CN107117217B - A kind of global wheel for the internal drive that robot uses - Google Patents
A kind of global wheel for the internal drive that robot uses Download PDFInfo
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- CN107117217B CN107117217B CN201710325024.8A CN201710325024A CN107117217B CN 107117217 B CN107117217 B CN 107117217B CN 201710325024 A CN201710325024 A CN 201710325024A CN 107117217 B CN107117217 B CN 107117217B
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- ball
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- outline border
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- driving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/14—Ball-type wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Hydraulic Motors (AREA)
- Reciprocating Pumps (AREA)
Abstract
The invention belongs to robotically-driven technical fields, more particularly to a kind of global wheel for the internal drive that robot uses, it includes motor, hydraulic pump, driving runner, driving runner chamber, drive shaft, ball wheel, multi-directional ball, driving spherical shell, rotary-piston, outline border, inside casing, the wherein highly pressurised liquid that hydraulic pump pumps out, into in driving runner chamber, drive driving runner rotation, driving runner drives the rotation of drive shaft again, power is just passed to ball wheel by drive shaft by hydraulic pump in this way, so that ball wheel moves；Outline border and inside casing are mounted on driving spherical shell, and the rotary-piston being mounted in multi-directional ball, and equipment of the present invention enables multi-directional ball to rotate in any angle by the cooperation of outline border and inside casing, rotary-piston and inside casing；And then drive the rotation of ball wheel and turn to, the configuration of the present invention is simple, practical function is good.
Description
Technical field
The invention belongs to robotically-driven technical field more particularly to a kind of spherical shapes for the internal drive that robot uses
Wheel.
Background technique
In current robotically-driven field, actuation techniques mainly have pneumatic, thermal drivers, micro machine driving, intellectual material to drive
A variety of actuation techniques such as dynamic and energy field driving, but many problems are still had, such as, energy consumption is high, steering system is not flexible,
Want to make to turn to more flexible, it is necessary to bigger investment, then designing a kind of turn to flexibly in the case where not improving cost
The internal driving mechanism that robot uses is necessary.
The global wheel that the present invention designs a kind of driving solves the problems, such as above.
Summary of the invention
To solve drawbacks described above in the prior art, the present invention discloses a kind of spherical shape of internal drive that robot uses
Wheel, it adopts the following technical solutions to realize.
A kind of global wheel for the internal drive that robot uses, it is characterised in that: it include ball support, ball support,
Sphere fixed plate, power unit, transmission mechanism, driving mechanism, ball wheel, driving mechanism support, support ball, wherein sphere is fixed
Plate is mounted in ball support by three equally distributed ball supports of circumferential direction, and ball supports inner surface at spherical surface, ball wheel peace
In ball support, and ball wheel outer surface and ball support inner surface cooperation；Transmission mechanism is mounted in driving mechanism, power
Unit is mounted on driving mechanism lower end；Driving mechanism external circumferential equably install there are three driving mechanism support, each driving
Mechanism supports are mounted on support ball, support ball and the cooperation of ball wheel inner surface.
Above-mentioned driving mechanism include driving runner, driving spherical shell, multi-directional ball, outline border, inside casing, the convex plug of rotary-piston, runner,
First outline border inlet and outlet, the first inside casing inlet and outlet, the second outline border inlet and outlet, third outline border inlet and outlet, the second inside casing inlet and outlet, the
Four outline borders inlet and outlet, the first inside casing chamber, the first outline border chamber, the second inside casing chamber, the second outline border chamber, the first ball inlet and outlet, the second ball
Inlet and outlet, reset spring, Fang Sai, baffle ring, drive shaft chamber, driving runner chamber, be wherein provided in multi-directional ball drive shaft chamber and
Runner chamber is driven, drive shaft chamber and driving runner chamber communicate, and driving runner is mounted in driving runner chamber, drive shaft installation
In drive shaft chamber, drive shaft is mounted on driving runner；The convex plug of runner is mounted on the outside of driving runner, drives runner chamber
On be provided with a slot, two reset springs are mounted in slot, and Fang Sai is mounted in slot, and positioned at slot Nei Fangsai one end and reset
Spring one end connection, the other end and driving runner periphery are filled in by side and the convex face contact of edge beyond the Great Wall of runner cooperates；It is provided in multi-directional ball
First ball inlet and outlet and the second ball inlet and outlet, the first ball inlet and outlet and the second ball import and export one end and are opened in universal outer surface of ball, separately
One end is opened on driving runner chamber；Driving spherical shell is mounted on the outside of multi-directional ball, and driving has cavity between spherical shell and multi-directional ball, should
There is ball, baffle ring is mounted on driving spherical shell marginal end in cavity；Driving spherical shell Internal Spherical Surface middle position be equipped with outline border and
Inside casing, outline border are contacted with inside casing with universal ball surface, and inside casing is slidably mounted on inside outline border, and is provided on the one of frame of inside casing
One inside casing is imported and exported, and the second inside casing inlet and outlet, outline border, inside casing, universal ball surface and driving spherical shell inner surface are provided on another frame
Between form the first outline border chamber and the second outline border chamber；Rotary-piston is mounted on multi-directional ball top, and is located in inside casing, and rotation is lived
The first inside casing chamber and the second inside casing chamber are formed between plug, inside casing, universal ball surface and driving spherical shell inner surface；On four angles of outline border
The first outline border inlet and outlet, the second outline border inlet and outlet, third outline border inlet and outlet and the 4th outline border inlet and outlet are had, and in first
Frame inlet and outlet are connected from the second outline border is intracavitary with the second outline border inlet and outlet by hose；Second inside casing inlet and outlet are by hose from the
One outline border is intracavitary to be connected with third outline border inlet and outlet.
Above-mentioned transmission mechanism includes drive shaft, the cone flank of tooth, cone tooth, friction pulley shaft, friction pulley, the wide wheel of friction, cone tooth
Shaft, transmission support, wherein drive shaft end is provided with the cone flank of tooth, and two transmission supports are symmetrically installed in multi-directional ball, and two
A transmission support is sequentially installed with friction pulley shaft and cone tooth shaft up and down, and friction pulley shaft is located on the upside of cone tooth shaft, cone
Cone tooth and the wide wheel of friction, cone tooth and cone flank engagement are installed in tooth shaft, friction pulley, friction pulley are installed in friction pulley shaft
Cooperate with the wide wheel of friction and ball wheel inner face.
Above-mentioned power unit includes motor, hydraulic pump, battery, motor support, and wherein motor passes through circumferential equally distributed
Three motor supports are mounted on the downside of driving spherical shell, and annular battery is mounted on the upside of motor, and hydraulic pump is mounted on battery inner ring
In face, hydraulic pump periphery and the cooperation of battery inner ring surface.First ball inlet and outlet form one group with the second ball inlet and outlet, and pass through liquid
Pressure hose is connect with hydraulic pump；First outline border inlet and outlet with the 4th outline border inlet and outlet composition one group and pass through hydraulic hose with it is hydraulic
Pump connection；Second outline border inlet and outlet form one group with third outline border inlet and outlet and are connect by hydraulic hose with hydraulic pump, hydraulic
Pump passes in and out direction by controlling to adjust the liquid of every group of inlet and outlet.
As the further improvement of this technology, above-mentioned ball support is internal to have ball, and ball wheel passes through ball and ball branch
Support cooperation.
As the further improvement of this technology, it is engaged between above-mentioned ball support and ball wheel, and coating lubricating oil.
As the further improvement of this technology, the spacing between above-mentioned baffle ring and multi-directional ball is less than driving spherical shell and multi-directional ball
Between ball diameter.
As the further improvement of this technology, above-mentioned battery is charged by wireless charging device.Battery is in
Inside ball wheel, ball wheel is rotating again, so needing to charge to battery, can dismantle ball wheel replacement battery, Huo Zhetong
Wireless charging device is crossed to charge to battery.
Relative to traditional robotically-driven technology, driving mechanism, transmission mechanism and the power unit of ball wheel in the present invention
Center of gravity under the centre of sphere of ball wheel, be in upright state by gravity drive mechanism, power unit and transmission mechanism.Multi-directional ball
It is inside provided with drive shaft chamber and driving runner chamber, drive shaft chamber and driving runner chamber communicate, and driving runner is mounted on driving and turns
It takes turns in chamber, drive shaft is mounted in drive shaft chamber；The convex plug of runner is mounted on the outside of driving runner, is driven and is provided on runner chamber
One slot, two reset springs are mounted in slot, Fang Sai be mounted on reset spring and driving runner between the first ball inlet and outlet and
Second ball inlet and outlet are connect by hydraulic hose with hydraulic pump, and the effect designed in this way is that hydraulic pump is by hydraulic hose high
Press liquid is pumped into driving runner chamber through the first ball inlet and outlet, drives driving runner rotation, when the convex plug side of the encountering plug of runner, Fang Sai
Reset spring is oppressed, is just entered in slot, the convex plug of runner is enabled smoothly to rotate the past at Fang Sai.Then reset spring makes
Side's plug pop-up, space changes between the convex plug of runner and Fang Sai in the process, squeezes highly pressurised liquid and imports and exports from the second ball and flows out,
To realize the rotation of drive shaft；Drive shaft end is provided with the cone flank of tooth, and friction rotation is equipped on two transmission supports
Axis and cone tooth shaft, and friction pulley shaft is located on the upside of cone tooth shaft, bores and is equipped with cone tooth and the wide wheel of friction in tooth shaft, bores tooth
With cone flank engagement, friction pulley is installed in friction pulley shaft, friction pulley is engaged with the wide wheel of friction and ball wheel inner face, is driven turn
The power that axis provides is transmitted to power on ball wheel after the transmission of drive mechanism, so that ball wheel rotates, for walking；Drive ball
Shell lower end is equipped with outline border and inside casing, and inside casing is mounted on inside outline border, and is located at position among outline border, is provided in first on inside casing
Frame inlet and outlet and the second inside casing inlet and outlet, it is the first outline border chamber and the second outline border chamber respectively that there are two chambers between outline border and inside casing；
Rotary-piston is mounted on multi-directional ball lower end, and is located in inside casing, and inside casing is divided into the first inside casing chamber and the second inside casing chamber, in this way
The effect of design is: disengaging of the hydraulic pump by highly pressurised liquid in the first outline border of control inlet and outlet and the second outline border inlet and outlet, control
Movement of the inside casing processed in outline border；First inside casing inlet and outlet are connected from the second outline border is intracavitary with the second outline border inlet and outlet by hose
It connects, the second inside casing inlet and outlet are connected from the first outline border is intracavitary with third outline border inlet and outlet by hose, and hydraulic pump passes through control warp
The disengaging of the highly pressurised liquid of second outline border inlet and outlet and third outline border inlet and outlet, to control movement of the rotary-piston in inside casing,
Rotary-piston relative to inside casing move along a straight line, inside casing with respect to outline border linear motion, allow in this way rotary-piston can do it is any
The rotation in direction, also allows the multi-directional ball connecting with rotary-piston to any angular turn, and multi-directional ball drives ten thousand in rotation
Drive shaft into ball rotates together, and the friction pulley in drive transmission device drives the rotation of ball wheel；Driving mechanism support and branch
Support ball is installed together, and driving mechanism support is mounted on driving spherical shell, supports ball and the contact of ball wheel, and driving structure passes through
Driving mechanism support and support ball are mounted on ball wheel, and driving mechanism support and support ball play a supportive role.
When using equipment of the present invention, the motor in power unit is started to work, and hydraulic pump is driven to start to work, hydraulic
Highly pressurised liquid is pumped into the first ball inlet and outlet by hydraulic hose by pump, and highly pressurised liquid enters driving runner by the first ball inlet and outlet
Chamber drives driving runner rotation, driving driven by rotating wheel drive shaft rotation, and drives the cone being meshed with the drive shaft cone flank of tooth
Tooth rotation, cone tooth band mantle tooth shaft rotate, and drive the friction width wheel rotation being mounted in cone tooth shaft, and the wide wheel that rubs, which drives, to rub
Wheel rotation is wiped, friction pulley drives ball wheel setting in motion；Runner it is convex plug be mounted on driving runner on, with driving runner rotation,
The convex plug of runner and side's plug contact, Fang Sai oppress reset spring, just enter intracavitary, enable the convex plug of runner smoothly at Fang Sai
The rotation past.The convex plug of runner turns over Fang Saihou, and Fang Sai is popped up under the action of reset spring, and the convex plug of runner fills in it with side in the process
Between space change, squeeze highly pressurised liquid from the second ball import and export flow out, flow back to hydraulic pump again through hydraulic hose.Hydraulic pump is logical
It crosses the first outline border of control inlet and outlet and the 4th outline border imports and exports movement of the outflow control inside casing of interior highly pressurised liquid in outline border, liquid
Press pump by control with the first inside casing inlet and outlet and the second inside casing inlet and outlet connection the second outline border import and export and third outline border into
The disengaging of interior highly pressurised liquid is exported to control movement of the rotary-piston in inside casing, rotary-piston moves along a straight line relative to inside casing,
Inside casing moves along a straight line with respect to outline border, and the rotation of any direction can be done by allowing for rotary-piston in this way, also makes to connect with rotary-piston
The multi-directional ball connect can drive the drive shaft in multi-directional ball to rotate together, drive to any angular turn, multi-directional ball in rotation
Friction pulley in dynamic transmission mechanism drives the rotation of ball wheel.
Detailed description of the invention
Fig. 1 is global facility distribution perspective view.
Fig. 2 is global facility distribution cross-sectional view.
Fig. 3 is ball support construction schematic diagram.
Fig. 4 is schematic diagram of internal structure.
Fig. 5 is internal structure perspective view.
Fig. 6 is driving mechanism support construction schematic diagram.
Fig. 7 is driving mechanism perspective view.
Fig. 8 is driving mechanism cross-sectional view figure.
Fig. 9 is driving spherical shell mount structure schematic diagram.
Figure 10 is multi-directional ball frame structural scheme of mechanism.
Figure 11 is driving runner perspective view.
Figure 12 is the convex plug structure schematic diagram of runner.
Figure 13 is multi-directional ball inner chamber structural schematic diagram.
Figure 14 is drive shaft connection schematic diagram.
Figure label title: 1, ball supports, 2, ball support, 3, sphere fixed plate, 4, power unit, 5, driver
Structure, 6, driving mechanism, 7, ball wheel, 8, driving mechanism support, 9, support ball, 10, drive shaft, 11, the cone flank of tooth, 12, transmission
Support, 13, cone tooth, 14, friction pulley shaft, 15, friction pulley, 16, the wide wheel of friction, 17, cone tooth shaft, 18, baffle ring, 19, motor,
20, motor support, 21, hydraulic pump, 22, battery, 24, driving runner, 25, driving spherical shell, 26, multi-directional ball, 27, outline border, 28, interior
Frame, 29, rotary-piston, 30, the convex plug of runner, the 31, first outline border inlet and outlet, the 32, first inside casing inlet and outlet, the 33, second outline border into
Outlet, 34, third outline border inlet and outlet, the 35, second inside casing inlet and outlet, the 36, the 4th outline border inlet and outlet, 37, reset spring, 38, side
Plug, the 39, first inside casing chamber, the 40, first outline border chamber, the 41, second inside casing chamber, the 42, second outline border chamber, the 43, first ball inlet and outlet,
44, the second ball is imported and exported, 45, drive shaft chamber, 46, driving runner chamber.
Specific embodiment
As shown in Figure 1, 2, it includes that ball supports 1, ball support 2, sphere fixed plate 3, power unit 4, transmission mechanism
5, driving mechanism 6, ball wheel 7, driving mechanism support 8, support ball 9, wherein as shown in figure 3, sphere fixed plate 3 passed through for three weeks
It is mounted in ball support 1 to equally distributed ball support 2, ball supports 1 inner surface at spherical surface, and ball wheel 7 is mounted on ball
In support 1, and 7 outer surface of ball wheel and ball support the cooperation of 1 inner surface；Transmission mechanism 5 is mounted in driving mechanism 6, power list
Member 4 is mounted on 6 lower end of driving mechanism；As shown in figure 4,6 external circumferential of driving mechanism is equably installed, there are three driving mechanism branch
Support 8, each driving mechanism support 8 are mounted on support ball 9, support ball 9 and the cooperation of 7 inner surface of ball wheel.
As shown in Figure 7,8, above-mentioned driving mechanism 6 include driving runner 24, it is driving spherical shell 25, multi-directional ball 26, outline border 27, interior
Frame 28, rotary-piston 29, runner the 30, first outline border of convex plug import and export the 31, first inside casing and import and export the 32, second outline border inlet and outlet
33, third outline border imports and exports the 34, second inside casing and imports and exports the 35, the 4th outline border inlet and outlet the 36, first inside casing chamber 39, the first outline border chamber
40, the second inside casing chamber 41, the second outline border chamber 42, the first ball import and export the 43, second ball inlet and outlet 44, reset spring 37, side plug 38,
Baffle ring 18, drive shaft chamber 45, driving runner chamber 46, wherein as shown in figure 13,45 He of drive shaft chamber is provided in multi-directional ball 26
Runner chamber 46 is driven, drive shaft chamber 45 and driving runner chamber 46 communicate, and as shown in figure 11, driving runner 24 is mounted on driving and turns
It takes turns in chamber 46, drive shaft 10 is mounted in drive shaft chamber 45, and as shown in figure 14, drive shaft 10 is mounted on driving runner 24
On；The convex plug of runner is mounted on 24 outside of driving runner, as shown in Figure 7,8, drives and is provided with a slot on runner chamber 46, two resets
Spring 37 is mounted in slot, and side's plug 38 is mounted in slot, and is connect positioned at one end of slot Nei Fangsai 38 with 37 one end of reset spring,
As shown in fig. 7, side's 38 other ends of plug and driving 24 periphery of runner and the convex face contact of edge beyond the Great Wall of runner cooperate；As shown in figure 12,
The first ball inlet and outlet 43 and the second ball inlet and outlet 44, the first ball inlet and outlet 43 and the second ball inlet and outlet 44 1 are provided in multi-directional ball 26
End is opened in 26 outer surface of multi-directional ball, and the other end is opened on driving runner chamber 46；As shown in Fig. 4,8, driving spherical shell 25 is mounted on ten thousand
To 26 outside of ball, driving has cavity between spherical shell 25 and multi-directional ball 26, has ball in the cavity, baffle ring 18 is mounted on driving
25 marginal end of spherical shell；As shown in Figures 9 and 10, driving 25 Internal Spherical Surface middle position of spherical shell is equipped with outline border 27 and inside casing 28, outline border
27 contact with inside casing 28 with 26 surface of multi-directional ball, and inside casing 28 is slidably mounted on inside outline border 27, as shown in Fig. 7,10, inside casing 28 its
In the first inside casing inlet and outlet 32 are provided on a frame, the second inside casing inlet and outlet 35, outline border 27, inside casing 28, ten thousand are provided on another frame
The first outline border chamber 40 and the second outline border chamber 42 are formed between 26 surface of ball and driving 25 inner surface of spherical shell；Rotary-piston 29 is installed
On 26 top of multi-directional ball, and it is located in inside casing 28, table in rotary-piston 29, inside casing 28,26 surface of multi-directional ball and driving spherical shell 25
The first inside casing chamber 39 and the second inside casing chamber 41 are formed between face；Had on 27 4 angles of outline border the first outline border inlet and outlet 31,
Second outline border inlet and outlet 33, third outline border inlet and outlet 34 and the 4th outline border inlet and outlet 36, and the first inside casing inlet and outlet 32 are by soft
Pipe is connect out of second outline border chamber 42 with the second outline border inlet and outlet 33；Second inside casing inlet and outlet 35 pass through hose from the first outline border chamber
It is connect in 40 with third outline border inlet and outlet 34.
As shown in Figure 4,5, above-mentioned transmission mechanism 5 include drive shaft 10, cone the flank of tooth 11, cone tooth 13, friction pulley shaft 14,
Friction pulley 15, the wide wheel 16 of friction, cone tooth shaft 17, transmission support 12, wherein 10 end of drive shaft, which is provided with, bores the flank of tooth 11, and two
Transmission support 12 is symmetrically installed in multi-directional ball 26, and two about 12 transmission supports are sequentially installed with friction pulley shaft 14 and cone
Tooth shaft 17, and friction pulley shaft 14 is located at 17 upside of cone tooth shaft, bores and is equipped with cone tooth 13 and the wide wheel of friction in tooth shaft 17
16, cone tooth 13 and the cone flank of tooth 11 engage, and friction pulley 15, friction pulley 15 and rub wide wheel 16 and ball are equipped in friction pulley shaft 14
Take turns the cooperation of 7 inner faces.
As shown in Fig. 4,6, above-mentioned power unit 4 includes motor 19, hydraulic pump 21, battery 22, motor support 20, wherein electricity
Machine 19 is mounted on 25 downside of driving spherical shell by circumferential equally distributed three motor supports 20, and annular battery 22 is mounted on electricity
19 upside of machine, hydraulic pump 21 are mounted in 22 inner ring surface of battery, 21 periphery of hydraulic pump and the cooperation of 22 inner ring surface of battery.First ball
44 one group of composition of inlet and outlet 43 and the second ball inlet and outlet, and connect by hydraulic hose with hydraulic pump 21；First outline border inlet and outlet
31 form one group with the 4th outline border inlet and outlet 36 and are connect by hydraulic hose with hydraulic pump 21；Second outline border inlet and outlet 33 and the
Three outline borders inlet and outlet 34 form one group and are connect by hydraulic hose with hydraulic pump 21, and hydraulic pump 21 is by controlling to adjust every group
The liquid of inlet and outlet passes in and out direction.
Above-mentioned ball support is internal to have ball, and ball wheel is cooperated by ball and ball support.
It is engaged between above-mentioned ball support and ball wheel, and coating lubricating oil.
Spacing between above-mentioned baffle ring and multi-directional ball is less than the ball diameter between driving spherical shell and multi-directional ball.
Above-mentioned battery is charged by wireless charging device.Battery is in inside ball wheel, and ball wheel is rotating again, so needing
It to charge to battery, ball wheel replacement battery can be dismantled, or charge to battery by wireless charging device.
In conclusion drive shaft chamber 45 and driving runner chamber 46, drive shaft chamber are provided in the present invention in multi-directional ball 26
45 communicate with driving runner chamber 46, and driving runner 24 is mounted in driving runner chamber 46, and drive shaft 10 is mounted on drive shaft
In chamber 45；The convex plug of runner is mounted on 24 outside of driving runner, drives and is provided with a slot on runner chamber 46, and two reset springs 37 are pacified
In slot, side's plug 38 is mounted on the first ball inlet and outlet 43 and the second ball inlet and outlet 44 between reset spring 37 and driving runner 24
It is connect by hydraulic hose with hydraulic pump 21, the effect designed in this way is that hydraulic pump 21 passes through highly pressurised liquid by hydraulic hose
First ball inlet and outlet 43 are pumped into driving runner chamber 46, and driving runner 24 is driven to rotate, when the convex plug side of encountering plug 38 of runner, Fang Sai
38 compressing reset springs 37, side's plug 38 enter in slot, and the convex plug of runner is enabled smoothly to rotate the past at just plug 38.It is then multiple
38 pop-up of position 37 side of making of spring plug, space changes between the convex plug of runner and side's plug 38 in the process, and extruding highly pressurised liquid is from the
Two balls inlet and outlet, 44 outflow, to realize the rotation of drive shaft 10；10 end of drive shaft is provided with the cone flank of tooth 11, two biographies
Friction pulley shaft 14 and cone tooth shaft 17 are installed, and friction pulley shaft 14 is located at 17 upside of cone tooth shaft, cone in dynamic support 12
Cone tooth 13 is installed and the wide wheel 16 that rubs in tooth shaft 17, cone tooth 13 and the cone flank of tooth 11 are engaged, be equipped in friction pulley shaft 14
Friction pulley 15, friction pulley 15 are engaged with the wide wheel 16 of friction and 7 inner face of ball wheel, and the power that drive shaft 10 provides is through drive mechanism
Transmission after power is transmitted on ball wheel 7 so that ball wheel 7 rotate, for walking；Driving 25 lower end of spherical shell is equipped with outline border 27
With inside casing 28, inside casing 28 is mounted on inside outline border 27, and is located at the intermediate position of outline border 27, and the disengaging of the first inside casing is provided on inside casing 28
Mouth 32 and the second inside casing inlet and outlet 35, it is outside the first outline border chamber 40 and second respectively that there are two chambers between outline border 27 and inside casing 28
Frame chamber 42；Rotary-piston 29 is mounted on 26 lower end of multi-directional ball, and is located in inside casing 28, and inside casing 28 is divided for the first inside casing chamber 39
With the second inside casing chamber 41, the effect designed in this way is: hydraulic pump 21 by control the first outline border inlet and outlet 31 and second outline border into
The disengaging of highly pressurised liquid in outlet 33 controls movement of the inside casing 28 in outline border 27；First inside casing inlet and outlet 32 by hose from
It is connect in second outline border chamber 42 with the second outline border inlet and outlet 33, the second inside casing inlet and outlet 35 are by hose out of first outline border chamber 40
It is connect with third outline border inlet and outlet 34, hydraulic pump 21 imports and exports 34 through the second outline border inlet and outlet 33 and third outline border by control
The disengaging of highly pressurised liquid, to control movement of the rotary-piston 29 in inside casing 28, rotary-piston 29 is transported relative to 28 straight line of inside casing
Dynamic, inside casing 28 moves along a straight line with respect to outline border 27, and the rotation of any direction can be done by allowing for rotary-piston 29 in this way, also made and revolved
The multi-directional ball 26 for turning a work 29 connection of plug can drive the driving in multi-directional ball 26 in rotation to any angular turn, multi-directional ball 26
Shaft 10 rotates together, and the friction pulley 15 in drive transmission device 5 drives ball wheel 7 to rotate；Driving mechanism support 8 and support ball
9 are installed together, and driving mechanism support 8 is mounted on driving spherical shell 25, support ball 9 and ball wheel 7 to contact, driving structure passes through
Driving mechanism support 8 and support ball 9 are mounted on ball wheel 7, and driving mechanism support 8 and support ball 9 play a supportive role.
When using equipment of the present invention, the motor 19 in power unit 4 is started to work, and hydraulic pump 21 is driven to start work
Make, highly pressurised liquid is pumped into the first ball inlet and outlet 43 by hydraulic hose by hydraulic pump 21, and highly pressurised liquid is imported and exported by the first ball
43 enter driving runner chamber 46, and driving runner 24 is driven to rotate, and driving runner 24 drives drive shaft 10 to rotate, and drive and drive
Turn axis 10 is bored the cone tooth 13 that the flank of tooth 11 is meshed and is rotated, and cone tooth 13 is rotated with mantle tooth shaft 17, and drive is mounted on cone tooth and turns
Wide 16 rotation of wheel of friction on axis 17, the wide wheel 16 that rubs drive friction pulley 15 to rotate, and friction pulley 15 drives 7 setting in motion of ball wheel；
The convex plug 30 of runner is mounted on driving runner 24, with the rotation of driving runner 24, convex plug 30 and Fang Sai 38 contact of runner, and Fang Sai
38 compressing reset springs 37, side plug 38 enter it is intracavitary, enable the convex plug of runner smoothly just plug 38 at rotate past.Runner is convex
After filling in 30 sides of turning over plug 38, side's plug 38 pops up under the action of reset spring 37, empty between the convex plug of runner and side's plug 38 in the process
Between change, squeeze highly pressurised liquid from the second ball inlet and outlet 44 outflow, flow back to hydraulic pump 21 again through hydraulic hose.Hydraulic pump 21
Inside casing 28 is controlled in outline border 27 by the outflow of highly pressurised liquid in the first outline border of control inlet and outlet 31 and the 4th outline border inlet and outlet 36
Interior movement, hydraulic pump 21 by control and the first inside casing inlet and outlet 32 and the second inside casing import and export 35 the second outline borders for connecting into
The disengaging of highly pressurised liquid is in outlet 33 and third outline border inlet and outlet 34 to control movement of the rotary-piston 29 in inside casing 28, rotation
Piston 29 moves along a straight line relative to inside casing 28, and inside casing 28 moves along a straight line with respect to outline border 27, and allowing for rotary-piston 29 in this way can be with
The rotation of any direction is done, also allows the multi-directional ball 26 connecting with rotary-piston 29 to any angular turn, multi-directional ball 26 exists
The drive shaft 10 in multi-directional ball 26 is driven to rotate together when rotation, the friction pulley 15 in drive transmission device 5 drives 7 turns of ball wheel
It is dynamic.
Claims (5)
1. a kind of global wheel for the internal drive that robot uses, it is characterised in that: it includes ball support, ball support, ball
Body fixed plate, transmission mechanism, driving mechanism, ball wheel, driving mechanism support, supports ball at power unit, wherein sphere fixed plate
It is mounted in ball support by three equally distributed ball supports of circumferential direction, ball supports inner surface at spherical surface, the installation of ball wheel
In ball support, and ball wheel outer surface and ball support inner surface cooperation；Transmission mechanism is mounted in driving mechanism, power list
Member is mounted on driving mechanism lower end；Driving mechanism external circumferential equably install there are three driving mechanism support, each driving machine
Structure support is mounted on support ball, supports ball and the cooperation of ball wheel inner surface；
Above-mentioned driving mechanism includes driving runner, driving spherical shell, multi-directional ball, outline border, inside casing, rotary-piston, the convex plug of runner, first
Outline border inlet and outlet, the first inside casing inlet and outlet, the second outline border inlet and outlet, third outline border inlet and outlet, the second inside casing are imported and exported, outside the 4th
Frame inlet and outlet, the first inside casing chamber, the first outline border chamber, the second inside casing chamber, the second outline border chamber, the first ball inlet and outlet, the disengaging of the second ball
Mouth, reset spring, Fang Sai, baffle ring, drive shaft chamber, driving runner chamber, are wherein provided with drive shaft chamber and driving in multi-directional ball
Runner chamber, drive shaft chamber and driving runner chamber communicate, and driving runner is mounted in driving runner chamber, and drive shaft is mounted on drive
In turn axocoel, drive shaft is mounted on driving runner；The convex plug of runner is mounted on the outside of driving runner, is driven and is opened on runner chamber
There is a slot, two reset springs are mounted in slot, and Fang Sai is mounted in slot, and one end and reset spring positioned at slot Nei Fangsai
One end connection, the other end and driving runner periphery are filled in by side and the convex face contact of edge beyond the Great Wall of runner cooperates；First is provided in multi-directional ball
Ball inlet and outlet and the second ball inlet and outlet, the first ball inlet and outlet and the second ball import and export one end and are opened in universal outer surface of ball, the other end
It is opened on driving runner chamber；Driving spherical shell is mounted on the outside of multi-directional ball, and driving has cavity, the cavity between spherical shell and multi-directional ball
In have ball, baffle ring be mounted on driving spherical shell marginal end；Driving spherical shell Internal Spherical Surface middle position is equipped with outline border and inside casing,
Outline border is contacted with inside casing with universal ball surface, and inside casing is slidably mounted on inside outline border, is provided in first on the one of frame of inside casing
Frame is imported and exported, and the second inside casing inlet and outlet is provided on another frame, between outline border, inside casing, universal ball surface and driving spherical shell inner surface
Form the first outline border chamber and the second outline border chamber；Rotary-piston is mounted on multi-directional ball top, and is located in inside casing, rotary-piston, interior
The first inside casing chamber and the second inside casing chamber are formed between frame, universal ball surface and driving spherical shell inner surface；On four angles of outline border respectively
Be provided with the first outline border inlet and outlet, the second outline border inlet and outlet, third outline border inlet and outlet and the 4th outline border inlet and outlet, and the first inside casing into
Outlet is connected from the second outline border is intracavitary with the second outline border inlet and outlet by hose；Second inside casing inlet and outlet are by hose outside first
Frame is intracavitary to be connected with third outline border inlet and outlet；
Above-mentioned transmission mechanism include drive shaft, the cone flank of tooth, cone tooth, friction pulley shaft, friction pulley, the wide wheel of friction, cone tooth shaft,
Transmission support, wherein drive shaft end is provided with the cone flank of tooth, and two transmission supports are symmetrically installed in multi-directional ball, two transmissions
Support is sequentially installed with friction pulley shaft and cone tooth shaft up and down, and friction pulley shaft is located on the upside of cone tooth shaft, bores tooth shaft
On cone tooth and the wide wheel of friction, cone tooth and cone flank engagement are installed, friction pulley, friction pulley and friction are installed in friction pulley shaft
Width wheel and the cooperation of ball wheel inner face；
Above-mentioned power unit includes motor, hydraulic pump, battery, motor support, and wherein motor passes through circumferential equally distributed three
Motor support is mounted on the downside of driving spherical shell, and annular battery is mounted on the upside of motor, and hydraulic pump is mounted in battery inner ring surface,
Hydraulic pump periphery and the cooperation of battery inner ring surface；First ball inlet and outlet form one group with the second ball inlet and outlet, and by hydraulic soft
Pipe is connect with hydraulic pump；First outline border inlet and outlet form one group with the 4th outline border inlet and outlet and are connected by hydraulic hose and hydraulic pump
It connects；Second outline border inlet and outlet form one group with third outline border inlet and outlet and are connect by hydraulic hose with hydraulic pump, and hydraulic pump is logical
The liquid for crossing the inlet and outlet for controlling to adjust every group passes in and out direction.
2. the global wheel for the internal drive that a kind of robot according to claim 1 uses, it is characterised in that: above-mentioned ball
Support is internal to have ball, and ball wheel is cooperated by ball and ball support.
3. the global wheel for the internal drive that a kind of robot according to claim 1 uses, it is characterised in that: above-mentioned ball
It is engaged between support and ball wheel, and coating lubricating oil.
4. the global wheel for the internal drive that a kind of robot according to claim 1 uses, it is characterised in that: above-mentioned baffle ring
Spacing between multi-directional ball is less than the ball diameter between driving spherical shell and multi-directional ball.
5. the global wheel for the internal drive that a kind of robot according to claim 1 uses, it is characterised in that: above-mentioned battery
It is charged by wireless charging device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710325024.8A CN107117217B (en) | 2017-05-10 | 2017-05-10 | A kind of global wheel for the internal drive that robot uses |
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| CN201710325024.8A CN107117217B (en) | 2017-05-10 | 2017-05-10 | A kind of global wheel for the internal drive that robot uses |
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| CN107117217A CN107117217A (en) | 2017-09-01 |
| CN107117217B true CN107117217B (en) | 2019-02-22 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108890615A (en) * | 2018-09-18 | 2018-11-27 | 路远 | Universal walking device for robot |
| CN110979500B (en) * | 2019-11-27 | 2020-11-06 | 杭州电子科技大学 | Fluid-driven spherical rolling robot and driving method thereof |
| CN115193686B (en) * | 2022-09-15 | 2022-11-25 | 江苏泓扬土壤科技有限公司 | Screening plant for sludge treatment |
| CN116424040B (en) * | 2023-03-30 | 2024-01-26 | 湖北工业大学 | Amphibious exploration robot with water wheels |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US9020639B2 (en) * | 2009-08-06 | 2015-04-28 | The Regents Of The University Of California | Multimodal dynamic robotic systems |
| CN102145718A (en) * | 2010-02-08 | 2011-08-10 | 宗鹏 | Spherical traveling device |
| CN102896970B (en) * | 2012-08-30 | 2015-08-19 | 柳州市京阳节能科技研发有限公司 | Multifunction hydraulic companding wheel |
| CN103386686B (en) * | 2013-08-03 | 2015-10-28 | 董昕武 | A kind of spherical transformable soft robot |
| CN203888922U (en) * | 2014-04-15 | 2014-10-22 | 南京航空航天大学 | Spherical movement mechanism |
| CN105438299B (en) * | 2014-11-14 | 2017-10-03 | 福建省泉州市第七中学 | The complex road condition walking robot of amphibious data acquisition |
| WO2016142553A1 (en) * | 2015-03-12 | 2016-09-15 | Noar Benjamin Arthur Portnoy | Drive system and method |
| CN106005080B (en) * | 2016-06-02 | 2018-06-15 | 东北农业大学 | A kind of crop bottom stalk inspection ball shape robot with jump barrier avoiding function |
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Effective date of registration: 20190102 Address after: 511458 Yulu, Dongyong Town, Nansha District, Guangzhou City, Guangdong Province Applicant after: Guangzhou long control mechanical and Electrical Equipment Co., Ltd. Address before: 157499 Group 12 of the Twelfth Committee of Ning'an Town, Mudanjiang City, Heilongjiang Province Applicant before: He Chunhui |
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Address after: 511458 Taishi Village, Dongyong Town, Nansha District, Guangzhou City, Guangdong Province (Factory 9) 9106-9108 (Office only) Applicant after: Guangzhou long control mechanical and Electrical Equipment Co., Ltd. Address before: 511458 Yulu, Dongyong Town, Nansha District, Guangzhou City, Guangdong Province Applicant before: Guangzhou long control mechanical and Electrical Equipment Co., Ltd. |
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