CN111232074A - Ball moving balance robot with real-time monitoring function - Google Patents
Ball moving balance robot with real-time monitoring function Download PDFInfo
- Publication number
- CN111232074A CN111232074A CN202010035829.0A CN202010035829A CN111232074A CN 111232074 A CN111232074 A CN 111232074A CN 202010035829 A CN202010035829 A CN 202010035829A CN 111232074 A CN111232074 A CN 111232074A
- Authority
- CN
- China
- Prior art keywords
- real
- robot
- motor
- time monitoring
- monitoring function
- 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
Images
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
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
Abstract
A ball moving balance robot with a real-time monitoring function comprises a bearing platform, a cylindrical frame, an omnidirectional wheel, a ball body, a wireless communication module and a mobile terminal; the bearing table is arranged at the top of the cylindrical frame, and a cargo clamp is arranged at the top of the bearing table; the outer wall of the cylindrical frame is provided with a holder, and a camera is arranged outside the holder; the number of the omnidirectional wheels is three, and the omnidirectional wheels further comprise three driving devices which are respectively in one-to-one correspondence with the omnidirectional wheels; the bottom of the cylindrical frame is provided with a chassis; the invention provides the ball balance robot with the real-time monitoring function according to the content, the whole robot can move in all directions, the motion track is flexible, the motion radius can be changed at will to change the motion direction of the robot, goods can be carried in the moving process, stable and clear pictures can be shot in the moving process of the robot, and a user can obtain the pictures of the moving direction of the robot in real time to monitor in real time.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a ball balance robot with a real-time monitoring function.
Background
With the development of artificial intelligence and sensor technology, robots have entered into the daily life environment of people from the structured environment of factories, and intelligent robots have been applied to various aspects of people's lives, almost permeating various fields such as industry, agriculture, military, medical care, and the like. The intelligent robot has certain self-judgment and decision-making capability, and some repetitive work is gradually replaced by the intelligent robot. Like industrial robot, arm etc. alright in order to replace the human work of the many links of assembly line in the mill. The mobile robot is an important research direction in the robot, and the main characteristic of the mobile robot is that the mobile robot can move autonomously. The mobile robot has various moving modes, such as a crawler type similar to a tank, a leg type similar to human legs, and a wheel type mobile robot similar to wheels.
The concept of the self-balancing robot is derived from the eighties of the twentieth century, and the system is a nonlinear, strongly coupled, multivariable and naturally unstable system based on an inverted pendulum model. As for a robot with two wheels, a bicycle is well known, which is characterized in that two wheels are in the same plane, the static stability is poor, and the left and right stresses are controlled to keep balance during the movement.
The current self-balancing robot on the market is expensive and complex in structure, and cannot realize omnidirectional movement in a small range due to the limitation of the movement direction. Moreover, even if some self-balancing robots are provided with cameras, the shot scene is unclear due to shaking caused by uneven road surfaces in the traveling process of the robots. In addition, the existing parallel robot cannot acquire the pictures of the moving direction of the robot in real time by a user in the moving process of the robot, and cannot monitor the pictures in real time.
Disclosure of Invention
The invention aims to provide a ball balance robot with a real-time monitoring function, which realizes the overall omnibearing movement of the robot, has flexible movement track, can randomly change the movement radius to change the self movement direction, can carry goods in the movement process, can shoot stable and clear pictures in the advancing process of the robot, and can realize real-time monitoring by enabling a user to obtain the pictures of the movement direction of the robot in real time.
In order to achieve the purpose, the invention adopts the following technical scheme:
a ball moving balance robot with a real-time monitoring function comprises a bearing platform, a cylindrical frame, an omnidirectional wheel, a ball body, a wireless communication module and a mobile terminal;
the bearing table is arranged at the top of the cylindrical frame, and a cargo clamp is arranged at the top of the bearing table;
the outer wall of the cylindrical frame is provided with a holder, and a camera is arranged outside the holder;
the number of the omnidirectional wheels is three, and the omnidirectional wheels further comprise three driving devices which are respectively in one-to-one correspondence with the omnidirectional wheels;
a chassis is arranged at the bottom of the cylindrical frame, the driving device is fixed on the chassis, and the driving device drives the omnidirectional wheel to rotate;
the three omnidirectional wheels incline outwards, and all three omnidirectional wheels are in contact with the surface of the sphere;
the wireless communication module is in communication connection with the camera and the mobile terminal respectively.
Further, the omnidirectional wheel comprises a small circumferential wheel and a wheel disc;
an output shaft of the driving device is connected with the wheel disc;
the small circumferential wheels are distributed on the periphery of the wheel disc at equal intervals.
Further, the driving device is a motor.
Further, the three motors are respectively a first motor A, a second motor B and a third motor C;
the included angle between each two of the first motor A, the second motor B and the third motor C is 120 degrees;
an included angle between the first motor A and a plane where the chassis is located is 45 degrees;
the included angle between the second motor B and the plane where the chassis is located is 45 degrees;
and the included angle between the third motor C and the plane where the chassis is located is 45 degrees.
Further, the center of gravity of the chassis coincides with the central axes of the three motors.
Further, the cargo clamp is bent.
Further, the wireless communication module is a WIFI module.
Further, the mobile terminal is a mobile phone.
The device further comprises three supporting pieces, wherein the tops of the supporting pieces are fixed at the bottom of the cylindrical frame;
an output shaft of the driving device rotatably penetrates through the support member, a main body of the output shaft is supported by the support member, and an end portion of the output shaft is connected with the omni wheel.
Further, the support member includes a connecting member and a support plate;
the connecting piece is provided with a diagonal plane, and one end of the supporting plate is vertically fixed on the diagonal plane;
the support plate is provided with a through hole for the output shaft to pass through, a bearing is arranged in the through hole, the outer wall of the main body of the output shaft is fixed on the bearing, and the output shaft can rotate in the through hole through the bearing.
The invention provides the ball balance robot with the real-time monitoring function according to the content, the whole robot can move in all directions, the motion track is flexible, the motion radius can be changed at will to change the motion direction of the robot, goods can be carried in the moving process, stable and clear pictures can be shot in the moving process of the robot, and a user can obtain the pictures of the moving direction of the robot in real time to monitor in real time.
Drawings
FIG. 1 is a schematic structural diagram of one embodiment of the present invention;
FIG. 2 is a schematic structural diagram of one embodiment of the present invention;
FIG. 3 is a partial schematic diagram of one embodiment of the present invention;
fig. 4 is a communication diagram of a mobile terminal according to an embodiment of the present invention.
Wherein: the device comprises a bearing table 1, a goods clamp 11, a strip-shaped hole 111, a cylindrical frame 2, a chassis 201, a tripod head 21, a camera 211, an omnidirectional wheel 3, a small circumferential wheel 31, a wheel disc 32, a driving device 301, a first motor A, a second motor B, a third motor C, a ball 4, a supporting piece 5, a connecting piece 51, a supporting plate 52, a chamfer 511 and a through hole 521.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
As shown in fig. 1-4, a ball mobile balancing robot with a real-time monitoring function comprises a bearing platform 1, a cylindrical frame 2, an omnidirectional wheel 3, a ball 4, a wireless communication module and a mobile terminal;
the bearing table 1 is arranged at the top of the cylindrical frame 2;
the outer wall of the cylindrical frame 2 is provided with a holder 21, and a camera 211 is arranged outside the holder 21;
the number of the omnidirectional wheels 3 is three, and the omnidirectional wheels further comprise three driving devices 301 which are respectively in one-to-one correspondence with the omnidirectional wheels 3;
the bottom of the cylindrical frame 2 is provided with a chassis 201, the driving device 301 is fixed on the chassis 201, and the driving device 301 drives the omnidirectional wheel 3 to rotate;
the three omni wheels 3 are inclined outward, and the three omni wheels 3 are all in contact with the surface of the sphere 4.
The wireless communication module is in communication connection with the camera 211 and the mobile terminal respectively.
The ball moving balance robot with the real-time monitoring function has the advantages that the whole structure is four layers, and the lowest layer is the ball body 4 which is in a regular ball shape from bottom to top; the third layer is three omnidirectional wheels 3, the three omnidirectional wheels 3 are arranged on the surface of the sphere 4, the three omnidirectional wheels 3 are inclined outwards, and the three omnidirectional wheels 3 are all in contact with the surface of the sphere 4; the second layer is the cylindrical frame 2; the first layer is a carrier table 1. From the overall structure, the invention has simple structure and is practical.
The ball movement balance robot with the real-time monitoring function can realize all-directional movement, particularly, the ball body 4 is used as the support of the whole robot, the three driving devices 301 respectively drive the corresponding omnidirectional wheels 3 to rotate so as to drive the ball body 4 to move, the whole robot is driven to move by the movement of the ball body 4, namely, the driving force is generated by the direct friction of the omnidirectional wheels 3 and the ball body 4, so that the all-directional movement of the whole robot can be realized, the movement track is flexible, and the movement radius can be changed at will to change the movement direction of the robot; the power of the driving device 301 selected by the invention is small, and the power supply battery can supply power for a long time.
Besides, a pan/tilt head 21 is further disposed on the outer wall of the cylindrical frame 2, a camera 211 is mounted outside the pan/tilt head 21, the camera 211 can perform real-time shooting during the moving process of the robot, the camera 211 is mounted outside the pan/tilt head 21, and the camera 211 is kept stable during the shooting process through the pan/tilt head 21.
Those skilled in the art can select the pan/tilt head 12 in the prior art according to actual situations; as a preferable mode, the pan/tilt head 21 of the present embodiment needs to carry the camera 211, so that the present embodiment selects a steering engine with a large torsion to combine into a two-axis mechanical pan/tilt head, the operating voltage of the steering engine is 4.8V to 6.6V, and the operating frequency is 50 Hz to 330 Hz. The pan/tilt head 21 can realize an anti-shake effect, so that the scene shot by the camera 211 is clear and stable, and the camera 211 can accurately identify the target and follow the target.
Considering that the camera 21 needs to have the characteristics of miniaturization, light weight, convenience in power supply and the like, the camera 21 carried by the cradle head 21 of the embodiment is an OpenMV 4H 7 Cam smart camera, and the camera 21 supports 16:9 and 4: the camera 21 has certain signal anti-interference capability, and the rotation of the steering engine and the movement of the driving device 301 cannot interfere with image acquisition.
The wireless communication module of this embodiment is the WIFI module, mobile terminal is the cell-phone, and the WIFI module can be installed inside cylindrical frame 2.
After the camera 211 carries out pixel compression on the picture of will shooing, through on the WIFI module transmits the APP of cell-phone with picture frame to through the picture of shooing of observation cell-phone APP camera 211, adjust the action of robot through the APP of cell-phone, thereby accomplish real time monitoring's effect, ensured that the robot can accurately advance according to the instruction, reduce unexpected emergence.
Further, the omni wheel 3 includes a circumferential small wheel 31 and a wheel disc 32;
an output shaft of the driving device 301 is connected with the wheel disc 32;
the small circumferential wheels 31 are distributed on the periphery of the wheel disc 32 at equal intervals.
The small circumference wheel 31 is connected to the periphery of the wheel disc 32 through the miniature ball bearing and the miniature shaft.
Therefore, the omni wheel 3 can freely rotate approximately frictionless, so that the omni wheel 3 can still freely move along the axial direction thereof when rotating.
Further, the driving device 301 is a motor, and the motor is a planetary gear motor in this embodiment.
Whether the ball moving balance robot can be stably kept on the ball plane of the ball body 4 or not is very important for selecting the motor, and the planetary gear motor has the advantages of high cost performance, strong stability, long service life and the like; the operation can give play to good rigidity effect, accurate positioning control, and has the characteristics of medium and low back clearance, high efficiency, high input rotating speed, high input torque, smooth operation, low noise and the like on the operation platform.
Furthermore, the planetary reducer has the advantages of compact structure, small return clearance, high precision, long service life, large rated output torque and IP65 protection degree.
Therefore, it is more suitable for use in the ball movement balancing robot to power the movement of the ball movement balancing robot.
Further, the three motors are respectively a first motor A, a second motor B and a third motor C;
the included angle between each two of the first motor A, the second motor B and the third motor C is 120 degrees;
an included angle between the first motor A and a plane where the chassis 201 is located is 45 degrees;
the included angle between the second motor B and the plane where the chassis 201 is located is 45 degrees;
the included angle between the third motor C and the plane where the chassis 201 is located is 45 degrees.
Specifically, after the first motor a, the second motor B, and the third motor C project onto the plane where the chassis 201 is located, an included angle between each two of the first motor a, the second motor B, and the third motor C is 120 degrees.
The center of gravity of the chassis 201 coincides with the central axes of the three motors.
Further, a goods clamp 11 is arranged at the top of the bearing platform 1.
Through setting up the top of plummer 1 sets up goods and presss from both sides 11, convenient ball removes balanced robot and removes in-process shipment. Moreover, the number of the goods clamps 11 of this embodiment is four, the top of the plummer 1 is provided with the strip-shaped holes 111 for the goods clamps 11 to be installed, the number of the strip-shaped holes 111 is also four, and by setting the strip-shaped holes 111, when the goods clamps 11 clamp the goods, the strip-shaped holes 111 can limit the maximum clamping stroke of the goods clamps 11. One end of the cargo clamp 11 is inserted into the strip-shaped hole 111 for installation.
The end of the cargo clamp 11 extending into the strip-shaped hole 111 is a driving end, and the driving end may be provided with a driving element such as a motor and a cylinder in the prior art to drive the cargo clamp 11 to perform clamping or releasing actions.
The goods clamp 11 is bent, so that when the goods clamp clamps the goods, the goods are clamped more stably, and the goods can be stably clamped by the ball moving balance robot in the moving process.
Further, the wireless communication module is a WIFI module.
Further, the mobile terminal is a mobile phone, so that even if the user is at a distance, the user can watch the pictures shot by the camera 211 on the robot through the mobile phone, real-time monitoring is achieved, and the possibility of accidents is reduced.
Further, the device also comprises three supporting pieces 5, the number of the supporting pieces 5 is three, and the top of each supporting piece 5 is fixed at the bottom of the cylindrical frame 2;
an output shaft 3011 of the driving device 301 rotatably passes through the support member 5, a main body of the output shaft 3011 is supported by the support member 5, and an end of the output shaft 3011 is connected to the omni wheel 3.
The number of the support members 5 is three, the top of each support member 5 is fixed to the bottom of the cylindrical frame 2, and each support member 5 correspondingly supports the output shaft 3011 of each driving device 301, so that the output shaft 3011 is supported, and even if the output shaft 3011 works for a long time, deformation influencing the walking of the robot cannot occur, so that the service life of the output shaft 3011 is ensured, and the walking stability of the robot is also ensured.
Further, the support member 5 includes a connection member 51 and a support plate 52;
the connecting piece 51 is provided with a chamfer surface 511, and one end of the supporting plate 52 is vertically fixed on the chamfer surface 511;
the support plate 52 is provided with a through hole 521 for the output shaft 3011 to pass through, a bearing is arranged in the through hole 521, the outer wall of the main body of the output shaft 3011 is fixed on the bearing, and the output shaft 3011 can rotate in the through hole 521 through the bearing.
In particular, the top of the connecting piece 51 is fixed on the bottom of the cylindrical frame 2;
since the output shaft 3011 is inclined outward with respect to the entire robot, by providing the chamfered surface 511, it can be ensured that the support plate 52 fixed to the chamfered surface 511 can be effectively engaged with the output shaft 3011.
The support plate 52 is provided with the through hole 521, and the through hole 521 is provided with the bearing, so that the support member 5 can be effectively ensured to support the output shaft 3011, and the output shaft 3011 can be ensured to rotate without obstruction, thereby ensuring the stability of the robot movement.
While the number of the supporting plates 52 can be determined according to practical situations, the number of the supporting plates 52 on each supporting member 5 of the present embodiment is two.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (10)
1. The utility model provides a ball removes balanced robot with real time monitoring function which characterized in that: the system comprises a bearing table, a cylindrical frame, an omnidirectional wheel, a sphere, a wireless communication module and a mobile terminal;
the bearing table is arranged at the top of the cylindrical frame, and a cargo clamp is arranged at the top of the bearing table;
the outer wall of the cylindrical frame is provided with a holder, and a camera is arranged outside the holder;
the number of the omnidirectional wheels is three, and the omnidirectional wheels further comprise three driving devices which are respectively in one-to-one correspondence with the omnidirectional wheels;
a chassis is arranged at the bottom of the cylindrical frame, the driving device is fixed on the chassis, and the driving device drives the omnidirectional wheel to rotate;
the three omnidirectional wheels incline outwards, and all three omnidirectional wheels are in contact with the surface of the sphere;
the wireless communication module is in communication connection with the camera and the mobile terminal respectively.
2. The ball movement balancing robot with the real-time monitoring function according to claim 1, wherein: the omnidirectional wheel comprises a small circumferential wheel and a wheel disc;
an output shaft of the driving device is connected with the wheel disc;
the small circumferential wheels are distributed on the periphery of the wheel disc at equal intervals.
3. The ball movement balancing robot with the real-time monitoring function according to claim 1, wherein: the driving device is a motor.
4. The ball movement balancing robot with the real-time monitoring function according to claim 3, wherein: the three motors are respectively a first motor A, a second motor B and a third motor C;
the included angle between each two of the first motor A, the second motor B and the third motor C is 120 degrees;
an included angle between the first motor A and a plane where the chassis is located is 45 degrees;
the included angle between the second motor B and the plane where the chassis is located is 45 degrees;
and the included angle between the third motor C and the plane where the chassis is located is 45 degrees.
5. The ball movement balancing robot with the real-time monitoring function according to claim 4, wherein: the gravity center of the chassis is superposed with the central axes of the three motors.
6. The ball movement balancing robot with the real-time monitoring function according to claim 1, wherein: the goods clip is bent.
7. The ball movement balancing robot with the real-time monitoring function according to claim 1, wherein: the wireless communication module is a WIFI module.
8. The ball movement balancing robot with the real-time monitoring function according to claim 1, wherein: the mobile terminal is a mobile phone.
9. The ball movement balancing robot with the real-time monitoring function according to claim 1, wherein:
the supporting pieces are three in number, and the tops of the supporting pieces are fixed to the bottom of the cylindrical frame;
an output shaft of the driving device rotatably penetrates through the support member, a main body of the output shaft is supported by the support member, and an end portion of the output shaft is connected with the omni wheel.
10. The ball movement balancing robot with the real-time monitoring function according to claim 9, wherein: the support member comprises a connecting member and a support plate;
the connecting piece is provided with a diagonal plane, and one end of the supporting plate is vertically fixed on the diagonal plane;
the support plate is provided with a through hole for the output shaft to pass through, a bearing is arranged in the through hole, the outer wall of the main body of the output shaft is fixed on the bearing, and the output shaft can rotate in the through hole through the bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010035829.0A CN111232074A (en) | 2020-01-14 | 2020-01-14 | Ball moving balance robot with real-time monitoring function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010035829.0A CN111232074A (en) | 2020-01-14 | 2020-01-14 | Ball moving balance robot with real-time monitoring function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111232074A true CN111232074A (en) | 2020-06-05 |
Family
ID=70876178
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010035829.0A Pending CN111232074A (en) | 2020-01-14 | 2020-01-14 | Ball moving balance robot with real-time monitoring function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111232074A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114324415A (en) * | 2021-11-22 | 2022-04-12 | 北京特种机械研究所 | All-round gesture adjusting device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2391668A1 (en) * | 2010-10-18 | 2012-11-28 | Aritex Cading, S.A. | Transport platform or similar vehicle with omnidirectional movement for transfer of voluminous loads. (Machine-translation by Google Translate, not legally binding) |
| CN106625569A (en) * | 2017-02-15 | 2017-05-10 | 华南理工大学 | Self-balancing detection robot with self-stabilizing biaxial platform |
| CN106737814A (en) * | 2017-03-16 | 2017-05-31 | 郭朝连 | Exterior wall climbs building intelligent spider people |
| CN106768293A (en) * | 2016-11-22 | 2017-05-31 | 国网上海市电力公司 | A kind of sensor for extra-high voltage transformer vibration-testing discharges and retracting device |
| CN106864617A (en) * | 2017-04-05 | 2017-06-20 | 西南交通大学 | A kind of self-balance robot system |
| CN206358274U (en) * | 2016-12-03 | 2017-07-28 | 南昌航空大学 | A kind of independent state self-balancing movement system |
| CN108415429A (en) * | 2018-03-03 | 2018-08-17 | 北京工业大学 | Self-balancing mobile robot on one bulb |
-
2020
- 2020-01-14 CN CN202010035829.0A patent/CN111232074A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2391668A1 (en) * | 2010-10-18 | 2012-11-28 | Aritex Cading, S.A. | Transport platform or similar vehicle with omnidirectional movement for transfer of voluminous loads. (Machine-translation by Google Translate, not legally binding) |
| CN106768293A (en) * | 2016-11-22 | 2017-05-31 | 国网上海市电力公司 | A kind of sensor for extra-high voltage transformer vibration-testing discharges and retracting device |
| CN206358274U (en) * | 2016-12-03 | 2017-07-28 | 南昌航空大学 | A kind of independent state self-balancing movement system |
| CN106625569A (en) * | 2017-02-15 | 2017-05-10 | 华南理工大学 | Self-balancing detection robot with self-stabilizing biaxial platform |
| CN106737814A (en) * | 2017-03-16 | 2017-05-31 | 郭朝连 | Exterior wall climbs building intelligent spider people |
| CN106864617A (en) * | 2017-04-05 | 2017-06-20 | 西南交通大学 | A kind of self-balance robot system |
| CN108415429A (en) * | 2018-03-03 | 2018-08-17 | 北京工业大学 | Self-balancing mobile robot on one bulb |
Non-Patent Citations (1)
| Title |
|---|
| 曹其新、张蕾: "第2章 轮式移动机器人的构造和特征", 《轮式自主移动机器人》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114324415A (en) * | 2021-11-22 | 2022-04-12 | 北京特种机械研究所 | All-round gesture adjusting device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2017193702A1 (en) | Spherical robot and control method therefor | |
| US20150261070A1 (en) | Stabilizer for a Photographing Apparatus and a Control Method for Such a Stabilizer | |
| CN110434824A (en) | A kind of redundancy both arms cooperation robot | |
| CN111232074A (en) | Ball moving balance robot with real-time monitoring function | |
| US20210205983A1 (en) | Self-reconfigurable robot module and self-reconfigurable robot | |
| CN111216826A (en) | Ball moving balance robot system | |
| CN112822353A (en) | Electronic equipment and camera module thereof | |
| CN103496409B (en) | Independent power-supply-type all-dimensional exercise spherical robot | |
| CN212172397U (en) | Ball moving balance robot device | |
| CN211592752U (en) | Ball moving balance robot | |
| CN208841451U (en) | A kind of 360 degree rotation holder robot chassis based on conducting slip ring | |
| CN211844678U (en) | Magnetic adsorption type wall-climbing robot chassis and magnetic adsorption type wall-climbing robot | |
| CN111703589A (en) | Ground simulation platform with image motion compensation for aerial camera detection | |
| CN207826582U (en) | Holder, picture shooting assembly and unmanned vehicle | |
| CN110587618A (en) | Self-balancing motion platform driven by double ball wheels | |
| CN212423518U (en) | Three-axis pan-tilt | |
| CN113525558B (en) | Wheeled robot and separable wheel-leg composite robot | |
| CN213443142U (en) | Ground simulation platform with image motion compensation for aerial camera detection | |
| CN113443039A (en) | Spherical mobile robot | |
| CN110834682A (en) | Internal friction type omnidirectional moving spherical robot | |
| CN210235141U (en) | Rotor wing adsorption type wall-climbing robot | |
| CN213712547U (en) | Bracket for shooting video | |
| CN107719499B (en) | Universal rolling spherical robot | |
| CN210149449U (en) | Six-foot robot | |
| CN210822514U (en) | Folding and unfolding type reducing spherical robot |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200605 |