CN2806083Y - T shape spherical detection robot - Google Patents
T shape spherical detection robot Download PDFInfo
- Publication number
- CN2806083Y CN2806083Y CN 200520023040 CN200520023040U CN2806083Y CN 2806083 Y CN2806083 Y CN 2806083Y CN 200520023040 CN200520023040 CN 200520023040 CN 200520023040 U CN200520023040 U CN 200520023040U CN 2806083 Y CN2806083 Y CN 2806083Y
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- spherical shell
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- motor
- swing arm
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Abstract
The utility model relates to a spherical detection robot with a T-shaped structure. A movement mechanism with a T-shaped structure, which is arranged in a spherical shell, is composed of a support frame, two motors, a swing arm, a battery control board and other heavy objects, wherein the support frame is used for the fixed installation of the two motors, one end of the support frame is fixedly connected with the spherical shell, the other end of the support frame is in rotating connection with the spherical shell through a bearing, one motor is fixedly connected with the spherical shell so as to drive the entire robot to advance and retreat, the other motor swings the heavy objects through the swing arm so that the center of gravity of the entire robot changes, the two motors simultaneously act to form the turning movement of the robot and the two motors are arranged on the horizontal support frame in the manner of a straight line or a plane perpendicular. The utility model can enable the motors to be conveniently installed. The length of the swing arm of the heavy objects is also enlarged; thereby, the turning effect is obvious and the turning radius is small.
Description
Affiliated technical field
The utility model relates to a kind of T type structure spherical detecting robot that can be used for environment detection, celestial body detecting and toy field.
Background technology
Ball shape robot or spherical mechanism are meant that a class is installed in movement executing mechanism, sensor, controller the general name of the system in one spherical shell.Because this robotlike has good dynamic and static balancing, therefore can not produce instability status because of collision.Simultaneously,, therefore have good sealing, can travel in sand and dust, humidity, corrosive adverse circumstances because its electromechanics, sensing element and control assembly all are included in this ball.A.Halme, T.Schonberg and Y.Wang, MotionControl of a Spherical Mobile Robot, 4th IEEE International Workshop onAdvanced Motion Control AMC ' 96, Mie University, Japan 1996. introduced Finland Aarne Halme design a kind of ball shape robot and applied for patent, this ball shape robot has adopted a wheel that rolls in spherical shell to drive the motion of whole ball shape robot; Michaud F.andTheberge-Turmel.Mobile robotic tpys and autism.In Dautenhahn, K., Bod.A Socially Intelligent Agents Creating Relationships with Computersand Robots.Kluwer Academjc, 2002. introduced the ball shape robot of a toy purposes of Canadian Francois Michaud and Serge Caron development, they realize turning to of robot by the weight that adjustment is suspended on the main shaft; Chinese invention patent application number 01118289.X, improved ball shape robot omnibearing walking mechanism discloses the patent of an omni-bearing spherical robot of professor Sun Hanxu of Beijing University of Post ﹠ Telecommunication application, and it is the motion that realizes ball shape robot by an omnibearing movable mechanism in the ball.Applicant and partner had also once applied for the patent of a ball shape robot, it is directly to drive spherical shell by motor to come forward-reverse, realize the turning of ball shape robot by swinging a weight, but a motor is arranged in below another motor, actually implements very difficult.
The problem that the ball shape robot of foregoing invention or design exists is the structure more complicated,, do not have suitable video camera installation site, and the stability of robot and realizability when the small size of diameter under 200 millimeters (especially) are poor.
The utility model content
Technology of the present utility model is dealt with problems and is: overcome the deficiencies in the prior art, provide a kind of simple in structure, radius of turn is little, has the T type structure spherical detecting robot of appropriate camera installation site.
Technical solution of the present utility model is: T type structure spherical detecting robot, comprise spherical shell, it is characterized in that: the motion that a T type structure is installed in the inside of spherical shell, the motion of this T type structure is made up of a support, two weights such as motor, swing arm and battery control panel, support is used for fixing installs two motors, one end and the spherical shell of support connect firmly, and the other end is rotationally connected by bearing and spherical shell; A motor is by connecting firmly the forward-reverse that drives the entire machine people with spherical shell, and another motor changes entire machine people's center of gravity by swing arm swing weight, and action forms the turning motion of robot in the time of two motors.
The utility model beneficial effect compared with prior art: the utility model by a support two motors is a straight line or a plane vertical line mode is arranged, not only make the easier for installation of motor, and can strengthen the length of weight swing arm, make the effect of turning more obvious, radius of turn is littler; In addition, this version also can provide an installation position motionless with respect to spherical shell by the end that bearing links to each other with spherical shell for sensors such as video cameras at support, work such as surveys thereby be convenient to this ball shape robot.
Description of drawings
Fig. 1 looks cross-sectional schematic for an embodiment overall structure master of the present utility model;
Fig. 2 is the schematic top plan view of Fig. 1;
Fig. 3 looks cross-sectional schematic for another embodiment overall structure master of the present utility model;
Fig. 4 is the schematic top plan view of Fig. 3.
The specific embodiment
As shown in Figure 1 and Figure 2, the motion 2 that one T shape is arranged in the inside of spherical shell 1, this motion is made up of the weight 7 that support 3, motor 4 and 5, swing arm 6, battery control panel etc. constitute, motor 4 and 5 is fixed on the support 3, the axis of two motors overlaps in a straight line and with a diameter of spherical shell, one end of motion 2 connects firmly by the output shaft and the spherical shell 1 of motor 4, the other end rolls with spherical shell 1 by bearing 8 and is connected, after the output shaft of motor 5 commutates by bevel gear set 9, change the center of gravity of whole ball shape robot again by swing arm 6 swing weights 7.The rotation of motor 4 can drive the straight ahead of whole ball shape robot and retreat, motor 4 and 5 aggregate motion can realize whole ball shape robot about turn.In order to guarantee entire machine people's gravitational equilibrium, swing arm 6 is installed on the diameter with motor 4 and 5 place axis normal.
The embodiment of Fig. 3 and Fig. 4 and Fig. 1,2 similar, difference is that the putting position of motor 5 is to be positioned on the diameter vertical with motor 4, motor 5 is directly to drive swing arm 6 and weight 7.
Claims (2)
1, T type structure spherical detecting robot, comprise spherical shell, it is characterized in that: the motion that a T type structure is installed in the inside of spherical shell, this motion is made up of a support, two weights such as motor, swing arm and battery control panel, support is used for fixing installs two motors, one end and the spherical shell of support connect firmly, and the other end is rotationally connected by bearing and spherical shell; A motor is by connecting firmly the forward-reverse that drives the entire machine people with spherical shell, and another motor changes entire machine people's center of gravity by swing arm swing weight, and action forms the turning motion of robot in the time of two motors.
2, T type structure spherical detecting robot according to claim 1 is characterized in that: described two motors are a straight line or a plane vertical line mode is arranged on the horizontal stand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520023040 CN2806083Y (en) | 2005-06-21 | 2005-06-21 | T shape spherical detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520023040 CN2806083Y (en) | 2005-06-21 | 2005-06-21 | T shape spherical detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2806083Y true CN2806083Y (en) | 2006-08-16 |
Family
ID=36920386
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520023040 Expired - Fee Related CN2806083Y (en) | 2005-06-21 | 2005-06-21 | T shape spherical detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2806083Y (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100460266C (en) * | 2007-02-08 | 2009-02-11 | 上海交通大学 | Holohedral symmetry spherical robot |
| CN103963052A (en) * | 2014-04-02 | 2014-08-06 | 西北工业大学 | Internal driving device of spherical robot |
| CN106887704A (en) * | 2017-04-19 | 2017-06-23 | 西北工业大学 | A kind of variable water surface floating radio telescope structure of track type gravity-center |
| CN111098945A (en) * | 2018-10-29 | 2020-05-05 | 逻腾（杭州）科技有限公司 | Pendulum type rolling robot |
| CN112548984A (en) * | 2020-12-10 | 2021-03-26 | 逻腾（杭州）科技有限公司 | Rolling obstacle crossing robot with telescopic arm |
-
2005
- 2005-06-21 CN CN 200520023040 patent/CN2806083Y/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100460266C (en) * | 2007-02-08 | 2009-02-11 | 上海交通大学 | Holohedral symmetry spherical robot |
| CN103963052A (en) * | 2014-04-02 | 2014-08-06 | 西北工业大学 | Internal driving device of spherical robot |
| CN103963052B (en) * | 2014-04-02 | 2015-12-02 | 西北工业大学 | A kind of ball shape robot inner driving device |
| CN106887704A (en) * | 2017-04-19 | 2017-06-23 | 西北工业大学 | A kind of variable water surface floating radio telescope structure of track type gravity-center |
| CN106887704B (en) * | 2017-04-19 | 2019-08-09 | 西北工业大学 | A kind of water surface floating radio telescope structure that track type gravity-center is variable |
| CN111098945A (en) * | 2018-10-29 | 2020-05-05 | 逻腾（杭州）科技有限公司 | Pendulum type rolling robot |
| CN112548984A (en) * | 2020-12-10 | 2021-03-26 | 逻腾（杭州）科技有限公司 | Rolling obstacle crossing robot with telescopic arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20060816 |