CN208660292U - Omnidirectional's spin service robot - Google Patents
Omnidirectional's spin service robot Download PDFInfo
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- CN208660292U CN208660292U CN201821435730.4U CN201821435730U CN208660292U CN 208660292 U CN208660292 U CN 208660292U CN 201821435730 U CN201821435730 U CN 201821435730U CN 208660292 U CN208660292 U CN 208660292U
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- bracket
- idler wheel
- spin
- ball
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Abstract
The utility model belongs to service field of mechanical technique, and any angle can be emitted from spiral by being related to a kind of omnidirectional spin service robot for training.Omnidirectional spin service robot, is mainly made of Omni-mobile chassis and service head；Omni-mobile chassis is mainly made of service head bracket, chassis and omni-directional wheel, is used to support service head, and omnidirectional's spin service robot is made to do translation and rotary motion；Service head is mainly made of ball transmission channel, outgoing angle adjusting mechanism, service head fixed jaw and spin direction and exit velocities adjustment mechanism.The device of the utility model may be implemented to serve a ball to Arbitrary Spin direction, and the banana kick issued is difficult to including the mankind, closer to practical confrontation, improve Training Capability.
Description
Technical field
The utility model belongs to service field of mechanical technique, is related to a kind of omnidirectional's spin service robot, for training, Neng Goufa
Any angle is penetrated from spiral.
Background technique
Currently, the most of service robots applied on the market are double rollers service robot, core component is that two intervals are bigger
In the idler wheel of tennis diameter.When work, two idler wheel high-speed reverse rotations, because of compression and idler wheel when tennis passes through two roller gaps
Surface generates frictional force, and is issued from serving mechanism under the action of frictional force.This design structure is simple, and if controlling
The revolving speed of double rollers processed is different, can also realize the upper rotation of tennis, backspin.But in real racetrack, the spin direction of tennis is not
Uniquely, traditional double rollers mechanism can not simulate truth, limit the promotion of Training Capability.
Utility model content
In order to overcome the shortcomings of that traditional service robot cannot serve a ball to Arbitrary Spin direction, the utility model provides a kind of complete
To spin service robot, can serve a ball under control to Arbitrary Spin direction.
The technical solution of the utility model is:
A kind of omnidirectional's spin service robot, the tennis that three-dimensional spin can be sent out and be emitted with any angle, mainly by Omni-mobile
Chassis 1 and service head composition；
The Omni-mobile chassis 1, is mainly made of service head bracket, chassis and omni-directional wheel, is used to support service head,
And omnidirectional's spin service robot is made to do translation and rotary motion；The omni-directional wheel has multiple, is symmetrically mounted on chassis, makes omnidirectional
Mobile chassis 1 does the movement of omnidirectional；The service head bracket is half-spherical frame structure, is mounted on chassis, head branch of serving a ball
The inner space of frame is for placing service head；
The service head, mainly by ball transmission channel, outgoing angle adjusting mechanism 2, service head fixed jaw 3 and spin direction
And exit velocities adjustment mechanism 4 forms；
The service head fixed jaw 3, for connecting service head and Omni-mobile chassis 1；It serves a ball head fixed jaw 3 totally two
It is a, it is symmetrically welded on the service head bracket on Omni-mobile chassis 1；It is welded with axis on two service head fixed jaws 3, wherein one
Worm gear is welded on the axis of a service head fixed jaw 3, service head fixed jaw 3 is connected by axis with outgoing angle adjusting mechanism 2；
The outgoing angle adjusting mechanism 2, mainly by flexion-extension angle adjusting mechanism 5, spin mechanics bracket 6 and axial deflection angle
Adjustment mechanism 7 forms；The spin mechanics bracket 6 is annular stent, is divided into outer layer A and internal layer D, internal layer D is in the axial direction
Width it is narrower than outer layer A, between the two be equipped with bearing C；Internal tooth B, internal tooth B and internal layer D are welded on the inner wall of outer layer A in the axial direction
It is arranged side by side；Outer layer A passes through bearing and the axis connection served a ball on head fixed jaw 3；The outer surface of outer layer A is equipped with mounting bracket, uses
Angle adjusting mechanism 5 is pitched in installation；It is symmetrically arranged with fixed jaw on the inner wall of internal layer D, is used for mounting ball transmission channel；Internal layer D's
Side is equipped with mounting bracket, for installing axial deflection angle adjustment mechanism 7；The flexion-extension angle adjusting mechanism 5 is mounted on outer layer A
On mounting bracket, for control outgoing angle adjusting mechanism 2 pitch angle, pitch angle adjusting mechanism 5 stepper motor output
Be cased with worm screw on axis, worm screw is meshed with the worm gear on the axis of service head fixed jaw 3, thus change pitch angle adjusting mechanism 5 with
Pitch angle between service head fixed jaw 3, and then change the pitch angle of service head and ground；The axial deflection angle adjusting mechanism
7 for controlling axial deflection angle, and the mounting bracket being mounted on internal layer D, the stepper motor of axial deflection angle adjusting mechanism 7 is just
Gear is engaged with internal tooth B, rotates internal layer D opposed outer layer A, so as to adjust axial deflection angle；
The ball transmission channel is used for transmission tennis, and arrival end is conical hollow table frame structure, and outlet end is sky
Heart cylindrical drum frame structure, ball transmission channel are fixedly mounted on the fixed jaw at 6 center of spin mechanics bracket；
The spin direction and exit velocities adjustment mechanism 4 totally two, are symmetrically mounted on the internal layer of spin mechanics bracket 6
It on D, is located in the upper and lower space of ball transmission channel, and is limited by spin mechanics bracket 6；Spin direction and go out
Speed regulating mechanism 4 is penetrated mainly to be made of idler wheel, parallelogram steering mechanism and cardan shaft driving mechanism；
The idler wheel is located at the inner space of parallelogram steering mechanism, and it is one that the center of idler wheel, which is cage structure,
Body machine-shaping, idler wheel are limited on two opposite bearing shell brackets 10, and the outer layer rubber of idler wheel is in contact with tennis；
The parallelogram steering mechanism is used to control the angle of the directional velocity and output direction of ball at idler wheel edge, with
The ball of different spin directions is realized, mainly by stepper motor 8, parallelogram connection-rod 9, bearing shell bracket 10 and steering idler wheel mechanism
Bracket 11 forms；The steering idler wheel mechanism bracket 11 is frame structure, for stepper motor 8, parallel four side to be fixedly mounted
Shape connecting rod 9 and bearing shell bracket 10；It totally two groups of the parallelogram connection-rod 9, is separately mounted to turn to idler wheel mechanism bracket 11
Upper and lower surfaces, the symmetrical bar of two of parallelogram connection-rod 9 is fixedly mounted on steering idler wheel mechanism by pin b17
On bracket 11；Totally two, the bearing shell bracket 10, the another two pair of parallelogram connection-rod 9 is symmetrically mounted on by pin a16
On the bar of title, bearing shell bracket 10 and idler wheel are coaxial, and bearing shell bracket 10 is parallel to each other with bar 18；The stepper motor 8 is mounted on
Between the bar 18 of two groups of parallelogram connection-rods 9, bar 18 is parallel with the axial direction of idler wheel, and gear, stepping electricity are welded on bar 18
The output gear of machine 8 and the gear on bar 18 are intermeshed, 8 drive rod 18 of stepper motor rotation, so that idler wheel be driven to rotate；
The cardan shaft driving mechanism is used to adjust the revolving speed of idler wheel, to realize the ball of different exit velocities, mainly by
Direct current generator 12, drive bevel gear 13, transmission shaft 14 and ball cage type universal shaft 15 form；The ball cage type universal shaft 15 passes through
The cage structure at idler wheel center is simultaneously fixed on steering idler wheel mechanism bracket 11 by bearing, and one end of ball cage type universal shaft 15 is set
There is drive bevel gear 13；The transmission shaft 14 is fixed on by bearing and is turned on idler wheel mechanism bracket 11, and bearing shell bracket is located at
The both ends of 10 sides being connected with parallelogram connection-rod 9, transmission shaft 14 are equipped with drive bevel gear 13；The direct current generator
12 are mounted on steering idler wheel mechanism bracket 11, symmetrical with the position of stepper motor 8, and the output end of direct current generator 12, which is equipped with, to be passed
Dynamic bevel gear 13, the drive bevel gear 13 of the output end of direct current generator 12 and the drive bevel gear 13 of 14 one end of transmission shaft are mutually nibbled
It closes, the drive bevel gear 13 of 14 other end of transmission shaft and the drive bevel gear 13 of 15 one end of ball cage type universal shaft are intermeshed；It drives
When dynamic, power is generated by direct current generator 12, then power is successively passed to transmission shaft 14 and cage by drive bevel gear 13
Formula universal shaft 15, is ultimately transferred to idler wheel.
The utility model has the beneficial effects that the device of the utility model may be implemented to serve a ball to Arbitrary Spin direction, including
The mankind are difficult to the curved shot (banana kick) issued, closer to practical confrontation, improve Training Capability.
Detailed description of the invention
Fig. 1 is the overall structure figure of service robot；
Fig. 2 is the schematic diagram on Omni-mobile chassis；
Fig. 3 is the schematic diagram for being emitted angle adjusting mechanism；
Fig. 4 is the schematic diagram of spin direction and exit velocities adjustment mechanism；
Fig. 5 is the top view of spin direction and exit velocities adjustment mechanism
Fig. 6 is the schematic illustration for realizing any angle spin；
Fig. 7 is the schematic diagram of ball transmission channel；
Fig. 8 is the schematic diagram of parallelogram connection-rod；
Fig. 9 is the schematic diagram of ball cage type universal shaft；
Figure 10 is the schematic diagram for turning to idler wheel mechanism bracket；
Figure 11 is the schematic diagram of spin mechanics bracket；
Figure 12 is the schematic diagram of bearing shell bracket；
Figure 13 is the schematic diagram of service head fixed jaw.
Figure 14 is the positional diagram for pitching angle adjusting mechanism and head fixed jaw of serving a ball；
Figure 15 is the schematic diagram of idler wheel.
In figure: 1 Omni-mobile chassis；2 outgoing angle adjusting mechanisms；3 service head fixed jaws；4 spin directions and exit velocities
Adjustment mechanism；5 pitch angle adjusting mechanism；6 spin mechanics brackets；7 axial deflection angle adjusting mechanisms；8 stepper motors；9 parallel four
Side shape connecting rod；10 bearing shell brackets；11 turn to idler wheel mechanism bracket；12 direct current generators；13 drive bevel gears；14 transmission shafts；15 balls
Cage universal shaft；16 pin a；17 pin b；18 bars；A outer layer；B internal tooth；C bearing；D internal layer.
Specific embodiment
Below in conjunction with attached drawing and technical solution, specific embodiment of the present utility model is further illustrated.
A kind of omnidirectional's spin service robot, the tennis that three-dimensional spin can be sent out and be emitted with any angle, mainly by Omni-mobile
Chassis 1 and service head composition, as shown in Figure 1；The Omni-mobile chassis 1, mainly by service head bracket, chassis and omni-directional wheel
Composition, as shown in Figure 2；The service head, mainly by ball transmission channel, outgoing angle adjusting mechanism 2, service 3 and of head fixed jaw
Spin direction and exit velocities adjustment mechanism 4 form, as in Figure 3-5.Ball transmission channel is as shown in Figure 7.
Omni-mobile chassis 1 uses omni-directional wheel, and because omni-directional wheel is more universal, therefore this will not be repeated here for its mechanism.Omnidirectional
Mobile chassis 1 plays the role of support service head, does translation and rotary motion in tennis court.
As shown in Fig. 3 and Figure 13, service head fixed jaw 3 is welded with thereon for connecting service head and Omni-mobile chassis 1
The axis of fixed outgoing angle adjusting mechanism 2.After service head fixed jaw 3 is fixed on the service head bracket on Omni-mobile chassis 1, hair
The relatively directional mobile chassis 1 of bulb fixed jaw 3 is static, and opposite ground-angle is fixed.
Angle adjusting mechanism 2 is emitted mainly by flexion-extension angle adjusting mechanism 5, axial deflection angle adjusting mechanism 7 and spin mechanics branch
6 three parts of frame composition.As shown in figure 3, outgoing angle adjusting mechanism 2 is based on spin mechanics bracket 6.Spin mechanics bracket 6 divides
For outer layer A and internal layer D, the outer layer A of spin mechanics bracket 6 passes through the axis connection on bearing and service head fixed jaw 3, outer layer A's
Inner wall is equipped with internal tooth B, and the flexion-extension angle adjusting mechanism 5 of control pitch angle is equipped on the side of outer layer A, pitches angle adjusting mechanism
Worm screw on 5 stepper motor engages with the worm gear on the axis of service head fixed jaw 3；It pitches angle adjusting mechanism 5 and service head is solid
The positional relationship for determining pawl 3 is as shown in figure 14；Axial deflection angle adjusting mechanism 7, axis are installed on the internal layer D of spin mechanics bracket 6
Spur gear on the stepper motor of deflection angle adjusting mechanism 7 is engaged with internal tooth B, the structure of spin mechanics bracket 6 such as Figure 11 institute
Show；Internal layer D is mounted on the inner wall of outer layer A by bearing C.When adjusting the angle of emergence, the stepper motor for pitching angle adjusting mechanism 5 is logical
It crosses and is engaged with the gear on the axis of service head fixed jaw 3, change its pitch angle between service head fixed jaw 3, and then change whole
The pitch angle of a service head and ground, the stepper motor of axial deflection angle adjusting mechanism 7 make internal layer D phase by engaging with internal tooth B
Outer layer A is rotated, so as to adjust axial deflection angle.
Spin direction and exit velocities adjustment mechanism 4 are mainly by idler wheel, parallelogram steering mechanism and cardan shaft driving
Mechanism composition is as shown in Figure 4 and Figure 5 one of spin direction and exit velocities adjustment mechanism 4 (to show clear, idler wheel
It is not drawn into).When installation, two spin directions and exit velocities adjustment mechanism 4 are both secured on the internal layer D of spin mechanics bracket 6.
Idler wheel is located at the inner space of parallelogram steering mechanism, and the center of idler wheel is cage structure, the wheel hub of idler wheel
Two sides are separately mounted on two bearing shell brackets 10, and the outer layer rubber of idler wheel is in contact with tennis；The structure of idler wheel such as Figure 15 institute
Show.
Parallelogram steering mechanism is mainly by stepper motor 8, parallelogram connection-rod 9, bearing shell bracket 10, steering idler wheel
Mechanism rack 11 and the necessary part that is connected and fixed are constituted, and steering mechanism is responsible for controlling the directional velocity at idler wheel edge and ball side out
To angle, to realize the ball of different spin directions.The structure of parallelogram connection-rod 9 as shown in figure 8, bearing shell bracket 10 knot
Structure is as shown in figure 12, and the structure for turning to idler wheel mechanism bracket 11 is as shown in Figure 10.
(clear to show, idler wheel is not drawn into) as shown in Figure 4 and Figure 5, parallelogram connection-rod 9 is fixed on by pin b17
It turns on idler wheel mechanism bracket 11, the bearing shell bracket 10 of idler wheel is fixed on parallelogram connection-rod 9 by pin a16.Due to two
A bearing shell bracket 10 all forms coaxial constraint with idler wheel, therefore two bearing shell brackets 10 are also coaxial the constraint relationship.Then, entirely
Parallelogram linkage 9 is divided into using roller axis as the parallelogram machine of the same-phase of left and right two of common edge
Structure.When steering, the bar 18 on 9 right side of parallelogram linkage is driven to rotate by a certain angle by stepper motor 8, then according to parallel
Quadrangular mechanism principle, roller axis will be turned over equal angular.In turn, idler wheel will also turn over equal angular therewith.
Cardan shaft driving mechanism mainly by direct current generator 12, drive bevel gear 13, transmission shaft 14, ball cage type universal shaft 15 and
Necessary to be connected and fixed part composition, cardan shaft driving mechanism is responsible for adjusting the revolving speed of idler wheel, to realize different exit velocities
Ball.As shown in Figure 4 and Figure 5, cage structure is located at the center (being not drawn into figure) of idler wheel, and ball cage type universal shaft 15 passes through cage
Center, ball cage type universal shaft 15 are fixed on by bearing and are turned on idler wheel mechanism bracket 11, and transmission shaft 14 is fixed on by bearing
It turns to 11 on idler wheel mechanism bracket.The both ends of one end of direct current generator 12, one end of universal shaft 15 and transmission shaft 14 are respectively and fixedly provided with
Drive bevel gear 13.When driving, power is generated by direct current generator 12, and power is transmitted to transmission shaft 14 by drive bevel gear 13
With universal shaft 15, it is ultimately passed to idler wheel.The structure of ball cage type universal shaft 15 is as shown in Figure 9.
A kind of principle that omnidirectional's spin service robot realizes that any angle spins is as shown in Figure 6.Pass through two idler wheel central points
Make the plane σ vertical with the line in line midpoint.The speed v at two idler wheel edges and the line point of intersection above and below then1、v2In the plane
Interior, i.e., tennis is by the frictional force of two idler wheels in plane σ.If tennis is v, v and v along the speed of exit direction1Folder
Angle is θ1, with v2Angle be θ2。
Tennis is shown in formula (1) along the speed v of exit direction:
Corresponding dextrorotation angular velocity omegaJustSee formula (2):
Wherein, R is tennis radius；
To guarantee that tennis only has sidespin without speed along the vertical direction of exit direction, then v1With v2Relationship see formula
(3):
v1·sinθ1=v2·sinθ2 (3)
Corresponding side swing angle speed omegaSideSee formula (4):
Will constraint condition formula (3) substitute into formula (1), (2), in (4), it is noted that formula (1), (2), any one in (4)
It is a all cannot by other two Linearly Representation (can be proved by reduction to absurdity), therefore (1), (2), (4) linear independence, i.e. exit velocities,
Sidespin angular speed can be adjusted arbitrarily with dextrorotation angular speed.
The principle that be tennis above spin around x, y-axis, can will be in Fig. 6 by above-mentioned axial deflection angle adjusting mechanism 7
Plane σ is rotated by 90 ° around y-axis, to realize around z, the spin of y-axis.It according to vector project relationship, is easy to prove, when σ is revolved around y-axis
When the angle turned is general angle, tennis is able to achieve any angle spin.
When realizing service function using omnidirectional's spin service robot of the utility model, first certainly according to the required tennis of training
Revolving speed needed for revolving corner, idler wheel needed for direction, shooting angle and speed calculate Liang Ge parallelogram steering mechanism；It calculates again
Corner needed for pitch angle motor, axial deflection angle motor and omni-directional wheel mechanism (horizontal plane inside lock) out.It then, will be each
Motor is adjusted to corresponding revolving speed or corner, and after stable, tennis is artificially put into the arrival end of ball transmission channel.It is rolling
Under the extruding of wheel and the guiding of ball transmission channel, i.e., the ball of capable of emitting required spin direction, shooting angle and speed.
Claims (1)
- The service robot 1. a kind of omnidirectional spins, the tennis that three-dimensional spin can be sent out and be emitted with any angle, which is characterized in that described Omnidirectional's spin service robot is mainly made of Omni-mobile chassis (1) and service head；The Omni-mobile chassis (1), is mainly made of service head bracket, chassis and omni-directional wheel, is used to support service head, and Omnidirectional's spin service robot is set to do translation and rotary motion；The omni-directional wheel has multiple, is symmetrically mounted on chassis, moves omnidirectional Dynamic chassis (1) does the movement of omnidirectional；The service head bracket is half-spherical frame structure, is mounted on chassis, head branch of serving a ball The inner space of frame is for placing service head；The service head, mainly by ball transmission channel, outgoing angle adjusting mechanism (2), service head fixed jaw (3) and spin direction And exit velocities adjustment mechanism (4) composition；The service head fixed jaw (3), for connecting service head and Omni-mobile chassis (1)；It serves a ball head fixed jaw (3) totally two It is a, it is symmetrically welded on the service head bracket on Omni-mobile chassis (1)；It is welded with axis on two service head fixed jaws (3), In service head fixed jaw (3) axis on be welded with worm gear, service head fixed jaw (3) passes through axis and outgoing angle adjusting mechanism (2) it is connected；The outgoing angle adjusting mechanism (2), mainly by flexion-extension angle adjusting mechanism (5), spin mechanics bracket (6) and axial deflection Angle adjusting mechanism (7) composition；The spin mechanics bracket (6) is annular stent, is divided into outer layer (A) and internal layer (D), internal layer (D) width in the axial direction is narrower than outer layer (A), is equipped with bearing (C) between the two；Internal tooth (B) is welded on the inner wall of outer layer (A), Internal tooth (B) is arranged side by side in the axial direction with internal layer (D)；Outer layer (A) passes through bearing and the axis connection served a ball on head fixed jaw (3)； The outer surface of outer layer (A) is equipped with mounting bracket, pitches angle adjusting mechanism (5) for installing；It is symmetrically arranged on the inner wall of internal layer (D) Fixed jaw is used for mounting ball transmission channel；The side of internal layer (D) is equipped with mounting bracket, for installing axial deflection angle adjustment machine Structure (7)；The flexion-extension angle adjusting mechanism (5) is mounted on the mounting bracket on outer layer (A), for controlling outgoing angle adjusting mechanism (2) pitch angle pitches and is cased with worm screw on the output shaft of the stepper motor of angle adjusting mechanism (5), worm screw and service head fixed jaw (3) the worm gear on axis is meshed, thus change the pitch angle pitched between angle adjusting mechanism (5) and service head fixed jaw (3), into And change the pitch angle of service head and ground；The axial deflection angle adjusting mechanism (7) is installed for controlling axial deflection angle The spur gear of mounting bracket on internal layer (D), the stepper motor of axial deflection angle adjusting mechanism (7) is engaged with internal tooth (B), is made Internal layer (D) opposed outer layer (A) rotation, so as to adjust axial deflection angle；The ball transmission channel is used for transmission tennis, and arrival end is conical hollow table frame structure, and outlet end is open circles Column casing frame structure, ball transmission channel are fixedly mounted on the fixed jaw at spin mechanics bracket (6) center；The spin direction and exit velocities adjustment mechanism (4) totally two, are symmetrically mounted on the internal layer of spin mechanics bracket (6) (D) it on, is located in the upper and lower space of ball transmission channel, and is limited by spin mechanics bracket (6)；Spin direction And exit velocities adjustment mechanism (4) is mainly made of idler wheel, parallelogram steering mechanism and cardan shaft driving mechanism；The idler wheel is located at the inner space of parallelogram steering mechanism, and the center of idler wheel is cage structure, is integrated and adds Work molding, idler wheel are limited on two opposite bearing shell brackets (10), and the outer layer rubber of idler wheel is in contact with tennis；The parallelogram steering mechanism is used to control the angle of the directional velocity and output direction of ball at idler wheel edge, to realize The ball of different spin directions, mainly by stepper motor (8), parallelogram connection-rod (9), bearing shell bracket (10) and steering roller machine Structure bracket (11) composition；The steering idler wheel mechanism bracket (11) be frame structure, for be fixedly mounted stepper motor (8), Parallelogram connection-rod (9) and bearing shell bracket (10)；Totally two groups of the parallelogram connection-rod (9), is separately mounted to turn to The upper and lower surfaces of idler wheel mechanism bracket (11), the symmetrical bar of two of parallelogram connection-rod (9) are solid by pin b (17) Dingan County is in steering idler wheel mechanism bracket (11)；Totally two, the bearing shell bracket (10), is symmetrically mounted on by pin a (16) On the symmetrical bar of another two of parallelogram connection-rod (9), bearing shell bracket (10) and idler wheel are coaxial, bearing shell bracket (10) and bar (18) it is parallel to each other；The stepper motor (8) is mounted between the bar (18) of two groups of parallelogram connection-rods (9), bar (18) It is parallel with the axial direction of idler wheel, gear, output gear and the gear phase on bar (18) of stepper motor (8) are welded on bar (18) Mutually engagement, stepper motor (8) drive rod (18) rotation, so that idler wheel be driven to rotate；The cardan shaft driving mechanism is used to adjust the revolving speed of idler wheel, to realize the ball of different exit velocities, mainly by direct current Motor (12), drive bevel gear (13), transmission shaft (14) and ball cage type universal shaft (15) composition；The ball cage type universal shaft (15) it passes through the cage structure at idler wheel center and is fixed on by bearing and turned on idler wheel mechanism bracket (11), ball cage type universal shaft (15) one end is equipped with drive bevel gear (13)；The transmission shaft (14) is fixed on by bearing and turns to idler wheel mechanism bracket (11) on, it is located at the side that bearing shell bracket (10) are connected with parallelogram connection-rod (9), the both ends of transmission shaft (14), which are equipped with, to be passed Dynamic bevel gear (13)；The direct current generator (12), which is mounted on, to be turned on idler wheel mechanism bracket (11), the position with stepper motor (8) Set symmetrical, the output end of direct current generator (12) is equipped with drive bevel gear (13), and the transmission of the output end of direct current generator (12) is bored The drive bevel gear (13) of gear (13) and transmission shaft (14) one end is intermeshed, the drive bevel gear of transmission shaft (14) other end (13) it is intermeshed with the drive bevel gear (13) of ball cage type universal shaft (15) one end；When driving, power passes through direct current generator (12) it generates, then power is successively passed to transmission shaft (14) and ball cage type universal shaft (15) by drive bevel gear (13), most Idler wheel is passed to eventually.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821435730.4U CN208660292U (en) | 2018-09-04 | 2018-09-04 | Omnidirectional's spin service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821435730.4U CN208660292U (en) | 2018-09-04 | 2018-09-04 | Omnidirectional's spin service robot |
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| Publication Number | Publication Date |
|---|---|
| CN208660292U true CN208660292U (en) | 2019-03-29 |
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ID=65841697
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821435730.4U Expired - Fee Related CN208660292U (en) | 2018-09-04 | 2018-09-04 | Omnidirectional's spin service robot |
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| Country | Link |
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| CN (1) | CN208660292U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108939501A (en) * | 2018-09-04 | 2018-12-07 | 大连理工大学 | Omnidirectional's spin service robot |
| CN114100099A (en) * | 2021-11-18 | 2022-03-01 | 安徽华羽体育用品有限公司 | Training is with play football shirt of badminton automatic supply badminton |
-
2018
- 2018-09-04 CN CN201821435730.4U patent/CN208660292U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108939501A (en) * | 2018-09-04 | 2018-12-07 | 大连理工大学 | Omnidirectional's spin service robot |
| CN108939501B (en) * | 2018-09-04 | 2023-11-07 | 大连理工大学 | Omnidirectional spin ball dispenser |
| CN114100099A (en) * | 2021-11-18 | 2022-03-01 | 安徽华羽体育用品有限公司 | Training is with play football shirt of badminton automatic supply badminton |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190329 Termination date: 20200904 |
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| CF01 | Termination of patent right due to non-payment of annual fee |