CN103847825B - The ball shape robot that a kind of satellite gear and Worm Wheel System drive - Google Patents

The ball shape robot that a kind of satellite gear and Worm Wheel System drive Download PDF

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Publication number
CN103847825B
CN103847825B CN201410068298.XA CN201410068298A CN103847825B CN 103847825 B CN103847825 B CN 103847825B CN 201410068298 A CN201410068298 A CN 201410068298A CN 103847825 B CN103847825 B CN 103847825B
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China
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spherical shell
gear
worm
wheel
planetary gear
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CN201410068298.XA
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CN103847825A (en
Inventor
翟宇毅
李马枞
张宇锋
刘亮
罗均
刘树林
刘吉成
周晓君
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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Abstract

The invention discloses the ball shape robot of a kind of satellite gear and Worm Wheel System, it comprises spherical shell and is positioned at the travel driving unit of spherical shell inside; Described spherical shell is multi-clove type housing, and 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.Novel structure of the present invention is compact, quality is little, load-carrying capacity is large, efficiency is high and the life-span is long, can adapt to polar region harsh environment better and realizes exploration and detect.

Description

The ball shape robot that a kind of satellite gear and Worm Wheel System drive
Technical field
The present invention relates to the ball shape robot of a kind of satellite gear and Worm Wheel System driving, 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, does not uniquely have original inhabitant to live.But under the weather is cold and the ground is frozen at this, but there is extremely important investigation meaning.Antarctic mineral resources are very abundant, and the mineral contained have more than 220 to plant.In the face of rich in natural resources like this, the mankind must need to explore, research, so that the use in the future to them.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.What the U.S. used when carrying out lunar exploration and Mars is explored is all wheeled robot, although it moves soon, load-carrying capacity is strong, is just difficult to the ability playing it when running into road surface and being rugged.So how to design a kind of moving velocity fast, the omnibearing movable robot that off-road capability is good is a field getting a good eye value.Ball shape robot produces for this purpose.
Compared with traditional robot, ball shape robot has following advantages: in configuration aspects, and ball shape robot structure is simple, 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, and do not worry the phenomenons such as rollover, overturning, 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 except, does not have outside vitals is exposed to, and its totally-enclosed property, therefore can pass through the water surface, cheat the severe road environment such as groove.Just because of this, so ball shape robot becomes the novel exploration robot that a kind of mankind start R and D, it has studies space and application prospect widely.
From nineteen nineties, just start the research and development having ball shape robot, the scientist researchers of home and abroad propose structure of all kinds difference in succession, and the ball shape robot that driving principle is different, 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 made first ball shape robot in 1996.Devise a set of single wheel internal driving mechanism (InsideDriveUnit) in ball, rely on the rolling of wheel to change counterweight center-of-gravity position, produce drive torque, thus make ball shape robot rolls forward.
Ba Tachaya (Bhattacharya) and Agra watt (Agrawal) proposed a kind of spherical rolling robot in 2000, and 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 develop a kind of omni-bearing spherical kinematic robot than (Mojabi) in 2002, by its called after " August ".The drive system of August is made up of four screwed spokes, they are arranged on the device of a tetrahedron structure, be mutually 109.47 ° each other, each spoke carries the counterweight that 1.125kg is heavy, can carry out oscilaltion, the motor controlling dipping and heaving is directly installed on spoke.But the defect of this ball shape robot is that so low-response in control process, running into emergency situation cannot make action rapidly, cannot adapt to rapidly in harsh environment because counterweight moves comparatively slow.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 synthesis of these two kinds motions achieve the omnibearing movable of ball shape robot.
China starts late in 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 all achieve certain achievement in research in ball shape robot research.
China's First ball shape robot model machine is that the seminar led by Beijing University of Post & Telecommunication professor Sun Hanxu developed in calendar year 2001.This ball shape robot, by constantly regulating and change the position of counterweight, thus produces rotating drive moment, realizes the rolling of ball shape robot.The specific implementation of its motion drives two groups of gear drives respectively by two motors, thus drive corresponding clump weight to the deflection of certain direction, 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 have 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 move forward and backward by Direct driver spherical shell; Motor 2 is connected with weight by driving system, changes the center of gravity of robot, thus make robot realize turning motion by swinging weight.
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 undertaken controlling by two of axis collinear motors, realizes locomotorial driving respectively and turn to two kinds of mode of motion.
2005, the people such as Xian Electronics Science and Technology University professor Li Tuanjie 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 used is all utilize gravitational moment to drive, so inner structure is mostly very similar, component of machine used is also all similar, lacks the trial of the inner structure of some novelties.
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 new physical construction composition, good stability, can the ball shape robot that drives of the satellite gear of omnidirectional moving and Worm Wheel System.
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 the travel driving unit of spherical shell and inside.The peripheral maximum gauge of spherical shell is 1 meter.Spherical shell is divided into front and side two parts, and front spherical shell is divided into pintongs, and shared by every lobe spherical shell circular arc, angle is 90o, is evenly distributed on actuating device periphery, just in time forms spheroid; Two, side spherical shell is in the form of annular discs, each one of left and right.Side spherical shell and front spherical shell all beat tapped bore, has connected with screw between the two.Such spherical shell design is loaded down with trivial details in order to what reduce that the dismounting when arch maintenance robot can cause, and while also can more convenient staff install it.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 being 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.
The planetary gear train central wheel of internal teeth one of described sun and planet gear engages with planetary gear train satellite gear, and Flange-shaped Parts is made in other end, is joined with bolts with flange cylinder.The opposite side of flange cylinder is then connected with side spherical shell screw.Fix with set collar between 4 planetary axles, ensure that the spacing of 4 axles in motion process is constant.4 planetary wheels all use key to be connected with the connection of planetary gear train external tooth center gear and its respective shaft.4 planetary wheels while engage with planetary gear train external tooth center gear, then engage with planetary gear train central wheel of internal teeth.The external tooth center-wheel arbor bearing of planetary gear train external tooth center gear one end Flange-shaped Parts supports, and the other end, through the bearing seat of another Flange-shaped Parts, is connected with motor by coupler.Motor is fixed on the bearing seat of Flange-shaped Parts, and this motor is the motor driving spheroid to seesaw, and this bearing seat relies on flange to be connected with planetary gear train central wheel of internal teeth screw.One side symmetrical with planetary gear train planet circular system, is called planetary roller system.Its motion principle is identical with planetary gear train satellite gear, different is, its all wheel is all the halo not having tooth, and at the bottom of processing request and all comparable planetary gear train of material, because its effect is just followed train of gears and rotated together, so its central roller is screwed on internal trolley.Other 4 planetary rollers are same with axle to be connected with key, 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.The casting of this casing forms, and 4 compensating-gear shafts pass wherein, and is overlapping head bearing through casing place to increase the load-carrying capacity of casing, and worm shaft bearing screw is fastened on casing.Worm screw one end in casing is connected with motor through coupler, the motor of this motor then for rolling about final drive machines people, and motor is fixed on casing by its upper flange; Other end cover, with bearing, is connected and fixed on casing through worm shaft bearing screw.Worm gear is meshed with worm screw, is positioned on counterweight transverse axis, and is connected with transverse axis with key with the shaft shoulder and axial back-up ring.Counterweight transverse axis passes casing from front and back.This casing is divided into two pieces, each one piece of front and back, and its connection mode adopts embedded eclipsed form to connect, and namely wherein one piece of box sizes is less than another block, can directly be inserted into larger box house, overlapping sub-fraction, and be fixed at overlapping screw.
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, and are fixed with shaft end ring and screw respectively.Counterweight vertical pivot end is one piece of thin rectangular slab, and middle position is equipped with 2 evenly distributed tapped bore, then 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 is symmetrical, and 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) employ planetary gear train in driving system, thus make that this robot architecture is compact, 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) worm and gear system is also used in driving system, this robot is made to have larger load-carrying capacity equally, and stable drive, noise is little, simultaneously because control the axle that seesaws and the axle that controls side-to-side movement be 90 ° staggered, so use worm-and-wheel gear also just in time to solve this problem simply;
4) have employed method spherical shell being divided into many lobes when the spherical shell of this robot designs, make the installation of robot more convenient, be easier to operation, can not install because of the stop of spherical shell and be obstructed.Simultaneously robot break down need repairing time, the lobe spherical shell only need taking corresponding site apart can keep in repair, the work capacity decreasing dismounting and install.
Accompanying drawing explanation
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 the main TV structure schematic diagram of partial enlargement of planetary gear train in actuating device provided by the invention;
Fig. 4 is the Partial enlarged side TV structure schematic diagram of planetary gear train in actuating device provided by the invention;
Fig. 5 is the partial enlargement structural representation of worm and gear system in actuating device provided by the invention;
Fig. 6 be in actuating device provided by the invention worm and gear system worm gear overlook partial enlargement structural representation;
Fig. 7 is the partial enlargement structural representation 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, planetary roller system inner ring wheel, 18, flange cylinder (planetary roller system), 19, planetary roller system 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 one: see 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 being 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 the swing of a weight box 12; 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 two: as shown in Figure 1, the ball shape robot that this satellite gear and Worm Wheel System drive comprises the front spherical shell 1 being divided into 4 lobes, and is divided into the side spherical shell of 2 lobes.Each lobe front spherical shell all carries out being connected (as shown in Figure 1) with screw at binding face place 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, use bolt to connect on the right of flange cylinder (planetary gear train) 4 to fix with planetary gear train central wheel of internal teeth 3, 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, planetary wheel bearing housing 15 and bearing 25 is used to support, planetary roller system is formed at low order end, planetary roller system comprises planetary roller 16, planetary roller system inner ring wheel 17, planetary roller system center gear 19, planetary roller system center gear 19 is bolted and is fixed on planetary roller system inner ring wheel 17.The right-hand member of planetary roller system inner ring wheel 17 is then bolted and is connected with flange cylinder (planetary roller system) 18, 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 shown in Fig. 3, 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 planetary gear train external tooth center-wheel arbor 7, support with bearing 25 and external tooth center-wheel arbor bearing 10 respectively at two ends, planetary gear train external tooth center gear 6 engages respectively with 4 planetary gear train satellite gears 8, and is evenly distributed in planetary gear train central wheel of internal teeth 3.The left end of planetary gear train external tooth center-wheel arbor 7, with after bearing 25 support, is connected with motor (before and after controlling) 5 by coupler 22.
As Fig. 1, shown in Fig. 2, in the middle of 4 compensating-gear shafts 11, be mainly dispersed with worm-and-wheel gear and balance weight mechanism, first, what support this two parts mechanism is casing 14, and casing 14 is divided into front and back two parts, and its connection mode adopts embedded eclipsed form to connect, namely wherein one piece of box sizes is less than another block, can directly be inserted into larger box house, an overlapping part, and be fixed at overlapping screw.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 worm shaft bearing 26, worm shaft bearing 26 is connected with bolt with casing 14; 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 planetary wheel bearing housing 15 to support, planetary wheel bearing housing 15 uses screw to be fixed on casing.At counterweight transverse axis 27 end, counterweight vertical pivot 13 overlaps thereon, and is screwed.Are one piece of thin rectangular slabs at the end of counterweight vertical pivot 13, middle position is equipped with 2 evenly distributed tapped bore, then 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, planetary gear train external tooth center gear 6 is driven to rotate by coupler 22, 4 planetary gear train satellite gears 8 engage around planetary gear train central wheel of internal teeth 3, compensating-gear shaft 11 follows rotation equally, planetary gear train entry into service, the casing 14 be now placed on compensating-gear shaft 11 is followed axle and is rotated, the counterweight transverse axis 27 be supported on casing 14 rotates with casing 14 equally, swing followed by the weight box 12 be connected on counterweight vertical pivot 13, tilt forward, the center of gravity of spheroid moves forward because of the tilting of weight box 12, so final spheroid travels forward.Rear annealing method and advance are in like manner;
2) move to left and move to right: when motor second (controlling left and right) 20 is rotated, driving 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, then the center of gravity of spheroid offsets 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 the movement that motor first (before and after controlling) 5 and motor second (controlling left and right) 20 can realize ball shape robot any direction simultaneously.

Claims (4)

1. a ball shape robot for satellite gear and Worm Wheel System driving, comprises spherical shell and the travel driving unit being 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), front spherical shell (1) is divided into 4 lobes, lucky 90 ° of every lobe circular arc, side spherical shell (2) is divided into 2 lobes, be distributed in the both sides of front spherical shell (1), after front spherical shell (1) and side spherical shell (2) laminating, just in time become a spheroid;
A motor first (5) 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 (12); 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 of a kind of satellite gear according to claim 1 and Worm Wheel System driving, it is characterized in that: described sun and planet gear comprises planetary gear train external tooth center gear (6), planetary gear train central wheel of internal teeth (3), planetary gear train external tooth center-wheel arbor (7), planetary gear train satellite gear (8) and compensating-gear shaft (11) thereof, planetary gear train central wheel of internal teeth (3) is connected firmly by a flange cylinder (4) and described side spherical shell (2), 4 planetary gear train satellite gears (8) are engaged with planetary gear train external tooth center gear (6) and planetary gear train central wheel of internal teeth (3) respectively, and it is inner to be evenly distributed in planetary gear train central wheel of internal teeth (3),
Described planetary gear train 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) controlling to move forward and backward by a coupler (22), the other end is then carried by bearing (25), and the external tooth center-wheel arbor bearing (10) of its bearing is fixed on a set collar (9);
Described set collar (9) is on four compensating-gear shafts (11) connected firmly mutually with planetary gear train satellite gear (8), and connect firmly with compensating-gear shaft (11), prevent position between planetary gear train satellite gear (8) from changing because of moment of torsion.
3. the ball shape robot of a kind of satellite gear according to claim 1 and Worm Wheel System driving, 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 compensating-gear shaft (11) through loading ability of bearing, two parts of casing (14) are small one and large one, so connect by embedded form; It is inner that described worm screw (24) and worm gear (23) are arranged in casing (14), worm screw (24) two ends are all through loading ability of bearing, wherein one end is fixed on casing (14) by worm shaft bearing (26), one end is connected with the motor second (20) controlling sway through coupler (22), and motor second (20) is connected firmly by its flange and casing (14); Worm gear (23) is positioned, on a counterweight transverse axis (27), to engage with worm screw (24), and counterweight transverse axis (27) is carried across casing (14) front and rear wall through bearing simultaneously; Two ends of counterweight transverse axis (27) are all socketed with counterweight vertical pivot (13) sleeve-type.
4. the ball shape robot that a kind of satellite gear according to claim 1 or 3 and Worm Wheel System drive, 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), wherein 2 weight boxes connect firmly the both sides of the oblong thin plate at a counterweight vertical pivot respectively; Other 2 weight boxes connect firmly the both sides of the oblong thin plate at another root counterweight vertical pivot respectively.
CN201410068298.XA 2014-02-27 2014-02-27 The ball shape robot that a kind of satellite gear and Worm Wheel System drive Expired - Fee Related CN103847825B (en)

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EP3453436A4 (en) * 2016-05-06 2019-05-22 Panasonic Intellectual Property Management Co., Ltd. Robot

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CN106347512A (en) * 2016-09-14 2017-01-25 北京邮电大学 Active spherical robot with double pendulums
CN107902003B (en) * 2017-10-31 2021-01-12 苏州工艺美术职业技术学院 Unmanned rescue ball
CN113276977A (en) * 2021-06-28 2021-08-20 西南科技大学 Multi-freedom-degree spherical robot

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CN101279619A (en) * 2008-04-21 2008-10-08 战强 High mobility spherical detecting robot
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CN103387016A (en) * 2013-08-01 2013-11-13 哈尔滨工程大学 Hemisphere differential telescopic spherical robot

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Publication number Priority date Publication date Assignee Title
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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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3453436A4 (en) * 2016-05-06 2019-05-22 Panasonic Intellectual Property Management Co., Ltd. Robot

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