CN208484764U - A kind of mobile underpan - Google Patents
A kind of mobile underpan Download PDFInfo
- Publication number
- CN208484764U CN208484764U CN201821130421.6U CN201821130421U CN208484764U CN 208484764 U CN208484764 U CN 208484764U CN 201821130421 U CN201821130421 U CN 201821130421U CN 208484764 U CN208484764 U CN 208484764U
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- China
- Prior art keywords
- power device
- universal wheel
- elastic universal
- bottom plate
- elasticity
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- 238000000034 method Methods 0.000 description 6
- 230000006641 stabilisation Effects 0.000 description 5
- 238000011105 stabilization Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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Abstract
The utility model belongs to mechanical component field, is related to a kind of mobile underpan.Including bottom plate, bottom plate front bottom end middle position is connected with elastic universal wheel one, two sides are connected with symmetrical elasticity orientation power device two and elasticity orientation power device three among bottom plate, elasticity orientation power device two is identical as the elasticity orientation structure of power device three, base plate rear end two sides of the bottom are connected with symmetrical elastic universal wheel two and elastic universal wheel three, the elastic universal wheel one, elastic universal wheel two and elastic universal wheel, three structures are identical and constitute triangle；The elasticity orientation power device two includes driving wheel, and hub motor is equipped in driving wheel, and the center of driving wheel is equipped with drive shaft, and the drive shaft is connect with connector, and the connector is equipped with rotary shaft, and the rotary shaft is connect with clockwork spring.The utility model makes chassis substantially reduce turning radius in turning, and effectively avoids skidding and effectively reduce vibration.
Description
Technical field
The utility model belongs to mechanical component field, is related to a kind of mobile underpan.
Background technique
Common wheeled mobile robot chassis on roughness pavement when driving, it is difficult to combine holding and stablize, avoid
The demands such as skidding, tight turn radius, to solve the above-mentioned problems, this application provides a kind of robot chassis, effective solutions
Slippage problems are avoided while keeping and stablizing on roughness pavement, and reduce turning radius.
The innovative suspension that clockwork spring is applied to robot chassis driving wheel of the utility model.Utilize clockwork spring
The elastic force feature insensitive to stroke, so that robot is when travelling or clearing the jumps on uneven road surface, driving wheel is over the ground
The pressure change very little in face.The practical driving force on chassis is equal to frictional force between driving wheel and ground, and the normal direct ratio of frictional force
In normal pressure, to make driving force keep stablizing, to avoid skidding and reducing car body fluctuating, so that robot traveling is more flat
Surely.
Utility model content
In view of the deficienciess of the prior art, being the purpose of this utility model is to provide a kind of mobile underpan
Realization above-mentioned purpose, the utility model proposes technical solution be:
A kind of mobile underpan, including bottom plate 6,6 front bottom end middle position of the bottom plate connection are flexible universal
1 are taken turns, the intermediate two sides of bottom plate 6 are connected with symmetrical elasticity orientation power device 22 and elasticity orientation power device 35,
Elasticity orientation power device 22 is identical as the elasticity orientation structure of power device 35, and 6 rear end two sides of the bottom of bottom plate are connected with phase
Mutually symmetrical elastic universal wheel 23 and elastic universal wheel 34, the elastic universal wheel 1, elastic universal wheel 23 and elasticity
34 structure of universal wheel is identical and constitutes triangle；
The elasticity orientation power device 22 includes driving wheel 9, connector 11, and clockwork spring 7 is set in the driving wheel 9
There is hub motor, the center of driving wheel 9 is equipped with drive shaft 10, and the drive shaft 10 is connect with connector 11, described
Connector 11 is equipped with rotary shaft 8, and the rotary shaft 8 is connect with clockwork spring 7.
Preferably, the connector 11 further includes cross connecting plate 14, vertical connecting plate 15, top plate 12, and the transverse direction connects
One end of fishplate bar 14 is mutually connected vertically with vertical 15 side of connecting plate, and the other end of cross connecting plate 14 is equipped with groove 16, institute
It states top plate 12 to connect with vertical 15 top of connecting plate, top plate 12 is equipped with 4 circular holes 13.
Preferably, the bottom plate 6 is equipped with and corresponds to each other with the top plate 12 of connector 11 and equal-sized circular hole.
Preferably, the groove 16 is connected through a screw thread with drive shaft 10.
Preferably, 10 center of drive shaft is equipped with electric wire, and one end of electric wire is connected with plug.
Preferably, the rotary shaft 8 is set to 15 center of vertical connecting plate of connector 11.
Preferably, 6 upper surface of bottom plate is equipped with rubber.
Preferably, the wheel drive surfaces of the elastic universal wheel 1 are equipped with one layer of rubber.
The utility model has the beneficial effects that: the utility model is equipped with symmetrical elasticity orientation in the intermediate two sides of bottom plate
Power device two and elasticity orientation power device three, such as Fig. 5, then turning radius is R2, and the turning radius of the prior art is R1
Even larger than R1, it is seen that the application substantially reduces the turning radius on chassis, and staff saves when operation
Time, while it is also very convenient to operate；The middle position of bottom plate front bottom end is connected with elastic universal wheel one, in its back-end bottom
The two sides in portion are connected separately with symmetrical elastic universal wheel two and elastic universal wheel three, form three-legged structure, ensure that chassis
Stabilization when walking；
Elasticity orientation power device two uses clockwork spring with elasticity orientation power device three, and elasticity is allowed to orient power device
Two is more compact with the structure of elasticity orientation power device three, and the service life is longer for flexible deformation, has saved cost, has utilized simultaneously
The clockwork spring elastic force feature insensitive to stroke, so that robot when travelling or clearing the jumps on uneven road surface, drives
Pressure change very little of the driving wheel to ground.The practical driving force on chassis is equal to the frictional force between driving wheel and ground, and rubs
Power is often proportional to normal pressure, to make driving force keep stablizing, to avoid skidding and reducing car body fluctuating, so that robot row
It sails more stable.
Detailed description of the invention
Attached drawing is used to provide further understanding for the utility model, and constitutes part of specification.
The embodiments of the present invention are used to explain the utility model together, do not constitute limitations of the present invention,
In the accompanying drawings:
Fig. 1 is a kind of structural schematic diagram of mobile underpan；
Fig. 2 is the structural schematic diagram of elasticity orientation power device two；
Fig. 3 is a kind of bottom view of mobile underpan；
Fig. 4 is the structural schematic diagram of connector；
Fig. 5 is radius of turn schematic diagram.
In figure: 1, elastic universal wheel one, 2, elasticity orientation power device two, 3, elastic universal wheel two, 4, elastic universal wheel
Three, 5, elasticity orientation power device three, 6, bottom plate, 7, clockwork spring, 8, rotary shaft, 9, driving wheel, 10, drive shaft, 11, company
Fitting, 12, top plate, 13, circular hole, 14, cross connecting plate, 15, vertical connecting plate, 16, groove.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.
Embodiment:
With reference to Fig. 1-4, a kind of mobile underpan, including bottom plate 6, in the present embodiment, 6 front bottom end of bottom plate
Middle position is connected with elastic universal wheel 1 by spiral, and the intermediate two sides of bottom plate 6 are connected with symmetrical elasticity orientation power
Device 22 and elasticity orientation power device 35, and the structure of elasticity orientation power device 22 and elasticity orientation power device 35
It is identical, it ensure that the stabilization of chassis in the process of moving, 6 rear end two sides of the bottom of bottom plate are connected with symmetrical elastic universal wheel
23 and elastic universal wheel 34, and 34 structure phase of the elastic universal wheel 1, elastic universal wheel 23 and elastic universal wheel
Together, triangle is constituted, ensure that the stabilization on entire chassis；
The elasticity orientation power device 22 includes driving wheel 9, connector 11, clockwork spring 7, is set in the driving wheel 9
There is hub motor, for driving elasticity orientation power device movement, the center of the driving wheel 9 is equipped with drive shaft 10,
10 center of drive shaft is equipped with electric wire, and one end of electric wire is connected with plug；Such as Fig. 4, the connector 11 includes laterally connecting
Fishplate bar 14, vertical connecting plate 15, top plate 12, rotary shaft 8, one end of cross connecting plate 14 and vertical 15 side of connecting plate are mutually hung down
Direct-connected to connect, top plate 12 is connect with vertical 15 top of connecting plate, and the other end of the cross connecting plate 14 is equipped with groove 16, groove 16
It is threadedly coupled with the drive shaft 10 of driving wheel 9, groove 16 is for convenience when dismantling drive shaft 10, from lacking for groove 16
Electric wire is taken out at mouthful；The vertical connecting plate 15 is equipped with rotary shaft 8, and the rotary shaft 8 is connect with clockwork spring 7, the top
Plate 12 is equipped with 4 circular holes 13, and 6 corresponding position of bottom plate is equipped with equal-sized circular hole, by the circle of the circular hole of bottom plate 6 and top plate 12
Hole 13 is corresponding, is put into bolt, connect bottom plate 6 with elasticity orientation power device 22 and elasticity orientation power device 35.
Preferably, 6 upper surface of bottom plate is equipped with rubber prevents object from wearing for protecting object.
Preferably, the wheel drive surfaces of the elastic universal wheel 1 are equipped with one layer of rubber, for shockproof.
4 one-tenth the utility model elastic universal wheel 1, elastic universal wheel 23 and elastic universal wheel 3 triangular structures are protected
The stabilization of chassis in the process of running is demonstrate,proved；Such as Fig. 5, elasticity orientation power device 22 and elasticity orientation power device 35 are arranged
In the middle position of bottom plate 6, then radius of turn is R2, if by elasticity orientation power device 22 and elasticity orientation power device 35
It is set to the rear end of bottom plate 6, then radius of turn is R1, it can be seen that the utility model substantially reduces chassis in the process of running
The radius of turning, clockwork spring 7 make elasticity orientation power device 22 and the structure of elasticity orientation power device 35 more compact,
Reduce flexible deformation, service life, while the feature insensitive to stroke using clockwork spring elastic force is increased, so that machine
People is when travelling or clearing the jumps on uneven road surface, pressure change very little of the driving wheel to ground.The practical driving on chassis
Power is equal to the frictional force between driving wheel and ground, and frictional force is often proportional to normal pressure, so that driving force is made to keep stablizing, from
And avoid skidding and reducing car body fluctuating, so that robot traveling is more stable.
Specific: chassis at runtime, is arranged since elasticity orientation power device 22 orients power device 35 with elasticity
In the middle position of bottom plate 6, i.e. radius of turn is R2, substantially reduces the radius that chassis is turned in the process of running；In bottom plate 6
4 one-tenth elastic universal wheel 1, elastic universal wheel 23 and elastic universal wheel 3 triangular structures for locating setting, ensure that chassis exists
Stabilization in operational process；Clockwork spring 7 allows elasticity orientation power device 22 and elasticity to orient the structure of power device 35 more
Step up to gather, reduce flexible deformation, increases service life, while the feature insensitive to stroke using clockwork spring elastic force,
So that robot is when travelling or clearing the jumps on uneven road surface, pressure change very little of the driving wheel to ground.Chassis
Practical driving force is equal to the frictional force between driving wheel and ground, and frictional force is often proportional to normal pressure, so that driving be made to try hard to keep
It is fixed to keep steady, to avoid skidding and reducing car body fluctuating, so that robot traveling is more stable.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art is within the technical scope disclosed by the utility model, practical according to this
Novel technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model
Within enclosing.
Claims (8)
1. a kind of mobile underpan, including bottom plate (6), which is characterized in that bottom plate (6) the front bottom end middle position connects
It is connected to elastic universal wheel one (1), the intermediate two sides of bottom plate (6) are connected with symmetrical elasticity orientation power device two (2) and bullet
Property orientation power device three (5), elasticity orientation power device two (2) with elasticity orient the structure of power device three (5) it is identical, bottom
Plate (6) rear end two sides of the bottom are connected with symmetrical elastic universal wheel two (3) and elastic universal wheel three (4), and described elastic ten thousand
To wheel one (1), elastic universal wheel two (3) and elastic universal wheel three (4) structure it is identical and constitute triangle；
Elasticity orientation power device two (2) includes driving wheel (9), connector (11), clockwork spring (7), the driving wheel
(9) hub motor is equipped in, the center of driving wheel (9) is equipped with drive shaft (10), the drive shaft (10) with connect
Part (11) connection, the connector (11) are equipped with rotary shaft (8), and the rotary shaft (8) connect with clockwork spring (7).
2. a kind of mobile underpan according to claim 1, which is characterized in that the connector (11) further includes cross
To connecting plate (14), vertical connecting plate (15), top plate (12), one end and vertical connecting plate (15) of the cross connecting plate (14)
Side is mutually connected vertically, and the other end of cross connecting plate (14) is equipped with groove (16), the top plate (12) and vertical connecting plate
(15) top connects, and top plate (12) is equipped with 4 circular holes (13).
3. a kind of mobile underpan according to claim 1, which is characterized in that the bottom plate (6) is equipped with and connection
The top plate (12) of part (11) corresponds to each other and equal-sized circular hole.
4. a kind of mobile underpan according to claim 2, which is characterized in that the groove (16) and drive shaft
(10) it is connected through a screw thread.
5. a kind of mobile underpan according to claim 4, which is characterized in that drive shaft (10) centre bit
Live wire is installed, one end of electric wire is connected with plug.
6. a kind of mobile underpan according to claim 1, which is characterized in that rotary shaft (8) company of being set to
Vertical connecting plate (15) center of fitting (11).
7. a kind of mobile underpan according to claim 1, which is characterized in that bottom plate (6) upper surface is equipped with
Rubber.
8. a kind of mobile underpan according to claim 1, which is characterized in that the elastic universal wheel one (1)
Wheel drive surfaces are equipped with one layer of rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821130421.6U CN208484764U (en) | 2018-07-17 | 2018-07-17 | A kind of mobile underpan |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821130421.6U CN208484764U (en) | 2018-07-17 | 2018-07-17 | A kind of mobile underpan |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208484764U true CN208484764U (en) | 2019-02-12 |
Family
ID=65247194
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821130421.6U Expired - Fee Related CN208484764U (en) | 2018-07-17 | 2018-07-17 | A kind of mobile underpan |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208484764U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110916567A (en) * | 2019-12-12 | 2020-03-27 | 上海高仙自动化科技发展有限公司 | Mobile device and cleaning robot with same |
-
2018
- 2018-07-17 CN CN201821130421.6U patent/CN208484764U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110916567A (en) * | 2019-12-12 | 2020-03-27 | 上海高仙自动化科技发展有限公司 | Mobile device and cleaning robot with same |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190212 |