CN201825146U - Bounce spherical robot equipped with stabilized bench - Google Patents
Bounce spherical robot equipped with stabilized bench Download PDFInfo
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- CN201825146U CN201825146U CN2010202144442U CN201020214444U CN201825146U CN 201825146 U CN201825146 U CN 201825146U CN 2010202144442 U CN2010202144442 U CN 2010202144442U CN 201020214444 U CN201020214444 U CN 201020214444U CN 201825146 U CN201825146 U CN 201825146U
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Abstract
The utility model discloses a novel spherical robot which moves in the driving manner of gravity shift and has a stable workbench as well as can realize bounce at certain angles under certain conditions. The utility model is characterized in that a bench with four wheels is arranged in the spherical shell, the assembly size of the wheel cooperates with the maximal diameter of the spherical shell, the center of the gravity of the spherical shell is changed when a motor drives the wheels to rotate, and then the whole robot begins to move. A sleeve is fixed on the bench, a permanent magnet is arranged in the sleeve, the bottom end of the sleeve is fixed with an electromagnet. When the electromagnet is powered up, the permanent magnet is repulsed, thereby realizing the bounce of the whole mechanism, the lower end of the sleeve is fixed with a linkage mechanism which is driven by the motor, when in need, the linkage mechanism can extend out of the spherical shell to support the central bench as a stable workbench.
Description
Affiliated technical field
The utility model relates to a kind of ball shape robot, uses centre-of gravity shift to owe the type of drive motion, has stabilised platform, can realize angled spring under certain condition, is a kind of ball shape robot of novelty.
Background technology
At present, existing ball shape robot is because of its mode of motion difference that adopts, and what the change that is divided into center of gravity in the ball shape robot of motor direct-drive wheel motion and the motor-driven spherical shell made the spherical shell motion owes the drive ball anthropomorphic robot.The ball shape robot and the common caterpillar type robot of the motion of motor direct-drive wheel do not have too big-difference, only are to have installed one deck spherical housing additional, so following ball shape robot does not comprise this robotlike; And the ball shape robot that present existing use owes to drive does not have stabilised platform, makes that expanding space of ball shape robot is very limited, and ball shape robot do not have bouncing mechanism, and this has cut down the obstacle climbing ability of ball shape robot greatly.Known robot bouncing mechanism all is by certain device, with object energy storage such as springs, makes its instantaneous burst by control mechanism afterwards, to realize the purpose of spring.But this mechanism is not easy to be applied in the ball shape robot, and can't realize continuous spring, needs the regular hour when spring energy-storage.The bouncing mechanism that also has is that the inertia that utilizes cam rotation to produce bounces, and utilizes this spring mode can realize continuous spring, but this spring mode be not easy controlling party to.
Summary of the invention
There is not stabilised platform in order to overcome existing ball shape robot, no bouncing mechanism, have the robot of bouncing mechanism not bounce continuously, direction heavy handled deficiency, the utility model provides a kind of ball shape robot that bounces with stable platform simple in structure, this robot can not only adapt to complicated external environment, and spring efficient is higher, has solved the deficiency of expanding space, bounce and the bounce problem of direction control continuously.
The technical scheme that its technical matters that solves the utility model adopts is: ball shape robot has two hemispherical Shells, hemispherical Shell is by being threaded into a complete spheroid, lower hemisphere shell is embedded with the small spherical shell of lock, there is the small spherical shell of lock to fix by taper pin and torsion spring, upper hemispherical shell, lower hemisphere shell and form the ball of a complete inner hollow by the small spherical shell of lock, there are 3 to be mutually hexagonal angle on the lower hemisphere shell by the fixing small spherical shell that lock is arranged of torsion spring, there is the small spherical shell another side of lock fixing by lock, lock is the arc quarter butt that has webge slot by a bit of, a bit of stage clip and the wedge shape button that matches are with it formed, there is the small spherical shell of lock to be fixed on the spherical shell by torsion spring and taper pin, taper pin is installed in the small spherical shell internal holes of lock, there is the small spherical shell inboard of lock that the aperture that passes through mutually with the hole that taper pin is installed is arranged, place the button that cooperates with taper pin in the hole, the taper pin tail end is installed stage clip, and when button was not applied in pressure, spring kept former length.Outside ball shape robot in the spherical shell, a rigid platfor is arranged, be fixed with wheel on the platform, motor, bouncing mechanism, battery, controller, the platform back side is fixed with the connecting rod rack structure, on the platform 4 be mutually 90 the degree directions on fix 4 wheels by L shaped plate, wherein two wheels that are mutually 90 ° connect motor, output wheel is used as power, 4 wheel fitted position free-running fit spherical shell maximum radiuss, naturally contact battery with spherical shell by gravity, camera and control chip are placed on the platform, and bouncing mechanism is fixed on the platform center, bouncing mechanism is a platform center fixation sleeve, an electromagnet is placed in the sleeve bottom, and the sleeve central vertical is fixed a sleeve central axis, linear bearing of cover on the sleeve central axis, fix a permanent magnet on the bearing, fix a spring in the sleeve central axis upper end.After above-mentioned all mechanisms fixed, the ball shape robot center of gravity was on the platform center shaft and below platform plane.When switching on to electromagnet, permanent magnet is ostracised, and moves along the direction of bar, contacts with spring afterwards, makes whole ball shape robot bounce.When needs bounce continuously, only need to give the electromagnet intermittently power-on.When the ball shape robot shell is blocked when main, adjust dull and stereotyped direction by wheel wherein, just can adjust the spring direction of ball shape robot.Three sender units are arranged on spherical shell, three cooresponding with it signal receiving devices are arranged on inner structure, and the relative position of control chip by judging signal generation apparatus and signal receiving device just may command motor makes robot get back to normal posture after moving.At the platform downside three connecting rod mechanisms by electric machine control are housed, the motor that is connecting screw mandrel is fixed on the sleeve, in have on the quarter butt articulated platform of bearing, quarter butt and quarter butt external fixation connecting rod are arranged in quarter butt is assemblied in the quarter butt of bearing.After ball shape robot was got back to normal posture, connecting rod just can be touched the button on the spherical shell, and leg is stretched out spherical shell, supported upper brace.
The beneficial effects of the utility model are, improved the obstacle climbing ability of ball shape robot greatly by bouncer, and make ball shape robot have stabilised platform, this robot can not only adapt to complicated external environment, and spring efficient is higher, having solved the deficiency of expanding space, bounce and the bounce problem of direction control continuously, is that complex environment is explored, as ocean, volcano, the outer space is explored that a kind of novel machine people's platform is provided.
Description of drawings
Below in conjunction with drawings and Examples the utility model is further specified.
Fig. 1 is an overall appearance view of the present utility model;
Fig. 2 is a spherical shell inner body view of the present utility model;
Fig. 3 is a central platform birds-eye view of the present utility model;
Fig. 4 is a bouncing mechanism plane of symmetry forward cutaway view of the present utility model;
Fig. 5 is a leg link structure of the present utility model;
Fig. 6 is a small spherical shell concrete structure view on the spherical shell down of the present utility model;
1. sender units among the figure, 2. upper hemispherical shell, 3. lower hemisphere shell 4. has the small spherical shell of lock, 5. signal receiving device, 6. central platform, 7. motor, 8.L template, 9. battery, 10. spring, 11. sleeves, 12. electromagnet, 13. wheels, 14. controller, 15. sleeve central axis, 16. permanent magnets, 17. linear bearings, 18. in the quarter butt II of bearing is arranged, 19. are connecting the motor of screw mandrel, 20. quarter butt I, 21. connecting rods, 22. torsion spring, 23. stage clips, 24. taper pins, 25. cylinder buttons.
The specific embodiment
Among Fig. 1, upper hemispherical shell 2, lower hemisphere shell 3 becomes a complete spherical shell by being threaded, upper hemispherical shell 2 is embedded with sender unit 1, there are 3 to be mutually the small spherical shell 4 that hexagonal angle has lock on the lower hemisphere shell 3, among Fig. 6, the small spherical shell 4 that lock is arranged is by torsion spring 22, taper pin 24 is fixed on the lower hemisphere shell 3, taper pin 24 is installed in small spherical shell 4 internal holes of lock, there are small spherical shell 4 inboards of lock that the aperture that passes through mutually with the hole that taper pin 24 is installed is arranged, place the button 25 that cooperates with taper pin 24 in the hole, there is stage clip 23 on taper pin 24 terminal tops, and when button 25 was not applied in pressure, spring 10 kept former length.Among Fig. 2, sleeve 11 is fixed on the platform 6, signal receiving device 5 is installed in sleeve central axis 15 upper surfaces, spring 10 is fixed on sleeve central axis 15 upper ends, permanent magnet 16 is fixed on the linear bearing 17, linear bearing 17 can be free to slide on sleeve central axis 15, sleeve 11 bottom fixed electromagnets 12, the motor that is connecting screw mandrel 19 of leg and driving leg is installed in sleeve 11 lower ends, is fixed with battery 9 on the central platform 6, controller 14, L template 8 is fixed on wheel 13 on the central platform 6,4 wheel 13 fitted positions cooperate the spherical shell maximum radius, motor 7 is fixed on the central platform 6, links to each other with wheel 13, and wheel 13 contacts by gravity naturally with spherical shell.Among Fig. 5, the motor 19 that is connecting screw mandrel is fixed on the sleeve 11, in have on quarter butt II 18 articulated platforms 6 of bearing, quarter butt I 20 and quarter butt II 18 external fixation connecting rods 21 are arranged in quarter butt I 20 is assemblied among the quarter butt II 18 of bearing.
Concrete mode of operation: drive wheel 13 rotations by regulating motor 7, central platform 6 is tilted towards different directions, center of gravity changes in the spherical shell, and the ball shape robot setting in motion is when ball shape robot runs into obstacle and is stuck, controller 14 control motors 7 make central platform 6 deflection certain angles, 12 energisings of controller 14 control electromagnet, permanent magnet 16 is ostracised, and moves along sleeve central axis 15,10 buffer actions of upper springs, entire machine people realizes that spring runs off obstacle; The robot motion is after the target location, controller 14 calculates the relative distance of sender unit 1 and signal receiving device 5, control motor 7 makes ball shape robot get back to stable state, the control lower end is connecting the motor 19 of screw mandrel, screw mandrel promotes connecting rod 21 motions, quarter butt I 20 stretches out from the interior quarter butt II 18 that bearing arranged and touches cylinder button 25, taper pin 24 withdrawals, have the small spherical shell 4 of lock to open, quarter butt I 20 continues elongation and touches ground, and whole ball shape robot is propped up, central platform 6 becomes stable platform, after robot is finished the work, motor 19 counter-rotatings, screw mandrel pulling connecting rod 21 is regained, quarter butt I 20 withdrawal spherical shells, torsion spring 22 drives has the small spherical shell 4 of lock to get back to original position, and taper pin 24 will have the small spherical shell 4 of lock stuck, and ball shape robot can continue to realize motion.
Claims (5)
1. ball shape robot, it is characterized in that: upper hemispherical shell (2), lower hemisphere shell (3) links to each other by screw thread, in the spherical shell, one rigid platfor (6) is arranged, be fixed with wheel (13) on the platform (6), motor (7), bouncing mechanism, battery (9), controller (14), the platform back side is fixed with the connecting rod rack structure, sender unit (1) is arranged on the spherical shell, signal receiving device (5) is arranged on the spherical shell inner structure, lower hemisphere shell (3) is embedded with the small spherical shell (4) of lock, there is the small spherical shell (4) of lock fixing by taper pin (24) and torsion spring (22), upper hemispherical shell (2), lower hemisphere shell (3) and have the small spherical shell (4) of lock to form the ball of a complete inner hollow, rigid platfor (6) is gone up wheel (13) and is become 90 ° of distributions, wherein two mutual wheels (13) at an angle of 90 connect motor (7), bouncing mechanism is fixed on platform (6) center, after above-mentioned all mechanisms fix, the ball shape robot center of gravity on platform (6) center shaft and at platform (6) below the plane, four wheels (13) fitted position free-running fit spherical shell maximum gauge.
2. ball shape robot according to claim 1, it is characterized in that: sleeve (11) bottom fixed electromagnet (12), sleeve (11) central vertical is fixed a sleeve central axis (15), sleeve central axis (15) goes up cover linear bearing (17), bearing (17) is gone up fixed permanent magnet (16), at sleeve central axis (15) upper end fixing spring (10).
3. ball shape robot according to claim 1, it is characterized in that: the motor (19) that is connecting screw mandrel is fixed on the sleeve (11), in have on quarter butt II (18) articulated platform (6) of bearing, quarter butt I (20) and quarter butt II (18) external fixation connecting rod (21) in being assemblied in, quarter butt I (20) are arranged among the quarter butt II (18) of bearing.
4. ball shape robot according to claim 1 is characterized in that: be embedded with sender unit (1) on spherical shell, signal receiving device (5) one to one is housed in internal mechanism.
5. ball shape robot according to claim 1, it is characterized in that: have the small spherical shell (4) of lock to be fixed on the spherical shell by torsion spring (22) and taper pin (24), taper pin (24) is installed in small spherical shell (4) internal holes of lock, there is small spherical shell (4) inboard of lock that the aperture that passes through mutually with the hole that taper pin (24) is installed is arranged, place the button (25) that cooperates with taper pin (24) in the hole, taper pin (24) tail end is installed stage clip (23), when button (25) when not being applied in pressure, spring (10) keeps former length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202144442U CN201825146U (en) | 2010-05-31 | 2010-05-31 | Bounce spherical robot equipped with stabilized bench |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202144442U CN201825146U (en) | 2010-05-31 | 2010-05-31 | Bounce spherical robot equipped with stabilized bench |
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| Publication Number | Publication Date |
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| CN201825146U true CN201825146U (en) | 2011-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010202144442U Expired - Fee Related CN201825146U (en) | 2010-05-31 | 2010-05-31 | Bounce spherical robot equipped with stabilized bench |
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| CN (1) | CN201825146U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102815349A (en) * | 2012-08-22 | 2012-12-12 | 北京交通大学 | Symmetrical centrifugal force power single-leg jumping machine |
| RU2537509C2 (en) * | 2012-12-27 | 2015-01-10 | Станислав Петрович Мидзяновский | High cross-country capacity vehicle |
| CN104786231A (en) * | 2015-03-24 | 2015-07-22 | 上海大学 | Structure with incomplete spherical constraint added inside |
| CN104890005A (en) * | 2015-06-24 | 2015-09-09 | 上海大学 | Spherical space based under-actuated robot wrist mechanism |
| CN106953460A (en) * | 2017-05-03 | 2017-07-14 | 袁永 | A kind of spherical drive wheel based on a motor intermittently-driving |
| CN108082316A (en) * | 2017-12-11 | 2018-05-29 | 唐山行者机器人有限公司 | One kind is used for upright walking auxiliary balance device |
| CN108638018A (en) * | 2018-05-04 | 2018-10-12 | 宁波科邦华诚技术转移服务有限公司 | A kind of adaptive walking robot |
| CN110466635A (en) * | 2019-09-12 | 2019-11-19 | 浙江万里学院 | Electromagnetic releasing hopping robot and shuttlecock robot and electromagnetic releasing bouncing mechanism |
| CN110752707A (en) * | 2019-10-29 | 2020-02-04 | 河北江津五金制品股份有限公司 | Closed type driving device with mass center displacement |
| CN111114664A (en) * | 2020-01-18 | 2020-05-08 | 青岛理工大学 | Electromagnetic drive spherical robot |
| CN112319642A (en) * | 2020-10-20 | 2021-02-05 | 杭州电子科技大学 | Novel spherical robot and driving method thereof |
-
2010
- 2010-05-31 CN CN2010202144442U patent/CN201825146U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102815349A (en) * | 2012-08-22 | 2012-12-12 | 北京交通大学 | Symmetrical centrifugal force power single-leg jumping machine |
| CN102815349B (en) * | 2012-08-22 | 2015-08-12 | 北京交通大学 | A kind of symmetrical centrifugal force power leaps on one leg machine |
| RU2537509C2 (en) * | 2012-12-27 | 2015-01-10 | Станислав Петрович Мидзяновский | High cross-country capacity vehicle |
| CN104786231A (en) * | 2015-03-24 | 2015-07-22 | 上海大学 | Structure with incomplete spherical constraint added inside |
| CN104786231B (en) * | 2015-03-24 | 2017-01-11 | 上海大学 | Structure with incomplete spherical constraint added inside |
| CN104890005A (en) * | 2015-06-24 | 2015-09-09 | 上海大学 | Spherical space based under-actuated robot wrist mechanism |
| CN106953460A (en) * | 2017-05-03 | 2017-07-14 | 袁永 | A kind of spherical drive wheel based on a motor intermittently-driving |
| CN108082316A (en) * | 2017-12-11 | 2018-05-29 | 唐山行者机器人有限公司 | One kind is used for upright walking auxiliary balance device |
| CN108638018A (en) * | 2018-05-04 | 2018-10-12 | 宁波科邦华诚技术转移服务有限公司 | A kind of adaptive walking robot |
| CN110466635A (en) * | 2019-09-12 | 2019-11-19 | 浙江万里学院 | Electromagnetic releasing hopping robot and shuttlecock robot and electromagnetic releasing bouncing mechanism |
| CN110752707A (en) * | 2019-10-29 | 2020-02-04 | 河北江津五金制品股份有限公司 | Closed type driving device with mass center displacement |
| CN110752707B (en) * | 2019-10-29 | 2021-11-12 | 河北江津五金制品股份有限公司 | Closed type driving device with mass center displacement |
| CN111114664A (en) * | 2020-01-18 | 2020-05-08 | 青岛理工大学 | Electromagnetic drive spherical robot |
| CN112319642A (en) * | 2020-10-20 | 2021-02-05 | 杭州电子科技大学 | Novel spherical robot and driving method thereof |
| CN112319642B (en) * | 2020-10-20 | 2021-08-31 | 杭州电子科技大学 | Spherical robot and driving method thereof |
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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: 20110511 Termination date: 20120531 |