CN207432245U - A kind of ball shape robot and its buffer unit - Google Patents
A kind of ball shape robot and its buffer unit Download PDFInfo
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- CN207432245U CN207432245U CN201721182871.5U CN201721182871U CN207432245U CN 207432245 U CN207432245 U CN 207432245U CN 201721182871 U CN201721182871 U CN 201721182871U CN 207432245 U CN207432245 U CN 207432245U
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- buffer unit
- ball shape
- buffering
- shape robot
- support plate
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Abstract
The utility model discloses a kind of ball shape robot and its buffer unit, the ball shape robot includes a spherical housing, the positioning column in the spherical housing, the buffer unit is arranged on the top of positioning column, and the buffer unit includes buffering stand and buffering wheel；The buffering stand includes a rack platform and the support plate for being arranged on rack platform both sides, and the fixed part of the positioning column is arranged on support plate close to the one side of rack platform, and the upper and lower side of fixed part protrudes from support plate；The outside of the buffering wheel is adapted to be obliquely installed with spherical housing inner wall shape；One side of the support plate away from rack platform is provided with the accommodation space of a hollow out, and the both sides in the space are set there are two convex block, and the buffering wheel, which is located in accommodation space and passes through a connecting shaft, to be rotatably fixed between two convex blocks.The utility model using two shapes and buffering wheel that spherical housing inner wall is adapted come into row buffering so that the movement of ball shape robot is more stable.
Description
Technical field
The utility model is related to robot field more particularly to a kind of ball shape robots and its buffer unit.
Background technology
Robot (Robot) is the installations of automated execution work, it can not only receive mankind commander, but also can run
The program of advance layout, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as the work of production industry, construction industry or danger.
The application field of robot is more and more in recent years, and the figure of robot, machine can be seen in many environment
The forms of motion of device people is also more diversified.Ball shape robot because of the closure of its structure, the ability of omnidirectional moving, will not turn on one's side
Etc. features, suitable for moist, more dirt and rugged environment.
Buffer unit is the mechanism for providing cushioning effect during the motion for ball shape robot.But existing spherical shape machine
The design of people's buffer unit is unreasonable, causes ball shape robot motion process unstable.
Therefore, the prior art has yet to be improved and developed.
Utility model content
In view of above-mentioned deficiencies of the prior art, the purpose of this utility model is to provide a kind of ball shape robot and its bufferings
Device, it is intended to which it is unreasonable to solve the design of existing ball shape robot buffer unit, leads to problems such as ball shape robot movement unstable.
The technical solution of the utility model is as follows：
A kind of buffer unit of ball shape robot, the ball shape robot include a spherical housing, positioned at described spherical outer
Positioning column in shell, the positioning column includes fixed part, through fixed part and the buffer part that extends straight down and is fixed on
The connecting portion of buffer part lower end, the peripheral side of the buffer part is arranged with spring and the upper and lower ends of spring are respectively held against fixed part
Bottom surface and connecting portion top surface, wherein, the buffer unit is arranged on the top of positioning column, and the buffer unit includes buffering
Stent and buffering wheel, buffering wheel are arranged on the both sides of buffering stand；The buffering stand includes a rack platform and is arranged on branch
The support plate of body panel both sides, the fixed part of the positioning column is arranged on support plate close to the one side of rack platform, and fixed part
Upper and lower side protrude from support plate；The outside of the buffering wheel is adapted to be obliquely installed with spherical housing inner wall shape；
One side of the support plate away from rack platform is provided with the accommodation space of a hollow out, and the both sides in the space are set
There are two convex block, the buffering wheel, which is located in accommodation space and passes through a connecting shaft, to be rotatably fixed between two convex blocks.
The buffer unit of the ball shape robot, wherein, the buffer unit is propped up by flexible gasket flexibility in ball
Shape outer casing inner wall.
The buffer unit of the ball shape robot, wherein, the flexible gasket is flexible rubber material.
The buffer unit of the ball shape robot, wherein, the bottom surface of the rack platform is higher than the top surface of support plate.
The buffer unit of the ball shape robot, wherein, the fixed part is an integral molding structure with buffering stand.
A kind of ball shape robot, wherein, including as above any one of them buffer unit.
Advantageous effect：The utility model utilizes two shapes and spherical housing inner wall by being improved to buffer unit
The buffering wheel being adapted carrys out movement to ball shape robot into row buffering, so that the movement of ball shape robot is more stable.
Description of the drawings
Fig. 1 is the positive structure diagram of the preferred embodiment of the ball-shape robot of the utility model；
Fig. 2 is the positioning column structure diagram of the preferred embodiment of the ball-shape robot of the utility model
Fig. 3 is the side structure schematic view of the preferred embodiment of the ball-shape robot of the utility model；
Fig. 4 is the inside primary structure front schematic view of the preferred embodiment of the ball-shape robot of the utility model；
Fig. 5 is the inside primary structure side schematic view of the preferred embodiment of the ball-shape robot of the utility model.
Specific embodiment
The utility model provides a kind of ball shape robot and its buffer unit, to make the purpose of this utility model, technical side
Case and effect are clearer, clear and definite, and the utility model is further described below.It should be appreciated that tool described herein
Body embodiment is only used to explain the utility model, is not used to limit the utility model.
Referring to Fig. 1, Fig. 1 is the positive structure diagram of the preferred embodiment of the ball-shape robot of the utility model, institute
Stating ball shape robot includes a spherical housing 10, the positioning column 11 in the spherical housing 10, and positioning column 11 is arranged on ball
Middle part in shape shell 10, as shown in Fig. 2, the positioning column 11 includes fixed part 111, through fixed part 111 and straight down
The buffer part 112 of extension and the connecting portion 113 for being fixed on 112 lower end of buffer part, the peripheral side of the buffer part 112 are arranged with
The upper and lower ends of spring and spring are respectively held against the bottom surface of fixed part 111 and the top surface of connecting portion 113, with reference to Fig. 3 to Fig. 5 institutes
Show, the buffer unit 13 is arranged on the top of positioning column 11 and 13 flexibility of buffer unit is propped up in 10 inner wall of spherical housing, institute
Stating buffer unit 13 includes buffering stand 131 and buffering wheel 132, and buffering wheel 132 is arranged on the both sides of buffering stand 131, described
The outside of buffering wheel 132 is adapted to be obliquely installed with 10 inner wall shape of spherical housing.
The buffering stand 131 includes a rack platform 1311 and the support plate for being arranged on 1311 both sides of rack platform
1312, the fixed part 111 of positioning column 11 is arranged on support plate 1312 close to the one side of rack platform 1311, and fixed part 111
Upper and lower side protrudes from support plate 1312.
The one side of the support plate 1312 away from rack platform 1311 is provided with the accommodation space of a hollow out.Accommodation space
Both sides are set there are two convex block, buffering wheel 133 be located at accommodation space it is interior and pass through a connecting shaft be rotatably fixed on two it is convex
Between block.
In addition, hollow out shape can also be made in the buffering wheel 133, to reduce weight, rotational efficienty is improved.
Preferably, the buffer unit 13 is propped up by flexible gasket flexibility in 10 inner wall of spherical housing, the flexible pad
Piece can be made into the shape consistent with the buffering wheel 133, i.e., wraps up the buffering wheel 133 using flexible gasket, so as to described
And ball the rotation process of buffering wheel 133 is into row buffering, it is preferred that the flexible gasket can wrap the side of buffering wheel 133, i.e.,
Bevel edge (the non-directional bevel edge, but with cambered bevel edge, radian and 10 phase of spherical housing of 10 inner wall of shape shell contact
With), so described flexible gasket forms the circular ring structure that outside is tilted shape, and the thickness of the flexible gasket can be
0.2mm~2mm, such as 0.5mm to realize optimal cushioning effect, while nor affect on the conductive process of rotation.Further,
Flexible gasket is the flexible material of rubber material, such as nitrile rubber.
The width of the buffering wheel 133 is preferably 2mm~10mm, is, for example, 8mm, to be use up with 10 inner wall of spherical housing
There may be larger contact area, while can also improve drive efficiency.The radius of the buffering wheel 133 can be 10mm~
30mm, such as 20mm can specifically be determined according to the radius of ball shape robot, such as the radius of buffering wheel 133 can be ball
The 1/4~1/2 of anthropomorphic robot radius, such as 1/3, to make ball shape robot movement more stable.
Preferably, the bottom surface of rack platform 1311 is higher than the top surface of support plate 1312.
Preferably, the limited screw that buffer part has flange cap end for one, to improve the economy of buffer part and practicability.
Preferably, fixed part is an integral molding structure with buffering stand, to facilitate processing and improve stability.
Driving device 12 and CCD camera assembly 14 are additionally provided in the spherical housing 10.
Specifically, fixed part 111 be circle ring column shape, buffer part 112 through fixed part 111 inner ring through hole and with fixation
111 movable contact of portion, and the peripheral cross-section product on the top of buffer part 112 is more than the sectional area of the inner ring through hole of fixed part 111；
The top of connecting portion 113 is flange cap end, the middle-end of connecting portion 113 be it is cylindric, the bottom of connecting portion 113 be it is convex hemispherical,
Wherein more than the peripheral side sectional area of middle-end, connecting portion 113 is integrally formed knot the top periphery lateral section product of connecting portion 113
Structure.It is, moreover, an optional that consider the /V that there is flange cap end for one in the economy and practicability of buffer part 112, buffer part 112
Screw.
Driving device 12 is arranged on the bottom of positioning column 11 and 12 flexibility of driving device is propped up in 10 inner wall of spherical housing,
Including motor box 121, the motor being arranged on inside motor box 121 124, battery case 122, the electricity being arranged on inside battery case 122
Pond 125 and driving wheel 123；Motor box 121 is located in the bottom of driving device 12, and battery case 122 is located at the top of motor box 121
Portion, driving wheel 123 are located at the both sides of motor box 121.
CCD camera assembly 14, including camera 141 and camera pcb board 142, camera 141 is arranged on buffer unit 13
Front end；Camera pcb board 142 is arranged between positioning column 11.
Wherein, camera 141 is connected with camera pcb board 142 by flexible PCB, and fixed part 111 is positioning column 11
Top, connecting portion 113 is the bottom of positioning column 11, and fixed part 111 is fixedly connected with the both sides of buffering stand 131, connecting portion
113 with the both sides grafting at the top of battery case 122.Optionally, fixed part 111 is an integral molding structure with buffering stand 131.
Specifically, the both sides at 122 top of battery case are provided with location hole, the connecting portion 113 of positioning column 11 is plugged in positioning
In hole and location hole is protruded from, and fits in the inner wall of location hole.
Optionally, driving device 12 is propped up also by flexible gasket flexibility in 10 inner wall of spherical housing, optionally, flexible
Gasket can be other flexible materials such as flexible rubber.
In the preferred embodiment, CCD camera assembly 14, which further includes a top, has the stent 143 of the first camera card slot,
Stent 143 is vertically fixed on the front top of battery case 122, and camera 141 is fixed in the first camera card slot and is located at
The front end of buffer unit 13, specifically, camera 141 sets the front of the rack platform 1311 of buffering stand 131.In order to make
Camera 141 it is more stable, optionally, stent 143 is an integral molding structure with battery case 122.
Driving wheel 123 sets a gear skeleton 1232 towards the one side of motor 124 and is fixed on outside gear skeleton 1232
The first gear 1231 of circumference, the outer circumferential sides of 124 rotation axis of motor are fixed with second gear 1241,1231 He of first gear
Second gear 1241 cooperates, in order to enable the movement of this preferred embodiment is more accurate, the peripheral side of first gear 1231
Sectional area is more than the peripheral side sectional area of second gear 1241.In this way, after second gear 1241 rotates multi-turn, first could be driven
Gear 1231 rotates a circle.
Two driving wheels 123 are rotatable through gear skeleton 1232 and to be fixed on motor by transverse axis connection and transverse axis
The top central region of box 121.
Further, since camera pcb board 142 the upper surface of can the corresponding electronic component of mounting arrangements, in order to allow electronic component
There can be enough space installations, the rear end of camera pcb board 142 is fixedly connected with the rear end of battery case 122 by connecting pole.
It is understood that this preferred embodiment, during movement, buffer unit 13 plays one to driving device 12
The effect of a stable operation, specifically, since buffer unit 13 and driving device 12 prop up the inner wall of spherical housing 10, and it is slow
Flushing device 13 passes through 11 times hydraulic drivers of positioning column 12 so that when moving, driving device 12 becomes this preferred embodiment always
In stable state.
In addition, when this preferred embodiment runs into impact or falls on the move, due to the work of the spring in positioning column 11
With, and buffer unit 13 and driving device 12 prop up the inner wall of spherical housing 10 again so that this preferred embodiment shakes in generation
When swinging, buffer unit 13 generates driving device 12 by the spring of positioning column 11 effect of a buffering, so as to avoid drive
Dynamic device 12 is impaired.
The operation principle of this preferred embodiment is：
First, open power supply and start driving device 12, the motor 124 in driving device 12 comes into operation, motor 124
Rotation axis driving second gear 1241 rotates, and second gear 1241 drives the first gear being engaged vertically with second gear 1241
1231 operatings, first gear 1231 drive driving wheel 123 to rotate；
Then, driving wheel 123 and the spherical housing 10 contacted with each other generate frictional force, so that driving wheel 123 drives
Spherical shell 10 moves in ground or water；
In the process, buffer unit 13 plays driving device 12 stable effect, on the one hand, buffer unit 13 pushes
Driving device 12 so that 12 all-the-time stable of driving device be in spherical shell 10 bottom, on the other hand, buffering wheel 133 with
Driving wheel is corresponding about 123 and is vertically arranged so that this preferred embodiment inner structural integrity tends to balance and stablizes；
Secondly, when this preferred embodiment needs to turn, two motors 124 take counter-rotational mode to rotate；
Finally, when this preferred embodiment catches the image for catching needs, just stop movement, make way for buffering stand 131
The camera 141 in 1311 front of rack platform is shot.
Buffer unit part in buffer unit, that is, foregoing teachings of ball shape robot provided by the utility model, no longer
It repeats.
It should be appreciated that the application of the utility model is not limited to above-mentioned citing, those of ordinary skill in the art are come
It says, can be improved or converted according to the above description, all these modifications and variations should all belong to the appended power of the utility model
The protection domain of profit requirement.
Claims (6)
1. a kind of buffer unit of ball shape robot, the ball shape robot includes a spherical housing, positioned at the spherical housing
Interior positioning column, the positioning column includes fixed part, through fixed part and the buffer part that extends straight down and is fixed on slow
The connecting portion at subordinate end is rushed, the peripheral side of the buffer part is arranged with spring and the upper and lower ends of spring are respectively held against fixed part
Bottom surface and the top surface of connecting portion, which is characterized in that the buffer unit is arranged on the top of positioning column, and the buffer unit includes
Buffering stand and buffering wheel, buffering wheel are arranged on the both sides of buffering stand；The buffering stand includes a rack platform and setting
Support plate in rack platform both sides, the fixed part of the positioning column are arranged on support plate close to the one side of rack platform, and solid
The upper and lower side for determining portion protrudes from support plate；The outside of the buffering wheel to be obliquely installed, and with spherical housing inner wall shape phase
Adaptation；
One side of the support plate away from rack platform is provided with the accommodation space of a hollow out, and the both sides in the space are provided with two
A convex block, the buffering wheel, which is located in accommodation space and passes through a connecting shaft, to be rotatably fixed between two convex blocks.
2. the buffer unit of ball shape robot according to claim 1, which is characterized in that the buffer unit passes through flexibility
Gasket flexibility is propped up in spherical housing inner wall.
3. the buffer unit of ball shape robot according to claim 2, which is characterized in that the flexible gasket is flexible rubber
Glue material matter.
4. the buffer unit of ball shape robot according to claim 1, which is characterized in that the bottom surface of the rack platform is high
In the top surface of support plate.
5. the buffer unit of ball shape robot according to claim 1, which is characterized in that the fixed part and buffering stand
It is an integral molding structure.
6. a kind of ball shape robot, which is characterized in that including such as claim 1-5 any one of them buffer unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721182871.5U CN207432245U (en) | 2017-09-14 | 2017-09-14 | A kind of ball shape robot and its buffer unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721182871.5U CN207432245U (en) | 2017-09-14 | 2017-09-14 | A kind of ball shape robot and its buffer unit |
Publications (1)
| Publication Number | Publication Date |
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| CN207432245U true CN207432245U (en) | 2018-06-01 |
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ID=62302476
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721182871.5U Active CN207432245U (en) | 2017-09-14 | 2017-09-14 | A kind of ball shape robot and its buffer unit |
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| CN (1) | CN207432245U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107685344A (en) * | 2017-09-14 | 2018-02-13 | 深圳思瓦科技有限公司 | A kind of ball shape robot and its buffer unit |
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2017
- 2017-09-14 CN CN201721182871.5U patent/CN207432245U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107685344A (en) * | 2017-09-14 | 2018-02-13 | 深圳思瓦科技有限公司 | A kind of ball shape robot and its buffer unit |
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