CN105035199B - It is a kind of can sufficient formula motion ball shape robot and its method of work - Google Patents

It is a kind of can sufficient formula motion ball shape robot and its method of work Download PDF

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Publication number
CN105035199B
CN105035199B CN201510540840.1A CN201510540840A CN105035199B CN 105035199 B CN105035199 B CN 105035199B CN 201510540840 A CN201510540840 A CN 201510540840A CN 105035199 B CN105035199 B CN 105035199B
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CN
China
Prior art keywords
steering wheel
ball
leg
pendulous
sufficient formula
Prior art date
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CN201510540840.1A
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Chinese (zh)
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CN105035199A (en
Inventor
王雄
杨旭博
高海艳
张菁
王丽
Original Assignee
榆林学院
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Priority to CN201510540840.1A priority Critical patent/CN105035199B/en
Publication of CN105035199A publication Critical patent/CN105035199A/en
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Publication of CN105035199B publication Critical patent/CN105035199B/en

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Abstract

The invention discloses it is a kind of can sufficient formula motion ball shape robot and its method of work, can make leg structure both shrinks in the groove on eighth ball body by the first steering wheel, the second steering wheel and the 3rd servos control, be deformed into spherical, using rolling movement mode, movement velocity is improved;When pavement roughness or when having barrier, first steering wheel, the second steering wheel and the 3rd servos control leg structure are stretched out, polypod structure is deformed into, it is flexibly stable using sufficient formula motion mode, the present invention can carry out spherical and sufficient formula deformation, different motion modes are selected according to varying environment, environment-adapting ability and operating efficiency, total advantages of simple is improve, deformation is easily achieved, the occasion of production and living is can be widely applied for.

Description

It is a kind of can sufficient formula motion ball shape robot and its method of work

【Technical field】

The invention belongs to robot field, and in particular to it is a kind of can sufficient formula motion ball shape robot and its method of work.

【Background technology】

Nowadays, robot has been widely used in production and living.In robot series product, ball shape robot is profit The specialized robot moved with ball interior drive device and spheroid outer friction power.Compared with other type machines people, ball Anthropomorphic robot good stability, strong antijamming capability.But at present, ball shape robot motor pattern is single, it is impossible to adapt to unstructuredness Environment so that this robot can not be by wide popularization and application.Therefore, in robotics, currently need to urgently solve One technical problem be can design it is a kind of can multi-locomotion mode ball shape robot.

【The content of the invention】

It is an object of the invention to overcome above-mentioned deficiency, there is provided it is a kind of can sufficient formula motion ball shape robot and its work side Method, with two kinds of motion morphologies of ball and sufficient formula.

In order to achieve the above object, it is a kind of can sufficient formula motion ball shape robot, including by eight eighth ball bodies The ball of composition, opens up fluted on eighth ball body, is provided with being folded in the leg structure in groove in groove With the first steering wheel;

The leg structure includes some end to end pendulous devices, and mechanical pendulous device includes the second U-shaped connector, U Be provided with two steering wheels on type connector, two steering wheels are rotated by the 3rd servo driving, the 3rd steering wheel by L-type structure part with Second U-shaped connector connection of adjacent mechanical pendulous device, the 3rd steering wheel of pendulous device end is connected by L-type connector Sole, the top of the second U-shaped connector of pendulous device head end connects the second steering wheel by steering wheel, and the second steering wheel is by U-shaped Structural member is fixed on the top of the first U-shaped connector, and the first steering wheel is connected by two steering wheels in the first U-shaped connector.

The pendulous device is three.

It is hollow-core construction in the ball.

Groove direction on described each eighth ball body is identical.

It is a kind of can sufficient formula motion ball shape robot method of work, when evenness of road surface, all leg structures pass through first The driving of steering wheel, the second steering wheel and the 3rd steering wheel, makes in the groove that leg structure is folded on eighth ball body;

When pavement roughness, the first steering wheel and the 3rd servo driving machinery pendulous device stretch out, and are deformed into polypod structure, Using sufficient formula motion mode.

Second steering wheel can driving leg structure rotation, four leg structures of arbitrary neighborhood is constituted a walking Face.

Compared with prior art, the present invention can make leg structure by the first steering wheel, the second steering wheel and the 3rd servos control It is contracted in the groove on eighth ball body, is deformed into spherical, using rolling movement mode, improves movement velocity;Work as road surface Out-of-flatness or when having barrier, the first steering wheel, the second steering wheel and the 3rd servos control leg structure are stretched out, and are deformed into polypod structure, Flexibly stable using sufficient formula motion mode, the present invention can carry out spherical and sufficient formula deformation, select different according to varying environment Motion mode, improves environment-adapting ability and operating efficiency, total advantages of simple, it is easy to accomplish deformation, can answer extensively For the occasion of production and living.

Further, it is hollow-core construction in ball of the invention, being capable of carrying equipment and drive device.

【Brief description of the drawings】

Fig. 1 is three dimensional structure diagram of the invention;

Fig. 2 is the schematic three dimensional views of foot formula motion of the invention;

Fig. 3 is the schematic three dimensional views of ball-type motion of the present invention;

Fig. 4 is the schematic three dimensional views of leg structure of the present invention;

Fig. 5 is leg malformation schematic three dimensional views of the present invention.

【Specific embodiment】

The present invention will be further described below in conjunction with the accompanying drawings.

Referring to Fig. 1 to Fig. 5, it is a kind of can sufficient formula motion ball shape robot, including be made up of eight eighth ball bodies 1 Ball, be hollow-core construction in ball, open up fluted on eighth ball body 1, folding is provided with groove The leg structure being stacked in groove and the first steering wheel 2, the groove direction on each eighth ball body 1 are identical;

Leg structure includes some end to end pendulous devices, and mechanical pendulous device includes the second U-shaped connector 11, U-shaped Two steering wheels 3 are provided with connector, two steering wheels 3 are driven by the 3rd steering wheel 8 and rotated, the 3rd steering wheel 8 passes through L-type structure part 7 are connected with the second U-shaped connector 11 of adjacent mechanical pendulous device, and the 3rd steering wheel 8 of pendulous device end is connected by L-type Part 9 connects sole 10, and the top of the second U-shaped connector 11 of pendulous device head end connects the second steering wheel 6 by steering wheel 3, the Two steering wheels 6 are fixed on the top of the first U-shaped connector 4 by U-shape structure part 5, and two steering wheels 3 are passed through in the first U-shaped connector 4 The first steering wheel 2 is connected, the first steering wheel drives the first U-shaped connector 4 to longitudinally rotate, plays adjusting position.

Optimal, the pendulous device in leg structure is three.

It is a kind of can sufficient formula motion ball shape robot method of work, when evenness of road surface, all leg structures pass through first The driving of steering wheel 2, the second steering wheel 6 and the 3rd steering wheel 8, makes in the groove that leg structure is folded on eighth ball body 1;

When pavement roughness, the first steering wheel 2 and the 3rd steering wheel 8 drive mechanical pendulous device to stretch out, and are deformed into polypody knot Structure, using sufficient formula motion mode, the second steering wheel 6 can the rotation of driving leg structure, make four leg structures of arbitrary neighborhood can structure Face is walked in a row, as walking four limbs.

Claims (3)

1. it is a kind of can sufficient formula motion ball shape robot, it is characterised in that:Including what is be made up of eight eighth ball bodies (1) Ball, eighth ball body opens up fluted on (1), the leg structure for being provided with being folded in groove in groove and One steering wheel (2);
The leg structure includes some end to end pendulous devices, and mechanical pendulous device includes the second U-shaped connector (11), U Two steering wheels (3) are provided with type connector, two steering wheels (3) are driven by the 3rd steering wheel (8) and rotated, and the 3rd steering wheel (8) leads to L-type structure part (7) is crossed with the second of adjacent mechanical pendulous device the U-shaped connector (11) connection, the 3rd of pendulous device end the Steering wheel (8) connects sole (10) by L-type connector (9), and the top of the second U-shaped connector (11) of pendulous device head end leads to Cross steering wheel (3) and connect the second steering wheel (6), the second steering wheel (6) is fixed on the first U-shaped connector (4) by U-shape structure part (5) Top, the first steering wheel (2) is connected in the first U-shaped connector (4) by two steering wheels (3);
It is hollow-core construction in the ball;
The pendulous device is three;
Groove direction on described each eighth ball body (1) is identical.
2. described in claim 1 it is a kind of can sufficient formula motion ball shape robot method of work, it is characterised in that when road surface is flat When whole, the driving that all leg structures pass through the first steering wheel (2), the second steering wheel (6) and the 3rd steering wheel (8) is folded in leg structure In groove on eighth ball body (1);
When pavement roughness, the first steering wheel (2) and the 3rd steering wheel (8) drive mechanical pendulous device to stretch out, and are deformed into polypody knot Structure, using sufficient formula motion mode.
3. it is according to claim 2 it is a kind of can sufficient formula motion ball shape robot method of work, it is characterised in that it is described Second steering wheel (6) can driving leg structure rotation, four leg structures of arbitrary neighborhood is constituted a walking surface.
CN201510540840.1A 2015-08-28 2015-08-28 It is a kind of can sufficient formula motion ball shape robot and its method of work CN105035199B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510540840.1A CN105035199B (en) 2015-08-28 2015-08-28 It is a kind of can sufficient formula motion ball shape robot and its method of work

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510540840.1A CN105035199B (en) 2015-08-28 2015-08-28 It is a kind of can sufficient formula motion ball shape robot and its method of work

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CN105035199B true CN105035199B (en) 2017-07-07

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107187509B (en) * 2017-05-17 2019-04-30 上海大学 A kind of ball shape robot with walking function
CN107757742B (en) * 2017-09-12 2019-08-20 南京航空航天大学 Continuous rotation drives straight line ejection mechanism and its polyhedron robot and movement technique
CN108583718B (en) * 2018-04-28 2020-02-04 燕山大学 Magic square eight-foot metamorphic robot

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* Cited by examiner, † Cited by third party
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US7165637B2 (en) * 2004-11-04 2007-01-23 The Boeing Company Robotic all terrain surveyor
CN103192898A (en) * 2013-04-09 2013-07-10 北京交通大学 Biomimetic quadruped robot provided with head and tail balance adjustment devices
CN103538644B (en) * 2013-10-14 2016-01-20 上海大学 A kind of robot with rolling movement and sufficient formula walking function
CN104340292B (en) * 2014-10-17 2016-05-04 燕山大学 The dual-purpose fighter toy of wheel foot
CN205044843U (en) * 2015-08-28 2016-02-24 榆林学院 Can sufficient formula spherical robot of motion

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