CN201670289U

CN201670289U - Spherical robot

Info

Publication number: CN201670289U
Application number: CN2010201879348U
Authority: CN
Inventors: 姜亮
Original assignee: Individual
Current assignee: Individual
Priority date: 2010-05-10
Filing date: 2010-05-10
Publication date: 2010-12-15
Anticipated expiration: 2020-05-10

Abstract

The utility model relates to a spherical robot comprising a running mechanism, a controlling mechanism and a probing mechanism. The running mechanism further includes a backward-and-forward moving mechanism, a right-and-left turning mechanism and a horizontal shaft. The backward-and-forward moving mechanism consists of an operating motor, a big gear wheel, an intermediate transitional wheel gear and a small gear wheel, wherein the small gear wheel is arranged on the shaft end of the operating motor and is engaged with the big gear wheel through the intermediate transitional wheel gear. The big gear wheel is disposed at the middle part of the horizontal shaft. The right-and-left turning mechanism comprises horizontally traversing motors, horizontally placed gears, and internal gears. Fixed internal gears are installed within one horizontal cycle of the inner side of the shell body. The horizontally traversing motors are disposed at two ends of the horizontal shaft and the output shaft of the horizontally traversing shaft is provided with a worm wheel transmission apparatus which drives the horizontal gears to be engaged with the internal gears arranged on the shell body. By the adoption of a transparent shell, the inside parts of the robot are clearly visible. The running motor makes the running of the robot possible and the horizontally traversing motor helps the robot to turn left and right.

Description

The spheroid robot

Technical field

The utility model relates to a kind of spheroid robot.

Background technology

Along with progress of science and technology, robot arises at the historic moment at present, and grows up, and robot can replace the people to carry out the work that some mankind can't finish.But, present robot is walking robot mostly, they seesaw, the motion of aspect such as turning, original place rotation is subjected to certain limitation, the present invention is designed to a kind of spheroid robot, the two dimensional motion flexibly that can realize by spheroid reach seesaw, the omnibearing movable of aspect such as turning, original place rotation.At existing problem in the above-mentioned prior art, a kind of later-model spheroid robot of research and design, existing problem is very necessary in the prior art thereby overcome.

Summary of the invention

In view of existing problem in the above-mentioned prior art, the purpose of this utility model is a kind of later-model spheroid robot of research and design, thereby the motion that solves aspects such as original robot seesaws, turning, original place rotation is subjected to problems such as certain limitation.Spheroid robot described in the utility model is made up of traveling gear, control mechanism and detection agency.Described traveling gear is made up of front and back operating unit, left and right sides turning mechanism and transverse axis, described front and back operating unit is made up of service meter, big gear wheel, middle transition gear and miniature gears, the axle head of service meter is equipped with miniature gears, miniature gears is by middle transition gear and big gear wheel engagement, and big gear wheel is fixedly mounted on the middle part of transverse axis.Described left and right sides turning mechanism is made up of traversing electrical motor, horizontal gear and internal tooth, in one week of the horizontal direction of housing inboard fixing internal tooth is installed, traversing electrical motor is contained in the two ends of transverse axis, worm gearing is housed on its output shaft drives horizontal gear and the internal gearing that is installed on the housing.Two traversing motor operation directions that are installed in the transverse axis two ends described in the utility model must be opposite.Backplate is equipped with in the both sides of internal tooth described in the utility model and big gear wheel.Counterweight is equipped with on the opposite at service meter described in the utility model and traversing motor mounting position.Control setup and battery case are equipped with in the below of service meter described in the utility model.

Spheroid robot described in the utility model adopts transparent shell, and inner structure is high-visible, has used unique motion principle to finish the flexible motion of spheroid robot dexterously flexibly, turns to etc.The front and back operation of spheroid robot.

Spheroid robot described in the utility model is because the weight of parts such as middle service meter and counterweight accounts for a big chunk of whole spheroid robot total weight, make that like this center of gravity of robot is lower, near ground, thus guaranteed the spheroid robot be in operation stable.By exterior control service meter is rotated, this moment pinion rotation under the drive of service meter, intermediate gear rotates, if middle transverse axis is motionless, whole forward gear will be to front or rear swing, and then rise, the center of gravity of spheroid robot has taken place to move, and can draw according to the knowledge of mechanics, when whole forward gear is swung, also just give counter-rotational power of spheroid, the spheroid robot will rotate in the opposite direction, moves forwards or backwards.

The service direction of spheroid robot described in the utility model changes (about turn), it is running (rotation direction of two traversing electrical motors must be opposite) by the reducing motor at transverse axis two ends, transverse axis will be in spheroid inside is that rotate in the horizontal direction at the center with the centre of sphere, make transverse axis be positioned at the level attitude of the different angles of spheroid, at this moment, the birds-eye view conversion of spheroid robot shown in Fig. 4,5, by Fig. 4 evolution to Fig. 5 position.Then, moving according to above-mentioned front and back operation scheme, change has just taken place in the service direction of spheroid.For ease of explanation, an A that marks does not have relative motion with it in spherical shell; B does not have relative motion with it in transverse axis, and then 2 front and back positions are shown in Fig. 4,5.

Special version be that the spheroid robot in the utility model generally is to stop to adjust the direction of next step operation when the backplate level, also can start the transverse axis reducing motor constantly at other under special circumstances, makes that the robot circulation line is a broken line.

Description of drawings

The utility model has five width of cloth accompanying drawings, wherein:

Fig. 1 is the basic structure scheme drawing front view of spheroid robot;

Fig. 2 is the basic structure scheme drawing birds-eye view of spheroid robot;

Fig. 3 is the basic structure scheme drawing lateral plan of spheroid robot;

Fig. 4 is spheroid robot motion conversion figure I;

Fig. 5 is spheroid robot motion conversion figure II.

Among the figure: 1, transverse axis 2, traversing electrical motor 3, horizontal gear 4, counterweight 5, service meter 6, control setup and battery case 7, big gear wheel 8, middle transition gear 9, miniature gears 10, internal tooth 11, backplate.

The specific embodiment

Specific embodiment of the utility model as shown in drawings, accompanying drawing 1 is depicted as in week of horizontal direction of inboard of spheroid robot housing fixing internal tooth 10 is installed, and in internal tooth 10 both sides two backplates 11 is installed.

In transverse axis 1 center fixed a big gear wheel 7 is installed, two backplates 11 are installed in the both sides of big gear wheel 7, and the below of backplate 11 is by miniature gears 9 interlocks of middle transition gear 8 and lower end, and miniature gears 9 is fixed on the axle head of service meter 5.Running by service meter 5 can drive the spheroid robot and advance.

The center of departing from spheroid for the weight that prevents centre portion is provided with counterweight 4 at the opposite side of service meter 5.The control setup and the battery case 6 of control motor operation are installed below service meter 5 and counterweight 4.

In the centre of spheroid transverse axis 1 is installed, the two ends of transverse axis 1 are installed traversing electrical motor 2, horizontal gear 3 and counterweight 4 respectively, traversing electrical motor 2 drives horizontal gear 3 by worm gearing and rotates, horizontal gear 3 meshes with the internal tooth on the housing, drives whole spheroid in-to-in mechanism (removing all parts of spherical shell and internal tooth) and rotates in the horizontal direction.

For the weight that makes the transverse axis gear parts is stabilized in the line of centers of spheroid, be provided with counterweight 4 at the opposite side of traversing electrical motor 2.

Claims

1. a spheroid robot is made up of traveling gear, control mechanism and detection agency; It is characterized in that described traveling gear is made up of front and back operating unit, left and right sides turning mechanism and transverse axis (1), described front and back operating unit is made up of service meter (5), big gear wheel (7), middle transition gear (8) and miniature gears (9), the axle head of service meter (5) is equipped with miniature gears (9), miniature gears (9) is by middle transition gear (8) and big gear wheel (7) engagement, and big gear wheel (7) is fixedly mounted on the middle part of transverse axis (1); Described left and right sides turning mechanism is made up of traversing electrical motor (2), horizontal gear (3) and internal tooth (10), fixing internal tooth (10) was installed in one week of the horizontal direction of housing inboard, traversing electrical motor (2) is contained in the two ends of transverse axis (1), is equipped with on its output shaft that worm gearing drives horizontal gear (3) and the internal tooth (10) that is installed on the housing meshes.

2. spheroid robot according to claim 1 is characterized in that described two traversing electrical motors (2) rotation direction that is installed in transverse axis (1) two ends must be opposite.

3. spheroid robot according to claim 1 is characterized in that backplate (11) is equipped with in the both sides of described internal tooth (10) and big gear wheel (7).

4. spheroid robot according to claim 1 is characterized in that counterweight (4) is equipped with on the opposite of described service meter (5) and traversing electrical motor (2) installation position.

5. spheroid robot according to claim 1 is characterized in that control setup and battery case (6) are equipped with in the below of described service meter (5).