CN2475519Y - Spherical robot - Google Patents
Spherical robot Download PDFInfo
- Publication number
- CN2475519Y CN2475519Y CN 01241360 CN01241360U CN2475519Y CN 2475519 Y CN2475519 Y CN 2475519Y CN 01241360 CN01241360 CN 01241360 CN 01241360 U CN01241360 U CN 01241360U CN 2475519 Y CN2475519 Y CN 2475519Y
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- pole
- motor
- center
- gear
- housing
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Abstract
A spherical robot, a casing 1 of which is spherical structure, the end of the inner center pole 2 is covered with a connection sleeve 6, and the connection sleeve is connected fixedly with the casing. The motor 4 is connected with the connection sleeve through a transmission device 7. The upper bracket 3-1 of a counterweight body 3 is connected moveably with the horizontal axis 2-1 on the center pole. The motor 5 is connected with the bracket through a transmission device 8. A battery chamber 2-2 is arranged in the center pole, a circuit board 9 with remote signal receiver is arranged on the center pole. The utility model is provided with better dynamic stability, adjustment direction, stability at low speed and collision-resistance, and has advantages of simple structure and low cost.
Description
The utility model relates to a kind of electromechanical assembly that can move automatically.
Existing robots is when the broken terrain high-speed motion, and its dynamic stability is relatively poor.Recently people have developed " with gyro power tuning and stable single-wheel robot ", though it can be on broken terrain high-speed motion, but its tuning, low-speed stability and anti-collision are all very poor, ZL99253709.6 has announced a kind of " self-controlled ball shaped robot ", though it has solved the weak point that above robot exists, its complex structure, cost are higher.
The purpose of this utility model is a kind of ball shape robot of design, and it should have stronger dynamic stability, tuning, low-speed stability and anti-collision when the broken terrain high-speed motion.It also should have characteristics simple in structure, that cost is low.
Housing 1 of the present utility model is a spherical structure, be provided with center-pole 2, balance weight body 3, motor 4 and motor 5 in housing 1 inside, adapter sleeve 6 is enclosed within center-pole 2 ends and forms rotating connected mode, adapter sleeve 6 is fixedlyed connected with housing 1, motor 4 is connected with adapter sleeve 6 through transmission device 7, the support 3-1 of balance weight body 3 tops and the trunnion axis 2-1 that is fixedly connected on the center-pole 2 form flexible connection, and motor 5 is connected with support 3-1 through transmission device 8.When work, motor 4 rotates around center-pole 2 front and back through transmission device 7 and the spherical housing 1 of adapter sleeve 6 drives.Motor 5 swings through transmission device 8 drive support 3-1 and balance weight body 3, and the center of gravity of spheroid is changed, and realizes the purpose of turning.By changing the different deflection angle of balance weight body 3, can realize different radiuss of turn.
The utility model is because housing 1 adopts spherical structure, thus when it during at the broken terrain high-speed motion, have stronger dynamic stability, tuning, low-speed stability and anti-collision.It also has advantage simple in structure, that cost is low.
Fig. 1 is a structural representation of the present utility model, and Fig. 2 is the A-A cutaway view of Fig. 1, and Fig. 3 is the structural representation of embodiment two, and Fig. 4 is the structural representation of embodiment three.
Embodiment one: present embodiment is made up of housing 1, center-pole 2, balance weight body 3, motor 4 and motor 5.Housing 1 is a spherical structure, and center-pole 2, balance weight body 3, motor 4 and motor 5 are positioned at the inside of housing 1.The two ends, the left and right sides of center-pole 2 respectively are with an adapter sleeve 6, and adapter sleeve 6 forms rotating connected mode with center-pole 6, and adapter sleeve 6 is fixedlyed connected with housing 1.Motor 4 is fixed on the top of center-pole 2.Motor 4 is connected through the adapter sleeve 6 of transmission device 7 with center-pole 2 right-hand members.Be fixedly connected with a trunnion axis 2-1 respectively in the both sides, front and back of center-pole 2, balance weight body 3 is fixedly connected on the below of support 3-1, and the upper end of support 3-1 and trunnion axis 2-1 form and flexibly connect.Motor 5 is fixed on the middle part of center-pole 2, and motor 5 is connected with support 3-1 through transmission device 8.
Embodiment two: what present embodiment and embodiment one were different is that transmission device 7 includes speed changer 7-1 and gear 7-2, the main shaft of motor 4 is connected with the power shaft of speed changer 7-1, gear 7-2 is fixed on the adapter sleeve 6 of center-pole 2 right-hand members, the output gear 7-3 of gear 7-2 and speed changer 7-1 engagement.Other composition is identical with embodiment one with annexation.
Embodiment three: what present embodiment and embodiment one were different is that transmission device 8 includes speed changer 8-1 and gear 8-2, the main shaft of motor 5 is connected with the power shaft of speed changer 8-1, gear 8-2 is fixedlyed connected with support 3-1, the output gear 8-3 engagement of gear 8-2 and speed changer.Other composition is identical with embodiment one with annexation.
Embodiment four: what present embodiment and embodiment one were different is to be provided with battery compartment 2-2 in the center-pole 2, is provided with battery compartment lid 2-3 on the housing 1 of center-pole 2 left ends.Other composition is identical with embodiment one with annexation.
Embodiment five: what present embodiment and embodiment one were different is the wiring board 9 that is provided with the band receiver of remote-control sytem in housing 1 on the center-pole 2.Its objective is make under the control that can be implemented in wireless remote control ball advance, retreat, about turn and stop.
Claims (5)
1, ball shape robot, its housing (1) is a spherical structure, be provided with center-pole (2) in housing (1) inside, balance weight body (3), motor (4) and motor (5), it is characterized in that adapter sleeve (6) is enclosed within center-pole (2) end and forms rotating connected mode, adapter sleeve (6) is fixedlyed connected with housing (1), motor (4) is connected with adapter sleeve (6) through transmission device (7), the support (3-1) of balance weight body (3) top forms flexible connection with the trunnion axis (2-1) that is fixedly connected on the center-pole (2), and motor (5) is connected with support (3-1) through transmission device (8).
2, ball shape robot according to claim 1, it is characterized in that transmission device (7) includes speed changer (7-1) and gear (7-2), the main shaft of motor (4) is connected with the power shaft of speed changer (7-1), gear (7-2) is fixed on the adapter sleeve (6) of center-pole (2) right-hand member, and gear (7-2) meshes with the output gear (7-3) of speed changer (7-1).
3, ball shape robot according to claim 1, it is characterized in that transmission device (8) includes speed changer (8-1) and gear (8-2), the main shaft of motor (5) is connected with the power shaft of speed changer (8-1), gear (8-2) is fixedlyed connected with support (3-1), and gear (8-2) meshes with the output gear (8-3) of speed changer.
4, ball shape robot according to claim 1 is characterized in that being provided with in the center-pole (2) battery compartment (2-2), is provided with battery compartment lid (2-3) on the housing (1) of center-pole (2) left end.
5, ball shape robot according to claim 1 is characterized in that being provided with on the center-pole (2) wiring board (9) of being with receiver of remote-control sytem in housing (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01241360 CN2475519Y (en) | 2001-04-23 | 2001-04-23 | Spherical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01241360 CN2475519Y (en) | 2001-04-23 | 2001-04-23 | Spherical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2475519Y true CN2475519Y (en) | 2002-02-06 |
Family
ID=33653372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 01241360 Expired - Fee Related CN2475519Y (en) | 2001-04-23 | 2001-04-23 | Spherical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2475519Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102602468A (en) * | 2012-03-30 | 2012-07-25 | 北京交通大学 | Dual-swing omni-directional moving spherical robot |
| CN105416428A (en) * | 2015-11-03 | 2016-03-23 | 北京邮电大学 | Spherical robot with in-situ rotation function carried with control moment gyro |
-
2001
- 2001-04-23 CN CN 01241360 patent/CN2475519Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102602468A (en) * | 2012-03-30 | 2012-07-25 | 北京交通大学 | Dual-swing omni-directional moving spherical robot |
| CN102602468B (en) * | 2012-03-30 | 2015-02-25 | 北京交通大学 | Dual-swing omni-directional moving spherical robot |
| CN105416428A (en) * | 2015-11-03 | 2016-03-23 | 北京邮电大学 | Spherical robot with in-situ rotation function carried with control moment gyro |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |