CN206218046U - Spherical transfer robot - Google Patents
Spherical transfer robot Download PDFInfo
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- CN206218046U CN206218046U CN201621174315.9U CN201621174315U CN206218046U CN 206218046 U CN206218046 U CN 206218046U CN 201621174315 U CN201621174315 U CN 201621174315U CN 206218046 U CN206218046 U CN 206218046U
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Abstract
The utility model discloses a kind of spherical transfer robot, it includes：Ball, it includes spherical housing with the drive member and steering mechanism that are arranged on inside spherical housing；Mechanical arm, its both sides for being arranged on ball, the mechanical arm drive member be rotated by with center of gravity direction formed angle, so as to drive ball to be moved；Wherein, the steering mechanism includes：Bevel gear, its end for being arranged on a support bar, the support bar is fixed on the inwall of spherical housing；Two the first motors, are symmetricly set on the both sides of the support bar, and driving gear is provided with the output end of first motor；And driven shaft, its two ends is respectively arranged with the driven gear of engagement driving gear and the side gear of engagement bevel gear, and the first motor realizes the steering of spherical transfer robot by exporting different torques.The spherical transfer robot can the even running on the road surface of uneven, simple structure, power consumption is few.
Description
Technical field
The utility model is related to robot mechanism.More specifically, the utility model is related to a kind of spherical transfer robot.
Background technology
Transfer robot can be the industrial robot for carrying out automated handling operation.At present, mobile transfer robot is wide
General use wheel type movement mode.But, wheeled transfer robot is only suitable for flat, accessible environment, and it is complicated in road conditions, rugged
It is particularly susceptible on rugged uneven road surface and is toppled over.Therefore, wheeled robot is not suitable for a varied topography, rugged environment, especially
The uneven road of the pot holes such as station, farm, outdoor.But these occasions have very strong demand to transfer robot.
Utility model content
A purpose of the present utility model is to solve at least the above, and provides the advantage that at least will be described later.
The utility model is it is also an object that provide a kind of spherical transfer robot, it can be on the road surface of uneven
Upper even running, simple structure, power consumption is few, and the control to speed is realized merely with the angle in mechanical arm and spheroid center of gravity direction
System.
In order to realize according to these purposes of the present utility model and further advantage, there is provided a kind of spherical transfer robot,
It includes：
Ball, it includes spherical housing with the drive member and steering mechanism that are arranged on inside spherical housing；
Mechanical arm, its both sides for being arranged on the ball discharge or clamp part to be handled, the mechanical arm
One end is connected to the output shaft of drive member, drive member be rotated by formed with the center of gravity direction of the ball
Angle, so as to drive the ball to be moved；
Wherein, the steering mechanism includes：Bevel gear, its end for being arranged on a support bar, the support bar it is another
End is fixedly connected on the inwall of the spherical housing, and the support bar extends to the center of circle in radial directions；
Two the first motors, are symmetricly set on the both sides of the support bar, the output end of first motor
On be provided with driving gear；
And driven shaft, its two ends is respectively arranged with the driven gear and the engagement bevel gear for engaging the driving gear
Side gear, the first motor realizes the steering of spherical transfer robot by exporting different torques.
Preferably, the spherical transfer robot also includes a spherical inner casing, and it is arranged on the support bar, storage
The bevel gear and the side gear；
The driven shaft is located on the side wall of the spherical inner casing by bearing；The driven gear is arranged on the ball
The outside of shape inner casing, the side gear is located at the inside of the spherical inner casing.
Preferably, the mechanical arm is a pair, is symmetricly set on the both sides of the spherical housing；The mechanical arm
Including：Arm, its fixing end connects the output shaft of the drive member；The arm is at least partly hollow, and hollow space is set
There is the second motor；
And pawl：Its free end for being arranged on the arm, opens or closes in the driving lower claw of the second motor, releases
Put or clamp part to be handled.
Preferably, the pawl includes：Movable finger, it passes through an articulating pin and is connected to the arm free end, described
Movable finger has bare terminal end and tail end；
Fixed finger, is disposed on the arm with the movable finger, the fixed finger cooperation activity finger
Clamp part to be handled；
Eccentric wheel, its output end for being connected to the motor；
Rope is driven, its one end is connected on the periphery of the eccentric wheel, and the other end is fixed on the tail end of the movable finger；
And back-moving spring, it is arranged between fixed finger and movable finger, and one end is fixedly connected fixed finger, another
End is fixedly connected movable finger；
The eccentric wheel is rotated by the second motor, drives and drives rope tension activity finger, realizes pawl
Holding action；Under the restoring force effect of back-moving spring, the release movement of pawl is realized.
Preferably, the support bar is two, is symmetrical arranged in the spherical housing diametric(al).
Preferably, the spherical transfer robot also includes spherical middle case, and it is connected on the support bar, storage
The inner casing；Support cabin is fixed with the side wall of the spherical middle case；First motor is arranged on the support cabin
It is interior.
Preferably, the drive member includes：Bearing, it is fixed on the wall of the spherical housing side；
Load cabin, it is fixed on the inwall of the spherical housing；
And the 3rd motor, it is arranged on inside the load cabin, and the output shaft of the 3rd motor is passed
The load cabin, through the bearing, extends on the mechanical arm.
Preferably, the arm is additionally provided with axis of traction, and the driving rope section is wound on the axis of traction.
The utility model at least includes following beneficial effect：Spherical transfer robot described in the utility model, using spherical
Shell has stronger obstacle detouring and climbing capacity.Can not only be run in flat, accessible environment, while being also applied for road
Face is rugged and rough, especially on the road of uneven.The spherical transfer robot is using its mechanical arm and the weight of spheroid
Driven machine people operation is carried out in heart angular separation, and the speed of service is controlled also by the size for adjusting the angle.Without additionally increasing
Drive mechanism so that spherical transfer robot overall weight mitigates, reduces its power consumption.Simulated by two the first motors
The stress of both sides wheel, when the torque of two the first motor outputs is identical, bevel gear only has revolution, and spherical shell keeps straight line
Roll.When the output torque of the first motor of left and right two is different, the existing revolution of bevel gear has rotation again, and spherical shell side rolls
Side turns to.When the output torque of the first motor of left and right two is completely opposite, bevel gear only has rotation not revolve round the sun, machine
People's pivot turn.Steering mechanism's simple structure of the spherical transfer robot, the stabilization of robot is realized using differential principle
Turn to.
Further advantage of the present utility model, target and feature embody part by following explanation, and part will also pass through
Research of the present utility model and practice are understood by the person skilled in the art.
Brief description of the drawings
Fig. 1 is the structural representation of spherical transfer robot described in the one of embodiment of the utility model；
Fig. 2 is the structural representation of the mechanical arm of spherical transfer robot described in the one of embodiment of the utility model
Figure；
Fig. 3 shows for the structure of the steering mechanism of spherical transfer robot described in the one of embodiment of the utility model
It is intended to；
Fig. 4 shows for the structure of the steering mechanism of spherical transfer robot described in the one of embodiment of the utility model
It is intended to；
Fig. 5 is that stress when spherical transfer robot moves along a straight line described in the one of embodiment of the utility model is illustrated
Figure；
Fig. 6 is that stress when spherical transfer robot moves along a straight line described in the one of embodiment of the utility model is illustrated
Figure
Specific embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to explanation
Book word can be implemented according to this.
It should be appreciated that it is used herein such as " have ", "comprising" and " including " term is not precluded from one or many
The presence or addition of individual other elements or its combination.
Shown as shown in Figure 1, Figure 3 and Figure 4, the utility model provides a kind of spherical transfer robot, and it includes：
Ball 100, it includes spherical housing 101 with the drive member 200 and steering that are arranged on inside spherical housing
Mechanism 300；
Mechanical arm 400, its both sides for being arranged on the ball 100 discharges or clamps part to be handled, the machinery
One end of arm 400 is connected to the output shaft 201 of drive member 200, drive member 200 be rotated by it is spherical with described
The center of gravity direction of body 100 forms angle, so as to drive the ball 100 to be moved；
Wherein, the steering mechanism 300 includes：Bevel gear 301, its end for being arranged on a support bar 302, the support
The other end of bar 302 is fixedly connected on the inwall of the spherical housing 101, and the support bar 302 is in radial directions to circle
The heart extends；
Two the first motors 303, are symmetricly set on the both sides of the support bar 302, first motor 303
Output end on be provided with driving gear 304；
And driven shaft 305, its two ends is respectively arranged with the driven gear 306 and engagement for engaging the driving gear 304
The side gear 307 of the bevel gear 301, the first motor 303 realizes spherical transfer robot by exporting different torques
Steering.As shown in Figure 3 and Figure 4, steering mechanism described in the utility model using automobile differential principle, by two the
The stress of the simulated automotive both sides wheel of one motor 303, as two identical (M of torque of the output of the first motor 3031=
M2) when, the drive side gear 307 of both sides driven gear 306 is only revolved round the sun with identical rotational speed, the now bevel gear 301,
Ball 100 keeps straight-line rolling.As the output torque difference (M of the first motor 3031≠M2) when, the driving gear
The driving moment of 304 outputs is different, and the torque for being transferred to side gear 307 is also different, then the existing revolution of the bevel gear 301 is again
There is rotation, the ball 100 will be turned to when rolling.When the output torque of the first motor 303 is completely opposite,
Bevel gear 301 only has rotation not revolve round the sun, the pivot turn of the ball 100.Because steering mechanism has both direction
Torque is exported, therefore, when two motor output torques of steering mechanism are identical, torque output and the drive mechanism power of steering mechanism
Square output is in the same direction, and now steering mechanism can also use as additional driving units, can strengthen climbing and the obstacle detouring energy of robot
Power.The spherical housing 100 is mainly used in realizing rolling movement, obstacle detouring, climbing of the spherical transfer robot etc., can be with
Play a part of to protect internal drive component and steering mechanism.The spherical housing 101 causes that spherical transfer robot is running into
During potted road surface, the hollow on road surface can be more manoeuvred across, it is steady to advance.
Wherein in one embodiment, as shown in figure 1, the spherical transfer robot also includes a spherical inner casing 500, its
It is arranged on the support bar 302, receives the bevel gear 301 and the side gear 307；
The driven shaft 305 is located on the side wall of the spherical inner casing 500 by bearing；The driven gear 306 sets
Put in the outside of the spherical inner casing 500, the side gear 307 is located at the inside of the spherical inner casing 500.The inner casing is used for
Driven shaft 305 is kept, so as to ensure that the output stabilization of the driving gear 304 is transmitted to the bevel gear 301, it is ensured that spherical
The stability of body.
Wherein in one embodiment, as depicted in figs. 1 and 2, the mechanical arm 400 is a pair, is symmetricly set on institute
State the both sides of spherical housing 101；The mechanical arm 400 includes：Arm 401, its fixing end 4011 connects the drive member
Output shaft 201；The arm 401 is at least partly hollow, and hollow space is provided with the second motor 403；
And pawl 402：Its free end 4012 for being arranged on the arm 401, in the driving lower claw of the second motor 403
402 open or close, and discharge or clamp part to be handled.
Wherein in one embodiment, as shown in Fig. 2 the pawl 402 includes：Movable finger 4021, it passes through a joint
Pin 4023 is connected to the arm free end 4012, and the movable finger 4021 has bare terminal end and tail end；
Fixed finger 4022, is disposed on the arm 401, the fixed finger with the movable finger 4021
4022 cooperation activity fingers 4021 clamp part to be handled；
Eccentric wheel 4023, its output end for being connected to second motor 403；
Rope 4024 is driven, its one end is connected on the periphery of the eccentric wheel 4023, and the other end is fixed on the movable hand
Refer to 4021 tail end；
And back-moving spring 4025, it is arranged between fixed finger 4022 and movable finger 4021, and one end is fixedly connected
Fixed finger 4022, the other end is fixedly connected movable finger 4021；
The eccentric wheel 4023 is rotated by the second motor 403, drives and drives rope 4024 to tense movable hand
Refer to 4021, realize the holding action of pawl 402；Under the restoring force effect of back-moving spring 4025, the release movement of pawl 402 is realized.
The pawl 402 is mainly used in realizing the crawl of part to be handled, and the pawl 402 realizes opening for finger by driving rope 4024, and
The closure of finger is realized by back-moving spring 4025.Second motor 403 of movable finger 4021 is located at the arm of mechanical arm
In portion, realize driving the tensioning of rope with movable eccentric wheel 4023 by the second motor 403, loosen.
Wherein in one embodiment, as shown in figure 1, the support bar 302 is two, it is straight along the spherical housing 101
Footpath is symmetrical arranged on direction.Thereby it is ensured that the spherical transfer robot stabilization is moved.
Wherein in one embodiment, as shown in figure 1, the spherical transfer robot also includes spherical middle case 600, its
It is connected on the support bar 302, receives the inner casing 500；Support cabin is fixed with the side wall of the spherical middle case 600
601；First motor 303 is arranged in the support cabin 601.The support cabin 601 be used for realize steering mechanism with
The Inertia Matching of spherical transfer robot remainder, to realize spherical transfer robot flipper turn.
Wherein in one embodiment, as shown in figure 1, the drive member 200 includes：Bearing 202, it is fixed on described
On the side wall of spherical housing 101；
Load cabin 203, it is fixed on the inwall of the spherical housing 101；
And the 3rd motor 204, it is arranged on inside the load cabin 203, the 3rd motor 204 it is defeated
Shaft 201 passes the load cabin 203, coordinates the bearing 202, extends on the mechanical arm 400.The load cabin
203 Inertia Matchings for being used for drive member and spherical transfer robot other parts, to realize that spherical transfer robot is quickly transported
OK.
Wherein in one embodiment, as shown in figure 1, being additionally provided with axis of traction 4026, the driving in the arm 401
4024 parts of restricting are wound on the axis of traction 4026.The axis of traction 4026 draws described driving and restricts 4024 away from arm
Wall, it is to avoid the tangled up and knotted of driving rope 4024.
Wherein in one embodiment, as seen in figs. 5-6, spherical transfer robot robot described in the utility model bears a heavy burden
Stress during motion, the gravity G of load itself produces the torque M that leans forwardp, in order to keep mechanical arm 400 with respect to the attitude on ground,
The first motor 303 inside spherical housing 101 applies opposing torque Ma, according to Newton's third law, now spherical carrying
Robot is subject to the big reverse torque-M of a gradea, it is preceding to rate of roll ω that this torque causes that spherical transfer robot is produced.
Obtained by the stress balance of mechanical arm 400：
Ma=Mp
Obtained by the stress balance of ball 100：
Ma=Mf
MfGround surface frictional resistance suffered by spherical transfer robot.
Thus it is calculated, now the angle of mechanical arm 400 and gravity direction, i.e., spherical conveying robot human desires maintains this
Motion state, the 3rd motor 204 must drive mechanical arm 400 deviate gravity direction angle be：
In formula, G is load gravity, and L is mechanical arm lengths.
Although embodiment of the present utility model is disclosed as above, it is not restricted in specification and implementation method
Listed utilization, it can be applied to various suitable fields of the present utility model completely, for those skilled in the art,
Other modification is easily achieved, therefore under the universal limited without departing substantially from claim and equivalency range, this reality
Specific details is not limited to new and shown here as the legend with description.
Claims (8)
1. a kind of spherical transfer robot, it is characterised in that including：
Ball, it includes spherical housing with the drive member and steering mechanism that are arranged on inside spherical housing；
Mechanical arm, its both sides for being arranged on the ball discharges or clamps part to be handled, one end of the mechanical arm
The output shaft of drive member is connected to, in the center of gravity direction formation folder being rotated by with the ball of drive member
Angle, so as to drive the ball to be moved；
Wherein, the steering mechanism includes：Bevel gear, its end for being arranged on a support bar, the other end of the support bar is consolidated
Surely it is connected on the inwall of the spherical housing, the support bar extends to the center of circle in radial directions；
Two the first motors, are symmetricly set on the both sides of the support bar, are set in the output end of first motor
It is equipped with driving gear；
And driven shaft, its two ends is respectively arranged with the side of the driven gear and engagement bevel gear for engaging the driving gear
Gear, the first motor realizes the steering of spherical transfer robot by exporting different torques.
2. spherical transfer robot as claimed in claim 1, it is characterised in that also including a spherical inner casing, it is arranged on institute
State on support bar；
The driven shaft is located on the side wall of the spherical inner casing by bearing；The driven gear is arranged on described spherical interior
The outside of shell, the side gear is located at the inside of the spherical inner casing.
3. spherical transfer robot as claimed in claim 1, it is characterised in that the mechanical arm is a pair, is symmetrical arranged
In the both sides of the spherical housing；The mechanical arm includes：Arm, its fixing end connects the output shaft of the drive member；
The arm is at least partly hollow, and hollow space is provided with the second motor；
Pawl：Its free end for being arranged on the arm, opens or closes in the driving lower claw of the second motor, discharges or clamps
Part to be handled.
4. spherical transfer robot as claimed in claim 3, it is characterised in that the pawl includes：Movable finger, it passes through one
Articulating pin is connected to the arm free end, and the movable finger has bare terminal end and tail end；
Fixed finger, is disposed on the arm with the movable finger, the fixed finger cooperation activity fingerhold
Part to be handled；
Eccentric wheel, its output end for being connected to the motor；
Rope is driven, its one end is connected on the periphery of the eccentric wheel, and the other end is fixed on the tail end of the movable finger；
Back-moving spring, it is arranged between fixed finger and movable finger, and one end is fixedly connected fixed finger, and the other end is fixed and connected
Take over a job and start to refer to；
The eccentric wheel is rotated by the second motor, drives and drives rope tension activity finger, realizes the clamping of pawl
Action；Under the restoring force effect of back-moving spring, the release movement of pawl is realized.
5. spherical transfer robot as claimed in claim 1, it is characterised in that the support bar is two, along described spherical
Housing diameter is symmetrical arranged on direction.
6. spherical transfer robot as claimed in claim 2, it is characterised in that also including spherical middle case, it is connected to institute
State on support bar, receive the spherical inner casing；Support cabin is fixed with the side wall of the spherical middle case；Described first drives electricity
Machine is arranged in the support cabin.
7. spherical transfer robot as claimed in claim 1, it is characterised in that the drive member includes：Bearing, it is fixed
On the wall of the spherical housing side；
Load cabin, it is fixed on the inwall of the spherical housing；
And the 3rd motor, it is arranged on inside the load cabin, and the output shaft of the 3rd motor passes described
Load cabin, through the bearing, extends on the mechanical arm.
8. spherical transfer robot as claimed in claim 4, it is characterised in that the arm is additionally provided with axis of traction, described
Rope section is driven to be wound on the axis of traction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621174315.9U CN206218046U (en) | 2016-10-26 | 2016-10-26 | Spherical transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621174315.9U CN206218046U (en) | 2016-10-26 | 2016-10-26 | Spherical transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206218046U true CN206218046U (en) | 2017-06-06 |
Family
ID=58789670
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621174315.9U Active CN206218046U (en) | 2016-10-26 | 2016-10-26 | Spherical transfer robot |
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| Country | Link |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582093A (en) * | 2018-04-02 | 2018-09-28 | 北京理工大学 | A kind of pipeline detection robot based on rack-and-pinion reducing |
| CN112923037A (en) * | 2021-01-13 | 2021-06-08 | 东南大学 | Rope sheave actuating system suitable for bed chair |
| CN114939877A (en) * | 2022-05-18 | 2022-08-26 | 北京邮电大学 | Movable operation spherical robot for construction of lunar base |
| CN115284313A (en) * | 2022-08-01 | 2022-11-04 | 煤炭科学技术研究院有限公司 | Robot with external operation function |
-
2016
- 2016-10-26 CN CN201621174315.9U patent/CN206218046U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582093A (en) * | 2018-04-02 | 2018-09-28 | 北京理工大学 | A kind of pipeline detection robot based on rack-and-pinion reducing |
| CN112923037A (en) * | 2021-01-13 | 2021-06-08 | 东南大学 | Rope sheave actuating system suitable for bed chair |
| CN112923037B (en) * | 2021-01-13 | 2022-06-07 | 东南大学 | Rope sheave actuating system suitable for bed chair |
| CN114939877A (en) * | 2022-05-18 | 2022-08-26 | 北京邮电大学 | Movable operation spherical robot for construction of lunar base |
| CN114939877B (en) * | 2022-05-18 | 2023-11-10 | 北京邮电大学 | A portable operation spherical robot for moon base is built |
| CN115284313A (en) * | 2022-08-01 | 2022-11-04 | 煤炭科学技术研究院有限公司 | Robot with external operation function |
| CN115284313B (en) * | 2022-08-01 | 2023-11-14 | 煤炭科学技术研究院有限公司 | Robot with external operation function |
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