CN104960588A - Spherical walking platform - Google Patents
Spherical walking platform Download PDFInfo
- Publication number
- CN104960588A CN104960588A CN201510452459.XA CN201510452459A CN104960588A CN 104960588 A CN104960588 A CN 104960588A CN 201510452459 A CN201510452459 A CN 201510452459A CN 104960588 A CN104960588 A CN 104960588A
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- Prior art keywords
- spherical
- shell
- platform
- gear
- spherical shell
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a spherical walking platform. The spherical walking platform comprises a spherical shell and connecting shafts arranged in the spherical shell along the diameter direction of the spherical shell. The spherical shell is formed by butt joint of two semi-spherical shells. The connecting shafts are symmetrically arranged on the semi-spherical shells. One ends of connecting shafts stretch out of the spherical shell and the other ends of connecting shafts are connected with a revolving platform. The middle portion of the revolving platform is provided with a groove equipped with a driving motor. The connecting shafts are in movable sleeve joint with gear motors. An eccentric platform is arranged between the gear motors. The gear motors are provided with gear shafts. The connecting shafts are provided with gears connected with the semi-spherical shells. The gears are engaged with gear motor gears connected with the gear shafts. The spherical walking platform has following beneficial effects: by adoption of a differential torque principle, a walking function is fulfilled by changing the centre-of-gravity of the spherical shell so that space utilization rate of the spherical shell is high and the spherical walking platform is stable and reliable and moves stably.
Description
Technical field
The present invention relates to a kind of ball shape robot, in particular, relate to a kind of spherical wheel platform.
Background technology
Ball shape robot is a kind of mobile robot walked with roll mode, and its driving principle mainly breaks the static balancing of spheroid by the motion of internal drive, and motion flexibly, can realize pivot stud and omnibearing ambulation.
Existing ball shape robot adopts eccentric massblock type of drive mostly, and machine eccentric moment and moment of inertia drive lower realization turn to and walk.But present ball shape robot adopts double pendulum centre-of gravity shift to drive mostly, two eccentric massblock synchronous hunting under same motor drives cannot be ensured, cause robot drive torque to fluctuate comparatively large, stable propulsive effort cannot be provided, make that robot motion's stability is low, vibrations are large.And motor lateral arrangement drives pendulum mode, two drive motor distributions in 90 °, robot static balancing controls complicated, pose adjustment difficulty after being collided.Adopt the ball shape robot of eccentric massblock type of drive, driver element carries out eccentric massblock transmission by transmission device, the stationarity of transmission device greatly affects mass and swings, how to ensure that transmission device transmission is compact, the installation site tool of the space utilization in spherical shell and transmission device has a great impact.
In order to alleviate ball shape robot weight, existing robot interior many employings inner frame structure, but this structure is one of main stressed member, in robot kinematics, inside casing deflection is large, and robot motion's substantial deviation desired trajectory, moves uncontrollable.For driving pendulum, once pivot angle is excessive, due to effect of inertia, eccentric massblock gravity, the moment that the moment of generation will be greater than drive motor and can provide, causes robot motion out of control.But current ball shape robot is to driving pendulum pivot angle safety control aspect Shortcomings.
Summary of the invention
The object of the invention is, in order to overcome deficiency of the prior art, to provide a kind of spherical wheel platform, this spherical wheel platform adopts difference principle of moments, by changing center-of-gravity position in ball, reach traveling object, in spherical shell, space availability ratio is high, reliable and stable, stable movement.
The object of the invention is to be achieved through the following technical solutions:
A kind of spherical wheel platform, comprise spherical shell, the adapter shaft be arranged at along spherical shell diametric(al) in spherical shell, described spherical shell is docked by two Loadings On Hemispherical Shells and forms, described adapter shaft is symmetrical to be respectively arranged on described Loadings On Hemispherical Shell, one end of described adapter shaft stretches out in spherical shell respectively, the other end of adapter shaft has been interconnected turn table, offers the groove that drive motor is housed in the middle part of described turn table; On described adapter shaft, movable sleeve is connected to reducing motor, eccentric platform has been interconnected between described reducing motor, reducing motor is also provided with gear wheel shaft, described adapter shaft is also provided with the gear be connected with Loadings On Hemispherical Shell, described gear is engaged with the reducing motor gear be connected with gear wheel shaft.
Described turn table bottom also offers shell.
Battery and control circuit board are installed in described shell.
The rotor center axle of described drive motor overlaps with the vertical centre of spherical shell.
The described adapter shaft stretching out in spherical shell is provided with fastener.
Described spherical shell outside face is also provided with solar panel.
Described two Loadings On Hemispherical Shell butt end outside faces are provided with lanyard.
Described eccentric mesa base is provided with electricity reception coil.
Compared with prior art, the beneficial effect that technical scheme of the present invention is brought is:
1. this wheel platform is ball-type, utilizes difference principle of moments, is connected with turn table in spherical shell by adapter shaft, the middle part of turn table is provided with drive motor, and adapter shaft is also socketed with reducing motor, is provided with eccentric platform between reducing motor, therefore by changing center-of-gravity position in ball, reach traveling object, can before and after walking, can pivot stud, a bit contact to earth during traveling, there is more wide practicality with interesting, in addition can built-in propulsion source, turn radius is zero; Spherical shell is docked by two Loadings On Hemispherical Shells and forms, and good seal, all can walk in land and water.
2. turn table bottom of the present invention also offers shell, can as required, be used for placing to reach the instrument, equipment etc. needed for various function, as audio control unit, wireless device, RCU, GPS etc.
3. the spherical traveling device of the present invention can formulate the material object of different size size according to need of work, and field of application is wide.
4. spherical shell outside face of the present invention is provided with solar panel, can economize energy, economic environmental protection, and spherical shell internal electric source also can continue after not having electricity to run, reliable and stable.
5. the eccentric mesa base in spherical shell of the present invention is also provided with electricity reception coil, reaches charging object, charging in many ways by special electromagnetic induction device, ensures reliable and stable operation.
Accompanying drawing explanation
Fig. 1 is partial cross structural representation of the present invention.
Fig. 2 is charge condition schematic diagram of the present invention.
Reference numeral: 1-right hemispherical Shell 2-left hemisphere shell 3-adapter shaft 4-fastener 5-turn table 6-drive motor 7-reducing motor 8-eccentric platform 9-electricity reception coil 10-gear 11-reducing motor gear 12-lanyard 13-solar panel 14-electromagnetic induction charged device
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described:
As depicted in figs. 1 and 2, a kind of spherical wheel platform, comprise spherical shell, spherical shell is mutually docked by right hemispherical Shell 1 and left hemisphere shell 2 and forms, only the right hemispherical Shell of spherical for the present invention wheel platform is cut open to show its inner structure in Fig. 1, symmetrically in the diametric(al) of right hemispherical Shell 1 and left hemisphere shell 2 be provided with two adapter shafts 3, one end of adapter shaft 3 stretches out right hemispherical Shell 1 and left hemisphere shell 2 respectively, the adapter shaft 3 stretching out in spherical shell is provided with fastener 4, by fastener 4, right hemispherical Shell 1 and left hemisphere shell 2 are separately carried out internal maintenance, in addition fastener 4 is needed also to can be used as antenna equipment according to actual conditions, the other end of adapter shaft 3 has been interconnected turn table 5, in the present embodiment, the bottom of turn table 5 also offers shell, for installing battery in shell, control circuit board and other instrument and equipments for expanded function.
The middle part of turn table 5 offers rectangular recess, drive motor 6 is installed in groove, the stator of drive motor 6 is at groove internal fixtion, the rotor center axle of drive motor 6 overlaps with the vertical centre of spherical shell, on adapter shaft 3, movable sleeve is connected to reducing motor 7, eccentric platform 8 has been interconnected between reducing motor 7, the bottom of eccentric platform 8 is provided with electricity reception coil 9, can wheel platform of the present invention be placed on electromagnetic induction charged device 14 when charging, the circuit leading to storage battery is set in spherical shell, electromagnetic induction charged device 14 is provided with the concave surface that shape and spheroid of the present invention match, electricity reception coil 9 in the charge coil of electromagnetic induction charged device 14 and eccentric platform 8 produces electromagnetic induction, automatic charging.Reducing motor 7 is also provided with gear wheel shaft, adapter shaft 3 is also respectively arranged with the gear 10 be connected with left hemisphere shell 2 with right hemispherical Shell 1, gear 10 is engaged with the reducing motor gear 11 be connected with gear wheel shaft.
In the present embodiment, the outside face of right hemispherical Shell 1 and left hemisphere shell 2 butt end is provided with lanyard 12, and the outside face of spherical shell is also provided with solar panel 13.
Specific works principle of the present invention, when reducing motor 7 starts, reducing motor gear 11 rotates, moment now on reducing motor 7 can be done work from both direction, one is adapter shaft 3 can be driven to rotate by gear 10, and one is drive eccentric platform 8 to do counter-rotation, when eccentric platform 8 rotates, its deviation of gravity center, create an opposing torque, its rotational angle is larger, and opposing torque is larger, when its moment is greater than the traveling moment of spheroid, spheroid setting in motion.Eccentric platform 8 is the curved metal bodies matched with spheroid internal diameter, the reducing motor 7 that two groups of numerical value is identical is fixed on eccentric platform 8 both sides, jointly drives eccentric platform 8 to rotate, and eccentric platform 8 center of gravity is lower, quality is larger, its eccentricity produced is larger, and the power that spheroid advances is also larger.
This ball-type wheel platform is spherical, any contacts to earth, therefore spheroid should be able to the perpendicular line of the touchdown point of ball for centre of gration rotates during revolution, the rotor of the drive motor 6 of the middle part installation of turn table 5 is two-layer, when normally running, and upper lower rotor part reversing sense high-speed operation, make turn table 5 held stationary, center of gravity is vertical is equivalent to stabiliser over the ground, ensures that the instrument and equipment loaded is stablized; When turning to, the equidirectional running of rotor, can produce the moment of a contrarotation to stator when rotor operates, turn table 5 can be subject to a reciprocal moment, and its power passes on spherical shell by adapter shaft 3, and spheroid is rotated; When spheroid walking runs into upward slope or strong resistance, eccentric platform 8 is for overcoming resistance, eccentricity can strengthen, when reaching certain angle, turn table 5, for making monolithic stability, makes drive motor 6 high-speed operation, and it can produce the moment making turn table 5 stable, this moment reaches reducing motor gear 11 by eccentric platform 8, greatly strengthens the propulsive effort that motor runs spheroid.
Claims (8)
1. a spherical wheel platform, comprise spherical shell, the adapter shaft be arranged at along spherical shell diametric(al) in spherical shell, it is characterized in that, described spherical shell is docked by two Loadings On Hemispherical Shells and forms, described adapter shaft is symmetrical to be respectively arranged on described Loadings On Hemispherical Shell, one end of described adapter shaft stretches out in spherical shell respectively, and the other end of adapter shaft has been interconnected turn table, offers the groove that drive motor is housed in the middle part of described turn table; On described adapter shaft, movable sleeve is connected to reducing motor, eccentric platform has been interconnected between described reducing motor, reducing motor is also provided with gear wheel shaft, described adapter shaft is also provided with the gear be connected with Loadings On Hemispherical Shell, described gear is engaged with the reducing motor gear be connected with gear wheel shaft.
2. the spherical wheel platform of one according to claim 1, is characterized in that, described turn table bottom also offers shell.
3. the spherical wheel platform of one according to claim 2, is characterized in that, is provided with battery and control circuit board in described shell.
4. the spherical wheel platform of one according to claim 1, is characterized in that, the rotor center axle of described drive motor overlaps with the vertical centre of spherical shell.
5. the spherical wheel platform of one according to claim 1, is characterized in that, described in stretch out in spherical shell adapter shaft on be provided with fastener.
6. the spherical wheel platform of one according to claim 1, is characterized in that, described spherical shell outside face is also provided with solar panel.
7. the spherical wheel platform of one according to claim 1, is characterized in that, described two Loadings On Hemispherical Shell butt end outside faces are provided with lanyard.
8. the spherical wheel platform of one according to claim 1, is characterized in that, described eccentric mesa base is provided with electricity reception coil.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510452459.XA CN104960588B (en) | 2015-07-27 | 2015-07-27 | Spherical walking platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510452459.XA CN104960588B (en) | 2015-07-27 | 2015-07-27 | Spherical walking platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104960588A true CN104960588A (en) | 2015-10-07 |
| CN104960588B CN104960588B (en) | 2017-05-24 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510452459.XA Expired - Fee Related CN104960588B (en) | 2015-07-27 | 2015-07-27 | Spherical walking platform |
Country Status (1)
| Country | Link |
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| CN (1) | CN104960588B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106938595A (en) * | 2017-03-09 | 2017-07-11 | 西安交通大学 | A kind of eccentric spherical tour bus in the amphibious sandy beach of direct-drive type of servomotor |
| CN107499405A (en) * | 2017-08-29 | 2017-12-22 | 歌尔科技有限公司 | Ball shape robot |
| CN111409721A (en) * | 2020-05-06 | 2020-07-14 | 行星算力(深圳)科技有限公司 | Spherical robot |
| CN111873731A (en) * | 2020-07-22 | 2020-11-03 | 西北工业大学 | Amphibious robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101318526A (en) * | 2008-05-19 | 2008-12-10 | 北京邮电大学 | Three-drive spherical robot |
| CN102398265A (en) * | 2010-09-17 | 2012-04-04 | 俞建峰 | Universal rolling spherical robot |
| CN102407890A (en) * | 2011-10-27 | 2012-04-11 | 北京邮电大学 | Spherical moving device with enhanced function |
| WO2014116037A1 (en) * | 2013-01-23 | 2014-07-31 | Jin Jang Min | Spherical moving object and driving method therefor |
| CN204846102U (en) * | 2015-07-27 | 2015-12-09 | 王学贵 | Capable platform is walked to sphere |
-
2015
- 2015-07-27 CN CN201510452459.XA patent/CN104960588B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101318526A (en) * | 2008-05-19 | 2008-12-10 | 北京邮电大学 | Three-drive spherical robot |
| CN102398265A (en) * | 2010-09-17 | 2012-04-04 | 俞建峰 | Universal rolling spherical robot |
| CN102407890A (en) * | 2011-10-27 | 2012-04-11 | 北京邮电大学 | Spherical moving device with enhanced function |
| WO2014116037A1 (en) * | 2013-01-23 | 2014-07-31 | Jin Jang Min | Spherical moving object and driving method therefor |
| CN204846102U (en) * | 2015-07-27 | 2015-12-09 | 王学贵 | Capable platform is walked to sphere |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106938595A (en) * | 2017-03-09 | 2017-07-11 | 西安交通大学 | A kind of eccentric spherical tour bus in the amphibious sandy beach of direct-drive type of servomotor |
| CN106938595B (en) * | 2017-03-09 | 2019-01-29 | 西安交通大学 | A kind of amphibious sandy beach spherical shape tour bus of servo motor bias direct-drive type |
| CN107499405A (en) * | 2017-08-29 | 2017-12-22 | 歌尔科技有限公司 | Ball shape robot |
| CN107499405B (en) * | 2017-08-29 | 2023-12-22 | 歌尔科技有限公司 | spherical robot |
| CN111409721A (en) * | 2020-05-06 | 2020-07-14 | 行星算力(深圳)科技有限公司 | Spherical robot |
| CN111873731A (en) * | 2020-07-22 | 2020-11-03 | 西北工业大学 | Amphibious robot |
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| Publication number | Publication date |
|---|---|
| CN104960588B (en) | 2017-05-24 |
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| PB01 | Publication | ||
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170524 Termination date: 20180727 |