CN205615604U - Spherical robot - Google Patents
Spherical robot Download PDFInfo
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- CN205615604U CN205615604U CN201620414217.1U CN201620414217U CN205615604U CN 205615604 U CN205615604 U CN 205615604U CN 201620414217 U CN201620414217 U CN 201620414217U CN 205615604 U CN205615604 U CN 205615604U
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- spherical shell
- mecanum wheel
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Abstract
The utility model relates to a robotechnology field discloses a spherical robot, including spherical shell, spherical shell actuating mechanism, camera subassembly, spherical shell actuating mechanism install in the spherical shell with the drive spherical shell around its centre of sphere rotation, still include head housing, the camera unit mount in head housing, head housing be located the spherical shell the outside, and can follow the outer sliding surface of spherical shell, head housing is equipped with a magnetic element, be equipped with the 2nd magnetic element on the spherical shell actuating mechanism, a magnetic element is connected with the 2nd magnetic element magnetism, and along vertical direction, spherical shell actuating mechanism, the focus of the module that head housing and camera subassembly formed is less than the centre of sphere of spherical shell, this spherical robot's camera subassembly sets up the outside at the spherical shell, can be along with the spherical shell motion, and the spherical shell rotates relatively, moreover, the steam generator is simple in structure, the motion is nimble reliable and the photologging effect is better.
Description
Technical field
This utility model relates to robotics, particularly relates to a kind of ball shape robot.
Background technology
Ball shape robot refers to be arranged on inside a spherical shell by drive system, sensor, controller etc.,
Spherical shell rolling movement is driven to realize omnidirectional's fortune such as self advancing, retreat and turn to by interior type of drive
Dynamic robot, owing to ball shape robot has the shell of closing and special forms of motion, relative to wheeled
Or rail mounted and humanoid robot, have good dynamically and static equilibrium so that ball shape robot is not
Easily produce instability status because of collision, and the stability of maximum can be obtained after unstability, and ball shape robot
Preferable and good sealing the feature of landform adaptability more can make it travel in sand and dust, humidity, corrosion
In the adverse circumstances of property.
Therefore, carry image recording apparatus at above-mentioned ball shape robot and may be used for landform detection, outer celestial body
The fields such as exploration, radiation corrosion environment exploration, range of application is relatively wide, and market prospect is huge, at existing ball
Photographic head is mostly arranged at inside spherical shell by anthropomorphic robot system so that photographic head will not be to spherical machine
The motion of people impacts, and spherical housing is designed to transparence, thus realizes photographic head to external circumstances
Observation, disclosure satisfy that the function of photologging, but the set-up mode of above-mentioned photographic head causes spherical machine
The Design of Mechanical Structure of device people is complex, and the visual angle of photographic head is relatively low, is easily blocked, it addition, ball
The transparency of the exterior material of shape housing limits image definition, and the height of the exterior material to spherical shell
Require to cause again ball shape robot cost relatively costly, be unfavorable for marketing.Therefore, a kind of image of design
The preferable ball shape robot of record effect just seems the most urgent.
Utility model content
This utility model provides this utility model to provide ball shape robot in, the video camera of this ball shape robot
Assembly is arranged on the outside of spherical shell, it is possible to spherical shell move, and can relatively spherical housing into rotation,
Simple in construction, motion flexibility and reliability and photologging effect are preferable.
For reaching above-mentioned purpose, this utility model offer techniques below scheme:
A kind of ball shape robot, including spherical shell, spherical shell drive mechanism, camera assembly, described
Spherical shell drive mechanism be installed in described spherical shell with drive described spherical shell around its centre of sphere rotation,
Also including that head shell, described camera assembly are installed in described head shell, described head shell is positioned at
The outside of described spherical shell and can sliding along the outer surface of described spherical shell；Described head shell is provided with
First magnetic part, described spherical shell drive mechanism is provided with the second magnetic part, described first magnetic portion
Part is connected with described second magnetic part magnetic.
In above-mentioned ball shape robot, when spherical shell drive mechanism drives spherical shell around its centre of sphere rotation
Time, ball shape robot walks, now, and the second magnetic part being installed in spherical shell drive mechanism
Move together, and, the first magnetic part magnetic arranged with head shell due to the second magnetic part is connected,
And then the position relationship between head shell and spherical shell drive mechanism is relatively fixed, and then drive head shell
Body slides along the outer surface of spherical shell, drives head shell one to start shipment when ball shape robot is walked
Dynamic, and then drive camera assembly motion；Therefore, can realize imaging unit by relatively simple structure
The flexible motion of part, is positioned at the outside of spherical shell due to camera assembly again, and the definition of its image is not subject to
The impact of spherical shell so that visual angle is relatively wide, and is difficult to be blocked, improves the impact note of camera assembly
Record effect.
Preferably, vertically, described spherical shell drive mechanism, head shell and camera assembly
The center of gravity of the module formed is less than the centre of sphere of described spherical shell.Due to vertically, spherical shell drives
The center of gravity of the module that mechanism, head shell and camera assembly are formed is less than the centre of sphere of spherical shell, head
Housing be in all the time under the effect of the first magnetic part and the second magnetic part above spherical shell and
Not falling out, the module that spherical shell drive mechanism, head shell and camera assembly are formed is relative to ball
The invariant position of the plane of movement in the vertical direction of anthropomorphic robot, spherical shell is around its centre of sphere time rotational, head
Portion's housing moves above spherical shell the most together, and stability preferably and ensure that ball shape robot
Overall balance.
Preferably, described spherical shell drive mechanism include chassis, be arranged on described chassis and with described ball
Shape shell inner surface rolls multiple Mecanum wheels of cooperation, for controlling the motion of each described Mecanum wheel
First controller, for described Mecanum wheel and described first controller provide power supply the first power supply mould
Block, wherein, described chassis is provided with linking arm, and described second magnetic part is arranged at the one of described linking arm
End.
Preferably, described linking arm includes first connecting rod, second connecting rod, wherein:
One end of described first connecting rod is arranged on described chassis, and between described first connecting rod and described chassis
It is provided with the first driving means for driving described first connecting rod action；
One end of described second connecting rod is connected with the other end of described first connecting rod, and described second connecting rod and institute
State and be provided with between first connecting rod for driving described second connecting rod relative to the second of described first connecting rod action
Driving means, described second magnetic part is arranged at the other end of described second connecting rod；
Described first driving means and described second driving means are connected with described first controller signals, and
It is connected with described first power module.
Preferably, described first driving means is motor, and/or, described second driving means is motor.
Preferably, described chassis has quadrilateral structure, and four corners on described chassis are respectively equipped with the first wheat
Ke Namu wheel, the second Mecanum wheel, the 3rd Mecanum wheel, the 4th Mecanum wheel, along described spherical
The direction of advance of robot, the first Mecanum wheel and the 4th Mecanum wheel are positioned at the left side on chassis, and second
Mecanum wheel and the 3rd Mecanum wheel are positioned at the right side on chassis, and described first Mecanum wheel is positioned at described
The front side of the 4th Mecanum wheel, the second Mecanum wheel is positioned at the front side of the 3rd Mecanum wheel；Described
The rotation axis of one Mecanum wheel is parallel with the rotation axis of the 4th Mecanum wheel, and described second Mike receives
The axial line of nurse wheel and the axis parallel of described 3rd Mecanum wheel；The rotation of described first Mecanum wheel
Shaft axis is vertical with the direction of advance of described ball shape robot and be 5～15 ° of inclination angles with vertical direction, described
The axial line of the second Mecanum wheel vertical with the direction of advance of described ball shape robot and with vertical direction in
5～15 ° of inclination angles, and along vertically downward direction, described first Mecanum wheel and described second Mecanum
Distance between wheel is gradually increased.
Preferably, it is connected by motor between each described Mecanum wheel with described chassis, described motor
It is connected with described first controller signals and electrically connects with described first power module.
Preferably, described first power module is power storage cell.
Preferably, described head shell along described spherical shell outer surface slide time, described head shell phase
During to described spherical shell pitching, the center of described head shell and the line of the described spherical shell centre of sphere are with perpendicular
Nogata to angle in the range of 0 ° to 45 °.
Preferably, described head shell is supported in the outer surface of described spherical shell by multiple universal wheels.
Preferably, described head shell is provided with four described universal wheels, and four described universal wheels are four limits
Shape is distributed.
Preferably, described camera assembly includes photographic head, second controller and second source module, institute
State second controller to be connected with described camera signals, described second source module and described photographic head and institute
State second controller electrical connection, for providing power supply for described photographic head and described second controller.
Preferably, described second source module is power storage cell.
Accompanying drawing explanation
The structural representation of a kind of ball shape robot that Fig. 1 provides for this utility model；
In a kind of ball shape robot that Fig. 2 provides for this utility model, the relatively spherical housing of head shell slides and shows
It is intended to；
The structural representation of spherical shell drive mechanism in a kind of ball shape robot that Fig. 3 provides for this utility model
Figure；
The motor control schematic diagram of a kind of ball shape robot that Fig. 4 provides for this utility model；
The control method schematic diagram of a kind of ball shape robot that Fig. 5 provides for this utility model；
The schematic diagram that moves ahead of a kind of ball shape robot that Fig. 6 provides for this utility model；
The retrogressing schematic diagram of a kind of ball shape robot that Fig. 7 provides for this utility model；
The right lateral schematic diagram of a kind of ball shape robot that Fig. 8 provides for this utility model；
The left lateral schematic diagram of a kind of ball shape robot that Fig. 9 provides for this utility model；
The schematic diagram that turns clockwise of a kind of ball shape robot that Figure 10 provides for this utility model；
A kind of ball shape robot that Figure 11 provides for this utility model rotate schematic diagram counterclockwise；
The right side of a kind of ball shape robot that Figure 12 provides for this utility model moves ahead schematic diagram；
The left front row schematic diagram of a kind of ball shape robot that Figure 13 provides for this utility model.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, to the technical side in this utility model embodiment
Case is clearly and completely described, it is clear that described embodiment is only that this utility model part is real
Execute example rather than whole embodiments.Based on the embodiment in this utility model, ordinary skill people
The every other embodiment that member is obtained under not making creative work premise, broadly falls into this utility model
The scope of protection.
A kind of ball shape robot that this utility model embodiment provides, as shown in Figure 1 and Figure 2, including ball
Shape housing 1, spherical shell drive mechanism 2, camera assembly 3, spherical shell drive mechanism 2 is installed on ball
To drive spherical shell 1 around its centre of sphere rotation in shape housing 1, also include head shell 6, camera assembly
3 are installed in head shell 6, head shell 6 be positioned at spherical shell 1 outside and can be along spherical shell
The outer surface of 1 slides；Head shell 6 is provided with the first magnetic part 4, and spherical shell drive mechanism 2 sets
The second magnetic part 25, the first magnetic part 4 is had to be connected with the second magnetic part 25 magnetic, and along vertically
Direction, the center of gravity of the module that spherical shell drive mechanism 2, head shell 6 and camera assembly 3 are formed
The centre of sphere less than spherical shell 1.
In above-mentioned ball shape robot, when spherical shell drive mechanism 2 drives spherical shell 1 around its centre of sphere certainly
When turning, ball shape robot is walked, now, and the second magnetic being installed in spherical shell drive mechanism 2
Parts 25 move together, and, the first magnetic arranged with head shell 6 due to the second magnetic part 25
Between parts 4, magnetic connects, and then the position relationship between head shell 6 and spherical shell drive mechanism 2
It is relatively fixed, and then drives head shell 6 to slide, when spherical machine along the outer surface of spherical shell 1
Drive head shell 6 to move together when people walks, and then drive camera assembly 3 to move；Therefore, above-mentioned
Ball shape robot can be realized the flexible motion of camera assembly 3 by relatively simple structure, again due to
Camera assembly 3 is positioned at the outside of spherical shell 1, and the definition of its image is not affected by spherical shell 1,
And during camera assembly shooting image, visual angle is relatively wide and is difficult to be blocked, and improves the shadow of camera assembly 3
As record effect.
In a kind of preferred implementation, in order to ensure that head shell 6 can remain at spherical shell 1
Tip position, vertically, spherical shell drive mechanism 2, head shell 6 and camera assembly 3
The center of gravity of the module formed is less than the centre of sphere of spherical shell 1.
Due to vertically, spherical shell drive mechanism 2, head shell 6 and camera assembly 3 shape
The center of gravity of the module become is less than the centre of sphere of spherical shell 1, and head shell 6 is at the first magnetic part 4 and the
All the time being in the top of spherical shell 1 under the effect of two magnetic parts 25 and do not fall out, spherical shell drives
The module that motivation structure 2, head shell 6 and camera assembly 3 are formed is relative to the motion of ball shape robot
The invariant position of plane in the vertical direction, spherical shell 1 is around its centre of sphere time rotational, and head shell 6 is at ball
Moving the most together in the top of shape housing 1, stability preferably and ensure that overall the putting down of ball shape robot
Weighing apparatus.
In order to control to ball shape robot motion is better achieved, in a kind of preferred implementation, as Fig. 1,
Shown in Fig. 2 and Fig. 3, spherical shell drive mechanism 2 includes chassis 21, be arranged on chassis 21 and with
Spherical shell 1 inner surface rolls multiple Mecanum wheels 22 of cooperation, is used for controlling each Mecanum wheel 22
Motion the first controller 262, provide the first of power supply for Mecanum wheel 22 and the first controller 262
Power module 261, wherein, chassis 21 is provided with linking arm 24, and the second magnetic part 25 is arranged at connection
One end of arm 24, linking arm 24 is connected with the first controller 262 signal, and with the first power module 261
Electrical connection.Specifically, signal between linking arm and the first controller connects can be wireless connections, wired
Connect.
Mecanum wheel 22 is a kind of all-around mobile wheel, and this is taken turns is on the basis of conventional wheel,
Some rollers that can rotate freely are installed along direction at 45 ° with axis on wheel rim again, when wheel rolling,
Roller will produce lateral movement, being applied in combination and controlling by Mecanum wheel 22, can make based on
Any direction that the motion of Mecanum wheel 22 produces in plane of movement moves and rotates, and can be
In the narrowest space, realization is moved flexibly.
For above-mentioned spherical shell drive mechanism 2, when the first controller 262 is according to receiving extraneous remote controller
The operation signal sent sends actuating signal, Mike to corresponding Mecanum wheel 22 and linking arm 24
Na Mu wheel 22 and linking arm 24 action that basis receives under the electric power support of the first power module 261
Signal realizes corresponding motion.
When Mecanum wheel 22 receives movable signal, owing to Mecanum wheel 22 is arranged on chassis 21
Above and with spherical shell 1 inner surface rolling and coordinate, now, multiple Mecanum wheel 22 interoperations are with band
Dynamic chassis 21 is moved along a direction, and then drive spherical shell 1 is around its centre of sphere rotation, and is arranged on the end
Linking arm 24 on dish 21 drives the second magnetic part 25 to move in the direction, and the second magnetic part 25 carries
The first magnetic part 4 that dynamic magnetic therewith connects moves, and then makes the head shell being positioned on spherical shell 1
6 move in the direction, move to relevant position will be located in the camera assembly 3 in head shell 6.
When Mecanum wheel 22 receives movable signal, multiple Mecanum wheel 22 interoperations are to drive
Chassis 21 with by the centre of sphere of spherical shell 1 and its straight line with the contact point of place plane as rotary shaft
Rotating, drive spherical shell 1 is around its centre of sphere rotation, and linking arm 24 drives the second magnetic part 25 around this
Rotary shaft rotates, and the second magnetic part 25 drives the first magnetic part 4 that magnetic connects therewith to rotate, and enters
And make the head shell 6 being positioned on spherical shell 1 rotate around this rotary shaft, so that taking the photograph in head shell 6
Camera assembly 3 rotates around this rotary shaft, and then record is around the rotary shaft image of a week.
When linking arm 24 receives turn signal, linking arm 24 rotates relative to chassis 21, drives the
Two magnetic parts 25 rotate, and the second magnetic part 25 drives the first magnetic part 4 that magnetic connects therewith
Rotate, and then drive head shell 6 to move along the outer surface of spherical shell 1 relative to spherical shell 1,
Realize the pitching motion of the relatively spherical housing of camera assembly 31, to obtain bigger camera assembly 3
Visual angle.
Therefore, the control to ball shape robot can be realized by above-mentioned spherical shell drive mechanism 2, it is achieved
The position of camera assembly 3 recording image and the adjustment at visual angle, to obtain preferable camera assembly 3
Photologging effect.
Certainly, first power module the 261, first controller 262 having in spherical shell drive mechanism 2
Can be as the counterweight 26 being fixed on chassis 21 Deng device, to ensure vertically, spherical shell
The center of gravity of the module that drive mechanism 2, head shell 6 and camera assembly 3 are formed is less than spherical shell 1
The centre of sphere.
On the basis of above-mentioned spherical shell drive mechanism 2, in order to the action of head shell 6 is better achieved,
Specifically, as shown in Figure 1 and Figure 2, linking arm 24 includes first connecting rod 242, second connecting rod 241,
Wherein:
One end of first connecting rod 242 is arranged on chassis 21, and sets between first connecting rod 242 and chassis 21
There is the first driving means for driving first connecting rod 242 action；Specifically, first connecting rod 242 can pass through
The mode of pivot dress is arranged on chassis 21；
One end of second connecting rod 241 is connected with the other end of first connecting rod 242, concrete second connecting rod 241
Can be hinged between the other end of one end and first connecting rod 242, and second connecting rod 241 and first connecting rod 242
Between be provided with the second driving means for driving second connecting rod 241 action, the second magnetic part 25 is arranged
The other end in second connecting rod 241；
First driving means and the second driving means are connected with the first controller 262 signal, and electric with first
Source module 261 connects.
When the first controller 262 drives to first according to when receiving operation signal that extraneous remote controller sent
Device and the second driving means send actuating signal, first driving means drive first connecting rod 242 relative to
Chassis 21 rotates, and drives second connecting rod 241 and the second magnetic part being arranged on second connecting rod 241
25 move, and the second driving means drives second connecting rod 241 to move relative to first connecting rod 242, drives and arranges
The second magnetic part 25 thereon moves, the above-mentioned two moving process of the second magnetic part 25 drive with
Magnetic connect the first magnetic part 4 move, and then drive head shell 6 along spherical shell 1 outer surface
Mobile, it is achieved the pitching motion of the relatively spherical housing of camera assembly 31, to obtain bigger shooting unit
The visual angle of part 3.
Specifically, the first driving means and the second driving means can select according to practical situation, permissible
For motor, it is also possible to for cylinder, the most alternative implementation has, and the first driving means is motor,
Meanwhile, the second driving means is motor；First driving means is motor, and the second driving means is cylinder；The
One driving means is cylinder, and the second driving means is motor；First driving means is cylinder, meanwhile, second
Driving means is cylinder；It is suitable to select according to concrete conditions such as the sizes of spherical shell 1 and mechanical arm
Implementation.
In order to make ball shape robot keep preferable stability in motor process, specifically, as it is shown on figure 3,
Chassis 21 has on quadrilateral structure, and chassis 21 and is provided with four Mecanum wheels 22, concrete such as Fig. 4
Shown in, four corners on chassis 21 be respectively equipped with first Mecanum wheel the 221, second Mecanum wheel 222,
3rd Mecanum wheel the 223, the 4th Mecanum wheel 224, along the direction of advance of ball shape robot, first
Mecanum wheel 221 and the 4th Mecanum wheel 224 are positioned at the left side on chassis 21, the second Mecanum wheel
222 and the 3rd Mecanum wheel 223 be positioned at the right side on chassis 21, the first Mecanum wheel 221 is positioned at the 4th
The front side of Mecanum wheel 224, the second Mecanum wheel 222 is positioned at the front side of the 3rd Mecanum wheel 223；
The rotation axis of the first Mecanum wheel 221 is parallel with the rotation axis of the 4th Mecanum wheel 224, and second
The axial line of Mecanum wheel 222 and the axis parallel of the 3rd Mecanum wheel 223；First Mecanum
The rotation axis of wheel 221 is vertical with the direction of advance of ball shape robot and is 5～15 ° with vertical direction and inclines
Angle, the axial line of the second Mecanum wheel 222 is vertical with the direction of advance of ball shape robot and square with vertical
To in 5～15 ° of inclination angles, and along vertically downward direction, the first Mecanum wheel 221 and the second Mecanum
Distance between wheel 222 is gradually increased.When spherical shell drive mechanism 2 has said structure, it is possible to make
In four Mecanum wheels 22, the wheel shaft of tool can fully contact with the inner surface of spherical shell 1, carries
The stability that spherical shell 1 is driven by high Mecanum wheel 22.
Specifically, it is connected by motor 23 between each Mecanum wheel 22 with chassis 21, motor 23
It is connected with the first controller 262 signal and electrically connects with the first power module 261, when the first controller 262
According to receive operation signal that extraneous remote controller sent to corresponding Mecanum wheel 22 send rotation or
During movable signal, motor 23 under the electric power support of the first power module 261 according to the rotation that receives or
Movable signal, and then drive Mecanum wheel 22 to move, by the combination of multiple Mecanum wheels 22 motion
Realize spherical shell 1 by the centre of sphere of spherical shell 1 and its straight line with the contact point of place plane to be
Rotary shaft rotation or the movement towards a direction.
As shown in Fig. 4 and Fig. 6, under the electric power of the first power module 261 is supported, the first controller root
The progress signal sent according to the remote controller 6 received is electric to first motor the 231, second motor the 232, the 3rd
Machine 233 and the 4th motor 234 send actuating signal to drive first Mecanum wheel the 221, second Mike
Na Mu wheel the 222, the 3rd Mecanum wheel 223 and the 4th Mecanum wheel 224 revolve according to first direction A
Turn, drive chassis 21 to move along direction a, and then drive ball shape robot to advance.
As shown in Fig. 4 and Fig. 7, under the electric power of the first power module 261 is supported, the first controller root
The backing signal sent according to the remote controller 6 received is electric to first motor the 231, second motor the 232, the 3rd
Machine 233 and the 4th motor 234 send actuating signal to drive first Mecanum wheel the 221, second Mike
Na Mu wheel the 222, the 3rd Mecanum wheel 223 and the 4th Mecanum wheel 224 according to first direction A
Contrary second direction B rotates, and drives chassis 21 to move along direction b, and then drives ball shape robot
Retreat.
As shown in Fig. 4 and Fig. 8, under the electric power of the first power module 261 is supported, the first controller root
The right lateral signal sent according to the remote controller 6 received is electric to first motor the 231, second motor the 232, the 3rd
Machine 233 and the 4th motor 234 send actuating signal to drive the first Mecanum wheel 221 and wheat, barley and highland barley
Ke Namu wheel 223 rotates according to first direction A, the second Mecanum wheel 222 and the 4th Mecanum wheel
224 rotate according to second direction B contrary with first direction A, drive chassis 21 to move along direction c,
And then drive ball shape robot right lateral.
As shown in Fig. 4 and Fig. 9, under the electric power of the first power module 261 is supported, the first controller root
The right lateral signal sent according to the remote controller 6 received is electric to first motor the 231, second motor the 232, the 3rd
Machine 233 and the 4th motor 234 send actuating signal to drive the first Mecanum wheel 221 and wheat, barley and highland barley
Ke Namu wheel 223 rotates according to second direction B contrary with first direction A, the second Mecanum wheel 222
And the 4th Mecanum wheel 224 according to first direction A rotate, drive chassis 21 move along direction d,
And then drive ball shape robot left lateral.
As shown in Fig. 4 and Figure 10, under the electric power of the first power module 261 is supported, the first controller
The dextrorotation rotaring signal sent according to the remote controller 6 received to first motor the 231, second motor 232,
3rd motor 233 and the 4th motor 234 send actuating signal with drive the first Mecanum wheel 221 and
4th Mecanum wheel 224 rotates according to first direction A, the second Mecanum wheel 222 and the 3rd Mike
Na Mu wheel 223 rotates according to second direction B contrary with first direction A, drives chassis 21 according to direction
E rotates, and then drives ball shape robot to turn clockwise.
As shown in Fig. 4 and Figure 11, under the electric power of the first power module 261 is supported, the first controller
The rotating signal counterclockwise sent according to the remote controller 6 received to first motor the 231, second motor 232,
3rd motor 233 and the 4th motor 234 send actuating signal with drive the first Mecanum wheel 221 and
4th Mecanum wheel 224 rotates according to second direction B contrary with first direction A, and the second Mike receives
Nurse wheel 222 and the 3rd Mecanum wheel 223 rotate according to first direction A, drive chassis 21 according to side
Rotate to f, and then drive ball shape robot to rotate counterclockwise.
As shown in Fig. 4 and Figure 12, under the electric power of the first power module 261 is supported, the first controller
According to the remote controller 6 received send to right front traveling signal to the first motor 231 and the 3rd motor
233 send actuating signal to drive the first Mecanum wheel 221 and the 3rd Mecanum wheel 223 along first
Direction A rotates, and drives chassis 21 to rotate according to direction g, and then drives ball shape robot to right front row
Enter.
As shown in Fig. 4 and Figure 13, under the electric power of the first power module 261 is supported, the first controller
According to the remote controller 6 received send to left front traveling signal to the first motor 231 and the 3rd motor
233 send actuating signal to drive the second Mecanum wheel 222 and the 4th Mecanum wheel 224 along first
Direction A rotates, and drives chassis 21 to rotate according to direction h, and then drives ball shape robot to left front row
Enter.
Specifically, the first power module 261 can be power storage cell, owing to the first power module 261 is closed
In spherical shell 1, and the motion for ball shape robot is needed to provide electric power support in motor process, because of
This, the first power module 261 should select the form of power being easy to carry and capacitance is bigger, and price
Cheaply, easy to use, the power storage cell of high power discharge can just disclosure satisfy that this demand, but
One power module 261 is not limited to power storage cell, it is also possible to be suitable for the power supply shape of concrete ball shape robot for other
Formula.
In a kind of preferred implementation, head shell 6 along the outer surface of spherical shell 1 slide time, head shell
During body 6 relatively spherical housing 1 pitching, the center of head shell 6 and the line of spherical shell 1 centre of sphere are with perpendicular
Nogata to angle in the range of 0 ° to 45 °, in order to avoid head shell 6 from spherical shell 1 de-
From, head shell 6 should be in certain scope relative to the angle of spherical shell 1 pitching, above-mentioned scope
Be 0 ° to 45 °, the angle that the relatively spherical housing of head shell 61 bends down can be 5 °, 10 °, 15 °,
20 °, 25 °, 30 °, 35 °, 40 °, 45 °, the angle that the relatively spherical housing of head shell 61 is kicked up
Degree can be 5 °, 10 °, 15 °, 20 °, 25 °, 30 °, 35 °, 40 °, 45 °.
Preferably move at spherical shell 1 outer surface to realize head shell 6, a kind of preferred implementation
In, as shown in Figure 1 and Figure 2, head shell 6 is supported in spherical shell 1 by multiple universal wheels 5
Outer surface, when the first magnetic part 4 drives head shell 6 relative to spherical shell 1 along spherical shell 1
Outer surface when moving, the universal wheel 5 on head shell 6 rolls along the outer surface of spherical shell 1, real
The rotation of the existing relatively spherical housing of camera assembly 31, to adjust the visual angle of camera assembly 3, due to ten thousand
To rolling friction time between wheel 5 and the outer surface of spherical shell 1, frictional force is less so that head shell 6
And camera assembly 3 is the most flexible relative to the motion of spherical shell 1.
Specifically, as shown in Figure 1 and Figure 2, head shell 6 is provided with four universal wheels 5, and four
Universal wheel 5 is distributed in tetragon, and in tetragon, four universal wheels 5 of distribution make the head can be spherical
Under the effect of housing drive mechanism 2, the top half along spherical shell 1 outer surface carries out free motion, from
And from camera assembly 3, there is bigger visual angle.
In a kind of preferred implementation, camera assembly 3 includes photographic head, second controller and the second electricity
Source module, second controller is connected with camera signals, and second source module controls with photographic head and second
Device electrically connects, for providing power supply for photographic head and second controller, and worked at camera assembly 3
Cheng Zhong, second source module carries out electric power support to photographic head and second controller, and second controller is with outer
Boundary's remote controller signal is connected, and the operation signal that second controller sends according to extraneous remote controller sends to photographic head
The control signal such as zoom, wireless data transmission, photographic head is made corresponding dynamic according to the control signal received
Make, to realize the control to photographic head.
Specifically, second source module can be power storage cell, and power storage cell has low price, user
Just, can the advantage such as high power discharge, rechargeable, can as second source module be photographic head and
Second controller provides electric power support, it addition, the form of power that second source module can also be suitable for for other.
As it is shown in figure 5, the control method of a kind of ball shape robot of this utility model embodiment offer, including:
S501, drives spherical shell 1 rotation by controlling spherical shell 1 drive mechanism 2, and, head
Housing 6 under the mating reaction of the first magnetic part 4 and the second magnetic part 25 along outside spherical shell 1
Slide in surface；
S502, is shot by the camera assembly 3 being provided with in controlling head shell 6.
In the control method of above-mentioned ball shape robot, in step S501, spherical shell drive mechanism 2
Driving spherical shell 1 rotation, head shell 6 is at the first magnetic part 4 and the second magnetic part 25
All the time being in the top of spherical shell 1 under effect, spherical shell 1 drives head shell 6 to move, when spherical
When housing drive mechanism 2 drives the second magnetic part 25 to move, the second magnetic part 25 drives magnetic therewith
The first magnetic part 4 connected rotates, and then drives head shell 6 to slide along the outer surface of spherical shell 1,
Realize the pitching motion of the relatively spherical housing of camera assembly 31；In step S502, by controlling head
The camera assembly 3 being provided with in portion's housing 6 carries out the photologging shooting to realize camera assembly 3,
In above-mentioned control method, the flexible movable of camera assembly 3 can be realized by shirtsleeve operation, it is thus achieved that relatively
High image definition, and visual angle is relatively wide, the photologging effect of camera assembly 3 is preferable.
In a kind of preferred implementation, as shown in Figure 4, when the chassis 21 that spherical shell drive mechanism 2 includes
There is quadrilateral structure and time chassis 21 is provided with four Mecanum wheels 22, wherein, along spherical machine
The direction of advance of people, the first Mecanum wheel 221 and the 4th Mecanum wheel 224 are positioned at the left side on chassis 21
Side, the second Mecanum wheel 222 and the 3rd Mecanum wheel 223 are positioned at the right side on chassis 21, the first wheat
Ke Namu wheel 221 is positioned at the front side of the 4th Mecanum wheel 224, and the second Mecanum wheel 222 is positioned at the 3rd
The front side of Mecanum wheel 223, in above-mentioned steps S101, drives by controlling spherical shell drive mechanism 2
Dynamic spherical shell 1 rotation, specifically may include that
As shown in Figure 6, receive as first Mecanum wheel the 221, second Mecanum wheel the 222, the 3rd Mike
Nurse wheel the 223, the 4th Mecanum wheel 224, when the rotation axis A in the first direction of self rotates, drives
Ball shape robot advances；
As it is shown in fig. 7, when first Mecanum wheel the 221, second Mecanum wheel the 222, the 3rd Mike receives
Nurse takes turns the 223, the 4th Mecanum wheel 224 rotation axis around self along contrary with first direction A second
When direction B rotates, ball shape robot is driven to retreat；
As shown in Figure 8, when the first Mecanum wheel 221 and the 3rd Mecanum wheel 223 are around its own rotation axis
Line A in the first direction rotation, the second Mecanum wheel 222 and the 4th Mecanum wheel 224 rotate around self
When axis B in a second direction rotates, ball shape robot is driven to advance to the right；
As it is shown in figure 9, when the first Mecanum wheel 221 and the 3rd Mecanum wheel 223 are around its own rotation axis
Line B in a second direction rotation, the second Mecanum wheel 222 and the 4th Mecanum wheel 224 rotate around self
When axis A in the first direction rotates, ball shape robot is driven to advance to the left；
As shown in Figure 10, rotate around self when the first Mecanum wheel 221 and the 4th Mecanum wheel 224
Axis A in the first direction rotation, the second Mecanum wheel 222 and the 3rd Mecanum wheel 223 revolve around self
When shaft axis B in a second direction rotates, ball shape robot is driven to turn clockwise；
As shown in figure 11, rotate around self when the first Mecanum wheel 221 and the 4th Mecanum wheel 224
Axis B in a second direction rotation, the second Mecanum wheel 222 and the 3rd Mecanum wheel 223 revolve around self
When shaft axis A in the first direction rotates, ball shape robot is driven to rotate counterclockwise；
As shown in figure 12, rotate around self when the first Mecanum wheel 221 and the 3rd Mecanum wheel 223
Axis A in the first direction rotation and the second Mecanum wheel 222 and the 4th Mecanum wheel 224 do not rotate
Time, drive ball shape robot to advance to right front；
As shown in figure 13, rotate around self when the second Mecanum wheel 222 and the 4th Mecanum wheel 224
Axis A in the first direction rotates while the first Mecanum wheel 221 and the 3rd Mecanum wheel 223 do not revolve
When turning, ball shape robot is driven to advance to left front.
The routing motion of four Mecanum wheels 22 by being arranged on chassis 21 is capable of chassis 21
Omnibearing movable, and then drive spherical shell 1 and head shell 6 to realize corresponding sports, therefore, logical
Cross and spherical shell drive mechanism 2 based on Mecanum wheel 22 be embedded into inside ball shape robot, it is possible to
Realize the control to ball shape robot motion, and in rapid movement, keep preferable stability.
In a kind of preferred implementation, when spherical shell drive mechanism 2 includes chassis 21 and is arranged on the end
Linking arm 24 on dish 21, and when linking arm 24 includes first connecting rod 242, second connecting rod 241, head
Housing 6 includes along the outer surface sliding process of spherical shell 1:
When first connecting rod 242 and second connecting rod 241 drive the second magnetic part 25 to ball shape robot row
Entering direction when moving, drive head housing 6 bends down action；
When first connecting rod 242 and second connecting rod 241 move to the direction that ball shape robot direct of travel is contrary
Time, drive head housing 6 is steeved action.
It is capable of head shell 6 along spherical by the routing motion of first connecting rod 242 and second connecting rod 241
The movement of housing 1 outer surface, and then realize head shell 6 and be positioned at the camera assembly of head shell
The pitching motion of 3 relatively spherical housings 1, to obtain the visual angle of bigger camera assembly 3.
Obviously, those skilled in the art this utility model embodiment can be carried out various change and modification and
Without departing from spirit and scope of the present utility model.So, if these amendments of the present utility model and modification belong to
Within the scope of this utility model claim and equivalent technologies thereof, then this utility model is also intended to comprise this
Including a little changes and modification.
Claims (13)
1. a ball shape robot, including spherical shell, spherical shell drive mechanism, camera assembly,
It is interior to drive described spherical shell around its centre of sphere that described spherical shell drive mechanism is installed on described spherical shell
Rotation, it is characterised in that also include that head shell, described camera assembly are installed in described head shell,
Described head shell is positioned at the outside of described spherical shell and can slide along the outer surface of described spherical shell；
Described head shell is provided with the first magnetic part, and described spherical shell drive mechanism is provided with the second magnetic portion
Part, described first magnetic part is connected with described second magnetic part magnetic.
Ball shape robot the most according to claim 1, it is characterised in that vertically, described
The center of gravity of the module that spherical shell drive mechanism, head shell and camera assembly are formed is less than described spherical
The centre of sphere of housing.
Ball shape robot the most according to claim 1, it is characterised in that described spherical shell drives
Mechanism includes chassis, is arranged on described chassis and rolls, with described spherical shell inner surface, the multiple wheats coordinated
Ke Namu wheel, for controlling the first controller of each described Mecanum wheel motion, for described Mecanum wheel
And described first controller provide power supply the first power module, wherein, described chassis is provided with linking arm,
Described second magnetic part is arranged at one end of described linking arm.
Ball shape robot the most according to claim 3, it is characterised in that described linking arm includes
One connecting rod, second connecting rod, wherein:
One end of described first connecting rod is arranged on described chassis, and between described first connecting rod and described chassis
It is provided with the first driving means for driving described first connecting rod action；
One end of described second connecting rod is connected with the other end of described first connecting rod, and described second connecting rod and institute
State and be provided with between first connecting rod for driving described second connecting rod relative to the second of described first connecting rod action
Driving means, described second magnetic part is arranged at the other end of described second connecting rod；
Described first driving means and described second driving means are connected with described first controller signals, and
It is connected with described first power module.
Ball shape robot the most according to claim 4, it is characterised in that described first driving means
For motor, and/or, described second driving means is motor.
Ball shape robot the most according to claim 3, it is characterised in that described chassis has four limits
Shape structure, four corners on described chassis be respectively equipped with the first Mecanum wheel, the second Mecanum wheel,
Three Mecanum wheels, the 4th Mecanum wheel, along the direction of advance of described ball shape robot, the first Mike receives
Nurse wheel and the 4th Mecanum wheel are positioned at the left side on chassis, the second Mecanum wheel and the 3rd Mecanum position of wheel
In the right side on chassis, described first Mecanum wheel is positioned at the front side of described 4th Mecanum wheel, the second wheat
Ke Namu wheel is positioned at the front side of the 3rd Mecanum wheel；The rotation axis and the 4th of described first Mecanum wheel
The rotation axis of Mecanum wheel is parallel, and the axial line of described second Mecanum wheel is received with described 3rd Mike
The axis parallel of nurse wheel；The rotation axis of described first Mecanum wheel and the advance of described ball shape robot
Direction vertically and is 5～15 ° of inclination angles with vertical direction, and the axial line of described second Mecanum wheel is with described
The direction of advance of ball shape robot vertically and is 5～15 ° of inclination angles with vertical direction, and along side straight down
To, the distance between described first Mecanum wheel and described second Mecanum wheel is gradually increased.
Ball shape robot the most according to claim 3, it is characterised in that each described Mike receives
Nurse wheel be connected by motor between described chassis, described motor be connected with described first controller signals and
Electrically connect with described first power module.
Ball shape robot the most according to claim 3, it is characterised in that described first power module
For power storage cell.
Ball shape robot the most according to claim 1, it is characterised in that described head shell is along institute
When stating the outer surface slip of spherical shell, during the most described spherical shell pitching of described head shell, described head
The center of portion's housing and the described line of the spherical shell centre of sphere and the angle of vertical direction are the scope of 0 ° to 45 °
In.
Ball shape robot the most according to claim 1, it is characterised in that described head shell passes through
Multiple universal wheels are supported in the outer surface of described spherical shell.
11. ball shape robots according to claim 10, it is characterised in that on described head shell
It is provided with four described universal wheels, and four described universal wheels are tetragon distribution.
12. ball shape robots according to claim 1, it is characterised in that described camera assembly bag
Include photographic head, second controller and second source module, described second controller and described camera signals
Being connected, described second source module electrically connects with described photographic head and described second controller, is used for as institute
State photographic head and described second controller provides power supply.
13. ball shape robots according to claim 12, it is characterised in that described second source mould
Block is power storage cell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620414217.1U CN205615604U (en) | 2016-05-09 | 2016-05-09 | Spherical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620414217.1U CN205615604U (en) | 2016-05-09 | 2016-05-09 | Spherical robot |
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| CN205615604U true CN205615604U (en) | 2016-10-05 |
Family
ID=57025788
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620414217.1U Withdrawn - After Issue CN205615604U (en) | 2016-05-09 | 2016-05-09 | Spherical robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947006A (en) * | 2016-05-09 | 2016-09-21 | 京东方科技集团股份有限公司 | Spherical robot and control method |
| CN106903697A (en) * | 2017-03-21 | 2017-06-30 | 坎德拉（深圳）科技创新有限公司 | Head drive component and ball shape robot |
| CN106914919A (en) * | 2017-03-21 | 2017-07-04 | 坎德拉（深圳）科技创新有限公司 | Head drive component and ball shape robot |
| CN107054487A (en) * | 2017-03-21 | 2017-08-18 | 坎德拉（深圳）科技创新有限公司 | A kind of ball shape robot |
| CN107081763A (en) * | 2017-03-21 | 2017-08-22 | 坎德拉（深圳）科技创新有限公司 | A kind of ball shape robot |
| CN107128381A (en) * | 2017-03-21 | 2017-09-05 | 坎德拉（深圳）科技创新有限公司 | A kind of ball shape robot |
| CN107128379A (en) * | 2017-03-21 | 2017-09-05 | 坎德拉（深圳）科技创新有限公司 | Ball shape robot |
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2016
- 2016-05-09 CN CN201620414217.1U patent/CN205615604U/en not_active Withdrawn - After Issue
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947006A (en) * | 2016-05-09 | 2016-09-21 | 京东方科技集团股份有限公司 | Spherical robot and control method |
| US10399620B2 (en) | 2016-05-09 | 2019-09-03 | Boe Technology Group Co., Ltd. | Spherical robot and method of controlling the same |
| CN105947006B (en) * | 2016-05-09 | 2018-01-02 | 京东方科技集团股份有限公司 | A kind of ball shape robot and control method |
| WO2017193702A1 (en) * | 2016-05-09 | 2017-11-16 | 京东方科技集团股份有限公司 | Spherical robot and control method therefor |
| CN107128379A (en) * | 2017-03-21 | 2017-09-05 | 坎德拉（深圳）科技创新有限公司 | Ball shape robot |
| CN107128381A (en) * | 2017-03-21 | 2017-09-05 | 坎德拉（深圳）科技创新有限公司 | A kind of ball shape robot |
| CN107081763A (en) * | 2017-03-21 | 2017-08-22 | 坎德拉（深圳）科技创新有限公司 | A kind of ball shape robot |
| CN107054487A (en) * | 2017-03-21 | 2017-08-18 | 坎德拉（深圳）科技创新有限公司 | A kind of ball shape robot |
| CN106914919A (en) * | 2017-03-21 | 2017-07-04 | 坎德拉（深圳）科技创新有限公司 | Head drive component and ball shape robot |
| CN106914919B (en) * | 2017-03-21 | 2019-06-04 | 坎德拉（深圳）科技创新有限公司 | Head driving assembly and ball shape robot |
| CN106903697B (en) * | 2017-03-21 | 2019-06-04 | 坎德拉（深圳）科技创新有限公司 | Head driving assembly and ball shape robot |
| CN107128381B (en) * | 2017-03-21 | 2019-06-25 | 坎德拉（深圳）科技创新有限公司 | A kind of ball shape robot |
| CN107128379B (en) * | 2017-03-21 | 2019-06-25 | 坎德拉（深圳）科技创新有限公司 | Ball shape robot |
| CN106903697A (en) * | 2017-03-21 | 2017-06-30 | 坎德拉（深圳）科技创新有限公司 | Head drive component and ball shape robot |
| CN107081763B (en) * | 2017-03-21 | 2020-05-08 | 坎德拉（深圳）科技创新有限公司 | Spherical robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161005 Effective date of abandoning: 20180102 |