CN205059780U - Spherical robot - Google Patents
Spherical robot Download PDFInfo
- Publication number
- CN205059780U CN205059780U CN201520819605.3U CN201520819605U CN205059780U CN 205059780 U CN205059780 U CN 205059780U CN 201520819605 U CN201520819605 U CN 201520819605U CN 205059780 U CN205059780 U CN 205059780U
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- spherical housing
- bearing plate
- fixed
- circular bearing
- stepping motor
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Abstract
The utility model relates to a spherical robot, including spherical shell and inside actuating system two parts, inside drive system configuration is inside spherical shell, by wireless receiving controlling means, two step motor, motor driver, circular bearing plate, the group battery, the lead screw, screw nut, the lead screw bearing frame, the shaft coupling, the balancing weight constitutes, one of them step motor's axle is connected with spherical shell through the shaft coupling, the drive spherical robot go forward or retreat, another step motor passes through the lead screw and links to each other with the balancing weight, the position that change balancing weight is rotated through the motor, synthetic spheroid focus, control the roll orientation of spheroid, this motor still possesses the effect of the spheroidal balancing seat of calibration simultaneously, the utility model has the advantages of the motion is nimble, simple structure, low cost.
Description
Technical field
The utility model relates to a kind of robot device, particularly relates to a kind of ball shape robot of energy omnibearing movable.
Background technology
Robot common is at present running type, although what have is with high content of technology, can replace manually carrying out very many-sided work, but, cost is very high, can not popularization and application, especially in jungle military surveillance, the complicated field such as pipeline detection, transportation means, medicine equipment, toy for children, also there is no the robot that cost is low, practical.
Utility model content
The utility model is solve existing problem in the art, provides a kind of ball shape robot, it is easy to use, structure is simple, saves cost.
The utility model is achieved by the following technical solutions:
A kind of ball shape robot, comprise spherical housing and internal drive system two parts, described spherical housing is that two hemispherical Shells are merged into a spheroid, described internal drive system is arranged on the inside of spherical housing, comprise wireless receiving control setup stepping motor, No. two stepping motors, motor driver, circular bearing plate, battery pack, leading screw, feed screw nut, lead screw shaft bearing, coupler, a clump weight, No. two clump weights, described circular bearing plate is fixed on ball interior, the axle of a stepping motor is connected with spherical housing, No. two stepping motors are connected with No. two clump weights by leading screw.
A described stepping motor and No. two stepping motors are fixed on circular bearing plate symmetrically, using spherical housing diameter two ends as horizontal cross shaft, two stepping motor one end are fixed on the axis of spherical housing, the axle of a stepping motor is towards the outside of spherical housing, be connected with spherical housing by pad, the axle of No. two stepping motors is inner towards sphere diameter, be connected with leading screw by coupler, leading screw there is a feed screw nut, No. two clump weights are fixed wtih below feed screw nut, described lead screw shaft bearing, wireless receiving control setup, leading screw, feed screw nut, coupler is separately fixed on circular bearing plate, a described stepping motor, No. two stepping motors are fixed on the top at circular bearing plate two ends respectively by stepping motor support, described motor driver, battery pack, a clump weight is separately fixed at the below of circular bearing plate, a clump weight is fixed on the center of circular bearing plate.
The utility model compared with prior art, has following significant advantage:
It is simple that the utility model has structure, and motion is flexibly, with low cost, the advantage of omnidirectional rolling can be realized, under being conducive to being used in particular surroundings situation, such as military surveillance, pipeline detection, transportation means, medicine equipment etc., also very applicable for toy for children field in addition.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model
Each part description:
1, a stepping motor, 2, stepping motor support, 3, circular bearing plate, 4, leading screw, 5, motor driver, 6, wireless receiving control setup, 7, a clump weight, 8, feed screw nut, 9, No. two clump weights, 10, battery pack, 11, lead screw shaft bearing, 12, coupler, 13, No. two stepping motors, 14, spherical housing.
Detailed description of the invention
With reference to the accompanying drawings the utility model detailed description of the invention is described in detail.
See Fig. 1.
The utility model relates to a kind of ball shape robot, comprise spherical housing 14 and internal drive system two parts, described spherical housing 14 is that two hemispherical Shells are merged into a spheroid, described internal drive system is arranged on the inside of spherical housing 14, comprise wireless receiving control setup 6, a stepping motor 1, No. two stepping motors 13, motor driver 5, circular bearing plate 3, battery pack 10, leading screw 4, feed screw nut 8, lead screw shaft bearing 11, coupler 12, a clump weight 7, No. two clump weights 9, described circular bearing plate 3 is fixed on ball interior, the axle of a stepping motor 1 is connected with spherical housing 14, advance for drive ball anthropomorphic robot or retreat, No. two stepping motors 13 are connected with No. two clump weights 9 by leading screw, the position of change No. two clump weights 9 is rotated by No. two stepping motors 13, synthesis spheroid center of gravity, control the rotating direction of spheroid, these No. two stepping motors also possess the effect of the balance position of calibrated sphere simultaneously.
A described stepping motor 1 and No. two stepping motors 13 are fixed on circular bearing plate 3 symmetrically, using spherical housing diameter two ends as horizontal cross shaft, two stepping motor one end are fixed on the axis of spherical housing 14, the axle of a stepping motor 1 is towards the outside of spherical housing, be connected with spherical housing 14 by pad, for Direct driver spherical housing, the axle of No. two stepping motors is inner towards sphere diameter, be connected with leading screw 4 by coupler 12, leading screw 4 there is a feed screw nut 8, No. two clump weights 9 are fixed wtih below feed screw nut 8, when No. two stepping motors drive screw turns, feed screw nut and No. two clump weights 9 are along leading screw direction sway.
Described lead screw shaft bearing 11, wireless receiving control setup 6, leading screw 4, feed screw nut 8, coupler 12 are separately fixed on circular bearing plate 3, a described stepping motor 1, No. two stepping motors 13 are fixed on the top at circular bearing plate 3 two ends respectively by stepping motor support 2, described motor driver 5, battery pack 10, clump weight 7 is separately fixed at the below of circular bearing plate 3, and a clump weight 7 is fixed on the center of circular bearing plate 3.
Because each parts can not full symmetric at the fixing of inside, the balance of internal system is difficult to realize, and therefore increase a clump weight 7 and be used for balancing spheroid, in addition, a clump weight 7 can also play the effect of stable spheroid, is similar to the principle of tumbler.Described wireless receiving control setup 6, embedded micro controller system and radio receiver, in order to receive or to send movement instruction, control the running of two stepping motors.10 is battery pack, and for two stepping motors and mainboard provide electric power, described motor driver 5, connects wireless receiving control setup 6 by wire.
By the mode of wireless remote control, send and advance or retreat instruction, after wireless receiving control setup 6 receives signal, issue instructions to motor driver, drive a stepping motor 1 to start to rotate, and then drive spherical housing 14, make ball shape robot carry out the rolling advanced or retreat.When sending turn command by wireless remote control, after wireless receiving control setup 6 receives signal, drive a stepping motor 1 to rotate with lower speed, propulsive effort is provided, send order-driven No. two stepping motors 13 with speed rotation faster simultaneously, No. two clump weights 9 are departed from rapidly, and the center of spheroid changes, and spheroid occurred level offsets, at this moment spheroid can deflect when operation, thus realize turning to, as shown in Figure 1, c direction can be turned to.
It is simple that the utility model has structure, and motion is flexibly, with low cost, can be used for the military surveillance in thick forest thick grass, also can be used for complicated pipeline detection, transportation means, medicine equipment etc., also can be used for the making of toy for children.
Claims (1)
1. a ball shape robot, it is characterized in that, comprise spherical housing (14) and internal drive system two parts, described spherical housing (14) is that two hemispherical Shells are merged into a spheroid, described internal drive system is arranged on the inside of spherical housing (14), comprise wireless receiving control setup (6), a stepping motor (1), No. two stepping motors (13), motor driver (5), circular bearing plate (3), battery pack (10), leading screw (4), feed screw nut (8), lead screw shaft bearing (11), coupler (12), a clump weight (7), No. two clump weights (9), described circular bearing plate (3) is fixed on ball interior, the axle of a stepping motor (1) is connected with spherical housing (14), No. two stepping motors (13) are connected with No. two clump weights (9) by leading screw,
A described stepping motor (1) and No. two stepping motors (13) are fixed on circular bearing plate (3) symmetrically, using spherical housing diameter two ends as horizontal cross shaft, two stepping motor one end are fixed on the axis of spherical housing, the axle of a stepping motor (1) is towards the outside of spherical housing, be connected with spherical housing (14) by pad, the axle of No. two stepping motors is inner towards sphere diameter, be connected with leading screw (4) by coupler (12), leading screw (4) there is a feed screw nut (8), feed screw nut (8) below is fixed wtih No. two clump weights (9),
Described lead screw shaft bearing (11), wireless receiving control setup (6), leading screw (4), feed screw nut (8), coupler (12) is separately fixed on circular bearing plate (3), a described stepping motor (1), No. two stepping motors (13) are fixed on the top at circular bearing plate (3) two ends respectively by stepping motor support (2), described motor driver (5), battery pack (10), a clump weight (7) is separately fixed at the below of circular bearing plate (3), a clump weight (7) is fixed on the center of circular bearing plate (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520819605.3U CN205059780U (en) | 2015-10-22 | 2015-10-22 | Spherical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520819605.3U CN205059780U (en) | 2015-10-22 | 2015-10-22 | Spherical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205059780U true CN205059780U (en) | 2016-03-02 |
Family
ID=55386369
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520819605.3U Expired - Fee Related CN205059780U (en) | 2015-10-22 | 2015-10-22 | Spherical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205059780U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110844033A (en) * | 2019-11-19 | 2020-02-28 | 贵州电网有限责任公司 | Gravity center adjusting device for spherical robot on water |
-
2015
- 2015-10-22 CN CN201520819605.3U patent/CN205059780U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110844033A (en) * | 2019-11-19 | 2020-02-28 | 贵州电网有限责任公司 | Gravity center adjusting device for spherical robot on water |
| CN110844033B (en) * | 2019-11-19 | 2023-09-08 | 贵州电网有限责任公司 | Gravity center adjusting device for spherical robot on water |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160302 Termination date: 20171022 |