CN108583710A - A kind of mobile underpan structure - Google Patents
A kind of mobile underpan structure Download PDFInfo
- Publication number
- CN108583710A CN108583710A CN201810706265.1A CN201810706265A CN108583710A CN 108583710 A CN108583710 A CN 108583710A CN 201810706265 A CN201810706265 A CN 201810706265A CN 108583710 A CN108583710 A CN 108583710A
- Authority
- CN
- China
- Prior art keywords
- wheel
- mounting plate
- auxiliary
- main drive
- crawler belt
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The invention discloses a kind of mobile underpan structures,Including the first mounting plate,Main drive wheel in the first mounting plate surrounding is set,Main drive module for driving main drive wheel is set below the first mounting plate,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 homonymy of the preceding auxiliary driving wheel and rear auxiliary wheel is connected with supporting plate,The side of the drive shaft is equipped with head rod,One end of the head 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 head rod is equipped with the second connecting rod,One end of second connecting rod is rotatablely connected with head rod,The other end is connect with the output end of the telescopic cylinder below first mounting plate.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of mobile underpan structure.
Background technology
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 solve the problems, such as.
Invention content
It is mentioned above in the background art to solve the purpose of the present invention is to provide a kind of mobile underpan structure
Problem.
To achieve the above object, the present invention provides the following technical solutions：A kind of mobile underpan structure, including first
Four main drive wheels in the first mounting plate surrounding are arranged in mounting plate, are arranged below the first mounting plate for driving main driving
The main drive module of wheel, the first crawler belt being set on main drive wheel, the side of the main drive wheel are equipped with rear auxiliary wheel and the
Two crawler belts, the rear auxiliary wheel are located in the second crawler belt, auxiliary driving wheel before being additionally provided in second crawler belt, the preceding auxiliary driving
The homonymy of wheel and rear auxiliary wheel is connected with supporting plate, by driving axis connection between auxiliary driving wheel before two, the one of the drive shaft
Side is equipped with head rod, and one end of the head rod is equipped with the auxiliary drive module for driving drive shaft, the other end
It is rotatablely connected with the first mounting plate, the auxiliary drive module is arranged on the driving shaft, and the lower section of the head rod is equipped with the
Two connecting rods, one end and the head rod of second connecting rod are rotatablely connected, and the other end is installed with mounted on described first
The output end of telescopic cylinder below 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 beneficial effects of the invention are as follows：This kind of mobile underpan structure uses the first crawler belt
With the design of the second crawler belt, conveniently creep slope, abrupt slope drive head rod to act, to adjust indirectly by telescopic cylinder
Save the angle of creeping of the first crawler belt.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the partial structural diagram of the present invention；
Fig. 3 is the rear auxiliary wheel partial structural diagram of the present invention；
In figure：The first mounting plates of 1-；The first crawler belts of 2-；The second crawler belts of 3-；Auxiliary wheel after 4-；Auxiliary driving wheel before 5-；6- branch
Frame plate；7- drive shafts；The auxiliary drive modules of 8-；9- head rods；The second connecting rods of 10-；11- cylinders；12- driving wheels；13- master
The second mounting plates of drive module 14-.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term "upper", "lower", "inner", "outside" " end ", " front end ",
The orientation or positional relationship of the instructions such as " rear end ", " both ends ", " one end ", " other end " is orientation based on ... shown in the drawings or position
Relationship is merely for convenience of description of the present invention and simplification of the description, and not indicating or implying the indicated device or element must have
There is specific orientation, with specific azimuth configuration and operation, therefore is not considered as limiting the invention.In addition, term " the
One ", " second " is used for description purposes only, and is not understood to indicate or imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " is set
Set/offer ", " connection ", etc., shall be understood in a broad sense, such as " connection ", may be a fixed connection, can also be detachably to connect
It connects, or is integrally connected；It can be mechanical connection, can also be electrical connection；It can be directly connected, intermediate matchmaker can also be passed through
Jie is indirectly connected, and can be the connection inside two elements.It for the ordinary skill in the art, can be with concrete condition
Understand the concrete meaning of above-mentioned term in the present invention.
- 3 are please referred to Fig.1, the present invention provides a kind of technical solution：A kind of mobile underpan structure, including the first peace
Four main drive wheels 12 in 1 surrounding of the first mounting plate are arranged in loading board 1, are arranged below the first mounting plate 1 for driving main drive
The main drive module 13 of driving wheel 12, the first crawler belt 2 being set on main drive wheel 12, after the side of the main drive wheel 12 is equipped with
Auxiliary wheel 4 and the second crawler belt 3, the rear auxiliary wheel 4 are located in the second crawler belt 3, auxiliary driving before being additionally provided in second crawler belt 3
Wheel 5, the homonymy of the preceding auxiliary driving wheel 5 and rear auxiliary wheel 4 are connected with supporting plate 6, pass through drive shaft between auxiliary driving wheel 5 before two
The side of 7 connections, the drive shaft 7 is equipped with head rod 9, and one end of the head rod 9 is equipped with drives for driving
The auxiliary drive module 8 of moving axis 7, the other end and the first mounting plate 1 are rotatablely connected, and the auxiliary drive module 8 is set in drive shaft 7
On, the lower section of the head rod 9 is equipped with the second connecting rod 10, one end and the head rod 9 of second connecting rod 10
Rotation connection, the other end are connect with the output end of the telescopic cylinder 11 mounted on first mounting plate, 1 lower section, first peace
The lower section of loading board 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, to adjust the position of head rod 9, in turn by telescopic cylinder 11
The angle of inclination of the second crawler belt 3 is adjusted, most of different slopes and irregular abrupt slope are adapted to, further raising robot
Walking locomotivity.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
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 the main drive module (13) for driving main drive wheel (12) below the first mounting plate (1), 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 homonymy 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 head rod (9), the head 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 in drive shaft (7), the lower section of the head rod (9) is equipped with the second connecting rod (10), institute
One end of the second connecting rod (10) is stated with head rod (9) rotation connection, the other end and 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 the second mounting plate (14) is installed, the telescopic cylinder (11) is fixedly mounted on second mounting plate (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810706265.1A CN108583710A (en) | 2018-07-02 | 2018-07-02 | A kind of mobile underpan structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810706265.1A CN108583710A (en) | 2018-07-02 | 2018-07-02 | A kind of mobile underpan structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108583710A true CN108583710A (en) | 2018-09-28 |
Family
ID=63635351
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810706265.1A Pending CN108583710A (en) | 2018-07-02 | 2018-07-02 | A kind of mobile underpan structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108583710A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111857146A (en) * | 2020-07-27 | 2020-10-30 | 广州大学 | Climbing robot |
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| CN204546533U (en) * | 2015-02-17 | 2015-08-12 | 公安部上海消防研究所 | A kind of explosion-proof type fire-fighting detection robot |
| CN205552540U (en) * | 2016-04-20 | 2016-09-07 | 河南科技大学 | Both arms work robot |
| CN107161227A (en) * | 2017-06-18 | 2017-09-15 | 长沙无道工业设计有限公司 | A kind of telescopic caterpillar robot in chassis |
| CN206968814U (en) * | 2017-05-23 | 2018-02-06 | 安徽中科金诚智能科技有限公司 | A kind of robot damping robot crawling caterpillar chassis |
| CN206968812U (en) * | 2017-11-01 | 2018-02-06 | 北京海风智能科技有限责任公司 | A kind of robot chassis |
| CN107745375A (en) * | 2017-10-12 | 2018-03-02 | 北京京金吾高科技股份有限公司 | Explosive-removal robot and remote control robot |
| CN107776700A (en) * | 2017-10-21 | 2018-03-09 | 长沙展朔轩兴信息科技有限公司 | Crawler leg composite movable robot |
| CN207344572U (en) * | 2017-10-12 | 2018-05-11 | 北京京金吾高科技股份有限公司 | Walking platform and explosion prevention robot |
| CN207448450U (en) * | 2017-07-24 | 2018-06-05 | 中广核研究院有限公司 | Nuclear power station underwater operation robot |
| CN108161885A (en) * | 2018-01-06 | 2018-06-15 | 哈尔滨工大特种机器人有限公司 | A kind of public safety mobile robot |
| CN108216400A (en) * | 2016-12-21 | 2018-06-29 | 深圳市博铭维智能科技有限公司 | Crawler type specialized robot and its system |
-
2018
- 2018-07-02 CN CN201810706265.1A patent/CN108583710A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204546533U (en) * | 2015-02-17 | 2015-08-12 | 公安部上海消防研究所 | A kind of explosion-proof type fire-fighting detection robot |
| CN205552540U (en) * | 2016-04-20 | 2016-09-07 | 河南科技大学 | Both arms work robot |
| CN108216400A (en) * | 2016-12-21 | 2018-06-29 | 深圳市博铭维智能科技有限公司 | Crawler type specialized robot and its system |
| CN206968814U (en) * | 2017-05-23 | 2018-02-06 | 安徽中科金诚智能科技有限公司 | A kind of robot damping robot crawling caterpillar chassis |
| CN107161227A (en) * | 2017-06-18 | 2017-09-15 | 长沙无道工业设计有限公司 | A kind of telescopic caterpillar robot in chassis |
| CN207448450U (en) * | 2017-07-24 | 2018-06-05 | 中广核研究院有限公司 | Nuclear power station underwater operation robot |
| CN107745375A (en) * | 2017-10-12 | 2018-03-02 | 北京京金吾高科技股份有限公司 | Explosive-removal robot and remote control robot |
| CN207344572U (en) * | 2017-10-12 | 2018-05-11 | 北京京金吾高科技股份有限公司 | Walking platform and explosion prevention robot |
| CN107776700A (en) * | 2017-10-21 | 2018-03-09 | 长沙展朔轩兴信息科技有限公司 | Crawler leg composite movable robot |
| CN206968812U (en) * | 2017-11-01 | 2018-02-06 | 北京海风智能科技有限责任公司 | A kind of robot chassis |
| CN108161885A (en) * | 2018-01-06 | 2018-06-15 | 哈尔滨工大特种机器人有限公司 | A kind of public safety mobile robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111857146A (en) * | 2020-07-27 | 2020-10-30 | 广州大学 | Climbing robot |
| CN111857146B (en) * | 2020-07-27 | 2023-02-03 | 广州大学 | Climbing robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180928 |