CN107128382A - Ball shape robot - Google Patents
Ball shape robot Download PDFInfo
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- CN107128382A CN107128382A CN201710171308.6A CN201710171308A CN107128382A CN 107128382 A CN107128382 A CN 107128382A CN 201710171308 A CN201710171308 A CN 201710171308A CN 107128382 A CN107128382 A CN 107128382A
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- spherical shell
- driving wheel
- connecting portion
- actuating arm
- ball shape
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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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention provides a kind of ball shape robot, including spherical shell and drive component, the drive component includes connecting portion and telescopic drive portion, actuating arm.The connecting portion is connected to the spherical shell inwall by floating attachment.The actuating arm is provided with driving wheel and the first motor, the driving wheel is located at one end away from the connecting portion of the actuating arm and contacts the spherical shell, first motor is used to drive the driving wheel to rotate, and drives the spherical shell to rotate by producing frictional force between the driving wheel and the spherical shell.First connecting rod is provided between the actuating arm and the telescopic drive portion, the telescopic drive portion promotes the first connecting rod to do back and forth movement relative to the connecting portion, drive the actuating arm to be swung around the connecting portion, the spherical shell rotating speed is adjusted with the change by the relatively described connecting portion position of the driving wheel.The ball shape robot that the present invention is provided realizes that speed is adjusted in the case where not influenceing electric efficiency.
Description
Technical field
The present invention relates to robot field, and in particular to a kind of ball shape robot of continuously variable.
Background technology
Ball shape robot is due to the walking manner for being limited to roll, and often kinetic stability is not high, raised running into ground
During obstacle, excessive velocities can cause spherical shell and raised obstacle hard hit, damage can be caused to spherical shell, or even damage inside spherical shell
Electronic circuit and component；And when running into that the ground caved in, speed can cause ball shape robot can not roll out depression slowly excessively.In order to
Ball shape robot kinetic stability is improved, it is necessary to the movement velocity to ball shape robot is controlled, existing ball shape robot
Generally by motor governing speed, including variable voltage control, pole-changing control, frequency control etc., but these speed regulating methods are existed
Non-brake torque or it can not be realized stepless flat when occurring in speed regulation process as electric efficiency is relatively low, having harmonic wave interference, normal operation
The problems such as sliding speed governing.
It is therefore proposed that a kind of ball shape robot that can be adjusted movement velocity and keep electric efficiency, to increase spherical machine
The kinetic stability of people, is people in the industry's emphasis research topic.
The content of the invention
The problem of for the above, it is an object of the invention to provide a kind of ball shape robot, movement velocity and holding can be adjusted
Electric efficiency.
In order to solve problem present in background technology, the application can be adopted the following technical scheme that：A kind of spherical machine
People, including spherical shell and the drive component inside the spherical shell, the drive component include connecting portion and are fixed on the company
The telescopic drive portion of socket part, the actuating arm for being rotationally connected with the connecting portion；The connecting portion is connected to by floating attachment
The spherical shell inwall；
The actuating arm is provided with driving wheel and the first motor, and the driving wheel is located at the remote connection of the actuating arm
The one end in portion and contact the spherical shell, first motor is used to drive the driving wheel to rotate, and by the driving wheel and
Frictional force is produced between the spherical shell drives the spherical shell to rotate；First is provided between the actuating arm and the telescopic drive portion
Connecting rod, the telescopic drive portion promotes the first connecting rod to do back and forth movement relative to the connecting portion, drives the actuating arm
Swung around the connecting portion, the spherical shell rotating speed is adjusted with the change by the relatively described connecting portion position of the driving wheel.
In a kind of embodiment, the telescopic drive portion includes the first guide rail, first guide rail is fixed on into the company
The guide rail fixing element of socket part, the first connector being sheathed on first guide rail and located at first guide rail away from the company
Second motor of one end of socket part, second motor is to drive first connector to be slided along first guide rail；
The first connecting rod includes first end and the second end being oppositely arranged, and the first end and second end turn respectively
It is dynamic to be connected to first connector and the actuating arm；First connector is slided along first guide rail, is driven described
First connecting rod does back and forth movement relative to the connecting portion, and drives the actuating arm to be swung around the connecting portion.
In a kind of embodiment, the actuating arm also includes second be connected between the connecting portion and the driving wheel
Connecting rod, is provided with Flexible Connector between the driving wheel and the second connecting rod, the Flexible Connector is along the actuating arm
Direction extends, and buffering is played in the ball shape robot motion process and is connect to be provided between the driving wheel and the spherical shell
The effect of touch pressure.
In a kind of embodiment, the Flexible Connector include spring, the second guide rail located at the spring opposite sides,
And the sliding block on second guide rail, described second guide rail one end is fixedly connected on the second connecting rod, other end direction
The driving wheel direction extension, described sliding block one end is on second guide rail, and the other end is fixed on the driving wheel, described
Spring is fixed between the second connecting rod and the driving wheel, and in compressive state, in order to being the driving wheel and institute
State and provide contact between spherical shell.
In a kind of embodiment, face where the bearing of trend of the actuating arm rotates by the driving wheel.
In a kind of embodiment, the floating attachment includes connecting rod and between the connecting rod and the spherical shell
Universal wheel, the connecting rod is fixedly connected on the connecting portion, and the universal wheel is in contact with the spherical shell inwall, and causes
The floating attachment can together with the drive component with the spherical shell relative motion.
In a kind of embodiment, the actuating arm is multiple, is surrounded on the telescopic drive portion and is symmetric.
In a kind of embodiment, it is characterised in that the drive component is multiple, and the multiple drive component is connected to institute
Floating attachment is stated, and the multiple drive component is symmetric in the spherical shell on the spherical shell center.
In a kind of embodiment, the ball shape robot also includes supporting table and balancing weight, and the drive component is fixed on
In the supporting table；The balancing weight deviates from the side of the drive component located at the supporting table, described spherical to reduce
Stability of the center of gravity and the increase drive component of robot in the spherical shell.
In a kind of embodiment, the supporting table is additionally provided with support wheel, and the support wheel side face is in contact with the spherical shell,
To support the supporting table.
The application can not be met in the case where not influenceing electric efficiency for existing ball shape robot, realize asking for speed regulation
There is provided a kind of ball shape robot, including spherical shell and the drive component inside the spherical shell for topic.The drive component includes
Connecting portion and the telescopic drive portion of the connecting portion is fixed on, the connecting portion is rotationally connected with and located at the telescopic drive portion
The actuating arm of opposite sides；The driving wheel rotation is driven by first motor, rotation friction is produced in spherical shell inwall
To drive the spherical shell to be rotated relative to the drive component, rotating between ground for the spherical shell produces frictional force, realizes
Rolling of the spherical shell relative to ground；By setting first connecting rod between the actuating arm and the telescopic drive portion,
The telescopic drive portion promotes the first connecting rod to do back and forth movement relative to the connecting portion, drives the actuating arm around described
Connecting portion is swung, and changes the relatively described connecting portion position of driving wheel, to drive the driving wheel in the spherical shell inwall
Along different circular motion.Wherein, the driving wheel is along the bigger circular motion of radius, then spherical shell velocity of rotation is smaller, institute
Driving wheel is stated along the smaller circular motion of radius, then spherical shell velocity of rotation is bigger, by adjusting opening or tightening up for actuating arm
Angle, you can the regulation spherical shell velocity of rotation, the speed regulative mode is variable speed process, realizes stable speed change, and not
Electric efficiency is influenceed, the transmission efficiency of ball shape robot is improved, and advantageously reduces the energy consumption of ball shape robot, during increase continuation of the journey
Between.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be attached to what is used required in embodiment
Figure is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this area
For those of ordinary skill, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of ball shape robot structural representation provided in an embodiment of the present invention.
Fig. 2 is a kind of ball shape robot structural representation provided in an embodiment of the present invention.
Fig. 3-1 is a kind of ball shape robot rotating ratio Principles of Regulation figure provided in an embodiment of the present invention.
Fig. 3-2 is a kind of ball shape robot rotating ratio Principles of Regulation figure provided in an embodiment of the present invention.
Fig. 4-1 is a kind of drive component structural representation of ball shape robot provided in an embodiment of the present invention.
Fig. 4-2 is a kind of drive component structural representation of ball shape robot provided in an embodiment of the present invention.
Fig. 5 is a kind of drive component partial structural diagram 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 progress to the embodiment of the present invention is clear, complete
Ground is described.
Refer to Fig. 1 and Fig. 2, Fig. 1 and Fig. 2 is a kind of ball shape robot provided in an embodiment of the present invention, including the He of spherical shell 1
Drive component 2 inside the spherical shell 1.The drive component 2 includes connecting portion 20 and is fixedly connected on the connecting portion
20 telescopic drive portion 22, the actuating arm 21 for being rotationally connected with the connecting portion 20.The connecting portion 20 passes through floating attachment 6
It is connected to the inwall of spherical shell 1.In a kind of embodiment, telescopic drive portion 22 can be distributed along the central shaft of spherical shell 1.It is described
Floating attachment 6 fixes the connecting portion 20, and one end is in contact with the inwall of spherical shell 1, and can be together with the drive component 2
With the relative motion of spherical shell 1, to prevent the drive component 2 from turning on one's side in the spherical shell 1.
Further, the one end of the actuating arm 21 away from the connecting portion 20 is provided with driving wheel 201 and drives described drive
Driving wheel 201 is around the first motor 202 of central shaft rotation, and the portion peripheral surface of the driving wheel 201 connects with the inwall of spherical shell 1
Touch, the driving wheel 201 produces rotation friction to drive the phase of spherical shell 1 during rotation in the inwall of spherical shell 1
Rotated for the drive component 2, rotating between ground for the spherical shell 1 produces frictional force, realizes the spherical shell 1 relative
Rolling in ground.The kind of drive between first motor 202 and the driving wheel 201 is not limited to belt transmission,
Other kinds of drive can be used.
Further, first connecting rod 23, the flexible drive are provided between the actuating arm 21 and the telescopic drive portion 22
Dynamic portion 22 promotes the first connecting rod 23 to do back and forth movement relative to the connecting portion 20, drives the actuating arm 21 around the company
Socket part 20 swings to adjust the spherical shell rotating speed by driving the driving wheel relatively in the change of the connecting portion position.One
Plant in embodiment, the actuating arm 21 is two, and is symmetrically distributed in the both sides of telescopic drive portion 22, the telescopic drive
Portion 22 promotes the first connecting rod 23 to do back and forth movement relative to the connecting portion 20, can drive two actuating arms 21 around institute
State connecting portion 20 and do and open or tighten up motion, adjusted by the driving wheel 201 relatively in the change in location of the connecting portion 20
Save the rotating speed of spherical shell 1.Specifically, the driving wheel 201 moves in a circle relative to the spherical shell 1, the phase of driving wheel 201
To the change in the position of connecting portion 20 so that the driving wheel 201 is transported in the inwall of spherical shell 1 along different circumference
It is dynamic, fixed in the rotating speed one of driving wheel 201, the driving wheel 201 in the inwall of spherical shell 1 along different circular motion, then institute
The rotating ratio stated between driving wheel 201 and the spherical shell 1 is different, so that realize makes the ball while electric efficiency is not influenceed
The stepless change of shell 1.
A kind of ball shape robot that the embodiment of the present application is provided, the driving wheel 201 is driven by first motor 202
Rotation, produces rotation friction to drive the spherical shell 1 to be rotated relative to the drive component 2, the spherical shell in the inwall of spherical shell 1
1 rotate between ground produces frictional force, realizes rolling of the spherical shell 1 relative to ground；By in the actuating arm
First connecting rod 23 is set between 21 and the telescopic drive portion 22, and the telescopic drive portion 22 promotes the first connecting rod 23 relative
Back and forth movement is done in the connecting portion 20, drives the actuating arm 21 to be swung around the connecting portion 20, and drives the driving wheel
201 in the inwall of spherical shell 1 along different circular motion, to adjust the rotating ratio of the driving wheel 201 and the spherical shell 1,
Make the rotation speed change of the spherical shell 1 while electric efficiency is not influenceed.Wherein, the driving wheel 201 is bigger along radius
Circular motion, then the velocity of rotation of spherical shell 1 is smaller, and the driving wheel 201 is along the smaller circular motion of radius, then the velocity of rotation of spherical shell 1
It is bigger, by the angle opened or tightened up for adjusting actuating arm 21；In addition, by continuously adjusting opening or tightening up for actuating arm 21
Angle, realize the variable speed of spherical shell 1.
It is to be appreciated that the drive component 2 that the application is protected can be used for but be not limited only to described spherical machine
Device people, can be also used in the ball-type motion mechanism that other need speed change or variable speed.
It is to be appreciated that the actuating arm 21 can be a pair or more than or equal to 3.Driven described in a pair
In swing arm 21, first motor 202 is by controlling the differential of driving wheel 201 described in a pair to be that the ball shape robot can be achieved
The motion such as advance, retrogressing, left-hand bend, right-hand bend, rotation.
Refer in Fig. 3-1 and Fig. 3-2, a kind of embodiment, actuating arm 21 is a pair, and the telescopic drive portion 22 is passed through
The center of the spherical shell 1, the actuating arm 21 and driving wheel 201 are symmetrically distributed in the both sides in telescopic drive portion 22；The driving
Output speed described in component 2 between driving wheel 201 and the spherical shell 1 is than I：
I=(n1/n2)=(L/r) ∝ (1/ θ) (1)
Wherein, n1 is the rotating speed of the driving wheel 201, in the case where the driving power of the first motor 202 is constant, institute
The rotating speed for stating driving wheel 201 is constant；N2 is the rotating speed of the spherical shell 1；The radius of driving wheel 201 described in r, is invariant；L is described
Driving wheel 201 is relative to the radius of a circle that the spherical shell 1 is moved；θ is the center of driving wheel 201 to the center of the spherical shell 1
Line and vertical center line between angle.
From formula (1), the angle theta that the pair of actuating arm 21 opens is bigger, and the driving wheel 201 is along the spherical shell
1 motion radius of a circle L it is smaller, then the output speed between the driving wheel 201 and the spherical shell 1 than I just smaller, the ball
The velocity of rotation of shell 1 is faster；The angle theta that the pair of actuating arm 21 opens is smaller, and the driving wheel 201 is along the spherical shell 1
The radius of a circle L of motion is bigger, then the output speed between the driving wheel 201 and the spherical shell 1 is bigger than I, the ball
The velocity of rotation of shell 1 is slower.The present embodiment is by adjusting the angle theta that the pair of actuating arm 21 opens, you can realize the ball
The regulation of the velocity of rotation of shell 1, is additionally, since the adjustable consecutive variations of angle theta that the pair of actuating arm 21 opens, then described to drive
Output speed between driving wheel 201 and the spherical shell 1 is than I also adjustable consecutive variations, it is achieved thereby that the nothing that the spherical shell 1 is rotated
Level gearshift adjustment.
Fig. 3-1 is referred to, when ball shape robot obstacle detouring or climbing, in the case where output power of motor is certain, to carry
For sufficiently large rotating torque, then need the less speed of spherical shell 1, that is, need to increase the driving wheel 201 and the spherical shell 1 it
Between output speed ratio, that is, the angle theta that actuating arm 21 opens it is smaller.Now by controlling the second motor 224 to drive first
Connector 223 is moved towards second motor 224, and the first connector 223 drives actuating arm 21 around institute by first connecting rod 23
State connecting portion 20 to rotate towards first connector 223, so that a pair of actuating arms 21 are tightened up, so that the angle reduced
θ 1, now circular motion of the driving wheel 201 along a diameter of A1C1, B1D1.From formula (1), now rotating ratio I increases, ball
The speed of shell 1 reduces.
Fig. 3-2 are referred to, when ball shape robot is in level walking, it is necessary to improve the translational speed of robot, i.e., to be increased
The velocity of rotation of the big spherical shell 1, it is necessary to reduce the output speed ratio between the driving wheel 201 and the spherical shell 1, that is,
The angle theta that actuating arm 21 opens is larger.Now by controlling the second motor 224 to promote the first connector 223 towards the connection
Portion 20 is moved, and the first connector 223 drives actuating arm 21 around the connecting portion 20 towards away from described first by first connecting rod 23
The direction of connector 223 is rotated, so that a pair of actuating arms 21 trail, so as to obtain larger angle theta 2, now driving wheel 201
Along a diameter of A2C2, B2D2 circular motion.From formula (1), now rotating ratio I reductions, the increase of the speed of spherical shell 1.
From the foregoing, it will be observed that by changing the angle theta that actuating arm 21 opens, you can any within the specific limits according to demand to change
Rotating ratio I, so that the spherical shell 1 realizes variable speed.
In the application embodiment, the pair of intersection point of actuating arm 21 can be located at the center of spherical shell 1, and the connection
Portion 20 is located at the center of spherical shell 1, can not also be located at the center of spherical shell 1, the application is for the pair of intersection point of actuating arm 21
It is not limited relative to the position in the spherical shell 1.
The application is not limited for the quantity of the actuating arm 21, and the actuating arm 21 can be symmetrically distributed in for 2
The both sides of telescopic drive portion 22, it is also possible that the actuating arm 21 can be 3 or more, are surrounded on the flexible drive respectively
Dynamic portion 22 is symmetrical.Correspondingly, multiple first connecting rods 23 can be provided with, the multiple one end of first connecting rod 23 is rotationally connected with
First connector 223, the telescopic drive portion 22 drives first connector 223 to be transported towards or away from the connecting portion 20
It is dynamic, drive the multiple first connecting rod 23 to promote or pull down multiple actuating arms 21 while being swung around the connecting portion 20, realize many
Individual actuating arm 21 opens or tightened up, so as to adjust the speed of the spherical shell 1.Multiple actuating arms 21 are that the ball shape robot is carried
Multiple driving wheels 201 have been supplied, bigger driving force can be provided for the spherical shell 1.
Refer to Fig. 4-1 and Fig. 4-2, the telescopic drive portion 22 includes the first guide rail 221, by first guide rail 221
The first connector 223 for be fixed on the guide rail fixing element 222 of the connecting portion 20, being sheathed on first guide rail 221 and set
The second motor 224 in the one end of first guide rail 221 away from the connecting portion 20, second motor 224 is to drive
First connector 223 is slided along first guide rail 221.The first connecting rod 23 includes the first end 232 being oppositely arranged
With the second end 233, the first end 232 and second end 233 are rotationally connected with first connector 223 and described respectively
Actuating arm 21；First connector 223 is slided along first guide rail 221, drives the first connecting rod 23 relative to described
Connecting portion 20 does back and forth movement, and drives the actuating arm 21 to be swung around the connecting portion 20.
It should be understood that second motor 224 is not limited to use screw motor or linear electric motors, it would however also be possible to employ
Hydraulic cylinder or other can realize other linkages for swinging actuating arm 21.
Further, the two ends of the first guide rail 221 are additionally provided with the first locating part 225,226, first locating part
225th, 226 are used for the spacing of two endpoint locations that first connector 223 is slided along first guide rail 221.Described
One locating part 225,226 can be limit damping block, it is also possible to which limit switch or other limit methods are substituted.Described first is spacing
The material of part 225,226 can be the high-abrasive materials such as rubber, on the one hand serve shock absorbing effect to the first connector 223,
On the other hand, the abrasion to the first connector 223 is reduced, extends its service life.
Referring to Fig. 5, in a kind of embodiment, the actuating arm 21 also includes being connected to the connecting portion 20 and the drive
Second connecting rod 227 between driving wheel 201；The second connecting rod 227 is provided with the second connector 229, the first connecting rod 23
Second end 233 is rotationally connected with second connector 229.First connector 223 is along first guide rail 221 towards institute
State the sliding process of connecting portion 20 so that the first connecting rod 23 promotes the actuating arm 21 to be rotated around the connecting portion 20 all the time,
To increase the angle that the actuating arm 21 stretches around the connecting portion 20.Specifically, the second motor 224 promotes first to connect
Part 223 is towards in the motion process of connecting portion 20, and the first connecting rod 23 rotates around second connector 229 and promotes institute
Actuating arm 21 is stated, and then opens actuating arm 21, when the first connector 223 is located at top, i.e., near the connection
During the position in portion 20, the angle theta that now actuating arm 21 opens is maximum, and such design can obtain what larger actuating arm 21 opened
Angle theta, while the displacement of the first connector 223 is smaller, can simplify and reduce the structure in telescopic drive portion 22, so as to reduce drive
The space that dynamic component 2 is occupied, is easy to the layout of other structures.
Refer in Fig. 4-1, Fig. 4-2 and Fig. 5, a kind of embodiment, the driving wheel 201 and the second connecting rod 227
Between be provided with Flexible Connector 24, the Flexible Connector 24 extends along the direction of actuating arm 21, in the spherical machine
Buffer protection is played in people's motion process and to provide contact between the driving wheel 201 and the spherical shell 1.One kind is implemented
In mode, the Flexible Connector 24 includes spring 241, the second guide rail 242 located at the opposite sides of spring 241 and set
Sliding block 243 on second guide rail 242, described one end of second guide rail 242 is fixedly connected on the second connecting rod 227, separately
One end extends towards the direction of driving wheel 201, and the two ends of the second guide rail 242 are provided with the second locating part 244,245, the second limit
Position part 244,245 is used for the sliding position for limiting the sliding block 243.Described one end of sliding block 243 is located at second guide rail 242
On, it can be slided relative to second guide rail 242, the other end is fixed on the driving wheel 201, the spring 241 is fixed on institute
State between second connecting rod 227 and the driving wheel 201, and in compressive state, in order to being the driving wheel 201 and the ball
Contact is provided between shell 1.In addition, in ball shape robot motion process, the spring 241 can be by the change of its decrement
Change ensures that driving wheel 201 is in close contact with spherical shell 1 in order to which the driving wheel 201 drives the ball by rotation friction all the time
Shell 1 is moved.In other embodiment, the Flexible Connector 24 can also be other elasticity such as elastic caoutchouc, elastoplast
Element, in this application, is not limited the concrete structure of the Flexible Connector 24.
In a kind of embodiment, the bearing of trend of the actuating arm 21 is by face, i.e. institute where the driving wheel 201 rotation
State the bearing of trend radially along the actuating arm 21 of driving wheel 201, so that the side face of driving wheel 201 fully contacts ball
Shell 1, the speed that ball is rolled is faster；And Flexible Connector 24 is for the pressure and 201 pairs of the driving wheel of the driving wheel 201
Consistent in the pressure direction of spherical shell 1, structure design is more reasonable, more stablizes when ball shape robot is moved.
Referring to Fig. 1, the floating attachment 6 include connecting rod 61 and located at the connecting rod 61 and the spherical shell 1 it
Between universal wheel 62, the connecting rod 61 is fixedly connected on the connecting portion 20, the universal wheel 62 and the inwall phase of spherical shell 1
Contact, the floating attachment 62 can together with the drive component 2 with the relative motion of spherical shell 1.The floating attachment 6
The stability of drive component can be increased.Universal wheel 62 can also be replaced by ball.
The application is not limited for the quantity of the drive component 2, and multiple drivings can be provided with the spherical shell 1
Component 2, the multiple drive component is all connected on the floating attachment, and the multiple drive component 2 is in the spherical shell 1
In can be symmetric on the center of spherical shell 1.
Further, the ball shape robot also includes supporting table 3 and balancing weight 4, and the drive component 2 is fixed on described
In supporting table 3；The balancing weight 4 deviates from the side of the drive component 2 located at the supporting table 3, described spherical to reduce
The center of gravity of robot, and stability of the increase drive component 2 in the spherical shell 1.
The supporting table 3 is provided with support wheel 5, and the side face of support wheel 5 is in contact with the spherical shell 1, described to support
Supporting table 3.
A kind of ball shape robot that the embodiment of the present application is provided, the driving wheel 201 is driven by first motor 202
Rotation, produces rotation friction to drive the spherical shell 1 to be rotated relative to the drive component 2, the spherical shell in the inwall of spherical shell 1
1 rotate between ground produces frictional force, realizes rolling of the spherical shell 1 relative to ground；By in the actuating arm
First connecting rod 23 is set between 21 and the telescopic drive portion 22, and the telescopic drive portion 22 promotes the first connecting rod 23 relative
Back and forth movement is done in the connecting portion 20, drives the actuating arm 21 to be swung around the connecting portion 20, and drives the driving wheel
201 in the inwall of spherical shell 1 along different circular motion, to adjust the rotating ratio of the driving wheel 201 and the spherical shell 1,
Make the rotation speed change of the spherical shell 1 while electric efficiency is not influenceed.Wherein, the driving wheel 201 is bigger along radius
Circular motion, then the velocity of rotation of spherical shell 1 is smaller, and the driving wheel 201 is along the smaller circular motion of radius, then the velocity of rotation of spherical shell 1
It is bigger, by adjusting the angle opened or tightened up of actuating arm 21,；Transported to adjust the driving wheel 201 in the inwall of spherical shell 1
Dynamic radius of a circle, so as to realize the velocity of rotation of spherical shell 1 regulation；Further, since can be by continuously adjusting actuating arm 21
The angle opened or tightened up, it is achieved thereby that the variable speed of the spherical shell 1.
The ball shape robot that the application is provided, in the case where not influenceing motor efficiency, realizes the speed of the ball shape robot
Degree change, especially, when ball shape robot obstacle detouring, can not influence to realize reduction movement velocity in the case of motor efficiency, defeated
Go out larger torsional moment, help obstacle detouring, and advantageously reduce the energy consumption of ball shape robot, increase cruising time.In addition, the speed
Change procedure is variable speed, and speed is easy to adjust controllable, and the mechanism structure is novel, practical, assembling is simple.
Claims (10)
1. a kind of ball shape robot, including spherical shell and the drive component inside the spherical shell, it is characterised in that the driving
Component includes connecting portion and is fixed on the telescopic drive portion of the connecting portion, is rotationally connected with the actuating arm of the connecting portion；Institute
State connecting portion and the spherical shell inwall is connected to by floating attachment；
The actuating arm is provided with driving wheel and the first motor, and the driving wheel is located at the remote connecting portion of the actuating arm
One end and the spherical shell is contacted, first motor is used to drive the driving wheel to rotate, and pass through the driving wheel and described
Frictional force is produced between spherical shell drives the spherical shell to rotate；Connect between the actuating arm and the telescopic drive portion provided with first
Bar, the telescopic drive portion promotes the first connecting rod to do back and forth movement relative to the connecting portion, drive the actuating arm around
The connecting portion is swung, and the spherical shell rotating speed is adjusted with the change by the relatively described connecting portion position of the driving wheel.
2. a kind of ball shape robot according to claim 1, it is characterised in that led including first in the telescopic drive portion
Rail, the first connection that first guide rail is fixed on the guide rail fixing element of the connecting portion, is sheathed on first guide rail
Part and the second motor located at the described one end of first guide rail away from the connecting portion, second motor is to drive described
A connection piece is slided along first guide rail；
The first connecting rod includes the first end that is oppositely arranged and the second end, the first end and second end company of rotation respectively
It is connected to first connector and the actuating arm；First connector is slided along first guide rail, drives described first
Connecting rod does back and forth movement relative to the connecting portion, and drives the actuating arm to be swung around the connecting portion.
3. a kind of ball shape robot according to claim 2, it is characterised in that the actuating arm is also described including being connected to
Second connecting rod between connecting portion and the driving wheel, is provided with Flexible Connector between the driving wheel and the second connecting rod,
The Flexible Connector extends along the actuating arm direction, played in the ball shape robot motion process buffering and be institute
State the effect that contact is provided between driving wheel and the spherical shell.
4. a kind of ball shape robot according to claim 3, it is characterised in that the Flexible Connector includes spring, set
In the second guide rail and the sliding block on second guide rail of the spring opposite sides, described second guide rail one end is fixed
The second connecting rod is connected to, the other end extends towards the driving wheel direction, described sliding block one end is located at second guide rail
On, the other end is fixed on the driving wheel, and the spring is fixed between the second connecting rod and the driving wheel, and in pressure
Contracting state, in order to provide contact between the driving wheel and the spherical shell.
5. a kind of ball shape robot according to claim 1, it is characterised in that the bearing of trend of the actuating arm passes through institute
State face where driving wheel rotation.
6. a kind of ball shape robot according to claim 1, it is characterised in that the floating attachment include connecting rod and
Universal wheel between the connecting rod and the spherical shell, the connecting rod is fixedly connected on the connecting portion, described universal
Wheel is in contact with the spherical shell inwall, and make it that the floating attachment can be relative with the spherical shell together with the drive component
Motion.
7. a kind of ball shape robot according to any one of claim 1~6, it is characterised in that the actuating arm be it is multiple,
The telescopic drive portion is surrounded on to be symmetric.
8. a kind of ball shape robot according to any one of claim 1~6, it is characterised in that the drive component is many
Individual, the multiple drive component is connected to the floating attachment, and the multiple drive component in the spherical shell on institute
Spherical shell center is stated to be symmetric.
9. a kind of ball shape robot according to claim 8, it is characterised in that the ball shape robot also includes supporting table
And balancing weight, the drive component is fixed in the supporting table；The balancing weight deviates from the driving located at the supporting table
The side of component, to reduce the stabilization of the center of gravity and the increase drive component of the ball shape robot in the spherical shell
Property.
10. a kind of ball shape robot according to claim 9, it is characterised in that the supporting table is additionally provided with support wheel, institute
State support wheel side face to be in contact with the spherical shell, to support the supporting table.
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| CN201710171308.6A CN107128382B (en) | 2017-03-21 | 2017-03-21 | Ball shape robot |
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| CN201710171308.6A CN107128382B (en) | 2017-03-21 | 2017-03-21 | Ball shape robot |
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| CN107128382B CN107128382B (en) | 2019-06-04 |
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| CN109435677A (en) * | 2018-12-05 | 2019-03-08 | 深圳市远弗科技有限公司 | A kind of active Stump-jump wheel group |
| CN110341822A (en) * | 2019-07-30 | 2019-10-18 | 深圳市琅硕海智科技有限公司 | Internal driving system of spherical robot |
| CN110834682A (en) * | 2019-12-13 | 2020-02-25 | 中国科学院沈阳自动化研究所 | Internal friction type omnidirectional moving spherical robot |
| CN111332378A (en) * | 2020-02-03 | 2020-06-26 | 北京交通大学 | Double-power four-wheel five-omni-directional wheel heavy-load spherical robot |
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|---|---|
| CN107128382B (en) | 2019-06-04 |
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