CN107128381B - A kind of ball shape robot - Google Patents
A kind of ball shape robot Download PDFInfo
- Publication number
- CN107128381B CN107128381B CN201710171277.4A CN201710171277A CN107128381B CN 107128381 B CN107128381 B CN 107128381B CN 201710171277 A CN201710171277 A CN 201710171277A CN 107128381 B CN107128381 B CN 107128381B
- Authority
- CN
- China
- Prior art keywords
- spherical shell
- shield
- head
- ball shape
- driving
- 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.)
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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, it is set to the head assembly of the spherical shell outer surface and the head driving assembly being contained in inside the spherical shell, the head driving assembly includes holder, driving unit and shield, the driving unit is fixed on the holder, the shield is connected between the driving unit and the spherical shell inner surface, the first magnet is provided on the shield, the second magnet is correspondingly provided on the head assembly, first magnet mutually attracts with second magnet so that the head assembly is attached at positioned at the outer surface of spherical shell, the driving unit drives the shield to slide in the spherical shell inner surface, so that the head assembly is slided in the outer surface of the spherical shell.It drives the head assembly to slide along the outer surface of the spherical shell by the head driving assembly inside spherical shell, realizes the independent control to head assembly, improve the flexibility and manipulation experience of ball shape robot.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of ball shape robots.
Background technique
Ball shape robot be it is a kind of driving mechanism, controller etc. are mounted on inside a spherical shell, pass through interior driving machine
The robot of structure driving spherical shell rolling movement.The way of contact on ball shape robot and ground is point contact, can be comprehensive
Walking；With zero turning radius, mobile and steering is flexible and convenient.In addition, ball shape robot novel in appearance, motion mode is special,
It is not afraid of overturning, other things will not be hooked, turning flexibly, is suitble to work under and complex environment this special in family.
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, can not individually be controlled head, especially when ball shape robot is static, can not individually control head
Rotation, be greatly lowered in this way ball shape robot flexibility and manipulation experience.
Summary of the invention
The purpose of the present invention is to provide a kind of ball shape robot, which includes head driving assembly, to
The head movement of ball shape robot is operated alone, enhances the flexibility of ball shape robot.
To achieve the goals above, embodiment of the present invention provides the following technical solutions:
The present invention provides a kind of ball shape robot, including spherical shell, is set to the head of the spherical shell outer surface
Component and the head driving assembly being contained in inside the spherical shell, the head driving assembly includes holder, driving unit
And shield, the driving unit are fixed on the holder, the shield is connected to the driving unit and the spherical shell inner surface
Between, it is provided with the first magnet on the shield, the second magnet, first magnet and institute are correspondingly provided on the head assembly
The second magnet is stated mutually to attract so that the head assembly is attached at positioned at the outer surface of spherical shell, and the head assembly with
The shield is opposing stationary, and the driving unit drives the shield to slide in the spherical shell inner surface, so that the head
Component is slided in the outer surface of the spherical shell.
Wherein, the driving unit includes multiple Mecanum wheels and multiple driving motors, the Mecanum wheel setting
It being abutted against on the holder and with the shield, each driving motor is rotated for one Mecanum wheel of driving,
So that the shield is slided in the spherical shell inner surface.
Wherein, the quantity of the Mecanum wheel is at least three, and at least three Mecanum wheel uniformly divides
It is distributed on the bracket.
Wherein, the holder includes chassis and bracket, and the bracket and the driving motor are fixed on the chassis, institute
It states multiple Mecanum wheel rotations to be fixed on the bracket, the driving motor drives the Mecanum by belt transmission
Wheel rotation.
It wherein, further include the walking mechanism being contained in inside the spherical shell, the walking mechanism is described for driving
Spherical shell rolls, and the chassis is fixedly connected with the walking mechanism.
Wherein, it is fixedly connected between the chassis and the walking mechanism by buffer gear.
Wherein, the first universal wheel, table in first universal wheel and the spherical shell are provided on the end of the shield
Face abuts.
Wherein, the head assembly is located at the company of the highest position of the spherical shell and the centre of sphere of the spherical shell
Line is the first line, and the head assembly is located at the extreme position of the spherical shell and the line of the centre of sphere of spherical shell is
The angle of second line, first line and second line is less than or equal to 45 °.
Wherein, the shield is in spherical crown shape, and a height of h of the shield of the spherical crown shape, the radius of the shield of the spherical crown shape is r, then
Have
Wherein, the head assembly includes head capsule and the second universal wheel, second universal wheel be set to the head capsule it
On the end face of the spherical shell, second universal wheel is abutted against with the spherical shell.
The embodiment of the present invention have the following advantages that or the utility model has the advantages that
Ball shape robot of the invention includes spherical shell, the head assembly and receipts for being set to the spherical shell outer surface
The head driving assembly being dissolved in inside the spherical shell drives the head by the head driving assembly inside spherical shell
Parts are slided along the outer surface of the spherical shell, the independent control to head assembly are realized, even if ball shape robot is in
Stationary state still can control the movement of head assembly, improve the flexibility and manipulation experience of ball shape robot.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the ball shape robot decomposition diagram of an embodiment of the present invention.
Fig. 2 is the structural schematic diagram that ball shape robot of the present invention omits head assembly and spherical shell.
Fig. 3 is another schematic diagram of ball shape robot described in Fig. 1.
Fig. 4 is the movement locus schematic diagram of head assembly.
Fig. 5 is the diagrammatic cross-section schematic diagram of shield.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art are obtained all without making creative work
Other embodiments shall fall within the protection scope of the present invention.
In addition, the explanation of following embodiment is referred to the additional illustration, the spy that can be used to implement to illustrate the present invention
Determine embodiment.Direction terms mentioned in the present invention, for example, "upper", "lower", "front", "rear", "left", "right", "inner",
"outside", " side " etc. are only the directions with reference to annexed drawings, and therefore, the direction term used is to more preferably, more clearly say
The bright and understanding present invention, rather than indicate or imply signified device or element and must have a particular orientation, with specific square
Position construction and operation, therefore be not considered as limiting the invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, is also possible to detachably connected, or integrally connects
It connects；It can be mechanical connection；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
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 meaning.
In addition, in the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more.If this
Occur the term of " process " in specification, refers not only to independent process, when can not clearly be distinguished with other process, as long as
Effect desired by the process is able to achieve then to be also included in this term.In addition, the numerical value model indicated in this specification with "~"
Enclose the range for referring to that the numerical value for recording "~" front and back is included as minimum value and maximum value.In the accompanying drawings, structure
Similar or identical is indicated by the same numeral.
Please refer to Fig. 1 and Fig. 2.Fig. 1 is the ball shape robot decomposition diagram of an embodiment of the present invention.Fig. 2 is
Ball shape robot of the present invention omits the structural schematic diagram of head assembly and spherical shell.Ball shape robot of the invention specifically includes that ball
Shape shell 50, walking mechanism 90, head assembly 80 and head driving assembly 10.The walking mechanism 90 and the head driving group
Part 10 is contained in inside the spherical shell 50.The walking mechanism 90 connects with 50 contacted inner surfaces of spherical shell, is used in combination
In driving the spherical shell 50 to roll and then realizing the omnibearing ambulation of robot, because it is not the emphasis that the present invention protects,
It is not described in detail herein.The head driving assembly 10 is for driving the head assembly 80 relative to the spherical housing
Outer surface movement.The walking mechanism 90 is worked independently from each other with the head driving assembly 10.
The head driving assembly 10 includes holder 11, driving unit 12 and shield 13.Specifically, one end of the holder 11
It is fixedly connected with the walking mechanism 90, the driving unit 12 is fixed on the holder 11, and the shield 13 is connected to the drive
Between 50 inner surface of moving cell 12 and the spherical shell.Specifically, the spherical housing is between the head assembly 80 and institute
It states between shield 13.Mounting groove 131 is set on the shield 13, is fixed with the first magnet 132, the head in the mounting groove 131
The second magnet (not shown go out) is correspondingly provided on component 80, first magnet 132 mutually attracts with second magnet, passes through
The magnetic absorption of first magnet 132 and second magnet acts on, so that the head assembly 80 and the shield 13 are kept
It is static, and the head assembly 80 is made to be attached at the outer surface of spherical shell 50 under the magnetic force.The driving is single
The 12 driving shield 13 of member is slided in 50 inner surface of spherical shell, so that the head assembly 80 is along spherical shell 50
Outer surface sliding.
It is understood that at least one in first magnet 132 and second magnet is magnet, another can
Magnet or iron block are thought, herein not to be limited.
Ball shape robot of the invention includes spherical shell 50, the head assembly for being set to 50 outer surface of spherical shell
80 and the head driving assembly 10 that is contained in inside the spherical shell 50, pass through the head driving group inside spherical shell 50
Part 10 drives the head assembly 80 to slide along the outer surface of the spherical shell 50, realizes the independent control to head assembly 80
System, no matter the ball shape robot is in static or rolling condition, can control the movement of head assembly 80, improves spherical shape
The flexibility and manipulation experience of robot.
In a kind of possible implementation of the present invention, the driving unit 12 includes multiple Mecanum wheels 121 and multiple
Driving motor 123.Mecanum wheel 121 is a kind of all-round moving wheel, which is on the basis of conventional wheel, in wheel rim
On again along with axis direction several rollers that can be rotated freely are installed, in wheel rolling, pass through the revolving speed of each wheel of control
Difference, roller will generate lateral movement, i.e. being applied in combination and controlling by Mecanum wheel 121, can make to receive based on Mike
The shield 13 that nurse wheel 121 drives generates any direction movement and rotation in plane of movement, and can be in more narrow space
Realize flexible movement.The multiple Mecanum wheel 121 is corresponded with the multiple driving motor 123, each drive
Dynamic motor 123 is for driving the Mecanum wheel 121 to rotate.The multiple Mecanum wheel 121 is set to the cloud
It is abutted against on platform 11 and with the shield 13.By the cooperating of multiple Mecanum wheels 121, enable the shield 13 in institute
It states omnidirectional on 50 inner surface of spherical shell to slide, be slided to control the head assembly 80 along 50 outer surface of spherical shell.It changes
For it, the head assembly 80 can be rotated around the centre of sphere of the spherical shell 50.
It is understood that since walking mechanism 90 and the head driving assembly 10 work independently from each other.That is,
No matter whether the walking mechanism 90 works, and the head driving assembly 10 can drive the head assembly 80 can be around described
The centre of sphere of spherical shell 50 rotates.Include following situation:
1. spherical robot is remain stationary, i.e., the described spherical housing is static, and the head driving assembly 10 drives the head
Parts 80 are rotated around the centre of sphere of the spherical shell 50.
2. spherical robot is travel condition, i.e., the described spherical housing is rolling condition, and the head driving assembly 10 drives
The centre of sphere that the head assembly 80 is moved around the spherical shell 50 rotates.
In a kind of possible implementation of the present invention, the holder 11 includes chassis 114 and bracket 111.The chassis 114
It is fixedly connected with the walking mechanism 90.In other words, the holder 11 is solid by the chassis 114 and the walking mechanism 90
Fixed connection.Preferably, it is connected between the chassis 114 and the walking mechanism 90 by buffer gear 115.The buffer gear
115 can be buffer spring, bounce cylinder etc..When ball shape robot works normally, the buffer gear 115 is in compression shape
State has certain pretightning force between Mecanum wheel 121 and shield 13, so that end and Mecanum wheel 121 remain contact,
Shield 13 is prevented to be detached from Mecanum wheel 121 and fall inside spherical shell 50.
Specifically, the bracket 111 is fixed on the face far from the walking mechanism 90 on the chassis 114.The branch
Frame 111 has certain height, and the Mecanum wheel 121 being connected on the bracket 111 is abutted against with shield 13.It is excellent
Choosing, the multiple Mecanum wheel 121 is coplanar with the points of tangency of the shield 13, and the face is parallel to horizontal plane.It is arranged in this way
It is advantageous in that, when head assembly 80 is located at the highest point position of spherical housing, the end face of the shield 13 can be with horizontal plane
In parallel, shield 13 is avoided to be biased to certain side, so that shield 13 be caused to fall off exception.Specifically, being provided with multiple axis on the bracket 111
Hold 113.The multiple Mecanum wheel 121 is fixed on the bracket 111 by the bearing 113 rotation.The Mike receives
Nurse wheel 121 is also fixedly connected with belt pulley 122, and the driving motor 123 is fixed on the chassis 114, the driving motor
123 are connect by belt 124 with the belt pulley 122, and driving motor 123 drives the Mike to receive in such a way that belt is driven
Nurse wheel 121 rotates.It is understood that the machine driving of long range may be implemented, by pulley drive so as to drive
Dynamic motor 123 is arranged on chassis 114, Mecanum wheel 121 is only fixed on bracket 111, and then reduce head driving assembly
10 and entire ball shape robot center of gravity, to improve the stability of ball shape robot.It is understood that in other embodiment party
In formula, driving motor 123 can also drive the Mecanum wheel 121 to rotate by other driving forms, not limited herein
It is fixed.
In a kind of specific embodiment of the present invention, the quantity of the Mecanum wheel 121 is three, and three Mikes receive
Nurse wheel 121 is uniformly distributed on the bracket 111.Preferably, the shaft of three Mecanum wheels 121 on the chassis
Projection on 114, angle between any two are 120 °.Three Mecanum wheels 121 are coplanar with the points of tangency of the shield 13,
And the face is parallel to horizontal plane.Each driving motor 123 described in the present embodiment passes through described in belt transmission driving one
Mecanum wheel 121 rotates.The control assembly (not shown) of ball shape robot carries out differential control to driving motor 123, thus
The revolving speed and steering of three Mecanum wheels 121 are controlled, the common interoperation of multiple Mecanum wheels 121 is to drive shield 13 around ball
The centre of sphere of shape shell 50 rotates, and head assembly 80 is driven to slide around the centre of sphere of spherical shell 50.
It is understood that above three Mecanum wheel 121 can also be with other in other embodiments of the invention
Mode is arranged.The quantity of the Mecanum wheel 121 can also be 2,4,5,6 ... etc..As long as multiple Mikes receive
The shield 13 omnidirection along 50 inner surface of spherical shell can be driven to slide after the cooperating of nurse wheel 121, i.e., so that head
Component 80 is rotated in 50 outer surface of spherical shell around the centre of sphere.
In a kind of possible implementation of the present invention, multiple first universal wheels are evenly arranged on the end of the shield 13
133, first universal wheel 133 is abutted with 50 inner surface of spherical shell rolling, to reduce shield 13 and spherical shell 50
Friction resistance force when inner surface slides relatively.Preferably, first universal wheel 133 can be Mecanum wheel or multi-directional ball
Wheel etc..
Referring to Fig. 3, the head assembly 80 includes head capsule 81 and the 20000th in a kind of possible implementation of the present invention
To wheel 82.Optionally, above-mentioned second magnet can be contained in the head capsule 81.The quantity of second universal wheel 82 is more
A, the multiple second universal wheel 82 is uniformly distributed on the end face of the close spherical shell 50 of the head capsule.Described
Two universal wheels 82 are abutted against with the spherical shell 50.Second universal wheel 82 can reduce head assembly 80 and spherical shell
Frictional force when 50 opposite sliding.Specifically, second universal wheel 82 can be Mecanum wheel or universal ball wheel etc..
It is understood that head assembly 80 has certain weight, therefore head assembly for head assembly 80
80 cannot be excessive relative to the swing angle of the centre of sphere of the spherical shell 50.The angle of swing is excessive to will cause head assembly 80
It falls off from the spherical shell 50.By repeated tests it is found that when head assembly 80 is relative to 50 top of spherical shell
The angle of swing when being more than 45 °, the probability that head assembly 80 falls off from spherical shell 50 can steeply rise.Therefore, should
Guarantee that deflection angle of the head assembly 80 relative to highest point when is less than or equal to 45 °.Referring to Fig. 4, the head assembly 80
At the extreme higher position a of the spherical shell 50 and the line of the centre of sphere o of the spherical shell 50 is the first line, the head
The line that parts 80 are located at the extreme position b of the spherical shell 50 and centre of sphere o of spherical shell 50 is the second line, institute
The angle for stating the first line and second line is less than or equal to 45 °.It can be seen that the motion profile of the head assembly 80
It is substantially in spherical crown shape.
Further specifically, please referring to shield 13 described in Fig. 5 can substantially be in spherical crown shape.Meanwhile in order to avoid shield 13 is in pole
When extreme position, fall off from the driving mechanism, it shall be guaranteed that in extreme position, the shield 13 always with Mecanum wheel
121 abut.Should then meet: the radius of a height of h of the shield 13 of the spherical crown shape, the shield 13 of the spherical crown shape are r, then have
It is understood that further including Power Supply Assembly, control assembly, information transmission group in ball shape robot of the invention
Part, sensory package etc..Because it is not emphasis of the invention, therefore do not make exhaustive presentation.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means particular features, structures, materials, or characteristics described in conjunction with this embodiment or example
It is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are different
Surely identical embodiment or example is referred to.Moreover, the particular features, structures, materials, or characteristics of description can be any one
It can be combined in any suitable manner in a or multiple embodiment or examples.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modifications, equivalent substitutions and improvements etc., should be included in the protection model of the technical solution within the spirit and principle of mode
Within enclosing.
Claims (9)
1. a kind of ball shape robot, which is characterized in that including spherical shell, be set to the head group of the spherical shell outer surface
Part and the head driving assembly being contained in inside the spherical shell, the head driving assembly include holder, driving unit and
Shield, the driving unit are fixed on the holder, the shield be connected to the driving unit and the spherical shell inner surface it
Between, the first magnet is provided on the shield, is correspondingly provided with the second magnet on the head assembly, first magnet with it is described
Second magnet mutually attracts so that the head assembly is attached at positioned at the outer surface of spherical shell, and the head assembly and institute
It is opposing stationary to state shield, the driving unit drives the shield to slide in the spherical shell inner surface, so that the head group
Part is slided in the outer surface of the spherical shell；The driving unit includes multiple Mecanum wheels and multiple driving motors, institute
It states Mecanum wheel to be set on the holder and abut against with the shield, each driving motor is for driving described in one
Mecanum wheel rotation, so that the shield is slided in the spherical shell inner surface.
2. ball shape robot as described in claim 1, which is characterized in that the quantity of the Mecanum wheel is at least three,
At least three Mecanum wheel is uniformly distributed on bracket.
3. ball shape robot as described in claim 1, which is characterized in that the holder includes chassis and bracket, the bracket
And the driving motor is fixed on the chassis, the multiple Mecanum wheel rotation is fixed on the bracket, the drive
Dynamic motor drives the Mecanum wheel to rotate by belt transmission.
4. ball shape robot as claimed in claim 3, which is characterized in that further include the row being contained in inside the spherical shell
Mechanism is walked, for driving the spherical shell to roll, the chassis is fixedly connected the walking mechanism with the walking mechanism.
5. ball shape robot as claimed in claim 4, which is characterized in that by slow between the chassis and the walking mechanism
Punch mechanism is fixedly connected.
6. ball shape robot as described in claim 1, which is characterized in that the first universal wheel is provided on the end of the shield,
First universal wheel is abutted with the spherical shell inner surface.
7. ball shape robot as described in claim 1, which is characterized in that the head assembly is located at the spherical shell most
At high position and the line of the centre of sphere of the spherical shell is the first line, and the head assembly is located at the pole of the spherical shell
At extreme position and the line of the centre of sphere of spherical shell is the second line, and the angle of first line and second line is less than
Or it is equal to 45 °.
8. ball shape robot as claimed in claim 7, which is characterized in that the shield is in spherical crown shape, the shield of the spherical crown shape
The radius of a height of h, the shield of the spherical crown shape are r, then have
9. ball shape robot as claimed in claim 7, which is characterized in that the head assembly includes that head capsule and second are universal
Wheel, second universal wheel are set on the end face of the close spherical shell of the head capsule, second universal wheel and institute
Spherical shell is stated to abut against.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710171277.4A CN107128381B (en) | 2017-03-21 | 2017-03-21 | A kind of ball shape robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710171277.4A CN107128381B (en) | 2017-03-21 | 2017-03-21 | A kind of ball shape robot |
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| Publication Number | Publication Date |
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| CN107128381A CN107128381A (en) | 2017-09-05 |
| CN107128381B true CN107128381B (en) | 2019-06-25 |
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| CN201710171277.4A Active CN107128381B (en) | 2017-03-21 | 2017-03-21 | A kind of ball shape robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111169552B (en) * | 2020-01-03 | 2021-01-26 | 深圳市人工智能与机器人研究院 | Restructuring robot module and restructuring robot |
| CN112829843B (en) * | 2021-04-12 | 2022-02-18 | 合肥工业大学 | Spherical detection robot system with arm and deformation method |
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| CN202295050U (en) * | 2011-09-30 | 2012-07-04 | 浙江理工大学 | Multi-locomotion stated mechanism for allowing spherical robot to realize continuous bounce |
| CN102602468A (en) * | 2012-03-30 | 2012-07-25 | 北京交通大学 | Dual-swing omni-directional moving spherical robot |
| EP2859998A1 (en) * | 2013-10-14 | 2015-04-15 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Modular robotic kit and method for producing a robotic system |
| CN205615604U (en) * | 2016-05-09 | 2016-10-05 | 京东方科技集团股份有限公司 | Spherical robot |
| US9562560B1 (en) * | 2013-11-04 | 2017-02-07 | Sandia Corporation | Robust tilt and lock mechanism for hopping actuator |
| CN205989344U (en) * | 2016-08-19 | 2017-03-01 | 安徽果力智能科技有限公司 | A kind of flexible waist |
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2017
- 2017-03-21 CN CN201710171277.4A patent/CN107128381B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202295050U (en) * | 2011-09-30 | 2012-07-04 | 浙江理工大学 | Multi-locomotion stated mechanism for allowing spherical robot to realize continuous bounce |
| CN102602468A (en) * | 2012-03-30 | 2012-07-25 | 北京交通大学 | Dual-swing omni-directional moving spherical robot |
| EP2859998A1 (en) * | 2013-10-14 | 2015-04-15 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Modular robotic kit and method for producing a robotic system |
| US9562560B1 (en) * | 2013-11-04 | 2017-02-07 | Sandia Corporation | Robust tilt and lock mechanism for hopping actuator |
| CN205615604U (en) * | 2016-05-09 | 2016-10-05 | 京东方科技集团股份有限公司 | Spherical robot |
| CN205989344U (en) * | 2016-08-19 | 2017-03-01 | 安徽果力智能科技有限公司 | A kind of flexible waist |
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| CN107128381A (en) | 2017-09-05 |
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Effective date of registration: 20210514 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. |