CN103847825A - Spherical robot driven by planet gear and worm and gear - Google Patents
Spherical robot driven by planet gear and worm and gear Download PDFInfo
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- CN103847825A CN103847825A CN201410068298.XA CN201410068298A CN103847825A CN 103847825 A CN103847825 A CN 103847825A CN 201410068298 A CN201410068298 A CN 201410068298A CN 103847825 A CN103847825 A CN 103847825A
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Abstract
The invention discloses a spherical robot driven by a planet gear and a worm and gear. The spherical robot comprises a spherical casing and a travel driving device positioned inside the spherical casing, wherein the spherical casing adopts a multi-disc casing; the travel driving device comprises two motors, a planet gear mechanism, a worm and gear mechanism and a balance weight mechanism. The spherical casing comprises a front surface spherical casing and a side surface spherical casing, wherein the front surface spherical casing comprises four discs; the radian of each disc is exactly 90 degrees; the four discs form a sphere after being glued; the side surface spherical casing comprises two discs which are distributed on two sides of the spherical casing; one motor of the travel driving device is connected with and drives the balance weight mechanism through the planet gear mechanism, so as to ensure that a weight box is swung forward and backward; the other motor is connected with and drives the balance weight mechanism through the worm and gear mechanism, as to ensure that the weight box is swung leftward and rightward. The spherical robot has a simple and compact structure, small mass, high bearing capacity, high efficiency and long service life, and can be properly suitable for a severe environment and realize exploration and detection.
Description
Technical field
The present invention relates to the ball shape robot that a kind of satellite gear and Worm Wheel System drive, is a kind of ball shape robot that can apply to polar region scientific investigation detection.Belong to the field of novel robot exploitation.
Background technology
The South Pole is called The Seventh Continent by people, is the continent that on the earth, last is found, unique original inhabitant of not having lives.But under the weather is cold and the ground is frozen, but there is extremely important investigation meaning at this.Antarctic mineral resources are very abundant, and the mineral of containing have more than 220 to plant.In the face of rich in natural resources like this, the mankind must need to explore, and research, so that the use to them in the future.So robot just becomes the primary selection of ferreting device.Along with the development of modern science and technology, exploration robot form is varied, can be divided into wheeled, polypody, crawler type, spherical etc.The U.S. is all wheeled robot what carry out using when lunar exploration and Mars are explored, although it moves soon, load-carrying capacity is strong, is just difficult to bring into play its ability when rugged running into road surface.So, how designing a kind of moving velocity fast, the omnibearing movable robot that off-road capability is good, is a field that gets a good eye value.Ball shape robot produces for this purpose.
Compared with traditional robot, ball shape robot has following advantages: in structure aspects, ball shape robot is simple in structure, and it is convenient to control, and compact conformation, takes up room little, and is subject to good protection; At aspect of performance, the theoretical turn radius of ball shape robot is zero, does not worry the phenomenons such as rollover, overturning, and resistance of motion is little, and direction controllability is strong, has very strong road surface adaptive capacity; In application aspect, ball shape robot is outside except housing and part screw, do not have outside vitals is exposed to, and its totally-enclosed property, therefore can pass through the water surface, cheat the severe road environments such as groove.Just because of this, so the novel exploration robot that ball shape robot becomes a kind of mankind starts R and D, it has studies space and application prospect widely.
From nineteen nineties, just start to have the research and development of ball shape robot, the scientist researchers of home and abroad propose structure difference of all kinds in succession, the ball shape robot that driving principle is different, and this also makes the technology of ball shape robot be developed by leaps and bounds.
The people such as Haier's nurse (Halme) of Univ Helsinki Finland have made first ball shape robot in 1996.In ball, design a set of single wheel internal driving mechanism (Inside Drive Unit), relied on the rolling of wheel to change counterweight center-of-gravity position, produced drive torque, thereby ball shape robot is rolled forward.
Ba Tachaya (Bhattacharya) and Agra watt (Agrawal) have proposed a kind of spherical rolling robot in 2000,
Its shell is made up of upper and lower two hemispherical Shells.All include receptor, motor device, rotor and storage battery in each hemispherical Shell inside, battery is arranged on rotor axis of electric.Its drive system is made up of two mutually perpendicular rotors.
Breathe out Sarasvati (Javadi) and do not breathe out and developed a kind of omni-bearing spherical kinematic robot than (Mojabi) in 2002, by its called after " August ".The drive system of August is to be made up of four screwed spokes, they are arranged on the device of a tetrahedron structure, be mutually each other 109.47 °, on each spoke, carry the counterweight that 1.125kg is heavy, can carry out oscilaltion, the motor of controlling dipping and heaving is directly installed on spoke.But the defect of this ball shape robot is to move slowlyer due to counterweight, so low-response in control process runs into emergency situation and cannot make rapidly action, in harsh environment, cannot adapt to rapidly.
2005, the people such as the Bu Luen (Bruhn) of Uppsala Univ Sweden have developed a kind of ball shape robot for celestial body detecting, this robot is made up of a major axis and a clump weight, it has two drive motor, a motor drives major axis to rotate, another motor drives clump weight, make its with the same plane of major axis on swing, the synthetic omnibearing movable of realizing ball shape robot of these two kinds of motions.
China is starting late aspect ball shape robot research, but, up to the present, the universities and colleges such as Beijing University of Post & Telecommunication, BJ University of Aeronautics & Astronautics, Shanghai Communications University, University Of Suzhou, Xian Electronics Science and Technology University are all obtaining certain achievement in research aspect ball shape robot research.
China's First ball shape robot model machine is to be developed in calendar year 2001 by professor Sun Hanxu of Beijing University of Post & Telecommunication leader's seminar.This ball shape robot is by constantly regulating and change the position of counterweight, thereby the drive torque that rotates, and realizes the rolling of ball shape robot.The specific implementation of its motion is to drive respectively two groups of gear drives by two motors, thereby drives corresponding clump weight to certain direction deflection, to change the overall center-of-gravity position of robot, finally makes whole spheroid move to certain direction.
Calendar year 2001, the war seminar of teaching by force leader of BJ University of Aeronautics & Astronautics developed a kind of ball shape robot BHQ-1, and this robot adopts two DC machine altogether, and wherein motor 1 is connected with outer spherical shell by driving system, can directly drive spherical shell to move forward and backward; Motor 2 is connected with weight by driving system, can change the center of gravity of robot by swinging weight, thereby make robot realize turning motion.
Harbin Institute of Technology's aerospace and research institute of space mechanism have manufactured and designed the device of a kind of " Spherical Robot " by name in 2002.This locomotory apparatus is to be controlled by two motors of axis conllinear, realizes respectively locomotorial driving and turns to two kinds of mode of motion.
2005, the people such as professor Li Tuanjie of Xian Electronics Science and Technology University proposed a kind of ball shape robot of built-in stable platform, are made up of outer spherical shell, interior spherical shell, the stable platform in interior spherical shell, the driver train between inside and outside spherical shell.Driver train is that four linear electric motors move radially respectively on the spoke of four space symmetrs, changes system gravity position, drive ball anthropomorphic robot omnidirectional rolling in the plane.
Ball shape robot till developing into now, particularly domestic ball shape robot, because the driving principle of using is all to utilize gravitational moment to drive, so inner structure is mostly very similar, component of machine used is also all similar, lacks the trial of some novel inner structures.
Summary of the invention
The object of the invention is on the basis of existing ball shape robot technology, provide a kind of inner structure novelty, use that new physical construction is composition, good stability, satellite gear that can omnidirectional moving and the ball shape robot that Worm Wheel System drives.
For achieving the above object, design of the present invention is: the ball shape robot of new structure provided by the invention, is made up of spherical shell and inner travel driving unit.The peripheral maximum gauge of spherical shell is 1 meter.Spherical shell is divided into positive and side two parts, and front spherical shell is divided into pintongs, and the shared angle of every lobe spherical shell circular arc is 90 degree, is evenly distributed on actuating device periphery, just in time forms spheroid; Two of sides spherical shell is in the form of annular discs, each one of left and right.On side spherical shell and front spherical shell, all beat tapped bore, connected with screw between the two.The design of such spherical shell is that the while also can more convenient staff install it in order to reduce loaded down with trivial details that dismounting can cause when the arch maintenance robot.This travel driving unit is made up of sun and planet gear, worm-and-wheel gear, balance weight mechanism.
According to foregoing invention design, the present invention adopts following technical proposals:
The ball shape robot that satellite gear and Worm Wheel System drive, comprises spherical shell and the travel driving unit that is positioned at spherical shell inside; It is characterized in that: described spherical shell is multi-clove type housing, described travel driving unit comprises two motors, sun and planet gear, worm-and-wheel gear and balance weight mechanisms.
Described spherical shell is made up of front spherical shell and side spherical shell, and front spherical shell is divided into 4 lobes, and lucky 90 ° of every lobe circular arc, just in time becomes a spheroid after laminating; Side spherical shell is divided into 2 lobes, is distributed in the both sides of spherical shell;
A motor first in two motors of described travel driving unit, by sun and planet gear connection for transmission balance weight mechanism, makes the swing of a weight box; And another motor second in two motors is by worm-and-wheel gear connection for transmission balance weight mechanism, described weight box is swung.
One of the central wheel of internal teeth of described sun and planet gear engages with satellite gear, and flange-like is made in other end, is joined with bolts with flange cylinder.The opposite side of flange cylinder is connected with screw with side spherical shell.Between 4 planetary axles, fix with set collar, ensure that in motion process between 4 axles, distance is constant.4 planetary wheels all use key to be connected with center gear and being connected of its respective shaft.4 planetary wheels engage with center gear on one side, engage with inner gear on one side.Center gear one end is supported with the bearing seat of flange-like, and the other end, through the bearing seat of another flange-like, is connected with motor by coupler.Motor is fixed on the bearing seat of flange-like, and this motor is the motor that drives spheroid to seesaw, and this bearing seat relies on flange to be connected with screw with central wheel of internal teeth.One side symmetrical with planet circular system, is called planetary roller system.Its motion principle is identical with satellite gear, different is, its all wheel is all the halo that there is no tooth, and processing request and material are all at the bottom of comparable planetary gear train, because its effect is just followed train of gears and is rotated together, so its central roller is screwed on internal trolley.Other 4 planetary rollers are same with axle with key connection, and smooth side is fitted on internal trolley.
Described worm-and-wheel gear is arranged in the casing in the middle of compensating-gear shaft.This casing casting forms, and 4 planet wheel spindles pass wherein, and at the load-carrying capacity with increase casing through casing place cover head bearing, bearing seat is fastened on casing with screw.Worm screw one end in casing is connected with motor through coupler, and this motor is the motor rolling in final drive machines people left and right, and motor is fixed on casing by its upper flange; Other end cover, with bearing, is connected and fixed on casing with screw through bearing seat.Worm gear is meshed with worm screw, with the shaft shoulder and axially back-up ring be positioned on counterweight transverse axis, and be connected with transverse axis with key.Counterweight transverse axis passes casing from front and back.This casing is divided into two, each one of front and back, and its connection mode adopts embedded eclipsed form to connect, and wherein a box sizes is less than another piece, can directly be inserted into larger box house, overlapping sub-fraction, and be fixed with screw at overlapping.
Described balance weight mechanism is arranged on counterweight transverse axis.Counterweight transverse axis is through after casing, and two ends with shaft shoulder location, put counterweight vertical pivot respectively, and is fixed with shaft end ring and screw.Counterweight vertical pivot end is a thin rectangular slab, and middle position is equipped with 2 evenly distributed tapped bore, and 2 heavy object boxes are joined with bolts on the thin plate of counterweight transverse axis end from both sides respectively.
The present invention compared with prior art, has following apparent outstanding substantive distinguishing features and remarkable technological advance:
1) this robot interior integral structure symmetry, each mechanical part is all uniformly distributed, so stability of motion is good, weight is arranged in the position of spheroid near bottom, makes the decentralization of spheroid, is more easy to the control to its motion.
2) in driving system, used planetary gear train, so make this robot architecture's compactness, quality is little, load-carrying capacity is large, transmitted power scope and transmission range is large, running noises is little, efficiency is high and the life-span is long.
3) in driving system, also used worm and gear system, make equally this robot there is larger load-carrying capacity, and stable drive, noise is little, simultaneously because control the axle seesawing and the axle of controlling side-to-side movement be 90 ° staggered, so use worm-and-wheel gear also just in time to solve simply this problem.
4) when the spherical shell of this robot designs, adopted the method that spherical shell is divided into many lobes, made the installation of robot more convenient, be easier to operation, can not install and be obstructed because of stopping of spherical shell.Break down while needing repairing at robot, the lobe spherical shell that only need take corresponding site apart can keep in repair, the work capacity that has reduced dismounting and installed simultaneously.
Brief description of the drawings
Fig. 1 is the main TV structure schematic diagram of ball shape robot provided by the invention
Fig. 2 is the plan structure schematic diagram of ball shape robot internal drive provided by the invention
Fig. 3 is that main TV structure schematic diagram is amplified in the part of planetary gear train in actuating device provided by the invention
Fig. 4 is the local Zoom Side TV structure schematic diagram of planetary gear train in actuating device provided by the invention
Fig. 5 is the local structure for amplifying schematic diagram of worm and gear system in actuating device provided by the invention
Fig. 6 is that in actuating device provided by the invention, worm and gear is the local structure for amplifying schematic diagram of overlooking of worm gear
Fig. 7 is the local structure for amplifying schematic diagram of casing and planet circular system planet axis connecting bridge in actuating device provided by the invention
In figure, token name claims: 1, front spherical shell, 2, side spherical shell, 3, planetary gear train central wheel of internal teeth, 4, flange cylinder (planetary gear train), 5, motor first (before and after controlling), 6, planetary gear train external tooth center gear, 7, planetary gear train external tooth center-wheel arbor, 8, planetary gear train satellite gear, 9, set collar, 10, external tooth center-wheel arbor bearing, 11, compensating-gear shaft, 12, weight box, 13, counterweight vertical pivot, 14, casing, 15, planetary wheel bearing housing, 16, planetary roller, 17, ring wheel in planetary roller system, 18, flange cylinder (planetary roller system), 19, planetary roller is center gear, 20, motor second (controlling left and right), 21, motor second attachment flange, 22, coupler, 23, worm gear, 24, worm screw, 25, bearing, 26, worm shaft bearing, 27, counterweight transverse axis, 28, back-up ring.
Detailed description of the invention
The preferred embodiments of the present invention accompanying drawings is as follows:
Embodiment mono-:
Referring to Fig. 1～Fig. 7, the ball shape robot that this satellite gear and Worm Wheel System drive, comprises spherical shell and the travel driving unit that is positioned at spherical shell inside; It is characterized in that: described spherical shell is multi-clove type housing, described travel driving unit comprises two motors 5,20, sun and planet gear, worm-and-wheel gear and balance weight mechanisms.
Described spherical shell is made up of front spherical shell 1 and side spherical shell 2, and front spherical shell 1 is divided into 4 lobes, and lucky 90 ° of every lobe circular arc, just in time becomes a spheroid after laminating; Side spherical shell 2 is divided into 2 lobes, is distributed in the both sides of spherical shell;
A motor first 5 in two motors of described travel driving unit, by sun and planet gear connection for transmission balance weight mechanism, makes weight box 12 swings; And another motor second 20 in two motors is by worm-and-wheel gear connection for transmission balance weight mechanism, described weight box 12 is swung.
Embodiment bis-:
As shown in Figure 1, the ball shape robot that this satellite gear and Worm Wheel System drive comprises the front spherical shell 1 that is divided into 4 lobes, and is divided into the side spherical shell of 2 lobes.Each lobe front spherical shell is all connected (as shown in Figure 1) at binding face place with screw with side spherical shell.Describe from left to right, the side spherical shell 2 on the left side uses screw to be connected with flange cylinder (planetary gear train) 4, it is fixing that flange cylinder (planetary gear train) 4 the right are used bolt to connect with planetary gear train central wheel of internal teeth 3, and planetary gear train internal structure will be described in more detail below.4 compensating-gear shafts 11 pass the casing 14 of axle centre portion, through casing place as shown in Figure 7, use bearing seat 15 and bearing 25 to support, form planetary roller system at low order end, planetary roller system comprises planetary roller 16, ring wheel 17 in planetary roller system, planetary roller is center gear 19, planetary roller is that center gear 19 is bolted and is fixed in planetary roller system on ring wheel 17.In planetary roller system, the right-hand member of ring wheel 17 is bolted with flange cylinder (planetary roller system) 18 and is connected, and what flange cylinder (planetary roller system) 18 was the same with flange cylinder (planetary gear train) 4 is fixed on the side spherical shell 2 on the right.
As Fig. 3, shown in Fig. 4, sun and planet gear is made up of planetary gear train central wheel of internal teeth 3, planetary gear train external tooth center gear 6, planetary gear train external tooth center-wheel arbor 7, planetary gear train satellite gear 8, compensating-gear shaft 11, set collar 9.Planetary gear train external tooth center gear 6 is enclosed within on planetary gear train external tooth center-wheel arbor 7, supports respectively at two ends with bearing 25 and bearing seat 10, and center gear 6 engages respectively with 4 satellite gears 8, and is evenly distributed in central wheel of internal teeth 3.After the left end of center-wheel arbor 7 supports with bearing 25, be connected with motor (before and after controlling) 20 by coupler 22.
As Fig. 1, shown in Fig. 2, in the middle of 4 compensating-gear shafts 11, worm-and-wheel gear and balance weight mechanism are mainly distributing, first, what support this two parts mechanism is casing 14, two parts before and after casing 14 is divided into, and its connection mode adopts embedded eclipsed form to connect, wherein a box sizes is less than another piece, can directly be inserted into larger box house, an overlapping part, and be fixed with screw at overlapping.As shown in Figure 1, in casing 14, upper part is worm screw 24, and lower part is worm gear 23.
As shown in Figure 5, after the left end cover head bearing 25 of worm screw 24, be positioned in bearing seat 26, bearing seat 26 is connected with casing 14 use bolts; After the right-hand member of worm screw 24 uses bearing 25 to support equally, be connected with motor (controlling left and right) 20 through coupler 22, wherein 2 in coupler 22, all use key to connect.
As Fig. 1, shown in Fig. 2 and Fig. 6, worm gear 23 engages with worm screw 24, the transmission shaft of worm gear 23 is counterweight transverse axis 27, and on axle, worm gear 23 is located by the shaft shoulder and back-up ring 28, counterweight transverse axis 27 passes casing 14 from rear and front end, and the same with Fig. 7 by place, using bearing 25 and bearing seat 15 to support, 15 of bearing seats use screw to be fixed on casing.At counterweight transverse axis 27 ends, counterweight vertical pivot 13 overlaps thereon, and is screwed.Are thin rectangular slabs at the end of counterweight vertical pivot 13, middle position is equipped with 2 evenly distributed tapped bore, and 2 weight boxes 12 are joined with bolts on the thin plate of counterweight transverse axis end from both sides respectively.
The movement technique of this ball shape robot is as follows:
1) advance and retreat: when motor first (before and after controlling) 5 is rotated, drive center gear 6 to rotate by coupler 22,48 of satellite gears engage around central wheel of internal teeth 3,11 of planet wheel spindles are followed rotation equally, planetary gear train entry into service, the casing 14 being now placed on planet wheel spindle 11 is followed axle rotation, the counterweight transverse axis 27 being supported on casing 14 rotates with casing 14 equally, the weight box 12 being connected on counterweight vertical pivot 13 is followed swing, perk forward, the center of gravity of spheroid moves forward because of the perk of weight box 12, so final spheroid travels forward.Rear annealing method with advance in like manner.
2) move to left and move to right: rotate when motor second (controlling left and right) 20, drive worm screw 24 to rotate by coupler 22, thus worm-and-wheel gear setting in motion.Now rotate and be delivered on counterweight vertical pivot 13, make it drive weight box 12 to swing, the center of gravity of spheroid is offset to the left or to the right, and spheroid moves to the left or to the right because of the skew of center of gravity.
3) comprehensive above the two, control motor first (before and after controlling) 5 and motor second (controlling left and right) 20 can realize the movement of ball shape robot any direction simultaneously.
Claims (4)
1. the ball shape robot that satellite gear and Worm Wheel System drive, comprises spherical shell and the travel driving unit that is positioned at spherical shell inside; It is characterized in that: described spherical shell is multi-clove type housing, described travel driving unit comprises two motors (5,20), sun and planet gear, worm-and-wheel gear and balance weight mechanism; Described spherical shell is made up of front spherical shell (1) and side spherical shell (2), and front spherical shell (1) is divided into 4 lobes, and lucky 90 ° of every lobe circular arc, just in time becomes a spheroid after laminating; Side spherical shell (2) is divided into 2 lobes, is distributed in the both sides of spherical shell;
A motor first (5) in two motors of described travel driving unit, by sun and planet gear connection for transmission balance weight mechanism, makes a weight box (12) swing; And another motor second (20) in two motors is by worm-and-wheel gear connection for transmission balance weight mechanism, described weight box (12) is swung.
2. the ball shape robot that a kind of satellite gear according to claim 1 and Worm Wheel System drive, it is characterized in that: described sun and planet gear comprises external tooth center gear (6), central wheel of internal teeth (3) and axle thereof, satellite gear (8) and axle (1) thereof, central wheel of internal teeth (3) connects firmly by a flange cylinder (4) and described side spherical shell (2), 4 satellite gears (8) engage with external tooth center gear (6) and central wheel of internal teeth (3) respectively, and are evenly distributed in central wheel of internal teeth (3) inside; Described external tooth center gear (6) is fixed on its minor axis, this minor axis one end is after bearing (25) carrying, be connected with the motor first (5) that control moves forward and backward by a coupler (22), by loading ability of bearing, the bearing seat of its bearing is fixed on a set collar (9) other end;
Described Fixing shrink ring (9) is upper at four planet wheel spindles (11) that connect firmly mutually with satellite gear, and connects firmly with planet wheel spindle (11), prevents between satellite gear (5) that position changes because of moment of torsion.
3. the ball shape robot that a kind of satellite gear according to claim 1 and Worm Wheel System drive, it is characterized in that: described worm-and-wheel gear comprises worm gear (23), worm screw (24) and casing (14), described casing (14) is divided into two parts, side is passed by planet wheel spindle (11) through loading ability of bearing, two parts of casing (14) are small one and large one, so can connect by embedded form;
Described worm screw (24) and worm gear (23) are arranged in casing (14) inside, worm screw (24) two ends are all through loading ability of bearing, wherein one end is fixed on casing (14) by bearing seat (26), one end is connected with the motor second (20) of controlling sway through coupler (22), and motor second (20) connects firmly by its flange and casing (14); It is upper that worm gear (23) is positioned a counterweight transverse axis (27), engages with worm screw (24), and counterweight transverse axis (27) passes casing (14) front and rear wall through loading ability of bearing simultaneously; Two ends of counterweight transverse axis (27) are all socketed with a counterweight vertical pivot (13) sleeve-type.
4. according to the ball shape robot of a kind of satellite gear described in claim 1 or 3 and Worm Wheel System driving, it is characterized in that: described balance weight mechanism is made up of counterweight transverse axis (27), counterweight vertical pivot (13) and weight box (12), expand into a block length square plate at the end of counterweight vertical pivot (13), 4 weight boxes connect firmly respectively the both sides of oblong at thin plate.
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| CN201410068298.XA CN103847825B (en) | 2014-02-27 | 2014-02-27 | The ball shape robot that a kind of satellite gear and Worm Wheel System drive |
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| CN201410068298.XA CN103847825B (en) | 2014-02-27 | 2014-02-27 | The ball shape robot that a kind of satellite gear and Worm Wheel System drive |
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| CN103847825B CN103847825B (en) | 2016-03-30 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347512A (en) * | 2016-09-14 | 2017-01-25 | 北京邮电大学 | Active spherical robot with double pendulums |
| CN107321969A (en) * | 2017-08-10 | 2017-11-07 | 安徽理工大学 | The wheeled removable heavily loaded foundry robot of omnidirectional |
| CN107719500A (en) * | 2017-11-23 | 2018-02-23 | 滨州学院 | A kind of spherical rescue facility |
| CN107902003A (en) * | 2017-10-31 | 2018-04-13 | 苏州工艺美术职业技术学院 | A kind of unmanned rescue ball |
| CN109404233A (en) * | 2018-12-12 | 2019-03-01 | 同方计算机有限公司 | A kind of Drive And Its Driving Method suitable for adverse circumstances |
| CN113276977A (en) * | 2021-06-28 | 2021-08-20 | 西南科技大学 | Multi-freedom-degree spherical robot |
| 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 |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6653446B2 (en) * | 2016-05-06 | 2020-02-26 | パナソニックＩｐマネジメント株式会社 | robot |
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| CN2765804Y (en) * | 2004-11-15 | 2006-03-22 | 西安思源职业学院 | Ball-shape robot |
| CN101279619A (en) * | 2008-04-21 | 2008-10-08 | 战强 | High mobility spherical detecting robot |
| CN201670289U (en) * | 2010-05-10 | 2010-12-15 | 姜亮 | Spherical robot |
| CN103387016A (en) * | 2013-08-01 | 2013-11-13 | 哈尔滨工程大学 | Hemisphere differential telescopic spherical robot |
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| CN2765804Y (en) * | 2004-11-15 | 2006-03-22 | 西安思源职业学院 | Ball-shape robot |
| CN101279619A (en) * | 2008-04-21 | 2008-10-08 | 战强 | High mobility spherical detecting robot |
| CN201670289U (en) * | 2010-05-10 | 2010-12-15 | 姜亮 | Spherical robot |
| CN103387016A (en) * | 2013-08-01 | 2013-11-13 | 哈尔滨工程大学 | Hemisphere differential telescopic spherical robot |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347512A (en) * | 2016-09-14 | 2017-01-25 | 北京邮电大学 | Active spherical robot with double pendulums |
| CN107321969A (en) * | 2017-08-10 | 2017-11-07 | 安徽理工大学 | The wheeled removable heavily loaded foundry robot of omnidirectional |
| CN107321969B (en) * | 2017-08-10 | 2023-02-17 | 安徽理工大学 | Omnidirectional wheel type movable heavy-load casting robot |
| CN107902003A (en) * | 2017-10-31 | 2018-04-13 | 苏州工艺美术职业技术学院 | A kind of unmanned rescue ball |
| CN107719500A (en) * | 2017-11-23 | 2018-02-23 | 滨州学院 | A kind of spherical rescue facility |
| CN109404233A (en) * | 2018-12-12 | 2019-03-01 | 同方计算机有限公司 | A kind of Drive And Its Driving Method suitable for adverse circumstances |
| CN113276977A (en) * | 2021-06-28 | 2021-08-20 | 西南科技大学 | Multi-freedom-degree spherical robot |
| 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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| CN103847825B (en) | 2016-03-30 |
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