CN205466246U - Intelligent ball anthropomorphic robot - Google Patents
Intelligent ball anthropomorphic robot Download PDFInfo
- Publication number
- CN205466246U CN205466246U CN201620246118.7U CN201620246118U CN205466246U CN 205466246 U CN205466246 U CN 205466246U CN 201620246118 U CN201620246118 U CN 201620246118U CN 205466246 U CN205466246 U CN 205466246U
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- mainboard
- rechargeable battery
- module
- robot
- drivewheel
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- 230000005484 gravity Effects 0.000 claims abstract description 8
- 230000033001 locomotion Effects 0.000 claims description 16
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims 1
- 239000012780 transparent material Substances 0.000 abstract 1
- 230000009194 climbing Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001568 sexual effect Effects 0.000 description 1
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Abstract
The utility model provides an intelligent ball anthropomorphic robot, including spheroid part, with the robot head that is located its top, spheroid part including casing, mainboard, controlling element group, two main dynamic wheel group spares, two from driving wheel, rechargeable battery subassembly, but the airtight spheroid of casing for adopting transparent material to make, two main dynamic wheel group spare is with two it is in to be the assembly of symmetrical mode respectively from the driving wheel on the mainboard, controlling element group with the rechargeable battery subassembly sets up on the mainboard, the central point of mainboard puts still to be equipped with and runs through in its inside bracing piece the bottom end of bracing piece is equipped with and is used for falling low gravity center and stabilizes spheroidal balancing weight. The utility model has the characteristics of simple structure, reliability height, stable good, through increase the balancing weight in the spheroid part, effectively reduced the partial focus of spheroid, guaranteed its holistic stability.
Description
Technical field
This utility model relates to a kind of robot, especially a kind of intelligent spherical robot.
Background technology
Ball shape robot is that one has spherical design, to roll the novel robot as motion mode, this
Planting robot is sensor, driving means and optional equipment to be placed in spherical housing, in relying on spherical shell
The drive mechanism in portion realizes roller motion.Ball shape robot is a kind of typical incomplete sexual system,
It has the strongest pose recovery ability and landform and adapts to ability, have simultaneously mobility strong, energy consumption low,
The outstanding features such as radius of turn is little, ball shape robot is due to its profile feature, thus there is not asking of overturning
Topic, and can comprehensive turn, motion continuous is strong, reliability is high.
At present, the most all ball shape robot is had carried out some research, due to sealed spheroid features of shape
Limiting with space, be difficult to carry too many equipment inside it, the product really with practicality is the most less.Existing
Some ball shape robot scheme mostly structures are complicated, and Project Realization difficulty is high, lack of wisdom, particularly,
The divertical motion of some device couples with forward travel, and the state of ball interior drive mechanism is uncertain, control
Difficulty processed is relatively big, lack interactivity, further, since spheroid center of gravity is higher so that climbing and obstacle climbing ability
Deficiency, these all reduce the practicality of ball shape robot, greatly limit ball shape robot
Promotion and application.
Summary of the invention
For weak point present in the problems referred to above, this utility model provide one have simple in construction,
Reliability is high, the feature of good stability, can effectively reduce the center of gravity of spherical part, it is ensured that it is overall
The intelligent spherical robot of stability.
For achieving the above object, this utility model provides a kind of intelligent spherical robot, including spherical part,
Be positioned at the robot head (301) at its top, described spherical part include housing (101), mainboard (102),
Control element group, two drive wheel assemblies, two driven pulleys (107), rechargeable battery assemblies, described shell
Body (101) is the airtight spherosome using light-permeable material to make, two described drive wheel assemblies and two
Described driven pulley (107) the most symmetrically mode is assemblied on described mainboard (102), described control unit
Part group and described rechargeable battery assembly are all provided on described mainboard (102)；
The support bar (108) through its inside it is additionally provided with in the center of described mainboard (102),
The bottom end face of described support bar (108) is equipped with the balancing weight (104) for the stable spheroid that lowers the center of gravity.
Above-mentioned intelligent spherical robot, wherein, described drive wheel assemblies is by the drivewheel (106) being connected
Constituting with direct current generator (103), described drivewheel (106) is assemblied in and is opened in described mainboard (102)
In the drivewheel fitting recess of arranged on left and right sides, described direct current generator (103) is arranged close to described drivewheel
The position of fitting recess；
Described driven pulley (107) is assemblied in by assembled shaft and is opened in described mainboard (102) front center
In driven pulley fitting recess on position and middle position, rear end；
Described drivewheel (106) and described driven pulley (107) are equidirectional movement.
Above-mentioned intelligent spherical robot, wherein, described rechargeable battery assembly by rechargeable battery (105) with
Charge coil (109) is constituted, and described rechargeable battery (105) is arranged on the bottom of described mainboard (102)
Surface.
Above-mentioned intelligent spherical robot, wherein, described control element group is by being solidificated in described mainboard (102)
Microprocessor (204) on top surface and the most coupled motor drive module (201),
Motion sensor module (202), sound broadcasting module (203), wireless communication module (205), vibration
Switch module (206), blinker (207), status indicator lamp (208) and wireless charging module (209)
Constitute, described motor drive module (201) also be arranged on the two of described mainboard (102) lower surface
Individual described direct current generator (103) is connected, and described wireless charging module (209) passes through described charging wire
Circle (109) is connected with described rechargeable battery (105), and described wireless communication module (205) passes through nothing
Line signal is connected with external control devices.
Above-mentioned intelligent spherical robot, wherein, the top end face at described support bar (108) is equipped with
For the Magnet being connected with described robot head (301).
Above-mentioned intelligent spherical robot, wherein, described charge coil (109) is arranged on described balancing weight
(104) lower surface.
Compared with prior art, this utility model has the advantage that
This utility model has simple in construction, reliability height, the feature of good stability, by spherical part
Increase balancing weight in point, effectively reduce the center of gravity of spherical part, it is ensured that the stability of its entirety；
By being arranged on the driven pulley of mainboard front end and rear end so that spherical part motion time driven pulley with
It is Structure deformation between inner walls, greatly reduces the friction between mainboard and inner walls.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of spherical part in this utility model；
Fig. 3 is the Facad structure schematic diagram of mainboard in Fig. 1.
Main Reference Numerals is described as follows:
101-spheroid；102-mainboard；103-direct current generator；104-balancing weight；105-battery；106-is actively
Wheel；107-driven pulley；108-support bar；109-charge coil；201-motor drive module；202-moves
Sensor assembly；203-sound broadcasting module；204-microprocessor；205-wireless communication module；206-shakes
Dynamic switch module；207-blinker；208-status indicator lamp；209-wireless charging module；301-machine
Device head part
Detailed description of the invention
As shown in Figure 1 to Figure 3, this utility model provide intelligent spherical robot, including spherical part,
Be positioned at the robot head 301 at its top, spherical part includes housing 101, mainboard 102, controls unit
Part group, two drive wheel assemblies, two driven pulleys 107, rechargeable battery assemblies.Wherein, mainboard 102 is
Circular configuration.
Housing 101 is the airtight spherosome using light-permeable material to make, and housing is whole spherical part
External load-bearing structure, its main function components is all accommodated within portion.
Drive wheel assemblies is made up of with direct current generator 103 drivewheel 106, and drivewheel 106 is assemblied in be offered
In the drivewheel fitting recess of mainboard 102 arranged on left and right sides, direct current generator 103 is arranged close to drivewheel
The position of fitting recess, the rigging position of left and right two drivewheels is the most corresponding.Direct current generator is arranged on master
The lower surface of plate.Wherein, drivewheel 106 assembles and is set on the output shaft of direct current generator 103,
The end face outside of output shaft is arranged with the end face outside same level of drivewheel.
Driven pulley 107 is assemblied in by assembled shaft and is opened in mainboard 102 front center position and rear end central authorities
In driven pulley fitting recess on position.Wherein, front end driven pulley is the most corresponding with the position of rear end driven pulley.
Wherein, two driven pulleys are laid respectively at front center position and the middle position, rear end of mainboard, its
Effect is when ball shape robot moves by driven pulley and housing Structure deformation, thus offsets spherical part
The produced frictional resistance between board edges and inner walls face when motion.
Due between two drivewheels and two driven pulleys in parallel mode, therefore, two drivewheels 106
Can move to same direction when mobile with two driven pulleys 107.
It is additionally provided with in the center of mainboard 102 through its internal support bar 108, this support bar 108
Play fuselage and the effect of buffering of supporting when mainboard 102 overturns.Bottom end face at support bar 108 fills
It is furnished with the balancing weight 104 for the stable spheroid that lowers the center of gravity.By balancing weight being hung on main plate center position
Lower section, can effectively reduce the center of gravity of spherical part and ensure the horizontal stable of mainboard,
Top end face at support bar 108 is equipped with for making spherical part be connected with robot head 301
The Magnet connect.When needing robot head 301 in the external add-in of spherical part, Magnet can be passed through
It is assemblied on spherical part.
Rechargeable battery assembly is made up of with charge coil 109 rechargeable battery 105, and rechargeable battery 105 is installed
In the lower surface of mainboard 102, charge coil 109 is arranged on the lower surface of balancing weight 104.
Control element group by the microprocessor 204 being solidificated on mainboard 102 top surface, motor drive module
201, motion sensor module 202, sound broadcasting module 203, wireless communication module 205, vibroswitch
Module 206, blinker 207, status indicator lamp 208 are constituted with wireless charging module 209.Wherein,
Motor drive module 201, motion sensor module 202, sound broadcasting module 203, wireless communication module
205, vibroswitch module 206, blinker 207, status indicator lamp 208 and wireless charging module
209 are all connected with microprocessor 204.
Microprocessor 204 is for controlling ball shape robot motion, wherein, micro-process according to the instruction received
Device can use existing one-chip computer module.
Wireless communication module 205 can use bluetooth module, Wifi module or Zigbee module.
Motion sensor module 202 can use 6 axles or 9 axis movement sensors, and motion sensor can be examined
Measure the multi-motion parameter of mainboard 102, including azimuth, acceleration etc., such that it is able to pass through algorithm
The athletic posture dynamically adjusting ball shape robot makes it more steady.
Vibroswitch module 206 is used for by the way of intelligent spherical robot is applied vibration realizing
The startup and shutdown of system.
The quantity of blinker 207 is two, and be separately positioned near front center position from
The position of driving wheel and the position of the driven pulley near troops' end middle position.
Both direction display lamp 207 when indicating intelligent ball shape robot moves towards, user Ke Tong
Cross the hot spot that blinker 207 is radiated on housing 101 judge robot current towards.State refers to
Show that lamp 208 can realize mutual and ball shape robot the state of user and indicate.Sound broadcasting module 203 is used for
Realize the voice interface with user when receiving user instruction and play specific sound.
Wherein, sound broadcasting module is sound card and coupled loudspeaker.
Motor drive module 201 is also connected with two direct current generators 103, thus enters two drivewheels
Row controls.
Wireless charging module 209 is connected with rechargeable battery 105 by charge coil 109.To this reality
When being charged with novel rechargeable battery, can use external wireless charger is that rechargeable battery is charged.
External wireless charger utilizing electromagnetic induction principle carries out energy coupling by coil and realizes the transmission of energy,
Electric energy can be transmitted to the charge coil of intelligent spherical robot interior, thus be charged for rechargeable battery.
Wireless communication module 205 is connected with external control devices by wireless signal.External control system
Control software or remote controller including mobile phone, by communication, various controls and interactive instruction can be sent out
Give intelligent spherical robot of the present utility model.
These are only preferred embodiment of the present utility model, be merely illustrative for invention, rather than
Restrictive.Those skilled in the art understands, can in the spirit and scope that invention claim is limited
It is carried out many changes, amendment, even equivalence, but falls within protection domain of the present utility model.
Claims (6)
1. an intelligent spherical robot, including spherical part and the robot head that is positioned at its top
(301), it is characterised in that described spherical part includes housing (101), mainboard (102), controls unit
Part group, two drive wheel assemblies, two driven pulleys (107), rechargeable battery assemblies, described housing (101)
For the airtight spherosome using light-permeable material to make, two described drive wheel assemblies are described with two driven
Wheel (107) the most symmetrically mode is assemblied on described mainboard (102), described control element group and institute
State rechargeable battery assembly to be all provided on described mainboard (102)；
The support bar (108) through its inside it is additionally provided with in the center of described mainboard (102),
The bottom end face of described support bar (108) is equipped with the balancing weight (104) for the stable spheroid that lowers the center of gravity.
Intelligent spherical robot the most according to claim 1, it is characterised in that described active wheels
Part is made up of with direct current generator (103) the drivewheel (106) being connected, and described drivewheel (106) fills
It is assigned in the drivewheel fitting recess being opened in described mainboard (102) arranged on left and right sides, described direct current generator (103)
It is arranged close to the position of described drivewheel fitting recess；
Described driven pulley (107) is assemblied in by assembled shaft and is opened in described mainboard (102) front center
In driven pulley fitting recess on position and middle position, rear end；
Described drivewheel (106) and described driven pulley (107) are equidirectional movement.
Intelligent spherical robot the most according to claim 2, it is characterised in that described rechargeable battery
Assembly is made up of with charge coil (109) rechargeable battery (105), and described rechargeable battery (105) is installed
Lower surface in described mainboard (102).
Intelligent spherical robot the most according to claim 3, it is characterised in that described control element
Group by the microprocessor (204) being solidificated on described mainboard (102) top surface and respectively with its phase
Connect motor drive module (201), motion sensor module (202), sound broadcasting module (203),
Wireless communication module (205), vibroswitch module (206), blinker (207), state indicate
Lamp (208) and wireless charging module (209) are constituted, described motor drive module (201) also with installation
Two described direct current generators (103) in described mainboard (102) lower surface are connected, described wireless
Charging module (209) is connected with described rechargeable battery (105) by described charge coil (109),
Described wireless communication module (205) is connected with external control devices by wireless signal.
Intelligent spherical robot the most according to claim 4, it is characterised in that at described support bar
(108) top end face is equipped with the Magnet for being connected with described robot head (301).
Intelligent spherical robot the most according to claim 5, it is characterised in that described charge coil
(109) lower surface of described balancing weight (104) it is arranged on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620246118.7U CN205466246U (en) | 2016-03-30 | 2016-03-30 | Intelligent ball anthropomorphic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620246118.7U CN205466246U (en) | 2016-03-30 | 2016-03-30 | Intelligent ball anthropomorphic robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205466246U true CN205466246U (en) | 2016-08-17 |
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ID=56648082
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620246118.7U Expired - Fee Related CN205466246U (en) | 2016-03-30 | 2016-03-30 | Intelligent ball anthropomorphic robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205466246U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106406312A (en) * | 2016-10-14 | 2017-02-15 | 平安科技（深圳）有限公司 | Tour guide robot and moving area calibration method |
| CN107685344A (en) * | 2017-09-14 | 2018-02-13 | 深圳思瓦科技有限公司 | A kind of ball shape robot and its buffer unit |
| CN109159130A (en) * | 2018-09-03 | 2019-01-08 | 北京云迹科技有限公司 | Shift position reminding method and device, robot for robot |
| CN110297105A (en) * | 2018-03-23 | 2019-10-01 | 丰田自动车株式会社 | Moving body |
| CN114802508A (en) * | 2022-05-23 | 2022-07-29 | 北京交通大学 | Omnidirectional wheel drive magnetism reinforcing spherical robot |
-
2016
- 2016-03-30 CN CN201620246118.7U patent/CN205466246U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106406312A (en) * | 2016-10-14 | 2017-02-15 | 平安科技（深圳）有限公司 | Tour guide robot and moving area calibration method |
| CN106406312B (en) * | 2016-10-14 | 2017-12-26 | 平安科技（深圳）有限公司 | Guide to visitors robot and its moving area scaling method |
| TWI659284B (en) * | 2016-10-14 | 2019-05-11 | 平安科技（深圳）有限公司 | Navigation robot and calibration method for its moving area |
| US11009889B2 (en) | 2016-10-14 | 2021-05-18 | Ping An Technology (Shenzhen) Co., Ltd. | Guide robot and method of calibrating moving region thereof, and computer readable storage medium |
| CN107685344A (en) * | 2017-09-14 | 2018-02-13 | 深圳思瓦科技有限公司 | A kind of ball shape robot and its buffer unit |
| CN110297105A (en) * | 2018-03-23 | 2019-10-01 | 丰田自动车株式会社 | Moving body |
| CN110297105B (en) * | 2018-03-23 | 2022-02-18 | 丰田自动车株式会社 | moving body |
| CN109159130A (en) * | 2018-09-03 | 2019-01-08 | 北京云迹科技有限公司 | Shift position reminding method and device, robot for robot |
| CN114802508A (en) * | 2022-05-23 | 2022-07-29 | 北京交通大学 | Omnidirectional wheel drive magnetism reinforcing spherical robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Ding Qiang Inventor after: Ding Yucheng Inventor after: Li Xuan Inventor before: Ding Qiang Inventor before: Zhang Liyao Inventor before: Li Xuan |
|
| CB03 | Change of inventor or designer information | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170717 Address after: 100085, room 31, building four, building A, Dongsheng building, No. 8 East Zhongguancun Road, Beijing, Haidian District Patentee after: Beijing Ding wit Technology Co. Ltd. Address before: 100085, No. 18, 1 East Road, Haidian District, Beijing, No. 10, building A-1103-005, Zhongguancun Patentee before: Beijing Ruichi Bairun Technology Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| DD01 | Delivery of document by public notice |
Addressee: Beijing Ding wit Technology Co. Ltd. Document name: Notification of Decision on Request for Restoration of Right |
|
| DD01 | Delivery of document by public notice | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160817 Termination date: 20210330 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |