CN203937752U - A kind of ball shape robot - Google Patents
A kind of ball shape robot Download PDFInfo
- Publication number
- CN203937752U CN203937752U CN201420384892.5U CN201420384892U CN203937752U CN 203937752 U CN203937752 U CN 203937752U CN 201420384892 U CN201420384892 U CN 201420384892U CN 203937752 U CN203937752 U CN 203937752U
- Authority
- CN
- China
- Prior art keywords
- spheroid
- housing
- wheel
- fixedly connected
- ball shape
- 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
Links
Abstract
The utility model relates to smart machine field, in particular to a kind of ball shape robot, comprises spheroid, is provided with driving chamber in spheroid, the indoor actuating device that is provided with of actuator chamber; Actuating device comprises housing, the edge of housing is fixedly connected with symmetrically arranged rotation support shaft, rotation support shaft and spheroid are rotationally connected, on housing, be fixedly connected with drive motor, the rotor of drive motor is fixedly connected with sun wheel, housing is fixedly connected with ringwise inner gear, is provided with a plurality of well-distributed satellite gears between sun wheel and inner gear, and satellite gear is meshed with sun wheel and inner gear respectively; In spheroid, be provided with orientation adjusting motor, the rotor of orientation adjusting motor is connected with driving wheel, and in rotation support shaft, cross-under has flower wheel.The driving device structure of this ball shape robot that the utility model provides is simple, controls conveniently, adopts mechanically operated mode, is easy to control, and good stability, and power is strong, can Omni-mobile, can change sense of motion in original place, and applicability is strong.
Description
Technical field
The utility model relates to smart machine field, in particular to a kind of ball shape robot.
Background technology
Ball shape robot refers to that a class drive system is positioned at spherical shell (or spheroid) inside, realizes the robot of spheroid motion by interior type of drive, and wherein, the type of drive of drive system is varied, mainly comprises following several:
(1) utilize to change machine intimate center of gravity and realize spheroid motion: by motor internal, drives mass, adjust spheroid center of gravity, realize the rolling of spheroid, its shortcoming is internal piloting complexity, and a little less than propulsive effort, almost can not obstacle detouring;
(2) built-in car drives: in inside, prevent a battery-driven car, utilize the compressing spheroid that travels of car inner, by controlling the motion of car, realize the indirect control to ball, its shortcoming for jolt or fall after easily out of control;
(3) gyro control drives: rely on inner gyro to keep the principle of attitude, by motor, drive gyro vector axis, utilize it to recover vertical restoring force power is provided, its shortcoming is can not pivot turn, differential force, and gyro is high speed rotating all the time, and energy consumption is large;
(4) eccentric massblock drives: by adjusting and changing robot center-of-gravity position, produce eccentric moment robot is rotated, its shortcoming is that robot work efficiency is not high, and roll is moving dead angle, does not have omnidirectional rolling ability;
(5) wind drives: by controlling from body contour by wind drive, its shortcoming is that environmental requirement is high, controls complicated.
In a word, at present conventional type of drive, all there is different shortcomings, be mainly reflected in the aspects such as control, power, energy consumption.
Utility model content
The purpose of this utility model is to provide a kind of ball shape robot, to solve the above problems.
A kind of ball shape robot is provided in embodiment of the present utility model, has comprised spheroid, in described spheroid, be provided with driving chamber, the indoor actuating device that is provided with of described actuator chamber;
Described actuating device comprises housing, the edge of described housing is fixedly connected with symmetrically arranged rotation support shaft, described rotation support shaft and described spheroid are rotationally connected, on described housing, be fixedly connected with drive motor, the rotor of described drive motor is fixedly connected with sun wheel, described housing is fixedly connected with ringwise inner gear, described sun wheel is located at the center of described inner gear, between described sun wheel and described inner gear, be provided with a plurality of well-distributed satellite gears, described satellite gear is meshed with described sun wheel and described inner gear respectively, described planetary wheel is socketed in described rotating shaft, described rotating shaft is fixedly connected with described housing,
In described spheroid, be provided with orientation adjusting motor, the rotor of described orientation adjusting motor is connected with driving wheel, in described rotation support shaft, cross-under has flower wheel, described driving wheel and described flower wheel are intermeshing, are provided with for depositing the chamber of described orientation adjusting motor, described driving wheel and described flower wheel in described spheroid.
Further, the center of described drive motor cross-under and described housing, the shell of described drive motor is fixedly connected with described housing.
Further, described housing is cuboid, and described driving chamber is cylindric, and the external diameter of described housing is less than the internal diameter of described driving chamber.
Further, the external diameter of described inner gear is not more than the external diameter of described housing.
Further, described driving chamber is located at the center of described spheroid.
Preferably, between described sun wheel and described inner gear, be provided with three well-distributed satellite gears.
Further, on described spheroid, be enclosed with skid resistant course.
A kind of ball shape robot that the utility model embodiment provides, seesawing of spheroid, drive motor is fixed on housing, the rotor of drive motor rotates, drive sun wheel is rotated, sun wheel drives satellite gear to rotate, thereby drive inner gear to rotate backward, wherein, inner gear is fixed on housing, the power that rotor provides so has finally acted on the shell of drive motor, according to the relativism of motion, be equivalent to rotor motionless, the shell of drive motor that rotates rotates, final propulsive effort passes to spheroid by housing, by the friction force on spherome surface and ground, realize moving forward and backward of spheroid,
The divertical motion of spheroid, orientation adjusting motor drives driving wheel to rotate, and driving wheel drives flower wheel, flower wheel drives rotation support shaft to rotate, and rotation support shaft, by housing tuning, is first carried out tuning, open again drive motor, can realize spheroid to designated parties forward or backward;
The driving device structure of this ball shape robot is simple, controls conveniently, adopts mechanically operated mode, is easy to control, and good stability, and power is strong, can Omni-mobile, can change sense of motion in original place, and applicability is strong.
Accompanying drawing explanation
Fig. 1 shows the cutaway view of the spheroid of the ball shape robot described in the utility model embodiment;
Fig. 2 shows the structural representation of the actuating device of the ball shape robot described in the utility model embodiment;
Fig. 3 shows the cutaway view of the actuating device of the ball shape robot described in the utility model embodiment.
In figure:
1, spheroid; 2, drive chamber; 3, housing; 4, rotation support shaft; 5, drive motor; 6, rotor; 7, sun wheel; 8, inner gear; 9, satellite gear; 10, rotating shaft; 11, orientation adjusting motor; 12, driving wheel; 13, flower wheel; 14, dead slot.
The specific embodiment
Below by specific embodiment, also by reference to the accompanying drawings the utility model is described in further detail.
As Figure 1-3, a kind of ball shape robot, comprises spheroid 1, is provided with and drives chamber 2 in spheroid 1, drives in chamber 2 and is provided with actuating device;
Actuating device comprises housing 3, the edge of housing 3 is fixedly connected with symmetrically arranged rotation support shaft 4, rotation support shaft 4 is rotationally connected with spheroid 1, on housing 3, be fixedly connected with drive motor 5, the rotor 6 of drive motor 5 is fixedly connected with sun wheel 7, housing 3 is fixedly connected with ringwise inner gear 8, sun wheel 7 is located at the center of inner gear 8, between sun wheel 7 and inner gear 8, be provided with a plurality of well-distributed satellite gears 9, satellite gear 9 is meshed with sun wheel 7 and inner gear 8 respectively, planetary wheel is socketed in rotating shaft 10, and rotating shaft 10 is fixedly connected with housing 3;
In spheroid 1, be provided with orientation adjusting motor 11, the rotor 6 of orientation adjusting motor 11 is connected with driving wheel 12, in rotation support shaft 4, cross-under has flower wheel 13, and driving wheel 12 is intermeshing with flower wheel 13, is provided with for depositing the chamber of orientation adjusting motor 11, driving wheel 12 and flower wheel 13 in spheroid 1.
The center of drive motor 5 cross-under and housing 3, the shell of drive motor 5 is fixedly connected with housing 3.Drive motor 5 is arranged on the center of housing 3, makes the propulsive effort of its generation pair more even with the driving of spheroid 1, advance or the propulsive effort that retreats identical.
Housing 3 is cuboid, drives chamber 2 to be cylindric, and the external diameter of housing 3 is less than the internal diameter that drives chamber 2.Housing 3 can be realized 360 ° of rotations in driving chamber 2, makes spheroid 1 realize omnidirectional and rotates.
The external diameter of inner gear 8 is not more than the external diameter of housing 3.Preferably the whole size of inner gear 8 and housing 3 is measure-alike, and in tuning process, inner gear 8 does not affect the rotation of housing 3.
Drive chamber 2 to be located at the center of spheroid 1.At actuating device, control spheroid 1 and advance in process, guarantee that it can at the uniform velocity advance.Preferably, between sun wheel 7 and inner gear 8, be provided with three well-distributed satellite gears 9.Planetary wheel is uniformly distributed, and makes the more even of driving force distributed.
On spheroid 1, be enclosed with skid resistant course.Preferably, be provided for increasing the concave convex texture of friction on skid resistant course, skid resistant course has stronger friction force, adaptable for environment.
In the spheroid 1 of ball shape robot, be provided with for depositing the dead slot 14 of control circuit and power supply, control setup and power supply are placed in dead slot 14, and be connected with motor, wherein, control the mode that motor adopts Remote, by controlling the performances such as the forward and backward of motor and rotating speed, thereby realize the control to ball shape robot, wherein, spheroid 1 is interior can arrange two orientation adjusting motors 11, for controlling the rotation of two rotation support shaft 4 respectively, stronger power can be provided, make to turn to control rapider.
A kind of ball shape robot that above-described embodiment provides, seesawing of spheroid 1, drive motor 5 is fixed on housing 3, the rotor 6 of drive motor 5 rotates, drive sun wheel 7 to rotate, sun wheel 7 drives satellite gear 9 to rotate, thereby drive inner gear 8 to rotate backward, wherein, inner gear 8 is fixed on housing 3, the power that rotor 6 provides so has finally acted on the shell of drive motor 5, according to the relativism of motion, be equivalent to rotor 6 motionless, the shell of drive motor 5 son 6 that rotates rotates, final propulsive effort passes to spheroid 1 by housing 3, by spheroid 1 surface, realize moving forward and backward of spheroid 1 with the friction force on ground,
The divertical motion of spheroid 1, orientation adjusting motor 11 drives driving wheel 12 to rotate, and driving wheel 12 drives flower wheel 13, flower wheel 13 drives rotation support shaft 4 to rotate, and rotation support shaft 4, by housing 3 tunings, is first carried out tuning, open again drive motor 5, can realize spheroid 1 to designated parties forward or backward;
The driving device structure of this ball shape robot is simple, controls conveniently, adopts mechanically operated mode, is easy to control, and good stability, and power is strong, can Omni-mobile, can change sense of motion in original place, and applicability is strong.
The foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, for a person skilled in the art, the utility model can have various modifications and variations.All within spirit of the present utility model and principle, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.
Claims (7)
1. a ball shape robot, is characterized in that, comprises spheroid, is provided with driving chamber in described spheroid, the indoor actuating device that is provided with of described actuator chamber;
Described actuating device comprises housing, the edge of described housing is fixedly connected with symmetrically arranged rotation support shaft, described rotation support shaft and described spheroid are rotationally connected, on described housing, be fixedly connected with drive motor, the rotor of described drive motor is fixedly connected with sun wheel, described housing is fixedly connected with ringwise inner gear, described sun wheel is located at the center of described inner gear, between described sun wheel and described inner gear, be provided with a plurality of well-distributed satellite gears, described satellite gear is meshed with described sun wheel and described inner gear respectively, described planetary wheel is socketed in rotating shaft, described rotating shaft is fixedly connected with described housing,
In described spheroid, be provided with orientation adjusting motor, the rotor of described orientation adjusting motor is connected with driving wheel, in described rotation support shaft, cross-under has flower wheel, described driving wheel and described flower wheel are intermeshing, are provided with for depositing the chamber of described orientation adjusting motor, described driving wheel and described flower wheel in described spheroid.
2. ball shape robot according to claim 1, is characterized in that, the center of described drive motor cross-under and described housing, and the shell of described drive motor is fixedly connected with described housing.
3. ball shape robot according to claim 1, is characterized in that, described housing is cuboid, and described driving chamber is cylindric, and the external diameter of described housing is less than the internal diameter of described driving chamber.
4. ball shape robot according to claim 3, is characterized in that, the external diameter of described inner gear is not more than the external diameter of described housing.
5. ball shape robot according to claim 1, is characterized in that, described driving chamber is located at the center of described spheroid.
6. ball shape robot according to claim 1, is characterized in that, is provided with three well-distributed satellite gears between described sun wheel and described inner gear.
7. ball shape robot according to claim 1, is characterized in that, on described spheroid, is enclosed with skid resistant course.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420384892.5U CN203937752U (en) | 2014-07-11 | 2014-07-11 | A kind of ball shape robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420384892.5U CN203937752U (en) | 2014-07-11 | 2014-07-11 | A kind of ball shape robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203937752U true CN203937752U (en) | 2014-11-12 |
Family
ID=51857093
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420384892.5U Expired - Fee Related CN203937752U (en) | 2014-07-11 | 2014-07-11 | A kind of ball shape robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203937752U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272534A (en) * | 2016-10-19 | 2017-01-04 | 上海未来伙伴机器人有限公司 | A kind of steering mechanism on humanoid robot hip joint |
| CN107719500A (en) * | 2017-11-23 | 2018-02-23 | 滨州学院 | A kind of spherical rescue facility |
-
2014
- 2014-07-11 CN CN201420384892.5U patent/CN203937752U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272534A (en) * | 2016-10-19 | 2017-01-04 | 上海未来伙伴机器人有限公司 | A kind of steering mechanism on humanoid robot hip joint |
| CN106272534B (en) * | 2016-10-19 | 2019-06-28 | 上海未来伙伴机器人有限公司 | A kind of steering mechanism on humanoid robot hip joint |
| CN107719500A (en) * | 2017-11-23 | 2018-02-23 | 滨州学院 | A kind of spherical rescue facility |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102407890A (en) | Spherical moving device with enhanced function | |
| CN203172751U (en) | Spherical robot with stabilization platform | |
| CN106005337B (en) | A kind of motor-driven two joint machine fish of list | |
| CN102219032A (en) | Soft-shell spherical robot | |
| CN203937752U (en) | A kind of ball shape robot | |
| CN101797936A (en) | Wheel swinging-type compound drive device for miniature mobile robot | |
| CN104724269A (en) | Space engine-driven tail swing propelling plant | |
| CN101318526A (en) | Three-drive spherical robot | |
| CN100421882C (en) | Self-operated dynamically balancing movable robot | |
| CN100556621C (en) | Omnidirectional rolling spherical robot apparatus with stabilized platform | |
| CN104960588B (en) | Spherical walking platform | |
| CN110406607A (en) | A kind of ball shape robot and its motion control device | |
| CN202155045U (en) | Toy robot with omnidirectional rolling | |
| CN209037698U (en) | One kind three drives mono-pendulum type spherical rolling robot | |
| Liu et al. | Design, modeling and simulation of a reconfigurable land-air amphibious robot | |
| CN102582833A (en) | Flying saucer in shape of tai chi | |
| CN203916063U (en) | A kind of electronic toy gyro of remote control | |
| CN204563606U (en) | Single shaft aircraft | |
| CN204740993U (en) | Electric operating mechanism with separation and reunion and oneway drive function target in place | |
| CN204606179U (en) | A kind of space maneuver tail swing propelling unit | |
| CN206871361U (en) | A kind of screw type class flapping wing aircraft | |
| CN207448482U (en) | It is a kind of to follow type service robot of accompanying and attending to towards children | |
| CN206551015U (en) | A kind of motion structure of robot | |
| CN203544190U (en) | Self-driven device based on differential steering | |
| CN209160043U (en) | A kind of Multi-orientation multi-angle mobile device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141112 Termination date: 20180711 |