CN207311645U - Double mode spherical robot mechanism - Google Patents
Double mode spherical robot mechanism Download PDFInfo
- Publication number
- CN207311645U CN207311645U CN201721379627.8U CN201721379627U CN207311645U CN 207311645 U CN207311645 U CN 207311645U CN 201721379627 U CN201721379627 U CN 201721379627U CN 207311645 U CN207311645 U CN 207311645U
- Authority
- CN
- China
- Prior art keywords
- spherical shell
- grating scale
- clump weight
- outer spherical
- shell
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
- 206010018325 Congenital glaucomas Diseases 0.000 claims abstract description 5
- 206010012565 Developmental glaucoma Diseases 0.000 claims abstract description 5
- 208000007157 Hydrophthalmos Diseases 0.000 claims abstract description 5
- 201000001024 buphthalmos Diseases 0.000 claims abstract description 5
- 238000005096 rolling process Methods 0.000 claims abstract description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 8
- 230000005484 gravity Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- UDGUGZTYGWUUSG-UHFFFAOYSA-N 4-[4-[[2,5-dimethoxy-4-[(4-nitrophenyl)diazenyl]phenyl]diazenyl]-n-methylanilino]butanoic acid Chemical compound COC=1C=C(N=NC=2C=CC(=CC=2)N(C)CCCC(O)=O)C(OC)=CC=1N=NC1=CC=C([N+]([O-])=O)C=C1 UDGUGZTYGWUUSG-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
- Toys (AREA)
Abstract
The utility model discloses a kind of double mode spherical robot mechanism, including outer spherical shell and outer spherical shell hoofing part element, outer spherical shell hoofing part element includes being arranged on spherical shell in three orthogonal single omni-directional wheels in the upper and lower hemispherical Shell of outer spherical shell and half, it is in rolling contact in half between spherical shell and outer spherical shell by buphthalmos wheel, three single omni-directional wheels are installed in support plate by corresponding wheel carrier and are equipped with the stepper motor of the corresponding single omni-directional wheel of driving with the interior spherical shell face CONTACT WITH FRICTION of outer spherical shell, each wheel carrier；Vertical central axis line in half in spherical shell is equipped with grating scale, clump weight is arranged with grating scale, for clump weight by rack pinion pair in making lifting moving on grating scale, clump weight, which is equipped with, senses the reading head that grating scale is overlapped or deviateed to detect barycenter with the centre of sphere.The utility model adjusts centroid position, it can be achieved that any switching laws of high speed rotor pattern and low speed eccentric mass pattern, make ball shape robot faster more be accurate to up to target location by actual conditions.
Description
Technical field
Spherical robot mechanism is the utility model is related to, is specially a kind of double mode spherical robot mechanism.
Background technology
Ball shape robot can be turned to more delicately than other motion modes, and spherical device can adjust operating status rapidly, into
Row continuous work, has very strong recovery capability.
Different according to driving principle, the type of drive of ball shape robot has two kinds of driving methods at present, the first is eccentric
Quality driving method, second is rotor driving method.
In the ball shape robot using the driving of eccentric mass method, more representational is that BJ University of Aeronautics ＆ Astronautics grinds
The ball shape robot BHQ-2 of system, it produces eccentric moment and overcomes and rubs by constantly adjusting and changing the position of centre of gravity of robot
Wiping the moment of resistance rolls robot；Similar, the ball shape robot BYQ-III that Beijing University of Post ＆ Telecommunication develops, it can be by interior
Portion mechanism produces eccentric moment around the rotation of trunnion axis makes robot scroll forward and backward.
The ball shape robot of eccentric mass method driving can accurately reach target location, but if start position is from target
When position is remote, since the type of drive is suitable for low-speed motion, the time it takes is more, and efficiency can reduce.
In the ball shape robot using the driving of rotor method, more representational is the complete right of Shanghai Communications University's development
Claim ball shape robot, it is the movement that ball shape robot is realized in rotating forward, reversion and start-stop by adjusting two motors respectively.
Rotor driving method is suitable for high-speed rotation, it is ensured that ball shape robot is quickly reached near target location, effect
Rate is high, but is easily interfered, and the stability of anchor point is poor, thus is not easy precisely to reach target location.
Existing ball shape robot can realize eccentric mass drive pattern or rotor drive pattern one of which at present, this two
Any switching laws are not implemented in kind pattern, thus are not easy to realize quick and accurate arrival target location at the same time.
Utility model content
In view of the deficiencies of the prior art, technical problem to be solved in the utility model is to propose a kind of can be achieved at a high speed
The double mode spherical robot mechanism that rotor pattern mutually switches with low speed eccentric massblock pattern.
The double mode spherical robot mechanism of above-mentioned technical problem can be solved, its technical solution includes outer spherical shell and sets
In the outer spherical shell hoofing part element in outer spherical shell, except that the outer spherical shell hoofing part element is included with one heart arranged on outer
In spherical shell lower hemisphere shell half in spherical shell and arranged on three uniformly distributed orthogonal single omni-directional wheels of outer spherical shell upper hemispherical shell inner periphery,
It is in rolling contact in described half between spherical shell and outer spherical shell by uniformly distributed buphthalmos wheel, three single omni-directional wheels are pacified by corresponding wheel carrier
Loaded in the support plate at the top of half interior spherical shell and corresponding single equipped with driving with the interior spherical shell face CONTACT WITH FRICTION of outer spherical shell, each wheel carrier
Arrange the stepper motor of omni-directional wheel and the encoder of the corresponding single omni-directional wheel rotary state of detection；It is vertical in spherical shell in described half
Central axes are equipped with grating scale, the clump weight that barycenter is on half interior spherical shell central axes are arranged with the grating scale, two match somebody with somebody
Pouring weight makees lifting moving by rack pinion pair on grating scale, and the clump weight is equipped with sensing grating scale and is matched somebody with somebody with detecting
The reading head that pouring weight barycenter is overlapped or deviateed with the centre of sphere.
Further, the rack pinion is secondary includes being arranged on grating scale left surface or rack and and rack on right flank
Meshed gears, two clump weights correspond to gear and are installed on arranged on the front side of grating scale and rear side, the wheel shaft both ends of the gear
In forward and backward clump weight medial surface, the reading head is arranged on the medial surface of front or rear clump weight, the lateral surface of forward and backward clump weight
The servomotor of synchronous drive gear both ends wheel shaft and the short supporting axle that shape, quality are identical with servomotor are equipped with, it is described
Servomotor and short supporting axle are installed on the forward and backward frame plate of frame, the right side of frame or the right side or left side of light frame plate and grating scale
Guiding sliding pair of vertical is formed between face.
Further, the lower end of the grating scale is installed on the bottom of spherical shell in half, and the upper end of grating scale passes through support plate
Port be connected with the supporting rack above three single omni-directional wheels, three heel braces of support frame as described above are respectively arranged in corresponding wheel
On frame.
Further, the port is opened in the hemispherical top of the trellis to arch upward in support plate center, and each wheel carrier is taken turns by corresponding
Seat is installed on the correspondence position of hemispherical frame.
To ensure the stability under ball shape robot halted state, the half interior spherical shell is equipped with when ball shape robot stops
When clump weight is moved downward to the reset switch of extreme lower position.
The beneficial effects of the utility model：
1st, the utility model is adjusted up by clump weight, when spherical shell in ball shape robot barycenter and outer spherical shell and half
When the centre of sphere overlaps, ball shape robot is in high speed rotor pattern, it is achieved thereby that ball shape robot high-speed motion, can quickly reach
Near target location.
2nd, the utility model is adjusted by the downward of clump weight, when spherical shell in ball shape robot barycenter and outer spherical shell and half
When the centre of sphere deviates, ball shape robot is in low speed eccentric massblock pattern, and the biasing of barycenter can be such that spherical shell in half makees in gravity
With the swing of lower generation angle very little, so as to fulfill the low-speed motion of ball shape robot, ball shape robot is set more accurately to arrive
Up to target location.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram of embodiment of the utility model.
Fig. 2 is the cut-away view of Fig. 1 embodiments.
Fig. 3 is the sectional view of Fig. 1 embodiments.
Fig. 4 is the A direction views of Fig. 3.
Figure number identifies：1st, outer spherical shell；2nd, half interior spherical shell；3rd, single omni-directional wheel；4th, wheel carrier；5th, support plate；6th, encoder；7、
Grating scale；8th, clump weight；9th, reading head；10th, buphthalmos wheel；11st, stepper motor；12nd, rack；13rd, gear；14th, servomotor；
15th, frame；16th, supporting rack；17th, hemispherical frame；18th, reset switch；19th, short supporting axle.
Embodiment
Illustrated embodiment is described further the technical solution of the utility model below in conjunction with the accompanying drawings.
The utility model double mode spherical robot mechanism, its structure include outer spherical shell 1, half interior spherical shell 2 and outer spherical shell row
Walk driving element and centroid adjustment component.
Spherical shell 2 is arranged in the lower hemisphere shell of outer spherical shell 1 with one heart in described half, uniformly distributed more in the ectosphere shell surface of spherical shell 2 in half
A buphthalmos wheel so that roll connection in half between spherical shell 2 and outer spherical shell 1, spherical shell 2 is suitable for reading covered with annular backup pad 5 in half,
The hemispherical frame 17 of arch is equipped with the center ring hole of the support plate 5, the top of the hemispherical frame 17 offers port, such as
Shown in Fig. 1, Fig. 2, Fig. 3.
The outer spherical shell hoofing part element includes being evenly distributed with three (in horizontal plane) arranged on outer 1 upper hemispherical shell inner periphery of spherical shell
A single omni-directional wheel 3, three single omni-directional wheels 3 installed by corresponding wheel carrier 4 and with the interior spherical shell face CONTACT WITH FRICTION of outer spherical shell 1,
Each wheel carrier 4 is installed by corresponding wheel seat on the correspondence position of hemispherical frame 17, orthogonal i.e. three lists of three single omni-directional wheels 3
The centre of gyration line of row's omni-directional wheel 3 intersects at a point upwards, which is on vertical centre of sphere axis, and each wheel carrier 4, which is equipped with, to be driven
The encoder 6 of the stepper motor 11 of dynamic corresponding single omni-directional wheel 3 and corresponding single 3 rotary state of omni-directional wheel of detection, as Fig. 1,
Shown in Fig. 2, Fig. 3.
The centroid adjustment component includes grating scale 7 and clump weight 8 and reading head 9, and the grating scale 7 is arranged on outer vertically
Spherical shell 2 is interior in the upper hemispherical shell of spherical shell 1 and half and is in vertical support plate 5 and crosses on the axis of the centre of sphere, the bottom of the grating scale 7
Portion is fixedly installed in the bottom of spherical shell 2 in half, and the middle part of grating scale 7 passes through the port of hemispherical frame 17, the top peace of grating scale 7
16 bottom of supporting rack loaded on three tops of single omni-directional wheels 3, three heel braces of support frame as described above 16 are installed on pair separately down
On the wheel carrier 4 answered, what the left surface of grating scale 7 was equipped with that rack 12 engages with rack 12 is the gear on 7 left surface of grating scale
13；Two clump weights 8 correspond to gear 13 and are in right sphere mandrel arranged on the front side of grating scale 7 and rear side, the barycenter of two clump weights 8
On line, the wheel shaft both ends of the gear 13 are installed in the medial surface of forward and backward clump weight 8 by bearing respectively, the reading head 9
Opposite with side before or after grating scale 7 on the medial surface of front or rear clump weight 8, the lateral surface of forward and backward clump weight 8 is equipped with
The servomotor 14 and shape, quality of 13 one end wheel shaft of the drive gear short supporting axle 19 identical with servomotor 14, it is described to watch
Take motor 14 and short supporting axle 19 is installed on the forward and backward frame plate of frame 15, the right frame plate of frame 15 and the right flank of grating scale 7
Between form guiding sliding pair of vertical, 2 bottom of spherical shell is equipped with reset switch 18 in half by 7 bottom of grating scale, as shown in Figure 3, Figure 4.
In said structure, reading that the specific location of 8 upper and lower lifting moving of clump weight can be by reading head 9 to grating scale 7
Obtain, by reading head 9 read the specific location of clump weight 8 can calculate ball shape robot centroid position.
The utility model double mode spherical robot mechanism traveling method, including two kinds of walking manners, are respectively：
1st, clump weight 8 is moved to when making ball shape robot barycenter and centre of sphere overlapping positions, and ball shape robot can be in three lists
Arrange and quickly walk under the high speed rotation driving of omni-directional wheel 3.
2nd, clump weight 8 is moved downward to when making ball shape robot barycenter and centre of sphere eccentric position, and under the effect of gravity half
Interior spherical shell 2 can produce the swing of a low-angle, and ball shape robot is realized under the rotation driving at a slow speed of three single omni-directional wheels 3
Low-speed motion.
3rd, after ball shape robot reaches target location, starting reset switch 18 makes clump weight 8 drop to extreme lower position i.e.
Barycenter is preferably minimized, is more stablized after stopping so as to fulfill ball shape robot.
Claims (5)
1. double mode spherical robot mechanism, including outer spherical shell (1) and the outer spherical shell hoofing part member in outer spherical shell (1)
Part, it is characterised in that：The outer spherical shell hoofing part element includes being arranged on spherical shell in half in outer spherical shell (1) lower hemisphere shell with one heart
(2) and arranged on three uniformly distributed orthogonal single omni-directional wheels (3) of outer spherical shell (1) upper hemispherical shell inner periphery, the half interior spherical shell (2)
It is in rolling contact between outer spherical shell (1) by uniformly distributed buphthalmos wheel (10), three single omni-directional wheels (3) pass through corresponding wheel carrier (4)
Be installed in the support plate (5) in half at the top of spherical shell (2) and with the interior spherical shell face CONTACT WITH FRICTION of outer spherical shell (1), on each wheel carrier (4)
The volume of stepper motor (11) and corresponding single omni-directional wheel (3) rotary state of detection equipped with the corresponding single omni-directional wheel (3) of driving
Code device (6)；Vertical central axis line in described half in spherical shell (2) is equipped with grating scale (7), is arranged with the grating scale (7)
Barycenter is in the clump weight (8) on spherical shell (2) central axes in half, and two clump weights (8) are by rack pinion pair in grating scale
(7) lifting moving is made on, the clump weight (8) is equipped with sensing grating scale (7) and is overlapped to detect clump weight (8) barycenter with the centre of sphere
Or the reading head (9) deviateed.
2. double mode spherical robot mechanism according to claim 1, it is characterised in that：The secondary bag of the rack pinion
Include arranged on grating scale (7) left surface or rack (12) on right flank and with rack (12) meshed gears (13), two clump weights
(8) front side and rear side that gear (13) is arranged on grating scale (7) are corresponded to, the wheel shaft both ends of the gear (13) are installed on forward and backward
In clump weight (8) medial surface, the reading head (9) is arranged on the medial surface of front or rear clump weight (8), forward and backward clump weight (8)
Servomotor (14) and shape, quality of the lateral surface equipped with drive gear (13) one end wheel shaft are identical with servomotor (14)
Short supporting axle (19), the servomotor (14) and short supporting axle (19) are installed on the forward and backward frame plate of frame (15), frame
(15) guiding sliding pair of vertical is formed between the right side or the right side or left surface of light frame plate and grating scale (7).
3. double mode spherical robot mechanism according to claim 2, it is characterised in that：The lower end of the grating scale (7)
It is installed on the bottom of spherical shell (2) in half, the port and three single omni-directional wheels (3) of the upper end of grating scale (7) through support plate (5)
Supporting rack (16) connection of top, three heel braces of support frame as described above (16) are respectively arranged on corresponding wheel carrier (4).
4. double mode spherical robot mechanism according to claim 3, it is characterised in that：The port is opened in support plate
(5) at the top of the hemispherical frame (17) that center is arched upward, each wheel carrier (4) is installed on the correspondence position of hemispherical frame (17) by corresponding wheel seat
Put.
5. the double mode spherical robot mechanism according to any one in Claims 1 to 4, it is characterised in that：In described half
Spherical shell (2) is equipped with the reset switch (18) for making clump weight (8) be moved downward to extreme lower position when ball shape robot stops.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721379627.8U CN207311645U (en) | 2017-10-24 | 2017-10-24 | Double mode spherical robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721379627.8U CN207311645U (en) | 2017-10-24 | 2017-10-24 | Double mode spherical robot mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207311645U true CN207311645U (en) | 2018-05-04 |
Family
ID=62379072
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721379627.8U Withdrawn - After Issue CN207311645U (en) | 2017-10-24 | 2017-10-24 | Double mode spherical robot mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207311645U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107697179A (en) * | 2017-10-24 | 2018-02-16 | 桂林电子科技大学 | Double mode spherical robot mechanism and traveling method |
-
2017
- 2017-10-24 CN CN201721379627.8U patent/CN207311645U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107697179A (en) * | 2017-10-24 | 2018-02-16 | 桂林电子科技大学 | Double mode spherical robot mechanism and traveling method |
| CN107697179B (en) * | 2017-10-24 | 2023-10-27 | 桂林电子科技大学 | Dual-mode spherical robot mechanism and walking method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103645735B (en) | A kind of wheelbarrow robot realizing self-equilibrating | |
| CN107697179A (en) | Double mode spherical robot mechanism and traveling method | |
| CN105128976B (en) | A kind of drive lacking running gear and its Servo Control method | |
| CN106005337B (en) | A kind of motor-driven two joint machine fish of list | |
| CN102407890A (en) | Spherical moving device with enhanced function | |
| CN104986244B (en) | Drive lacking running gear and its control method | |
| CN203886093U (en) | Rope skipping machine | |
| CN207311645U (en) | Double mode spherical robot mechanism | |
| CN107226144A (en) | A kind of mechanical gyroscope structure ball shape robot | |
| CN106621358B (en) | Carbon-free trolley walking in shape of 8 | |
| CN202295050U (en) | Multi-locomotion stated mechanism for allowing spherical robot to realize continuous bounce | |
| CN102615649A (en) | Rolling double four-parallelogram robot | |
| CN203732988U (en) | Unicycle robot capable of achieving self balancing | |
| CN113281025A (en) | Sliding plate bridge production equipment with stability testing function | |
| CN209771262U (en) | Novel table tennis partner training device | |
| CN104960588B (en) | Spherical walking platform | |
| CN106272468B (en) | Two-freedom foldable moving robot | |
| CN206026963U (en) | Universal treadmill | |
| CN209714192U (en) | A kind of classical dance grounding overall profile training stand | |
| CN102602468B (en) | Dual-swing omni-directional moving spherical robot | |
| CN110077481A (en) | A kind of gravity robot of magnetic-field interference | |
| CN202822743U (en) | Combined motion amusement machine | |
| CN215691538U (en) | Automatic marble pitching machine that sports training used | |
| CN205885293U (en) | Make pot device that turns over that material goes on turnning in pan | |
| CN111890376B (en) | Active ball holding system of football robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180504 Effective date of abandoning: 20231027 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20180504 Effective date of abandoning: 20231027 |