CN204184488U - Manned ball shape robot - Google Patents
Manned ball shape robot Download PDFInfo
- Publication number
- CN204184488U CN204184488U CN201420614334.3U CN201420614334U CN204184488U CN 204184488 U CN204184488 U CN 204184488U CN 201420614334 U CN201420614334 U CN 201420614334U CN 204184488 U CN204184488 U CN 204184488U
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- pallet
- ball shape
- shape robot
- spherical shell
- packaged type
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Abstract
Manned ball shape robot disclosed in the utility model, include spherical shell, pallet has been horizontally disposed with near bottom place in spherical shell, the central authorities of pallet are provided with gear, the top of pallet is provided with packaged type seat, the bottom at packaged type seat is provided with guide rail, gear embeds in guide rail, the two ends of guide rail are respectively symmetrically arranged with a pit, a ball is provided with in each pit, the below at packaged type seat is provided with power supply, packaged type seat is also connected with control panel, during driving driver can hand held in, the two ends of pallet are connected with a cardan wheel respectively by spring, each cardan wheel all with spherical shell inwall point cantact, bottom connecting drive device and the steering hardware respectively of pallet.The function of advancing, moveing backward, turning to can be realized while the manned ball shape robot of the utility model possesses load-carrying capacity; And quality is light, flexible operation.
Description
Technical field
The utility model belongs to technical field of transportation means, is specifically related to a kind of manned ball shape robot.
Background technology
Although traditional legged type robot motion flexibly, there is the defect that kinematic velocity is low, power consumption is large, bearing capacity is little and control system is complicated; The moving velocity of wheeled robot is fast, bearing capacity large, it is little to consume energy, but is difficult to use under some particular surroundings.For spherical device, if its radius can roll across certain obstacle and irrigation canals and ditches more greatly, the environment of very severe can be adapted to.
At present, the ball shape robot of home and abroad or be referred to as spherical vehicle, have many deficiencies and shortcoming, what have can not change sense of motion; Though what have can change sense of motion, require that two motors must overcome the spherical rotor inertia of class housing and the rotor inertia of weight respectively, thus higher to the requirement of motor torque etc.Particularly existing various spherical vehicle, does not possess manned function of bearing a heavy burden substantially.
Denomination of invention is: the car of globosity, and publication number is: CN1530156A, and publication date is: on March 31st, 2004, although this technical scheme can realize the motor function of common car, the inner no-load robot mechanism of its spherical shell, can only be used for model and toy, operability is poor, and practicality is lower.
All in all, the motion scheme of existing ball-type motion equipment is each has something to recommend him, but mostly exist complex structure, Project Realization more difficult, do not possess that load-carrying capacity, spheroid center of gravity are higher to be made to climb and the problem of obstacle climbing ability deficiency, thus lack practicality; The problems referred to above greatly limit popularization and the application of spherical vehicle.
Utility model content
The purpose of this utility model is to provide a kind of manned ball shape robot, and this ball shape robot can the function of advancing, moveing backward, turning to of realization freely while possessing load-carrying capacity; And quality is light, flexible operation.
The technical scheme that the utility model adopts is, manned ball shape robot, include spherical shell, pallet has been horizontally disposed with near bottom place in spherical shell, the central authorities of pallet are provided with gear, the top of pallet is provided with packaged type seat, the bottom at packaged type seat is provided with guide rail, guide rail is parallel with pallet, gear embeds in guide rail, mobile base potential energy slides along guide rail left and right horizontal, the two ends of guide rail are respectively symmetrically arranged with a pit, a ball is provided with in each pit, one side-lower at packaged type seat is provided with power supply, packaged type seat is also connected with control panel, the two ends of pallet are connected with a cardan wheel respectively by spring, each cardan wheel all with the spherical shell inwall point cantact closed on, bottom connecting drive device and the steering hardware respectively of pallet.
Feature of the present utility model is also:
Spherical shell offers the turnover window entered for driver.
Control panel has the button controlling ball shape robot and turn left to turn right, be provided with control system in described control panel, described control system is connected with button, and described control panel is connected with power supply.
Gear is connected with stepping motor by gear wheel shaft, and stepping motor is arranged between pallet and packaged type seat.
The middle part of pallet is also vertically connected with the little axle that is connected, and the upper end of the little axle that is connected is connected with the upper hole on packaged type seat by bearing.
Pallet is also provided with angular transducer.
Steering hardware is made up of the first steering hardware and the second steering hardware; The arranged on left and right sides being arranged at described actuating device of described first steering hardware, the second steering hardware symmetry.
First steering hardware, include head rod, one end of head rod is connected to the below of pallet by hinges, the other end of head rod is connected with the first wheel flutter, the inwall point cantact of the first wheel flutter and spherical shell, the middle part of head rod is fixed in the below of pallet by the first spring, the axle of the first wheel flutter is linked by V belt translation with DC machine.
Second steering hardware, include the second pipe link, one end of second pipe link is connected to the below of pallet by hinges, the other end of the second pipe link is connected with the second wheel flutter, the inwall point cantact of the second wheel flutter and spherical shell, the middle part of the second pipe link is fixed in the below of pallet by the second spring, the axle of the second wheel flutter is linked by V belt translation with DC machine.
Actuating device, include the DC machine be connected with pallet lower central, the lower end of DC machine is connected with driving wheel by Timing Belt, the inwall point cantact of driving wheel and spherical shell.
The beneficial effects of the utility model are:
1. the manned ball shape robot of the utility model not only moulding ingenious, simple and compact for structure, go slick, safe and reliable, have Driving, and lightweight, energy consumption is low, cost is low, applicability is strong.
2. the manned ball shape robot of the utility model, when driving wheel is kept in motion, realize turning function, driving efficiency is high.
3. the manned ball shape robot of the utility model can be used in manned, and at spherical shell side position, place offers turnover window, convenient for driver's turnover.
4. the manned ball shape robot of the utility model can be met and turned to by the path implementation in certain limit.
5. the manned ball shape robot of the utility model is by after a set of simple structural elements assembling in spherical shell, utilizes centre-of gravity shift easily to control to turn to, convenient and simple and actv. solves uncontrollable difficult problem that turns to of spheroid, and has less turn radius.
6. the manned ball shape robot of the utility model has stronger obstacle crossing function, and the spherical shell due to it is a larger ball, more can cross easily before identical obstacle than other car; Removed external object stuck when, it all can not overturn under any state of kinematic motion.
7. the manned ball shape robot of the utility model, the gear that stepping motor drives is installed between pallet and packaged type seat, in order to control seat sway, make centre-of gravity shift, measured the deflection of motion process middle plateform frame by the angle measuring sensor above pallet, the fine setting of reutilization control system feedback makes seat slightly deflect the stationarity improved in motion process.
Accompanying drawing explanation
Fig. 1 is the structural representation of the manned ball shape robot of the utility model;
Fig. 2 is the birds-eye view of the manned spherical machine intimate of the utility model.
In figure, 1. spherical shell, 2. cardan wheel, 3. the first wheel flutter, 4. driving wheel, 5. head rod, 6. the first spring, 7. pallet, 8 second wheel flutters, 9. the second pipe link, 10. Timing Belt, 11. second springs, 12. packaged type seats, 13. gears, 14. power supplys, 15. guide rails, on 16. hole, 17. balls.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.
The manned ball shape robot of the utility model, its structure as shown in Figures 1 and 2, include spherical shell 1, pallet 7 has been horizontally disposed with near bottom place in spherical shell 1, the central authorities of pallet 7 are provided with gear 13, the top of pallet 7 is provided with packaged type seat 12, the bottom at packaged type seat 12 is provided with guide rail 15, guide rail 15 is parallel with pallet 7, gear 13 embeds in guide rail 15, packaged type seat 12 can slide along guide rail 15 left and right horizontal, the two ends of guide rail 15 are respectively symmetrically arranged with a pit, a ball 17 is provided with in each pit, the below of side, packaged type seat 12 is provided with power supply 14, packaged type seat 12 is also connected with control panel, during driving driver can hand held in, the two ends of pallet 7 are connected with a cardan wheel 2 respectively by spring, each cardan wheel 2 all with the spherical shell 1 inwall point cantact closed on, bottom connecting drive device and the steering hardware respectively of pallet 7.
Spherical shell 1 offers the turnover window entered for driver.Spherical shell 1 is provided with an opening, makes people enter into spherical shell 1 by it inner.
Pallet 7 is also provided with angular transducer.
Control panel, operate during driver is hand held to control the motion of manned ball shape robot, control panel there is the button controlling ball shape robot and turn left to turn right, the control system of accessory drive and steering hardware motion is provided with in control panel, this control system is connected with button, and control panel is connected with power supply 14.
Gear 13 is connected with stepping motor by gear wheel shaft, and stepping motor is arranged between pallet 7 and packaged type seat 12.
The middle part of pallet 7 is also vertically connected with the little axle that is connected, and the upper end of the little axle that is connected is connected with the upper hole 16 on packaged type seat 12 by bearing; Like this when pinion 13 rotate move on guide rail 14 time, front end, 12, packaged type seat is fixed, and can only do side-to-side movement among a small circle, make its motion more stable around bearing.
Steering hardware is made up of the first steering hardware, the second steering hardware; The arranged on left and right sides being arranged at actuating device of the first steering hardware, the second steering hardware symmetry.
First steering hardware, include head rod 5, one end of head rod 5 is connected to the below of pallet 7 by hinges, the other end of head rod 5 is connected with the first wheel flutter 3, the inwall point cantact of the first wheel flutter 3 and spherical shell 1, the middle part of head rod 5 is fixed in the below of pallet 7 by the first spring 6, the axle of the first wheel flutter 3 is linked by V belt translation with DC machine.
Second steering hardware, include the second pipe link 9, one end of second pipe link 9 is connected to the below of pallet 7 by hinges, the other end of the second pipe link 9 is connected with the second wheel flutter 8, the inwall point cantact of the second wheel flutter 8 and spherical shell 1, the middle part of the second pipe link 9 is fixed in the below of pallet 7 by the second spring 11, the axle of the second wheel flutter 8 is linked by V belt translation with DC machine.
Actuating device, as shown in Figure 1, include the DC machine be connected with pallet 7 lower central, the lower end of DC machine is connected with driving wheel 4 by Timing Belt 10, the inwall point cantact of driving wheel 4 and spherical shell 1.
The effect of each parts in the manned ball shape robot of the utility model:
The manned ball shape robot of the utility model mainly comprises spherical shell 1, actuating device, steering hardware and pallet 7.
Spherical shell 1 adopts transparent, non-metallic material to make, and it has higher penetrability, good anti-impact degree and certain elasticity, has not only seen U.S.A but also safety.
Actuating device is by DC machine, Timing Belt 10 and form with the driving wheel 4 of spherical shell 1 inwall point cantact, drives Timing Belt 10 transmission, driving wheel 4 is rotated relative to spherical shell 1, utilizes opposing torque finally to make spherical shell 1 straight-line rolling by DC machine.
Steering hardware is made up of two steering hardwarees, be respectively the first steering hardware and the second steering hardware, first steering hardware and the second steering hardware are arranged at the both sides of actuating device in the mode of left and right symmetry, and the velocity variations mainly through the first wheel flutter 3 and the second wheel flutter 8 controls to turn to.Under steam, driver passes through packaged type seat 12 sway that the speed official post pallet 7 of control first wheel flutter 3 and the second wheel flutter 8 is arranged, make its center of gravity produce skew in its spherical shell 1, thus realize left and right in the process of moving ahead of manned ball shape robot and turn to.
Pallet 7 adopts the aluminum alloy materials of lightweight to make, lighter weight.
The principle of work of the manned ball shape robot of the utility model is as follows:
When on the center of gravity of manned ball shape robot and the centre of sphere (centre of form) of spherical shell coexist a vertical curve, then moment is not produced to manned ball shape robot, transfixion.
After starting the DC machine of driving wheel 4, bear manned motion due to pallet 7 and then the center-of-gravity position of manned ball shape robot is offset, manned ball shape robot center of gravity forms a couple relative to ground, thus drives spherical shell 1 to move on the ground; When ground zero, because staring torque is comparatively large, so all DC machine can be started simultaneously, only can start the DC machine for driving driving wheel 4 after motion is got up, to realize stable motion, because its inertia is so power consumption is less; When needing to slow down, drive the DC machine of driving wheel 4 can drive the DC machine of the first wheel flutter 3 and the DC machine of the second wheel flutter 8 while deceleration simultaneously, make the first wheel flutter 3 and the second wheel flutter 8 counter motion, under the effect of friction force, more quick and stable can be made it and effectively reduce speed until required state; During acceleration, the DC machine of given first wheel flutter 3 and the certain speed in the same way of the DC machine of the second wheel flutter 8 are realized Accelerating running too.
In addition, if the DC generator speed of the DC machine of the first wheel flutter 3 and the second wheel flutter 8 is different, namely the first wheel flutter 3 and the second wheel flutter 8 form another the then reversing sense motion of an equidirectional accelerated movement, then driving wheel 4 can depart from the track of former operation, turns to.Now, if when making the state of kinematic motion of the DC machine of the DC machine of the first wheel flutter 3 and the second wheel flutter 8 firm contrary with a upper state of kinematic motion, make again its state reset, thus make ball shape robot recover straight-line motion and tracks before getting back to (will ensure that after manned ball shape robot turns to its tracks is recovered, the different motion state of the first wheel flutter 3 and the second wheel flutter 8 to be passed through, make manned ball shape robot center of gravity offset in the lateral direction thus realize the course changing control of manned ball shape robot).
In order to make the manned ball shape robot of the utility model in motion process, the stationarity of pallet 7 can be kept, with pallet 7 center for benchmark, a cardan wheel 2 is connected with respectively by spring around with 120 ° of angles, each cardan wheel 2 all with the inwall point cantact of spherical shell 1, buffer action can be played make motion more steady in motion process.
The advantage of the manned ball shape robot of the utility model is as follows:
(1) the manned ball shape robot of the utility model, in static and driving process, its center of gravity is all the time lower than the centre of sphere, and quality own is light and inertia is little, and drive safety is high.
(2) the manned ball shape robot of the utility model has stronger obstacle crossing function, and its spherical shell is a larger ball, more can cross easily before identical obstacle than other car.
(3) the manned ball shape robot of the utility model removed external object stuck when, it all can not overturn under any state of kinematic motion.
(4) the manned ball shape robot greatest feature of the utility model is: be provided with stepping motor between pallet 7 and packaged type seat 12, for controlling the left and right movement in packaged type seat 12, make to be in operation control center of gravity about offset.The angle of inclination of motion process middle plateform frame 7 is measured by the angular transducer be arranged on above pallet 7, reutilization control system feeds back to direction and the displacement of stepping motor driven gear 13 motion, if pallet 7 inclined downward to the right, control step driven by motor packaged type seat 12 is to left movement, and vice versa.By improving the stability of this system at the deflection angle of motion process and stepping motor moving displacement controlled reset.
The manned ball shape robot of the utility model can the driving functions that advances, move backward, the general car such as to turn to possess of realization freely; Meanwhile, have simple and compact for structure, flexible operation, quality is light, the features such as cost is low, safe and reliable.
Claims (10)
1. manned ball shape robot, it is characterized in that, include spherical shell (1), pallet (7) has been horizontally disposed with near bottom place in described spherical shell (1), the central authorities of described pallet (7) are provided with gear (13), the top of described pallet (7) is provided with packaged type seat (12), the bottom of described packaged type seat (12) is provided with guide rail (15), described guide rail (15) is parallel with pallet (7), described gear (13) embeds in guide rail (15), described packaged type seat (12) can be slided along guide rail (15) left and right horizontal, the two ends of described guide rail (15) are respectively symmetrically arranged with a pit, a ball (17) is provided with in each pit, one side-lower of described packaged type seat (12) is provided with power supply (14), described packaged type seat (12) is also connected with control panel, the two ends of described pallet (7) are connected with a cardan wheel (2) respectively by spring, each cardan wheel (2) all with the spherical shell closed on (1) inwall point cantact, bottom connecting drive device and the steering hardware respectively of described pallet (7).
2. manned ball shape robot according to claim 1, is characterized in that, described spherical shell (1) offers the turnover window entered for driver.
3. manned ball shape robot according to claim 1, it is characterized in that, described control panel there is the button controlling ball shape robot and turn left to turn right, control system is provided with in described control panel, described control system is connected with button, and described control panel is connected with power supply (14).
4. manned ball shape robot according to claim 1, it is characterized in that, described gear (13) is connected with stepping motor by gear wheel shaft, and described stepping motor is arranged between pallet (7) and packaged type seat (12).
5. manned ball shape robot according to claim 1, it is characterized in that, the middle part of described pallet (7) is also vertically connected with the little axle that is connected, described in the be connected upper end of little axle be connected with the upper hole (16) on packaged type seat (12) by bearing.
6. the manned ball shape robot according to claim 1,4 or 5, is characterized in that, (7) are also provided with angular transducer with described pallet.
7. manned ball shape robot according to claim 1, is characterized in that, described steering hardware is made up of the first steering hardware and the second steering hardware; The arranged on left and right sides being arranged at described actuating device of described first steering hardware, the second steering hardware symmetry.
8. manned ball shape robot according to claim 7, it is characterized in that, described first steering hardware, include head rod (5), one end of described head rod (5) is connected to the below of pallet (7) by hinges, the other end of described head rod (5) is connected with the first wheel flutter (3), the inwall point cantact of described first wheel flutter (3) and spherical shell (1), the middle part of described head rod (5) is fixed in the below of pallet (7) by the first spring (6), the axle of described first wheel flutter (3) is linked by V belt translation with DC machine.
9. manned ball shape robot according to claim 7, it is characterized in that, described second steering hardware, include the second pipe link (9), one end of described second pipe link (9) is connected to the below of pallet (7) by hinges, the other end of described second pipe link (9) is connected with the second wheel flutter (8), the inwall point cantact of described second wheel flutter (8) and spherical shell (1), the middle part of described second pipe link (9) is fixed in the below of pallet (7) by the second spring (11), the axle of described second wheel flutter (8) is linked by V belt translation with DC machine.
10. manned ball shape robot according to claim 1, it is characterized in that, described actuating device, include the DC machine be connected with pallet (7) lower central, the lower end of DC machine is connected with driving wheel (4) by Timing Belt (10), the inwall point cantact of described driving wheel (4) and spherical shell (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420614334.3U CN204184488U (en) | 2014-10-22 | 2014-10-22 | Manned ball shape robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420614334.3U CN204184488U (en) | 2014-10-22 | 2014-10-22 | Manned ball shape robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204184488U true CN204184488U (en) | 2015-03-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420614334.3U Expired - Fee Related CN204184488U (en) | 2014-10-22 | 2014-10-22 | Manned ball shape robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204184488U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104760492A (en) * | 2015-04-22 | 2015-07-08 | 燕山大学 | Full-step walking spherical robot |
| WO2017206905A1 (en) * | 2016-06-03 | 2017-12-07 | 两只老虎秦皇岛科技有限公司 | Ball-shaped vehicle |
| CN109129420A (en) * | 2018-08-29 | 2019-01-04 | 西南石油大学 | A kind of novel omnidirectional moving spherical robot |
| RU2736834C1 (en) * | 2019-12-03 | 2020-11-20 | Дидюк Николай Николаевич | Method of high-density plane displacement in gravity conditions |
| CN113232735A (en) * | 2021-05-18 | 2021-08-10 | 中国科学技术大学 | Spherical robot |
| WO2022205610A1 (en) * | 2021-03-31 | 2022-10-06 | 清华大学深圳国际研究生院 | Water-surface robot |
-
2014
- 2014-10-22 CN CN201420614334.3U patent/CN204184488U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104760492A (en) * | 2015-04-22 | 2015-07-08 | 燕山大学 | Full-step walking spherical robot |
| CN104760492B (en) * | 2015-04-22 | 2017-04-26 | 燕山大学 | Full-step walking spherical robot |
| WO2017206905A1 (en) * | 2016-06-03 | 2017-12-07 | 两只老虎秦皇岛科技有限公司 | Ball-shaped vehicle |
| CN109129420A (en) * | 2018-08-29 | 2019-01-04 | 西南石油大学 | A kind of novel omnidirectional moving spherical robot |
| RU2736834C1 (en) * | 2019-12-03 | 2020-11-20 | Дидюк Николай Николаевич | Method of high-density plane displacement in gravity conditions |
| WO2022205610A1 (en) * | 2021-03-31 | 2022-10-06 | 清华大学深圳国际研究生院 | Water-surface robot |
| CN113232735A (en) * | 2021-05-18 | 2021-08-10 | 中国科学技术大学 | Spherical robot |
| CN113232735B (en) * | 2021-05-18 | 2022-09-06 | 中国科学技术大学 | Spherical robot |
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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 |
Granted publication date: 20150304 Termination date: 20151022 |
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| EXPY | Termination of patent right or utility model |