CN201305049Y - Spherical robot device - Google Patents
Spherical robot device Download PDFInfo
- Publication number
- CN201305049Y CN201305049Y CNU2008201896030U CN200820189603U CN201305049Y CN 201305049 Y CN201305049 Y CN 201305049Y CN U2008201896030 U CNU2008201896030 U CN U2008201896030U CN 200820189603 U CN200820189603 U CN 200820189603U CN 201305049 Y CN201305049 Y CN 201305049Y
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- China
- Prior art keywords
- spherical shell
- kinematic mechanism
- ball shape
- spherical
- wheels
- 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.)
- Expired - Fee Related
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Abstract
The utility model relates to a spherical robot device. The device comprises a spherical shell and is characterized in that a running gear that is not fixedly connected with the spherical shell is arranged in the spherical shell; at least three universal wheels that are uniformly distributed on the platform surface of the running gear are supported on the inner side wall of the spherical shell; two independent power wheels are arranged on the running gear; the power wheels are respectively provided with driving motors; the running gear is in contact with the inner wall of the bottom of the spherical shell by the two power wheels under the self gravity action; if the two power wheels are driven at the same time, the spherical robot can go forward or backward; and if one power wheel is driven individually, the spherical robot can turn left or right.
Description
Technical field
The utility model belongs to a kind of ball-type robot device.
Background technology
Patent 200520078756.4 has proposed a kind of ball shape robot, regulates the direction and the speed of advancing by the position of regulating 4 pouring weights, and device is complicated, control difficulty height.
The utility model content
It is simple that the purpose of this utility model is to design a kind of device, controls ball shape robot easily.
The utility model is achieved through the following technical solutions:
A kind of ball shape robot, include spherical housing, it is characterized in that having a kinematic mechanism that is not connected with spherical shell in the inside of spherical shell, at least 3 cardan wheels of rectangular distribution are supported on the spherical shell madial wall on the flat surface of this kinematic mechanism, 2 independently power wheels are arranged on this kinematic mechanism, power wheel is separately installed with drive motor, this kinematic mechanism contacts with the spherical shell bottom interior wall by 2 power wheels under the self gravitation effect, ball shape robot is advanced or retreat if drive 2 power wheels simultaneously, 1 power wheel of independent drive can make ball shape robot turn left or turn right.
Described ball shape robot is characterized in that being fixed with storage battery on kinematic mechanism, the both positive and negative polarity of storage battery connects magnet respectively, can be by the irony electrode pair battery charge that inserts.
The utility model is simple in structure, and is with low cost, and control is convenient, but omnibearing movable.
Description of drawings
Fig. 1 is the utility model ball shape robot structural representation.
The irony electrode structure scheme drawing that Fig. 2 inserts for charging.
The specific embodiment
Example 1
Referring to accompanying drawing 1 and accompanying drawing 2.
Spherical robot device, include spherical shell 1, kinematic mechanism 8, this kinematic mechanism is not connected with spherical shell 1, on the support 9 of kinematic mechanism, be fixed with flat surface 4,3 cardan wheels 3 of rectangular distribution on the flat surface 4, cardan wheel 3 is supported on the madial wall of spherical shell 1, be supported on the spherical shell madial wall, 2 independently power wheels 7 are arranged on this kinematic mechanism 8, power wheel 7 is separately installed with drive motor 6, this kinematic mechanism 8 contacts with spherical shell 1 bottom interior wall by 2 power wheels 7 under the self gravitation effect, if drive 2 power wheels 7 simultaneously, ball shape robot is advanced or retreat, 1 power wheel of independent drive can make ball shape robot turn left or turn right.Be fixed with storage battery 5 on support 9, magnet 2 is fixed on the flat surface 4, and the electrode of storage battery 5 connects magnet 2.Referring to accompanying drawing 2, the electric wire 12 that links to each other with charge power supply is connected irony charging electrode 11, and charging electrode is inserted in hole during charging from the ball shape robot 10, is adsorbed on the magnet 2 and charges.
Claims (2)
1. ball shape robot, include spherical housing, it is characterized in that having a kinematic mechanism that is not connected with spherical shell in the inside of spherical shell, at least 3 cardan wheels of rectangular distribution are supported on the spherical shell madial wall on the flat surface of this kinematic mechanism, 2 independently power wheels are arranged on this kinematic mechanism, power wheel is separately installed with drive motor, this kinematic mechanism contacts with the spherical shell bottom interior wall by 2 power wheels under the self gravitation effect, ball shape robot is advanced or retreat if drive 2 power wheels simultaneously, 1 power wheel of independent drive can make ball shape robot turn left or turn right.
2. ball shape robot according to claim 1 is characterized in that being fixed with storage battery on kinematic mechanism, the both positive and negative polarity of storage battery connects magnet respectively, can be by the irony electrode pair battery charge that inserts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201896030U CN201305049Y (en) | 2008-12-13 | 2008-12-13 | Spherical robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201896030U CN201305049Y (en) | 2008-12-13 | 2008-12-13 | Spherical robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201305049Y true CN201305049Y (en) | 2009-09-09 |
Family
ID=41097511
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008201896030U Expired - Fee Related CN201305049Y (en) | 2008-12-13 | 2008-12-13 | Spherical robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201305049Y (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011025463A1 (en) * | 2009-08-28 | 2011-03-03 | Daniel Furka | Robotic system intended for moving in any environment |
| CN102060060A (en) * | 2010-12-30 | 2011-05-18 | 泰山学院 | Electromagnetically-driven spherical robot |
| CN102991600A (en) * | 2012-12-10 | 2013-03-27 | 北京交通大学 | Ball type self-balancing robot |
| CN104890005A (en) * | 2015-06-24 | 2015-09-09 | 上海大学 | Spherical space based under-actuated robot wrist mechanism |
| CN106696594A (en) * | 2017-03-01 | 2017-05-24 | 李建文 | Spherical wheel structure |
| CN109404233A (en) * | 2018-12-12 | 2019-03-01 | 同方计算机有限公司 | A kind of Drive And Its Driving Method suitable for adverse circumstances |
| CN111169552A (en) * | 2020-01-03 | 2020-05-19 | 深圳市人工智能与机器人研究院 | Restructuring robot module and restructuring robot |
| WO2022205610A1 (en) * | 2021-03-31 | 2022-10-06 | 清华大学深圳国际研究生院 | Water-surface robot |
-
2008
- 2008-12-13 CN CNU2008201896030U patent/CN201305049Y/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011025463A1 (en) * | 2009-08-28 | 2011-03-03 | Daniel Furka | Robotic system intended for moving in any environment |
| CN102060060A (en) * | 2010-12-30 | 2011-05-18 | 泰山学院 | Electromagnetically-driven spherical robot |
| CN102991600A (en) * | 2012-12-10 | 2013-03-27 | 北京交通大学 | Ball type self-balancing robot |
| CN104890005A (en) * | 2015-06-24 | 2015-09-09 | 上海大学 | Spherical space based under-actuated robot wrist mechanism |
| CN106696594A (en) * | 2017-03-01 | 2017-05-24 | 李建文 | Spherical wheel structure |
| CN109404233A (en) * | 2018-12-12 | 2019-03-01 | 同方计算机有限公司 | A kind of Drive And Its Driving Method suitable for adverse circumstances |
| CN111169552A (en) * | 2020-01-03 | 2020-05-19 | 深圳市人工智能与机器人研究院 | Restructuring robot module and restructuring robot |
| CN111169552B (en) * | 2020-01-03 | 2021-01-26 | 深圳市人工智能与机器人研究院 | Restructuring robot module and restructuring robot |
| WO2022205610A1 (en) * | 2021-03-31 | 2022-10-06 | 清华大学深圳国际研究生院 | Water-surface robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090909 Termination date: 20100113 |