CN207045490U - A kind of spherical Bian Bao robots - Google Patents
A kind of spherical Bian Bao robots Download PDFInfo
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- CN207045490U CN207045490U CN201720818138.1U CN201720818138U CN207045490U CN 207045490 U CN207045490 U CN 207045490U CN 201720818138 U CN201720818138 U CN 201720818138U CN 207045490 U CN207045490 U CN 207045490U
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Abstract
The utility model belongs to robot field, and discloses a kind of spherical Bian Bao robots.The robot includes support frame, telescopic component, upper limbs component and lower limb component, support frame is the carrier of other assemblies, including upper/lower guide plate, main rudder machine and gear drive, expansion link in telescopic component connects with the track on guide-rail plate, main rudder machine drive gear transmission mechanism drives expansion link to do stretching motion along the orbital direction of guide-rail plate, upper limbs is connected with support platform, lower limb are connected with expansion link, two joints are included in upper limbs component and lower limb component respectively, each joint is by each self-corresponding servo driving, so as to realize the motion of multiple frees degree.By the utility model, realize the sufficient formula of spherical Bian Bao robots and roll two kinds of motions, suitable for various landform, become born of the same parents' stabilization, it is easy to control and simple in construction.
Description
Technical field
The utility model belongs to robot field, more particularly, to a kind of spherical Bian Bao robots.
Background technology
With science and technology and economic continuous development, ball shape robot is by its small volume, good airproof performance, self-reparability
Strong advantage, favored by vast science fan, research input increases year by year, and its achievement in research is in more and more extensive neck
The work such as safety check patrol, habitata, military fire-fighting are engaged in instead of the mankind in domain.But some practitioners observe, as the mankind live
The expansion of dynamic scope and going deep into for exploratory stage, in the occasion that some environment are complicated and changeable, such as rugged mountain path, common is simple
Movable spherical robot be unfavorable for practical application, therefore, it is proposed to spherical variable born of the same parents robot concept, it can be according to not
Same environment carries out Morphology, improves adaptability of the robot to environment.
For the current situation of current spherical fighter toy, have concurrently to roll and largely stop with the robot of bionic walking
Stay in conceptual phase.Its reason is briefly summarized as follows：(1) ball shape robot is a kind of newer mobile robot form,
Correlation technique is still in conceptual phase, and type of drive, control technology all have much room for improvement, (2) ball shape robot and legged type robot
Larger difference in structure be present, it is difficult to still preserve the advantages of respective after bonding.Therefore it is a kind of can well take into account it is more
The robot of kind locomitivity, it will it is very strong as adaptability, in all practical mobile vehicle of various environment.
The research of current spherical variable born of the same parents robot is more, Application No. CN201310683706.8 Chinese utility model
Patent, the strong transformable robot of a kind of wide adaptation range, autgmentability is described, it can drive outside six by central gear
Individual gear realizes deformation, but must have higher Gear Processing and installation accuracy, and it is existing that de- tooth, stuck etc. otherwise easily occurs
As its six sufficient structure is divided into spaced two groups, and sufficient formula walking can have both been realized by alternating movement between foot, also can be by limb
Body swing contact with ground caused by holding power realize rolling, but its rolling movement speed is relatively low, and control difficulty is big；Application
Number Chinese utility model patent for being CN201310476310.6, is described a kind of by spherical shell module, foot module, driving
The robot with rolling and sufficient formula walking function of module, counterweight module and additional function modules composition, the utility model
The fast scroll ability of spherical morphology is merged in mechanical structure, and the complicated landform of bionical more limbs walkings adapts to energy
Power, but it carrys out walking by four-footed, because swing angle is small, movement velocity is slow, obstacle climbing ability is low, and environmental suitability is poor；Shen
Please number Chinese utility model patent for being CN201410546977.3, describe and a kind of be made up of flight module and walking module
Based on become born of the same parents' principle air-ground amphibious spherical Bian Bao robots, flight module by worm and gear it is motor-driven be arranged symmetrically four
Set linkage realizes the autonomous folding of frame, so as to adapt to robot in spherical not deformed, terrestrial and empty three kinds of states of dwelling
Under the difference of its structure is required, quadruped robot of its walking module based on 8 frees degree, sufficient formula state motion speed is slow, more
Barrier ability is low；Application No. CN201410223732.7 Chinese utility model patent, one kind is described by both sides 8 to spherical balls
Foot, 8 pairs of ball foot linkages, two ball foot drive mechanisms and a central spherical wheel frame and a central pendulum mechanism group
Into fast steering ball shape robot, its is simple in construction, and drive device is by two high pulling torque steering wheels and a brushless electric unit
Into, roll by central pendulum mechanism change center of gravity driving, speed is relatively fast, turns to and passes through 8 pairs of sphere connecting rods by two steering wheels
8 pairs of spheres of driving are completed enough, are turned to steadily, flexibly, but can only adapt to opposed flattened landform.
The material object of current spherical variable born of the same parents robot also has, as Norway engineer Zenta is practical using free time
The spherical fighter toys of Morphex of new making, have had been developed for three generations at present, and they are deformed by center steering wheel
Master gear is driven to drive the external gear rotation fixed with six legs to realize simultaneously, with six legs of a servos control, therefore steering wheel
Moment of torsion it is sufficiently large, while the processing and installation precision of gear also will height, otherwise easily occur de- tooth, it is stuck phenomena such as.Again
The Sun Zhangjun of such as Beijing Institute of Technology proposes a kind of with ball state, turbofan wheel state and the change for taking turns three kinds of basic exercise forms of state
Constructed machine people, the robot has the characteristics that mobility strong, protective are good, but is primarily adapted for use in smooth landform, and
Motion has bounce during turbofan wheel state.
Utility model content
For the disadvantages described above or Improvement requirement of prior art, the utility model provides a kind of spherical Bian Bao robots,
By the setting of support frame, telescopic component, upper limbs component and lower limb modular construction, thus solve ball shape robot foot formula and rolling
The technical problem that dynamic two kinds of motions are realized simultaneously.
To achieve the above object, according to one side of the present utility model, there is provided a kind of spherical Bian Bao robots, the machine
Device people includes support frame, telescopic component, multiple upper limbs components and lower limb component, it is characterised in that
The support frame includes discoid support platform, upper guide plate and lower guide plate according to this by upper under, on this
Guide-rail plate and lower guide plate are evenly arranged with multiple tracks flexed outward in a circumferential direction, in addition, the upper guide plate is with
Multiple main rudder machines are provided between guide-rail plate, the main rudder machine is connected with gear drive；
The telescopic component includes upper swivel mount and lower swivel mount, is respectively arranged with this on swivel mount and lower swivel mount more
Individual upper expansion link and lower expansion link, each expansion link are connected with the respective track respectively, the main servo driving institute
Gear drive is stated, so as to drive the upper swivel mount to rotate, so that the upper expansion link and lower expansion link edge respectively
The track motion；
The upper limbs component includes the first steering wheel, the first rotary shaft, support, the second steering wheel, the second rotary shaft and upper spherical shell,
First steering wheel connects and composes the first joint by the first rotary shaft and support, and support is around described described in first servo driving
First rotary shaft moves up and down, and second steering wheel connects and composes second joint by the second rotary shaft and upper spherical shell, and this second
Upper spherical shell rotates around second rotary shaft described in servo driving, in addition, first steering wheel is connected with the support platform, uses
It is fixed in by the upper limbs component in the support frame；
The lower limb component includes the 3rd steering wheel, tiltedly U-shaped support, the 4th steering wheel, bow and lower spherical shell, the 3rd rudder
Machine upper end is fixed on the upper expansion link by the steering wheel disk of the steering wheel, and its lower end is fixed on the lower expansion link, described
One end of oblique U-shaped support is fixed on the 3rd steering wheel, the 3rd steering wheel, the tiltedly rudder of U-shaped support and the 4th steering wheel
Machine disk forms the 3rd joint, and the 3rd steering wheel and oblique U-shaped support move around the steering wheel disk of the 3rd steering wheel, described tiltedly U-shaped
The other end of support is connected with the 4th steering wheel and forms the 4th joint, and the 4th steering wheel passes through the bow and the lower ball
Shell connects, and lower spherical shell moves up and down around the 4th rotary shaft described in the 4th servo driving.
It is further preferred that the upper limbs component count is three, the quantity of lower limb component is six.
To mitigate overall weight, it is contemplated that lower limb component is only used in sufficient formula walking, therefore should be set about from upper limbs component.Common
The quantity of lower limb is more in legged type robot exists with even number, and biped, four-footed, six foots and eight foots etc., sufficient number is very few to be not easy to keep
Balance, sufficient number then control difficulty big too much, it is contemplated that practical application place and laboratory research basis preferably six foots, upper limbs master
Will be used for coat first half spheroid and rolling movement, due to lower limb quantity be six, it is ensured that and lower extremity movement coordinate, show and
The quantity for being clear to upper limbs is three, meanwhile, emulate and experiment proves that this design can be very good to complete rolling and the walking of sufficient formula.
It is further preferred that between the support platform and upper guide plate using support bar connect, the upper guide plate and
Connected between lower guide plate using supporting plate.
The design of support bar is to fix support platform and ensure the activity space of upper limbs.Due to the inside branch of robot
The structure design of support frame frame and telescopic component, the size for containing sphere is defined, support bar is highly too low, and upper limbs is trailing
When sphere and internal mechanism will collide.The arch design of supporting plate is to connect lower guide plate, is given steady enough
Fixed support, ensure to influence to move because deformation is too big during the track motion of telescopic component edge thereon.Both carry in design
Gao Liao robots mass motion performance.
It is further preferred that the upper swivel mount and lower swivel mount, pass through branch respectively between upper expansion link and lower expansion link
Strut is fixedly connected so that upper expansion link and lower expansion link are synchronized with the movement.
The design of support bar is due to that all change born of the same parents action needs swivel mount to rotate 100 ° for completion, and support bar is passed through and carried
The structure upper guide plate of three spokes, therefore number is preferably three, it will excessively influence to move, the very few swivel mount that will not ensure that
It is stable.The design of support bar is the Reducing distortion in order to reduce the amount of deflection of expansion link, ensures the exercise performance of mechanism.Equally, both
Design all improves robot mass motion performance.
It is further preferred that between second steering wheel and the upper spherical shell, divide between the 4th steering wheel and lower spherical shell
Upper the sphere connection sheet and lower peripheral surface connection sheet of arc are not provided with, are bonded for upper and lower spherical shell inner surface.
The design of upper and lower sphere connection sheet be in order to be connected planar part and spherical parts, avoid simple sphere and
Plane is mounted directly inconvenient and not firm.This designs the reliability for improving connection.
It is further preferred that the bottom of the bow is provided with foot pad, spherical Bian Bao robots are in ground running, institute
Foot pad is stated to be used to contact with ground.
The design of foot pad is for increasing friction force, prevents from skidding, and the material of foot pad is abrasive rubber, and can extend makes
With the life-span, and fixed with bolt, convenient installation is changed.This designs the sufficient formula exercise performance for improving robot, improves lower limb
The reliability of component.
It is further preferred that the upper guide plate and lower guide plate are internally provided with steering wheel support frame, it is described for placing
Main rudder machine, connected between steering wheel upper guide plate and steering wheel support frame using support bar.
The design of steering wheel support frame is to fix main rudder machine and connection upper guide plate, and it designs the installation for considering steering wheel
Size.The structure instead of three multi-functional steering wheel supports and its attachment means, alleviates overall weight, improves robot
Mass motion performance.
It is further preferred that connected respectively by flange bearing between the upper and lower rails plate and the upper and lower expansion link
Connect.
The design of flange bearing connection is for the coefficient of friction between support telescopic bar and reduction and guide rail.This design is prolonged
The life-span of upper and lower rails plate has been grown, has improved the reliability of telescopic component.
It is further preferred that the battery fixed by fixed plate is additionally provided with below the lower guide plate.
Battery is placed on bottom, reduces overall center of gravity of the robot during walking movement.The design increases machine
The stability of device people, improve the sufficient formula exercise performance of robot.
In general, by the contemplated above technical scheme of the utility model compared with prior art, can obtain down
Row beneficial effect：
1st, the utility model using less driving force just center of gravity can occur larger by using light-weight design
Displacement, so caused rolling movement speed is relatively fast；The direction for changing centre-of gravity shift is the rolling that different directions can be achieved,
And the sequencing for changing the upper and lower extremities swing that direction need to only be divided into three groups by control is realized, so control is relatively easy；
2nd, ball shape robot provided by the utility model is six foots, using triped gait come walking, as a result of flexible
Component so that the swing angle of lower limb greatly improves, and the weight of itself due to light-weight design it is relatively light, therefore sufficient formula move
Speed is improved, obstacle climbing ability realizes raising, environmental suitability enhancing；
3rd, ball shape robot provided by the utility model is due to the lifting of obstacle climbing ability, therefore is adapted to relatively rugged ground
Shape；
4th, the utility model makes respectively by the angle that sphere and lower peripheral surface are stretched out in steering wheel continuous control of second and the 4th
Robot keeps being in close contact with ground so that rolling movement is more smooth, avoids the fixation curved-surface structure of turbofan wheel state, makes
Obtain robot intermittent contact ground and produce bounce.
Brief description of the drawings
Fig. 1 is shown according to the ambulatory status structure of the spherical Bian Bao robots constructed by preferred embodiment of the present utility model
It is intended to；
Fig. 2 is according to the spherical Bian Bao robots ambulatory status upward view constructed by preferred embodiment of the present utility model；
Fig. 3 is according to the spherical Bian Bao robots rolling condition structural representation constructed by preferred embodiment of the present utility model
Figure；
Fig. 4 is according to the spherical Bian Bao robots support frame constructed by preferred embodiment of the present utility model and flexible group
The structural representation of part；
Fig. 5 is according to the spherical Bian Bao robots telescopic component extended configuration constructed by preferred embodiment of the present utility model
Structural representation；
Fig. 6 is according to the spherical Bian Bao robots telescopic component contraction state constructed by preferred embodiment of the present utility model
Structural representation；
Fig. 7 is according to the spherical Bian Bao robots support frame internal structure constructed by preferred embodiment of the present utility model
Schematic diagram；
Fig. 8 is according to the spherical Bian Bao robots support frame structure main view constructed by preferred embodiment of the present utility model
Figure；
Fig. 9 is illustrated according to the spherical change born of the same parents robot lower limb modular construction constructed by preferred embodiment of the present utility model
Figure；
Figure 10 is shown according to the spherical Bian Bao robots upper limbs modular construction constructed by preferred embodiment of the present utility model
It is intended to.
In all of the figs, identical reference is used for representing identical element or structure, wherein：
The multi-functional steering wheel support 14- upper guide plates 15- lower guide plates of 11- support platform 12- steering wheel support frames 13-
Stretched on 16- main rudder machine 17- gear drive 18- support bar 19- supporting plates 21- under swivel mount 22- on swivel mount 23-
The first rotary shafts of the first steering wheels of expansion link 31- 32- 33- supports 34- the second steering wheel the second rotary shafts of 35- under contracting bar 24-
The oblique U-shaped steering wheel 44- bows 45- of support 43- the 4th of the steering wheel 42- of spherical shell 41- the 3rd on the upper sphere connection sheet 37- of 36-
Lower spherical shell 46- steering wheels disk 47- foot pads 48- lower peripheral surface connection sheet 50- fixed plate 51- batteries
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only explaining
The utility model, it is not used to limit the utility model.In addition, institute in each embodiment of the utility model disclosed below
As long as the technical characteristic being related to does not form conflict each other, can is mutually combined.
Fig. 1 is shown according to the ambulatory status structure of the spherical Bian Bao robots constructed by preferred embodiment of the present utility model
It is intended to, as shown in figure 1, further illustrating the utility model below in conjunction with the structure of six football deformation born of the same parents robots, this is spherical
Bian Bao robots include support frame, telescopic component, upper limbs component and lower limb component, and its concrete structure is as follows：
Support frame is divided into three layers, and the superiors are support platform 11, intermediate layer is upper guide plate 14, and orlop is lower guideway
Plate 15, connected between support platform and upper guide plate by support bar 18, pass through supporting plate between upper guide plate and lower guide plate
19 are connected, and six tracks, upper guide plate 14 and lower guide plate 15 are respectively provided with upper guide plate and lower guide plate excircle
Steering wheel support frame 12 is internally provided with, three main rudder machines 16, the circular steering wheel disk of three main rudder machines are fixed with steering wheel support frame
46 tops are provided with little gear, and little gear engages with master gear, form gear drive 17, the lower section of steering wheel support frame is also
The fixed plate 50 of the connection of support bar 18 and fixed battery 51 are provided with, the battery is lithium battery；
Telescopic component includes upper swivel mount 21 and lower swivel mount 22, and being evenly arranged with six respectively on upper and lower swivel plate stretches
Contracting bar, each expansion link are connected with corresponding track by flange bearing respectively, upper and lower swivel mount, are divided between upper and lower expansion link
Do not connected by support bar 18, master gear is connected with upper swivel mount, and main rudder machine 16 drives circular steering wheel disk 46 to rotate, and passes through gear
Transmission mechanism 17 drives upper expansion link 23 to rotate, and then causes orbital direction of the expansion link along upper and lower rails to carry out stretching motion；
Upper limbs component includes the first steering wheel 31, the first rotary shaft 32, support 33, the second steering wheel 34, the and of the second rotary shaft 35
Upper spherical shell 37, the first steering wheel connect and compose the first joint by the first rotary shaft and support, and the first servo driving support is around first
Rotary shaft moves up and down, and the second steering wheel connects and composes second joint by the second rotary shaft and upper spherical shell, on the second servo driving
Spherical shell rotates around the second rotary shaft, in addition, the first steering wheel is connected with support platform 11, for upper limbs component to be fixed on into carriage
On frame, sphere connection sheet 36 is provided between the second steering wheel and upper spherical shell, sphere connection sheet upper surface is curved, for
Spherical shell inner surface is bonded；
Lower limb component includes the 3rd steering wheel 41, tiltedly U-shaped support 42, the 4th steering wheel 43, bow 44 and lower spherical shell 45, the
Three steering wheel upper ends are fixed on upper expansion link 23 by the circular steering wheel disk 46 of steering wheel, and its lower end is fixed on lower expansion link 24,
One end of oblique U-shaped support is fixed on the 3rd steering wheel, and the 3rd steering wheel, the tiltedly circular steering wheel disk of U-shaped support and the 4th steering wheel are formed
3rd joint, the 3rd steering wheel and oblique U-shaped support move around the circular steering wheel disk of the 3rd steering wheel, the other end of oblique U-shaped support and the
Four steering wheels are connected and form the 4th joint, and the 4th steering wheel is connected by bow with lower spherical shell, under the 4th servo driving spherical shell around
4th rotary shaft moves up and down, and the bottom of bow is provided with foot pad 47, ball shape robot in ground running, foot pad be used for
Ground contacts.Lower peripheral surface connection sheet 48 is provided between 4th steering wheel and lower spherical shell, sphere connection sheet upper surface is curved, is used for
It is bonded with lower spherical shell inner surface.
Fig. 2 be according to the spherical Bian Bao robots ambulatory status upward view constructed by preferred embodiment of the present utility model,
As shown in Fig. 2 the symmetrical of robot cross section can be shown, make center of gravity on axis.Two lower spherical shells corresponding one
Individual upper spherical shell, an action group can be merged into rolling movement.
Fig. 3 is according to the spherical Bian Bao robots rolling condition structural representation constructed by preferred embodiment of the present utility model
Figure, as shown in figure 3, spherical shell opens 5 ° laterally up and down, ensure there is larger contact area with ground, it is not easy to topple over.Upper strata
Sufficient mechanism and corresponding foot mechanism of Liang Ge lower floors are an elemental motion group, and reality is gone in the execution of the action cycle property of three action groups
Existing a certain specific function.Cardinal principle is the position of centre of gravity that left and right sides foot alternately changes robot with pedaling, and pedals ground by control
Sequencing, make center of gravity all around deflection come realize forward, backward, turn left and turn right rolling, by control pedal ground
Frequency realizes feed speed control.
Fig. 4 is according to the spherical Bian Bao robots support frame constructed by preferred embodiment of the present utility model and flexible group
The structural representation of part, change born of the same parents' swivel mount is driven to cause expansion link along guide rail as shown in figure 4, combination gear driving becomes born of the same parents' gear
Motion, rotation is converted to linear motion and realizes change born of the same parents.The bearing with end cover of mobile vice division chief can reduce friction, increase making for robot
Use the life-span.
Fig. 5 is according to the spherical Bian Bao robots telescopic component extended configuration constructed by preferred embodiment of the present utility model
Structural representation, as shown in figure 5, contraction pole moves to farthest by drives edge guide rail, now the center of gravity of robot is minimum, three
The triangle that lower floor is surrounded enough is maximum, stands the most stable when moving.
Fig. 6 is according to the spherical Bian Bao robots telescopic component contraction state constructed by preferred embodiment of the present utility model
Structural representation, as shown in fig. 6, contraction pole is punctured into one, the volume of ball shape robot when can reduce closure state, mitigate whole
Body weight.
Fig. 7 is according to the spherical Bian Bao robots support frame internal structure constructed by preferred embodiment of the present utility model
Schematic diagram, as shown in fig. 7, sufficiently make use of symmetric design, and the mechanism of all geo-stationaries is fixed together, increase
The stability of mechanism.
Fig. 8 is according to the spherical Bian Bao robots support frame structure main view constructed by preferred embodiment of the present utility model
Figure, as shown in figure 8, in the vertical direction also on the premise of kinematic dexterity is ensured, also reduces space as far as possible.
Fig. 9 is illustrated according to the spherical change born of the same parents robot lower limb modular construction constructed by preferred embodiment of the present utility model
Figure, as shown in figure 9, having imitated the leg structure design of six sufficient reptile of two joint, it can realize that walking is walked with triped gait.Arc
The arcuate structure of bar ensure that to be brought into close contact with sphere, and middle lightening hole alleviates weight.
Figure 10 is shown according to the spherical Bian Bao robots upper limbs modular construction constructed by preferred embodiment of the present utility model
It is intended to, as shown in Figure 10, three upper strata foot mechanisms are symmetrically installed in the foot support platform of upper strata so that center of gravity is located at interposition
Put.The coupling part design and the design of six lightening holes of support platform, structure is ensure that while weight is alleviated
Intensity.
The utility model can be used for the rugged roads in easy flights for being less than 5 centimetres in 30 degree of smooth-riding surface and obstacle height
Face.Because the robot becomes, born of the same parents are reliable and stable, in light weight, can be used for carrying the task that the rate that runs succeeded requires higher, again
, can be as the isagogics platform of ball shape robot fan due to simple in construction and easy to control.
As it will be easily appreciated by one skilled in the art that preferred embodiment of the present utility model is the foregoing is only, not
To limit the utility model, any modification of all made within spirit of the present utility model and principle, equivalent substitution and change
Enter, should be included within the scope of protection of the utility model.
Claims (9)
1. a kind of spherical Bian Bao robots, the robot includes support frame, telescopic component, multiple upper limbs components and lower limb group
Part, it is characterised in that
The support frame includes discoid support platform (11), upper guide plate (14) and lower guide plate according to this by upper under
(15), the upper guide plate and lower guide plate are evenly arranged with multiple tracks flexed outward in a circumferential direction, in addition, being led on this
Multiple main rudder machines (16) are provided between rail plate and lower guide plate, the main rudder machine is connected with gear drive (17)；
The telescopic component includes upper swivel mount (21) and lower swivel mount (22), is set respectively on swivel mount and lower swivel mount on this
There are multiple upper expansion links (23) and lower expansion link (24), each expansion link is connected with the respective track respectively；
The upper limbs component includes the first steering wheel (31), the first rotary shaft (32), support (33), the second steering wheel (34), the second rotation
Rotating shaft (35) and upper spherical shell (37), first steering wheel (31) connect and compose first by the first rotary shaft (32) and support (33)
Joint, support moves up and down around first rotary shaft described in first servo driving, and second steering wheel (34) passes through second
Rotary shaft (35) is connected (37) with upper spherical shell and forms second joint, and upper spherical shell is around the described second rotation described in second servo driving
Axle rotates, in addition, first steering wheel (31) is connected with the support platform (11), it is described for the upper limbs component to be fixed on
In support frame；
The lower limb component includes the 3rd steering wheel (41), tiltedly U-shaped support (42), the 4th steering wheel (43), bow (44) and lower ball
Shell (45), the 3rd steering wheel upper end are fixed on the upper expansion link (23) by the steering wheel disk (46) of the steering wheel, its lower end
It is fixed on the lower expansion link (24), one end of the tiltedly U-shaped support (42) is fixed on the 3rd steering wheel (41), described
The steering wheel disk (46) of 3rd steering wheel, tiltedly U-shaped support and the 4th steering wheel forms the 3rd joint, the 3rd steering wheel (41) and oblique
U-shaped support (42) is moved around the steering wheel disk (46) of the 3rd steering wheel, the other end and the described 4th of the tiltedly U-shaped support (42)
Steering wheel is connected and forms the 4th joint, and the 4th steering wheel is connected by the bow (44) with the lower spherical shell (45), and the 4th
Lower spherical shell moves up and down around the 4th rotary shaft described in servo driving.
2. a kind of spherical Bian Bao robots as claimed in claim 1, it is characterised in that the upper limbs component count is preferably three
Individual, the quantity of lower limb component is preferably six.
A kind of 3. spherical Bian Bao robots as claimed in claim 1 or 2, it is characterised in that the support platform (11) and upper
Connected between guide-rail plate (14) using support bar (18), between the upper guide plate and lower guide plate using supporting plate (19) even
Connect.
4. a kind of spherical Bian Bao robots as claimed in claim 1, it is characterised in that the upper swivel mount (21) and lower rotation
Frame (22), it is fixedly connected respectively by support bar (18) between upper expansion link (23) and lower expansion link (24) so that upper expansion link
It is synchronized with the movement with lower expansion link.
5. a kind of spherical Bian Bao robots as claimed in claim 1, it is characterised in that second steering wheel and the upper spherical shell
Between, upper sphere connection sheet (36) and the lower peripheral surface connection sheet of arc are respectively arranged between the 4th steering wheel and lower spherical shell
(48), it is bonded for upper and lower spherical shell inner surface.
6. a kind of spherical Bian Bao robots as claimed in claim 1, it is characterised in that the bottom of the bow is provided with foot
Pad (47), in ground running, the foot pad is used to contact with ground for spherical Bian Bao robots.
7. a kind of spherical Bian Bao robots as claimed in claim 1, it is characterised in that in the upper guide plate and lower guide plate
Portion is respectively arranged with steering wheel support frame (12), for placing the main rudder machine (16), is adopted between steering wheel support frame and upper guide plate
Connected with support bar (18).
A kind of 8. spherical Bian Bao robots as claimed in claim 1, it is characterised in that the upper and lower rails plate with it is described it is upper,
Connected respectively by flange bearing between lower expansion link.
9. a kind of spherical Bian Bao robots as claimed in claim 1, it is characterised in that also set up below the lower guide plate
Have by the fixed battery (51) of fixed plate (50).
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| CN201720818138.1U CN207045490U (en) | 2017-07-07 | 2017-07-07 | A kind of spherical Bian Bao robots |
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| CN108583718A (en) * | 2018-04-28 | 2018-09-28 | 燕山大学 | Eight Zu Bian born of the same parents robot of Magic cube type |
| CN108608408A (en) * | 2018-04-28 | 2018-10-02 | 南京理工大学 | A kind of bionical jellyfish robot of multiple degrees of freedom |
| CN108891497A (en) * | 2018-07-08 | 2018-11-27 | 胡俊 | A kind of offroad vehicle device based on propeller variable motion diameter |
| CN109050699A (en) * | 2018-08-09 | 2018-12-21 | 嘉兴学院 | A kind of changeable constructed machine people system |
| CN109909981A (en) * | 2019-04-22 | 2019-06-21 | 滨州学院 | Spherical protective device |
| CN110576917A (en) * | 2019-08-23 | 2019-12-17 | 河海大学常州校区 | Bionic eight-foot robot capable of rolling |
| CN112775988A (en) * | 2021-01-06 | 2021-05-11 | 武汉理工大学 | Spherical robot |
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