CN2846267Y - Ominibearing moving ball shape robot - Google Patents
Ominibearing moving ball shape robot Download PDFInfo
- Publication number
- CN2846267Y CN2846267Y CN 200520023033 CN200520023033U CN2846267Y CN 2846267 Y CN2846267 Y CN 2846267Y CN 200520023033 CN200520023033 CN 200520023033 CN 200520023033 U CN200520023033 U CN 200520023033U CN 2846267 Y CN2846267 Y CN 2846267Y
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- spherical shell
- spherical
- wheel rolling
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Abstract
The utility model relates to an omnibearing moving spherical robot which comprises a spherical shell. The utility model is characterized in that a moving mechanism which is not fixedly connected to the spherical shell is arranged in the spherical shell; the moving mechanism is supported on the spherical shell through N (N >2) single-wheel rolling devices and can move correspondingly to the spherical shell, wherein the N single-wheel rolling devices which are arranged on a support mechanism are arranged at the angle of 360/N DEG; the bottom part of the spherical shell is also provided with a single-wheel rolling device, and under the action of self gravity, the moving mechanism is in rolling contact with the bottom part of the spherical shell through the single-wheel rolling device which is connected to one motor; the single-wheel rolling device is driven by the motor to roll in the spherical shell, and consequently, the entire spherical shell is driven to carry out rectilinear motion; the single-wheel rolling device is also connected to another motor which drives the single-wheel rolling device to rotate correspondingly to the support mechanism, thereby, the facing direction of the rotation of the single-wheel rolling device is changed. The moving mechanism and the spherical shell of the utility model are separate and mutually independent. The utility model has the advantages of simple structure and high flexibility and stability of motion.
Description
Affiliated technical field
The utility model relates to a kind of omnibearing movable spherical robot system 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 leak tightness, can travel in sand and dust, humidity, corrosive harsh environment because its electromechanics, sensing element and function unit 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 a kind of ball shape robot of Aarne Halme design-calculated of Finland and applied for patent, and 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 Computers andRobots.Kluwer Academic, 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 traveling gear 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 coagent had also once applied for the patent of a ball shape robot, and it is directly to drive spherical shell by motor to come forward-reverse, realizes the turning of ball shape robot by swinging a weight.
The problem that foregoing invention or design-calculated ball shape robot exist is the structure more complicated, and the stability of motion haves much room for improvement.
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, the alerting ability of motion and all very high omnibearing movable spherical robot of stability.
Technical solution of the present utility model is: omnibearing movable spherical robot, comprise spherical shell, it is characterized in that: a kinematic mechanism that is not connected with spherical shell is arranged in the inside of spherical shell, and this kinematic mechanism is single wheel tourelle that the 360/N degree arranges by N (N＞2) arranging on the supporting mechanism and is supported on the spherical shell and can moves with respect to spherical shell; Also has a single wheel tourelle in the bottom of spherical shell, kinematic mechanism is rolling touch by this single wheel tourelle and spherical shell bottom under the effect of self gravitation, this single wheel tourelle is connected with one of them motor, under the driving of this motor, in spherical shell, roll, thereby promote the straight-line motion of whole spherical shell; This single wheel tourelle also is connected with another motor, rotates with respect to supporting mechanism under the driving of this another motor, change thus that this another single wheel tourelle rotates towards.
The utility model beneficial effect compared with prior art:
(1) kinematic mechanism of this ball shape robot is that separate, separate with spherical shell, therefore installs very convenient.And structure is very succinct.
(2) the utility model patent content different from the past mainly shows, the kinematic mechanism of this ball shape robot is very simple, mainly be to constitute by a single wheel kinematic mechanism that is connected on the supporting mechanism (disk or supporting leg), single wheel both can be around the turning cylinder rotation of oneself, also can be whole with respect to the disk rotation, thus change wheel turns towards.
Description of drawings
Fig. 1 looks cross-sectional schematic for an embodiment integral 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 integral 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, an embodiment of the present utility model is: have one to be supported on kinematic mechanism 7 on the spherical shell by three small wheels 2 in the inside of spherical shell 1, three small wheels 2 can be connected on the disk 3 by support, kinematic mechanism 7 is made up of 5,6 and five wheels of two motors, and three small wheels that are used to support 2, one are used to drive the larger wheels 4 of spherical shell motion and one and motor 6 bonded assembly wheels 9; Two one in motors are used for driving the larger wheels 4 that contacts with the spherical shell bottom, and another is used for wheels 9 and cause wheel 4 parts to be rotated with respect to disk.Small wheels 2 is 120 degree and is installed on the disk 3 of supporting movement mechanism 7, under kinematic mechanism 7 action of gravity of portion's battery pack and control system 8 within it, larger wheels 4 is rolling touch with spherical shell 1, under the driving of motor 5, larger wheels 4 can be rotated with respect to spherical shell 1, driving whole spherical shell 1 thus rotates in a certain direction, realize the straight-line motion of whole ball shape robot, wheel 9 can rotate with respect to disk 3 under the effect of motor 6, and the larger wheels 4 that causes being connected with motor 6 is also rotated with respect to disk 3, change thus larger wheels 4 with respect to ground-surface towards, if larger wheels 4 rotations this moment, then can drive spherical shell 1 towards new direction motion, thereby realize the omnibearing movable of ball shape robot.
Shown in Fig. 3,4, another embodiment of the present utility model is: supporting mechanism is that 10,4 small wheels 2 of supporting leg are the end that 90 degree are arranged in supporting leg 10, and other function is similar to embodiment 1 with effect.
Claims (4)
1, omnibearing movable spherical robot, comprise spherical shell, it is characterized in that: a kinematic mechanism that is not connected with spherical shell is arranged in the inside of spherical shell, and this kinematic mechanism is single wheel tourelle that the 360/N degree arranges by N N＞2 of arranging on the supporting mechanism and is supported on the spherical shell and can moves with respect to spherical shell; Also has a single wheel tourelle in the bottom of spherical shell, kinematic mechanism is rolling touch by this single wheel tourelle and spherical shell bottom under the effect of self gravitation, this single wheel tourelle is connected with one of them motor, rolls in spherical shell under the driving of this motor; This single wheel tourelle also is connected with another motor, rotates with respect to supporting mechanism under the driving of this another motor.
2, omnibearing movable spherical robot according to claim 1 is characterized in that: described supporting mechanism is a disk or supporting leg.
3, omnibearing movable spherical robot according to claim 1 is characterized in that: the single wheel tourelle on the described supporting mechanism is three and is 120 degree layouts.
4, omnibearing movable spherical robot according to claim 3 is characterized in that: the single wheel tourelle on the described supporting mechanism is four and is 90 degree layouts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520023033 CN2846267Y (en) | 2005-06-17 | 2005-06-17 | Ominibearing moving ball shape robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520023033 CN2846267Y (en) | 2005-06-17 | 2005-06-17 | Ominibearing moving ball shape robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2846267Y true CN2846267Y (en) | 2006-12-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520023033 Expired - Fee Related CN2846267Y (en) | 2005-06-17 | 2005-06-17 | Ominibearing moving ball shape robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2846267Y (en) |
Cited By (9)
| 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 |
| CN102050167A (en) * | 2010-09-10 | 2011-05-11 | 北京航空航天大学 | Portable two-wheeled two-leg combined transformable robot |
| CN103112512A (en) * | 2013-02-27 | 2013-05-22 | 北京交通大学 | Rolling deformation mechanism |
| CN103702852A (en) * | 2011-08-02 | 2014-04-02 | 株式会社罗凛 | Torque driving device |
| CN103802657A (en) * | 2014-03-11 | 2014-05-21 | 太仓明静纺织有限公司 | Spherical wheel driving system |
| CN104097706A (en) * | 2014-04-14 | 2014-10-15 | 上海大学 | Mecanum-wheel-driven type spherical mobile robot |
| CN104626902A (en) * | 2015-02-03 | 2015-05-20 | 北京理工大学 | Multi-degree-of-freedom amphibious spherical robot |
| CN104875804A (en) * | 2015-04-23 | 2015-09-02 | 上海大学 | Wind-driven steering spherical robot with magnetic-control air valves |
| CN106739783A (en) * | 2017-01-12 | 2017-05-31 | 北京建筑大学 | A kind of two-freedom wheel |
-
2005
- 2005-06-17 CN CN 200520023033 patent/CN2846267Y/en not_active Expired - Fee Related
Cited By (12)
| 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 |
| CN102050167A (en) * | 2010-09-10 | 2011-05-11 | 北京航空航天大学 | Portable two-wheeled two-leg combined transformable robot |
| CN103702852A (en) * | 2011-08-02 | 2014-04-02 | 株式会社罗凛 | Torque driving device |
| CN103112512A (en) * | 2013-02-27 | 2013-05-22 | 北京交通大学 | Rolling deformation mechanism |
| CN103112512B (en) * | 2013-02-27 | 2016-08-03 | 北京交通大学 | Roll deformation mechanism |
| CN103802657A (en) * | 2014-03-11 | 2014-05-21 | 太仓明静纺织有限公司 | Spherical wheel driving system |
| CN104097706A (en) * | 2014-04-14 | 2014-10-15 | 上海大学 | Mecanum-wheel-driven type spherical mobile robot |
| CN104097706B (en) * | 2014-04-14 | 2016-10-26 | 上海大学 | Mecanum wheel driving type movable spherical robot |
| CN104626902A (en) * | 2015-02-03 | 2015-05-20 | 北京理工大学 | Multi-degree-of-freedom amphibious spherical robot |
| CN104875804A (en) * | 2015-04-23 | 2015-09-02 | 上海大学 | Wind-driven steering spherical robot with magnetic-control air valves |
| CN104875804B (en) * | 2015-04-23 | 2017-05-10 | 上海大学 | Wind-driven steering spherical robot with magnetic-control air valves |
| CN106739783A (en) * | 2017-01-12 | 2017-05-31 | 北京建筑大学 | A kind of two-freedom wheel |
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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 |