CN208593453U - A kind of mobile underpan structure - Google Patents
A kind of mobile underpan structure Download PDFInfo
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- CN208593453U CN208593453U CN201821030615.9U CN201821030615U CN208593453U CN 208593453 U CN208593453 U CN 208593453U CN 201821030615 U CN201821030615 U CN 201821030615U CN 208593453 U CN208593453 U CN 208593453U
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- wheel
- mounting plate
- connecting rod
- auxiliary
- main drive
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Abstract
The utility model discloses a kind of mobile underpan structures, including the first mounting plate, the main drive wheel of first mounting plate surrounding is set, it is arranged in below the first mounting plate for driving the main drive module of main drive wheel, the first crawler belt being set on main drive wheel, the side of the main drive wheel is equipped with rear auxiliary wheel and the second crawler belt, auxiliary wheel is set in the second crawler belt after described, auxiliary driving wheel before being additionally provided in second crawler belt, the preceding auxiliary driving wheel and the ipsilateral of rear auxiliary wheel are connected with supporting plate, the side of the drive shaft is equipped with first connecting rod, one end of the first connecting rod is equipped with the auxiliary drive module for driving drive shaft, the other end and the first mounting plate are rotatablely connected, the lower section of the first connecting rod is equipped with the second connecting rod, one end of second connecting rod and first connecting rod are rotatablely connected, it is another Hold and be mounted on the output end connection of the telescopic cylinder below first mounting plate.
Description
Technical field
The utility model relates to robotic technology field, specially a kind of mobile underpan structure.
Background technique
Mobile robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run pre-
The program of first layout, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or replace
The work of human work；But on rugged road, the walking of general robot just becomes extremely difficult such as irregular inclined
Slope, abrupt slope etc..
So how to design a kind of mobile underpan structure, becoming us will currently be solved the problems, such as.
Utility model content
The purpose of this utility model is to provide a kind of mobile underpan structures, to solve to mention in above-mentioned background technique
Out the problem of.
To achieve the above object, the utility model provides the following technical solutions: a kind of mobile underpan structure, including
Four main drive wheels of the first mounting plate surrounding are arranged in first mounting plate, are arranged below the first mounting plate for driving master
The side of the main drive module of driving wheel, the first crawler belt being set on main drive wheel, the main drive wheel is equipped with rear auxiliary wheel
With the second crawler belt, the rear auxiliary wheel is located in the second crawler belt, and auxiliary driving wheel before being additionally provided in second crawler belt is described preceding auxiliary
Driving wheel and the ipsilateral of rear auxiliary wheel are connected with supporting plate, pass through driving axis connection, the drive shaft before two between auxiliary driving wheel
Side be equipped with first connecting rod, one end of the first connecting rod is equipped with the auxiliary drive module for driving drive shaft, separately
One end and the first mounting plate are rotatablely connected, and the auxiliary drive module is arranged on the driving shaft, sets below the first connecting rod
There is the second connecting rod, one end of second connecting rod and first connecting rod are rotatablely connected, and the other end and are mounted on described first
The output end of telescopic cylinder below mounting plate connects.
Further, the rear auxiliary wheel is coaxial with main drive wheel, and can individually rotate.
Further, the second mounting plate is installed below first mounting plate, the telescopic cylinder is fixedly mounted on
On second mounting plate.
Compared with prior art, the utility model has the beneficial effects that this kind of mobile underpan structure uses first
The design of crawler belt and the second crawler belt, conveniently creep slope, abrupt slope drive first connecting rod to act indirectly by telescopic cylinder,
To adjust the angle of creeping of the first crawler belt.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the partial structural diagram of the utility model；
Fig. 3 is the rear auxiliary wheel partial structural diagram of the utility model；
In figure: the first mounting plate of 1-；The first crawler belt of 2-；The second crawler belt of 3-；Auxiliary wheel after 4-；Auxiliary driving wheel before 5-；6- branch
Frame plate；7- drive shaft；The auxiliary drive module of 8-；9- first connecting rod；The second connecting rod of 10-；11- cylinder；12- driving wheel；13- master
The second mounting plate of drive module 14-.
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.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
In the description of the present invention, it should be noted that term " on ", "lower", "inner", "outside" " end ", " preceding
End ", " rear end ", " both ends ", " one end ", the instructions such as " other end " orientation or positional relationship be orientation based on the figure or
Positional relationship is merely for convenience of describing the present invention and simplifying the description, rather than the device or member of indication or suggestion meaning
Part must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " be arranged/offer ", " connection ", etc., shall be understood in a broad sense, such as " connection ", may be a fixed connection, being also possible to can
Dismantling connection, or be integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, can also pass through
Intermediary is indirectly connected, and can be the connection inside two elements.For the ordinary skill in the art, can have
Body situation understands the concrete meaning of above-mentioned term in the present invention.
Fig. 1-3 is please referred to, the utility model provides a kind of technical solution: a kind of mobile underpan structure, including the
Four main drive wheels 12 of 1 surrounding of the first mounting plate are arranged in one mounting plate 1, are arranged below the first mounting plate 1 for driving
The main drive module 13 of main drive wheel 12, the first crawler belt 2 being set on main drive wheel 12, the side of the main drive wheel 12 is set
There are rear auxiliary wheel 4 and the second crawler belt 3, the rear auxiliary wheel 4 is located in the second crawler belt 3, auxiliary before being additionally provided in second crawler belt 3
The ipsilateral of driving wheel 5, the preceding auxiliary driving wheel 5 and rear auxiliary wheel 4 is connected with supporting plate 6, passes through drive between auxiliary driving wheel 5 before two
Moving axis 7 connects, and the side of the drive shaft 7 is equipped with first connecting rod 9, and one end of the first connecting rod 9 is equipped with for driving
The auxiliary drive module 8 of dynamic drive shaft 7, the other end and the first mounting plate 1 are rotatablely connected, and the auxiliary drive module 8 is set in driving
On axis 7, the lower section of the first connecting rod 9 is equipped with the second connecting rod 10, and one end of second connecting rod 10 is connect with first
Bar 9 is rotatablely connected, and the other end is connect with the output end for the telescopic cylinder 11 being mounted below first mounting plate 1, and described the
The lower section of one mounting plate 1 is equipped with the second mounting plate 14, and the telescopic cylinder 11 is fixedly mounted on second mounting plate 14.
More specifically, the rear auxiliary wheel 4 is coaxial with main drive wheel 12, and can individually rotate, and passes through rear auxiliary wheel 4
Individually rotation controls the flexible of the second connecting rod 10 by telescopic cylinder 11, to adjust the position of first connecting rod 9, in turn
The tilt angle of the second crawler belt 3 is adjusted, most of different slopes and irregular abrupt slope are adapted to, further raising robot
Walking locomotivity.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (3)
1. four in the first mounting plate (1) surrounding are arranged in a kind of mobile underpan structure, including the first mounting plate (1)
Main drive wheel (12) is arranged below the first mounting plate (1) for driving the main drive module (13) of main drive wheel (12), is arranged
The first crawler belt (2) on main drive wheel (12), it is characterised in that: the side of the main drive wheel (12) is equipped with rear auxiliary wheel
(4) it is located in the second crawler belt (3), is additionally provided in second crawler belt (3) preceding auxiliary with the second crawler belt (3), the rear auxiliary wheel (4)
The ipsilateral of driving wheel (5), the preceding auxiliary driving wheel (5) and rear auxiliary wheel (4) is connected with supporting plate (6), auxiliary driving wheel (5) before two
Between connected by drive shaft (7), the side of the drive shaft (7) is equipped with first connecting rod (9), the first connecting rod (9)
One end the auxiliary drive module (8) for driving drive shaft (7) is installed, the other end and the first mounting plate (1) are rotatablely connected, institute
It states auxiliary drive module (8) to be set on drive shaft (7), the lower section of the first connecting rod (9) is equipped with the second connecting rod (10), institute
The one end and first connecting rod (9) for stating the second connecting rod (10) are rotatablely connected, and the other end and are mounted on first mounting plate (1)
The output end of the telescopic cylinder (11) of lower section connects.
2. a kind of mobile underpan structure according to claim 1, it is characterised in that: it is described after auxiliary wheel (4) with
Main drive wheel (12) is coaxial, and can individually rotate.
3. a kind of mobile underpan structure according to claim 1, it is characterised in that: first mounting plate (1)
Lower section be equipped with the second mounting plate (14), the telescopic cylinder (11) is fixedly mounted on second mounting plate (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821030615.9U CN208593453U (en) | 2018-07-02 | 2018-07-02 | A kind of mobile underpan structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821030615.9U CN208593453U (en) | 2018-07-02 | 2018-07-02 | A kind of mobile underpan structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208593453U true CN208593453U (en) | 2019-03-12 |
Family
ID=65602213
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821030615.9U Active CN208593453U (en) | 2018-07-02 | 2018-07-02 | A kind of mobile underpan structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208593453U (en) |
-
2018
- 2018-07-02 CN CN201821030615.9U patent/CN208593453U/en active Active
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