CN209366314U - Bobbin movement mechanism and robot - Google Patents
Bobbin movement mechanism and robot Download PDFInfo
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- CN209366314U CN209366314U CN201822024072.6U CN201822024072U CN209366314U CN 209366314 U CN209366314 U CN 209366314U CN 201822024072 U CN201822024072 U CN 201822024072U CN 209366314 U CN209366314 U CN 209366314U
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Abstract
The utility model provides a kind of bobbin movement mechanism and robot, bobbin movement mechanism, including chassis supports body, two hub assemblies, driving source and the first driven wheel assembly, hub assembly, driving source and the first driven wheel assembly are respectively positioned on chassis supports body, hub assembly is connect with driving source, driving source respectively drives hub assembly rotation, has the first shock-damping structure on hub assembly, has the second shock-damping structure on the first driven wheel assembly.Bobbin movement mechanism provided by the utility model is not likely to produce shaking in bobbin movement mechanism kinematic.
Description
Technical field
The utility model relates to robotic technology field more particularly to a kind of bobbin movement mechanism and robots.
Background technique
With the development of society, the work of the mankind is assisted or replaced using robot in more industries, such as produce
The work of industry, construction industry or certain danger.Robot is the automatic installations for executing work, mainly by mechanical body, note
Recall or program function and core part etc. form.It can not only receive mankind commander, but also can run the program of preparatory layout,
It can be according to principle action formulated with artificial intelligence technology.
The chassis of robot is one important component of robot.Robot is easy when moving in the road conditions of out-of-flatness
Generate shaking.Therefore, in the prior art, by increasing the diameter of wheel on robot chassis, or increase on hub assembly
Suspension, to increase the stability on robot chassis, the shaking for avoiding robot from generating when moving in the road conditions of out-of-flatness.
But increase wheel diameter influence chassis overall space, hub assembly increase suspension, result in the need for by from
Driving wheel assembly supports the structure of robot entirety, be easy to cause the adynamia of hub assembly.
Utility model content
The utility model provides a kind of bobbin movement mechanism and robot, the bobbin movement mechanism are not likely to produce during exercise
It shakes.
In a first aspect, the utility model provides a kind of bobbin movement mechanism, including chassis supports body, two hub assemblies,
Driving source and the first driven wheel assembly, hub assembly, driving source and the first driven wheel assembly are respectively positioned on chassis supports body, driving
Source is connect with hub assembly, and driving source respectively drives hub assembly rotation, has the first shock-damping structure on hub assembly, first from
There is the second shock-damping structure on driving wheel assembly.
As a kind of optional mode, bobbin movement mechanism provided by the utility model, the first shock-damping structure includes first
Elastic component and guide part, the first elastic component are arranged on guide part, and one end of guide part is connect with chassis supports body, guide part it is another
One end is connect with hub assembly, and the first elastic component is connected between chassis supports body and hub assembly.
As a kind of optional mode, bobbin movement mechanism provided by the utility model, the second shock-damping structure includes second
Elastic component and the first connector, the second elastic component are connected between the first connector and the first driven wheel assembly, the first connector
It is connect with chassis supports body.
As a kind of optional mode, bobbin movement mechanism provided by the utility model, the bottom and chassis of hub assembly
It is greater than the distance between bottom and the chassis supports body top of the first driven wheel assembly the distance between at the top of supporter.
As a kind of optional mode, bobbin movement mechanism provided by the utility model, further include at least two second from
Driving wheel assembly, the bottom and chassis of the distance between the bottom of the second driven wheel assembly and chassis supports body top with hub assembly
It is equal the distance between at the top of supporter.
As a kind of optional mode, bobbin movement mechanism provided by the utility model, the revolution of the first driven wheel assembly
The centre of gyration of center and the second driven wheel assembly is located in approximately the same plane, the centre of gyration and second of the first driven wheel assembly
The center of circle of circle of the centre of gyration composition of driven wheel assembly and the centre of gyration of two hub assemblies are located on the same line, and
The center of circle is equal with the distance between the centre of gyration of two hub assemblies.
As a kind of optional mode, bobbin movement mechanism provided by the utility model, chassis supports body includes upper housing
And lower case, upper housing and lower case surround accommodation space jointly, driving source is located in accommodation space.
As a kind of optional mode, bobbin movement mechanism provided by the utility model, hub assembly and the first driven wheel
Assembly is connect with upper housing, and hub assembly, the first driven wheel assembly and the second driven wheel assembly are connect with lower case.
As a kind of optional mode, bobbin movement mechanism provided by the utility model, chassis supports body further includes second
Connector, upper housing and lower case are connected by the second connector.
Second aspect, the utility model provide a kind of robot, including above-mentioned bobbin movement mechanism.
Bobbin movement mechanism provided by the utility model and robot, by hub assembly and the first driven wheel assembly
The first shock-damping structure and the second shock-damping structure is respectively set, in this way, bobbin movement mechanism when moving in the road conditions of out-of-flatness, produces
Raw vibration passes through the first shock-damping structure respectively and the second shock-damping structure is cut down, and is not likely to produce bobbin movement mechanism during exercise
It shakes, to reduce shaking of the robot when moving in the road conditions of out-of-flatness.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is made simply to introduce, it should be apparent that, the accompanying drawings in the following description is
Some embodiments of the utility model, for those of ordinary skill in the art, in the premise of not making the creative labor property
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of bobbin movement mechanism provided by the embodiment of the utility model；
Fig. 2 is a kind of cross-sectional view of bobbin movement mechanism provided by the embodiment of the utility model；
Fig. 3 is the bottom view of Fig. 1；
Fig. 4 is a kind of explosive view of bobbin movement mechanism provided by the embodiment of the utility model；
Fig. 5 is the structural representation of first connection ear mount in a kind of bobbin movement mechanism provided by the embodiment of the utility model
Figure；
Fig. 6 is the first shock-damping structure and hub assembly in a kind of bobbin movement mechanism provided by the embodiment of the utility model
Structural schematic diagram；
Fig. 7 is the second shock-damping structure and the first driven wheel in a kind of bobbin movement mechanism provided by the embodiment of the utility model
The connection figure of assembly.
Description of symbols:
10-chassis supports bodies；101-first connection ear mounts；1011-grooves；102-upper housings；103-lower cases；
104-the second connector；105-the second connection ear mount；
20-hub assemblies；201-driving wheels；202-axletrees；203-axletree attachment bases；2031-guide parts connect
Joint chair；
30-driving sources；
40-the first driven wheel assembly；
50-the first shock-damping structure；501-the first elastic component；502-guide parts；503-interconnecting pieces；
60-the second shock-damping structure；601-the second elastic component；602-the first connector；603-supports；604-screw threads
Pillar；605-fixing pieces；The upper end of 6051-fixing pieces；The lower end of 6052-fixing pieces；
70-the second driven wheel assembly.
Specific embodiment
Below in conjunction with the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out clear, complete
Site preparation description, it is clear that the described embodiments are only a part of the embodiments of the utility model, instead of all the embodiments.
Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
Every other embodiment, fall within the protection scope of the utility model.
Fig. 1 is a kind of structural schematic diagram of bobbin movement mechanism provided by the embodiment of the utility model；Fig. 2 is that this is practical new
A kind of cross-sectional view for bobbin movement mechanism that type embodiment provides；Fig. 3 is the bottom view of Fig. 1；Fig. 4 is the utility model embodiment
A kind of explosive view of the bobbin movement mechanism provided；Fig. 5 is in a kind of bobbin movement mechanism provided by the embodiment of the utility model
The structural schematic diagram of first connection ear mount；Fig. 6 is first to subtract in a kind of bobbin movement mechanism provided by the embodiment of the utility model
Shake the structural schematic diagram of structure and hub assembly；Fig. 7 is the in a kind of bobbin movement mechanism provided by the embodiment of the utility model
The connection figure of two shock-damping structures and the first driven wheel assembly.As shown in Fig. 1-Fig. 7, bobbin movement mechanism provided in this embodiment,
Including 10, two hub assemblies 20 of chassis supports body, driving source 30 and the first driven wheel assembly 40.
Wherein, hub assembly 20, driving source 30 and the first driven wheel assembly 40 are respectively positioned on chassis supports body 10, driving source
30 connect with hub assembly 20, and driving source 30 respectively drives the rotation of hub assembly 20, have the first damping knot on hub assembly 20
Structure 50 has the second shock-damping structure 60 on first driven wheel assembly 40.
Specifically, in the present embodiment, bobbin movement mechanism can be set in the bottom of robot, or need movement
The bottom of object, to move it.For convenience, the present embodiment bobbin movement mechanical work principle described below with
Robot is used as explanation.
In specific implementation, hub assembly 20 includes driving wheel 201 and the axletree 202 connecting with driving wheel 201, wheel
Axis 202 is connect with chassis supports body 10.Hub assembly 20 can also include the existing connection driving wheels 201 such as bearing, bearing cap
With the component of axletree 202, specific connection type the present embodiment be will not repeat them here.Hub assembly 20 is arranged two, leads to
Cross two hub assemblies, 20 support chassis supporter 10.20 distribution mode of hub assembly according to shown in Fig. 1, Fig. 3, Fig. 4 in symmetrical
The left and right side that formal distribution, i.e. hub assembly 20 are located at 10 bottom of chassis supports body.
Specifically, driving source 30 and the left side wheel axis 202 of 10 bottom of chassis supports body and the right side wheels axis 202 of bottom
The right side driving wheel 201 in the left side and bottom that are all connected with and respectively drive 10 bottom of chassis supports body rotates.Driving source 30 can be with
Including actuator and the power supply being connect with actuator, power drives actuator rotation, so that actuator is driven by axletree 202
Driving wheel 201 rotates.Wherein, actuator can be motor, and power supply for dry cell or can rechargeable battery group.This implementation
Example is not limited thereto.
In the present embodiment, the first driven wheel assembly 40 is used as driven wheel, and the first driven wheel assembly 40 can specifically include
Support base, main shaft and wheel, wheel are connect by main shaft with support base, specifically, the first driven wheel assembly 40 can be single-wheel,
Global wheel, twin caster or universal wheel, specific first driven wheel assembly 40 can be screw thread universal wheel.The present embodiment is herein
Without limitation.First driven wheel assembly 40 improves the stability of bobbin movement mechanism kinematic.
Keep chassis supports body 10 mobile by the rotation of driving wheel 201 of hub assembly 20, and then realizes bobbin movement mechanism
Movement.When the out-of-flatness of ground, will lead to chassis supports body 10 generate inclination, make the first driven wheel assembly 40 also with ground face contact,
And hub assembly 20 and the first driven wheel assembly 40 is made to generate vibration, the first shock-damping structure 50 can eliminate part hub assembly 20
The vibration of generation, the second shock-damping structure 60 can eliminate the vibration of the driven wheel assembly 40 in part first generation.
Bobbin movement mechanism provided in this embodiment, by being set respectively on hub assembly 20 and the first driven wheel assembly 40
The first shock-damping structure 50 and the second shock-damping structure 60 are set, in this way, when the out-of-flatness of ground, with the hub assembly 20 of ground face contact,
One driven wheel assembly 40 generates vibration and is cut down respectively by the first shock-damping structure 50 and the second shock-damping structure 60, makes bobbin movement machine
Structure is not likely to produce shaking during exercise.
In specific implementation, the structure of the first shock-damping structure 50 and the second shock-damping structure 60 can be identical, can also be with structure
Not identical, the first shock-damping structure 50 and the second shock-damping structure 60 are respectively according to the tool of hub assembly 20 and the first driven wheel assembly 40
Body structure is designed.
As shown in Fig. 1-Fig. 7, in bobbin movement mechanism provided in this embodiment, the structure of the first shock-damping structure 50 can be with
Are as follows:
First shock-damping structure 50 includes the first elastic component 501 and guide part 502, and the first elastic component 501 is arranged guide part 502
On, one end of guide part 502 is connect with chassis supports body 10, and the other end of guide part 502 is connect with hub assembly 20, the first bullet
Property part 501 is connected between chassis supports body 10 and hub assembly 20.In this way, the vibration of the generation of hub assembly 20 is transferred to
One elastic component 501 is absorbed by the first elastic component 501 and is cut down, to realize damping of first shock-damping structure 50 to hub assembly 20
Effect.
In specific implementation, the connection type of the other end of guide part 502 and hub assembly 20 can be with are as follows: hub assembly 20
It further include axletree attachment base 203, axletree 202 is connect with axletree attachment base 203, axletree attachment base 203 and chassis branch
Support body 10 connects, and has the second connection ear mount 105, the second connection ear mount 105 and axletree attachment base 203 on chassis supports body 10
Hingedly.There is guide part attachment base 2031, the other end and guide part attachment base of guide part 502 on axletree attachment base 203
2031 is hinged, and the first elastic component 501 is connected on guide part attachment base 2031 or on axletree attachment base 203.
As shown in Fig. 1-Fig. 7, one end of guide part 502 can be guide part 502 with the connection type of chassis supports body 10
It can be connect by dismountable mode with chassis supports body 10, for example, guide part 502 and chassis supports body 10 are connected by screw thread
It connects.In a kind of concrete implementation mode in, there is interconnecting piece 503 on guide part 502, there is connection on chassis supports body 10
Seat, interconnecting piece 503 are detachably connected with attachment base.Optionally, interconnecting piece 503 is connecting plate, and connecting plate and guide part 502 hang down
Directly, attachment base is located at the top of chassis supports body 10, and attachment base includes two first connection ear mounts 101, on chassis supports body 10
With through-hole, two first connection ear mounts 101 are located at the opposite two sides of the through-hole on chassis supports body 10, connecting plate
Both ends are threaded through respectively in two first connection ear mounts 101.Or after guide part 502 passes through the through-hole on chassis supports body 10,
It is located at interconnecting piece 503 between two first connection ear mounts 101, connecting shaft sequentially passes through the first connection ear mount 101 in left side, connects
Socket part 503 and the first connection ear mount on right side 101 are to connect guide part 502 and chassis supports body 10.Connecting shaft is left in order to prevent
It moves right, nut can be arranged in the left and right ends of connecting shaft.
Specifically, first connection ear mount 101 has groove 1011, it is used to accommodate nut, groove in the slot of groove 1011
The surface of 1011 back side protrusion first connection ear mount 101, the back side of the groove 1011 of two first connection ear mounts 101 is opposite,
First elastic component 501 is connected to the bottom at 1011 back side of groove.That is, for accommodating nut in the slot of groove 1011, it is recessed
The bottom at 1011 back side of slot is abutted with the first elastic component 501.
Optionally, the first elastic component 501 can be spring, specifically, the first elastic component 501 is column spring, Huo Zhe
One elastic component 501 is flexible sleeve, as long as the first elastic component 501 has elasticity, the present embodiment does not limit herein
It is fixed.
As shown in Fig. 1-Fig. 7, in bobbin movement mechanism provided in this embodiment, the structure of the second shock-damping structure 60 can be with
Are as follows:
Second shock-damping structure 60 includes the second elastic component 601 and the first connector 602, and the second elastic component 601 is connected to the
Between a connection piece 602 and the first driven wheel assembly 40, the first connector 602 is connect with chassis supports body 10.In this way, first from
The vibration that driving wheel assembly 40 generates is absorbed by the second elastic component 601 cuts down, to realize that the second shock-damping structure 60 is driven to first
The cushioning effect of wheel assembly 40.
Specifically, one end of the second elastic component 601 is connect with the support base of the first driven wheel assembly 40, the second elastic component
601 are located in support 603, and the first connector 602 is connect with support 603.In this way, the first driven wheel is total when encountering barrier
It can be moved along support 603 at 40, i.e., the first driven wheel assembly 40 is mobile towards chassis supports body 10, to improve bobbin movement mechanism
Obstacle performance.When the first driven wheel assembly 40 is screw thread universal wheel, screw thread universal wheel is located at the thread pillar on support base
In 604 the second elastic components 601 of insertion, thread pillar 604 plays guiding role to the second elastic component 601.Support 603 passes through fixation
Part 605 and chassis supports body 10 are detachably connected so that it is convenient to replace the first driven wheel assembly 40.
Optionally, the second elastic component 601 can be spring, specifically, the second elastic component 601 is column spring, Huo Zhe
Two elastic components 601 are flexible sleeve, as long as the second elastic component 601 has elasticity, the present embodiment does not limit herein
It is fixed.
Bobbin movement mechanism provided in this embodiment, between 10 top of the bottom of hub assembly 20 and chassis supports body away from
From at the top of the bottom and chassis supports body that can be greater than the first driven wheel assembly 40 the distance between 10.That is, working as chassis
When movement mechanism is placed in the plane, hub assembly 20 and plane contact, the first driven wheel assembly 40 is hanging, and the first driven wheel is total
At 40 not with plane contact.In this way, making wheel hub when bobbin movement mechanism is moved or cleared the jumps on the ground of out-of-flatness
Assembly 20 and the first driven wheel assembly 40 can hinder with ground face contact or hub assembly 20 and the first driven contact of wheel assembly 40
Hinder object, to keep the stability of bobbin movement mechanism.
Further, bobbin movement mechanism provided in this embodiment can also include at least two second driven wheel assemblies
70, bottom and chassis of the distance between 10 top of bottom and chassis supports body of the second driven wheel assembly 70 with hub assembly 20
The distance between 10 top of supporter can be equal.That is, when bobbin movement mechanism is placed in the plane, hub assembly
20 and second driven wheel assembly 70 can plane contact.In this way, when bobbin movement mechanism moves on the ground of out-of-flatness or gets over
When crossing barrier, the position of support is more, and stability is good.
Specifically, the structure of the second driven wheel assembly 70 can be identical as the structure of the first driven wheel assembly 40, first from
The structure of driving wheel assembly 40 is described in detail in the above-described embodiments, and details are not described herein again.Specifically, the second driven wheel is total
It is greater than the diameter of wheel in the first driven wheel assembly 40 at the diameter of wheel in 70.Optionally, vehicle in the second driven wheel assembly 70
The diameter of wheel is 2.5 cun (8.34cm), and the diameter of wheel is 2 cun (6.66cm) in the first driven wheel assembly 40.
Optionally, bobbin movement mechanism provided in this embodiment, the centre of gyration of the first driven wheel assembly 40 and second from
The centre of gyration of driving wheel assembly 70 is in the same plane, the centre of gyration and the second driven wheel assembly of the first driven wheel assembly 40
70 the centre of gyration composition the center of circle of circle and the centre of gyration of two hub assemblies 20 be located on the same line, and the center of circle and
The distance between the centre of gyration of two hub assemblies 20 is equal, so that hub assembly 20 bears frictional force, avoids hub assembly
Phenomena such as 20 skiddings, idle running.
Further, bobbin movement mechanism provided in this embodiment, two the second driven wheel assemblies 70 and the first driven wheel
Assembly 40 surrounds the first isosceles triangle, and two hub assemblies 20 and the first driven wheel assembly 40 surround the second isosceles triangle,
The bottom edge of second isosceles triangle is located in the first isosceles triangle, that is to say, that it is driven that each hub assembly 20 is located at first
Between wheel assembly 40 and a second driven wheel assembly 70.
As shown in Figure 2 and Figure 4, bobbin movement mechanism provided in this embodiment, chassis supports body 10 include 102 He of upper housing
Lower case 103, upper housing 102 and lower case 103 surround accommodation space jointly, and driving source 30 is located in accommodation space.Specifically,
The output shaft of the actuator of driving source 30 is stretched out outside accommodation space and is connect with hub assembly 20.
Specifically, the first driven wheel assembly 40 and hub assembly 20 are connect with upper housing 102, hub assembly 20, first
Driven wheel assembly 40 and the second driven wheel assembly 70 are connect with lower case 103.
That is, hub assembly 20 is all connected with upper housing 102 and lower case 103, first connection ear mount 101 is located at upper
On shell 102, one end of guide part 502 is connect by first connection ear mount 101 with upper housing 102, the other end of guide part 502
It is connect with hub assembly 20, so that hub assembly 20 is connect by guide part 502 with upper housing 102.
Second connection ear mount 105 is located in lower case 103, and the second connection ear mount 105 and axletree attachment base 203 are hinged,
Axletree 202 is connect with axletree attachment base 203, so that hub assembly 20 is connect with lower case 103.
First driven wheel assembly 40 is all connected with upper housing 102 and lower case 103, specifically, fixing piece 605 and upper housing
102 and lower case 103 be all connected with, the upper end 6051 of fixing piece 605 including fixing piece and the lower end 6052 of fixing piece, fixing piece
Upper end 6051 is connect with the inner top surface of upper housing 102, and the lower end 6052 of fixing piece is connect with lower case 103.
Second driven wheel assembly 70 is connect with the lower surface of lower case 103.
In specific implementation, upper housing 102 can be the bowl-shape of back-off, the inner wall company of lower case 103 and upper housing 102
It connects, specifically, the first driven wheel assembly 40, the second driven wheel assembly 70 and hub assembly 20 are respectively positioned on the edge of upper housing 102
In the region surrounded, to reduce bobbin movement mechanism entirety the space occupied.The region that the edge of upper housing 102 surrounds can be
Round, rectangle or irregular shape, the present embodiment is it is not limited here.
In the present embodiment, chassis supports body 10 further includes the second connector 104, and upper housing 102 and lower case 103 pass through
The connection of second connector 104.
Optionally, the second connector 104 is that connecting column, upper housing 102 and lower case 103 can by the second connector 104
Dismantling connection, such as connected by screw thread, buckle etc., the present embodiment is it is not limited here.
The present embodiment also provides a kind of robot, including bobbin movement mechanism provided by the above embodiment.
Specifically, the bottom of robot is arranged in bobbin movement mechanism, pass through the movement band movement machine of bobbin movement mechanism
People is mobile.
Wherein, the structure of bobbin movement mechanism and working principle are described in detail in the above-described embodiments, this implementation
Example will not repeat them here.
Robot provided in this embodiment, by the way that bobbin movement mechanism is arranged, bobbin movement mechanism is in hub assembly and the
The first shock-damping structure and the second shock-damping structure is respectively set on one driven wheel assembly, in this way, robot is on the ground of out-of-flatness
It is mobile, vibration, which is generated, with the hub assembly of ground face contact and the first driven wheel assembly is subtracted respectively by the first shock-damping structure and second
It shakes structure to cut down, to reduce shaking of the robot when moving in the road conditions of out-of-flatness.
In the description of the present invention, it should be understood that term " left side ", " right side ", " top ", " bottom " etc. refer to
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the utility model
It is described with simplifying, rather than indicates or imply that signified device or element must have a particular orientation, with specific side
Position construction and operation, therefore should not be understood as limiting the present invention.
Specification and claims and the term " first " in above-mentioned attached drawing, " second " are for distinguishing similar right
As without being used to describe a particular order or precedence order.It should be understood that the data used in this way in the appropriate case can be with
It exchanges, so that embodiments herein described herein for example can be with suitable other than those of illustrating or describing herein
Sequence is implemented.
In the description unless specifically defined or limited otherwise, fisrt feature may include in the "upper" of second feature
First and second features directly contact, and also may include that the first and second features are not direct contacts but pass through between them
Other characterisation contact.
In addition, term " includes " and " having " and their any deformation, it is intended that covering non-exclusive includes example
Such as, the process, method, system, product or equipment for containing a series of steps or units those of are not necessarily limited to be clearly listed
Step or unit, but may include being not clearly listed or intrinsic for these process, methods, product or equipment other
Step or unit.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new
The range of each embodiment technical solution of type.
Claims (10)
1. a kind of bobbin movement mechanism, which is characterized in that including chassis supports body, two hub assemblies, driving source and first from
Driving wheel assembly, the hub assembly, the driving source and the first driven wheel assembly are respectively positioned on the chassis supports body, institute
It states hub assembly to connect with the driving source, the driving source respectively drives the hub assembly and rotates, on the hub assembly
With the first shock-damping structure, there is the second shock-damping structure on the first driven wheel assembly.
2. bobbin movement mechanism according to claim 1, which is characterized in that first shock-damping structure includes the first elasticity
Part and guide part, first elastic component are arranged on the guide part, and one end of the guide part and the chassis supports body connect
Connect, the other end of the guide part is connect with the hub assembly, first elastic component be connected to the chassis supports body with
Between the hub assembly.
3. bobbin movement mechanism according to claim 1, which is characterized in that second shock-damping structure includes the second elasticity
Part and the first connector, second elastic component are connected between first connector and the first driven wheel assembly, institute
The first connector is stated to connect with the chassis supports body.
4. bobbin movement mechanism according to claim 1, which is characterized in that the bottom of the hub assembly and the chassis
Be greater than the distance between at the top of supporter between at the top of the bottom and the chassis supports body of the described first driven wheel assembly away from
From.
5. bobbin movement mechanism according to claim 4, which is characterized in that further include that at least two second driven wheels are total
At the bottom of the distance between the bottom of the second driven wheel assembly and chassis supports body top with the hub assembly
It is equal with the distance between at the top of the chassis supports body.
6. bobbin movement mechanism according to claim 5, which is characterized in that the centre of gyration of the first driven wheel assembly
Be located in approximately the same plane with the centre of gyration of the described second driven wheel assembly, the centre of gyration of the first driven wheel assembly with
The center of circle of circle of the centre of gyration composition of the second driven wheel assembly and the centre of gyration of described two hub assemblies are located at same
On straight line, and the center of circle is equal with the distance between the centre of gyration of described two hub assemblies.
7. bobbin movement mechanism according to claim 5 or 6, which is characterized in that the chassis supports body includes upper housing
And lower case, the upper housing and the lower case surround accommodation space jointly, the driving source is located in the accommodation space.
8. bobbin movement mechanism according to claim 7, which is characterized in that the hub assembly and first driven wheel
Assembly is connect with the upper housing, and the hub assembly, the first driven wheel assembly and the second driven wheel assembly are equal
It is connect with the lower case.
9. bobbin movement mechanism according to claim 7, which is characterized in that the chassis supports body further includes the second connection
Part, the upper housing and lower case are connected by second connector.
10. a kind of robot, which is characterized in that including the described in any item bobbin movement mechanisms of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822024072.6U CN209366314U (en) | 2018-12-04 | 2018-12-04 | Bobbin movement mechanism and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822024072.6U CN209366314U (en) | 2018-12-04 | 2018-12-04 | Bobbin movement mechanism and robot |
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| Publication Number | Publication Date |
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| CN209366314U true CN209366314U (en) | 2019-09-10 |
Family
ID=67835288
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822024072.6U Active CN209366314U (en) | 2018-12-04 | 2018-12-04 | Bobbin movement mechanism and robot |
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| CN (1) | CN209366314U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114795750A (en) * | 2022-05-26 | 2022-07-29 | 西南交通大学 | Transfer nursing device |
-
2018
- 2018-12-04 CN CN201822024072.6U patent/CN209366314U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114795750A (en) * | 2022-05-26 | 2022-07-29 | 西南交通大学 | Transfer nursing device |
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