CN104192220A - Mouse-driven-rotating-cage-imitated spherical robot - Google Patents
Mouse-driven-rotating-cage-imitated spherical robot Download PDFInfo
- Publication number
- CN104192220A CN104192220A CN201410437078.XA CN201410437078A CN104192220A CN 104192220 A CN104192220 A CN 104192220A CN 201410437078 A CN201410437078 A CN 201410437078A CN 104192220 A CN104192220 A CN 104192220A
- Authority
- CN
- China
- Prior art keywords
- bearing
- axle
- fixedly connected
- shell
- ring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention discloses a mouse-driven-rotating-cage-imitated spherical robot which specifically comprises a right hemisphere shell (1), a left hemisphere shell (2), a connecting piece (3) and a bearing (4). The outer ring of the bearing (4) is fixedly connected with the right hemisphere shell (1), and the inner ring of the bearing (4) is fixedly connected with the left hemisphere shell (2) through the connecting piece (3). The right hemisphere shell (1) and the left hemisphere shell (2) are combined through the connecting piece (3) and the bearing (4) to form the spherical robot, and the right hemisphere shell (1) and the left hemisphere shell (2) can be matched to achieve fast-slow combined movement through the bearing (4) to enable the spherical robot to move forwards and backwards, make a turn, be braked and the like. The spherical robot has the advantages that the spherical robot is simple in structure, easy to carry and low in manufacturing cost, the driving mode of the spherical robot is simple and practicable, industrial production of the spherical robot can be achieved, and the spherical robot is of positive significance in exploration, application and popularization of the spherical robot.
Description
Technical field
The present invention relates to a kind of ball shape robot, is to imitate a kind of novel ball robot that mouse drives the principle design of rotating cage.
Background technology
Ball shape robot or globosity refer to that a class is arranged on movement executing mechanism, sensor, controller the general name of the system in one spherical shell.This class robot have good dynamically and static balancing, can be applicable to modern amusement, home services, machinery and innovate match, Science Explorations and the field such as military.
Chinese invention patent application numbers 200910108660.0, a kind of spherical jumping robot discloses the ball shape robot patent of Li Bing application, it,, except making robot on the ground free rolling motor and eccentric block, also has one to be enclosed within the actuating device that can jump while running into obstacle.
Chinese invention patent application numbers 201110060529.9, the ball-shape robot of a kind of pair of eccentric massblock driving discloses the ball shape robot patent of associate professor Li Mantian of Harbin Institute of Technology application, it adopts two motors to drive two eccentric massblocks, the power-handling capability that makes full use of motor provides enough eccentric force and force of inertias, and then improves gait of march and the turning alerting ability of robot.
Chinese invention patent application numbers 201010285063.8, a kind of Universal rolling spherical robot discloses the ball shape robot patent of Yu Jianfeng application.Its inside casing is fixed on major axis, and azimuth motor is fixed on minor axis.Minor axis axis, long axis ray, azimuth motor axis is orthogonal and intersect at the centre of sphere, realizes three degree of freedom independently mutually, realizes the all-around mobile of ball shape robot.
The main wheel of people's patent of invention " structurized omnibearing movable spherical robot " patent No. ZL200810020280.7 such as the Yang Zhong of Nanjing Aero-Space University is under the driving of movable motor, along lateral movement in spherical shell, realize the straight-line motion of spheroid, quality dolly within it portion's motor moves along circular arc frame under driving, make the skew of spheroid center of gravity left and right, thereby realize the divertical motion control of ball shape robot.
The device of the ball shape robot based on linear electric motors of Xian Electronics Science and Technology University's development, application number is 200520078756.4, inside and outside spherical shell, stable platform, ball, spoke, consist of, spoke is comprised of linear stepping motor, terminal pad, leading screw, guide rod and tightening screw.Four spokes are arranged symmetrically with at three dimensional space, and its one end is connected with the outside face of interior spherical shell, extended line and centre of sphere concurrent, and the other end is connected to the inside face of outer spherical shell.By coordinating the motion of the motion control ball shape robot of four stepping motors.
The omnibearing movable spherical robot of BJ University of Aeronautics & Astronautics's development, application number is 200520023033.4, is characterized in, at spherical shell inner bottom part, one single wheel is installed, and single wheel device is connected with one of them motor, under the driving of this motor, in ball, roll, thereby promote the straight-line motion of whole spherical shell; This single wheel tourelle is also connected with another motor, under this another motor drives, with respect to supporting mechanism, rotates, change thus that this another single wheel tourelle rotates towards, thereby realize the omnibearing movable of spheroid.
But existing ball shape robot complex structure, drives and controls complexity, and cost is higher, is unfavorable for the suitability for industrialized production of ball shape robot, is difficult to realize the popularization and application of ball shape robot.
Summary of the invention
For addressing the above problem, the invention provides the ball shape robot that a kind of imitative mouse drives rotating cage.
Technical scheme: a kind of imitative mouse drives the ball shape robot of rotating cage, it is characterized in that: comprise right hemispherical Shell 1, left hemisphere shell 2, attaching parts 3 and bearing 4, the outer ring of bearing 4 is fixedly connected with right hemispherical Shell 1, and the inner ring of bearing 4 is fixedly connected with left hemisphere shell 2 by attaching parts 3.
Right hemispherical Shell 1 comprises spherical crown 1.1, axle 1.2, ring-type Timing Belt 1.3, the second bearing 1.4, pipe link 1.5, motor 1.6, miniature gears 1.7 and bracing frame 1.8; Axle 1.2 is arranged in spherical crown 1.1 and is vertical with the bottom surface of spherical crown 1.1, and its one end is fixedly installed on the center of spherical crown 1.1 curved surfaces, and its length equates with the height of spherical crown 1.1; Pipe link 1.5 is connected by the second bearing 1.4 with axle 1.2, the inner ring interference fit of axle 1.2 and the second bearing 1.4, one end of pipe link 1.5 is fixedly connected with the outer ring of the second bearing 1.4, on the other end of pipe link 1.5, fixed electrical machinery 1.6, and miniature gears 1.7 is fixedly connected with the turning cylinder of motor 1.6; Ring-type Timing Belt 1.3 mates with miniature gears 1.7, and miniature gears 1.7 is meshing motion on ring-type Timing Belt 1.3, and ring-type Timing Belt 1.3 is fixedly installed on the inside of right hemispherical Shell 1, and the axis of ring-type Timing Belt 1.3 is coaxial with axle 1.2; Bracing frame 1.8 is fixedly installed on the bottom surface of right hemispherical Shell 1, and bracing frame 1.8 centers are provided with a centre hole 1.8.1, and the free end of axle 1.2 is through centre hole 1.8.1.
Left hemisphere shell 2 is identical with the structure of right hemispherical Shell 1; The outer ring of bearing 4 is fixedly installed in centre hole 1.8.1, and the inner ring of bearing 4 is fixedly connected with attaching parts 3, and attaching parts 3 is fixedly connected with the axle of left hemisphere shell 2.
Further, attaching parts 3 is cylindric, on its circumference, be provided with draw-in groove 3.1, its inner hollow is axle fixed orifice 3.2, the inner ring that draw-in groove 3.1 is stuck in bearing 4 makes attaching parts 3 be fixedly connected with bearing 4, and the axle of left hemisphere shell 2 makes attaching parts 3 be fixedly connected with left hemisphere shell 2 with axle fixed orifice 3.2 interference fit.
Further, bracing frame 1.8 is spoke structure, the outer ring of bearing 4 and centre hole 1.8.1 interference fit.
Further, be provided with sleeve 1.5.1 on pipe link 1.5, motor 1.6 is fixed on pipe link 1.5 by sleeve 1.5.1.
Further, miniature gears 1.7 is fixedly connected with the turning cylinder of motor 1.6 by coupler 1.9.
Beneficial effect: owing to adopting above-mentioned design plan, ball shape robot of the present invention is simple in structure, is easy to carry about with one, cost of manufacture is lower, its type of drive simple possible, can realize the suitability for industrialized production of ball shape robot, for exploration and the popularization and application of ball shape robot has positive effect.
Accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present invention;
Fig. 2 is the structural representation of right half shell and left hemisphere shell;
Fig. 3 is the structural representation of right hemispherical Shell;
Fig. 4 is the perspective view of right hemispherical Shell;
Fig. 5 is the structural representation of bracing frame;
Fig. 6 is the structural representation of attaching parts;
Fig. 7 is assembly drowing of the present invention.
Hemispherical Shell 1, spherical crown 1.1, axle 1.2, ring-type Timing Belt 1.3, the second bearing 1.4, pipe link 1.5, sleeve 1.5.1, motor 1.6, miniature gears 1.7, bracing frame 1.8, centre hole 1.8.1, coupler 1.9, left hemisphere shell 2, attaching parts 3, draw-in groove 3.1, axle fixed orifice 3.2, bearing 4
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is further elaborated.
As shown in Figure 1, a kind of imitative mouse drives the ball shape robot of rotating cage, comprises right hemispherical Shell 1, left hemisphere shell 2, attaching parts 3 and bearing 4, and the outer ring of bearing 4 is fixedly connected with right hemispherical Shell 1, and the inner ring of bearing 4 is fixedly connected with left hemisphere shell 2 by attaching parts 3.Right hemispherical Shell 1 and left hemisphere shell 2 close up globulate robot by attaching parts 3 and bearing 4, and by bearing 4, right hemispherical Shell 1 and left hemisphere shell 2 can coordinate realizes speed aggregate motion so that ball shape robot advances, retreats, turns and braking etc.
As shown in Figure 3, right hemispherical Shell 1 comprises spherical crown 1.1, axle 1.2, ring-type Timing Belt 1.3, the second bearing 1.4, pipe link 1.5, motor 1.6, miniature gears 1.7 and bracing frame 1.8; Axle 1.2 is arranged in spherical crown 1.1 and is vertical with the bottom surface of spherical crown 1.1, and its one end is fixedly installed on the center of spherical crown 1.1 curved surfaces, and its length equates with the height of spherical crown 1.1; Pipe link 1.5 is connected by the second bearing 1.4 with axle 1.2, the inner ring interference fit of axle 1.2 and the second bearing 1.4, one end of pipe link 1.5 is fixedly connected with the outer ring of the second bearing 1.4, on the other end of pipe link 1.5, be provided with sleeve 1.5.1, motor 1.6 is fixed on pipe link 1.5 by sleeve 1.5.1, miniature gears 1.7 is fixedly connected with the turning cylinder of motor 1.6, and preferred, the two is fixedly connected with by coupler 1.9; Ring-type Timing Belt 1.3 mates with miniature gears 1.7, and miniature gears 1.7 is meshing motion on ring-type Timing Belt 1.3, and ring-type Timing Belt 1.3 is fixedly installed on the inside of right hemispherical Shell 1, and the axis of ring-type Timing Belt 1.3 is coaxial with axle 1.2; Bracing frame 1.8 is spoke structure, is fixedly installed on the bottom surface of right hemispherical Shell 1, and bracing frame 1.8 centers are provided with a centre hole 1.8.1, and the free end of axle 1.2 is through centre hole 1.8.1.The meshing motion on ring-type Timing Belt 1.3 of motor 1.6 Drive pinions 1.7, makes pipe link 1.5 rotate around axle 1.2, thereby changes the centroid position of right hemispherical Shell 1, to drive right hemispherical Shell 1 advance or retreat.
Left hemisphere shell 2 is identical with the structure of right hemispherical Shell 1; The outer ring of bearing 4 and centre hole 1.8.1 interference fit are fixed in centre hole 1.8.1 the outer ring of bearing 4, and the inner ring of bearing 4 is fixedly connected with attaching parts 3, and attaching parts 3 is fixedly connected with the axle of left hemisphere shell 2.If the motor of controlling left hemisphere shell 2 and the motor of right hemispherical Shell 1 are synchronizeed rotation in the same way, ball shape robot advances or retreats; If control the motor of left hemisphere shell 2 and the motor of right hemispherical Shell 1 asynchronous rotary in the same way, ball shape robot is turned; If control, the motor of left hemisphere shell 2 and the motor of right hemispherical Shell 1 are incorgruous synchronizes rotation, and ball shape robot is done original place circus movement;
As shown in Figure 6, attaching parts 3 is cylindric, on its circumference, be provided with draw-in groove 3.1, its inner hollow is axle fixed orifice 3.2, the inner ring that draw-in groove 3.1 is stuck in bearing 4 makes attaching parts 3 be fixedly connected with bearing 4, and the axle of left hemisphere shell 2 makes attaching parts 3 be fixedly connected with left hemisphere shell 2 with axle fixed orifice 3.2 interference fit.
Mentality of designing of the present invention comes from the principle that mouse drives rotating cage, motor in right hemispherical Shell 1 and miniature gears are equivalent to a mouse, motor in left hemisphere shell 2 and miniature gears are equivalent to another mouse, two ring-type Timing Belts are equivalent to the runway of two mouse, when two mouse move on runway, drive rotating cage advance, retreat or turn.Ball shape robot of the present invention is simple in structure, is easy to carry about with one, and cost of manufacture is lower, and its type of drive simple possible can realize the suitability for industrialized production of ball shape robot, for exploration and the popularization and application of ball shape robot has positive effect.
Those of ordinary skill in the art will appreciate that, embodiment described here is in order to help reader understanding's principle of the present invention, should be understood to that protection scope of the present invention is not limited to such special statement and embodiment.Those of ordinary skill in the art can make various other various concrete distortion and combinations that do not depart from essence of the present invention according to these technology enlightenments disclosed by the invention, and these distortion and combination are still in protection scope of the present invention.
Claims (5)
1. an imitative mouse drives the ball shape robot of rotating cage, it is characterized in that: comprise right hemispherical Shell (1), left hemisphere shell (2), attaching parts (3) and bearing (4), the outer ring of described bearing (4) is fixedly connected with described right hemispherical Shell (1), and the inner ring of described bearing (4) is fixedly connected with described left hemisphere shell (2) by described attaching parts (3);
Described right hemispherical Shell (1) comprises spherical crown (1.1), axle (1.2), ring-type Timing Belt (1.3), the second bearing (1.4), pipe link (1.5), motor (1.6), miniature gears (1.7) and bracing frame (1.8); It is interior and vertical with the bottom surface of spherical crown (1.1) that described axle (1.2) is arranged at described spherical crown (1.1), and its one end is fixedly installed on the center of spherical crown (1.1) curved surface, and its length equates with the height of spherical crown (1.1); Described pipe link (1.5) is connected by described the second bearing (1.4) with described axle (1.2), the inner ring interference fit of axle (1.2) and the second bearing (1.4), one end of pipe link (1.5) is fixedly connected with the outer ring of the second bearing (1.4), on the other end of pipe link (1.5), fix described motor (1.6), described miniature gears (1.7) is fixedly connected with the turning cylinder of described motor (1.6); Described ring-type Timing Belt (1.3) mates with described miniature gears (1.7), miniature gears (1.7) is in the upper meshing motion of ring-type Timing Belt (1.3), ring-type Timing Belt (1.3) is fixedly installed on the inside of described right hemispherical Shell (1), and the axis of ring-type Timing Belt (1.3) is coaxial with described axle (1.2); Support frame as described above (1.8) is fixedly installed on the bottom surface of described right hemispherical Shell (1), bracing frame (1.8) center is provided with a centre hole (1.8.1), and the free end of described axle (1.2) is through described centre hole (1.8.1);
Described left hemisphere shell (2) is identical with the structure of described right hemispherical Shell (1);
The outer ring of described bearing (4) is fixedly installed in described centre hole (1.8.1), and the inner ring of bearing (4) is fixedly connected with described attaching parts (3), and attaching parts (3) is fixedly connected with the axle of described left hemisphere shell (2).
2. a kind of imitative mouse according to claim 1 drives the ball shape robot of rotating cage, it is characterized in that: described attaching parts (3) is cylindric, on its circumference, be provided with draw-in groove (3.1), its inner hollow is axle fixed orifice (3.2), the inner ring that described draw-in groove (3.1) is stuck in described bearing (4) makes attaching parts (3) be fixedly connected with bearing (4), and the axle of described left hemisphere shell (2) makes attaching parts (3) be fixedly connected with left hemisphere shell (2) with described axle fixed orifice (3.2) interference fit.
3. a kind of imitative mouse according to claim 1 drives the ball shape robot of rotating cage, it is characterized in that: support frame as described above (1.8) is spoke structure the outer ring of described bearing (4) and described centre hole (1.8.1) interference fit.
4. a kind of imitative mouse according to claim 1 drives the ball shape robot of rotating cage, it is characterized in that: on described pipe link (1.5), be provided with sleeve (1.5.1), described motor (1.6) is fixed on described pipe link (1.5) by described sleeve (1.5.1).
5. a kind of imitative mouse according to claim 4 drives the ball shape robot of rotating cage, it is characterized in that: described miniature gears (1.7) is fixedly connected with the turning cylinder of described motor (1.6) by coupler (1.9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410437078.XA CN104192220B (en) | 2014-08-29 | 2014-08-29 | A kind of imitative mouse drives the ball shape robot of rotating cage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410437078.XA CN104192220B (en) | 2014-08-29 | 2014-08-29 | A kind of imitative mouse drives the ball shape robot of rotating cage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104192220A true CN104192220A (en) | 2014-12-10 |
| CN104192220B CN104192220B (en) | 2016-05-25 |
Family
ID=52077652
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410437078.XA Expired - Fee Related CN104192220B (en) | 2014-08-29 | 2014-08-29 | A kind of imitative mouse drives the ball shape robot of rotating cage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104192220B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108097677A (en) * | 2017-12-15 | 2018-06-01 | 安徽工业大学 | A kind of oil tank cleaning robot of mouse cage type structure |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120175171A1 (en) * | 2011-01-10 | 2012-07-12 | U.S.A As Represented By The Administrator Of The National Aeronautics And Space Administration | Locomotion of Amorphous Surface Robots |
| CN102642573A (en) * | 2011-03-24 | 2012-08-22 | 泰山学院 | Fluid driving spherical robot |
| CN103231745A (en) * | 2013-04-28 | 2013-08-07 | 上海大学 | Five-drive spherical robot using mixed synchronous belt |
| CN103387016A (en) * | 2013-08-01 | 2013-11-13 | 哈尔滨工程大学 | Hemisphere differential telescopic spherical robot |
| CN103895725A (en) * | 2014-03-14 | 2014-07-02 | 上海大学 | Electromagnetism internal-driving-type spherical robot |
-
2014
- 2014-08-29 CN CN201410437078.XA patent/CN104192220B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120175171A1 (en) * | 2011-01-10 | 2012-07-12 | U.S.A As Represented By The Administrator Of The National Aeronautics And Space Administration | Locomotion of Amorphous Surface Robots |
| CN102642573A (en) * | 2011-03-24 | 2012-08-22 | 泰山学院 | Fluid driving spherical robot |
| CN103231745A (en) * | 2013-04-28 | 2013-08-07 | 上海大学 | Five-drive spherical robot using mixed synchronous belt |
| CN103387016A (en) * | 2013-08-01 | 2013-11-13 | 哈尔滨工程大学 | Hemisphere differential telescopic spherical robot |
| CN103895725A (en) * | 2014-03-14 | 2014-07-02 | 上海大学 | Electromagnetism internal-driving-type spherical robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108097677A (en) * | 2017-12-15 | 2018-06-01 | 安徽工业大学 | A kind of oil tank cleaning robot of mouse cage type structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104192220B (en) | 2016-05-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103693124B (en) | A kind of Transformable spherical robot | |
| CN203832605U (en) | Telescopic spherical robot | |
| CN101229832B (en) | Omnidirectional moving spherical robot | |
| CN105252522B (en) | A kind of Flexible Transmission upper limb exoskeleton robot for wearing | |
| CN106828643B (en) | A kind of omni-directional movement ball shape robot | |
| CN101565062B (en) | Hemispheric differential spherical robot | |
| CN101982304B (en) | Inner driving spherical robot | |
| CN100556622C (en) | The omnibearing movable spherical robot of designs simplification | |
| CN103273979A (en) | Splittable snake-like robot with multiple motion modes | |
| CN103895726A (en) | Novel full-symmetric spherical robot | |
| CN103552617A (en) | Bouncing omnidirectional rolling spherical robot provided with stable platform | |
| CN106914919B (en) | Head driving assembly and ball shape robot | |
| CN105128967B (en) | A kind of omnibearing movable spherical robot | |
| CN105480316A (en) | Spherical robot capable of realizing omnidirectional movement | |
| CN105841649A (en) | Oscillating joint using built-in volute spiral spring for realizing gravity balancing | |
| CN102975785B (en) | Tripod robot | |
| CN100460266C (en) | Holohedral symmetry spherical robot | |
| CN104192220A (en) | Mouse-driven-rotating-cage-imitated spherical robot | |
| CN109702708A (en) | Spherical robot mechanism and traveling method based on gyroscopic procession effect | |
| CN107588283A (en) | Pipe robot suitable for straight pipeline | |
| CN109728696B (en) | Hybrid-driven multi-stator multi-degree-of-freedom motor | |
| CN108230846B (en) | remote control ball | |
| CN105443568A (en) | Pendulant joint capable of realizing force balance and mechanism limitation by utilizing internal pressure spring | |
| CN102602468B (en) | Dual-swing omni-directional moving spherical robot | |
| CN110077481A (en) | A kind of gravity robot of magnetic-field interference |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160525 Termination date: 20190829 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |