CN106914919B - Head driving assembly and ball shape robot - Google Patents
Head driving assembly and ball shape robot Download PDFInfo
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- CN106914919B CN106914919B CN201710170962.5A CN201710170962A CN106914919B CN 106914919 B CN106914919 B CN 106914919B CN 201710170962 A CN201710170962 A CN 201710170962A CN 106914919 B CN106914919 B CN 106914919B
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- shield
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- rocker device
- support
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of head driving assemblies, in the sphere of ball shape robot, for controlling the head of the ball shape robot, the head driving assembly includes rotating basis, rocker device and shield, the rotating basis is installed on the intracorporal main support of the ball, first rotating shaft is fixed on the rotating basis, described rocker device one end connects the first rotating shaft, the other end connects the shield, the rotating basis drives the rocker device and the shield to rotate by rotation center of the main support, and the rocker device and the shield are swung by the relatively described main support of fulcrum of the first rotating shaft, the shield abuts the inner surface of the sphere and the magnetic connection head, the shield and the rocker device are rotatablely connected, the head and the shield are opposing stationary to make the head by the shield in the sphere Surface spin turns.A kind of ball shape robot is also disclosed in the present invention.Head position is variable, meets the requirement of domestic robot.
Description
Technical field
The present invention relates to robotic technology fields, more particularly, to a kind of head driving assembly and ball shape robot.
Background technique
Ball shape robot refers to the robot of the scrolling realization movement using sphere, omnibearing movable may be implemented, with ground
Face is single-contact, and frictional resistance is small, and energy utilization efficiency is high, and has tumbler characteristic, can be to avoid conventional machine
What people was easy to appear topples over unstable phenomenon.The important component of robot is included in ball interior, good by sphere shell
Protection, it is not easy to fail because of destruction.Suitable seal approach is taken, the shell of ball shape robot can be made to have anti-water energy
Power, and then used under the conditions of more atrocious weather, there is round-the-clock adaptability.Further, ball shape robot one
As further include head outside the sphere, head carries function element and realizes that the function elements such as camera are intelligentized to realize
Man-machine communication's function, while ball shape robot is improved to the affine sense of user, allow to use as domestic robot.
In the prior art, the head of ball shape robot is directly anchored to outside sphere, in the stationary state of ball shape robot
Under, head does not have freedom degree, i.e. head can not be moved in spherome surface opposing spheres, the user experience of man-machine communication's function compared with
Low, head position can not change according to the job requirement of built-in function element, and ball shape robot intelligence is lower, is unable to satisfy
The requirement of domestic robot.
Summary of the invention
It is existing to solve the technical problem to be solved in the present invention is to provide a kind of head driving assembly and ball shape robot
In technology under the stationary state of ball shape robot, head can not be moved in spherome surface opposing spheres, man-machine communication's function
User experience is lower, and head position can not change according to the job requirement of built-in function element, ball shape robot intelligence compared with
It is low, the problem of being unable to satisfy the requirement of domestic robot.
In order to solve the above technical problems, the present invention provides a kind of head driving assembly, in the sphere of ball shape robot,
For controlling the head of the ball shape robot, the head driving assembly includes rotating basis, rocker device and shield, the rotation
Turn pedestal to be installed on the intracorporal main support of the ball, first rotating shaft, the rocker device one are fixed on the rotating basis
End connects the first rotating shaft, and the other end connects the shield, and the rotating basis drives the rocker device and the shield with institute
Main support is stated as rotation center rotation, and the rocker device and the shield are using the first rotating shaft as the relatively described master of fulcrum
Bracket is swung, and the shield abuts the inner surface of the sphere and the magnetic connection head, the shield and the rocker device turn
Dynamic connection, the head and the shield are opposing stationary to make the head by the shield in the spherome surface spinning.
Further, it includes the be oppositely arranged that the shield, which includes shield disk, shield rotate gear and shield driving gear, the shield disk,
Side and second side, first side are equipped with magnetic devices and connect the head for magnetic, and institute is fixedly mounted in described second side
Shield rotate gear is stated, the shield driving gear is fixedly installed on the rocker device and engages with the shield rotate gear, uses
In the driving shield disk rotation.
Further, the rotating basis includes first support, the first driving gear and the first driven gear, and described first is main
Moving gear and first driven gear are intermeshed, and the first driving gear rotation controls the first driven gear rotation
Turn, first support is fixed on first driven gear away from the main support side, and fixes the first rotating shaft.
Further, first support includes fixing seat, a pair of of fixed frame positioned at the fixing seat side, and described first
Support is fixed on first driven gear by the fixing seat, and the first rotating shaft of the rocker device is fixed on one
To between the fixed frame, so that the rocker device be made to be rotatablely connected first support, the guiding trestle passes through described
Fixed frame is fixed on first support.
Further, the head driving assembly further includes guiding trestle, and the guiding trestle is fixedly connected with described first
Seat, the guiding trestle is equipped with arc-shaped guide rail, and the curvature circle-center of the arc-shaped guide rail is located at the centre of sphere of the sphere, described
Rocker device is equipped with the directive wheel cooperated with the arc-shaped guide rail, and the guiding trestle is for limiting table in shield and the sphere
The spacing in face.
Further, the rocker device includes clamping element, straight-bar and directive wheel fixed frame, and described clamping element one end is sheathed on
The first rotating shaft simultaneously rotates fixation, the fixed straight-bar of the other end with the first rotating shaft, and the directive wheel fixed frame is arranged
In the one end of the straight-bar far from the clamping element, the directive wheel fixed frame installs the directive wheel, make the directive wheel with
The arc-shaped guide rail rolls connection, and the straight-bar connects the shield.
Further, the guiding trestle further includes the first guide rail and the first sliding block for being slidably connected with first guide rail,
First sliding block is connect with the directive wheel by the first extensible member, and first sliding block slides and leads in first guide rail
Crossing first extensible member drives the directive wheel to roll in the arc-shaped guide rail.
Further, the guiding trestle further includes second support, the second driving gear and rack gear, second driving gear
It is connect by the second support with first sliding block, the rack surface is equipped with and engages with second driving gear
Tooth, the second driving gear relative motion on the rack gear, to drive first sliding block by the second support
It is slided in first guide rail.
Further, the head driving assembly further includes the second extensible member, and described the connection of second extensible member described first
Seat and the straight-bar, for assisting the control rocker device to swing.
The present invention also provides a kind of ball shape robot, the ball shape robot includes head, sphere and any of the above one
The head driving assembly, the head driving assembly are located in the sphere, and the magnetic connection head.
Beneficial effects of the present invention are as follows: the rocker device and shield that rotating basis control is installed on rotating basis are relatively main
Bracket rotation, while rocker device and shield be using first rotating shaft as branch spot wobble, shield magnetism connection head and with head opposing spheres
Motion state it is consistent, so that head can be opposite to any direction in spherome surface under the stationary state of ball shape robot
Movement, meanwhile, shield and rocker device are rotatablely connected, and the spinning of shield can drive head in spherome surface spinning, head position
Setting can change according to the job requirement of built-in function element, improve the intelligence of ball shape robot, man-machine communication's function
User experience it is high, meet the requirement of domestic robot.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other obvious modes of texturing are obtained according to these attached drawings.
Fig. 1 is the structural schematic diagram of head driving assembly provided in an embodiment of the present invention.
Fig. 2 is the front view of head driving assembly provided in an embodiment of the present invention.
Fig. 3 is the side view of head driving assembly provided in an embodiment of the present invention.
Fig. 4 and Fig. 5 is the partial structural diagram of head driving assembly provided in an embodiment of the present invention.
Fig. 6 is the freedom degree schematic diagram of head driving assembly provided in an embodiment of the present invention.
Fig. 7 and Fig. 8 is the structural schematic diagram of the shield of head driving assembly provided in an embodiment of the present invention.
Fig. 9 is the structural schematic diagram of the first support of head driving assembly provided in an embodiment of the present invention.
Figure 10 is the structural schematic diagram of ball shape robot provided in an embodiment of the present invention.
Figure 11 is the schematic diagram of internal structure of ball shape robot provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Also referring to Fig. 1, Figure 10 and Figure 11, head driving assembly 10 provided in an embodiment of the present invention is applied to spherical machine
Device people, further, ball shape robot include head 2 and sphere 1, and head 2 is connect with 1 magnetism of sphere, carrying walking in sphere 1
Driving assembly, head driving assembly 10, power supply etc., hoofing part component is for driving sphere 1 to rotate, by 1 outer surface of sphere
Ball shape robot is driven to be walked with the frictional force on ground, the magnetic connection head 2 of head driving assembly 10 is inhaled for controlling head 2
It is attached to the movement of 1 outer surface of sphere.When sphere 1 remains static, head driving assembly 10 controls head 2 and is moved to sphere 1
Any position on surface, i.e. head 2 can be mobile in the direction XYZ by track of 1 surface of sphere, meanwhile, head driving assembly 10
It can be turned with drive head 2 in 1 surface spin of sphere, to change the working condition of the function element built in head 2, such as logical
The shooting angle etc. for crossing the camera built in the position change head 2 for changing head 2, improves the intelligence of ball shape robot.
Referring to Figure 2 together, Fig. 3 Fig. 4 and Fig. 5, in the present embodiment, head driving assembly 10 includes rotating basis 102, shakes
Linkage 104 and shield 106, rotating basis 102 are installed on the main support 12 in sphere 1, specifically, main support 12 is sphere 1
Internal main body bearing structure, for carrying the functional entities such as head driving assembly 10, hoofing part component, hoofing part component
The spherical shell inner wall of sphere 1 is contacted, further, main support 12 is additionally provided with the counterweight that position is lower than 1 centre of sphere of sphere, to keep spherical
Robot walked, the movement such as obstacle detouring when, the spherical shell of sphere 1 main support 12 and is connected to respect to the rotation of main support 12
Each functional entity on main support 12 remains stable.Rotating basis 102 is rotatablely installed on main support 12, can be led relatively
12 active rotation of bracket, so that the mechanism being connected on rotating basis 102 can be with rotating basis 102 and with respect to main support
12 rotations.Further, first rotating shaft 100 is fixed on rotating basis 102, rocker device 104 is connected by first rotating shaft 100
Rotating basis 102,104 one end of rocker device connect first rotating shaft 100, and the other end connects shield 106, that is, is connected to rotating basis
First rotating shaft 100, rocker device 104 and shield 106 on 102 can be used as one entirely through the relatively main branch of rotating basis 102
Frame 12 rotates.Simultaneously as rocker device 104 is rotatablely connected first rotating shaft 100, rocker device 104 and shield 106 can be with first
Shaft 100 is that fulcrum is swung with respect to main support 12.In a kind of preferable embodiment, the rotation of rocker device 104 and first rotating shaft
100 are connected by rolling bearing.The head 2 of the inner surface of the abutting sphere 1 of shield 106 and magnetic connection ball shape robot, 106, shield
In in sphere 1, head 2 is located at outside sphere 1, and head 2 and shield 106 are opposing stationary, movement and head of the shield 106 in 1 inner surface of sphere
Movement of the portion 2 in 1 outer surface of sphere is corresponding, i.e., the position on head 2 is corresponding with the position of shield 106 and opposing spheres 1 move synchronously.
In conjunction with Fig. 6, sphere 1 is divided into orthogonal warp and weft, head 2 is track in XYZ using 1 surface of sphere
The shift position in direction can indicate that the drive of rocker device 104 head 2 is fulcrum with first rotating shaft 100 with longitude and latitude
Swing can change head 2 in the latitude size of sphere 1, and rotating basis 102 drives rocker device 104 and the relatively main branch in head 2
The rotation of frame 12 can change head 2 in the longitude size of sphere 1, therefore rotating basis 102 and the cooperation of rocker device 104 can make
Head 2 is moved to any position of sphere 1.In the present embodiment, when sphere 1 remains static, in order to keep 1 inside of sphere each
The center of gravity of functional structure is maintained at lower semisphere with the center of gravity of stable spherical robot, and head 2 is maintained at the surface of 1 episphere of sphere
Mobile, i.e. side hemisphere of the sphere 1 far from bottom surface is mobile.
Incorporated by reference to Fig. 7 and Fig. 8, shield 106 and rocker device 104 are rotatablely connected, and the magnetic connection ball shape robot of shield 106
Head 2, head 2 by shield 106 1 surface spin of sphere turn.Specifically, shield 106 includes shield disk 1060, shield rotate gear
1061 and shield drive gear 1063, shield disk 1060 includes the first side 106a for being oppositely arranged and second side 106b, the first side 106a
Equipped with magnetic devices 1062 for magnetic connection head 2, specifically, magnetic devices 1062 are uniformly distributed, to keep shield 106 correct
The magnetic attraction in portion 2 is uniform.Shield rotate gear 1061 is fixedly mounted in second side 106b, and shield driving gear 1063 is fixedly installed in rocking bar
It is engaged in mechanism 104 and with shield rotate gear 1061, for driving shield disk 1060 to rotate.Specifically, shield rotate gear 1061 is first
Tail, which is connected, surrounds closed shape, and shield rotate gear 1061 and shield drive 1063 internal messing of gear.It is a kind of preferably to implement
In mode, shield rotate gear 1061 surrounds the center of circle in the circle at the center of shield 106.Further, shield driving gear 1063 is logical
It crosses gear stand to be mounted on rocker device 104, and is driven by shield driving motor 1065.The spinning of shield 106 can drive
Head 2 turns in 1 surface spin of sphere, and 2 position of head can change according to the job requirement of built-in function element, improve ball
The intelligence of anthropomorphic robot.In the present embodiment, shield 106 is hollow design, and hollow design reduces the weight of shield 106, to reduce
The load of head driving assembly 10 saves electricity, improves the cruising ability of ball shape robot.Further, shield 106 is additionally provided with ten thousand
Way roller, to reduce the frictional force of shield 106 Yu 1 inner surface of sphere.
Rotating basis 102 controls the rocker device 104 being installed on rotating basis 102 and shield 106 and revolves with respect to main support 12
Turn, at the same rocker device 104 and shield 106 with first rotating shaft 100 for branch spot wobble, the magnetic connection head 2 of shield 106 and with head 2
The motion state of opposing spheres 1 is consistent, thus under the stationary state of ball shape robot, head 2 can be on 1 surface of sphere to appointing
Meaning direction relative motion, 2 position of head can change according to the job requirement of built-in function element, improve ball shape robot
Intelligence, the user experience of man-machine communication's function is high, meets the requirement of domestic robot.
In the present embodiment, rotating basis 102 includes first support 1020, first motor 1022, the first driving gear 1024
And first driven gear 1026, the first driving gear 1024 and the first driven gear 1026 are intermeshed, first motor 1022 is controlled
Make the first driving gear 1024 rotation, thus control the first driven gear 1026 rotation, the first support 1020 be fixed on first from
Moving gear 1026 deviates from 12 side of main support, and connects guiding trestle 108 and rocker device 104.Further, the first driven tooth
The shaft of wheel 1026 is fixed on main support 12, and the first third driving gear is driven by first motor 1022, and drive first is driven
Gear 1026 is rotated relative to main support 12.First support 1020 is fixedly connected with first support 1020 by screw, and drives first
Bracket 1020 is rotated relative to main support 12, and first support 1020 is shaken as the connection of the pedestal of rocker device 104 and guiding trestle 108
Linkage 104 and guiding trestle 108 drive rocker device 104 and guiding trestle 108 to rotate relative to main support 12.First motor
1022 driving rotating basis 102 are rotated relative to main support 12, to drive shield 106 and head 2 in the variation of 1 latitude of sphere, are mentioned
The high intelligence of ball shape robot.
Further, in conjunction with Fig. 9, the first support 1020 includes fixing seat 1021, a pair positioned at 1021 side of fixing seat
Fixed frame 1023, the first support 1020 are fixed on the first driven gear 1026 by fixing seat 1021, and the of rocker device 104
One shaft 100 is fixed between a pair of of fixed frame 1023, so that rocker device 104 is made to be rotatablely connected the first support 1020, it is a kind of
In preferable embodiment, a pair of of fixed frame 1023 is symmetrical, and the first rotating shaft 100 of rocker device 104 is threadedly coupled
Mode is connected between a pair of of fixed frame 1023.Guiding trestle 108 is fixed on the first support 1020 by fixed frame 1023, is had
Body, one of a pair of of fixed frame 1023 is equipped with multiple through-holes, and fixed guide bracket 108 is bolted in guiding trestle 108.
In the present embodiment, 2 driving assembly 10 of head further includes guiding trestle 108, and guiding trestle 108 is fixedly connected with first
Seat 1020, i.e. guiding trestle 108 and the first driven wheel 1026 of rotating basis 102 is opposing stationary.In the present embodiment, guiding trestle
108 include arc-shaped guide rail 1080, and rocker device 104 is equipped with directive wheel 1040, and directive wheel 1040 rolls on arc-shaped guide rail 1080
It is dynamic, to make rocker device 104 and the shield 106 that is connected on rocker device 104 is with 100 branch spot wobble of first rotating shaft.It is a kind of
In preferable embodiment, the curvature circle-center of arc-shaped guide rail 1080 is located at the centre of sphere of sphere 2, so that directive wheel 1040 is bonded arc
Guide rail 1080 simultaneously drives rocker device 104 and shield 106 to swing, i.e., guiding trestle 108 is for limiting the swing side of rocker device 104
To.The length of arc-shaped guide rail 1080 determines the range that rocker device 104 is swung, the i.e. motion range on head 2, the present embodiment
In, the radian of arc-shaped guide rail 1080 is not more than π/4, and in a kind of preferable embodiment, the corresponding radian of arc-shaped guide rail 1080 is
40 degree, head 2 can be swung within the scope of 40 ° of 1 surface of sphere without dead angle, avoid 2 amplitude of fluctuation of head excessive and magnetic attraction not
The gravity for being enough to resist head 2 causes head 2 to be detached from the landing of sphere 1.
In the present embodiment, rocker device 104 includes clamping element 1040, straight-bar 1042 and directive wheel fixed frame 1044, is clamped
Part 1040 includes turning end and pinching end, and turning end is sheathed on first rotating shaft 100 and rotates with first rotating shaft 100 and fixes, a kind of
In preferable embodiment, turning end is connect with first rotating shaft 100 by bearing, to reduce clamping element 1040 and first rotating shaft
100 frictional force relatively rotated, pinching end is fixedly clamped straight-bar 1042, to stablize straight-bar 1042 with first rotating shaft 100 as fulcrum
It swings.In a kind of preferable embodiment, first rotating shaft 100 is located at the top of the sphere center position of sphere 1, other embodiments
In, first rotating shaft 100 can also be located at the sphere center position or other positions of sphere 1.When straight-bar 1042 is swung, grown by fixed
The shield 106 that the straight-bar 1042 of degree connects is constant with 1 shell of sphere at a distance from, i.e., shield 106 is constant at a distance from head 2, shield 106 and
The magnetic attracting force on head 2 is constant, avoid sphere 1 of the head 2 in 1 surface moving process of sphere to the magnetic attraction on head 2 not
It is sufficient or it is unstable cause head 2 be detached from sphere 1.Directive wheel fixed frame 1044 is sheathed on one of straight-bar 1042 far from clamping element 1040
End, directive wheel fixed frame 1044 install directive wheel 1040, roll directive wheel 1040 and arc-shaped guide rail 1080 and connect, straight-bar 1042
Connect shield 106.In a kind of preferable embodiment, the rolling edge of directive wheel 1040 is inner concavity, for being embedded in guiding trestle
108 arc-shaped guide rail 1080, avoid directive wheel 1040 on arc-shaped guide rail 1080 roll when directive wheel 1040 in non-rotating direction
Upper disengaging arc-shaped guide rail 1080.Directive wheel 1040 rolls to drive straight-bar 1042 and shield 106 with first in arc-shaped guide rail 1080
Shaft 100 is branch spot wobble, and then realizes that head 2 in the variation of 1 longitude of sphere, improves the intelligence of ball shape robot.
In the present embodiment, guiding trestle 108 further include the first guide rail 1086 and be slidably connected with the first guide rail 1086
One sliding block 1081, the first sliding block 1081 are connect with directive wheel 1040 by the first extensible member 1100, and the first sliding block 1081 is first
Guide rail 1086 slides and drives directive wheel 1040 to roll in arc-shaped guide rail 1080 by the first extensible member 1100.A kind of preferable reality
It applies in mode, the first extensible member 1100 is spring, and working condition remains tensional state.In the present embodiment, the first sliding block
1081 sliding recess is dovetail groove, and the first guide rail 1086 is the dovetail shaped guide rail cooperated with the first sliding block 1081, for preventing
The first sliding block 1081 is separated from each other with the first guide rail 1086 in sliding process.First sliding block 1081 slides simultaneously in the first guide rail 1086
Directive wheel 1040 is pulled to roll in arc-shaped guide rail 1080 by the first extensible member 1100, so that straight-bar 1042 is swung, meanwhile, the
One extensible member 1100 also functions to the effect that directive wheel 1040 makes directive wheel 1040 be fitted in arc-shaped guide rail 1080 always of pullling.
In the present embodiment, guiding trestle 108 further includes second support 1082, the second motor 1083, the second driving gear
1084 and rack gear 1085, the second driving gear 1084 is connect with the first sliding block 1081 by second support 1082,1085 table of rack gear
Face is equipped with the tooth engaged with the second driving gear 1084, and the second motor 1083 drives the second driving gear 1084 on rack gear 1085
Relative motion, to drive the first sliding block 1081 to slide in the first guide rail 1086 by second support 1082.Specifically, rack gear
1085 is consistent with the direction of the first guide rail 1086, thus when the second driving gear 1084 moves on rack gear 1085, drives the
One sliding block 1081 slides on the first guide rail 1086 to identical direction.Further, second support 1082 and rocker device 104
It is rotatablely connected by bearing, to fix second support 1082 by rocker device 104, while when rocker device 104 is swung, by
In 104 change in location of rocker device, second support 1082 still is able to connect with rocker device 104.
In the present embodiment, rocker device 104 further includes the first spline mother 1102, and the first spline mother 1102 is sheathed on straight-bar
It on 1042, and is fixed between directive wheel fixed frame 1044, for preventing directive wheel fixed frame 1044 from rotating relative to straight-bar 1042.
Specifically, the section of straight-bar 1042 is and the female 1102 clearance fit spline-shapeds of the first spline.
In the present embodiment, head driving assembly 10 further includes the second extensible member 1104, the second extensible member 1104 connection first
Support 1020 and straight-bar 1042, for assisting control rocker device 104 to swing.Specifically, 1104 one end of the second extensible member is fixed
First support 1020, the other end are fixed on straight-bar 1042 by fixed bracket, and rocker device 104 further includes the second spline mother
1106, the second spline mother 1106 is sheathed on straight-bar 1042, and is fixedly connected with the fixed branch for fixing the second extensible member 1104
Frame, to keep the draw direction of the second extensible member 1104 to be parallel to straight-bar 1042.In a kind of preferable embodiment, second is flexible
Part 1104 is spring, and working condition is in tensional state, can play the role of auxiliary and control the swing of rocker device 104,
Balance motor torsion reduces energy consumption.
Rotating basis 102 controls the rocker device 104 being installed on rotating basis 102 and shield 106 and revolves with respect to main support 12
Turn, at the same rocker device 104 and shield 106 with first rotating shaft 100 for branch spot wobble, the magnetic connection head 2 of shield 106 and with head 2
The motion state of opposing spheres 1 is consistent, thus under the stationary state of ball shape robot, head 2 can be on 1 surface of sphere to appointing
Meaning direction relative motion, meanwhile, shield 106 and rocker device 104 are rotatablely connected, and the spinning of shield 106 can drive head 2 in ball
1 surface spin of body turns, and 2 position of head can change according to the job requirement of built-in function element, improve ball shape robot
Intelligence, the user experience of man-machine communication's function is high, meets the requirement of domestic robot.
Referring to Fig. 10, the embodiment of the present invention also provides a kind of ball shape robot, ball shape robot include sphere 1 and with
The upper head 2, head 2 are connect with 1 magnetism of sphere, carrying hoofing part component, head driving assembly 10, electricity in sphere 1
Source etc., hoofing part component drive spherical machine by the frictional force of 1 outer surface of sphere and ground for driving sphere 1 to rotate
People's walking, the magnetic connection head 2 of head driving assembly 10 are adsorbed on the movement of 1 outer surface of sphere for controlling head 2.In sphere 1
When remaining static, head driving assembly 10 controls head 2 and is moved to any position on 1 surface of sphere, i.e. head 2 can be with
1 surface of sphere is track in the movement of the direction XYZ, meanwhile, the function element in robot head 2 is using the central axis on head 2 as axis
Line independently rotates, to change the working condition of the function element built in head 2, such as the position change by changing head 2
The shooting angle etc. of camera built in head 2, improves the intelligence of ball shape robot.
Above disclosed is only several preferred embodiments of the present invention, cannot limit the power of the present invention with this certainly
Sharp range, those skilled in the art can understand all or part of the processes for realizing the above embodiment, and weighs according to the present invention
Benefit requires made equivalent variations, still belongs to the scope covered by the invention.
Claims (7)
1. a kind of head driving assembly, in the sphere of ball shape robot, for controlling the head of the ball shape robot,
It is characterized in that, the head driving assembly includes rotating basis, rocker device and shield, and the rotating basis is installed on the sphere
On interior main support, first rotating shaft is fixed on the rotating basis, described rocker device one end connects the first rotating shaft, separately
One end connects the shield, and the rotating basis drives the rocker device and the shield to revolve by rotation center of the main support
Turn, and the rocker device and the shield are swung by the relatively described main support of fulcrum of the first rotating shaft, the shield abuts
The inner surface of the sphere and the magnetic connection head, the shield and rocker device rotation connection, the head and institute
It is opposing stationary to make the head by the shield in the spherome surface spinning to state shield, the rotating basis includes first
Support, the first driving gear and the first driven gear, first driving gear and first driven gear are intermeshed, institute
It states the rotation of the first driving gear and controls the first driven gear rotation, first support is fixed on first driven gear
Away from the main support side, and the first rotating shaft is fixed, the head driving assembly further includes guiding trestle, the guiding
Bracket is fixedly connected with first support, and the guiding trestle is equipped with arc-shaped guide rail, and the curvature circle-center of the arc-shaped guide rail
Positioned at the centre of sphere of the sphere, the rocker device is equipped with the directive wheel cooperated with the arc-shaped guide rail, the guiding trestle
For limiting the spacing of the shield Yu the sphere inner surface, the rocker device includes that clamping element, straight-bar and directive wheel are fixed
Frame, described clamping element one end are sheathed on the first rotating shaft and rotate with the first rotating shaft and fix, and the other end is fixed described straight
Bar, the directive wheel fixed frame are sheathed on the one end of the straight-bar far from the clamping element, and the directive wheel fixed frame installs institute
Directive wheel is stated, the directive wheel and the arc-shaped guide rail is rolled and connects, the straight-bar connects the shield.
2. head driving assembly according to claim 1, which is characterized in that the shield include shield disk, shield rotate gear and
Shield drives gear, and the shield disk includes the first side being oppositely arranged and second side, and first side is equipped with magnetic devices and is used for magnetic
Property the connection head, the shield rotate gear is fixedly mounted in described second side, and the shield driving gear is fixedly installed in described
It is engaged on rocker device and with the shield rotate gear, for driving the shield disk to rotate.
3. head driving assembly according to claim 2, which is characterized in that first support includes fixing seat, is located at
A pair of of fixed frame of the fixing seat side, first support are fixed on first driven gear by the fixing seat
On, the first rotating shaft of the rocker device is fixed between a pair of fixed frame, so that the rocker device be made to rotate
First support is connected, the guiding trestle is fixed on first support by the fixed frame.
4. head driving assembly according to claim 3, which is characterized in that the guiding trestle further include the first guide rail and
The first sliding block being slidably connected with first guide rail, first sliding block are connect with the directive wheel by the first extensible member,
First sliding block, which slides in first guide rail and passes through first extensible member, drives the directive wheel to lead in the arc
Rail rolls.
5. head driving assembly according to claim 4, which is characterized in that the guiding trestle further include second support,
Second driving gear and rack gear, second driving gear are connect with first sliding block by the second support, the tooth
Surface is equipped with the tooth engaged with second driving gear, the second driving gear relative motion on the rack gear, from
And first sliding block is driven to slide in first guide rail by the second support.
6. head driving assembly according to claim 5, which is characterized in that the head driving assembly further includes second stretching
Contracting part, second extensible member connect first support and the straight-bar, for assisting the control rocker device to swing.
7. a kind of ball shape robot, which is characterized in that the ball shape robot includes that head, sphere and claim 1 to 6 are any
Head driving assembly described in one, the head driving assembly are located in the sphere, and the magnetic connection head.
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108515508B (en) * | 2018-02-11 | 2020-09-04 | 坎德拉（深圳）科技创新有限公司 | Two-wheeled robot |
| CN108908357B (en) * | 2018-06-26 | 2022-04-19 | 坎德拉（深圳）软件科技有限公司 | Drive assembly and robot |
| CN109015667B (en) * | 2018-06-26 | 2022-05-03 | 坎德拉（深圳）软件科技有限公司 | Spherical robot |
| CN108983430B (en) * | 2018-07-13 | 2020-11-13 | 淮南联合大学 | Robot stereoscopic display and control method thereof |
| CN110802605A (en) * | 2019-10-12 | 2020-02-18 | 深圳市优必选科技股份有限公司 | Rotating structure and robot |
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