CN1318453A - Omnibearing walking mechanism of spherical robot - Google Patents
Omnibearing walking mechanism of spherical robot Download PDFInfo
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- CN1318453A CN1318453A CN 01118289 CN01118289A CN1318453A CN 1318453 A CN1318453 A CN 1318453A CN 01118289 CN01118289 CN 01118289 CN 01118289 A CN01118289 A CN 01118289A CN 1318453 A CN1318453 A CN 1318453A
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Abstract
The omnibearing walking mechanism of spherical robot includes a spherical casing and a walking mechanism, and the walking mechanism includes two linear support shafts with one end in the position of maximum diameter in the casing and the other end supported by the bearing pedestal in the center of the easing; one linkage shaft, which penetrates the central bearing pedestal, is perpendicular to the two support shafts and is suspended in the center of the casing; two opposite connecting plates at two ends of the linkage shaft, two opposite motors on the inner side of the connecting plates and integrated with the linkage shaft and the connecting plates; two small cylindrical gears fixed to the motors separately; and one driving gear system comprising one cone gear pair and one cylindrical gear pair.
Description
The present invention relates to a kind of travel driving unit of robot, exactly, the omnibearing walking mechanism that relates to a kind of ball shape robot belongs to the control gear technical field of the two dimension walking of the control of on-electric variable or the land in the regulating system, launch vehicle (robot) waterborne.
At present, the practice that process is long-term, the human walking robot of having developed two types is promptly with the wheeled robot of wheel rolling walking and the legged robot of walking with foot.Wherein the flatness on the stability of wheeled robot and road surface has much relations, if the road surface is uneven, normally adopts the quantity that increases wheel to increase stability, and the center of gravity of car is reduced as much as possible.Developed at present the wheeled robot that has 4,6 or more wheels, the wheeled lunar robot of the lunokhodl of the former Soviet Union for example, " Apollo " moon rover etc. of the U.S. all is the robot with the wheel walking.The robot car body of supporting its walking jointly by a plurality of wheels still might overturning, and because the wheel quantum count is many, the diameter of wheel is general just can not to be designed enough greatly, and its cross-country power just is restricted like this.Walking robot with the foot walking is the intelligent apparatus that another kind can be walked with foot in the field that does not have road as the human or animal.Now, all oneself develops two foots, four-footed, six foots, eight sufficient walking robot model machines both at home and abroad, and its shortcoming is that the degrees of freedom of this robot is many, and control is complicated, and the speed of travel is low, and bearing capacity is poor.
Under existing conditions, if a kind of walking robot is arranged, it can have the performance of quick walking and bigger bearing capacity as wheeled robot; Can adapt to rugged ground as walking robot again, will be a kind of more satisfactory robot, be certain to be used widely in real life.Ball shape robot is exactly the novel robot of the development and Design in order to realize this purpose, and it should have at a high speed, big carrying, characteristics that road worthiness is strong, and also simple in structure simultaneously, control is convenient.Yet the ball shape robot of developing does not at present also reach this level.For example, block anti-meter in the U.S..The Xu Yang of Mai Long university (CMU) gives birth to the notion that a research group teaching the leader has taken the lead in proposing high-speed single-wheel lunar robot, and single-wheel stabilized walking robot one type and two type model machines have been developed (referring to " A single wheel gyroscopically stabilized robot ", Proceedings ofthe IEEE International (Conterence on Robotics and Automation, Minneapolis, MN, 1996.).This single-wheel walking robot be with gyroscope keep its walking in stability, its traveller has been used 4 drive motor altogether.Adopt gyroscope to make this robot all very stable when high speed and low speed walking; But, when static, but can't keep stable, in case gyro stops operating, robot will topple over, and the assistance that does not have stranger setting in motion more just.In addition, the radius of turn of this single-wheel walking robot is bigger, also is a shortcoming.
In Japan, the more mountain of telecommunications university is sincere, mountain rattan and man, abundant three professors of Ji Ning develop a spherical walking robot, this robot adopts two-layer rotating gyro frame bracket to support the Proceedings of 10th JapaneseRobotics Conference of walking actuator (referring to " Development and motion control of all directionsteering-type robot the 3rd report:principle control method andexperiment of steering of the robot ") of single pendulum, 1992, in Japanese).This robot is stretching out two little driven wheels as its stabilizing mechanism of walking outside big ball, realizing comprehensive stable walking, but complex structure, because of there are three strong points on itself and ground, the poor-performing of adaptation uneven ground.
The Sukhan Lee proposition of U.S. jet propulsion laboratory (JPL) is a kind of to come the drive ball body weight heart with inner four pistons, realizes that the three-dimensional of center of gravity moves, thereby makes the scheme of ball shape robot walking.This mechanism that piston motion is become the center of gravity three dimensional motion is provided with a plurality of power drivers, and its structure is quite complicated.
The omnibearing walking mechanism that the purpose of this invention is to provide a kind of ball shape robot, this mechanism can overcome the different defectives of above-mentioned external existing several robots, can avoid driving mechanism complexity, the control of single-wheel walking robot to realize deficiencies such as difficulty again, have simple in structure, driving element is few, bearing capacity is big, the movement velocity height, characteristics such as comprehensive driving walking and road worthiness are strong, to become the desirable means of transportation that robot from now on walks on ups and downs ground, have the very strong market competitiveness.
The object of the present invention is achieved like this: a kind of omnibearing walking mechanism of ball shape robot, include spherical shell and the traveller that is positioned at this housing, it is characterized in that: this traveller includes following parts: upper and lower two back shafts that are a straight line shape, the one end is installed in this spherical shell maximum diameter opposed inside two ends respectively, and the other end then is bearing in the bearing support that is positioned at spherical shell central authorities respectively; A pitman shaft, itself and two back shafts are the unsettled spherical shell central authorities that are arranged in ground that intersect vertically, and above-mentioned bearing support sky is enclosed within on this pitman shaft; Two connecting plates are the two ends that shape in opposite directions is installed in above-mentioned pitman shaft respectively; The drive motor of two double as counterweights is the inboard that shape ground in opposite directions is installed in above-mentioned two connecting plates respectively, and makes these two motors, two connecting plates constitute an integral body by pitman shaft; All be installed with a cylinder small gear in the rotating shaft of each motor; And one paid by cone gear and to pay the pinion unit that constitutes with cylindrical gears and formed.
The said gear power train includes: two cylinder small gears are installed in respectively in the rotating shaft of above-mentioned two motors; Two cylinder gearwheels, all sky is enclosed within on the above-mentioned pitman shaft, and is meshed with separately cylinder small gear, and is combined as a whole with the cone gear of one that is positioned at the one side coaxial empty cover respectively; Three cone gears are formed two Bevel Gear Drive and are paid, wherein the wheel shaft of a cone gear with above-mentioned lower support axle coaxial and fixed becoming one, the equal sky of two other cone gear that is meshed with it is enclosed within on the above-mentioned pitman shaft, and is combined as a whole with the cylinder gearwheel that is positioned at its same side respectively.
The diameter that above-mentioned sky is enclosed within two cone gears on the pitman shaft is identical, and the number of teeth is identical, and modulus is identical.
The said gear power train also can be designed as and comprises: two cylinder small gears are installed in respectively in the rotating shaft of above-mentioned two motors; Two cylinder gearwheels, all sky is enclosed within on the above-mentioned pitman shaft, and is meshed with separately cylinder small gear, and one of them and above-mentioned bearing support are combined as a whole, and another then is combined as a whole with a coaxial empty cone gear that overlaps; A pair of cone gear is formed Bevel Gear Drive and is paid, the wheel shaft of one of them cone gear is coaxial and be combined as a whole with above-mentioned lower support axle, another cone gear that is meshed with it then sky is enclosed within on the above-mentioned pitman shaft, and is combined as a whole with the cylinder gearwheel of one side.
The said gear power train includes: two cylinder small gears are installed in respectively in the rotating shaft of above-mentioned two motors; Two cylindrical gearss, all sky is enclosed within on the above-mentioned pitman shaft, and be meshed with separately cylinder small gear by the flute profile belt and constitute the flute profile belt transmission, one of them and above-mentioned bearing support are combined as a whole, and another then is combined as a whole with a coaxial empty cone gear that overlaps; A pair of cone gear is formed Bevel Gear Drive and is paid, the wheel shaft of one of them cone gear is coaxial and be combined as a whole with above-mentioned lower support axle, another cone gear that is meshed with it then sky is enclosed within on the above-mentioned pitman shaft, and is combined as a whole with the cylinder gearwheel of one side.
The above-mentioned power train that can be made of with cylindrical gears and flute profile belt two pairs of cylindrical gears engagement driving substitutes, and also can substitute with the power train that sprocket wheel and chain constitute, and perhaps uses the power train of belt pulley and belt formation to substitute.
Above-mentioned sky is enclosed within diameter, the number of teeth, the modulus of two cylinder gearwheels on the pitman shaft and two other cylinder small gear can be identical or different, so the left and right sides symmetry or near symmetrical fully.
The diameter of two pairs of cylindrical gearss, the number of teeth about above-mentioned, modulus can be identical or different.
The drive motor of above-mentioned two double as counterweights also can be installed in the outside of above-mentioned two connecting plates respectively, and the flange plate locking of these two motors this moment by the front is on connecting plate, and its rotating shaft then through hole from the connecting plate is stretched out, so that the cylinder small gear is installed.。
The drive motor of above-mentioned two double as counterweights also can be installed in the inboard of above-mentioned two cylinder small gears respectively.
The basic functional principle of the omnibearing walking mechanism of ball shape robot of the present invention is to adopt cone gear to pay the pinion unit of paying formation with cylindrical gears, the electric drive of the motor by the double as counterweight, constantly regulate its position of centre of gravity, make its center of gravity be positioned at a segment distance at centre of sphere the place ahead or rear forever, thereby produce driving force forward or backward, make the continuous overcome friction of this robot and rolling forward or backward.Adopt and use the same method,, just can produce the moment of turning, thereby realize that ball shape robot is to any direction one omnibearing driving walking by regulating its position of centre of gravity two side direction deflections to the left and right; And the speed regulation scope of its walking is quite big, in addition can also operate slackly, work such as observation.Theoretically, this mechanism can be applied to rugged ground or the different situations such as marsh, the water surface without exploitation, utilizes robot to carry out tasks such as transportation, operation, distant surveillance and detection, has good social benefit and economic benefit.
Utilize the robot of omnibearing walking mechanism of the present invention that following advantage and purposes are arranged:
1, this ball shape robot itself is a spheroid, the whole component and the moving link thereof of its traveller all are arranged within the spherical shell, do not have outside lead and other members are exposed to, working environment is safe and reliable, the predicament of lead can not take place to be hooked or hang up by obstacle, and this robot can be worked under rugged environment.For example, can be with higher speed motion under rugged environments such as the area that has aerodynamic force to disturb or the moonscape of low gravity.
2, after filling the lighter gas of proportion with in the ball shape robot of giving sealing, can make the contact pressure on spheroid and ground very low, its frictional force is also very little.So the ball shape robot that shell seals fully can use, and is perhaps amphibious, finish the multi-tasks such as distant surveillance, operation, enforcement rescue or transporting supplies in can be on a large scale on desert, marsh, seabeach and even the water surface.
3, this ball shape robot can staticly easily be stabilized on the arbitrary position, is convenient to its parking and stretches out folding arm and carry out every work, for example the removal of mines etc.
4, this ball shape robot and ground are to contact, and belong to pure rolling friction, and resistance is little, drive and turn to flexible, and can pass the tortuous passageway that bore is slightly larger than its diameter more easily.When the diameter of this ball shape robot is enough big, can be used as visitor's launch vehicle on the soil of softness, sand, snowfield or travel on the ice face, open up its application.
5, the traveller of this ball shape robot cooperates the sensor of setting in it and the task that the cartographic information reader can be finished the long-distance transportation goods and materials again.
Describe mechanism of the present invention composition, feature and effect in detail below in conjunction with drawings and Examples:
Fig. 1 is that first kind of embodiment's of the present invention structure is formed schematic representation.
Fig. 2 is the schematic perspective view that is provided with first kind of embodiment's of the present invention ball shape robot internal structure composition.
Fig. 3 is that second kind of embodiment's of the present invention structure is formed schematic representation.
Fig. 4 is that the third embodiment's of the present invention structure is formed schematic representation.
--omnibearing walking mechanism of ball shape robot--first kind of embodiment's structure is formed schematic representation referring to the present invention shown in Figure 1, the traveller that it includes spherical shell 1 and is positioned at this housing, this traveller includes following parts: upper and lower two back shafts 2,3 that are a straight line shape, one end of this back shaft 2,3 is installed in this spherical shell 1 maximum diameter opposed inside two ends respectively, and the other end then is bearing in the bearing support 4 that is positioned at spherical shell central authorities respectively; A pitman shaft 5, itself and two back shafts 2,3 are the unsettled spherical shell central authorities that are arranged in ground that intersect vertically, and above-mentioned bearing support 4 skies are enclosed within on this pitman shaft 5; Two connecting plates 6,7 are the two ends that shape in opposite directions is installed in above-mentioned pitman shaft 5 respectively; The drive motor 8 (M2) of two double as counterweights, 9 (M1) are the inboard (referring to Fig. 2) that shape ground in opposite directions is installed in above-mentioned two connecting plates 6,7 respectively, and make motor 8,9 and connecting plate 6,7 constitute an integral body by pitman shaft 5; Also be installed with a cylinder small gear 11,10 in the rotating shaft of two motors 8,9 respectively; And one paid by cone gear and to pay the pinion unit that constitutes with cylindrical gears and formed.
Pinion unit of the present invention can have different mode of executions, and referring to Fig. 1, structure shown in Figure 2 first embodiment of symmetry fully, it includes: two cylinder small gears 11,10 are installed in respectively in the rotating shaft of above-mentioned two motors 9,8; Two cylinder gearwheels 12,13, all sky is enclosed within on the above-mentioned pitman shaft 5, and is meshed with separately cylinder small gear 10,11, and is combined as a whole with the cone gear 16,15 of one that is positioned at its same side coaxial empty cover respectively; Three cone gears are formed two Bevel Gear Drive and are paid, the wheel shaft of one of them cone gear 14 and above-mentioned lower support axle 3 coaxial and fixed becoming one, 16, the 15 equal skies of two other cone gear that are meshed with this cone gear 14 are enclosed within on the above-mentioned pitman shaft, and are combined as a whole with the cylinder gearwheel 12,13 that is positioned at its same side respectively.Wherein, cylinder gearwheel 12 and 13, cylinder small gear 10 and 11 and cone gear 16 and 15 can be made the number of teeth, modulus is identical, diameter is the same.And that two motors 8,9 also can be chosen as weight is identical, so, this embodiment's member can be about symmetry fully.Two pairs of cylindrical gearss also can be asymmetric wherein.Two motors 8,9 can select weight big, because except as the driving source, and also when this robot motion, its counterweight of double as.If the resistance in the middle of the motion is less, it is downward that the direction of these two motors 8,9 in spherical shell 1 can think to be in vertical.Though at actual working state, these two motors 8,9 all are to turn forward a little, so that the enough moment of advancing to be provided.But simple for problem analysis, the present invention can consider that rolling resistance is very little, and these two motors 8,9 always are in vertical vertically downward when motion.
The pinion unit of ball shape robot omnibearing traveller of the present invention can also adopt other organization plan, referring to second kind of embodiment shown in Figure 3, itself and first embodiment's difference is: during the Bevel Gear Drive of transmitting orthogonal rotation is paid, be meshed with a cone gear 15 with 14 of lower support axle 3 coaxial and fixed cone gears that become one, this cone gear 15 is combined as a whole with the cylinder gearwheel 13 of the coaxial empty cover of the same side; The cone gear 16 of opposite side is then left out, so another cylinder gearwheel 12 of this side is to be combined as a whole with above-mentioned bearing support 4.The number of teeth of these two cone gears 14,15 can be identical or different.Like this, when these cone gear 14 rotations, just make to drive also rotation thereupon of lower support axle 3 spherical shell 1 simultaneously and also be the axle center rotation around lower support axle 3.
Gear structure schematic representation referring to the third embodiment of the present invention shown in Figure 4, the main distinction of this structure is to substitute cylinder gearwheel 12,13 with two cylindrical gearss 20,19, and adopts two Toothed belts 18,17 to transmit the driving force of two motors 9,8.Be characterized in to reduce the rotary inertia and the processing cost of two cylinder gearwheels 12,13, and the Toothed belt transmission can absorb gear-driven vibration, make transmission more steady, can guarantee original velocity ratio of setting simultaneously again.Really, the transmission that cylindrical gears of the present invention is paid can also use sprocket wheel instead and chain is realized, perhaps adopts belt pulley and belt to realize, its motion principle is identical.
Introduce several motion scheme of the present invention and its working principle below, at first the account for motion scheme one:
Referring to Fig. 1, shown in Figure 2, suppose that motor 8 is that clockwise direction rotates (when the observer faces the motor shaft of this motor 8, following as the same), just drive also clockwise direction rotation of cylinder small gear 11, and the cylinder gearwheel 13 of feasible and its engagement is done the counterclockwise direction rotation simultaneously, because connecting firmly with cone gear 15, gearwheel 13 becomes one, so cone gear 15 just drives cone gear 14 and rotates, and the sense of rotation of this cone gear 14 is for clockwise (when the observer is positioned at this page front from top to bottom in the face of this cone gear 14; Or see Fig. 3, cone gear 14 is done counterclockwise to rotate in this view, and is following as the same).Because cone gear 14 connects firmly by lower support axle 3 and spherical shell 1, so spherical shell 1 finally also rotates counterclockwise, promptly ball shape robot rolls left.The sense of rotation that it should be noted that motor 9 this moment should be that clockwise direction rotates (when the observer faces the motor shaft of this motor 9.Following as the same).At this moment, cylinder small gear 10 also clockwise direction rotates, 12 do rotations counterclockwise simultaneously of cylinder gearwheel with its engagement become one because gearwheel 12 connects firmly with cone gear 16, do the clockwise direction rotation so cone gear 16 just drives cone gear 14.At this moment, back shaft 2,3 keeps levels (referring to shown in Figure 2), and back shaft 3 makes clockwise direction with cone gear 14 and rotate, and drives spherical shell 1 and clockwise rotate together, and promptly ball shape robot rolls left.And when opposite, will cause robot to roll to the right when turning to all of motor 8 and motor 9 with above-mentioned, its working principle is identical, repeats no more.
But, when motor 9 counterclockwise rotates, and motor 8 is still the clockwise direction rotation, and when both speed are also identical, owing to connect firmly with bevel gear 16 with the gearwheel 12 of cylinder small gear 10 engagements, so this bevel gear 16 just attempt drive bevel gear 14 does counterclockwise to rotate, and bevel gear 15 be attempt as mentioned above to drive bevel gear 14 in the opposite direction-clockwise direction rotates, the just the opposite driving moment of direction causes this bevel gear 14 just can't rotate owing to be subjected to two strength equal and opposite in directions simultaneously.Like this, under the driving of two motors 9,8, will make these two small cylinder gears 10,11 and motor 9,8 together, respectively around doing planetary motion with the big column gear 12,13 of its engagement, and the direction that these two small cylinder gears 10,11 are done planetary motion is identical.So in these cases, if be originally that being in downward two motors 8,9 of vertical can make two small cylinder gears 11,10 all do planetary motion to the inboard of big column gear 13,12, and the motor of its counterweight of double as and two small cylinder gears 11,10 rotate to an angle a little forward, the enough moment of rolling forward be will produce, and strut 2,3 and spherical shell 1 rotation forward together finally driven.Its sense of rotation on Fig. 2 be strut 2 downwards, strut 3 up drives spherical shell 1 and rolls forward.Really, when motor 8 and 9 all when opposite direction rotates, will drive spherical shell 1 and roll backward.
Roll along tilted direction if wish spherical shell 1, then the rotating speed of two motors 8,9 just should be unequal.As long as the rotating speed of these two motors 8,9 selects allotment suitable, just can make the rolling of this ball shape robot realization along any direction, just realize omnibearing walking.
Motion scheme two: referring to Fig. 3, suppose and have only motor 8 to rotate, drive small cylinder gear 11 and big column gear 13 and mesh rotation simultaneously,, rotate so cone gear 15 rotates and drive cone gear 14 because big column gear 13 connects firmly one with cone gear 15.Because cone gear 14 connects firmly by back shaft 3 and spherical shell 1, so spherical shell 1 finally also rotates thereupon.When for example motor 8 clockwise rotates, gear 13 and bevel gear 15 are rotated counterclockwise, drive bevel gear 14 and do the clockwise direction rotation, this ball shape robot then rolls left.And the backward rotation of motor 8 will cause this ball shape robot to roll to the right.It should be noted that motor 9 not rotations this moment, make back shaft 2,3 still keep level.
When motor 9 rotates counterclockwise, and motor 8 is made clockwise direction and is rotated, and these two rotating speed of motor are when identical, because big column gear 12 is to connect firmly with central shaft bearing 4 to be combined as a whole, finally also can drive strut 2,3 and spherical shell 1 rotates.Its sense of rotation be make strut 2 downwards, strut 3 up drives spherical shell 1 and rolls forward.When motor 8,9 rotates towards above-mentioned opposite direction, will drive spherical shell 1 and roll backward.Roll along oblique line if wish spherical shell, then two rotating speed of motor just should be inequality, as long as speed selection is suitable, just can realize the rolling along any oblique line.
Motion scheme three: when strut 2,3 was in the heeling condition of locking, because two motors 8,9 still keep straight down, the rotation of motor 9 at this moment will cause that spherical shell 1 turns to rolling along certain radius of turn.When strut 2,3 inclinations were severe more, radius of turn was just more little, otherwise radius of turn just becomes greatly.When the strut level, this ball shape robot is kept straight on.
Other embodiments' of the present invention working principle is essentially identical, does not repeat them here.
The present invention carries out repeatedly the analogue simulation test on computers, has realized goal of the invention substantially, has good application prospects.
Claims (10)
1, a kind of omnibearing walking mechanism of ball shape robot, include spherical shell and the traveller that is positioned at this housing, it is characterized in that: this traveller includes following parts: upper and lower two back shafts that are a straight line shape, the one end is installed in this spherical shell maximum diameter opposed inside two ends respectively, and the other end then is bearing in the bearing support that is positioned at spherical shell central authorities respectively; A pitman shaft, itself and two back shafts are the unsettled spherical shell central authorities that are arranged in ground that intersect vertically, and above-mentioned bearing support sky is enclosed within on this pitman shaft; Two connecting plates are the two ends that shape in opposite directions is installed in above-mentioned pitman shaft respectively; The drive motor of two double as counterweights is the inboard that shape ground in opposite directions is installed in above-mentioned two connecting plates respectively, and makes these two motors, two connecting plates constitute an integral body by pitman shaft; All be installed with a cylinder small gear in the rotating shaft of each motor; And one paid by cone gear and to pay the pinion unit that constitutes with cylindrical gears and formed.
2, the omnibearing walking mechanism of ball shape robot as claimed in claim 1 is characterized in that: the said gear power train includes: two cylinder small gears are installed in respectively in the rotating shaft of above-mentioned two motors; Two cylinder gearwheels, all sky is enclosed within on the above-mentioned pitman shaft, and is meshed with separately cylinder small gear, and is combined as a whole with the cone gear of one that is positioned at the one side coaxial empty cover respectively; Three cone gears are formed two Bevel Gear Drive and are paid, wherein the wheel shaft of a cone gear with above-mentioned lower support axle coaxial and fixed becoming one, the equal sky of two other cone gear that is meshed with it is enclosed within on the above-mentioned pitman shaft, and is combined as a whole with the cylinder gearwheel that is positioned at its same side respectively.
3, the omnibearing walking mechanism of ball shape robot as claimed in claim 2 is characterized in that: the diameter that above-mentioned sky is enclosed within two cone gears on the pitman shaft is identical, and the number of teeth is identical, and modulus is identical.
4, the omnibearing walking mechanism of ball shape robot as claimed in claim 1 is characterized in that: the said gear power train includes: two cylinder small gears are installed in respectively in the rotating shaft of above-mentioned two motors; Two cylinder gearwheels, all sky is enclosed within on the above-mentioned pitman shaft, and is meshed with separately cylinder small gear, and one of them and above-mentioned bearing support are combined as a whole, and another then is combined as a whole with a coaxial empty cone gear that overlaps; A pair of cone gear is formed Bevel Gear Drive and is paid, the wheel shaft of one of them cone gear is coaxial and be combined as a whole with above-mentioned lower support axle, another cone gear that is meshed with it then sky is enclosed within on the above-mentioned pitman shaft, and is combined as a whole with the cylinder gearwheel of one side.
5, the omnibearing walking mechanism of ball shape robot as claimed in claim 1 is characterized in that: the said gear power train includes: two cylinder small gears are installed in respectively in the rotating shaft of above-mentioned two motors; Two cylindrical gearss, equal sky is enclosed within on the above-mentioned pitman shaft, and constitutes the flute profile belt transmission by flute profile belt and cylinder small gear separately, and one of them and above-mentioned bearing support are combined as a whole, and another then is combined as a whole with a coaxial empty cone gear that overlaps; A pair of cone gear is formed Bevel Gear Drive and is paid, the wheel shaft of one of them cone gear is coaxial and be combined as a whole with above-mentioned lower support axle, another cone gear that is meshed with it then sky is enclosed within on the above-mentioned pitman shaft, and is combined as a whole with the cylinder gearwheel of one side.
6, as the omnibearing walking mechanism of claim 2 or 4 or 5 described ball shape robots, it is characterized in that: the above-mentioned power train that can be made of with cylindrical gears and flute profile belt two pairs of cylindrical gears engagement driving substitutes, also can substitute with the power train that sprocket wheel and chain constitute, perhaps the power train that constitutes with belt pulley and belt substitutes.
7, as the omnibearing walking mechanism of claim 2 or 4 described ball shape robots, it is characterized in that: above-mentioned sky is enclosed within diameter, the number of teeth, the modulus of two cylinder gearwheels on the pitman shaft and two other cylinder small gear can be identical or different, so the left and right sides symmetry or near symmetrical fully.
8, the omnibearing walking mechanism of ball shape robot as claimed in claim 5 is characterized in that: the diameter of two pairs of cylindrical gearss, the number of teeth about above-mentioned, modulus can be identical or different.
9, the omnibearing walking mechanism of ball shape robot as claimed in claim 1 is characterized in that: the drive motor of above-mentioned two double as counterweights also can be installed in the outside of above-mentioned two connecting plates respectively.
10, the omnibearing walking mechanism of ball shape robot as claimed in claim 1 is characterized in that: the drive motor of above-mentioned two double as counterweights also can be installed in the inboard of above-mentioned two cylinder small gears respectively.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01118289 CN1121300C (en) | 2001-05-28 | 2001-05-28 | Omnibearing walking mechanism of spherical robot |
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| CN 01118289 CN1121300C (en) | 2001-05-28 | 2001-05-28 | Omnibearing walking mechanism of spherical robot |
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| CN1318453A true CN1318453A (en) | 2001-10-24 |
| CN1121300C CN1121300C (en) | 2003-09-17 |
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| CN 01118289 Expired - Fee Related CN1121300C (en) | 2001-05-28 | 2001-05-28 | Omnibearing walking mechanism of spherical robot |
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| CN1313249C (en) * | 2002-08-22 | 2007-05-02 | 北京邮电大学 | Structure improved ball shape robot omnibearing walking device |
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| CN1313249C (en) * | 2002-08-22 | 2007-05-02 | 北京邮电大学 | Structure improved ball shape robot omnibearing walking device |
| CN1313250C (en) * | 2002-08-22 | 2007-05-02 | 北京邮电大学 | Stracture improved ball shape robot omnibearing walking device |
| CN100348380C (en) * | 2005-06-30 | 2007-11-14 | 上海交通大学 | Self-reconstructed self-repair robot basic analogue space transmission |
| CN1332787C (en) * | 2005-12-15 | 2007-08-22 | 上海交通大学 | Self-reconstitution robot by full gear transmission driving six rotative surfaces of module |
| CN101278653B (en) * | 2007-09-26 | 2011-08-24 | 深圳先进技术研究院 | Intelligent robot for nursing household pet |
| CN102161356A (en) * | 2011-05-09 | 2011-08-24 | 北京邮电大学 | Tridrive spherical robot |
| CN102161356B (en) * | 2011-05-09 | 2013-01-30 | 北京邮电大学 | Tridrive spherical robot |
| CN104670354A (en) * | 2014-12-29 | 2015-06-03 | 北京航天测控技术有限公司 | Global robot driven by jump gear |
| CN105181573A (en) * | 2015-06-16 | 2015-12-23 | 大连理工大学 | Ground rolling friction coefficient spherical sensor facing unstructured environment |
| CN105181573B (en) * | 2015-06-16 | 2017-11-10 | 大连理工大学 | A kind of spherical perceptron of the ground surface coefficient of friction resistance towards unstructured moving grids |
| CN106240764A (en) * | 2016-08-01 | 2016-12-21 | 江苏科技大学 | Compensation of undulation special purpose robot and compensation of undulation method |
| CN106741757A (en) * | 2016-12-19 | 2017-05-31 | 东北石油大学 | A kind of portable underwater robot |
| CN113173212A (en) * | 2021-05-13 | 2021-07-27 | 哈尔滨工业大学 | Tumbler type soft jumping robot |
| CN113173212B (en) * | 2021-05-13 | 2022-06-28 | 哈尔滨工业大学 | Tumbler type soft jumping robot |
| CN113733059A (en) * | 2021-09-26 | 2021-12-03 | 桂林理工大学 | Parallel metamorphic spherical robot with less degrees of freedom |
| CN113733059B (en) * | 2021-09-26 | 2023-06-23 | 桂林理工大学 | Less-degree-of-freedom parallel metamorphic spherical robot |
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