CN106903697B - Head driving assembly and ball shape robot - Google Patents
Head driving assembly and ball shape robot Download PDFInfo
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- CN106903697B CN106903697B CN201710170826.6A CN201710170826A CN106903697B CN 106903697 B CN106903697 B CN 106903697B CN 201710170826 A CN201710170826 A CN 201710170826A CN 106903697 B CN106903697 B CN 106903697B
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- head
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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Abstract
The invention discloses a kind of head driving assemblies, in the sphere of ball shape robot, for controlling the head of the ball shape robot, the head driving assembly includes rotating basis, rocker device and shield, the rotating basis is located on the intracorporal main support of the ball, first rotating shaft is fixed on the rotating basis, described rocker device one end connects the first rotating shaft, the other end connects the shield, the rotating basis drives the rocker device and the shield to rotate by rotation center of the main support, and the rocker device and the shield are swung by the relatively described main support of fulcrum of the first rotating shaft, the shield abuts the inner surface of the sphere and the magnetic connection head, the head and the shield are opposing stationary.A kind of ball shape robot is also disclosed in the present invention.Head position is alterable, improves the intelligence of ball shape robot, and the user experience of man-machine communication's function is high, meets the requirement of domestic robot.
Description
Technical field
The present invention relates to robotic technology fields, more particularly, to a kind of head driving assembly and ball shape robot.
Background technique
Ball shape robot refers to the robot of the scrolling realization movement using sphere, omnibearing movable may be implemented, with ground
Face is single-contact, and frictional resistance is small, and energy utilization efficiency is high, and has tumbler characteristic, can be to avoid conventional machine
What people was easy to appear topples over unstable phenomenon.The important component of robot is included in ball interior, good by sphere shell
Protection, it is not easy to fail because of destruction.Suitable seal approach is taken, the shell of ball shape robot can be made to have anti-water energy
Power, and then used under the conditions of more atrocious weather, there is round-the-clock adaptability.Further, ball shape robot one
As further include head outside the sphere, head carries function element and realizes that the function elements such as camera are intelligentized to realize
Man-machine communication's function, while ball shape robot is improved to the affine sense of user, allow to use as domestic robot.
In the prior art, the head of ball shape robot is directly anchored to outside sphere, in the stationary state of ball shape robot
Under, head does not have freedom degree, i.e. head can not be moved in spherome surface opposing spheres, the user experience of man-machine communication's function compared with
Low, head position can not change according to the job requirement of built-in function element, and ball shape robot intelligence is lower, is unable to satisfy
The requirement of domestic robot.
Summary of the invention
It is existing to solve the technical problem to be solved in the present invention is to provide a kind of head driving assembly and ball shape robot
In technology under the stationary state of ball shape robot, head can not be moved in spherome surface opposing spheres, man-machine communication's function
User experience is lower, and head position can not change according to the job requirement of built-in function element, ball shape robot intelligence compared with
It is low, the problem of being unable to satisfy the requirement of domestic robot.
In order to solve the above technical problems, the present invention provides a kind of head driving assembly, a kind of head driving assembly is located at ball
In the sphere of anthropomorphic robot, for controlling the head of the ball shape robot, which is characterized in that the head driving assembly includes
Rotating basis, rocker device and shield, the rotating basis are located on the intracorporal main support of the ball, fixed on the rotating basis
There is first rotating shaft, described rocker device one end connects the first rotating shaft, and the other end connects the shield, and the rotating basis drives
The rocker device and the shield are rotated relative to the main support, and the rocker device and the shield are with the first rotating shaft
For branch spot wobble, the shield abuts the inner surface of the sphere and the magnetic connection head, the head are opposite with the shield
It is static.
Further, the rotating basis includes first support, the first driving gear and the first driven gear, and described first is main
Moving gear and first driven gear are intermeshed, and the first driving gear rotation controls the first driven gear rotation
Turn, first support is fixed on first driven gear away from the main support side, and fixes the first rotating shaft.
Further, first support includes fixing seat, a pair of of fixed frame positioned at the fixing seat side, and described first
Support is fixed on first driven gear by the fixing seat, and the first rotating shaft of the rocker device is fixed on one
To between the fixed frame, so that the rocker device be made to be rotatablely connected first support, the guiding trestle passes through described
Fixed frame is fixed on first support.
Further, the head driving assembly further includes guiding trestle, and the guiding trestle is fixedly connected with described first
Seat, the guiding trestle is equipped with arc-shaped guide rail, and the curvature circle-center of the arc-shaped guide rail is located at the centre of sphere of the sphere, described
Rocker device is equipped with the directive wheel cooperated with the arc-shaped guide rail, and the guiding trestle is for limiting table in shield and the sphere
The spacing in face.
Further, the rocker device includes clamping element, straight-bar and directive wheel fixed frame, and described clamping element one end is sheathed on
The first rotating shaft simultaneously rotates fixation, the fixed straight-bar of the other end with the first rotating shaft, and the directive wheel fixed frame is arranged
In the one end of the straight-bar far from the clamping element, the directive wheel fixed frame installs the directive wheel, make the directive wheel with
The arc-shaped guide rail rolls connection, and the straight-bar connects the shield.
Further, the guiding trestle further includes the first guide rail and the first sliding block for being slidably connected with first guide rail,
First sliding block is connect with the directive wheel by the first extensible member, and first sliding block slides and leads in first guide rail
Crossing first extensible member drives the directive wheel to roll in the arc-shaped guide rail.
Further, the guiding trestle further includes second support, the second driving gear and rack gear, second driving gear
It is connect with first sliding block by the second support, the rack gear is engaged with second driving gear, and described second is main
Moving gear relative motion on the rack gear, to drive first sliding block in first guide rail by the second support
Sliding.
Further, the radian of the arc-shaped guide rail is not more than π/4.
Further, the head driving assembly further includes the second extensible member, and described the connection of second extensible member described first
Seat and the straight-bar, for assisting the control rocker device to swing.
The present invention also provides a kind of ball shape robot, the ball shape robot includes head, sphere and any of the above one
The head driving assembly, the head include pedestal, tray supporter, function element and driving gear set, the pedestal magnetic
Property the connection head driving assembly, the driving gear set is installed on the pedestal, and the tray supporter is located at the base
It being rotatablely connected on seat and by the driving gear set and the pedestal, the function element is fixed on the tray supporter,
Working environment, the driving gear set drive the tray supporter and the function element opposite to the function element for identification
The pedestal rotation.
Beneficial effects of the present invention are as follows: the rocker device and shield that rotating basis control is installed on rotating basis are relatively main
Bracket rotation, while rocker device and shield be using first rotating shaft as branch spot wobble, shield magnetism connection head and with head opposing spheres
Motion state it is consistent, so that head can be opposite to any direction in spherome surface under the stationary state of ball shape robot
Movement, head position can change according to the job requirement of built-in function element, improve the intelligence of ball shape robot, people
The user experience of machine communication function is high, meets the requirement of domestic robot.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other obvious modes of texturing are obtained according to these attached drawings.
Fig. 1 is the structural schematic diagram of head driving assembly provided in an embodiment of the present invention.
Fig. 2 is the front view of head driving assembly provided in an embodiment of the present invention.
Fig. 3 is the side view of head driving assembly provided in an embodiment of the present invention.
Fig. 4 and Fig. 5 is the partial structural diagram of head driving assembly provided in an embodiment of the present invention.
Fig. 6 is the freedom degree schematic diagram of head driving assembly provided in an embodiment of the present invention.
Fig. 7 is the structural schematic diagram of the first support of head driving assembly provided in an embodiment of the present invention.
Fig. 8 and Fig. 9 is the structural schematic diagram of the shield of head driving assembly provided in an embodiment of the present invention.
Figure 10 is the structural schematic diagram of ball shape robot provided in an embodiment of the present invention.
Figure 11 is the schematic diagram of internal structure of ball shape robot provided in an embodiment of the present invention.
Figure 12 is the head overall structure diagram of ball shape robot provided in an embodiment of the present invention.
Figure 13 and Figure 14 is the schematic diagram of internal structure on head provided in an embodiment of the present invention.
Figure 15 is the schematic cross-section on the head of ball shape robot provided in an embodiment of the present invention.
Figure 16 is the tray supporter on the head of ball shape robot provided in an embodiment of the present invention and the junction section of upper cover
Figure.
Figure 17 is the upper cover on the head of ball shape robot provided in an embodiment of the present invention and the seam allowance junction section of pedestal
Schematic diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Also referring to Fig. 1, Figure 10 and Figure 11, head driving assembly 10 provided in an embodiment of the present invention is applied to spherical machine
Device people, further, ball shape robot include head 2 and sphere 1, and head 2 is connect with 1 magnetism of sphere, carrying walking in sphere 1
Driving assembly, head driving assembly 10, power supply etc., hoofing part component is for driving sphere 1 to rotate, by 1 outer surface of sphere
Ball shape robot is driven to be walked with the frictional force on ground, the magnetic connection head 2 of head driving assembly 10 is inhaled for controlling head 2
It is attached to the movement of 1 outer surface of sphere.When sphere 1 remains static, head driving assembly 10 controls head 2 and is moved to sphere 1
Any position on surface, i.e. head 2 can be mobile in the direction XYZ by track of 1 surface of sphere, meanwhile, head driving assembly 10
It can be turned with drive head 2 in 1 surface spin of sphere, to change the working condition of the function element built in head 2, such as logical
The shooting angle etc. for crossing the camera built in the position change head 2 for changing head 2, improves the intelligence of ball shape robot.
Referring to Figure 2 together, Fig. 3 Fig. 4 and Fig. 5, in the present embodiment, head driving assembly 10 includes rotating basis 102, shakes
Linkage 104 and shield 106, rotating basis 102 are installed on the main support 12 in sphere 1, specifically, main support 12 is sphere 1
Internal main body bearing structure, for carrying the functional entities such as head driving assembly 10, hoofing part component, hoofing part component
The spherical shell inner wall of sphere 1 is contacted, further, main support 12 is additionally provided with the counterweight that position is lower than 1 centre of sphere of sphere, to keep spherical
Robot walked, the movement such as obstacle detouring when, the spherical shell of sphere 1 main support 12 and is connected to respect to the rotation of main support 12
Each functional entity on main support 12 remains stable.Rotating basis 102 is rotatablely installed on main support 12, can be led relatively
12 active rotation of bracket, so that the mechanism being connected on rotating basis 102 can be with rotating basis 102 and with respect to main support
12 rotations.Further, first rotating shaft 100 is fixed on rotating basis 102, rocker device 104 is connected by first rotating shaft 100
Rotating basis 102,104 one end of rocker device connect first rotating shaft 100, and the other end connects shield 106, that is, is connected to rotating basis
First rotating shaft 100, rocker device 104 and shield 106 on 102 can be used as one entirely through the relatively main branch of rotating basis 102
Frame 12 rotates.Simultaneously as rocker device 104 is rotatablely connected first rotating shaft 100, rocker device 104 and shield 106 can be with first
Shaft 100 is that fulcrum is swung with respect to main support 12.In a kind of preferable embodiment, the rotation of rocker device 104 and first rotating shaft
100 are connected by rolling bearing.The head 2 of the inner surface of the abutting sphere 1 of shield 106 and magnetic connection ball shape robot, 106, shield
In in sphere 1, head 2 is located at outside sphere 1, and head 2 and shield 106 are opposing stationary, movement and head of the shield 106 in 1 inner surface of sphere
Movement of the portion 2 in 1 outer surface of sphere is corresponding, i.e., the position on head 2 is corresponding with the position of shield 106 and opposing spheres 1 move synchronously.
In conjunction with Fig. 6, sphere 1 is divided into orthogonal warp and weft, head 2 is track in XYZ using 1 surface of sphere
The shift position in direction can indicate that the drive of rocker device 104 head 2 is fulcrum with first rotating shaft 100 with longitude and latitude
Swing can change head 2 in the latitude size of sphere 1, and rotating basis 102 drives rocker device 104 and the relatively main branch in head 2
The rotation of frame 12 can change head 2 in the longitude size of sphere 1, therefore the cooperation of rotating basis 102 and remote sensing mechanism can make head
Portion 2 is moved to any position of sphere 1.In the present embodiment, when sphere 1 remains static, in order to make the 1 each function in inside of sphere
The center of gravity of energy structure is maintained at lower semisphere with the center of gravity of stable spherical robot, and the surface that head 2 is maintained at 1 episphere of sphere is moved
Dynamic, i.e. side hemisphere of the sphere 1 far from bottom surface is mobile.
Rotating basis 102 controls the rocker device 104 being installed on rotating basis 102 and shield 106 and revolves with respect to main support 12
Turn, at the same rocker device 104 and shield 106 with first rotating shaft 100 for branch spot wobble, the magnetic connection head 2 of shield 106 and with head 2
The motion state of opposing spheres 1 is consistent, thus under the stationary state of ball shape robot, head 2 can be on 1 surface of sphere to appointing
Meaning direction relative motion, 2 position of head can change according to the job requirement of built-in function element, improve ball shape robot
Intelligence, the user experience of man-machine communication's function is high, meets the requirement of domestic robot.
In the present embodiment, rotating basis 102 includes first support 1020, first motor 1022, the first driving gear 1024
And first driven gear 1026, the first driving gear 1024 and the first driven gear 1026 are intermeshed, first motor 1022 is controlled
Make the first driving gear 1024 rotation, thus control the first driven gear 1026 rotation, the first support 1020 be fixed on first from
Moving gear 1026 deviates from 12 side of main support, and connects guiding trestle 108 and rocker device 104.Further, the first driven tooth
The shaft of wheel 1026 is fixed on main support 12, and the first third driving gear is driven by first motor 1022, and drive first is driven
Gear 1026 is rotated relative to main support 12.First support 1020 is fixedly connected with first support 1020 by screw, and drives first
Bracket 1020 is rotated relative to main support 12, and first support 1020 is shaken as the connection of the pedestal of rocker device 104 and guiding trestle 108
Linkage 104 and guiding trestle 108 drive rocker device 104 and guiding trestle 108 to rotate relative to main support 12.First motor
1022 driving rotating basis 102 are rotated relative to main support 12, to drive shield 106 and head 2 in the variation of 1 latitude of sphere, are mentioned
The high intelligence of ball shape robot.
Further, in conjunction with Fig. 7, the first support 1020 includes fixing seat 1021, a pair positioned at 1021 side of fixing seat
Fixed frame 1023, the first support 1020 are fixed on the first driven gear 1026 by fixing seat 1021, and the of rocker device 104
One shaft 100 is fixed between a pair of of fixed frame 1023, so that rocker device 104 is made to be rotatablely connected the first support 1020, it is a kind of
In preferable embodiment, a pair of of fixed frame 1023 is symmetrical, and the first rotating shaft 100 of rocker device 104 is threadedly coupled
Mode is connected between a pair of of fixed frame 1023.Guiding trestle 108 is fixed on the first support 1020 by fixed frame 1023, is had
Body, one of a pair of of fixed frame 1023 is equipped with multiple through-holes, and fixed guide bracket 108 is bolted in guiding trestle 108.
In the present embodiment, 2 driving assembly 10 of head further includes guiding trestle 108, and guiding trestle 108 is fixedly connected with first
Seat 1020, i.e. guiding trestle 108 and the first driven wheel 1026 of rotating basis 102 is opposing stationary.In the present embodiment, guiding trestle
108 include arc-shaped guide rail 1080, and rocker device 104 is equipped with directive wheel 1040, and directive wheel 1040 rolls on arc-shaped guide rail 1080
It is dynamic, to make rocker device 104 and the shield 106 that is connected on rocker device 104 is with 100 branch spot wobble of first rotating shaft.It is a kind of
In preferable embodiment, the curvature circle-center of arc-shaped guide rail 1080 is located at the centre of sphere of sphere 2, so that directive wheel 1040 is bonded arc
Guide rail 1080 simultaneously drives rocker device 104 and shield 106 to swing, i.e., guiding trestle 108 is for limiting the swing side of rocker device 104
To.The length of arc-shaped guide rail 1080 determines the range that rocker device 104 is swung, the i.e. motion range on head 2, the present embodiment
In, the radian of arc-shaped guide rail 1080 is not more than π/4, and in a kind of preferable embodiment, the corresponding radian of arc-shaped guide rail 1080 is
40 degree, head 2 can be swung within the scope of 40 ° of 1 surface of sphere without dead angle, avoid 2 amplitude of fluctuation of head excessive and magnetic attraction not
The gravity for being enough to resist head 2 causes head 2 to be detached from the landing of sphere 1.
In the present embodiment, rocker device 104 includes clamping element 1040, straight-bar 1042 and directive wheel fixed frame 1044, is clamped
Part 1040 includes turning end and pinching end, and turning end is sheathed on first rotating shaft 100 and rotates with first rotating shaft 100 and fixes, a kind of
In preferable embodiment, turning end is connect with first rotating shaft 100 by bearing, to reduce clamping element 1040 and first rotating shaft
100 frictional force relatively rotated, pinching end is fixedly clamped straight-bar 1042, to stablize straight-bar 1042 with first rotating shaft 100 as fulcrum
It swings.In a kind of preferable embodiment, first rotating shaft 100 is located at the top of the sphere center position of sphere 1, other embodiments
In, first rotating shaft 100 can also be located at the sphere center position or other positions of sphere 1.When straight-bar 1042 is swung, grown by fixed
The shield 106 that the straight-bar 1042 of degree connects is constant with 1 shell of sphere at a distance from, i.e., shield 106 is constant at a distance from head 2, shield 106 and
The magnetic attracting force on head 2 is constant, avoid sphere 1 of the head 2 in 1 surface moving process of sphere to the magnetic attraction on head 2 not
It is sufficient or it is unstable cause head 2 be detached from sphere 1.Directive wheel fixed frame 1044 is sheathed on one of straight-bar 1042 far from clamping element 1040
End, directive wheel fixed frame 1044 install directive wheel 1040, roll directive wheel 1040 and arc-shaped guide rail 1080 and connect, straight-bar 1042
Connect shield 106.In a kind of preferable embodiment, the rolling edge of directive wheel 1040 is inner concavity, for being embedded in guiding trestle
108 arc-shaped guide rail 1080, avoid directive wheel 1040 on arc-shaped guide rail 1080 roll when directive wheel 1040 in non-rotating direction
Upper disengaging arc-shaped guide rail 1080.Directive wheel 1040 rolls to drive straight-bar 1042 and shield 106 with first in arc-shaped guide rail 1080
Shaft 100 is branch spot wobble, and then realizes that head 2 in the variation of 1 longitude of sphere, improves the intelligence of ball shape robot.
In the present embodiment, guiding trestle 108 further include the first guide rail 1086 and be slidably connected with the first guide rail 1086
One sliding block 1081, the first sliding block 1081 are connect with directive wheel 1040 by the first extensible member 1100, and the first sliding block 1081 is first
Guide rail 1086 slides and drives directive wheel 1040 to roll in arc-shaped guide rail 1080 by the first extensible member 1100.A kind of preferable reality
It applies in mode, the first extensible member 1100 is spring, and working condition remains tensional state.In the present embodiment, the first sliding block
1081 sliding recess is dovetail groove, and the first guide rail 1086 is the dovetail shaped guide rail cooperated with the first sliding block 1081, for preventing
The first sliding block 1081 is separated from each other with the first guide rail 1086 in sliding process.First sliding block 1081 slides simultaneously in the first guide rail 1086
Directive wheel 1040 is pulled to roll in arc-shaped guide rail 1080 by the first extensible member 1100, so that straight-bar 1042 is swung, meanwhile, the
One extensible member 1100 also functions to the effect that directive wheel 1040 makes directive wheel 1040 be fitted in arc-shaped guide rail 1080 always of pullling.
In the present embodiment, guiding trestle 108 further includes second support 1082, the second motor 1083, the second driving gear
1084 and rack gear 1085, the second driving gear 1084 is connect with the first sliding block 1081 by second support 1082, rack gear 1085 with
The engagement of second driving gear 1084, the second motor 1083 drive the second relative motion on rack gear 1085 of driving gear 1084, from
And the first sliding block 1081 is driven to slide in the first guide rail 1086 by second support 1082.Specifically, rack gear 1085 is led with first
The direction of rail 1086 is consistent, to drive the first sliding block 1081 to exist when the second driving gear 1084 moves on rack gear 1085
It is slided on first guide rail 1086 to identical direction.Further, second support 1082 and rocker device 104 are rotated by bearing
Connection, to fix second support 1082 by rocker device 104, while when rocker device 104 is swung, due to rocker device
104 change in location, second support 1082 still are able to connect with rocker device 104.
In conjunction with Fig. 8 and Fig. 9, in the present embodiment, shield 106 includes shield disk 1060, magnetic devices 1062 and sleeve 1064, sleeve
1064 are sheathed on straight-bar 1042 and are fixed to each other with directive wheel fixed frame 1044, so that shield disk 1060 be made to connect rocker device
104, magnetic devices 1062 are uniformly distributed in shield disk 1060 away from 1064 side of sleeve, for magnetic connection head 2.Specifically,
Shield 106 is the discoid of hollow out, discoid to be conducive to be uniformly distributed magnetic devices 1062, with uniform adsorption head 2, prevents head 2
It is detached from sphere 1, hollow design reduces the weight of shield 106, to reduce the load of 2 driving assembly 10 of head, saves electricity, improves
The cruising ability of ball shape robot.Further, shield 106 is additionally provided with universal rolling wheel 1068, to reduce table in shield 106 and sphere 1
The frictional force in face.
In the present embodiment, rocker device 104 further includes the first spline mother 1102, and the first spline mother 1102 is sheathed on straight-bar
It on 1042, and is fixed between directive wheel fixed frame 1044, for preventing directive wheel fixed frame 1044 from rotating relative to straight-bar 1042.
Specifically, the section of straight-bar 1042 is and the female 1102 clearance fit spline-shapeds of the first spline.
In the present embodiment, head driving assembly 10 further includes the second extensible member 1104, the second extensible member 1104 connection first
Support 1020 and straight-bar 1042, for assisting control rocker device 104 to swing.Specifically, 1104 one end of the second extensible member is fixed
First support 1020, the other end are fixed on straight-bar 1042 by fixed bracket, and rocker device 104 further includes the second spline mother
1106, the second spline mother 1106 is sheathed on straight-bar 1042, and is fixedly connected with the fixed branch for fixing the second extensible member 1104
Frame, to keep the draw direction of the second extensible member 1104 to be parallel to straight-bar 1042.In a kind of preferable embodiment, second is flexible
Part 1104 is spring, and working condition is in tensional state, can play the role of auxiliary and control the swing of rocker device 104,
Balance motor torsion reduces energy consumption.
Rotating basis 102 controls the rocker device 104 being installed on rotating basis 102 and shield 106 and revolves with respect to main support 12
Turn, at the same rocker device 104 and shield 106 with first rotating shaft 100 for branch spot wobble, the magnetic connection head 2 of shield 106 and with head 2
The motion state of opposing spheres 1 is consistent, thus under the stationary state of ball shape robot, head 2 can be on 1 surface of sphere to appointing
Meaning direction relative motion, 2 position of head can change according to the job requirement of built-in function element, improve ball shape robot
Intelligence, the user experience of man-machine communication's function is high, meets the requirement of domestic robot.
Referring to Fig. 10, the embodiment of the present invention also provides a kind of ball shape robot, ball shape robot include sphere 1 and with
The upper head 2, head 2 are connect with 1 magnetism of sphere, carrying hoofing part component, head driving assembly 10, electricity in sphere 1
Source etc., hoofing part component drive spherical machine by the frictional force of 1 outer surface of sphere and ground for driving sphere 1 to rotate
People's walking, the magnetic connection head 2 of head driving assembly 10 are adsorbed on the movement of 1 outer surface of sphere for controlling head 2.In sphere 1
When remaining static, head driving assembly 10 controls head 2 and is moved to any position on 1 surface of sphere, i.e. head 2 can be with
1 surface of sphere is track in the movement of the direction XYZ, meanwhile, the function element in robot head 2 is using the central axis on head 2 as axis
Line independently rotates, to change the working condition of the function element built in head 2, such as the position change by changing head 2
The shooting angle etc. of camera built in head 2, improves the intelligence of ball shape robot.
Also referring to Figure 12, Figure 13, Figure 14 and Figure 15, robot head 2 includes pedestal 200, tray supporter 202, function
It can device 204 and driving gear set 206.The magnetic connection sphere 1 of pedestal 200, specifically, pedestal 200 is equipped with multiple magnetic dresses
2002 are set, magnetic devices 2002 are uniformly distributed, and the shield 144 of the magnetic devices 2002 on pedestal 200 and head driving assembly
On magnetic devices 2002 correspond so that pedestal 200 and 144 uniform adsorption of shield, avoid head 2 from being detached from sphere 1.One kind compared with
In good embodiment, magnetic devices 2002 use permanent magnet or electromagnet.Further, pedestal 200 contacts the side of sphere 1
Multiple equally distributed universal rolling wheels 2004 are additionally provided with, universal rolling wheel 2004 is in rolling contact with sphere 1, to reduce head driving
The frictional force on component head 2 and 1 surface of sphere when drive head 2 is in 1 apparent motion of sphere reduces energy loss.
Further, driving gear set 206 is installed on pedestal 200, and driving gear set 206 includes intermeshing active
The head driving motor 2060 that wheel 2062 and driven wheel 2064, driving wheel 2062 and driving driving wheel 2062 rotate passes through pedestal
200 brackets are mounted on pedestal 200, and driven wheel 2064 is also mounted on 200 bracket of pedestal, the driving master of head driving motor 2060
Device rotation of the rotation of driving wheel 2062 to drive driven wheel 2064 and be fixed on driven wheel 2064.A kind of preferable embodiment party
In formula, the rotary shaft of driven wheel 2064 is the center line of pedestal 200.Tray supporter 202 is fixed on the driven of driving gear set 206
Wheel 2064, and be rotatablely connected by driven wheel 2064 and pedestal 200, it is used for specifically, tray supporter 202 is equipped with multiple fixation holes
Function element 204 is fixedly mounted, in order to guarantee that there is tray supporter 202 enough intensity to carry each function element 204, pallet branch
The metal material production high using intensity of frame 202, while hollow design is done to tray supporter 202, to reduce tray supporter 202
Weight, to reduce the load of rotation.In a kind of preferable embodiment, the central axis and driven wheel 2064 of tray supporter 202
Rotary shaft fix so that tray supporter 202 is identical as the rotation formula of driven wheel 2064.Function element 204 is fixed on pallet
On bracket 202, the driving wheel 2062 of driving gear set 206 is rotatablely connected pedestal 200 and drives tray supporter 202 and function element
The rotation of 204 opposite bases 200, the devices such as magnetic devices 2002, universal rolling wheel 2004 connect pedestal 200 and opposing spheres 1 are static,
Only make that the rotation of opposing spheres 1 is needed to rotate with the function element 204 for realizing human-computer interaction function, other devices do not rotate, machine
The load that device head part 2 rotates is small, and electric quantity consumption is small, enhances the cruising ability of ball shape robot, and reduce head 2
Rotation delay, rotational efficienty is higher, and ball shape robot intelligence is higher, and user experience is good, and the use for meeting domestic robot is wanted
It asks.
In the present embodiment, robot head 2 further includes the upper cover 208 being rotatablely connected with pedestal 200, and upper cover 208 is fixed to be connected
Tray supporter 202 is connect, upper cover 208 and pedestal 200 form closed shell and accommodating tray bracket 202, function element 204 and biography
Moving gear group 206 makes ball shape robot have certain radix saposhnikoviae, waterproof and dustproof to protect each mechanism and the device in head 2
Ability improves the adaptive capacity to environment of ball shape robot.Further, upper cover 208 is fixedly connected with tray supporter 202, from
And can be rotated with tray supporter 202 together opposite base 200, meanwhile, transparent viewing window is offered in upper cover 208, is used for
Function element 204 in engagement head 2 carries out man-machine communication, and opposite base 200 rotates together for upper cover 208 and function element 204,
I.e. upper cover 208 remains opposing stationary with function element 204, and upper cover 208 does not influence the normal work of function element 204.
Figure 16 is please referred to, Fig. 5 is the junction sectional view of tray supporter provided in an embodiment of the present invention and upper cover, as schemed institute
Show, tray supporter 202 is equipped with positioning groove 2022, and the corresponding positioning groove 2022 of upper cover 208 is equipped with positioning protrusion 2082, positions recessed
Slot 2022 cooperates with positioning protrusion 2082 to be fixedly connected with tray supporter 202 and upper cover 208.Further, positioning protrusion 2082
It is interference fitted with positioning groove 2022, when driving upper cover 208 to rotate for reducing tray supporter 202, the rotation of upper cover 208 is opposite
The delay that tray supporter 202 rotates improves the reaction speed that upper cover 208 rotates.
In the present embodiment, the section of positioning groove 2022 is rectangle, drives upper cover 208 to rotate to reduce tray supporter 202
When, the delay of the rotation rotation of opposing tray bracket 202 of upper cover 208.Further, upper cover 208 is polyurethane foam material, is gathered
Urethane (Polyurethane, PU) is light-weight, is conducive to reduce the whole weight in head 2, and plastic material is cheap, with
Machine-shaping reduces production cost.In a kind of preferable embodiment, tray supporter 202 and upper cover 208 are in positioning protrusion
2082 be connected by screw to fixation at positioning groove 2022, connecting hole is equipped in positioning protrusion 2082, and set in connecting hole
There is a hot-melting nut 2024, the upper cover 208 of hot-melting nut 2024 and plastic material after heating by being securely attached to together, compare
Connecting hole is fabricated to threaded hole, hot-melting nut 2024 is not easy to injure the upper cover 208 of plastic material because of being dismounted for multiple times screw.
In the present embodiment, upper cover 208 and pedestal 200 through the joint of the seam allowance, seam allowance design can closely connect upper cover 208 with
Pedestal 200 improves the sealing effect of 2 shell of head of upper cover 208 and the formation of pedestal 200, preferably radix saposhnikoviae, waterproof and dustproof, benefit
It is applied in different working environments in ball shape robot, while does not influence the relative rotation of upper cover 208 Yu pedestal 200 again.Knot
Figure 17 is closed, Fig. 6 is the seam allowance junction schematic cross-section of upper cover provided in an embodiment of the present invention and pedestal, in seam allowance junction,
Polytetrafluoroethylene ethylene layer 2000, polytetrafluoroethylene (PTFE) are equipped between male half coupling 2088 and concave mouth 2008
(Polytetrafluoroethylene, PTFE), commonly referred to as " non-sticking lining " or " material easy to clean, have antiacid alkali resistant,
The characteristics of resisting various organic solvents is practically insoluble in all solvents.Meanwhile polytetrafluoroethylene (PTFE) have the characteristics that it is resistant to high temperature, it
Coefficient of friction it is extremely low, lubricating action can be made.In the present embodiment, polytetrafluoroethylene ethylene layer 2000 is for reducing seam allowance junction upper cover
The frictional force relatively rotated between 208 and pedestal 200 enables upper cover 208 and the more flexible relative rotation of pedestal 200.
In the present embodiment, robot head 2 further includes power supply device and conducting slip ring 210, and power supply device is fixed on pedestal
In 200, for into head 2 motor and function element 204 power, conducting slip ring 210 is located at the rotation axis of driven wheel 2064
On, and it is electrically connected power supply device and function element 204, specifically, the cental axial position of driven wheel 2064 is equipped with through-hole, for pacifying
Conducting slip ring 210 is filled, when conducting slip ring 210 avoids 204 opposite base 200 of function element on tray supporter 202 from rotating, connection
The conducting wire tangled up and knotted of power supply device and linkage function device 204.
In the present embodiment, combination of the pedestal 200 using polyurethane foam material and plastic material, a kind of preferable embodiment party
In formula, plastic material uses polycarbonate (Polycarbonate, PC).Specifically, pedestal 200 is for connecting driving gear set
The part of 206 equal devices uses makrolon material, and other parts use polyurethane foam material, both ensure that the secured of connection
Property, and 1 weight of robot head can be mitigated.
In the present embodiment, function element 204 includes camera, laser radar etc., for detection operations environment, shooting photo
Etc. functions, so that ball shape robot is can be realized more man-machine communication's functions and ball shape robot to the adaptive functions of environment.
Pedestal 200 and tray supporter 202 are rotatablely connected, and function element 204 is fixed on tray supporter 202 and passes through head
Driving gear set 206 built in 2 drives the rotation of 202 opposite base 200 of tray supporter, magnetic devices 2002, universal rolling wheel 2004
Equal devices connect pedestal 200 and opposing spheres 1 are static, i.e., only make to need the rotation of opposing spheres 1 to realize human-computer interaction function
Function element 204 rotates, other devices do not rotate, and the load that robot head 2 rotates is small, and electric quantity consumption is small, enhances spherical shape
The cruising ability of robot, and the rotation delay on head 2 is reduced, rotational efficienty is higher, and ball shape robot intelligence is higher,
User experience is good, meets the requirement of domestic robot.
Above disclosed is only several preferred embodiments of the present invention, cannot limit the power of the present invention with this certainly
Sharp range, those skilled in the art can understand all or part of the processes for realizing the above embodiment, and weighs according to the present invention
Benefit requires made equivalent variations, still belongs to the scope covered by the invention.
Claims (6)
1. a kind of head driving assembly, in the sphere of ball shape robot, for controlling the head of the ball shape robot,
It is characterized in that, the head driving assembly includes rotating basis, rocker device and shield, and the rotating basis is located in the sphere
Main support on, be fixed with first rotating shaft on the rotating basis, described rocker device one end connects the first rotating shaft, another
End connects the shield, and the rotating basis drives the rocker device and the shield to rotate by rotation center of the main support,
And the rocker device and the shield are swung by the relatively described main support of fulcrum of the first rotating shaft, described in the shield abutting
The inner surface of sphere and the magnetic connection head, the head and the shield are opposing stationary, and the rotating basis includes first
Support, the first driving gear and the first driven gear, first driving gear and first driven gear are intermeshed, institute
It states the rotation of the first driving gear and controls the first driven gear rotation, first support is fixed on first driven gear
Away from the main support side, and the first rotating shaft is fixed, the head driving assembly further includes guiding trestle, the guiding
Bracket is fixedly connected with first support, and the guiding trestle is equipped with arc-shaped guide rail, and the curvature circle-center of the arc-shaped guide rail
Positioned at the centre of sphere of the sphere, the rocker device is equipped with the directive wheel cooperated with the arc-shaped guide rail, the guiding trestle
For limiting the spacing of the shield Yu the sphere inner surface, the rocker device includes that clamping element, straight-bar and directive wheel are fixed
Frame, described clamping element one end are sheathed on the first rotating shaft and rotate with the first rotating shaft and fix, and the other end is fixed described straight
Bar, the directive wheel fixed frame are sheathed on the one end of the straight-bar far from the clamping element, and the directive wheel fixed frame installs institute
Directive wheel is stated, the directive wheel and the arc-shaped guide rail is rolled and connects, the straight-bar connects the shield, the head driving group
Part further includes the second extensible member, and second extensible member connects first support and the straight-bar, for assisting described in control
Rocker device is swung.
2. head driving assembly according to claim 1, which is characterized in that first support includes fixing seat, is located at
A pair of of fixed frame of the fixing seat side, first support are fixed on first driven gear by the fixing seat
On, the first rotating shaft of the rocker device is fixed between a pair of fixed frame, so that the rocker device be made to rotate
First support is connected, the guiding trestle is fixed on first support by the fixed frame.
3. head driving assembly according to claim 2, which is characterized in that the guiding trestle further include the first guide rail and
The first sliding block being slidably connected with first guide rail, first sliding block are connect with the directive wheel by the first extensible member,
First sliding block, which slides in first guide rail and passes through first extensible member, drives the directive wheel to lead in the arc
Rail rolls.
4. head driving assembly according to claim 3, which is characterized in that the guiding trestle further include second support,
Second driving gear and rack gear, second driving gear are connect with first sliding block by the second support, the tooth
Item is engaged with second driving gear, the second driving gear relative motion on the rack gear, to pass through described the
Two brackets drive first sliding block to slide in first guide rail.
5. head driving assembly according to claim 1, which is characterized in that the radian of the arc-shaped guide rail is not more than π/4.
6. a kind of ball shape robot, which is characterized in that the ball shape robot includes that head, sphere and claim 1 to 5 are any
Head driving assembly described in one, the head include pedestal, tray supporter, function element and driving gear set, the base
Seat is magnetic to connect the head driving assembly, and the driving gear set is installed on the pedestal, and the tray supporter is located at institute
It states on pedestal and is rotatablely connected by the driving gear set and the pedestal, the function element is fixed on the tray supporter
On, working environment, the driving gear set drive the tray supporter and the function element to the function element for identification
It is rotated relative to the pedestal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710170826.6A CN106903697B (en) | 2017-03-21 | 2017-03-21 | Head driving assembly and ball shape robot |
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| CN201710170826.6A CN106903697B (en) | 2017-03-21 | 2017-03-21 | Head driving assembly and ball shape robot |
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| CN106903697A CN106903697A (en) | 2017-06-30 |
| CN106903697B true CN106903697B (en) | 2019-06-04 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908354A (en) * | 2018-06-26 | 2018-11-30 | 坎德拉（深圳）软件科技有限公司 | Interior guide rail driving assembly and ball shape robot |
| CN114248274A (en) * | 2020-09-25 | 2022-03-29 | 比亚迪股份有限公司 | Vehicle-mounted robot and vehicle with same |
| CN116749227B (en) * | 2023-08-22 | 2023-11-03 | 山东省科学院海洋仪器仪表研究所 | Mechanical arm suitable for underwater operation and fine adjustment device thereof |
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| CN106903697A (en) | 2017-06-30 |
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