CN115123414A - Hybrid drive mode spherical robot based on gyro stabilization principle - Google Patents
Hybrid drive mode spherical robot based on gyro stabilization principle Download PDFInfo
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- CN115123414A CN115123414A CN202210709360.3A CN202210709360A CN115123414A CN 115123414 A CN115123414 A CN 115123414A CN 202210709360 A CN202210709360 A CN 202210709360A CN 115123414 A CN115123414 A CN 115123414A
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- supporting structure
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- spherical robot
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- 230000006641 stabilisation Effects 0.000 title claims abstract description 11
- 238000011105 stabilization Methods 0.000 title claims abstract description 11
- 239000002184 metal Substances 0.000 claims abstract description 16
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 15
- 239000010959 steel Substances 0.000 claims abstract description 15
- 230000003287 optical effect Effects 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 abstract description 15
- 230000003068 static effect Effects 0.000 abstract description 4
- 230000001133 acceleration Effects 0.000 abstract description 3
- 230000004069 differentiation Effects 0.000 abstract 1
- 230000010354 integration Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000001808 coupling effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 210000001035 gastrointestinal tract Anatomy 0.000 description 1
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- 238000012544 monitoring process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
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- 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
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
- B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
- B62D37/06—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses using gyroscopes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0403—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a hybrid driving mode spherical robot based on a gyro stabilization principle, which comprises a shell, wherein a main supporting structural part is arranged in the shell, and a steering assembly is arranged on the inner side of the main supporting structural part. The invention uses the die steel momentum wheel driven by the momentum wheel motor as a gyroscope, obtains a stable platform which is static relative to an inertia system by using the fixed axis of the gyroscope, applies force to the platform to enable the robot to obtain the acceleration relative to the inertia system, thereby realizing the motion of the robot, updates the posture of the spherical robot by using the original data obtained by the six-axis gyroscope posture sensor, adjusts the spherical posture balance by using cascade PID (proportion integration differentiation), enables the spherical robot to realize the linear motion without shaking, drives the shell to move in different modes by the mutual coordination work of a metal steering engine, the die steel momentum wheel, the momentum wheel motor and the driving motor, and simultaneously realizes two steering modes of pivot steering and arc steering.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a hybrid driving mode spherical robot based on a gyro stabilization principle.
Background
The spherical robot is a robot which is provided with a driving system inside a spherical shell, realizes the movement of a sphere in an internal driving mode and installs all controllers in one spherical shell. The spherical robot has a special totally-enclosed shape structure, and the special shape structure can isolate internal equipment from the external high-temperature, high-pressure and even high-corrosion and high-radiation environment through the shell. The spherical robot can move in various environments including flat ground, gentle slope, underwater, and the like. Compared with the traditional robot, the spherical robot has smaller contact area with the ground, is favorable for steering and moving, and can effectively avoid the condition of toppling. In 2001, the professor Sun Han Xue of Beijing post and electronics university is the first to study the spherical robot, the control system of the BYQ-1, BYQ-2 and BYQ-3 spherical robot is developed and studied deeply under the support of the national key project, different control systems are designed aiming at the special appearance structure of the spherical robot, so that the spherical robot can carry out omnibearing motion and obstacle avoidance or obstacle crossing under wireless control, and the kinetic model and the kinematic model during plane motion are analyzed theoretically, and a prototype is made. In 2006, t.otani et al designed a spherical robot driven by a gyroscope to implement robot control based on the principle of conservation of angular momentum. Further research on the ball was developed in 2012 by Urakubo et al, which proposed a series of feedback control laws.
The spherical shell and the damping system are matched with each other, so that vibration can be effectively reduced, internal equipment is protected, the spherical shell moves more stably on a plane, if a picture transmission system is arranged in the spherical shell, the quality of a picture can be enhanced, the spherical shape is more ornamental, and the spherical shell can be used for exhibition. In life, the spherical robot can be used in education and service industries. In the medical field, the spherical robot can be used for digestive tract examination to relieve the pain of patients. In industrial production, the method can be used for pipeline detection and the like. In the military field, the maneuverability and the concealment of the spherical robot can be well shown, and the spherical robot can be used for reconnaissance and monitoring and the like. However, the spatial dynamics model and the kinematics model of the spherical robot are complex, and have the characteristics of nonlinearity, coupling property, non-chain type and the like, so that the motion control problem of the spherical robot is not completely solved. In order to solve the problems of stable motion and flexible steering control of the spherical robot, the gyroscope is used as a core element to build a stable platform, and the research on the spherical robot in a hybrid driving mode based on the gyroscope stabilization principle has important practical significance.
Disclosure of Invention
The invention aims to provide a hybrid driving mode spherical robot based on a gyro stabilization principle, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a hybrid drive mode spherical robot based on top stabilization principle, includes the casing, be provided with main supporting structure spare in the casing, main supporting structure spare's inboard is provided with turns to the subassembly, turn to the subassembly and include metal steering wheel, momentum wheel supporting structure spare, momentum wheel motor, mould steel momentum wheel, main supporting structure spare's downside is provided with the controller, main supporting structure spare's bottom is provided with two drive assembly, drive assembly includes driving motor, motor gear, casing supporting structure spare, drive ring gear, main supporting structure spare's both sides are provided with the installation component, the installation component includes optical axis, switch supporting structure spare, metal steering wheel, momentum wheel motor, driving motor and controller electric connection.
Preferably, the metal steering engine is installed on the main support structure, momentum wheel support structure is installed on the metal steering engine, the momentum wheel motor is installed at the lower end of momentum wheel support structure, and the mould steel momentum wheel is installed outside the lower end of momentum wheel motor.
Preferably, the momentum wheel support structure is a U-shaped structure frame, and the upper end of the main support structure is located on the inner side of the U-shaped structure frame.
Preferably, driving motor installs in main supporting structure bottom, motor gear installs driving motor on, casing supporting structure installs at the casing inboard, the inboard at casing supporting structure is installed to the drive ring gear, the drive ring gear and the meshing of motor gear.
Preferably, the shell is provided with a positioning hole matched with the plurality of shell supporting structural members for use.
Preferably, the optical axis is installed on the outer end face of the main supporting structural member, the switch supporting structural member is installed on the optical axis, the optical axis is located on the inner side of the driving gear ring, and the switch supporting structural member is located on the outer side of the housing.
Preferably, a power supply main switch and a key are installed on the side face of the switch supporting structural member, and the power supply main switch and the key are electrically connected with the controller.
Preferably, a lamp ring is installed on the outer side of the switch supporting structural member, and the lamp ring is electrically connected with the controller.
Preferably, the controller comprises a control circuit board, a six-axis gyro attitude sensor module, a communication module, a power module and other units.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention uses the die steel momentum wheel driven by the momentum wheel motor as the gyroscope, obtains a stable platform which is static relative to the inertia system by utilizing the axis-fixing property of the gyroscope, applies force to the platform to ensure that the robot obtains the acceleration relative to the inertia system, thereby realizing the motion of the robot, updates the posture of the spherical robot by the original data obtained by the six-axis gyroscope posture sensor, and adjusts the spherical posture balance by using the cascade PID, so that the spherical robot can realize the linear motion without shaking;
2. the spherical robot can rotate in situ by adjusting the rotating speed of the die steel momentum wheel, and can turn in an arc shape by changing the angle of the metal steering engine;
3. the invention also uses the controller, the lamp ring and the six-axis gyro attitude sensor module in a matching way, updates the attitude of the spherical robot by utilizing the original data acquired by the six-axis gyro attitude sensor module, and then adjusts the states of the brightness, the color and the like of the lamp light of the lamp ring by using the cascade PID to display different spherical states, thereby being convenient for remote checking.
Drawings
FIG. 1 is a schematic perspective view of a main support structure of a hybrid drive mode spherical robot based on a gyro stabilization principle according to the present invention;
FIG. 2 is a schematic perspective view of a hybrid driving mode spherical robot based on the gyro stabilization principle according to the present invention;
FIG. 3 is a side sectional view of a hybrid driving mode spherical robot based on gyrostabilization principle according to the present invention;
fig. 4 is a schematic perspective view of a steering assembly in a hybrid drive mode spherical robot based on a gyro stabilization principle according to the present invention.
In the figure: 1. a housing; 2. a main support structure; 3. a steering assembly; 31. a metal steering engine; 32. a momentum wheel support structure; 33. a momentum wheel motor; 34. a die steel momentum wheel; 4. a controller; 5. a drive assembly; 51. a drive motor; 52. a motor gear; 53. a housing support structure; 54. a drive gear ring; 6. mounting the component; 61. an optical axis; 62. a switch support structure; 7. a power supply main switch; 8. pressing a key; 9. a lamp ring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution: the device comprises a shell 1, wherein a main supporting structural part 2 is installed in the shell 1, a steering assembly 3 capable of controlling the movement direction of a sphere is installed on the inner side of the main supporting structural part 2, the steering assembly 3 comprises a metal steering engine 31, a momentum wheel supporting structural part 32, a momentum wheel motor 33 and a mold steel momentum wheel 34, a controller 4 is installed on the lower side of the main supporting structural part 2, two driving assemblies 5 for providing forward and backward power are installed at the bottom of the main supporting structural part 2, each driving assembly 5 comprises a driving motor 51, a motor gear 52, a shell supporting structural part 53 and a driving gear ring 54, installation assemblies 6 are installed on two sides of the main supporting structural part 2, each installation assembly 6 comprises an optical axis 61 and a switch supporting structural part 62, and the metal steering engine 31, the momentum wheel motor 33 and the driving motor 51 are electrically connected with the controller 4;
the metal steering engine 31 is installed on the main support structural part 2 through screws, the momentum wheel support structural part 32 is installed on the output end of the metal steering engine 31, the momentum wheel motor 33 is installed at the lower end of the momentum wheel support structural part 32, the die steel momentum wheel 34 is installed on the outer side of the lower end of the momentum wheel motor 33, the die steel momentum wheel 34 driven by one momentum wheel motor 33 is used as a gyroscope, and a stable platform which is static relative to an inertial system is obtained by utilizing the axial fixity of the gyroscope;
the momentum wheel support structure 32 is a U-shaped structure frame, and the upper end of the main support structure 2 is positioned at the inner side of the U-shaped structure frame;
the driving motor 51 is installed at the bottom of the main supporting structural member 2 through bolts, the motor gear 52 is installed on the driving motor 51, the shell supporting structural member 53 is installed at the inner side of the shell 1, the driving gear ring 54 is installed at the inner side of the supporting structural member of the shell 1 in a welding mode, the driving gear ring 54 is meshed with the motor gear 52, and the used driving motor 51 is additionally provided with an encoder for detecting the advancing state of the motor;
the shell 1 is provided with positioning holes matched with the plurality of shell supporting structural members 53 for use, and the shell 1 and the shell supporting structural members 53 are fixedly connected through the positioning holes by screws;
an optical axis 61 is mounted on the outer end face of the main support structural member 2 through a flange, a switch support structural member 62 is mounted on the optical axis 61 through a flange, the optical axis 61 is located inside the drive ring gear 54, and the switch support structural member 62 is located outside the housing 1;
the side surface of the switch supporting structural part 62 is provided with a power supply main switch 7 and a key 8, and the power supply main switch 7 and the key 8 are electrically connected with the controller 4;
the lamp ring 9 is arranged on the outer side of the switch supporting structural part 62, the lamp ring 9 is electrically connected with the controller 4, the lamp ring 9 is used for displaying the position, and the lamp ring 9 is specially driven and can be programmed to display different sphere states;
the controller 4 comprises a control circuit board, a six-axis gyro attitude sensor module, a communication module, a power module and other units, wherein the communication module is communicated with a matched remote controller and is used for controlling the spherical robot to move.
The working principle is as follows: when the invention is used, the invention controls the movement of the spherical robot by communicating with the remote controller matched with the communication module, the mould steel momentum wheel 34 driven by a momentum wheel motor 33 is used as a gyroscope, the fixed axis property of the gyroscope is used for obtaining a stable platform which is static relative to an inertial system, the moving device applies force to the platform to ensure that the robot obtains the acceleration relative to the inertial system, thereby realizing the movement of the robot, the original data obtained by a gyroscope sensor updates the posture of the spherical robot, the serial PID is used for adjusting the spherical posture balance, so that the spherical robot can realize the linear movement without shaking, the remote controller controls the driving motor 51 to rotate forward and backward, thereby driving the gear 51 to rotate forward and backward, driving the shell supporting structural member 53 to rotate forward and backward, further realizing the forward and backward movement of the shell 1, and adjusting the rotating speed of the momentum wheel motor 33 by the remote controller, and then change the rotational speed of adjusting mould steel momentum wheel 34, can realize that spherical robot is rotatory in situ, adjust the angle of metal steering wheel 31 through the remote controller, drive momentum wheel supporting structure 32 and carry out perpendicular rotation for main supporting structure 2, adjust momentum wheel motor 33 and mould steel momentum wheel 34 for the contained angle of main supporting structure 2, can realize spherical robot's arc turn, the original data that utilizes six gyro attitude sensor module to acquire updates spherical robot gesture, states such as luminance and colour of reuse cascade PID regulation lamp ring 9 light, show different spheroid states, conveniently carry out long-range looking over, multiple motion mode has, advantage that stability is good.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. A hybrid driving mode spherical robot based on a gyro stabilization principle, comprising a housing (1), characterized in that: be provided with main supporting structure spare (2) in casing (1), the inboard of main supporting structure spare (2) is provided with turns to subassembly (3), turn to subassembly (3) including metal steering wheel (31), momentum wheel supporting structure spare (32), momentum wheel motor (33), mould steel momentum wheel (34), the downside of main supporting structure spare (2) is provided with controller (4), the bottom of main supporting structure spare (2) is provided with two drive assembly (5), drive assembly (5) are including driving motor (51), motor gear (52), casing supporting structure spare (53), drive ring gear (54), the both sides of main supporting structure spare (2) are provided with installation component (6), installation component (6) include optical axis (61), switch supporting structure spare (62), metal steering wheel (31), momentum wheel motor (33), The driving motor (51) is electrically connected with the controller (4).
2. The hybrid driving mode spherical robot based on the gyrostabilization principle of claim 1, wherein: the metal steering wheel (31) is installed at main tributary supporting structure spare (2), momentum wheel supporting structure spare (32) are installed on metal steering wheel (31), the lower extreme at momentum wheel supporting structure spare (32) is installed in momentum wheel motor (33), the lower extreme outside at momentum wheel motor (33) is installed in mould steel momentum wheel (34).
3. The hybrid driving mode spherical robot based on the gyrostabilization principle of claim 2, wherein: the momentum wheel supporting structural part (32) is a U-shaped structural frame, and the upper end part of the main supporting structural part (2) is positioned on the inner side of the U-shaped structural frame.
4. The hybrid driving mode spherical robot based on gyrostabilization principle of claim 3, wherein: the driving motor (51) is installed at the bottom of the main supporting structural part (2), the driving motor (51) is installed on the motor gear (52), the shell supporting structural part (53) is installed on the inner side of the shell (1), the driving gear ring (54) is installed on the inner side of the shell (1) supporting structural part, and the driving gear ring (54) is meshed with the motor gear (52).
5. The hybrid driving mode spherical robot based on gyrostabilization principle of claim 4, wherein: the shell (1) is provided with positioning holes matched with the plurality of shell supporting structural members (53).
6. The hybrid driving mode spherical robot based on gyrostabilization principle of claim 5, wherein: the optical axis (61) is installed at the outside terminal surface of main supporting structure spare (2), switch supporting structure spare (62) is installed on optical axis (61), optical axis (61) are located the inboard of drive ring gear (54), switch supporting structure spare (62) are located the outside of casing (1).
7. The hybrid driving mode spherical robot based on gyrostabilization principle of claim 6, wherein: the side of switch supporting structure spare (62) is installed power master switch (7), button (8), power master switch (7), button (8) and controller (4) electric connection.
8. The hybrid driving mode spherical robot based on gyrostabilization principle of claim 7, wherein: the lamp ring (9) is installed on the outer side of the switch supporting structural part (62), and the lamp ring (9) is electrically connected with the controller (4).
9. The hybrid driving mode spherical robot based on gyrostabilization principle of claim 8, wherein: the controller (4) comprises a control circuit board, a six-axis gyro attitude sensor module, a communication module, a power module and other units.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210709360.3A CN115123414A (en) | 2022-06-22 | 2022-06-22 | Hybrid drive mode spherical robot based on gyro stabilization principle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210709360.3A CN115123414A (en) | 2022-06-22 | 2022-06-22 | Hybrid drive mode spherical robot based on gyro stabilization principle |
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| CN115123414A true CN115123414A (en) | 2022-09-30 |
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| CN202210709360.3A Pending CN115123414A (en) | 2022-06-22 | 2022-06-22 | Hybrid drive mode spherical robot based on gyro stabilization principle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117022485A (en) * | 2023-10-10 | 2023-11-10 | 逻腾（杭州）科技有限公司 | Rolling robot |
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| CN101279619A (en) * | 2008-04-21 | 2008-10-08 | 战强 | High mobility spherical detecting robot |
| US9428019B1 (en) * | 2013-07-09 | 2016-08-30 | Guardbot Inc. | Drive and stabilizaton system for amphibious robotic ball |
| CN107414794A (en) * | 2017-08-07 | 2017-12-01 | 智童时刻（厦门）科技有限公司 | A kind of three-shaft linkage motion structure of robot |
| US20190094874A1 (en) * | 2017-09-22 | 2019-03-28 | Panasonic Intellectual Property Management Co., Ltd. | Robot |
| CN110562418A (en) * | 2019-09-03 | 2019-12-13 | 重庆邮电大学 | Spherical underwater mobile robot with variable-angle propeller |
| CN111216141A (en) * | 2020-02-03 | 2020-06-02 | 北京邮电大学 | But butt joint reconsitution spherical robot |
-
2022
- 2022-06-22 CN CN202210709360.3A patent/CN115123414A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101279619A (en) * | 2008-04-21 | 2008-10-08 | 战强 | High mobility spherical detecting robot |
| US9428019B1 (en) * | 2013-07-09 | 2016-08-30 | Guardbot Inc. | Drive and stabilizaton system for amphibious robotic ball |
| CN107414794A (en) * | 2017-08-07 | 2017-12-01 | 智童时刻（厦门）科技有限公司 | A kind of three-shaft linkage motion structure of robot |
| US20190094874A1 (en) * | 2017-09-22 | 2019-03-28 | Panasonic Intellectual Property Management Co., Ltd. | Robot |
| CN110562418A (en) * | 2019-09-03 | 2019-12-13 | 重庆邮电大学 | Spherical underwater mobile robot with variable-angle propeller |
| CN111216141A (en) * | 2020-02-03 | 2020-06-02 | 北京邮电大学 | But butt joint reconsitution spherical robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117022485A (en) * | 2023-10-10 | 2023-11-10 | 逻腾（杭州）科技有限公司 | Rolling robot |
| CN117022485B (en) * | 2023-10-10 | 2023-12-19 | 逻腾（杭州）科技有限公司 | rolling robot |
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Application publication date: 20220930 |