movement of the platform walking gravity center position from the second support leg group 4 to the first support leg group 3 is realized;
controlling the second supporting leg group 4 to shorten;
the base frame 2, the second supporting leg group 4 and the load platform 1 are controlled to integrally rotate around the first supporting leg group 3 to the designated direction;
in the process that second supporting leg group 4 rotates the appointed direction around first supporting leg group 3, make second supporting leg group 4 carry out the rotation that resets, make second supporting leg group 4 promptly because of the rotation and the bed frame 2 between the angle be zero, guarantee that load platform 1 in the walking platform is the horizontally, avoid taking place the slope.
After the second supporting leg group 4 completes the reset rotation, each supporting leg in the second supporting leg group 4 is extended until the supporting leg group falls back to the ground, and the supporting leg group is ensured to enable the load platform 1 to be stable and keep horizontal;
when the second supporting leg group 4 falls back to the ground, the load platform 1 moves to the position of the first telescopic leg group, and the gravity center of the double-supporting leg group walking platform is transferred from the first supporting leg group 3 to the second supporting leg group 4 to prepare for the next movement;
when the second supporting leg group 4 falls back to the ground and the gravity center moves to the second leg, the walking platform can retract the first supporting leg group again and rotate around the second leg, and continuous movement can be realized by repeating the steps.
Therefore, the movement of the two support leg sets to the ground of the double-support leg set walking platform is completed, and the walking track is as shown in figure 4.
Example 3:
compared with embodiment 2, in this embodiment, individual step changes are performed on implementation steps of the control method, and specifically, the method includes the following steps:
regarding the first support leg set:
the resetting rotation is carried out after the first supporting leg group 3 rotates to the appointed direction around the second supporting leg group 4;
the first support leg group 3 extends to a position where the load platform 1 can be stable and kept horizontal when falling back to the ground in the process of resetting and rotating;
the same principle is that:
second supporting leg group 4:
after the second supporting leg group 4 rotates around the first supporting leg group 3 to the appointed direction, the second supporting leg group 4 is reset and rotated, and the process is finished before the first supporting leg group 3 falls to the ground;
when the second supporting leg group 4 completes the resetting and rotating process, the second supporting leg group 4 is extended to enable the load platform 1 to be stable and keep horizontal when the second supporting leg group 4 falls back to the ground;
in the control method of the walking platform of the above embodiments 2 to 3, the rotation resetting is to make the rotation angle formed by the first support leg group 3 or the second support leg group 4 and the base frame 2 return to zero due to the rotation in the previous cycle.
In the control method of the walking platform of the above embodiments 1 to 3, when any one of the supporting leg sets falls back to the ground, the supporting leg set is extended to a position where the base frame 2 can be kept horizontal under the condition that the monitored pressure of each supporting leg of the supporting leg set is equal.
Example 4:
compared with embodiment 2, in this embodiment, individual step changes are performed on implementation steps of the control method, and specifically, the method includes the following steps:
regarding the first support leg set:
the resetting rotation is carried out in the process that the first supporting leg group 3 rotates to the appointed direction around the second supporting leg group 4;
the first support leg group 3 extends to a position where the load platform 1 can be stable and kept horizontal when falling back to the ground in the process of resetting and rotating;
the same principle is that:
second supporting leg group 4:
in the process that the second supporting leg group 4 rotates to the appointed direction around the first supporting leg group 3, the second supporting leg group 4 is reset and rotated, and the process is finished before the first supporting leg group 3 falls to the ground;
when the second supporting leg group 4 completes the resetting and rotating process, the second supporting leg group 4 is extended to enable the load platform 1 to be stable and keep horizontal when the second supporting leg group 4 falls back to the ground;
the method greatly reduces the intermediate pause when the leg group alternately steps off, and the action is smoother and faster.
To sum up, the utility model provides a pair of double bracing leg group walking platform and control method thereof utilizes the rotation between two supporting leg groups and the bed frame to realize little turning radius, and a plurality of supporting legs of every supporting leg group of group provide a plurality of strong points for walking platform, and the length of every supporting leg of double bracing leg group can be independently controlled for it can both contact with the road surface at every supporting leg of the unsmooth department of advancing road surface, improves holistic mobility stability. Of course, the present invention is not limited to that each supporting leg group must have only three legs, and may have 5 legs and 6 legs, as shown in fig. 6, as long as the present invention is conceived, the modifications that do not violate the gist of the present invention all fall within the protection scope of the present patent.
Unless specifically stated otherwise, the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, and in the case of not making a contrary explanation, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be interpreted as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a double bracing leg group walking platform which characterized in that includes:
the device comprises a base frame, a loading platform and two support leg groups, namely a first support leg group and a second support leg group;
the loading platform is arranged above the base frame and can be controlled to move between two ends of the base frame;
the two supporting leg groups can be respectively and independently rotatably arranged below the base frame and are positioned at two sides of the base frame;
each of the two support leg groups is provided with a plurality of support legs, and the plurality of support legs of each support leg group form surface support for the ground;
each supporting leg can be controlled to rotate independently and change the telescopic length;
when the walking platform walks, the two supporting leg groups alternately step out to finish walking action, and the walking platform of the two supporting leg groups is ensured to be in a stable and horizontal state.
2. The dual-support leg group walking platform of claim 1, wherein a base plate is provided on each side of the bottom of the base frame corresponding to the support leg group, the base plate is rotatably fixed under the base frame, and each support leg of the support leg group is rotatably fixed under the corresponding base plate.
3. The dual support leg set walking platform of claim 2, wherein said chassis defines a circumferential guide channel, said base frame defines a circumferential guide track, said guide track moving in said guide channel; a supporting hole is formed in the middle of the chassis, a supporting shaft is formed in the middle of the base frame, and the supporting shaft and the supporting hole are rotatably matched together.
4. The dual support leg set walking platform of claim 1, wherein each support leg set is provided with a rotary drive; each supporting leg is one of an electric push rod, a hydraulic rod, a pneumatic rod or an electric telescopic frame.
5. The dual support leg set walking platform of claim 1, wherein the length of said base frame between two support leg sets is automatically adjustable.
6. The dual support leg set walking platform of any one of claims 1-5, wherein the loading platform is provided with a level sensor.
7. The dual support leg set walking platform of claim 6, wherein the support leg of each support leg set is provided with a pressure sensor for controlling the extension length of the support leg.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921083359.4U CN210284434U (en) | 2019-07-11 | 2019-07-11 | Double-support leg group walking platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921083359.4U CN210284434U (en) | 2019-07-11 | 2019-07-11 | Double-support leg group walking platform |
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| CN210284434U true CN210284434U (en) | 2020-04-10 |
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| CN201921083359.4U Active CN210284434U (en) | 2019-07-11 | 2019-07-11 | Double-support leg group walking platform |
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