CN107089274A - A kind of ball shape robot - Google Patents
A kind of ball shape robot Download PDFInfo
- Publication number
- CN107089274A CN107089274A CN201710171280.6A CN201710171280A CN107089274A CN 107089274 A CN107089274 A CN 107089274A CN 201710171280 A CN201710171280 A CN 201710171280A CN 107089274 A CN107089274 A CN 107089274A
- Authority
- CN
- China
- Prior art keywords
- guide rail
- spherical shell
- shaped guide
- shield
- arc
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
Abstract
The embodiment of the present invention provides 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 oscillating bearing, first connecting rod, guide assembly, guide runner, first driver element and shield, the first connecting rod passes through the inner ring of the oscillating bearing and fixed with the inner ring, the shield is connected to one end of the first connecting rod, pass through magneticaction remains stationary between the shield and the head assembly, the head assembly is attached at the spherical shell outer surface, the other end of the first connecting rod is connected to the guide runner, the guide runner is installed on the guide assembly, the first connecting rod and the shield are rotated around the oscillating bearing, the head assembly is driven to be moved in the outer surface of the spherical shell.The present invention can realize the effect that the independent driving head assembly is moved in the outer surface of the spherical shell.
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, especially when ball shape robot is static, it is impossible to individually control head
Rotation, be so greatly lowered ball shape robot flexibility and manipulation experience.
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 oscillating bearing, first
Connecting rod, guide assembly, guide runner, the first driver element and shield, the oscillating bearing are arranged at the spherical shell centre of sphere position
Put, the first connecting rod passes through the inner ring of the oscillating bearing and fixed with the inner ring, the shield is connected to described first and connected
One end of bar, by magneticaction remains stationary between the shield and the head assembly, the head assembly is attached at described
Spherical shell outer surface, the other end of the first connecting rod is connected to the guide runner, and the guide runner is installed on described
On guide assembly, first driver element drives the guide runner to be moved on the guide assembly, to cause described the
One connecting rod and the shield are rotated around the oscillating bearing, drive the head assembly to be moved in the outer surface of the spherical shell.
Wherein, the guide assembly includes being equipped with the first teeth and directive slide track, institute on arc-shaped guide rail, the arc-shaped guide rail
State guide runner and be installed on the directive slide track, first driver element includes the first motor, the first motor cabinet and the
One gear, first motor cabinet is fixedly connected with the guide runner, and the other end of the first connecting rod is fixed on described
One motor cabinet, first motor is fixed on first motor cabinet, and the first gear is fixed on the first driving electricity
In the rotating shaft of machine, the first gear engages setting with the first teeth, and first motor drives the guide runner to exist
Moved on the directive slide track, to cause the first connecting rod and the shield to be rotated around the oscillating bearing.
Wherein, the guide assembly also includes being provided with the second teeth, the arc-shaped guide rail on ring-shaped guide rail, ring-shaped guide rail
It is rotationally connected with the ring-shaped guide rail, first driver element also includes the second motor and is fixed on second drive
The second gear of dynamic machine shaft, second motor is fixedly connected with the arc-shaped guide rail, the second gear and institute
The engagement of the second teeth is stated, second motor drives the arc-shaped guide rail to be led relative to the ring-shaped guide rail around the annular
The center of circle of rail is rotated.
Wherein, the arc-shaped guide rail includes segmental arc and the first rotating connector, and first teeth and the guiding are slided
Rail is arranged at the segmental arc, and the segmental arc is fixedly connected with the rotating connector, and the ring-shaped guide rail includes internal gear
With the second rotating connector, second teeth are formed at the internal gear, the internal gear and second rotating connector
It is fixedly connected, first rotating connector is connected to second rotating connector, and first rotating connector being capable of phase
Second rotating connector is rotated around the center of circle of the ring-shaped guide rail.
Wherein, first rotating connector is round boss, plane and the round boss where the segmental arc
It is axially in parallel, second rotating connector includes abutting platform and clutch shaft bearing, and the clutch shaft bearing outer ring is abutted with described
Platform is fixed, and the round boss is fixedly connected with the inner ring of the clutch shaft bearing.
Wherein, the centre of sphere of the excessively described spherical shell of the plane of symmetry of the segmental arc.
Wherein, the corresponding central angle of the segmental arc is less than or equal to 90 °.
Wherein, in addition to fixed mount, the fixed mount includes chassis, column and support frame, and support frame as described above passes through described
Column is fixed on the chassis, and the arc-shaped guide rail is connected on the chassis, the outer ring of the oscillating bearing and the branch
Support is fixedly connected.
Wherein, the ring-shaped guide rail is fixed on the chassis, and the arc-shaped guide rail is rotated through the ring-shaped guide rail and connected
In on the chassis.
Wherein, it is provided with the shield in multiple first universal wheels, the multiple first universal wheel and the spherical shell
Surface is abutted against.
The embodiment of the present invention has the following advantages that or beneficial effect：
The ball shape robot of the present invention includes head drive component, and the head drive component includes fixed mount, joint shaft
Hold, first connecting rod, guide assembly, guide runner, the first driver element and shield, the outer ring of the oscillating bearing is fixed on described solid
Determine frame, the oscillating bearing is overlapped with the spherical shell centre of sphere, the first connecting rod passes through the inner ring of the oscillating bearing simultaneously
Fixed with the inner ring, the shield is connected to one end of the first connecting rod, and magnetic is passed through between the shield and the head assembly
Power acts on remains stationary, and the head assembly is attached at the spherical shell outer surface, the other end connection of the first connecting rod
To the guide runner, the guide runner is installed on the guide assembly, and the first driver element driving is described to be oriented to
Sliding block is moved on the guide assembly, to cause the first connecting rod and the shield to be rotated around the centre of sphere of spherical shell, so that
Realize the effect that the independent driving head assembly is moved in the outer surface of the spherical shell.
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 the head drive component structural representation of ball shape robot of the present invention.
Fig. 3 is the fiting relation figure of the first driver element of the invention, guide assembly and slide rail.
Fig. 4 is arc-shaped guide rail structural representation in the present invention.
Fig. 5 is guide assembly diagrammatic cross-section provided in an embodiment of the present invention.
Fig. 6 is the second structure of driving unit schematic diagram provided in an embodiment of the present invention.
Fig. 7 is the second driver element decomposing schematic representation shown in Fig. 6.
Fig. 8 is second of view of ball shape robot provided in an embodiment 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 91, walking mechanism 80, head assembly 90 and head drive component 50.The walking mechanism
80 and the head drive component 50 be contained in inside the spherical shell 91.The walking mechanism 80 and the spherical shell 91
Contacted inner surfaces connect, and for driving the spherical shell 91 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 80, is not described in detail in herein.The head drive component 50 is used to drive institute
Move the outer surface that head assembly 90 is stated relative to the spherical shell 91.The walking mechanism 80 and the head drive component
50 work independently from each other.It is understood that because walking mechanism 80 is worked independently from each other with the head drive component 50.
That is, no matter whether the walking mechanism 80 works, the head drive component 50 can drive the head assembly 90 around
The centre of sphere of the spherical shell 91 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 90 is stated around the spherical shell 91 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 90 is moved around the spherical shell 91 is rotated.
Please refer to Fig. 2 and Fig. 3.Fig. 2 is the head drive component structural representation of ball shape robot of the present invention.Fig. 3
For the fiting relation figure of the first driver element of the invention, guide assembly and slide rail.The head drive component 50 includes fixed mount
20th, guide assembly 40, guide runner 33, oscillating bearing 30, first connecting rod 31, the first driver element 45 and shield 34.
Specifically, the shield 34 can be provided with magnet holder 35, the magnet holder with generally circular frame structure on shield 34
On be fixed with the first magnet 36, the head assembly 90 and be correspondingly provided with the second magnet (not shown), first magnet with
The second magnet magnetic is attracting so that the head assembly 90 is attached at the outer surface of spherical shell 91, and the head
Component 90 keeps geo-stationary with the shield 34 in the presence of magnetic force.
The fixed mount 20 includes chassis 21, column 22 and support frame 23.Support frame as described above 23 is fixed on by column 22
On the chassis 21, the chassis 21 is fixedly connected with the walking mechanism 80.That is, the fixed mount 20 is through the row
Walk mechanism 80 and be connected to the inner surface of spherical shell 91.The chassis 21 and support frame as described above 23 are generally circular.It can manage
Solution, the centre of sphere in the center of circle of support frame as described above 23, the center of circle on the chassis 21 and the spherical shell 91 is conllinear.The support
The oscillating bearing 30 is provided with the home position of frame 23.It is understood that the outer ring of the oscillating bearing 30 and the branch
Support 23 is fixedly connected.It is preferred that, the centre of sphere of the oscillating bearing 30 and the spherical shell 91 is substantially overlapped.Described first connects
Bar 31 passes through the oscillating bearing 30, and the first connecting rod 31 is fixed with the inner ring of oscillating bearing 30, and described first connects
The one end of bar 31 is connected to the shield 34, and the shield 34 can follow described one end of first connecting rod 31 together around the oscillating bearing 30
Rotate.The other end of the first connecting rod 31 is connected to the guide runner 33, and the guide runner 33 is installed on the guide rail
On component 40.First driver element 45 drives the guide runner 33 to be moved on the guide assembly 40, to cause
Stating first connecting rod 31 drives the shield 34 to be rotated around the oscillating bearing 30, so as to drive the head assembly 90 described spherical
The outer surface of housing 91 is moved, in the motion process of head assembly 90, because shield 34 is around the spherical rotation of spherical shell 91, shield 34 and head
Distance keeps constant between parts 90, and the magnetic force between head assembly 90 and shield 34 is stable, it is to avoid head assembly 90 is rocked, and is kept away
Exempt from head assembly 90 from the outer surface of spherical shell 91 to depart from.
The present invention ball shape robot include head drive component 50, the head drive component 50 include fixed mount 20,
Oscillating bearing 30, first connecting rod 31, guide assembly 40, guide runner 33, the first driver element 45 and shield 34, the oscillating bearing
The fixed mount 20 is fixed in 30 outer ring, and the oscillating bearing 30 is overlapped with the centre of sphere of spherical shell 91, and described first connects
Bar 31 passes through the inner ring of the oscillating bearing 30 and fixed with the inner ring, and the shield 34 is connected to the one of the first connecting rod 31
End, by magneticaction remains stationary between the shield 34 and the head assembly 90, the head assembly 90 is attached at described
The outer surface of spherical shell 91, the other end of the first connecting rod 31 is connected to the guide runner 33, and the guide runner 33 is pacified
Loaded on the guide assembly 40, first driver element 45 drives the guide runner 33 to be moved up in the guide assembly 40
It is dynamic, to cause the first connecting rod 31 and the shield 34 to be rotated around the centre of sphere of spherical shell 91, so as to realize that independent driving is described
The effect that head assembly 90 is moved in the outer surface of the spherical shell 91.
In a kind of possible implementation of the present invention, the guide assembly 40 includes arc-shaped guide rail 41, the arc-shaped guide rail
41 are connected on the chassis 21.The first teeth 42 and directive slide track 43 are provided with the arc-shaped guide rail 41, it is described to be oriented to
Sliding block 33 is installed on the directive slide track 43, and the guide runner 33 moves to limit the guiding on the directive slide track 43
The moving direction of sliding block 33.First driver element 45 includes the first motor 451, the first motor cabinet 452 and the first tooth
Wheel 453, first motor cabinet 452 is fixedly connected with the guide runner 33.Connection is provided with first motor cabinet 452
Groove 454, the other end of the first connecting rod 31 is fixed in the link slot 454.In other words, the first connecting rod 31 is through institute
The first motor cabinet 452 is stated to be fixedly connected with the guide runner 33.First motor 451 is fixed on first motor
On seat 452, the first gear 453 is fixed in the rotating shaft of first motor 451, the first gear 453 and the
The engagement of one teeth 42 is set.First motor 451 drives the first gear 453 to rotate, due to the first gear
453 drive and leading that the first motor cabinet 452 is connected with the engagements of first teeth 42, first motor 451
Moved to sliding block 33 on the directive slide track 43, drive be fixedly connected with the first motor cabinet 452 first connecting rod 31 it is another
End is rotated around the oscillating bearing 30 so that the shield 34 being fixedly connected with described one end of first connecting rod 31 is around the joint shaft
30 rotations are held, so as to drive the head assembly 90 to be moved around the outer surface of spherical shell 91.
In a kind of possible implementation of the present invention, the arc-shaped guide rail 41 is rotationally connected with the chassis 21, described
First driver element 45 also includes the second motor 455, and second motor 455 is used to drive the arc-shaped guide rail 41
Center of circle rotation around the chassis 21.That is, the gyroaxis of the arc-shaped guide rail 41 crosses the centre of sphere of spherical shell 91.So
The purpose of setting is, when arc-shaped guide rail 41 is rotated relative to the chassis 21, the first connecting rod 31 and the oscillating bearing 30
Distance it is constant, it is to avoid interfere.
Further, Fig. 4 is referred to.Fig. 4 is arc-shaped guide rail structural representation.The arc-shaped guide rail 41 includes being fixedly connected
The rotating connector 412 of segmental arc 411 and first.The plane of symmetry of the segmental arc 411 passes through the centre of sphere of the spherical shell 91.
The purpose so set is, the plane of symmetry of the movement locus of the guide runner 33 along the spherical shell 91 is symmetrical.It is described
First teeth 42 are arranged at the inner peripheral surface of the segmental arc 411, and the directive slide track 43 is arranged at the side of the segmental arc 411
On.First rotating connector 412 can be with generally circular or semicircle or arc shape.It is preferred that, described first company of rotation
Fitting 412 is round boss.The segmental arc 411 is fixedly connected with first rotating connector 412.The segmental arc 411
The plane at place and the axial direction of the center of circle boss are parallel to each other.First driver element 45 also includes second gear 456, institute
Second gear 456 is stated to be fixed in the rotating shaft of second motor 455.Fig. 5 is please referred to, Fig. 5 is implemented for the present invention
The guide assembly diagrammatic cross-section that example is provided.The guide assembly 40 also includes ring-shaped guide rail 46, and the ring-shaped guide rail 46 is substantially
In annular.Specifically, the ring-shaped guide rail 46 includes shape on the rotating connector 462 of internal gear 461 and second, internal gear 461
Into there is the second teeth 463, the internal gear 461 is fixedly connected with second rotating connector 462, and described second rotates connection
Part 462 includes abutting platform 463 and clutch shaft bearing 464, and the clutch shaft bearing outer ring 464 is fixed with the platform 463 that abuts, described to support
Platform 463 is connect to be fixed on the chassis 21.The round boss is fixedly connected with the inner ring of the clutch shaft bearing 464.By institute
The interaction of the first adaptor 412 and the second rotating connector 462 is stated, the rotation direction of the arc-shaped guide rail 41 is limited, makes
The arc-shaped guide rail 41 is obtained to rotate around the center of circle of ring-shaped guide rail 46.That is, ring-shaped guide rail described in the arc-shaped guide rail 41
46 are rotationally connected with chassis 21.
Further specifically, the second gear 456 engages setting with second teeth 463.The second driving electricity
Machine 455 drives the second gear 456 to rotate, due to second gear 456 and the engagement of second teeth 463 so that
The center of circle of the arc-shaped guide rail 41 relative to the ring-shaped guide rail 46 along the ring-shaped guide rail 46 is rotated, and then the first connecting rod
31 can rotate around the oscillating bearing 30 so that the shield 34 being connected with the first connecting rod 31 is around 30 turns of the oscillating bearing
It is dynamic.
In the present embodiment the ring-shaped guide rail 46 being connected, ring-shaped guide rail 46 and chassis 21 are rotated by setting with arc-shaped guide rail 41
It is fixedly connected, second motor 455 drives arc-shaped guide rail 41 around the rotation of ring-shaped guide rail 46 so that first connecting rod 31 and shield
34 have the rotary freedom of both direction, and then the head assembly 90 can be any on the outer surface of spherical shell 91
It is mobile.
It is understood that for head assembly 90, head assembly 90 has certain weight, therefore head assembly
90 can not be excessive relative to the swing angle of the centre of sphere of the spherical shell 91.The angle of swing crosses conference and causes head assembly 90
Come off from the spherical shell 91.Understood by repeated tests, when head assembly 90 is relative to the top of spherical shell 91
Swing angle more than 45 ° when, the probability that head assembly 90 comes off from spherical shell 91 can steeply rise.Therefore, should
Deflection angle when ensureing head assembly 90 relative to peak is less than or equal to 45 °.In other words, in the arc-shaped guide rail 41
The corresponding central angle of segmental arc 411 should be less than or equal to 90 °.It is preferred that, the corresponding central angle of the segmental arc 411 is
80°。
In a kind of possible implementation of the present invention, the ball shape robot also includes the second driver element, described second
Driver element is connected between one end of the first connecting rod 31 and the shield 34.Second driver element is described for driving
Axis rotation of the shield 34 around the first connecting rod 31.In the present embodiment, the rotation of shield 34 is driven by the second driver element, entered
And head assembly 90 can be with rotation so that head assembly 90 can have can rotation the free degree.
Specifically, please referring to Fig. 6, Fig. 6 is the second structure of driving unit schematic diagram.Second driver element includes
Second motor cabinet 62, the 3rd motor 63, shaft coupling 61 and second connecting rod 65.Second motor cabinet 62 connects with described first
One end of bar 31 is fixedly connected, and the 3rd motor 63 is fixed on second motor cabinet 62, and the shaft coupling 61 is connected
The rotating shaft of 3rd motor 63 and one end of the second connecting rod 65, the other end of the second connecting rod 65 are connected to described
On shield 34.The shield 34 can follow the second connecting rod 65 to move together.3rd motor 63 is through the shaft coupling
Drive the second connecting rod 65 to rotate after 61, the shield 34 under the drive that the second connecting rod 65 is connected also can rotation so that
So that the rotation of head assembly 90.Pass through the rotation of 63 drive head component of the 3rd motor 90 so that head assembly 90
The free degree of the motion with rotation.
Further, Fig. 7 is please referred to, Fig. 7 is the second driver element decomposing schematic representation shown in Fig. 6.Described second
Driver element 60 also includes crossed universal shaft 66, the crossed universal shaft 66 be connected to the second connecting rod 65 and the shield 34 it
Between.The effect of the crossed universal shaft 66 is, in ball shape robot walking process, and the oscillating bearing 30 may deviate from
The centre of sphere of the spherical shell 91, causes to interfere between shield 34 and spherical shell 91, causes shield 34 can not be around oscillating bearing
30 swing, and cause ball shape robot operation irregularity.The crossed universal shaft 66 is set to play a part of angle compensation, it is to avoid
Shield 34 is interfered with spherical shell 91, and the grade of shield 34 exception can not be swung or damage by eliminating shield 34.
In a kind of possible implementation of the present invention, it is provided with the face away from support frame as described above 23 of the shield 34 multiple
First universal wheel 37, first universal wheel 37 connects with the contacted inner surfaces of spherical shell 91.Specifically, described first is universal
Wheel 37 can be universal ball wheel or Mecanum wheel.The effect of first universal wheel 37 is, when spherical robot motion
During, the shield 34 is possible to meeting and come in contact due to vibrations with the inner surface of spherical shell 91, now passes through described first
Universal wheel 37 can reduce frictional resistance when shield 34 is contacted with the inner surface of spherical shell 91.
Further specifically, first universal wheel 37 is Mecanum wheel, the quantity of the Mecanum wheel is 4,
The figure that the axial direction of 4 Mecanum wheels is surrounded is broadly square.
In a kind of specific embodiment of the present invention, the second connecting rod 65 includes hollow shaft 651, guide 652, connection
Cover plate 653 and spring 654, described one end of hollow shaft 651 are fixed with the shaft coupling 61, and the hollow shaft 651 is close to end
It is provided with to platform 655, the guide 652 is contained in inside the hollow shaft 651.Specifically, the guide can be rolling
Spline.The outer ring of the ball spline is fixedly connected with the hollow shaft 651, the splined shaft of the ball spline and the company
Connects cover plate 653 is fixed, and the connecting cover plate 653 is fixedly connected by screw with the crossed universal shaft 66.654 sets of the spring
In the hollow shaft 651, the spring 654 is connected to described support between platform 655 and the connecting cover plate 653.Namely
Say, the spring 654 is connected between the crossed universal shaft 66 and the hollow shaft 651.During ball shape robot proper motion,
The spring 654 is in compressive state so that the first universal wheel 37 on the shield 34 all the time with table in the spherical shell 91
Face is abutted against, it is to avoid because vibrations cause the shield 34 away from the inner surface of spherical shell 91, cause shield 34 and head assembly
Distance is excessive between 90, and the situation that head assembly 90 comes off from spherical shell 91 occurs.
In a kind of possible implementation of the present invention, second driver element 60 also includes sleeve 656 and second bearing
657, the second bearing 657 is fixed in the sleeve 656, and the hollow shaft 651 is consolidated with the inner ring of second bearing 657
Fixed, the sleeve 656 is fixedly attached to second motor cabinet 62.
Further, second driver element 60 also includes shaft coupling seat 611, and 61, the shaft coupling is hollow knot
Structure, the shaft coupling 61 is contained in the shaft coupling seat 611, and the shaft coupling seat 611 is fixed with second motor cabinet 62 to be connected
Connect.That is, the sleeve 656 is connected on second motor cabinet 62 through shaft coupling seat 611.
In a kind of possible implementation of the present invention, Fig. 8 is please referred to.Fig. 8 is spherical for an embodiment of the present invention
Second of view of robot.The head assembly 90 includes the universal wheel 902 of head capsule 901 and second.Optionally, above-mentioned second magnetic
Body can be contained in the head capsule 901.The quantity of second universal wheel 902 is multiple, the multiple second universal wheel 902
It is uniformly distributed on the end face of the close spherical shell 91 of the head capsule 901.Second universal wheel and the spherical shell
Body 91 is abutted against.Second universal wheel can reduce frictional force when head assembly 90 is slided relatively with spherical shell 91.Tool
Body, second universal wheel 902 can be Mecanum wheel or universal ball wheel etc..
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 oscillating bearing, the first company
Bar, guide assembly, guide runner, the first driver element and shield, the oscillating bearing are arranged at the spherical shell sphere center position,
The first connecting rod passes through the inner ring of the oscillating bearing and fixed with the inner ring, and the shield is connected to the first connecting rod
One end, by magneticaction remains stationary between the shield and the head assembly, the head assembly is attached at described spherical
Housing outer surface, the other end of the first connecting rod is connected to the guide runner, and the guide runner is installed on the guide rail
On component, first driver element drives the guide runner to be moved on the guide assembly, to cause described first to connect
Bar and the shield are rotated around the oscillating bearing, drive the head assembly to be moved in the outer surface of the spherical shell.
2. ball shape robot as claimed in claim 1, it is characterised in that the guide assembly includes arc-shaped guide rail, the arc
The first teeth and directive slide track are equipped with shape guide rail, the guide runner is installed on the directive slide track, and first driving is single
Member includes the first motor, the first motor cabinet and first gear, and first motor cabinet is fixedly connected with the guide runner,
The other end of the first connecting rod is fixed on first motor cabinet, and first motor is fixed on first motor cabinet,
The first gear is fixed in the rotating shaft of first motor, and the first gear engages setting, institute with the first teeth
Stating the first motor drives the guide runner to be moved on the directive slide track, to cause the first connecting rod and the shield
Rotated around the oscillating bearing.
3. ball shape robot as claimed in claim 2, it is characterised in that the guide assembly also includes ring-shaped guide rail, annular
The second teeth are provided with guide rail, the arc-shaped guide rail is rotationally connected with the ring-shaped guide rail, first driver element is also
Including the second motor and be fixed on the second gear of the second motor rotating shaft, second motor with it is described
Arc-shaped guide rail is fixedly connected, and the second gear is engaged with second teeth, and second motor drives the arc
Guide rail is rotated relative to the ring-shaped guide rail around the center of circle of the ring-shaped guide rail.
4. ball shape robot as claimed in claim 3, it is characterised in that the arc-shaped guide rail includes segmental arc and first and rotated
Connector, first teeth and the directive slide track are arranged at the segmental arc, the segmental arc and the rotating connector
It is fixedly connected, the ring-shaped guide rail includes internal gear and the second rotating connector, second teeth are formed at the internal gear,
The internal gear is fixedly connected with second rotating connector, and first rotating connector is connected to described second company of rotation
Fitting, first rotating connector can be rotated relative to second rotating connector around the center of circle of the ring-shaped guide rail.
5. ball shape robot as claimed in claim 4, it is characterised in that first rotating connector is round boss, institute
The axially in parallel of plane where segmental arc and the round boss is stated, second rotating connector includes abutting platform and first
Bearing, the clutch shaft bearing outer ring is fixed with the platform that abuts, and the inner ring of the round boss and the clutch shaft bearing, which is fixed, to be connected
Connect.
6. ball shape robot as claimed in claim 4, it is characterised in that the excessively described spherical shell of the plane of symmetry of the segmental arc
The centre of sphere.
7. ball shape robot as claimed in claim 6, it is characterised in that the corresponding central angle of the segmental arc is less than or equal to
90°。
8. ball shape robot as claimed in claim 3, it is characterised in that also including fixed mount, the fixed mount include chassis,
Column and support frame, support frame as described above are fixed on the chassis by the column, and the arc-shaped guide rail is connected to the bottom
On disk, the outer ring of the oscillating bearing is fixedly connected with support frame as described above.
9. ball shape robot as claimed in claim 8, it is characterised in that the ring-shaped guide rail is fixed on the chassis, institute
Arc-shaped guide rail is stated to be rotationally connected with the chassis through the ring-shaped guide rail.
10. ball shape robot as claimed in claim 1, it is characterised in that multiple first universal wheels, institute are provided with the shield
Multiple first universal wheels are stated to connect with the spherical shell contacted inner surfaces.
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| CN201710171280.6A CN107089274B (en) | 2017-03-21 | 2017-03-21 | A kind of ball shape robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710171280.6A CN107089274B (en) | 2017-03-21 | 2017-03-21 | A kind of ball shape robot |
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| CN107089274A true CN107089274A (en) | 2017-08-25 |
| CN107089274B CN107089274B (en) | 2019-04-16 |
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| CN201710171280.6A Active CN107089274B (en) | 2017-03-21 | 2017-03-21 | A kind of ball shape robot |
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| CN107639648A (en) * | 2017-10-27 | 2018-01-30 | 黄国彬 | A kind of robot waist structure |
| CN108974178A (en) * | 2018-06-26 | 2018-12-11 | 坎德拉（深圳）软件科技有限公司 | Universal caster structure and ball shape robot |
| US11254017B1 (en) * | 2020-11-27 | 2022-02-22 | Triple Win Technology (Shenzhen) Co. Ltd. | Mechanical positioning structure |
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| US11254017B1 (en) * | 2020-11-27 | 2022-02-22 | Triple Win Technology (Shenzhen) Co. Ltd. | Mechanical positioning structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107089274B (en) | 2019-04-16 |
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Effective date of registration: 20210511 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. |