CN104192220B - A kind of imitative mouse drives the ball shape robot of rotating cage - Google Patents
A kind of imitative mouse drives the ball shape robot of rotating cage Download PDFInfo
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- CN104192220B CN104192220B CN201410437078.XA CN201410437078A CN104192220B CN 104192220 B CN104192220 B CN 104192220B CN 201410437078 A CN201410437078 A CN 201410437078A CN 104192220 B CN104192220 B CN 104192220B
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Abstract
The invention discloses the ball shape robot that a kind of imitative mouse drives rotating cage, specifically comprise right hemispherical Shell 1, left hemisphere shell 2, connector 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 connector 3. Right hemispherical Shell 1 and left hemisphere shell 2 close up globulate robot by connector 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. Beneficial effect of the present invention: ball shape robot of the present invention is simple in structure, is easy to carry about with one, and 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 have positive effect.
Description
Technical field
The present invention relates to a kind of ball shape robot, is a kind of novel ball robot that imitates mouse and drive the principle design of rotating cage.
Background technology
Ball shape robot or spherical structure refer to that movement executing mechanism, sensor, controller are arranged on a spherical shell by a classThe general name of interior system. Zhe Lei robot has good dynamic and static balancing, can be applicable to modern amusement, family's clothesBusiness, machinery innovation match, Science Explorations and the field such as military.
Chinese invention patent application numbers 200910108660.0, a kind of spherical jumping robot discloses the spherical machine of Li Bing applicationDevice people patent, it is except making robot on the ground free rolling motor and eccentric block, also has one to be enclosed within and to run intoThe drive unit that can jump when barrier.
Chinese invention patent application numbers 201110060529.9, the ball-shape robot that a kind of pair of eccentric massblock drives discloses KazakhstanThe ball shape robot patent of associate professor Li Mantian of Er Bin polytechnical university application, it adopts two motors to drive two eccentric massPiece, the driving force that makes full use of motor provides enough eccentric force and inertia force, and then improve robot gait of march andTurning flexibility.
Chinese invention patent application numbers 201010285063.8, a kind of Universal rolling spherical robot discloses Yu Jianfeng applicationBall shape robot patent. Its inside casing is fixed on major axis, and azimuth-drive motor is fixed on minor axis. Minor axis axis, long axis ray,Azimuth-drive motor axis is orthogonal and intersect at the centre of sphere, realize three frees degree independently mutually, realizes ball shape robotAll-around mobile.
People's patent of invention " structurized omnibearing movable spherical robot " patent No. ZL such as the Yang Zhong of Nanjing Aero-Space University200810020280.7 main wheel, under the driving of movable motor, along lateral movement in spherical shell, is realized the rectilinear motion of spheroid, matterAmount dolly therein motor moves along circular arc frame under driving, make the left and right skew of spheroid center of gravity, thereby realizes ball shape robotDivertical motion control.
The device of the ball shape robot based on linear electric motors of Xian Electronics Science and Technology University's development, application number is200520078756.4, formed by inside and outside spherical shell, stabilized platform, ball, spoke, spoke is by linear stepping motor, connectionDish, leading screw, guide rod and trip bolt composition. Four spokes are arranged symmetrically with at three dimensions, the appearance of its one end and interior spherical shellFace connects, extended line and centre of sphere concurrent, and the other end is connected to the inner surface of outer spherical shell. By coordinating the fortune of four stepper motorsThe moving motion of controlling ball shape robot.
The omnibearing movable spherical robot of BJ University of Aeronautics & Astronautics's development, application number is 200520023033.4, its featureBe, at spherical shell inner bottom part, one single wheel is installed, single wheel device is connected with one of them motor, under the driving of this motor, in ball, rollsMoving, thus the rectilinear motion of whole spherical shell promoted; This single wheel tourelle is also connected with another motor, at this another electricityUnder machine drives, rotate with respect to supporting mechanism, change thus that this another single wheel tourelle rotates towards, thereby realize ballThe omnibearing movable of body.
But existing ball shape robot complex structure, drives and controls complexity, and cost is higher, is unfavorable for the industrialization of ball shape robotProduce, be difficult to realize the popularization and application of ball shape robot.
Summary of the invention
For addressing the above problem, the invention provides a kind of ball shape robot of imitative mouse driving 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 hemisphereShell 2, connector 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 passes through connector3 are fixedly connected with left hemisphere shell 2.
Right hemispherical Shell 1 comprises spherical crown 1.1, axle 1.2, ring-type Timing Belt 1.3, the second bearing 1.4, connecting rod 1.5, electricityMachine 1.6, pinion 1.7 and bracing frame 1.8; It is interior and vertical with the bottom surface of spherical crown 1.1 that axle 1.2 is arranged at spherical crown 1.1,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; Connecting rod 1.5 and axle1.2 connect by the second bearing 1.4, the inner ring interference fit of axle 1.2 and the second bearing 1.4, one end of connecting rod 1.5Be fixedly connected with fixed electrical machinery 1.6 on the other end of connecting rod 1.5, pinion 1.7 and motor with the outer ring of the second bearing 1.41.6 turning cylinder is fixedly connected with; Ring-type Timing Belt 1.3 mates with pinion 1.7, and pinion 1.7 is at ring-type Timing Belt 1.3Upper meshing motion, 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 withAxle 1.2 is coaxial; 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 oneCentre bore 1.8.1, the free end of axle 1.2 is through centre bore 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 bore 1.8.1,The inner ring of bearing 4 is fixedly connected with connector 3, and connector 3 is fixedly connected with the axle of left hemisphere shell 2.
Further, connector 3 is cylindric, is provided with draw-in groove 3.1 on its circumference, and its inner hollow is axle fixing hole 3.2,The inner ring that draw-in groove 3.1 is stuck in bearing 4 makes connector 3 be fixedly connected with bearing 4, the axle of left hemisphere shell 2 and axle fixing hole3.2 interference fit make connector 3 be fixedly connected with left hemisphere shell 2.
Further, bracing frame 1.8 is spoke structure, the outer ring of bearing 4 and centre bore 1.8.1 interference fit.
Further, be provided with sleeve 1.5.1 on connecting rod 1.5, motor 1.6 is fixed on connecting rod 1.5 by sleeve 1.5.1On.
Further, pinion 1.7 is fixedly connected with the turning cylinder of motor 1.6 by shaft coupling 1.9.
Beneficial effect: owing to adopting above-mentioned design, ball shape robot of the present invention is simple in structure, is easy to carry about with one, and makesCost is lower, and its type of drive simple possible can realize the suitability for industrialized production of ball shape robot, is the exploration of ball shape robotThere is positive effect with popularization and application.
Brief description of the drawings
Fig. 1 is overall 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 connector;
Fig. 7 is installation diagram of the present invention.
Right hemispherical Shell 1, spherical crown 1.1, axle 1.2, ring-type Timing Belt 1.3, the second bearing 1.4, connecting rod 1.5, sleeve 1.5.1,Motor 1.6, pinion 1.7, bracing frame 1.8, centre bore 1.8.1, shaft coupling 1.9, left hemisphere shell 2, connector 3, draw-in groove3.1, axle fixing hole 3.2, bearing 4
Detailed description of the invention
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, connectsPart 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 by connector 3 and left hemisphereShell 2 is fixedly connected with. Right hemispherical Shell 1 and left hemisphere shell 2 close up globulate robot by connector 3 and bearing 4, pass throughBearing 4, right hemispherical Shell 1 and left hemisphere shell 2 can coordinate realizes speed aggregate motion so that ball shape robot advances, retreats, turnsCurved and braking etc.
As shown in Figure 3, right hemispherical Shell 1 comprise spherical crown 1.1, axle 1.2, ring-type Timing Belt 1.3, the second bearing 1.4,Connecting rod 1.5, motor 1.6, pinion 1.7 and bracing frame 1.8; Axle 1.2 be arranged in spherical crown 1.1 and with spherical crown 1.1Bottom surface vertical, its one end is fixedly installed on the center of spherical crown 1.1 curved surfaces, its length equates with the height of spherical crown 1.1; ConnectBar 1.5 is connected by the second bearing 1.4 with axle 1.2, and the inner ring interference fit of axle 1.2 and the second bearing 1.4 connectsOne end of extension bar 1.5 is fixedly connected with the outer ring of the second bearing 1.4, is provided with sleeve 1.5.1 on the other end of connecting rod 1.5,Motor 1.6 is fixed on connecting rod 1.5 by sleeve 1.5.1, and pinion 1.7 is fixedly connected with the turning cylinder of motor 1.6,Preferably, the two is fixedly connected with by shaft coupling 1.9; Ring-type Timing Belt 1.3 mates with pinion 1.7, pinion 1.7Meshing motion on ring-type Timing Belt 1.3, ring-type Timing Belt 1.3 is fixedly installed on the inside of right hemispherical Shell 1, and ring-type is sameWalk coaxial with axle 1.2 with 1.3 axis; Bracing frame 1.8 is spoke structure, is fixedly installed on the bottom surface of right hemispherical Shell 1,Bracing frame 1.8 centers are provided with a centre bore 1.8.1, and the free end of axle 1.2 is through centre bore 1.8.1. Motor 1.6Driving pinion 1.7 is meshing motion on ring-type Timing Belt 1.3, and connecting rod 1.5 is rotated around axle 1.2, thereby changesThe 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 bore 1.8.1 interference fit makeThe outer ring of bearing 4 is fixed in centre bore 1.8.1, and the inner ring of bearing 4 is fixedly connected with connector 3, and connector 3 withThe axle of left hemisphere shell 2 is fixedly connected with. 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 asynchronous rotary in the same way of right hemispherical Shell 1,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, sphericalRobot does original place circus movement;
As shown in Figure 6, connector 3 is cylindric, is provided with draw-in groove 3.1 on its circumference, and its inner hollow is axle fixing hole3.2, the inner ring that draw-in groove 3.1 is stuck in bearing 4 makes connector 3 be fixedly connected with bearing 4, the axle of left hemisphere shell 2 and axleFixing hole 3.2 interference fit make connector 3 be fixedly connected with left hemisphere shell 2.
Mentality of designing of the present invention comes from the principle of mouse driving rotating cage, and motor and pinion in right hemispherical Shell 1 are suitableIn a mouse, the motor in left hemisphere shell 2 and pinion are equivalent to another mouse, and it is two little that two ring-type Timing Belts are equivalent toThe runway of mouse, in the time that two mouse move on runway, drives rotating cage advance, retreat or turn. Spherical machine of the present inventionDevice people 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 work of ball shape robotIndustryization is produced, for exploration and the popularization and application of ball shape robot have positive effect.
Those of ordinary skill in the art will appreciate that, embodiment described here is in order to help reader understanding of the present inventionPrinciple, should be understood to that protection scope of the present invention is not limited to such special statement and embodiment. This area commonIt is various concrete that technical staff can make various other of essence of the present invention of not departing from according to these technology enlightenment disclosed by the inventionDistortion and combination, these distortion and combination are still in protection scope of the present invention.
Claims (5)
1. imitative mouse drives a ball shape robot for rotating cage, it is characterized in that: comprise right hemispherical Shell (1), left hemisphere shell (2),Connector (3) and bearing (4), the outer ring of described bearing (4) is fixedly connected with described right hemispherical Shell (1), described bearing(4) inner ring is fixedly connected with described left hemisphere shell (2) by described connector (3);
Described right hemispherical Shell (1) comprise spherical crown (1.1), axle (1.2), ring-type Timing Belt (1.3), the second bearing (1.4),Connecting rod (1.5), motor (1.6), pinion (1.7) and bracing frame (1.8); Described axle (1.2) is arranged at described ballHat (1.1) is interior and 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 surface, itsLength equates with the height of spherical crown (1.1); Described connecting rod (1.5) passes through described the second bearing (1.4) with described axle (1.2)Connect the inner ring interference fit of axle (1.2) and the second bearing (1.4), one end of connecting rod (1.5) and the second bearing(1.4) outer ring is fixedly connected with, and fixes described motor (1.6) on the other end of connecting rod (1.5), described pinion (1.7)Be fixedly connected with the turning cylinder of described motor (1.6); Described ring-type Timing Belt (1.3) mates with described pinion (1.7),Pinion (1.7) is in the upper meshing motion of ring-type Timing Belt (1.3), and ring-type Timing Belt (1.3) is fixedly installed on described right hemisphereThe inside of 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)Be fixedly installed on the bottom surface of described right hemispherical Shell (1), bracing frame (1.8) center is provided with a centre bore (1.8.1),The free end of described axle (1.2) is through described centre bore (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 bore (1.8.1), the inner ring of bearing (4) with described inConnector (3) is fixedly connected with, and connector (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 connectionPart (3) is cylindric, is provided with draw-in groove (3.1) on its circumference, and its inner hollow is axle fixing hole (3.2), described cardThe inner ring that groove (3.1) is stuck in described bearing (4) makes connector (3) be fixedly connected with bearing (4), described left hemisphere shell (2)Axle with described axle fixing hole (3.2) interference fit, connector (3) is fixedly connected with left hemisphere shell (2).
3. a kind of imitative mouse according to claim 1 drives the ball shape robot of rotating cage, it is characterized in that: described supportFrame (1.8) is spoke structure, the outer ring of described bearing (4) and described centre bore (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: described connectionOn bar (1.5), be provided with sleeve (1.5.1), described motor (1.6) is fixed on described connection by described sleeve (1.5.1)On bar (1.5).
5. a kind of imitative mouse according to claim 4 drives the ball shape robot of rotating cage, it is characterized in that: described little toothWheel (1.7) is fixedly connected with the turning cylinder of described motor (1.6) by shaft coupling (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 |
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| Publication Number | Publication Date |
|---|---|
| CN104192220A CN104192220A (en) | 2014-12-10 |
| CN104192220B true CN104192220B (en) | 2016-05-25 |
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| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108097677B (en) * | 2017-12-15 | 2020-06-26 | 安徽工业大学 | Oil tank cleaning robot with squirrel-cage structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US8662213B2 (en) * | 2011-01-10 | 2014-03-04 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Locomotion of amorphous surface robots |
| CN102642573B (en) * | 2011-03-24 | 2016-08-24 | 泰山学院 | Fluid drives ball shape robot |
| CN103231745B (en) * | 2013-04-28 | 2016-06-29 | 上海大学 | Mixed synchronization band five is adopted to drive ball shape robot |
| CN103387016B (en) * | 2013-08-01 | 2015-09-30 | 哈尔滨工程大学 | hemisphere differential telescopic spherical robot |
| CN103895725B (en) * | 2014-03-14 | 2016-02-17 | 上海大学 | A kind of electromagnetism internal drive formula ball shape robot |
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