CN203832605U - Telescopic spherical robot - Google Patents

Telescopic spherical robot Download PDF

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Publication number
CN203832605U
CN203832605U CN201420172784.1U CN201420172784U CN203832605U CN 203832605 U CN203832605 U CN 203832605U CN 201420172784 U CN201420172784 U CN 201420172784U CN 203832605 U CN203832605 U CN 203832605U
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China
Prior art keywords
steering wheel
spherical shell
crank
support
center
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Expired - Fee Related
Application number
CN201420172784.1U
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Chinese (zh)
Inventor
付兴
张泽卿
赵容
许柏楠
薛晓晗
付博超
刘闯
马天航
肖迅
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Northwestern Polytechnical University
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Northwestern Polytechnical University
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Priority to CN201420172784.1U priority Critical patent/CN203832605U/en
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Publication of CN203832605U publication Critical patent/CN203832605U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model discloses a telescopic spherical robot. Six-foot insect crawling features and sphere rolling multiple-posture features are combined, the structural design with the combination of a slider-crank mechanism, an upper spherical shell assembly and a lower spherical shell assembly is adopted, and stretching and contraction at various freedom degrees are achieved. The slider-crank mechanism is installed at the center between the upper spherical shell assembly and the lower spherical shell assembly and provides supporting for fixed connection between the upper spherical shell assembly and the lower spherical shell assembly, the upper spherical shell assembly is installed on an upper rack and is fixedly connected with a rotating disc on the upper face of a center steering engine through six copper columns, the lower spherical shell assembly is connected with cranks on upper and lower guide rail supports through an inner steering engine, the center steering engine is connected with a U-shaped frame, a U-shaped connecting frame is fixedly connected with the U-shaped frame and connected with an outer steering engine, a lower spherical shell is fixedly connected with the outer steering engine through a lower spherical shell support, and needle-shaped feet are installed on the outer steering engine. The telescopic spherical robot is reasonable in design, simple in structure, high in reliability and stability, and low in production cost.

Description

A kind of scalable ball shape robot
Technical field
The utility model belongs to robot field, specifically, relates to a kind of scalable ball shape robot with multiple degree of freedom.
Background technology
In existing disclosed document, the Morphex fighter toy series of Norway engineer Zenta invention, has designed and has produced Morphex I, Morphex II and Morphex III three generations's robot altogether.This fighter toy core adopts gear transmission, the structure that the gear being connected with center steering wheel is meshed with six gears simultaneously, very high to institute location, cogged axle center and accuracy requirement, but easily there is the de-tooth of gear, stuck phenomenon, and be subject to mechanical shock or disturb rear mechanism stable poor.The upper cover part of fighter toy forms hemisphere hull shape by the arc plate of six same structures; Every part only has one degree of freedom, and four connecting rods that connect by steering wheel and sliding rail rack complete the switching of spherical shell jointly.Fighter toy is designed with six legs, realizes the degree of freedom of controlling three orthogonal directionss by three steering wheels; Every spherical shell is fixedly connected on respectively on corresponding leg.But structure is comparatively complicated, and cost of manufacture is high.
In patent of invention CN1295907A, disclose a kind of ball shape robot that can independently roll, this robot has the profile of ball shape, can be under the driving of built-in motor rolling flip.And it is fast to have kinematic velocity, running state steadily and energy consume little feature.But compared with sufficient formula or climbing robot, this robot can only move on the ground of opposed flattened, for the comformability of different terrain a little less than.
Utility model content
The deficiency existing for fear of prior art, overcomes its structure comparatively complicated, the problem that cost of manufacture is high.The utility model proposes a kind of scalable ball shape robot, object is that feature that six sufficient insect formulas are creeped and the feature of spherical rolling many attitude combine, realize the stretching, extension of multiple degree of freedom and shrink, improved the stability of robot, and there is the advantage that reduces manufacturing cost.
The utility model solves the technical scheme that its technical matters adopts: comprise slider-crank mechanism, upper spherical shell assembly, lower spherical shell assembly, slider-crank mechanism is centre between upper spherical shell assembly and lower spherical shell assembly, and provides support for upper spherical shell assembly is fixedly connected with lower spherical shell assembly;
Described slider-crank mechanism comprises upper rail support, rotating circular disk, crank, secondary bracing frame, main backstop, center steering wheel adapter plate, cup type bearing, lower guideway support, center steering wheel, center steering wheel adapter plate link span, two rotating circular disks respectively with center steering wheel output shaft on steering wheel be connected, upper rail support and lower guideway support are nested in respectively on two rotating circular disks, and symmetrical parallel is installed, on upper rail support and lower guideway support, respectively there are six outstanding guide rail sliding chutes along circumference cw is uniform, cup type bearing is embedded in guide rail sliding chute, and be connected with crank, each crank one end is connected on rotating circular disk, the crank other end is connected with steering wheel steering wheel inside leg unit part, four main backstops are fixedly mounted between upper rail support and lower guideway support, Liang Kuai center steering wheel adapter plate is connected with four main backstops respectively, Si Ge center steering wheel adapter plate link span is fixed on the steering wheel of center, Bing Yuliangkuai center steering wheel adapter plate is connected, two secondary bracing frames are positioned at steering wheel adapter plate both sides, center, and symmetry is arranged between upper rail support and lower guideway support, between each attaching parts, all adopt stove bolt to connect,
Described upper spherical shell assembly is made up of top stand, six copper posts and six Spherical Shell Element parts, and top stand is connected by the rotating circular disk above six Ge Tongzhuyu center steering wheels, and six Spherical Shell Element parts are positioned at above the stand of top, described Spherical Shell Element part comprises steering wheel, steering wheel cover, connecting rod rack, connecting rod, upper spherical shell engaging lug, upper spherical shell, U-shaped of top, two steering wheels are fixed on above the stand of top by steering wheel cover, connecting rod one end is connected with connecting rod rack, the connecting rod other end is connected with two upper spherical shell engaging lugs, two upper spherical shell engaging lugs are fixed on spherical shell, connecting rod rack is arranged on steering wheel and puts, UXing Jia one end, top and steering wheel steering wheel are connected, moved by steering wheel steering wheel driven rotary, U-shaped of the top other end is connected with two upper spherical shell engaging lugs, and be connected by two upper spherical shell engaging lugs and upper spherical shell, between each attaching parts, connect by stove bolt,
Described lower spherical shell assembly comprises six leg unit parts that structure is identical, each leg unit part is by three steering wheels, shank steering wheel attaching parts, steering wheel, lower spherical shell, lower spherical shell support, U-shaped, U-shaped link span, aciculiform pin composition, inner side steering wheel and middle steering wheel are connected by shank steering wheel attaching parts, two steering wheels are installed according to axis sequence 90 degree, inner side steering wheel steering wheel is connected with the crank on upper rail support and lower guideway support, middle steering wheel is connected with U-shaped by steering wheel, U-shaped is connected with U-shaped link span, the U-shaped link span other end is connected with outside steering wheel steering wheel, lower spherical shell is connected by lower spherical shell support and outside steering wheel, aciculiform pin is arranged on the steering wheel of outside, between each attaching parts, connect by stove bolt.
Beneficial effect
The scalable ball shape robot of one the utility model proposes, the feature that six sufficient insect formulas are creeped and the feature of spherical rolling many attitude combine, adopt slider-crank mechanism and upper spherical shell assembly, lower spherical shell assembly combined structure design, realize stretching, extension and the contraction of multiple degree of freedom.Slider-crank mechanism is arranged on centre between spherical shell assembly and lower spherical shell assembly, and slider-crank mechanism is that upper spherical shell assembly is fixedly connected with and provides support with lower spherical shell assembly.Upper spherical shell assembly is arranged on the stand of top, and top stand is connected by the rotating circular disk above six Ge Tongzhuyu center steering wheels.The leg unit part of lower spherical shell assembly is connected with the crank on crank and lower guideway support on upper rail support by inner side steering wheel, inner side steering wheel and middle steering wheel dislocation 90 degree are installed, middle steering wheel is connected with U-shaped, U-shaped is connected with U-shaped link span, U-shaped link span is connected with outside steering wheel, lower spherical shell is fixedly connected with outside steering wheel by lower spherical shell support, and aciculiform pin is arranged on the steering wheel of outside.
The scalable ball shape robot of the utility model is reasonable in design, simple in structure, and reliability and stability is higher, and has the advantage that productive costs is low.
Brief description of the drawings
Below in conjunction with drawings and embodiments, a kind of scalable ball shape robot of the utility model is described in further detail.
Fig. 1 is the scalable ball shape robot profile of the utility model schematic diagram.
Fig. 2 is the scalable ball shape robot view of creeping.
Fig. 3 is the scalable ball shape robot state upward view of creeping.
Fig. 4 is the slider-crank mechanism axonometric drawing of scalable ball shape robot.
Fig. 5 is the slider-crank mechanism extended configuration schematic diagram of scalable ball shape robot.
Fig. 6 is the slider-crank mechanism contraction state schematic diagram of scalable ball shape robot.
Fig. 7 is the each trestle component of the slider-crank mechanism of scalable ball shape robot position schematic diagram.
Fig. 8 is the slider-crank mechanism front view of scalable ball shape robot.
Fig. 9 is the leg unit part structural representation of scalable ball shape robot.
Figure 10 is the axonometric drawing that scalable ball shape robot removes Spherical Shell Element part.
Figure 11 is the Spherical Shell Element part connection diagram of scalable ball shape robot.
In figure:
1. 15. times spherical shell support 16.U type frame 17.U type link span 18. aciculiform pin 19. top stand 20. steering wheels of upper rail support 2. rotating circular disk secondary bracing frame 5. main backstop cup type bearing 8. lower guideway support 14. times spherical shells of 9. center steering wheel 10. center steering wheel adapter plate link span 11. steering wheel 12. shank steering wheel attaching parts 13. steering wheels of 6. center steering wheel adapter plate 7. of 3. crank 4. overlap on 21. connecting rod rack 22. connecting rods 23. U-shaped of spherical shell 25. tops 26. bronze medal posts on spherical shell engaging lug 24.
Detailed description of the invention
The present embodiment is a kind of scalable ball shape robot.
Consult Fig. 1~Figure 11, scalable ball shape robot is made up of slider-crank mechanism and upper spherical shell assembly, lower spherical shell assembly, slider-crank mechanism is centre between upper spherical shell assembly and lower spherical shell assembly, and slider-crank mechanism is that upper spherical shell assembly is fixedly connected with and provides support with lower spherical shell assembly.
Slider-crank mechanism comprises upper rail support 1, rotating circular disk 2, crank 3, secondary bracing frame 4, main backstop 5, center steering wheel adapter plate 6, cup type bearing 7, lower guideway support 8, center steering wheel 9, center steering wheel adapter plate link span 10, two rotating circular disks 2 are fixedly connected with the steering wheel on center steering wheel 9 output shafts respectively, upper rail support 1 is nested in respectively on two rotating circular disks 2 with lower guideway support 8, and symmetrical parallel installation, Bing You center steering wheel 9 provides rotary power.On upper rail support 1 and lower guideway support 8, respectively there are six outstanding guide rail sliding chutes along circumference cw is uniform, cup type bearing 7 is installed in each guide rail sliding chute, on each crank 3, be provided with four mounting holes, cup type bearing 7 is fixedly connected on each crank 3 near on second mounting hole of rotating circular disk 2, each crank 3 one end are connected on rotating circular disk 2, crank 3 other ends are connected with the steering wheel 13 of steering wheel 11 inside leg unit part, four main backstops 5 are fixedly mounted between upper rail support 1 and lower guideway support 8, Liang Kuai center steering wheel adapter plate 6 is fixedly connected with four main backstops 5 respectively, Si Ge center steering wheel adapter plate link span 10 is fixed on center steering wheel 9, Bing Yuliangkuai center steering wheel adapter plate 6 is fixedly connected with, two secondary bracing frames 4 are positioned at steering wheel adapter plate 6 both sides, center, and symmetry is arranged between upper rail support 1 and lower guideway support 8, between each attaching parts, all adopt stove bolt to connect.Slider-crank mechanism is realized and is stretched contractile function, and cup type bearing 7 is regarded as slide block, and the guide rail sliding chute of upper rail support 1 and lower guideway support 8 is as the guide rail of slide block, and rotating circular disk 2 is regarded as crank, crank 3 is regarded as connecting rod.By the active rotation of rotating circular disk 2, with the passive slip of cup type bearing 7 in guide rail sliding chute, drive crank 3 to stretch contractile motion, thereby control stretching, extension and the contraction of lower spherical shell assembly.
Lower spherical shell assembly comprises six leg unit parts that structure is identical, each leg unit part is made up of three steering wheels 11, shank steering wheel attaching parts 12, steering wheel 13, lower spherical shell 14, lower spherical shell support 15, U-shaped 16, U-shaped link span 17, aciculiform pin 18, three steering wheels 11 are respectively inner side steering wheel, middle steering wheel and outside steering wheel, control successively the leg that horizontally rotates, lifts of leg unit part and receive leg and lift pin receipts pin three degree of freedom.Inner side steering wheel and middle steering wheel are connected by shank steering wheel attaching parts 12, two steering wheels are installed according to axis sequence 90 degree, inner side steering wheel steering wheel 13 is connected with the crank on crank and lower guideway support 8 on upper rail support 1 respectively, middle steering wheel is connected with U-shaped 16 by steering wheel, be fixedly connected with U-shaped link span 17 for U-shaped 16, U-shaped link span 17 other ends are connected with outside steering wheel steering wheel; Lower spherical shell 14 is connected by lower spherical shell support 15 and outside steering wheel, lower spherical shell 14 in the time of six sufficient walking states as outer protection and decoration, at rolling condition as being subject to force support.Aciculiform pin 18 is arranged on the steering wheel of outside, and aciculiform pin 18, does not stress under rolling and spherical quiescence as stressed member at six sufficient walking states.Between each attaching parts, connect by stove bolt.
Upper spherical shell assembly is made up of with six identical Spherical Shell Element parts of structure top stand 19, six copper posts 26, top stand 19 is connected mutually by six copper Zhu26Yu center steering wheels 9 rotating circular disk 2 above, the whole upper spherical shell assembly that rotarily drives of rotating circular disk 2 rotates with respect to spherical shell assembly under robot, and the maximum anglec of rotation is 120 °.Six Spherical Shell Element parts are arranged on above top stand 19, each Spherical Shell Element part comprises steering wheel 11, two steering wheel covers 20, two connecting rod racks 21, connecting rod 22, four upper spherical shell engaging lugs 23, upper spherical shell 24, U-shaped 25, top, two steering wheels 11 overlap 20 by steering wheel and are fixed on above top stand 19, connecting rod 22 one end are connected with connecting rod rack 21, connecting rod 22 other ends are connected with two upper spherical shell engaging lugs 23, two upper spherical shell engaging lugs 23 are fixed on spherical shell 24, connecting rod rack 21 is arranged on steering wheel cover 20, the steering wheel of UXing Jia25 one end, top and steering wheel is connected, steering wheel driven rotary by steering wheel is moved, U-shaped of top 25 other ends are connected with two upper spherical shell engaging lugs 23, and be connected with upper spherical shell 24 by two upper spherical shell engaging lugs 23, between each attaching parts, connect by stove bolt.
Attitude and state of kinematic motion that the scalable ball shape robot of the utility model is realized:
Robot quiescence: now, core slider-crank mechanism is contracted to minimum, and leg unit part stretches into the inside simultaneously, and three steering wheels of each leg unit part are adjusted to appropriate location, make the lucky tangent contact of lower spherical shell of six leg unit parts, jointly form second sphere.On robot, six of spherical shell assembly steering wheels and connecting rod mechanism are adjusted to correct position, just make six upper tangent contacts of spherical shell of spherical shell assembly, form first sphere.This state only have 12 upper spherical shells and lower spherical shell outside exposed, other all encapsulated by structures, in spherical shell inside, form spherical quiescence.
Robot rolling condition: now, rolling condition is using above-mentioned spherical quiescence as rolling reference attitude.When robot is during in spherical quiescence, because center of gravity is high, robot independently sidewinders non-generation.For explaining conveniently, introduce the warp and filling of terrestrial globe below as analogy reference, 12 spherical shells form the warp of an equatorial line and six deciles altogether.Robot contacts with ground and is positioned at a leg unit part and the overhanging equal angular of upper spherical shell connecting rod mechanism of same warp, makes the Robot equatorial plane angle of rolling forward; When after this leg unit part and upper spherical shell connecting rod mechanism built on stilts, leg unit part and upper spherical shell connecting rod mechanism that next group contacts with ground do same movement, go up one group simultaneously and get back to initial condition.So repeat alternately to realize robot spherical rolling.Can control its left and right turn direction by regulating leg unit part and upper spherical shell connecting rod mechanism to stretch out angle.
Robot crawling state: now, core slider-crank mechanism is in shrinking or stretch free position, and wherein six of extended configuration foots have larger motion space, and allow upper spherical shell free motion.

Claims (1)

1. a scalable ball shape robot, it is characterized in that: comprise slider-crank mechanism, upper spherical shell assembly, lower spherical shell assembly, slider-crank mechanism is centre between upper spherical shell assembly and lower spherical shell assembly, and provides support for upper spherical shell assembly is fixedly connected with lower spherical shell assembly;
Described slider-crank mechanism comprises upper rail support, rotating circular disk, crank, secondary bracing frame, main backstop, center steering wheel adapter plate, cup type bearing, lower guideway support, center steering wheel, center steering wheel adapter plate link span, two rotating circular disks respectively with center steering wheel output shaft on steering wheel be connected, upper rail support and lower guideway support are nested in respectively on two rotating circular disks, and symmetrical parallel is installed, on upper rail support and lower guideway support, respectively there are six outstanding guide rail sliding chutes along circumference cw is uniform, cup type bearing is embedded in guide rail sliding chute, and be connected with crank, each crank one end is connected on rotating circular disk, the crank other end is connected with steering wheel steering wheel inside leg unit part, four main backstops are fixedly mounted between upper rail support and lower guideway support, Liang Kuai center steering wheel adapter plate is connected with four main backstops respectively, Si Ge center steering wheel adapter plate link span is fixed on the steering wheel of center, Bing Yuliangkuai center steering wheel adapter plate is connected, two secondary bracing frames are positioned at steering wheel adapter plate both sides, center, and symmetry is arranged between upper rail support and lower guideway support, between each attaching parts, all adopt stove bolt to connect,
Described upper spherical shell assembly is made up of top stand, six copper posts and six Spherical Shell Element parts, and top stand is connected by the rotating circular disk above six Ge Tongzhuyu center steering wheels, and six Spherical Shell Element parts are positioned at above the stand of top, described Spherical Shell Element part comprises steering wheel, steering wheel cover, connecting rod rack, connecting rod, upper spherical shell engaging lug, upper spherical shell, U-shaped of top, two steering wheels are fixed on above the stand of top by steering wheel cover, connecting rod one end is connected with connecting rod rack, the connecting rod other end is connected with two upper spherical shell engaging lugs, two upper spherical shell engaging lugs are fixed on spherical shell, connecting rod rack is arranged on steering wheel and puts, UXing Jia one end, top and steering wheel steering wheel are connected, moved by steering wheel steering wheel driven rotary, U-shaped of the top other end is connected with two upper spherical shell engaging lugs, and be connected by two upper spherical shell engaging lugs and upper spherical shell, between each attaching parts, connect by stove bolt,
Described lower spherical shell assembly comprises six leg unit parts that structure is identical, each leg unit part is by three steering wheels, shank steering wheel attaching parts, steering wheel, lower spherical shell, lower spherical shell support, U-shaped, U-shaped link span, aciculiform pin composition, inner side steering wheel and middle steering wheel are connected by shank steering wheel attaching parts, two steering wheels are installed according to axis sequence 90 degree, inner side steering wheel steering wheel is connected with the crank on upper rail support and lower guideway support, middle steering wheel is connected with U-shaped by steering wheel, U-shaped is connected with U-shaped link span, the U-shaped link span other end is connected with outside steering wheel steering wheel, lower spherical shell is connected by lower spherical shell support and outside steering wheel, aciculiform pin is arranged on the steering wheel of outside, between each attaching parts, connect by stove bolt.
CN201420172784.1U 2014-04-10 2014-04-10 Telescopic spherical robot Expired - Fee Related CN203832605U (en)

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104260605A (en) * 2014-10-16 2015-01-07 北京理工大学 Air-ground amphibious spherical metamorphic robot based on metamorphic principle
CN104802871A (en) * 2015-04-14 2015-07-29 中煤科工集团西安研究院有限公司 Spherical structural detector robot
CN105151149A (en) * 2015-09-28 2015-12-16 哈尔滨工业大学深圳研究生院 Turtle shell opening and closing system of sea turtle robot
CN105549592A (en) * 2015-12-22 2016-05-04 福州大学 Intelligent spherical robot with fault tolerance control and control method of robot
CN105905179A (en) * 2016-06-06 2016-08-31 厦门市星云睿自动化科技有限公司 Spherical spider robot based on single chip computer
CN106489409A (en) * 2015-11-24 2017-03-15 泉州市知产茂业工业设计有限公司 A kind of walking earth scraper structure of small-sized Rhizoma Schizocapsae Plantagineae picking robot
CN106627007A (en) * 2016-10-31 2017-05-10 苏州大学 Amphibious spherical robot of changeable structure
CN106717447A (en) * 2015-11-24 2017-05-31 泉州市知产茂业工业设计有限公司 A kind of small-sized Rhizoma Schizocapsae Plantagineae picking robot
CN106864616A (en) * 2017-02-27 2017-06-20 深圳源创智能机器人有限公司 A kind of spherical six sufficient fighter toy
CN107416063A (en) * 2017-04-06 2017-12-01 西安电子科技大学 A kind of achievable spherical Hexapod Robot for rolling, walking
CN108786135A (en) * 2018-06-12 2018-11-13 西北工业大学 A kind of tumbler hopping robot

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104260605A (en) * 2014-10-16 2015-01-07 北京理工大学 Air-ground amphibious spherical metamorphic robot based on metamorphic principle
CN104802871A (en) * 2015-04-14 2015-07-29 中煤科工集团西安研究院有限公司 Spherical structural detector robot
CN105151149A (en) * 2015-09-28 2015-12-16 哈尔滨工业大学深圳研究生院 Turtle shell opening and closing system of sea turtle robot
CN106489409A (en) * 2015-11-24 2017-03-15 泉州市知产茂业工业设计有限公司 A kind of walking earth scraper structure of small-sized Rhizoma Schizocapsae Plantagineae picking robot
CN106489409B (en) * 2015-11-24 2019-03-29 泉州市知产茂业工业设计有限公司 A kind of walking earth scraper structure of small-sized Rhizoma Schizocapsae Plantagineae picking robot
CN106717447A (en) * 2015-11-24 2017-05-31 泉州市知产茂业工业设计有限公司 A kind of small-sized Rhizoma Schizocapsae Plantagineae picking robot
CN105549592A (en) * 2015-12-22 2016-05-04 福州大学 Intelligent spherical robot with fault tolerance control and control method of robot
CN105549592B (en) * 2015-12-22 2018-03-20 福州大学 A kind of intelligent spherical robot and its control method with faults-tolerant control
CN105905179A (en) * 2016-06-06 2016-08-31 厦门市星云睿自动化科技有限公司 Spherical spider robot based on single chip computer
CN106627007A (en) * 2016-10-31 2017-05-10 苏州大学 Amphibious spherical robot of changeable structure
CN106864616A (en) * 2017-02-27 2017-06-20 深圳源创智能机器人有限公司 A kind of spherical six sufficient fighter toy
CN106864616B (en) * 2017-02-27 2019-08-20 深圳源创智能机器人有限公司 A kind of sufficient fighter toy of spherical shape-six
CN107416063A (en) * 2017-04-06 2017-12-01 西安电子科技大学 A kind of achievable spherical Hexapod Robot for rolling, walking
CN108786135A (en) * 2018-06-12 2018-11-13 西北工业大学 A kind of tumbler hopping robot

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Granted publication date: 20140917

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