CN205256492U - Shrink mechanism of flexible spherical shell robot - Google Patents
Shrink mechanism of flexible spherical shell robot Download PDFInfo
- Publication number
- CN205256492U CN205256492U CN201520911591.8U CN201520911591U CN205256492U CN 205256492 U CN205256492 U CN 205256492U CN 201520911591 U CN201520911591 U CN 201520911591U CN 205256492 U CN205256492 U CN 205256492U
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- China
- Prior art keywords
- major axis
- robot
- spherical shell
- sleeve pipe
- landing slab
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Abstract
The utility model discloses a shrink mechanism of flexible spherical shell robot, including long axis platform board, and install the fixing base on long axis platform board, and pass through the big sleeve pipe of fixing base installation with long axis platform board, and with big bushing's little sleeve pipe, and set up in long axis platform board and the electric putter between the sleeve pipe greatly, and set up in the elastic material of electric putter both sides, reach and plectane that elastic material fixed. The utility model discloses a shrink mechanism of flexible spherical shell robot realizes the role's exchange between sphere and the wheeled robot through drawing to the flexible spherical shell and shrink, has strong environment from adaptability, can be according to the environmental change with the task requirement and change the configuration of self and accomplish unpredictable operation task.
Description
Technical field
The present invention relates to a kind of robot, be specifically related to the contracting mechanism of a kind of deformable spherical shell robot, belong to smart electronics product technical field.
Background technology
Along with the development of Robotics, robot is in the time carrying out the tasks such as community service, disaster relief, celestial body detecting, battlefield investigation, residing environment is constantly changing, this characteristic such as kinematic dexterity and environmental suitability to travel mechanism itself is had higher requirement, wherein, deformable composite machine people can change according to the variation of environment of living in the configuration of self, and therefore it has obtained developing extensively and rapidly and applying; Wheel leg type composite machine people has been merged the landform adaptive capacity of leg formula and the feature of wheeled high-speed and high-efficiency, and job area is large, and it is strong that obstacle detouring is kept away barrier ability; Ball shape robot is a kind of novel mobile robot, and its modern design uniqueness has a shell spherical or class is spherical, and with roll mode walking, motion-promotion force relies on inner driving device change self position of centre of gravity and extraneous frictional force to provide; Flexibly, reasonably structural design can make ball shape robot have the feature of omnibearing movable, under static state can move along any direction in its action, and radius of turn is 0; Its accommodative ability of environment is strong, and shell contacts with ground as some contact, requires low to condition of road surface; Also do not have at present one to adapt to the spherical and wheeled interchangeable of different road surface environment, the compound mobile robot of robot body variable geometry.
Summary of the invention
(1) technical problem that will solve
For addressing the above problem, the present invention proposes the contracting mechanism of a kind of deformable spherical shell robot, realize the role swap between spherical and wheeled robot by the stretching to deformable spherical shell and contraction, have stronger environment self-adaption ability, the configuration that can change self according to environmental change and mission requirements completes unpredictable job task.
(2) technical scheme
The contracting mechanism of a kind of deformable spherical shell of the present invention robot, comprise major axis landing slab, and be installed on the holder on major axis landing slab, and the large sleeve pipe of installing by holder with major axis landing slab, and the small casing being connected with large sleeve pipe, and be arranged at the electric pushrod between major axis landing slab and large sleeve pipe, and be arranged at the elastomeric material of electric pushrod both sides, and with the fixing plectane of elastomeric material; The center position of described holder is provided with pedestal; Described pedestal one side is provided with minor axis motor; Described pedestal below is provided with heavily pendulum in major axis landing slab middle part; The inner side of described major axis landing slab is provided with major axis motor and major axis electric-motor drive gear.
As preferred embodiment, it is flat spoke-like that described elastomeric material is.
(3) beneficial effect
Compared with prior art, the contracting mechanism of a kind of deformable spherical shell of the present invention robot, realize the role swap between spherical and wheeled robot by the stretching to deformable spherical shell and contraction, have stronger environment self-adaption ability, the configuration that can change self according to environmental change and mission requirements completes unpredictable job task.
Brief description of the drawings
Fig. 1 is overall structure schematic diagram of the present invention.
Detailed description of the invention
The contracting mechanism of a kind of deformable spherical shell robot as shown in Figure 1, comprise major axis landing slab 1, and be installed on the holder 2 on major axis landing slab 1, and the large sleeve pipe 3 of installing by holder 2 with major axis landing slab 1, and the small casing 4 being connected with large sleeve pipe 3, and be arranged at the electric pushrod 5 between major axis landing slab 1 and large sleeve pipe 3, and be arranged at the elastomeric material (not shown) of electric pushrod 5 both sides, and with the fixing plectane 6 of elastomeric material (not shown); The center position of described holder 2 is provided with pedestal 7; Described pedestal 7 one sides are provided with minor axis motor 8; Described pedestal 7 belows are provided with and heavily put 9 in major axis landing slab 1 middle part; The inner side of described major axis landing slab 1 is provided with major axis motor 10 and major axis electric-motor drive gear 11.
Wherein, described elastomeric material (not shown) is flat spoke-like.
The contracting mechanism of a kind of deformable spherical shell of the present invention robot, changeability spherical shell is made up of elastomeric material, elastomeric material two ends are fixed on plectane one week with uniform spacing, the flexural deformation of elastomeric material is to realize by the stretching of electric pushrod, the plectane relative position that connects elastomeric material two ends is changed, make like this geometry of the shell of robot change, realize the change of robot motion's mode with this; Ball shape robot is in the time of motion, and the elastomeric material contacting with ground can bear the weight of robot self, and too large distortion does not occur, and does not affect the stable motion of robot; Major axis electronic device is in major axis landing slab, and major axis motor output shaft is driven major axis framework in major axis landing slab and heavily put relative spherical shell and relatively rotate around major axis by travelling gear; Heavily pendulum is placed in major axis middle part, minor axis motor is fixed on major axis framework, minor axis motor output shaft drives and heavily puts relative inside casing and relatively rotate around minor axis, makes heavily to put to rotate around mutually perpendicular two axles, realizes the omnibearing movable of ball shape robot with this.
Embodiment recited above is described the preferred embodiment of the present invention, not the spirit and scope of the present invention is limited. Do not departing under the prerequisite of design concept of the present invention; various modification and improvement that this area ordinary person makes technical scheme of the present invention; all should drop into protection scope of the present invention, the technology contents of request protection of the present invention, has all been documented in claims.
Claims (2)
1. the contracting mechanism of a deformable spherical shell robot, it is characterized in that: comprise major axis landing slab, and be installed on the holder on major axis landing slab, and the large sleeve pipe of installing by holder with major axis landing slab, and the small casing being connected with large sleeve pipe, and be arranged at the electric pushrod between major axis landing slab and large sleeve pipe, and be arranged at the elastomeric material of electric pushrod both sides, and with the fixing plectane of elastomeric material; The center position of described holder is provided with pedestal; Described pedestal one side is provided with minor axis motor; Described pedestal below is provided with heavily pendulum in major axis landing slab middle part; The inner side of described major axis landing slab is provided with major axis motor and major axis electric-motor drive gear.
2. the contracting mechanism of a kind of deformable spherical shell according to claim 1 robot, is characterized in that: described elastomeric material is flat spoke-like.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520911591.8U CN205256492U (en) | 2015-11-16 | 2015-11-16 | Shrink mechanism of flexible spherical shell robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520911591.8U CN205256492U (en) | 2015-11-16 | 2015-11-16 | Shrink mechanism of flexible spherical shell robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205256492U true CN205256492U (en) | 2016-05-25 |
Family
ID=55998037
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520911591.8U Expired - Fee Related CN205256492U (en) | 2015-11-16 | 2015-11-16 | Shrink mechanism of flexible spherical shell robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205256492U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393128A (en) * | 2016-09-22 | 2017-02-15 | 重庆邮电大学 | Deformable and reconfigurable spherical rescue robot |
-
2015
- 2015-11-16 CN CN201520911591.8U patent/CN205256492U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393128A (en) * | 2016-09-22 | 2017-02-15 | 重庆邮电大学 | Deformable and reconfigurable spherical rescue 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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160525 Termination date: 20161116 |