CN109703648B

CN109703648B - Foot moving device

Info

Publication number: CN109703648B
Application number: CN201910134048.4A
Authority: CN
Inventors: 牛猛; 牛加浩; 牛子祥
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-02-22
Filing date: 2019-02-22
Publication date: 2021-07-16
Anticipated expiration: 2039-02-22
Also published as: CN109703648A

Abstract

The invention discloses a foot moving device, and relates to a foot moving device applied to a walking robot. The invention comprises the following steps: the steering mechanism comprises a top plate, a bottom plate and a rear wheel bracket, wherein the bottom plate is positioned below the top plate, the lower end of the rear wheel bracket is provided with a caster wheel and a support rod, the lower end of the support rod is hinged with the upper end of a steering arm, the lower part of the steering arm comprises two parallel longitudinal arms, a central shaft is arranged between the two parallel longitudinal arms, and the central shaft is provided with the caster wheel; and the fixing piece is connected to the lower surface of the top plate, an annular cavity for the rotation of a rotating disc on a horizontal plane is arranged in the fixing piece, the rotating disc is downwards connected with a threaded column from the center point of the rotating disc, a supporting cylinder in threaded fit with the threaded column is sleeved on the threaded column, and the lower end of the supporting cylinder is connected with the upper surface of the bottom plate. The invention overcomes the defect that the existing walking robot can not effectively switch the double-foot walking function and the caster sliding function.

Description

Foot moving device

Technical Field

The present invention relates to a mobile device, and more particularly, to a foot mobile device for a walking robot.

Background

Along with the development of the times and the progress of science and technology, the robot technology gradually walks into our life, various service robots and industrial robots grow up rapidly and are improved gradually like bamboo shoots in the spring after rain, most of the existing robots move through the casters, the casters can move to the designated positions stably and rapidly by using the casters, but the use scenes of the casters are very limited, obstacles can be brought to the movement of the casters on uneven ground or even a common small step, and the moving effect of the caster robot is seriously influenced.

Some robots which imitate human feet to move by alternately landing the two feet appear in the market at present, the robots can better cross obstacles and uneven ground, but in the walking process, the two feet of the robots alternately land, so that the gravity center of the robots swings left and right and up and down, the walking effect of the robots is greatly influenced, the robots can also obviously shake even if walking on flat ground, and the application range of the robots is seriously restricted. So far, a robot which can stably move on a flat ground, stably cross an obstacle and stably walk on a concave-convex ground is lacked in the market.

Most robots in the prior art move through casters, such as chinese patent application No.: 201620931737.X, published: in 2017, 3, 29, the name of the invention creation is as follows: the application discloses a robot and feet thereof, wherein the robot and the feet thereof comprise an upper cover, a lower cover, a motor and trundles, the motor is accommodated in a shell-shaped accommodating space formed by connecting the upper cover and the lower cover, and the trundles extend out of the lower cover; the motor drives the truckle to rotate, and the robot includes two robot feet. The robot of this application accessible robot foot's truckle realizes walking, is a simple structure, power directly drives robot and foot thereof. However, the application has the disadvantages that walking on uneven ground or even a common small step can seriously affect the moving effect of the wheeled robot, and the application range of the robot is limited.

Through further patent retrieval, robots having both feet walking function and caster sliding function have been disclosed in the prior art, such as chinese patent application No.: 201420410286.6, publication date: the name of the invention creation on 1 month and 7 days 2015 is as follows: the application discloses a search and rescue robot, which comprises a robot waist, a robot hip joint, a robot thigh, a robot knee joint, a robot shank, a direct current motor, a coupler and a rack, wherein the robot waist is connected with the robot thigh through the robot hip joint, the robot thigh is connected with the robot shank through the robot knee joint, and the robot shank is connected with a robot foot end through the robot ankle joint. The application designs into the assembly of crawler-type structure and sufficient structure, uses the track to remove and also can realize the walking through both legs simultaneously, has improved the application scope of robot. However, the application has the disadvantages that when the device moves by the rotation of the crawler belt, the device is complex, heavy and inflexible to turn, and is not suitable for moving indoors and places with small space; when using the track as biped walking, can produce great impact force to the track, reduce the life of track, and if the track takes place to rotate when the walking and can make the robot fall down, have certain potential safety hazard.

In summary, how to further improve the existing walking robot is a technical problem to be solved urgently in the prior art.

Disclosure of Invention

1. Technical problem to be solved by the invention

The invention provides a foot moving device, which overcomes the defect that the existing walking robot can not effectively switch the double-foot walking function and the caster wheel sliding function.

2. Technical scheme

In order to achieve the purpose, the technical scheme provided by the invention is as follows:

the foot moving device of the invention comprises:

the periphery of the top plate extends downwards to form a first vertical baffle;

the bottom plate is positioned below the top plate, a second vertical baffle plate extends upwards from the periphery of the bottom plate, and the first vertical baffle plate covers the outer side of the second vertical baffle plate;

the top of the rear wheel bracket is connected to the lower surface of the top plate, and the lower end of the rear wheel bracket is provided with a caster;

the top of the supporting rod is connected to the lower surface of the top plate, the lower end of the supporting rod is hinged to the upper end of the steering arm, the lower portion of the steering arm comprises two parallel longitudinal arms, a central shaft is arranged between the two parallel longitudinal arms, and casters are mounted on the central shaft; the bottom plate is provided with a caster wheel opening for the corresponding caster wheel to extend out;

the fixing piece is connected to the lower surface of the top plate, an annular cavity for the rotation of a rotating disc on a horizontal plane is formed in the fixing piece, the rotating disc is downwards connected with a threaded column from the center point of the rotating disc, a supporting cylinder in threaded fit with the threaded column is sleeved on the threaded column, and the lower end of the supporting cylinder is connected with the upper surface of the bottom plate.

Furthermore, the invention also comprises a supporting leg, wherein the lower end of the supporting leg is provided with a spherical groove, and one side of the upper end of the top plate is provided with a spherical bulge which can be embedded into the spherical groove.

Furthermore, two horizontal sliding rods are respectively arranged on two sides of each caster opening, two horizontal baffles are mounted on a pair of horizontal sliding rods on two sides of each caster opening, baffle through holes are respectively formed in two ends of each horizontal baffle, the baffle through holes in the two ends of each horizontal baffle are respectively penetrated by the corresponding horizontal sliding rods, and supporting blocks are respectively arranged at two ends of each horizontal sliding rod; a servo motor is arranged on a supporting block at one end of one horizontal sliding rod in each pair of horizontal sliding rods, a connecting rod is arranged on a supporting block at the other end of the horizontal sliding rod, and a belt pulley is arranged on the connecting rod; an output shaft of the servo motor is connected with a belt pulley, a transmission belt firstly bypasses the belt pulley on the output shaft of the servo motor and then is connected with a connecting block on one horizontal baffle, then bypasses the belt pulley on the connecting rod and then is connected with a connecting block on the other horizontal baffle, and finally returns to the belt pulley on the output shaft of the servo motor.

Furthermore, the lower surface of the bottom plate is provided with at least one supporting part, and the lower surface of each supporting part is provided with a rubber pad.

Furthermore, the supporting leg is characterized in that annular protrusions extending downwards are arranged on the periphery of the spherical groove at the lower end of the supporting leg, and annular protrusions extending upwards are arranged on the periphery of the spherical protrusion at the upper end of the top plate; the supporting leg is characterized in that the inside of the annular bulge at the lower end of the supporting leg is connected with the inside of the annular bulge at the upper end of the top plate through at least one buffer spring, and the inside of the annular bulge at the lower end of the supporting leg is connected with the inside of the annular bulge at the upper end of the top plate through at least one anti-falling rope.

Further, elevator motor is installed to one side of mounting, the upper portion of screw thread post is equipped with the swiveling wheel, elevator motor's output pass through the belt with the swiveling wheel is connected.

Furthermore, a sealing strip is arranged between the first vertical baffle and the second vertical baffle.

Furthermore, a fixed frame is arranged in the middle of the rear wheel support, a rear wheel motor is mounted on the fixed frame, a driving wheel is arranged on a central shaft of a trundle on the rear wheel support, and the output end of the rear wheel motor is connected with the driving wheel through a rear wheel belt;

the top of the rear wheel bracket is connected to the lower surface of the top plate through a damping spring.

Furthermore, a front wheel motor is connected to the support rod, a belt pulley is arranged on the upper portion of the steering arm, and the output end of the front wheel motor is connected with the belt pulley on the steering arm through a belt.

Furthermore, the lower end of the support rod is connected with the upper end of the steering arm through a bearing, one end of a return spring is connected with the lower end of the support rod, and the other end of the return spring is connected with the upper end of the steering arm.

3. Advantageous effects

Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:

the foot moving device of the invention is mainly used as the foot of the prior walking robot with walking function, the caster in the foot moving device can be automatically extended or retracted through the control of the lifting module, so that the caster can be automatically extended and rolled to move forwards by depending on the rotation of the caster or be automatically retracted according to the condition of passing through the road surface, the foot moving device is directly used as the foot of the walking robot, the walking robot passes through the road surface by depending on the walking mode of the walking robot, thereby obviously improving the adaptability of the walking robot when passing through different road surfaces, realizing the functions of stably moving on flat ground, stably crossing obstacles and stably walking on concave-convex ground, overcoming the defect that the prior walking robot can not effectively combine the double-foot walking function with the caster sliding function, the double-foot walking function and the caster sliding function of the walking robot can be quickly and effectively switched.

Drawings

FIG. 1 is a first schematic view of a foot moving device in an embodiment (a state where a bottom plate is located at a highest point);

fig. 2 is a second schematic front view of the foot moving device in the embodiment (the state when the bottom plate is located at the lowest point);

FIG. 3 is a schematic cross-sectional view taken along A-A of FIG. 2;

FIG. 4 is a schematic front view of the lifting module in the embodiment;

FIG. 5 is a front view schematically illustrating the front wheel module according to the embodiment;

FIG. 6 is a left side view schematically illustrating the front wheel module according to the embodiment;

FIG. 7 is a front view schematically illustrating the structure of the rear wheel module in the embodiment;

FIG. 8 is a left side view schematically illustrating the structure of the rear wheel module in the embodiment;

FIG. 9 is a schematic top view of the horizontal baffle plate in the embodiment;

FIG. 10 is a schematic front view of the horizontal baffle plate in the embodiment;

FIG. 11 is a schematic structural view of a horizontal baffle in the embodiment;

FIG. 12 is a schematic cross-sectional view of a hemispherical protrusion in an embodiment;

fig. 13 is a schematic perspective view of a foot moving device in an embodiment.

The reference numerals in the schematic drawings illustrate: 1. a top plate; 101. a first vertical baffle; 102. a spherical bulge; 103. a buffer spring; 104. an annular projection; 105. an anti-drop rope; 2. a base plate; 201. a second vertical baffle; 202. a support portion; 203. a rubber pad; 204. a sealing strip; 205. a caster opening; 3. a support cylinder; 301. a threaded post; 302. rotating the disc; 303. a fixing member; 4. a support bar; 401. a steering arm; 402. a return spring; 5. a rear wheel support; 6. a central shaft; 7. a horizontal baffle; 701. a baffle through hole; 702. connecting blocks; 703. a transmission belt; 8. a horizontal sliding bar; 801. a support block; 802. a connecting rod; 9. a support leg; 901. a spherical recess; 10. a front wheel motor; 11. a belt pulley; 12. a rear wheel belt; 13. a bearing; 14. a damping spring; 15. a caster wheel; 16. a rear wheel motor; 17. a lifting motor; 18. a rotating wheel.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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 invention.

For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.

Example 1

Referring to fig. 1 to 13, the foot moving device of the present embodiment includes:

the device comprises a top plate 1, wherein a first vertical baffle 101 extends downwards from the periphery of the top plate 1;

a bottom plate 2 positioned below the top plate 1, wherein a second vertical baffle 201 extends upwards from the periphery of the bottom plate 2, and the first vertical baffle 101 covers the outer side of the second vertical baffle 201, so that the top plate 1, the first vertical baffle 101, the second vertical baffle 201 and the bottom plate 2 form an outer cover of the foot moving device;

the top of the rear wheel support 5 is connected to the lower surface of the top plate 1, and the lower end of the rear wheel support 5 is provided with a caster 15, in the embodiment, the rear wheel module mainly comprises the rear wheel support 5, the caster 15 at the lower end of the rear wheel support 5 and a corresponding mechanism for driving the caster 15 at the lower end of the rear wheel support 5 to rotate, and power is provided for the rolling sliding movement of the foot moving device by driving the rotation of the caster 15 at the lower end of the rear wheel support 5;

the top of the support rod 4 is connected to the lower surface of the top plate 1, the lower end of the support rod 4 is hinged to the upper end of a steering arm 401, the lower part of the steering arm 401 comprises two parallel longitudinal arms, a central shaft 6 is arranged between the two parallel longitudinal arms, and a caster 15 is mounted on the central shaft 6; the bottom plate 2 is provided with a caster opening 205 for extending a corresponding caster 15, in the embodiment, the front wheel module mainly comprises a support rod 4, a steering arm 401, a caster 15 on the steering arm 401 and a corresponding mechanism for driving the steering arm 401 to rotate, the rolling sliding moving direction of the foot moving device is changed by driving the steering arm 401 to rotate, the steering function of the caster 15 is realized, and the flexibility of action is improved; wherein, the upper end of the steering arm 401 is hinged with the lower end of the support rod 4, so that the steering arm 401 can be conveniently rotated; in this embodiment, a brake pad for decelerating the center shaft 6 may be mounted on the center shaft 6.

And at least one fixed part 303, the fixed part 303 is connected to the lower surface of the top plate 1, an annular cavity for the rotation of a rotating disc 302 on the horizontal plane is arranged in the fixed part 303, the rotating disc 302 is connected with a threaded column 301 downwards from the central point thereof, a supporting cylinder 3 in threaded fit with the threaded column 301 is sleeved on the threaded column 301, the lower end of the supporting cylinder 3 is connected with the upper surface of the bottom plate 2, a set of lifting module comprises the fixed part 303, the rotating disc 302, the threaded column 301 and the supporting cylinder 3, in the specific embodiment, two sets of lifting modules are arranged inside the outer cover of the foot moving device (namely, the lower surface of the top plate 1 is connected with the two fixed parts 303), when the threaded column 301 is driven to rotate along the horizontal direction, the supporting cylinder 3 can move up and down (namely, along the length direction of the threaded column 301) due to the threaded fit relationship, thereby changing the height position of the bottom plate 2, when the foot moving device passes through the flat ground, adjusting the bottom plate 2 to the highest position, exposing each caster 15 from the corresponding caster opening 205 below the caster, and enabling the front wheel module and the rear wheel module to play a role together at the moment so that the foot moving device can automatically roll and slide according to a set line; when foot mobile device is through concave-convex ground, adjust bottom plate 2 to the lowest position, every truckle 15 is retrieved to bottom plate 2 upside from bottom plate 2 downside, thereby all truckles 15 are hidden in the inside of foot mobile device dustcoat, the mechanical walking actuating system who is connected through with foot mobile device drives foot mobile device walking this moment, foot mobile device this moment is just as walking robot's foot promptly, through walking robot from the imitative human walking system drive foot mobile device walking, in walking in-process bottom plate 2 is as walking robot and the contact surface on ground, thereby make foot mobile device can effectively pass through concave-convex ground. Since the screw post 301 is engaged with the support cylinder 3 in a screw manner and the lower end of the support cylinder 3 is connected to the upper surface of the base plate 2, when the screw post 301 rotates in the horizontal direction, the support cylinder 3 does not rotate and moves up and down on the screw post 301, and the height of the base plate 2 is changed by the up and down movement of the support cylinder 3.

The foot moving device in this embodiment, mainly as the foot of the existing walking robot with walking function, through the control of the lifting module, can make the caster 15 in the foot moving device automatically extend or withdraw, thereby can select to automatically extend the caster 15 and roll forward depending on the rotation of the caster 15 according to the situation about to pass through the road surface, or select to automatically withdraw the caster 15, directly use the foot moving device as the foot of the walking robot, pass through the road surface depending on the walking mode of the walking robot, thereby remarkably improving the adaptability of the walking robot when passing through different road surfaces, realizing the function that the walking robot can stably move on the flat ground and stably cross obstacles and stably walk on the concave-convex ground, overcoming the defect that the existing walking robot can not effectively combine the bipod walking function and the caster sliding function, the double-foot walking function and the caster sliding function of the walking robot can be quickly and effectively switched.

Example 2

The structure of the foot moving device of the present embodiment is basically the same as that of embodiment 1, and further: the support leg structure further comprises a support leg 9, a spherical groove 901 is formed in the lower end of the support leg 9, and a spherical protrusion 102 capable of being embedded into the spherical groove 901 is arranged on one side of the upper end of the top plate 1.

In this embodiment, spherical recess 901 has been seted up to the lower extreme of landing leg 9, one side of roof 1 upper end is equipped with the spherical protrusion 102 that can imbed in the spherical recess 901, thereby landing leg 9 forms articulatedly with roof 1 of its below, landing leg 9 can be connected with walking robot's walking actuating system, it can carry out nimble rotation and wrench movement for adapting to the unevenness on ground to have realized to walk robot foot to go up the structure, the gesture of having guaranteed that walking robot health and shank are in vertical position when the walking all the time.

Example 3

The structure of the foot moving device of this embodiment is basically the same as that of embodiment 2, and further: two horizontal sliding rods 8 are respectively arranged on two sides of each caster opening 205, two horizontal baffles 7 are arranged on a pair of horizontal sliding rods 8 on two sides of each caster opening 205, baffle through holes 701 are respectively formed in two ends of each horizontal baffle 7, the baffle through holes 701 in two ends of each horizontal baffle 7 are respectively penetrated by the corresponding horizontal sliding rods 8 (namely, the horizontal baffles 7 are supported on the pair of horizontal sliding rods 8, one end of each horizontal baffle 7 is penetrated by one horizontal sliding rod 8, the other end of each horizontal baffle 7 is penetrated by the other horizontal sliding rod 8), and supporting blocks 801 are respectively arranged at two ends of each horizontal sliding rod 8; referring to fig. 9, a servo motor is arranged on the supporting block 801 at one end of one horizontal sliding rod 8 in each pair of horizontal sliding rods 8, a connecting rod 802 is arranged on the supporting block 801 at the other end of the horizontal sliding rod 8, and a belt pulley 11 is mounted on the connecting rod 802; an output shaft of the servo motor is connected with a belt pulley 11, a transmission belt 703 firstly bypasses the belt pulley 11 on the output shaft of the servo motor and then is connected with a connecting block 702 on one horizontal baffle 7, then bypasses the belt pulley 11 on the connecting rod 802 and then is connected with a connecting block 702 on the other horizontal baffle 7, and finally returns to the belt pulley 11 on the output shaft of the servo motor, when the servo motor is controlled to rotate forwards and backwards, the whole transmission belt 703 can rotate clockwise or anticlockwise, so that the two horizontal baffles 7 are close to or away from each other, when the two horizontal baffles 7 are close to each other, the two horizontal baffles 7 shield corresponding caster openings 205 below the horizontal baffles, the inside of the outer cover of the foot moving device is prevented from being interfered by the outside, and the sewage on the surface is prevented from entering a circuit system inside the outer cover of the foot moving device when; when the two horizontal flaps 7 are moved away from each other, the caster openings 205 are opened, and each caster 15 can be conveniently used by being protruded from the corresponding caster opening 205.

Example 4

The structure of the foot moving device of this embodiment is basically the same as that of embodiment 3, and further: at least one supporting portion 202 is provided on the lower surface of the bottom plate 2, and a rubber pad 203 is provided on the lower surface of each supporting portion 202.

Referring to fig. 2, in the embodiment, the front and the back of the lower surface of the bottom plate 2 are respectively provided with a support portion 202, the support portions 202 serve as contact portions with the ground when the foot moving device is in the walking mode, and protect the bottom plate 2, and the lower surface of each support portion 202 is respectively provided with a rubber pad 203, so that the friction force of the contact with the ground is improved, and the stable walking is facilitated.

Example 5

The structure of the foot moving device of this embodiment is basically the same as that of embodiment 4, and further: the periphery of the spherical groove 901 at the lower end of the supporting leg 9 is provided with a downward extending annular bulge 104, and the periphery of the spherical bulge 102 at the upper end of the top plate 1 is provided with an upward extending annular bulge 104; the inside of the annular bulge 104 at the lower end of the supporting leg 9 is connected with the inside of the annular bulge 104 at the upper end of the top plate 1 through at least one buffer spring 103, and the inside of the annular bulge 104 at the lower end of the supporting leg 9 is connected with the inside of the annular bulge 104 at the upper end of the top plate 1 through at least one anti-dropping rope 105.

In this embodiment, the spherical protrusion 102 at the upper end of the top plate 1 is rotatably connected to the spherical groove 901 at the lower end of the supporting leg 9, the annular protrusion 104 extending downward is arranged around the spherical groove 901 at the lower end of the supporting leg 9, the annular protrusion 104 extending upward is arranged around the spherical protrusion 102 at the upper end of the top plate 1, when the spherical protrusion 102 rotates in the spherical groove 901 to a certain extent, the annular protrusion 104 around the spherical groove 901 and the annular protrusion 104 around the spherical protrusion 102 contact each other, so as to avoid the deviation of the center of gravity of the walking robot due to the overlarge rotation degree of the spherical protrusion 102 in the spherical groove 901, and improve the practicability of the feet of the walking robot; through at least one buffer spring 103 and the annular bulge 104 internal connection in the annular bulge 104 of roof 1 upper end in the annular bulge 104 of landing leg 9 lower extreme, buffer spring 103 can reset the spherical bulge 102 who rotates to a certain degree, through at least one anticreep rope 105 and the annular bulge 104 internal connection in the annular bulge 104 of roof 1 upper end in the annular bulge 104 of landing leg 9 lower extreme, anticreep rope 105 can avoid the separation of annular bulge 104 in spherical recess 901, above annular bulge 104, buffer spring 103 and anticreep rope 105 have protected the rotation of spherical bulge 102 in spherical recess 901 jointly and have connected, avoid the separation of landing leg 9 and roof 1, the reliability of device use has been improved.

Example 6

The structure of the foot moving device of this embodiment is basically the same as that of embodiment 5, and further: one side of the fixed part 303 is provided with a lifting motor 17, the upper part of the threaded column 301 is provided with a rotating wheel 18, and the output end of the lifting motor 17 is connected with the rotating wheel 18 through a belt.

In this embodiment, the lifting motor 17 drives the rotation wheel 18 to rotate through the belt, so that the rotation wheel 18 can drive the threaded column 301 to rotate along the horizontal direction, and the support cylinder 3 moves up and down, thereby changing the height position of the bottom plate 2.

Example 7

The structure of the foot moving device of this embodiment is basically the same as that of embodiment 6, and further: a sealing strip 204 is arranged between the first vertical baffle plate 101 and the second vertical baffle plate 201.

In this embodiment, a sealing strip 204 is arranged between the first vertical baffle 101 and the second vertical baffle 201, so that dust and water vapor entering a gap between the first vertical baffle 101 and the second vertical baffle 201 are avoided, and the inner part of the outer cover of the foot moving device is protected.

Example 8

The structure of the foot moving device of this embodiment is basically the same as that of embodiment 7, and further: a fixed frame is arranged in the middle of the rear wheel bracket 5, a rear wheel motor 16 is arranged on the fixed frame, a driving wheel is arranged on a central shaft 6 of a caster 15 on the rear wheel bracket 5, and the output end of the rear wheel motor 16 is connected with the driving wheel through a rear wheel belt 12;

the top of the rear wheel bracket 5 is connected to the lower surface of the top plate 1 by a damper spring 14.

In this embodiment, the rear wheel motor 16 drives the driving wheel on the central shaft 6 to rotate through the rear wheel belt 12, so as to rotate the caster 15 at the lower end of the rear wheel bracket 5, thereby providing power for the rolling movement of the foot moving device.

In this embodiment, the top of the rear wheel bracket 5 is connected to the lower surface of the top plate 1 through the damping spring 14, so as to buffer the rolling process of the caster 15 at the lower end of the rear wheel bracket 5, thereby improving the stability of the foot moving device in rolling sliding movement.

Example 9

The structure of the foot moving device of this embodiment is basically the same as that of embodiment 8, and further: the support rod 4 is connected with a front wheel motor 10, the upper part of the steering arm 401 is provided with a belt pulley 11, and the output end of the front wheel motor 10 is connected with the belt pulley 11 on the steering arm 401 through a belt.

In this embodiment, the front wheel motor 10 drives the rotation wheel 18 to rotate through the belt, so that the rotation wheel 18 can drive the steering arm 401 to rotate to change the rolling moving direction of the foot moving device.

Example 10

The structure of the foot moving device of this embodiment is substantially the same as that of embodiment 9, and further: the lower end of the support rod 4 is connected with the upper end of the steering arm 401 through a bearing 13, one end of a return spring 402 is connected with the lower end of the support rod 4, and the other end of the return spring 402 is connected with the upper end of the steering arm 401.

In this embodiment, the lower end of the support rod 4 is connected to the upper end of the steering arm 401 through the bearing 13, so as to ensure the hinged state between the lower end of the support rod 4 and the upper end of the steering arm 401, and it should be noted that the bearing 13 in this embodiment is a bearing capable of simultaneously bearing an axial force and a radial force, such as an angular contact ball bearing; one end of a return spring 402 is connected with the lower end of the support rod 4, the other end of the return spring 402 is connected with the upper end of the steering arm 401, the return spring 402 is favorable for quick return and alignment of the caster 15 on the steering arm 401 after steering, the steering arm 401 can be effectively prevented from influencing the steering effect due to over-steering, and the moving efficiency of the foot moving device is improved; in this embodiment, the upper ends of the 4 lower ends of the support rods and the steering arms 401 are connected with 2-4 return springs, and the 2-4 return springs are uniformly distributed on the periphery of the steering arms 401.

The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.

Claims

1. A foot movement device, comprising:

the device comprises a top plate (1), wherein a first vertical baffle (101) extends downwards from the periphery of the top plate (1);

the bottom plate (2) is positioned below the top plate (1), a second vertical baffle (201) extends upwards from the periphery of the bottom plate (2), and the first vertical baffle (101) covers the outer side of the second vertical baffle (201);

the top of the rear wheel support (5) is connected to the lower surface of the top plate (1), and the lower end of the rear wheel support (5) is provided with a caster (15);

the top of the supporting rod (4) is connected to the lower surface of the top plate (1), the lower end of the supporting rod (4) is hinged to the upper end of a steering arm (401), the lower portion of the steering arm (401) comprises two parallel longitudinal arms, a central shaft (6) is arranged between the two parallel longitudinal arms, and a caster (15) is mounted on the central shaft (6); a caster wheel opening (205) for the corresponding caster wheel (15) to extend out is formed in the bottom plate (2);

the fixing piece (303) is connected to the lower surface of the top plate (1), an annular cavity for the rotation of a rotating disc (302) on a horizontal plane is formed in the fixing piece (303), the rotating disc (302) is downwards connected with a threaded column (301) from the center point of the rotating disc, a supporting cylinder (3) in threaded fit with the threaded column (301) is sleeved on the threaded column (301), and the lower end of the supporting cylinder (3) is connected with the upper surface of the bottom plate (2);

the support structure is characterized by further comprising support legs (9), wherein spherical grooves (901) are formed in the lower ends of the support legs (9), and spherical protrusions (102) capable of being embedded into the spherical grooves (901) are arranged on one side of the upper end of the top plate (1); the periphery of the spherical groove (901) at the lower end of the supporting leg (9) is provided with a downward extending annular bulge (104), and the periphery of the spherical bulge (102) at the upper end of the top plate (1) is provided with an upward extending annular bulge (104); the inside of an annular bulge (104) at the lower end of the supporting leg (9) is connected with the inside of an annular bulge (104) at the upper end of the top plate (1) through at least one buffer spring (103), and the inside of the annular bulge (104) at the lower end of the supporting leg (9) is connected with the inside of an annular bulge (104) at the upper end of the top plate (1) through at least one anti-falling rope (105);

two horizontal sliding rods (8) are respectively arranged on two sides of each caster opening (205), two horizontal baffles (7) are mounted on a pair of horizontal sliding rods (8) on two sides of each caster opening (205), baffle through holes (701) are respectively formed in two ends of each horizontal baffle (7), the baffle through holes (701) in two ends of each horizontal baffle (7) are respectively penetrated by the corresponding horizontal sliding rods (8), and supporting blocks (801) are respectively arranged at two ends of each horizontal sliding rod (8); a servo motor is arranged on a supporting block (801) at one end of one horizontal sliding rod (8) in each pair of horizontal sliding rods (8), a connecting rod (802) is arranged on the supporting block (801) at the other end of the horizontal sliding rod (8), and a belt pulley (11) is mounted on the connecting rod (802); an output shaft of the servo motor is connected with a belt pulley (11), a transmission belt (703) firstly bypasses the belt pulley (11) on the output shaft of the servo motor and then is connected with a connecting block (702) on one horizontal baffle (7), then bypasses the belt pulley (11) on a connecting rod (802), then is connected with a connecting block (702) on the other horizontal baffle (7), and finally returns to the belt pulley (11) on the output shaft of the servo motor.

2. The foot mobile according to claim 1, wherein at least one support (202) is provided on a lower surface of the base plate (2), and a rubber pad (203) is provided on a lower surface of each support (202).

3. The foot movement device of claim 1, wherein: lifting motor (17) are installed to one side of mounting (303), the upper portion of screw thread post (301) is equipped with swiveling wheel (18), lifting motor's (17) output pass through the belt with swiveling wheel (18) are connected.

4. The foot movement device of claim 1, wherein: and a sealing strip (204) is arranged between the first vertical baffle (101) and the second vertical baffle (201).

5. The foot movement device of claim 1, wherein: a fixed frame is arranged in the middle of the rear wheel support (5), a rear wheel motor (16) is mounted on the fixed frame, a driving wheel is arranged on a central shaft (6) of a caster (15) on the rear wheel support (5), and the output end of the rear wheel motor (16) is connected with the driving wheel through a rear wheel belt (12);

the top of the rear wheel bracket (5) is connected to the lower surface of the top plate (1) through a damping spring (14).

6. The foot movement device of claim 1, wherein: the utility model discloses a steering mechanism, including bracing piece (4), front wheel motor (10) is connected with on bracing piece (4), the upper portion of steering arm (401) is equipped with belt pulley (11), the output of front wheel motor (10) passes through the belt and is connected with belt pulley (11) on steering arm (401).

7. The foot movement device according to claim 1, wherein the lower end of the support rod (4) is connected to the upper end of the steering arm (401) through a bearing (13), one end of a return spring (402) is connected to the lower end of the support rod (4), and the other end of the return spring (402) is connected to the upper end of the steering arm (401).