CN107685783A - A kind of ball shape robot and its drive device - Google Patents
A kind of ball shape robot and its drive device Download PDFInfo
- Publication number
- CN107685783A CN107685783A CN201710829335.8A CN201710829335A CN107685783A CN 107685783 A CN107685783 A CN 107685783A CN 201710829335 A CN201710829335 A CN 201710829335A CN 107685783 A CN107685783 A CN 107685783A
- Authority
- CN
- China
- Prior art keywords
- drive device
- motor
- driving wheel
- gear
- ball shape
- 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.)
- Pending
Links
- 239000000463 material Substances 0.000 claims description 5
- 229920001971 elastomer Polymers 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- 230000003139 buffering effect Effects 0.000 description 13
- 238000000034 method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- 229920000459 Nitrile rubber Polymers 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The present invention discloses a kind of ball shape robot and its drive device, the ball shape robot includes a spherical housing, the locating dowel in the spherical housing, the drive device is arranged on the bottom of locating dowel, and the drive device includes motor box, the motor being arranged on inside motor box, battery case, the battery and driving wheel for being arranged on battery inside；The motor box is located at the bottom of drive device, and the battery case is located at the top of motor box, and the driving wheel is located at the both sides of motor box；The outside of the driving wheel is adapted to be obliquely installed with spherical housing inner wall shape, and the motor is provided with two and is reducing motor, is respectively used to drive described two driving wheels；The battery is electrically connected with described two motors, is rotated after the electric motor starting and is driven the driving wheel to rotate, the driving wheel is moved by frictional force drives spherical housing.The ball shape robot of the present invention can be more stable motion, it is and more easy to control.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of ball shape robot and its drive device.
Background technology
Robot (Robot) is the automatic installations for performing work, and it can both receive mankind commander, and can run again
The program of advance layout, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as production industry, construction industry, or dangerous work.
The application field of robot is more and more in recent years, and the figure of robot, machine can be seen in the environment of many
The forms of motion of device people is also diversified all the more.Ball shape robot because of the closure of its structure, the ability of omnidirectional moving, will not turn on one's side
Etc. feature, suitable for moist, more dirt and rugged environment.
Drive device is the mechanism for driving ball shape robot executing agency to move, and the instruction sent according to control system is believed
Number, acted robot by means of dynamical element.
Existing ball shape robot drive assembly design is unreasonable, causes that ball shape robot motion process is unstable, is not easy
Control.
Therefore, prior art has yet to be improved and developed.
The content of the invention
In view of above-mentioned the deficiencies in the prior art, it is an object of the invention to provide a kind of ball shape robot and its driving dress
Put, it is intended to solve that existing drive assembly design is unreasonable to cause to move the problems such as unstable, whard to control.
Technical scheme is as follows：
A kind of drive device of ball shape robot, the ball shape robot include a spherical housing, positioned at described spherical outer
Locating dowel in shell, the locating dowel includes fixed part, through fixed part and the buffer part that extends straight down and is fixed on
The connecting portion of buffer part lower end, the outer circumferential side of the buffer part is arranged with spring and the upper and lower ends of spring are respectively held against fixed part
Bottom surface and connecting portion top surface, wherein, the drive device is arranged on the bottom of locating dowel, and the drive device includes motor
Box, the motor being arranged on inside motor box, battery case, the battery and driving wheel for being arranged on battery inside；The motor box
Positioned at the bottom of drive device, the battery case is located at the top of motor box, and the driving wheel is located at the both sides of motor box, described
Both sides at the top of battery case are provided with positioning hole, and the connecting portion of the locating dowel is plugged in positioning hole and protrudes from positioning hole,
And fit in the inwall of positioning hole；The outside of the driving wheel is adapted, institute to be obliquely installed with spherical housing inner wall shape
State motor to be provided with two and be reducing motor, be respectively used to drive described two driving wheels；The battery and described two electricity
Machine is electrically connected with, and is rotated after the electric motor starting and is driven the driving wheel to rotate, the driving wheel is spherical by frictional force drives
Shell moves.
The drive device of described ball shape robot, wherein, the drive device is propped up in ball by flexible gasket flexibility
Shape outer casing inner wall.
The drive device of described ball shape robot, wherein, flexible gasket is flexible rubber material.
The drive device of described ball shape robot, wherein, the side of the driving wheel towards motor is provided with a gear
Skeleton and the first gear for being fixed on gear skeleton outer circumferential side, the outer circumferential side of the rotary shaft of motor are fixed with second gear, the
One gear and second gear cooperate.
The drive device of described ball shape robot, wherein, the outer circumferential side sectional area of first gear is more than second gear
Outer circumferential side sectional area.
The drive device of described ball shape robot, wherein, two driving wheels pass through a transverse axis connection gear skeleton and horizontal stroke
Axle passes through gear skeleton, and is fixed on the top central region of motor box.
A kind of ball shape robot, wherein, including the as above drive device described in any one.
Beneficial effect：The present invention is mutually fitted by being improved to drive device using two shapes with spherical housing inwall
The driving wheel matched somebody with somebody drives ball shape robot to move integrally, and two driving wheels can individually be controlled by respective motor, so can more hold
Steering of ball shape robot easy to control etc. acts, i.e., the motion that ball shape robot of the invention can be more stable, and more easy to control.
Brief description of the drawings
Fig. 1 is the positive structure diagram of the preferred embodiment of the ball-shape robot of the present invention；
Fig. 2 is the locating dowel structural representation of the preferred embodiment of the ball-shape robot of the present invention
Fig. 3 is the side structure schematic view of the preferred embodiment of the ball-shape robot of the present invention；
Fig. 4 is the inside primary structure front schematic view of the preferred embodiment of the ball-shape robot of the present invention；
Fig. 5 is the inside primary structure side schematic view of the preferred embodiment of the ball-shape robot of the present invention.
Embodiment
The present invention provides a kind of ball shape robot and its drive device, to make the purpose of the present invention, technical scheme and effect
Clearer, clear and definite, the present invention is described in more detail below.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
Referring to Fig. 1, Fig. 1 is a kind of structural representation of the preferred embodiment of ball shape robot of the present invention, it is described spherical
Robot 1 includes a spherical housing 10, the locating dowel 11 in the spherical housing 10, as shown in Fig. 2 the locating dowel 11
Including fixed part 111, through fixed part 111 and the buffer part 112 extended straight down and it is fixed on the lower end of buffer part 112
Connecting portion 113, the outer circumferential side of the buffer part 112 is arranged with spring and the upper and lower ends of spring are respectively held against fixed part 111
Bottom surface and the top surface of connecting portion 113, the drive device 12 is arranged on the bottom of locating dowel 11 and the flexibility of drive device 12 props up
In the inwall of spherical housing 10, with reference to shown in Fig. 3 to Fig. 5, the drive device 12 includes motor box 121, is arranged on motor box 121
Motor 124, battery case 122, the battery 125 and driving wheel 123 being arranged on inside battery case 122 of inside；Motor box 121
In the bottom of drive device 12, battery case 122 is located at the top of motor box 121, and driving wheel 123 is located at the both sides of motor box 121,
The both sides at the top of the battery case 122 are provided with positioning hole, and the connecting portion 113 of the locating dowel 11 is plugged in positioning hole and convex
For positioning hole, and fit in the inwall of positioning hole.
The fixed part 111 is circle ring column shape, and buffer part 112 passes through the inner ring through hole and and fixed part of fixed part 111
111 movable contacts, and the peripheral cross-section product on the top of buffer part 112 is more than the sectional area of the inner ring through hole of fixed part 111；Even
The top of socket part 113 is flange cap end, the middle-end of connecting portion 113 be it is cylindric, the bottom of connecting portion 113 be it is convex hemispherical, its
More than the outer circumferential side sectional area of middle-end, connecting portion 113 is formed in one structure the top periphery lateral section product of middle connecting portion 113.
It is, moreover, an optional that considering the economy and practicality in buffer part 112, buffer part 112 is a spacing spiral shell with flange cap end
Silk.
The outside of the driving wheel 123 is adapted, the motor to be obliquely installed with the inner wall shape of spherical housing 10
124 are provided with two and are reducing motor, are respectively used to drive described two driving wheels 123；The battery 125 with it is described two
Motor 124 is electrically connected with, and the motor 124 rotates after starting drives the driving wheel 123 to rotate, and the driving wheel 123 passes through
Frictional force drives spherical housing 10 moves.
The driving wheel 123 is shaped to be adapted with the inner wall shape of spherical housing 10, and driving wheel 123 can be made complete
It is close to the inwall of spherical housing 10 entirely, so as to increase the friction of driving wheel 123 and the inwall of spherical housing 10, and then makes spherical machine
People can timely respond the drive actions of driving wheel 123 and carry out the actions such as various forward, retrogressings.While driving wheel 123
Shape is adapted with the inner wall shape of spherical housing 10, so the motion process of driving wheel 123 can be completely delivered to outside spherical
On shell 10, so the motion process of ball shape robot can be made more stable, situations such as rocking, shake without generation.
In addition, hollow out shape can also be made in the driving wheel 123, to reduce weight, rotational efficienty is improved.
Preferably, the drive device 12 is propped up in the inwall of spherical housing 10, the flexible pad by flexible gasket flexibility
Piece can be made into the shape consistent with driving wheel 123, i.e., wraps up the driving wheel 123 using flexible gasket, so as to driving wheel 123
Rotation process enter row buffering, it is preferred that the flexible gasket can wrap the side of driving wheel 123, i.e., with spherical housing 10
The hypotenuse (non-directional hypotenuse, but with cambered hypotenuse, radian matches with spherical housing 10) of inwall contact, such institute
State flexible gasket and form the circular ring structure that outside is tilted shape, the thickness of the flexible gasket can be 0.2mm~2mm, example
Such as 0.5mm, to realize optimal cushioning effect, while the conductive process of rotation is nor affected on.Further, flexible gasket is rubber
The flexible material of material, such as nitrile rubber.
The width of the driving wheel 123 is preferably 2mm~10mm, for example, 8mm, to be use up with the inwall of spherical housing 10
There may be larger contact area, while can also improve drive efficiency.The radius of the driving wheel 123 can be 10mm~
30mm, such as 20mm, it can specifically be determined according to the radius of ball shape robot, such as the radius of driving wheel 123 can be ball
The 1/4~1/2 of anthropomorphic robot radius, such as 1/3, to make ball shape robot motion more stable.
The driving wheel 123 sets a gear skeleton 1232 towards the side of motor 124 and is fixed on gear skeleton
The first gear 1231 of 1232 outer circumferential sides, the outer circumferential side of the rotary shaft of motor 124 are fixed with second gear 1241, first gear
1231 and second gear 1241 cooperate.
In order that the movement for obtaining the present embodiment is more accurate, the outer circumferential side sectional area of first gear 1231 is more than second gear
1241 outer circumferential side sectional area.So, after second gear 1241 rotates multi-turn, first gear 1231 could be driven to rotate a circle.
Preferably, two driving wheels 123 pass through gear skeleton 1232 by a transverse axis connection gear skeleton 1232 and transverse axis,
And it is fixed on the top central region of motor box 121.
Because buffer unit 13 props up the inwall of spherical housing 10 so that this preferred embodiment is in movement, drive device
12 tend towards stability state all the time.
The operation principle of this preferred embodiment is：
First, power-on and drive device 12 is started, the motor 124 in drive device 12 comes into operation, motor 124
Rotary shaft driving second gear 1241 rotates, and second gear 1241 drives the first gear being engaged vertically with second gear 1241
1231 operatings, first gear 1231 drive driving wheel 123 to rotate；
Then, driving wheel 123 and the spherical housing 10 contacted with each other produce frictional force, so that driving wheel 123 drives
Spherical shell 10 moves in ground or water.
When this preferred embodiment needs to turn, two motors 124 take counter-rotational mode to rotate, i.e., two
The rotation direction of motor 124 is on the contrary, so as to drive corresponding driving wheel 123 to move in opposite directions, so as to realize turning action.
Buffer unit 13 and CCD camera assembly 14 are additionally provided with the spherical housing 10.
Buffer unit 13 is arranged on the top of locating dowel 11 and the flexibility of buffer unit 13 is propped up in the inwall of spherical housing 10, its
Including buffering stand 131 and buffering wheel 132, buffering wheel 132 is arranged on the both sides of buffering stand 131.
CCD camera assembly 14, including camera 141 and camera pcb board 142, camera 141 are arranged on buffer unit 13
Front end；Camera pcb board 142 is arranged between locating dowel 11.
Wherein, camera 141 is connected with camera pcb board 142 by flexible PCB, and fixed part 111 is locating dowel 11
Top, connecting portion 113 is the bottom of locating dowel 11, and fixed part 111 is fixedly connected with the both sides of buffering stand 131, connecting portion
113 with the both sides grafting at the top of battery case 122.Optionally, fixed part 111 and buffering stand 131 are formed in one structure.
Specifically, the both sides at the top of battery case 122 are provided with positioning hole, the connecting portion 113 of locating dowel 11 is plugged in positioning
In hole and positioning hole is protruded from, and fits in the inwall of positioning hole；Buffering stand 131 includes a rack platform 1311 and is arranged on
The supporting plate 1312 of the both sides of rack platform 1311, the fixed part 111 of locating dowel 11 are arranged on supporting plate 1312 close to rack platform
1311 side, and the upper and lower side of fixed part 111 protrudes from supporting plate 1312.
Optionally, buffer unit 13 is propped up in the inwall of spherical housing 10 also by flexible gasket flexibility, and flexible gasket can
To be other flexible materials such as flexible rubber.
In the preferred embodiment, CCD camera assembly 14 also includes the support 143 that a top has the first camera neck,
Support 143 is vertically fixed on the front top of battery case 122, and camera 141 is fixed in the first camera neck and is located at
The front end of buffer unit 13, specifically, camera 141 sets the front of the rack platform 1311 of buffering stand 131.In order that
Camera 141 is more stable, optionally, support 143 and battery case 122 are formed in one structure.
In the preferred embodiment, side of the supporting plate 1312 away from rack platform 1311 is provided with the receiving sky of a hollow out
Between, the both sides of receiving space are provided with two projections, and buffering wheel 133 is located in receiving space and rotatable by a connecting shaft
It is fixed between two projections.
Further, since above camera pcb board 142 can the corresponding electronic component of mounting arrangements, in order to allow electronic component
There can be enough space mountings, in the preferred embodiment, the bottom surface of rack platform 1311 is higher than the top surface of supporting plate 1312, takes the photograph
As the rear end of head pcb board 142 is fixedly connected with the rear end of battery case 122 by connecting pole.
It is understood that this preferred embodiment, during movement, buffer unit 13 plays one to drive device 12
The effect of individual stable operation, specifically, because buffer unit 13 and drive device 12 prop up the inwall of spherical housing 10, and it is slow
Flushing device 13 passes through 11 times hydraulic drivers of locating dowel 12 so that in movement, drive device 12 becomes this preferred embodiment all the time
In stable state.
In addition, when this preferred embodiment runs into impact or fallen on the move, due to the work of the spring in locating dowel 11
With, and buffer unit 13 and drive device 12 prop up the inwall of spherical housing 10 again so that this preferred embodiment shakes in generation
When swinging, buffer unit 13 produces the effect of a buffering by the spring of locating dowel 11 to drive device 12, is driven so as to avoid
Dynamic device 12 is impaired.
In rotation process, buffer unit 13 plays stable effect to drive device 12, on the one hand, under buffer unit 13
Hydraulic driver 12 so that be in the all-the-time stable of drive device 12 bottom of spherical shell 10, on the other hand, buffering wheel 133
With driving wheel about 123 it is corresponding and be vertically arranged so that this preferred embodiment inner structural integrity tends to balance and stably；
When this preferred embodiment catches the image for catching needs, just stop movement, the support for making way for buffering stand 131 is put down
The camera 141 in the front of platform 1311 is shot.
The drive device of ball shape robot provided by the present invention is the drive device part in foregoing teachings, no longer superfluous
State.
It should be appreciated that the application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can
To be improved or converted according to the above description, all these modifications and variations should all belong to the guarantor of appended claims of the present invention
Protect scope.
Claims (7)
1. a kind of drive device of ball shape robot, the ball shape robot includes a spherical housing, positioned at the spherical housing
Interior locating dowel, the locating dowel includes fixed part, through fixed part and the buffer part that extends straight down and is fixed on slow
The connecting portion at subordinate end is rushed, the outer circumferential side of the buffer part is arranged with spring and the upper and lower ends of spring are respectively held against fixed part
Bottom surface and the top surface of connecting portion, it is characterised in that the drive device is arranged on the bottom of locating dowel, and the drive device includes
Motor box, the motor being arranged on inside motor box, battery case, the battery and driving wheel for being arranged on battery inside；The electricity
Machine box is located at the bottom of drive device, and the battery case is located at the top of motor box, and the driving wheel is located at the both sides of motor box,
Both sides at the top of the battery case are provided with positioning hole, and the connecting portion of the locating dowel is plugged in positioning hole and protrudes from positioning
Hole, and fit in the inwall of positioning hole；Mutually fitted with spherical housing inner wall shape to be obliquely installed in the outside of the driving wheel
Match somebody with somebody, the motor is provided with two and is reducing motor, is respectively used to drive described two driving wheels；The battery and described two
Individual motor is electrically connected with, and is rotated after the electric motor starting and is driven the driving wheel to rotate, the driving wheel passes through frictional force drives
Spherical housing moves.
2. the drive device of ball shape robot according to claim 1, it is characterised in that the drive device passes through flexibility
Pad flexibility is propped up in spherical housing inwall.
3. the drive device of ball shape robot according to claim 2, it is characterised in that flexible gasket is quality of rubber materials.
4. the drive device of ball shape robot according to claim 1, it is characterised in that the driving wheel is towards motor
Side is provided with a gear skeleton and is fixed on the first gear of gear skeleton outer circumferential side, and the outer circumferential side of the rotary shaft of motor is consolidated
Surely there is second gear, first gear and second gear cooperate.
5. the drive device of ball shape robot according to claim 4, it is characterised in that the periphery lateral section of first gear
Outer circumferential side sectional area of the product more than second gear.
6. the drive device of ball shape robot according to claim 4, it is characterised in that two driving wheels pass through a transverse axis
Connection gear skeleton and transverse axis passes through gear skeleton, and it is fixed on the top central region of motor box.
7. a kind of ball shape robot, it is characterised in that including the drive device as described in claim any one of 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710829335.8A CN107685783A (en) | 2017-09-14 | 2017-09-14 | A kind of ball shape robot and its drive device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710829335.8A CN107685783A (en) | 2017-09-14 | 2017-09-14 | A kind of ball shape robot and its drive device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107685783A true CN107685783A (en) | 2018-02-13 |
Family
ID=61156419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710829335.8A Pending CN107685783A (en) | 2017-09-14 | 2017-09-14 | A kind of ball shape robot and its drive device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107685783A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109213043A (en) * | 2018-09-26 | 2019-01-15 | 南京工程学院 | A kind of Amphibious spherical monitoring measuring table based on LoRa Internet of Things |
| 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 |
| CN111376663A (en) * | 2020-04-02 | 2020-07-07 | 青岛海研电子有限公司 | Amphibious spherical robot |
| CN112129356A (en) * | 2020-11-26 | 2020-12-25 | 华南理工大学 | Intelligent detection system based on spherical robot |
| CN113291492A (en) * | 2021-07-27 | 2021-08-24 | 中国科学院地质与地球物理研究所 | Dynamic robot for surface friction of terrestrial celestial body and moving method thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103921860A (en) * | 2014-04-21 | 2014-07-16 | 北京航空航天大学 | Ellipsoidal robot |
| CN204322064U (en) * | 2014-11-03 | 2015-05-13 | 深圳思瓦科技有限公司 | A kind of ball shape robot |
| CN206125220U (en) * | 2016-09-09 | 2017-04-26 | 深圳思瓦科技有限公司 | Ball -shape robot |
| CN207433677U (en) * | 2017-09-14 | 2018-06-01 | 深圳思瓦科技有限公司 | A kind of ball shape robot and its driving device |
-
2017
- 2017-09-14 CN CN201710829335.8A patent/CN107685783A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103921860A (en) * | 2014-04-21 | 2014-07-16 | 北京航空航天大学 | Ellipsoidal robot |
| CN204322064U (en) * | 2014-11-03 | 2015-05-13 | 深圳思瓦科技有限公司 | A kind of ball shape robot |
| CN206125220U (en) * | 2016-09-09 | 2017-04-26 | 深圳思瓦科技有限公司 | Ball -shape robot |
| CN207433677U (en) * | 2017-09-14 | 2018-06-01 | 深圳思瓦科技有限公司 | A kind of ball shape robot and its driving device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109213043A (en) * | 2018-09-26 | 2019-01-15 | 南京工程学院 | A kind of Amphibious spherical monitoring measuring table based on LoRa Internet of Things |
| 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 |
| CN111376663A (en) * | 2020-04-02 | 2020-07-07 | 青岛海研电子有限公司 | Amphibious spherical robot |
| CN112129356A (en) * | 2020-11-26 | 2020-12-25 | 华南理工大学 | Intelligent detection system based on spherical robot |
| CN113291492A (en) * | 2021-07-27 | 2021-08-24 | 中国科学院地质与地球物理研究所 | Dynamic robot for surface friction of terrestrial celestial body and moving method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107685783A (en) | A kind of ball shape robot and its drive device | |
| CN103009379B (en) | Scalable wheel type snake-shaped robot | |
| CN204819537U (en) | Teach robot multi -functional morning | |
| CN203172751U (en) | Spherical robot with stabilization platform | |
| CN206263937U (en) | A kind of Two-wheeled ball shape robot | |
| CN205615604U (en) | Spherical robot | |
| CN207433677U (en) | A kind of ball shape robot and its driving device | |
| CN205201536U (en) | A built -in cloud platform for robot head motion | |
| CN204322064U (en) | A kind of ball shape robot | |
| CN107685344A (en) | A kind of ball shape robot and its buffer unit | |
| CN103604280A (en) | Anti-wall-adhering rotary-drum drying machine | |
| CN107458559B (en) | The underwater robot in power drive direction can be changed | |
| CN103921860A (en) | Ellipsoidal robot | |
| CN207432245U (en) | A kind of ball shape robot and its buffer unit | |
| CN108247609B (en) | Deformable omnidirectional moving robot | |
| CN204233754U (en) | A kind of can by the toy top of electronic acceleration | |
| CN203572156U (en) | Rotating drum drying machine with adjustable anti-sticking wall position | |
| CN108657392A (en) | A kind of underwater robot | |
| CN207120242U (en) | A kind of novel holding device | |
| CN207997321U (en) | A kind of arrangement joint structure | |
| CN205889208U (en) | System of nodding of shaking head of robot that divides from top to bottom position | |
| CN205950771U (en) | A drive mechanism for realizing robot head left and right rocking moves | |
| CN109404735A (en) | A kind of pipeline exploration soft robot with cleaning structure | |
| CN205417841U (en) | Novel balanced pendulum sport ball anthropomorphic robot | |
| CN206766182U (en) | The sufficient robot that walks upright of one kind two |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |