CN107054487A - A kind of ball shape robot - Google Patents
A kind of ball shape robot Download PDFInfo
- Publication number
- CN107054487A CN107054487A CN201710170965.9A CN201710170965A CN107054487A CN 107054487 A CN107054487 A CN 107054487A CN 201710170965 A CN201710170965 A CN 201710170965A CN 107054487 A CN107054487 A CN 107054487A
- Authority
- CN
- China
- Prior art keywords
- guide rail
- shield
- arc
- shaped guide
- driver element
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
Abstract
The embodiment of the present invention provides a kind of ball shape robot, including spherical shell, the head assembly for being arranged at the spherical shell outer surface and the head drive component being contained in inside the spherical shell, the head drive component includes guide assembly, first driver element, second driver element, guide runner and shield, pass through magneticaction remains stationary between the shield and the head assembly, the head assembly is attached at the spherical shell outer surface, first driver element drives the guide runner to be moved on the guide assembly, to cause the head assembly to be slided in the outer surface of the spherical shell；The shield is rotationally connected with the guide runner, and second driver element drives the shield to be rotated relative to the guide runner, to cause the head assembly rotation.The ball shape robot of the present invention can control the motion of head assembly by head drive component, realize the independent control to head assembly, and the flexibility and manipulation for improving ball shape robot are experienced.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of ball shape robot.
Background technology
Ball shape robot is that drive mechanism, controller etc. are arranged on inside a spherical shell by one kind, passes through interior driving machine
Structure drives the robot of spherical shell rolling movement.Ball shape robot is that point is contacted with the way of contact on ground, can be comprehensive
Walking；With zero radius of turn, mobile and steering is flexible.In addition, ball shape robot novel in appearance, motion mode is special,
Be not afraid of overturning, will not hook other things, turn flexible, be adapted to family is this special and also complex environment under work.
Existing ball shape robot is to be satisfied with walking function mostly, and few ball shape robots include head；Or head
Structure in portion is single, it is impossible to which head is individually controlled, and especially when ball shape robot is static, head can not individually be controlled
The rotation on head, the flexibility and manipulation for being so greatly lowered ball shape robot is experienced.
The content of the invention
It is an object of the invention to provide a kind of ball shape robot, the ball shape robot includes head drive component, is used to
The head movement of ball shape robot is operated alone, the flexibility of ball shape robot is enhanced.
To achieve these goals, embodiment of the present invention provides following technical scheme：
The present invention provides a kind of ball shape robot, including spherical shell, the head for being arranged at the spherical shell outer surface
Component and the head drive component being contained in inside the spherical shell, the head drive component include guide assembly, first
Driver element, the second driver element, guide runner and shield, keep quiet between the shield and the head assembly by magneticaction
Only, the head assembly is attached at the spherical shell outer surface, and first driver element drives the guide runner in institute
State and moved on guide assembly, to cause the head assembly to be slided in the outer surface of the spherical shell；The shield rotates connection
In the guide runner, second driver element drives the shield to be rotated relative to the guide runner, to cause the head
Component rotation.
Wherein, second driver element also includes rotary shaft, and the shield is rotated with the guide runner by rotary shaft
Connection, the rotary shaft includes connecting shaft and rolling bearing, is fixedly connected between described connecting shaft one end and the guide runner,
The connecting shaft is fixedly connected close to the other end with the inner ring of the rolling bearing, the outer ring of the rolling bearing and the shield
It is fixedly connected.
Wherein, second driver element includes the 3rd motor, the 3rd gear and ring-shaped guide rail, the 3rd driving
Motor is fixedly connected with the connecting shaft, and the 3rd gear is fixed on the rotating shaft of the 3rd motor, and the annular is led
Rail is fixed on the shield, is provided with the 3rd teeth on the inside of the ring-shaped guide rail, the 3rd gear is nibbled with the 3rd teeth
Close and set.
Wherein, the center of circle of the ring-shaped guide rail and the axis collinear of the connecting shaft are set.
Wherein, the rotary shaft also includes lid and bearing outer ring lower cover on bearing inner race, and the connecting shaft is close to another
Abutting platform is provided with the position at end, the inner ring of the rolling bearing is socketed on the other end of the connecting shaft and abutted with described
Platform is abutted against, and lid is fixed on the other end of the connecting shaft on the bearing inner race, the inner ring be held on the abutting platform with
Between being covered on the bearing inner race, bearing outer ring seat is provided with the shield, the bearing outer ring lower cover passes through the connecting shaft
And be fixed on the bearing outer ring seat, the outer ring of the rolling bearing is held on the bearing outer ring seat and the bearing outer ring
Between lower cover.
Wherein, first driver element includes the first motor and fixed with the first motor rotating shaft the
One gear, first motor is fixed on the guide runner, and the guide assembly includes the first arc-shaped guide rail, and described the
Be provided with the first teeth on one arc-shaped guide rail, the guide runner is installed on first arc-shaped guide rail, the first gear with
The first teeth engagement is set, and first motor drives the guide runner to be moved up in first arc-shaped guide rail
It is dynamic.
Wherein, it is additionally provided with the guide runner on leading block, first arc-shaped guide rail and is provided with gib block, institute
State leading block to be connected on the gib block, the leading block moves to limit the guide runner on the gib block
Moving direction.
Wherein, first driver element also includes the second motor, and the guide assembly also includes chassis, described the
One arc-shaped guide rail is connected with the chassis by axis of rotation, and second motor drives first arc-shaped guide rail around institute
State axis of rotation.
Wherein, first driver element also includes the second gear being connected with the second motor rotating shaft, described
Guide assembly also includes the second arc-shaped guide rail, and second arc-shaped guide rail is fixed on the chassis, second arc-shaped guide rail
On be provided with the second teeth, second motor is fixedly connected with first arc-shaped guide rail, the second gear and institute
The engagement setting of the second teeth is stated, second motor drives the second gear to be moved on second arc-shaped guide rail,
To cause first arc-shaped guide rail around the axis of rotation.
Wherein, it is provided with universal wheel on the face away from second driver element of the shield, the shield and described universal
Gap is left between wheel and the spherical shell inner surface.
The embodiment of the present invention has the following advantages that or beneficial effect：
The embodiment of the present invention provides a kind of ball shape robot, including spherical shell, is arranged at the spherical shell outer surface
Head assembly and the head drive component that is contained in inside the spherical shell, the head drive component includes set of rails
Part, the first driver element, the second driver element, guide runner and shield, are made between the shield and the head assembly by magnetic force
With remains stationary, the head assembly is attached at the spherical shell outer surface, and the first driver element driving is described to be oriented to
Sliding block is moved on the guide assembly, to cause the head assembly to be slided in the outer surface of the spherical shell；The shield
The guide runner is rotationally connected with, second driver element drives the shield to be rotated relative to the guide runner, to cause
The head assembly rotation.The ball shape robot of the present invention can control the motion of head assembly by head drive component, real
Now to the independent control of head assembly, the flexibility and manipulation for improving ball shape robot are experienced.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the ball shape robot of the embodiment of the present invention.
Fig. 2 is drive component structural representation in head of the present invention.
Fig. 3 is another view of head drive component of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Base
Embodiment in the present invention, it is all that those of ordinary skill in the art are obtained on the premise of creative work is not made
Other embodiments, belong to the scope of protection of the invention.
In addition, the explanation of following embodiment is with reference to additional diagram, the spy implemented to illustrate the present invention can be used to
Determine embodiment.The direction term being previously mentioned in the present invention, for example, " on ", " under ", "front", "rear", "left", "right", " interior ",
" outer ", " side " etc., are only the directions with reference to annexed drawings, therefore, and the direction term used is to more preferably, more clearly say
It is bright and understand the present invention, rather than indicate or infer the device or element of meaning and must have specific orientation, with specific side
Position construction and operation, therefore be not considered as limiting the invention.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or detachably connected, or integratedly be connected
Connect；Can mechanically connect；Can be joined directly together, can also be indirectly connected to by intermediary, can be in two elements
The connection in portion.For the ordinary skill in the art, the tool of above-mentioned term in the present invention can be understood with concrete condition
Body implication.
In addition, in the description of the invention, unless otherwise indicated, " multiple " are meant that two or more.If this
Occur the term of " process " in specification, it refers not only to independent process, when can not clearly be distinguished with other processes, as long as
It can realize that the effect desired by the process is then also included within this term.In addition, the numerical value model represented in this specification with "~"
Enclose the scope for referring to that the numerical value recorded before and after "~" is included as minimum value and maximum.In the accompanying drawings, structure
Similar or identical is indicated by the same numeral.
Refer to Fig. 1.Fig. 1 is the structural representation of the ball shape robot of the embodiment of the present invention.It is spherical in the present embodiment
Robot mainly includes：Spherical shell 30, walking mechanism 20, head assembly 10 and head drive component 50.The walking mechanism
20 and the head drive component 50 be contained in inside the spherical shell 30.The walking mechanism 20 and the spherical shell 30
Contacted inner surfaces connect, and for driving the spherical shell 30 to roll and then realizing the omnibearing ambulation of robot, because of the row
It is not the emphasis that the present invention is protected to walk mechanism 20, is not described in detail in herein.The head drive component 50 is used to drive institute
Move the outer surface that head assembly 10 is stated relative to the spherical shell 30.The walking mechanism 20 and the head drive component
50 work independently from each other.It is understood that because walking mechanism 20 is worked independently from each other with the head drive component 50.
That is, no matter whether the walking mechanism 20 works, the head drive component 50 can drive the head assembly 10 around
The centre of sphere of the spherical shell 30 is rotated.Include following situation：
1. spherical robot is kept, original place is static, i.e., described spherical housing is static, and the head drive component 50 drives institute
The centre of sphere that head assembly 10 is stated around the spherical shell 30 is rotated.
2. spherical robot is travel condition, i.e., described spherical housing is rolling condition, and the head drive component 50 drives
The centre of sphere that the head assembly 10 is moved around the spherical shell 30 is rotated.
Please refer to Fig. 2.Fig. 2 is drive component structural representation in head of the present invention.Specifically, the head driving group
Part 50 includes guide assembly 51, the first driver element, the second driver element, guide runner 522 and shield 53.The shield 53 can be big
Cause to be provided with the first magnet 531 on rounded frame structure, shield 53, the second magnet is correspondingly provided with the head assembly 10
(not shown), first magnet 531 and the second magnet magnetic are attracting so that the head assembly 10 is attached at the ball
The outer surface of shape housing 30, and the head assembly 10 keeps geo-stationary with the shield 53 in the presence of magnetic force.It is described to lead
Rail assembly 51 is fixedly connected with the walking mechanism 20.First driver element connects the guide assembly 51 and the guiding
Sliding block 522, the shield 53 is rotationally connected with the guide runner 522, and the shield 53 can follow the guide runner 522 together
Motion.The guide runner 522 is installed on the guide assembly 51, and first driver element is used to drive described be oriented to slide
Block 522 is moved on the guide assembly 51, to cause the head assembly 10 corresponding in the outer surface of the spherical shell 30
Slide.Second driver element drives the shield 53 to be rotated relative to the guide runner 522, to cause the head assembly 10
Follow the rotation of shield 53.It is preferred that, gap is left between shield 53 and the spherical shell 30 inner surface, it is described to reduce
The frictional force that shield 53 is contacted in motion process with the inner surface of spherical shell 30.
It is understood that at least one in first magnet 531 and second magnet is magnet, another can
Magnet or iron block are thought, herein not to be limited.
The ball shape robot of the present invention includes spherical shell 30, is arranged at the head assembly of the outer surface of spherical shell 30
10 and the head drive component 50 that is contained in the spherical shell 30 inside described in head drive component 50 including guide assembly 51,
First driver element, the second driver element, guide runner 522 and shield 53, pass through between the shield 53 and the head assembly 10
Magneticaction remains stationary, the head assembly 10 is attached at the outer surface of spherical shell 30, and first driver element drives
Move the guide runner 522 to move on the guide assembly 51, to cause the head assembly 10 in the spherical shell 30
Outer surface slide；The shield 53 is rotationally connected with the guide runner 522, and second driver element drives the phase of shield 53
The guide runner 522 is rotated, to cause the rotation of head assembly 10.No matter the ball shape robot is in static or rolling
Dynamic state, can drive the movement of the head assembly 10, second by the first driver element in head drive component 50
Driver element drives the rotation of the head assembly 10, and control head assembly 10 is in the movement of the outer surface of spherical shell 30 and oneself
Turn, realize the independent control to head assembly 10, the flexibility and manipulation for improving ball shape robot are experienced.
In a kind of possible implementation of the present invention, the guide runner 522 is substantially in " Jiong " shape, the guide runner
Leading block 526 is each provided with 522 two madial walls.Specifically, the leading block 526 (is not compiled with pulley fixed frame
Number) connection is rotated, the pulley fixed frame is fixed on the inner side of guide runner 522.The rotary shaft of the leading block 526 is hung down
Directly in the top of the guide runner 522.
Specifically, the shield 53 is connected on the top of the guide runner 522, and when the guide runner 522 is moved, institute
Stating shield 53 follows the guide runner 522 to move together.First driver element includes the first motor 521 and the first tooth
Wheel 523.The guide assembly 51 includes the first arc-shaped guide rail 511 and chassis 512, and first arc-shaped guide rail 511 is connected to institute
State on chassis 512, the chassis 512 is connected with the walking mechanism 20.First arc-shaped guide rail 511 includes two first companies
The first segmental arc 5112 for connecing section 5111 and being connected between two the first linkage sections 5111, described two first linkage sections 5111
It is symmetrical arranged, the plane of symmetry of described two first linkage sections 5111 passes through the centre of sphere of the spherical shell 30.The mesh so set
Be, when the guide runner 522 is moved on first arc-shaped guide rail 511, drive the shield 53 and the head
Component 10 can be moved around the centre of sphere of spherical shell 30, it is ensured that distance keeps constant, head between shield 53 and head assembly 10
Magnetic force between component 10 and shield 53 is stable, it is to avoid head assembly 10 is rocked, and is prevented outside the separable spherical housing 30 of head assembly 10
Surface.First arc-shaped guide rail 511 is connected to the chassis 512 by first linkage section 5111.It is understood that
If if the rigidity of first arc-shaped guide rail 511 is enough, the quantity of first linkage section 5111 can also be one.Institute
State and multiple first teeth 5113 are provided with the outer peripheral face of the first segmental arc 5112, on two sides of first segmental arc 5112
It is each provided with a gib block 5114.The guide runner 522 is installed on first arc-shaped guide rail 511, and each described leads
It is connected in pulley 526 described in one on gib block 5114, the leading block 526 moves to limit on the gib block 5114
The moving direction of the guide runner 522.First motor 521 is fixedly connected with the guide runner 522, and described
The first gear 523, the first gear 523 and first teeth 5113 are fixed with the rotating shaft of one motor 521
Engagement is set.First motor 521 drives the first gear 523 to rotate, the first gear 523 and described first
The engagement of teeth 5113 so that the guide runner 522 is moved on first arc-shaped guide rail 511.It may be appreciated
It is that guide runner 522 is moved on first arc-shaped guide rail 511, drives together with the shield 53 that the guide runner 522 is connected
It is mobile, due to keeping geo-stationary between the head assembly 10 and the shield 53 and being attached at and the outer surface of spherical shell 30.
I.e. described head assembly 10 can be slided in the outer surface of spherical shell 30.
In a kind of possible implementation of the present invention, the guide assembly 51 also includes the second arc-shaped guide rail 513.Described
One driver element also includes the second motor 524 and second gear 525.Specifically, first arc-shaped guide rail 511 passes through institute
State two the first linkage sections 5111 and be rotationally connected with the chassis 512.It is preferred that, the chassis 512 can be carbon fibre material
It is made.Further specifically, being each provided with rotating shaft 5110, first arc-shaped guide rail on two first linkage sections 5111
511 are connected by the rotating shaft 5110 with the chassis 512 rotation, and the rotating shaft 5110 and second arc-shaped guide rail
513 center of circle is conllinear.The purpose so set is, when first arc-shaped guide rail 511 is rotated around the rotating shaft 5110, band
The centre of sphere that the shield 53 and head assembly 10 are moved around the spherical shell 30 is moved, it is ensured that distance between shield 53 and head assembly 10
Keep constant, the magnetic force between head assembly 10 and shield 53 is stable, it is to avoid head assembly 10 is rocked.Second motor
524 drive for driving first arc-shaped guide rail 511 to be rotated around the rotating shaft 5110.Specifically, the second gear 525 with
The rotating shaft of second motor 524 connection.Second arc-shaped guide rail 513 include two the second linkage sections 5116 and connection
The second segmental arc 5117 between two the second linkage sections 5116, two the second linkage sections of second arc-shaped guide rail 513
5116 are symmetrical arranged, and its plane of symmetry passes through the centre of sphere of the spherical shell 30.The purpose so set is, when described second
When the second gear 525 that motor 524 drives is moved on second arc-shaped guide rail 513, first arc-shaped guide rail
511 rotate around the rotating shaft 5110 just.Specifically, second arc-shaped guide rail 513 is solid by second linkage section 5116
Due on the chassis 512.The second teeth 5118 are provided with the outer peripheral face of second segmental arc.Second motor
524 are fixedly connected with the first linkage section of first arc-shaped guide rail 511, the second gear 525 and second teeth
5118 engagements are set.Second motor 524 drives the second gear 525 to rotate, due to the second gear 525 with
The engagement of second teeth 5118 so that the second gear 525 is relative on second arc-shaped guide rail 513 to move
It is dynamic, first arc-shaped guide rail 511 is driven around the axis of rotation.
In a kind of possible implementation of the present invention, plane and second arc where first arc-shaped guide rail 511
Plane where shape guide rail 513 is orthogonal.So set and be advantageous in that, the guide runner 522 and shield 53 are (by described
When being moved on the guide assembly 51 of the first arc-shaped guide rail 511 and second arc-shaped guide rail 513 composition) there are two vertical direction
The free degree, it is ensured that the head assembly 10 can realize the motion of two frees degree on the spherical housing.
It is understood that for head assembly 10, head assembly 10 has certain weight, therefore head assembly
10 can not be excessive relative to the swing angle of the centre of sphere of the spherical shell 30.The angle of swing crosses conference and causes head assembly 10
Come off from the spherical shell 30.Understood by repeated tests, when head assembly 10 is relative to the top of spherical shell 30
Swing angle more than 45 ° when, the probability that head assembly 10 comes off from spherical shell 30 can steeply rise.Therefore, should
Deflection angle when ensureing head assembly 10 relative to peak is less than or equal to 45 °.That is, first arc-shaped guide rail
511 central angle is less than or equal to 90 °, and the central angle of second arc-shaped guide rail 513 is less than or equal to 90 °.It is preferred that, institute
The central angle of the central angle and second arc-shaped guide rail 513 of stating the first arc-shaped guide rail 511 is 80 °.
In a kind of possible implementation of the present invention, first is provided with the face away from the driver element of the shield 53
Universal wheel 532, gap is left between the shield 53 and first universal wheel 532 and the inner surface of the spherical shell 30.Specifically
, first universal wheel 532 can be universal ball wheel or Mecanum wheel.The effect of first universal wheel 532 is,
When in spherical robot motion process, the shield 53 is possible to come in contact with the inner surface of spherical shell 30 due to vibrations,
Frictional resistance when shield 53 is contacted with the inner surface of spherical shell 30 now can be reduced by first universal wheel 532.Can be with
Understand, when ball shape robot remains static, the shield 53 and the first universal wheel 532 being arranged on shield 53 and institute
State and leave gap between the inner surface of spherical shell 30 so that the shield 53 and first universal wheel 532 and the spherical shell
Do not contacted just between 30 inner surfaces, so as to reduce resistance when shield 53 is moved.
Fig. 3 is please referred to, Fig. 3 is another view of head drive component of the present invention.It is of the invention a kind of possible
In implementation, second driver element includes the 3rd motor 61, and the 3rd motor 61 is connected to described lead
To between sliding block 522 and the shield 53, the 3rd motor 61 is used to drive the shield 53 along its center of circle rotation, Jin Ershi
The rotation function in place of existing head assembly 10.Pass through the rotation of 61 drive head component of the 3rd motor 10 so that head assembly
10 free degree of the motion with rotation.
Specifically, second driver element also includes rotary shaft.The shield 53 is with the guide runner 522 by rotating
Axle 62 rotates connection.Further specifically, the rotary shaft 62 includes lid 622, bearing outer ring on connecting shaft 621, bearing inner race
Lower cover 623 and rolling bearing 624.It is fixedly connected between described one end of connecting shaft 621 and the guide runner 522 by screw.
The connecting shaft 621 is provided with abutting platform 625 on the position of the close other end, and the inner ring of the rolling bearing 624 is socketed on
The other end of the connecting shaft 621 is simultaneously abutted against with the platform 625 that abuts, and lid 622 is fixed by screw on the bearing inner race
In the other end of the connecting shaft 621, the inner ring of rolling bearing 624 is connected to the butt junction with being covered on the bearing inner race
Between 622.It is understood that the inner ring of the rolling bearing 624 is fixed and remains stationary with the connecting shaft 621.It is described
Bearing outer ring seat (not shown), the outer ring of the rolling bearing 624 and the bearing outer ring seat phase of the shield 53 are provided with shield 53
Abut, the bearing outer ring lower cover 623 is through the connecting shaft 621 and is fixed on by screw on the shield 53, the outer ring
It is held between the bearing outer ring of the shield 53 seat and the bearing outer ring lower cover 623.It is understood that the outer ring and institute
Shield 53 is stated to fix and remains stationary.
It is described further specifically, the 3rd motor 61 is fixedly connected by motor cabinet 611 with connecting shaft 621
Second driver element also includes the 3rd gear 612 being fixedly connected with the rotating shaft of the 3rd motor 61.It is described to lead the second drive
Moving cell also includes ring-shaped guide rail 63, and the ring-shaped guide rail 63 is substantially in annular, and the inner side of ring-shaped guide rail 63 is provided with the 3rd tooth
Tooth 631.That is, the ring-shaped guide rail 63 is similar to internal tooth colyliform.It is close that the ring-shaped guide rail 63 is fixed on the shield 53
On the face of the driver element.It is preferred that, the center of circle of the ring-shaped guide rail 63 and the axis of the rotary shaft 62 (connecting shaft 621)
Collinearly.The purpose so set is to cause the center of circle rotation of the shield 53 and head assembly 10 along shield 53.3rd gear
612 engage setting with the teeth on the ring-shaped guide rail 63.When the 3rd motor 61 drives 612 turns of the 3rd gear
When dynamic, due to the 3rd gear 612 and the engagement of the 3rd teeth 631, the ring-shaped guide rail 63 drive the shield 53 and
The outer ring of rolling bearing 624 is rotated relative to the inner ring of the rolling bearing 624 together.That is, the shield 53 is around described
Rotary shaft 62 is rotated, and then drives the rotation of head assembly 10.
In a kind of possible implementation of the present invention, the head assembly 10 includes the universal wheel 13 of head capsule 11 and second.Can
Choosing, above-mentioned second magnet can be contained in the head capsule 11.The quantity of second universal wheel is multiple, and the multiple the
Two universal wheels 13 are uniformly distributed on the end face of the close spherical shell 30 of the head capsule.Second universal wheel 13 and institute
Spherical shell 30 is stated to abut against.Second universal wheel 13 can reduce when head assembly 10 is slided relatively with spherical shell 30
Frictional force.Specifically, second universal wheel 13 can be Mecanum wheel or universal ball wheel etc..
It is understood that also including Power Supply Assembly, control assembly, information transfer group in the ball shape robot of the present invention
Part, sensory package etc..Because it is not the emphasis of the present invention, therefore exhaustive presentation is not made.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the feature that the embodiment or example are described
It is contained at least one embodiment of the present invention or example.In this manual, the schematic representation of above-mentioned term is differed
Surely identical embodiment or example are referred to.Moreover, specific features, structure, material or the feature of description can be any one
Combined in an appropriate manner in individual or multiple embodiments or example.
Embodiments described above, does not constitute the restriction to the technical scheme protection domain.It is any in above-mentioned implementation
Modifications, equivalent substitutions and improvements made within the spirit and principle of mode etc., should be included in the protection model of the technical scheme
Within enclosing.
Claims (10)
1. a kind of ball shape robot, it is characterised in that including spherical shell, be arranged at the head group of the spherical shell outer surface
Part and the head drive component being contained in inside the spherical shell, the head drive component include guide assembly, the first drive
Moving cell, the second driver element, guide runner and shield, keep quiet between the shield and the head assembly by magneticaction
Only, the head assembly is attached at the spherical shell outer surface, and first driver element drives the guide runner in institute
State and moved on guide assembly, to cause the head assembly to be slided in the outer surface of the spherical shell；The shield rotates connection
In the guide runner, second driver element drives the shield to be rotated relative to the guide runner, to cause the head
Component rotation.
2. ball shape robot as claimed in claim 1, it is characterised in that second driver element also includes rotary shaft, institute
State to rotate by rotary shaft between shield and the guide runner and connect, the rotary shaft includes connecting shaft and rolling bearing, described
It is fixedly connected between connecting shaft one end and the guide runner, the inner ring of the connecting shaft other end and the rolling bearing is fixed
Connection, the outer ring of the rolling bearing is fixedly connected with bearing with the shield.
3. ball shape robot as claimed in claim 2, it is characterised in that second driver element includes the 3rd driving electricity
Machine, the 3rd gear and ring-shaped guide rail, the 3rd motor are fixedly connected with the connecting shaft, and the 3rd gear is fixed on
The rotating shaft of 3rd motor, the ring-shaped guide rail is fixed on the shield, and the 3rd is provided with the inside of the ring-shaped guide rail
Teeth, the 3rd gear engages setting with the 3rd teeth.
4. ball shape robot as claimed in claim 3, it is characterised in that the center of circle of the ring-shaped guide rail and the connecting shaft
Axis collinear is set.
5. ball shape robot as claimed in claim 2, it is characterised in that the rotary shaft also includes lid and axle on bearing inner race
Bearing outer-ring lower cover, the connecting shaft is being provided with abutting platform, the interior snare of the rolling bearing on the position of its other end
It is connected to the other end of the connecting shaft and is abutted against with the platform that abuts, lid is fixed on the connecting shaft on the bearing inner race
The other end, the inner ring is held on the abutting platform and the bearing inner race between lid, and the bearing outer ring lower cover passes through institute
State connecting shaft and be fixed on the bearing outer ring seat, the outer ring of the rolling bearing is held on the shield and the bearing outer ring
Between lower cover.
6. ball shape robot as claimed in claim 1, it is characterised in that first driver element includes the first motor
And the first gear fixed with the first motor rotating shaft, first motor is fixed on the guide runner, institute
Stating guide assembly includes being provided with the first teeth on the first arc-shaped guide rail, first arc-shaped guide rail, and the guide runner is installed
In first arc-shaped guide rail, the first gear engages setting with first teeth, and first motor drives institute
Guide runner is stated to move on first arc-shaped guide rail.
7. ball shape robot as claimed in claim 6, it is characterised in that be additionally provided with leading block on the guide runner,
Gib block is provided with first arc-shaped guide rail, the leading block is connected on the gib block, and the leading block exists
Move to limit the moving direction of the guide runner on the gib block.
8. ball shape robot as claimed in claim 6, it is characterised in that first driver element also includes the second driving electricity
Machine, the guide assembly also includes chassis, and first arc-shaped guide rail is connected with the chassis by axis of rotation, and described second
Motor drives first arc-shaped guide rail around the axis of rotation.
9. ball shape robot as claimed in claim 6, it is characterised in that first driver element also includes and described second
The second gear of motor rotating shaft connection, the guide assembly also includes the second arc-shaped guide rail, and second arc-shaped guide rail is consolidated
Due on the chassis, being provided with the second teeth on second arc-shaped guide rail, second motor and first arc
Shape guide rail is fixedly connected, and the second gear engages setting with second teeth, the second motor driving described the
Two gears are moved on second arc-shaped guide rail, to cause first arc-shaped guide rail around the axis of rotation.
10. ball shape robot as claimed in claim 1, it is characterised in that remote second driver element of the shield
Universal wheel is provided with face, gap is left between the shield and the universal wheel and the spherical shell inner surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710170965.9A CN107054487B (en) | 2017-03-21 | 2017-03-21 | Spherical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710170965.9A CN107054487B (en) | 2017-03-21 | 2017-03-21 | Spherical robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107054487A true CN107054487A (en) | 2017-08-18 |
| CN107054487B CN107054487B (en) | 2020-04-14 |
Family
ID=59621225
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710170965.9A Active CN107054487B (en) | 2017-03-21 | 2017-03-21 | Spherical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107054487B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908356A (en) * | 2018-06-26 | 2018-11-30 | 坎德拉（深圳）软件科技有限公司 | Outer guide driving assembly and ball shape robot |
| CN108908355A (en) * | 2018-06-26 | 2018-11-30 | 坎德拉（深圳）软件科技有限公司 | Steel rope drive component and ball shape robot |
| CN108908357A (en) * | 2018-06-26 | 2018-11-30 | 坎德拉（深圳）软件科技有限公司 | Driving assembly and robot |
| 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 |
| CN109015667A (en) * | 2018-06-26 | 2018-12-18 | 坎德拉（深圳）软件科技有限公司 | Ball shape robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11114234A (en) * | 1997-10-15 | 1999-04-27 | Sony Corp | Spherical shell body moving apparatus |
| US8210289B1 (en) * | 2010-01-12 | 2012-07-03 | The United States Of America, As Represented By The Secretary Of The Navy | High velocity microbot |
| CN104670354A (en) * | 2014-12-29 | 2015-06-03 | 北京航天测控技术有限公司 | Global robot driven by jump gear |
| CN105128967A (en) * | 2015-08-28 | 2015-12-09 | 北京交通大学 | Omni-directional motion spherical robot |
| US9390847B1 (en) * | 2015-02-19 | 2016-07-12 | The United States Of America As Represented By The Secretary Of The Navy | System and method for electromagnetic-based propulsion |
| CN105947006A (en) * | 2016-05-09 | 2016-09-21 | 京东方科技集团股份有限公司 | Spherical robot and control method |
| CN205615604U (en) * | 2016-05-09 | 2016-10-05 | 京东方科技集团股份有限公司 | Spherical robot |
| CN205657634U (en) * | 2016-04-08 | 2016-10-19 | 合肥中南光电有限公司 | Dye -sensitized solar device |
| CN106393128A (en) * | 2016-09-22 | 2017-02-15 | 重庆邮电大学 | Deformable and reconfigurable spherical rescue robot |
-
2017
- 2017-03-21 CN CN201710170965.9A patent/CN107054487B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11114234A (en) * | 1997-10-15 | 1999-04-27 | Sony Corp | Spherical shell body moving apparatus |
| US8210289B1 (en) * | 2010-01-12 | 2012-07-03 | The United States Of America, As Represented By The Secretary Of The Navy | High velocity microbot |
| CN104670354A (en) * | 2014-12-29 | 2015-06-03 | 北京航天测控技术有限公司 | Global robot driven by jump gear |
| US9390847B1 (en) * | 2015-02-19 | 2016-07-12 | The United States Of America As Represented By The Secretary Of The Navy | System and method for electromagnetic-based propulsion |
| CN105128967A (en) * | 2015-08-28 | 2015-12-09 | 北京交通大学 | Omni-directional motion spherical robot |
| CN205657634U (en) * | 2016-04-08 | 2016-10-19 | 合肥中南光电有限公司 | Dye -sensitized solar device |
| CN105947006A (en) * | 2016-05-09 | 2016-09-21 | 京东方科技集团股份有限公司 | Spherical robot and control method |
| CN205615604U (en) * | 2016-05-09 | 2016-10-05 | 京东方科技集团股份有限公司 | Spherical robot |
| CN106393128A (en) * | 2016-09-22 | 2017-02-15 | 重庆邮电大学 | Deformable and reconfigurable spherical rescue robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908356A (en) * | 2018-06-26 | 2018-11-30 | 坎德拉（深圳）软件科技有限公司 | Outer guide driving assembly and ball shape robot |
| CN108908355A (en) * | 2018-06-26 | 2018-11-30 | 坎德拉（深圳）软件科技有限公司 | Steel rope drive component and ball shape robot |
| CN108908357A (en) * | 2018-06-26 | 2018-11-30 | 坎德拉（深圳）软件科技有限公司 | Driving assembly and robot |
| 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 |
| CN109015667A (en) * | 2018-06-26 | 2018-12-18 | 坎德拉（深圳）软件科技有限公司 | Ball shape robot |
| CN108908355B (en) * | 2018-06-26 | 2021-10-15 | 坎德拉（深圳）软件科技有限公司 | Steel wire rope driving assembly and spherical robot |
| CN108908357B (en) * | 2018-06-26 | 2022-04-19 | 坎德拉（深圳）软件科技有限公司 | Drive assembly and robot |
| CN109015667B (en) * | 2018-06-26 | 2022-05-03 | 坎德拉（深圳）软件科技有限公司 | Spherical robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107054487B (en) | 2020-04-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107054487A (en) | A kind of ball shape robot | |
| JP5292283B2 (en) | Omnidirectional drive device and omnidirectional vehicle using the same | |
| JP3952955B2 (en) | Articulated robot | |
| US7735385B2 (en) | Joint assembly | |
| CN102672704B (en) | Differential motion driving magnetic adsorption type multifunctional wall climbing robot with small-folding-size mechanical arms | |
| CN106741268A (en) | A kind of transfer of wheeled magnetic adsorption wall climbing robot | |
| CN102689296B (en) | Novel differentially driven composite attraction type wall climbing robot | |
| CN109606495B (en) | Magnetic adsorption climbing robot | |
| CN105946451B (en) | Omni-mobile platform and its steering wheel and driving wheel | |
| CN105416428A (en) | Spherical robot with in-situ rotation function carried with control moment gyro | |
| CN202622792U (en) | Novel differential drive composite adsorption type wall-climbing robot | |
| CN102689295B (en) | Full-driven magnetic attraction type multifunctional wall climbing robot with multi-degree-of-freedom robotic arm | |
| KR102080215B1 (en) | Motorized wheel and disc type omnidirectional power steering system | |
| CN104786234A (en) | 'swing-swing-rotation' type three-freedom-degree wrist mechanism | |
| CN104723332A (en) | Direct drive type reversible wafer transmission robot | |
| CN102700646B (en) | Fully-driven magnet-adsorption type multifunctional wall-climbing robot with small folding robotic arm | |
| CN106514606A (en) | Wheel-legged double-arm robot | |
| CN108032920B (en) | Soft ground crawling robot | |
| CN106275123A (en) | A kind of on-line automatic adjustable type magnetically adsorbed wall-climbing wheel | |
| CN107089274A (en) | A kind of ball shape robot | |
| CN207473408U (en) | A kind of differential drive mechanism and automatic guide vehicle | |
| CN107128381B (en) | A kind of ball shape robot | |
| JPS6335398B2 (en) | ||
| CN106379408B (en) | Wheel undercarriage and crane | |
| CN107081763A (en) | A kind of ball shape robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210508 Address after: 415106 Guanxi Town, Dingcheng District, Changde City, Hunan Province Patentee after: Hunan candela Innovation Technology Co.,Ltd. Address before: 20 / F, sannuo wisdom building, 3012 Binhai Avenue, Yuehai street, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: CANDELA (SHENZHEN) TECHNOLOGY INNOVATION Co.,Ltd. |