CN110253526A - Standing ball type robot - Google Patents
Standing ball type robot Download PDFInfo
- Publication number
- CN110253526A CN110253526A CN201910623378.XA CN201910623378A CN110253526A CN 110253526 A CN110253526 A CN 110253526A CN 201910623378 A CN201910623378 A CN 201910623378A CN 110253526 A CN110253526 A CN 110253526A
- Authority
- CN
- China
- Prior art keywords
- chassis
- laminate
- ball
- aluminum frame
- fixedly installed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims abstract description 44
- 230000007246 mechanism Effects 0.000 claims abstract description 44
- 229910052782 aluminium Inorganic materials 0.000 claims abstract description 41
- 238000009826 distribution Methods 0.000 claims description 18
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 description 5
- 238000013016 damping Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 239000004411 aluminium Substances 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a standing ball type robot, which comprises an aluminum frame, a balance mechanism, a first layer plate, a second layer plate, a third layer plate, a chassis, a driving mechanism, a driving ball and a limiting mechanism, wherein the aluminum frame is arranged in a cuboid shape, the top of the aluminum frame is fixedly provided with the balance mechanism, the first layer plate, the second layer plate and the third layer plate are fixedly arranged in the aluminum frame, the first layer plate, the second layer plate and the third layer plate are consistent in specification and are arranged at equal intervals, the chassis is arranged at one end of the aluminum frame far away from the balance mechanism, the three driving mechanisms are consistent in specification and are distributed at equal intervals on the circumference of the center of the upper end face of the chassis, the standing ball type robot researched by the invention is a robot which is similar to a plane inverted pendulum and moves by driving the supporting ball at the bottom to rotate, only has one contact point with the ground, can move in any direction and turns at any radius or rotates, and the whole fuselage is long, and the trafficability characteristic in narrow space is better, is fit for using in indoor environment.
Description
Technical field
The invention belongs to robotic technology field, specially a kind of station ball-type robot.
Background technique
The mobile robot of mainstream can be divided by its driving method: wheeled, crawler type, sufficient formula and combined type, no
The environment and occasion that same driving method has its applicable.It is wheeled to be suitable for flat road surface, it being capable of high-speed mobile；Crawler type is applicable in
In soft rugged road surface, short and small barrier can be crossed over；Sufficient formula applicable surface is most wide, but movement speed is slow, is easy disequilibrium；
Combined type is the combination of various ways, and road surface adaptive faculty is strong but structure is complex.
Mainly there are wheeled and two kinds of legged type robot for the mobile robot that office scenarios are interacted with people.Wheeled machine
Device people's structure is simply easily achieved, but chassis is usually very big, and the narrow regions passability between office's deck is very poor, needs
Ground is spacious and keeps clean and tidy.Legged type robot has good passability, and people place ambulatory can reach, but at present
Stage technique is still immature, and movement speed is slower, and load capacity is lower, needs to design a kind of station ball-type robot to this.
Summary of the invention:
The object of the invention is that providing a kind of station ball-type robot to solve the above-mentioned problems, solves background skill
The problem of being mentioned in art.
To solve the above-mentioned problems, the present invention provides a kind of technical solutions:
A kind of station ball-type robot, including aluminum frame, balance mechanism, the first laminate, the second laminate, third laminate, chassis, drive
Motivation structure, driving ball and position-limit mechanism, the aluminum frame are arranged in a rectangular parallelepiped shape, are fixedly installed with balancing machine at the top of the aluminum frame
Structure is fixedly installed with the first laminate, the second laminate and third laminate, first laminate, the second laminate and in the aluminum frame
Three ply board specification is consistent and is equidistantly positioned between each other, and the aluminum frame is provided with chassis, the bottom far from balance mechanism one end
Disk surrounding is fixedly mounted there are three driving mechanism, and three driving mechanism specifications are consistent and between each other about chassis upper surface
The circle distribution that center is isodistantly spaced, the chassis are provided with driving ball, the fixed peace in the chassis lower end surface far from aluminum frame one end
For dress there are three position-limit mechanism, three position-limit mechanism specifications are consistent and between each other about chassis lower end surface center in distance
Circle distribution.
Preferably, the balance mechanism includes fixinig plate, disc motor, shaft coupling, flywheel and weight stack, the fixation
Piece is fixedly mounted on aluminum frame upper end, and setting is in 90 degree there are two disc motor, two disc motors below the fixinig plate
Distribution, two disc motor output ends are fixedly installed with shaft coupling, and the output outer ring of two shaft couplings is fixed
Flywheel is installed, the fixinig plate lower end is fixedly installed with weight stack, and there are two the weight stack settings, and matches described in two
Weight piece respectively with two disc motor Relative distributions.
A kind of station ball-type robot according to claim, it is characterised in that: setting right above first laminate
There is the first driver, is fixedly installed with the first vibration-absorbing mounting between first driver and the first laminate.
Preferably, second laminate upper surface center is fixedly installed with controller.
Preferably, third laminate lower end surface is fixedly installed with the second driver, third laminate upper surface is solid
Dingan County is equipped with gyroscope.
Preferably, being vertically arranged between the chassis and aluminum frame there are four mounting rod, the surface on the chassis is arranged
There is egative film, egative film described in the egative film upper surface and aluminum frame is fixedly mounted on four mounting rods far from chassis one end, the egative film
Lower end surface is fixedly installed with battery, and four mounting rod specifications are consistent and mutual rectangular array distribution, described in four
Mounting rod) between chassis one end and chassis it is fixedly installed with the second vibration-absorbing mounting, four mounting rods are far from chassis one end
It is fixedly mounted with the corner of egative film lower end surface four.
Preferably, three driving mechanisms include direct current generator, motor connection sheet and omni-directional wheel, the direct current
Machine specification is consistent and the circle distribution that is isodistantly spaced between each other about the chassis upper surface center of circle, three direct current generators and bottom
Disk is in 60 degree of inclination angles, and three direct current generators are equipped with motor connection sheet, three electricity close to the equal fixing sleeve of output end
Machine connection sheet is fixedly mounted on chassis far from direct current generator one end, and three direct current generator output ends are fixedly connected to
Omni-directional wheel, the tangent setting of top spherical surface that three omni-directional wheel specifications are consistent and external annulus is with driving ball.
Preferably, three position-limit mechanisms include limit curved rod, three centripetal sides of the limit curved rod
Lower end be embedded in installation finite place piece, three centripetal sides of locating part are embedded with a multi-directional ball, described in three
The spherical surface of multi-directional ball is tangent with driving ball lower spherical.
The beneficial effects of the present invention are: the present invention relates to a kind of station ball-type robot, the Zhan Qiu robot studied herein,
A kind of similar planar inverted pendulum, by driving the support ball rotation of bottom to carry out mobile robot, with ground only one
Contact point can move in any direction, and with any semidiameter turn or original place rotation, and integral body is slender, in narrow sky
Interior passability is preferable, is suitably applied in indoor environment.
Detailed description of the invention:
Detailed description will be given by the following detailed implementation and drawings by the present invention for ease of explanation,.
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is position-limit mechanism structural schematic diagram of the invention；
Fig. 3 is locating part structural schematic diagram of the invention；
Fig. 4 is control module structural schematic diagram of the invention.
In figure: 1, aluminum frame；2, balance mechanism；3, the first laminate；4, the second laminate；5, third laminate；6, chassis；7, it drives
Mechanism；8, ball is driven；9, position-limit mechanism；21, fixinig plate；22, disc motor；23, shaft coupling；24, flywheel；25, weight stack；
31, the first vibration-absorbing mounting；32, the first driver；41, controller；51, the second driver；52, gyroscope；61, mounting rod；62, bottom
Piece；63, battery；64, the second vibration-absorbing mounting；71, direct current generator；72, motor connection sheet；73, omni-directional wheel；91, curved rod is limited；
92, locating part；93, multi-directional ball.
Specific embodiment:
As shown in Figs 1-4, present embodiment uses following technical scheme:
A kind of station ball-type robot, including aluminum frame 1, balance mechanism 2, the first laminate 3, the second laminate 4, third laminate 5, bottom
Disk 6, driving mechanism 7, driving ball 8 and position-limit mechanism 9, the aluminum frame 1 are arranged in a rectangular parallelepiped shape, fixed peace at the top of the aluminum frame 1
Equipped with balance mechanism 2, the first laminate 3, the second laminate 4 and third laminate 5, the first layer are fixedly installed in the aluminum frame 1
Plate 3, the second laminate 4 are consistent with 5 specification of third laminate and are equidistantly positioned between each other, and the aluminum frame 1 is far from balance mechanism 2 one
End is provided with chassis 6, and 6 surrounding of chassis is fixedly mounted there are three driving mechanism 7, and three 7 specifications of driving mechanism are consistent
And the circle distribution being isodistantly spaced between each other about 6 upper surface center of chassis, the chassis 6 is provided with far from 1 one end of aluminum frame
Drive ball 8,6 lower end surface of chassis is fixedly mounted there are three position-limit mechanism 9, and three 9 specifications of position-limit mechanism are consistent and phase
About 6 lower end surface center of chassis in the circle distribution of distance between mutually.
Wherein, the balance mechanism 2 includes fixinig plate 21, disc motor 22, shaft coupling 23, flywheel 24 and weight stack 25,
The fixinig plate 21 is fixedly mounted on 1 upper end of aluminum frame, and there are two disc motors 22 for setting below the fixinig plate 21, described in two
Disc motor 22 is fixedly installed with shaft coupling 23 in 90 degree of distributions, two 22 output ends of disc motor, and two described
The output outer ring of axis device 23 is fixedly installed with flywheel 24, and 21 lower end of fixinig plate is fixedly installed with weight stack 25, described to match
Weight piece 25 setting there are two, and two weight stacks 25 respectively with two 22 Relative distributions of disc motor.
Wherein, the first driver 32, first driver 32 and the first laminate are provided with right above first laminate 3
The first vibration-absorbing mounting 31 is fixedly installed between 3.
Wherein, the 4 upper surface center of the second laminate is fixedly installed with controller 41.
Wherein, 5 lower end surface of third laminate is fixedly installed with the second driver 51, and 5 upper surface of third laminate is solid
Dingan County is equipped with gyroscope 52.
Wherein, it is vertically arranged between the chassis 6 and aluminum frame 1 there are four mounting rod 61, the surface on the chassis 6 is arranged
There is egative film 62,62 upper surface of egative film and 1 lower end of aluminum frame are fixedly mounted, and the egative film 62 is fixedly mounted on four mounting rods 61
Far from 6 one end of chassis, 62 lower end surface of egative film is fixedly installed with battery 63, and four 61 specifications of mounting rod are consistent and mutual
Between rectangular array distribution, four mounting rods 61 are fixedly installed with the second vibration damping between 6 one end of chassis and chassis 6
Frame 64, four mounting rods 61 are fixedly mounted far from 6 one end of chassis and the corner of 62 lower end surface of egative film four.
Wherein, three driving mechanisms 7 are described straight including direct current generator 71, motor connection sheet 72 and omni-directional wheel 73
71 specification of galvanic electricity machine is consistent and the circle distribution that is isodistantly spaced between each other about the 6 upper surface center of circle of chassis, three direct currents
Motor 71 and chassis 6 are in 60 degree of inclination angles, and three direct current generators 71 are connected close to the equal fixing sleeve of output end equipped with motor
Piece 72, three motor connection sheets 72 are fixedly mounted on chassis 6 far from 71 one end of direct current generator, three direct currents
71 output end of machine is fixedly connected to omni-directional wheel 73, three 73 specifications of omni-directional wheel are consistent and external annulus with driving ball 8
The tangent setting of top spherical surface.
Wherein, three position-limit mechanisms 9 include limit curved rod 91, three centripetal sides of the limit curved rod 91
Lower end be embedded in installation finite place piece 92, three centripetal sides of the locating part 92 are embedded with a multi-directional ball 93, three
The spherical surface of a multi-directional ball 93 is tangent with driving 8 lower spherical of ball.
Use state of the invention are as follows: chassis 6 is made of whole piece aluminium sheet cutting and boring, uses 4 with fuselage main body part
The connection of root aluminum profile, motor connection sheet 72 are cut into for aluminium block, are fixed by bolts on chassis 6,71 fixed ring of direct current generator
It covers in motor connection sheet 72,71 output shaft of direct current generator is directly connected with the shaft coupling of omni-directional wheel 73, omni-directional wheel 73 and driving
Ball 8 has 3 contact points, bears the weight of entire robot, the first vibration-absorbing mounting 31 and the second vibration-absorbing mounting 64 are IMU vibration damping
Frame, the design reference of vibration-absorbing mounting unmanned plane fly the vibration-absorbing mounting of control, are connected between 2 aluminium flakes with rubber damping ball, lower section aluminium flake 4
The spacing of a buffering ball junction is 60mm, and the junction spacing of top aluminium flake is 54mm, so that rubber damping ball is in
Tensional state causes tilt readings abnormal without will shake left and right, and the distinctive mechanical structure of omni-directional wheel 73, each steamboat can
To be freely rotated, allow the driving ball 8 of bottom is controlled to be rotated with any axis, including the rotation around vertical axes,
In order to increase frictional force, each steamboat passes through blasting treatment, and aluminum frame 1 is by 2020 aluminum profiles as support frame, aluminum profile valence
Lattice are cheap, light-weight, and also meet demand, aluminum profile have sliding slot on each face to structural strength, can be in arbitrary height mounting layer
Plate facilitates the center of gravity height for adjusting robot, installs laminate installation other equipment after being also convenient for additional, laminate is by aluminium flake cutting and boring
System is made, and has carried out certain hollow processing and mitigated weight, and the equipment such as driver and controller 41 are mounted on layer by screw
On plate, because the presence of disc motor 22 and flywheel 24, causes body nodal point to deviate from central axis, it is unfavorable for Decoupling design control
Device makes center of gravity on the center axis of the fuselage so needing to install clump weight carries out centre of gravity adjustment as far as possible, and ballasting method is addition
Weight stack 25 comes so that center of gravity returns central axes.It drives ball 8 to pour production with hollow metal sphere, is powered by 24V battery 63, master control
Plate provides low pressure 9V by voltage reduction module, and IMU sensor takes 5V to power from master control borad, and driver is directly powered by battery 63, IMU
It is logical by CAN bus and CANopen agreement between driver and master control borad by serial communication between sensor and master control borad
News, master control borad collecting sensor and the post-processing of driver feedback information generate instruction and send, and driver will drive after receiving instruction
Dynamic motor is moved by command speed, and bottom direct current generator 71 drives the movement of the control driving ball 8 of omni-directional wheel 73,22 band of disc motor
Dynamic flywheel 24 is used to auxiliary balance.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, the technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention, the claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (8)
1. a kind of station ball-type robot, which is characterized in that including aluminum frame (1), balance mechanism (2), the first laminate (3), the second layer
Plate (4), third laminate (5), chassis (6), driving mechanism (7), driving ball (8) and position-limit mechanism (9), the aluminum frame (1) is in length
Cube shape setting, aluminum frame (1) top are fixedly installed with balance mechanism (2), are fixedly installed with first layer in the aluminum frame (1)
Plate (3), the second laminate (4) and third laminate (5), first laminate (3), the second laminate (4) and third laminate (5) specification one
It causes and is equidistantly positioned between each other, the aluminum frame (1) is provided with chassis (6), the chassis far from balance mechanism (2) one end
(6) surrounding is fixedly mounted there are three driving mechanism (7), and three driving mechanism (7) specifications are consistent and between each other the bottom of about
The circle distribution that disk (6) upper surface center is isodistantly spaced, the chassis (6) are provided with driving ball (8) far from aluminum frame (1) one end,
Chassis (6) lower end surface is fixedly mounted there are three position-limit mechanism (9), and three position-limit mechanism (9) specifications are consistent and mutual
Between about chassis (6) lower end surface center be in distance circle distribution.
2. a kind of station ball-type robot according to claim 1, it is characterised in that: the balance mechanism (2) includes fixing
Piece (21), disc motor (22), shaft coupling (23), flywheel (24) and weight stack (25), the fixinig plate (21) are fixedly mounted on
Aluminum frame (1) upper end, fixinig plate (21) lower section setting are in 90 there are two disc motor (22), two disc motors (22)
Degree distribution, two disc motor (22) output ends are fixedly installed with shaft coupling (23), two shaft couplings (23)
Output outer ring is fixedly installed with flywheel (24), and fixinig plate (21) lower end is fixedly installed with weight stack (25), the counterweight
Piece (25) setting there are two, and two weight stacks (25) respectively with two disc motor (22) Relative distributions.
3. a kind of station ball-type robot according to claim 1, it is characterised in that: set right above first laminate (3)
It is equipped with the first driver (32), is fixedly installed with the first vibration-absorbing mounting between first driver (32) and the first laminate (3)
(31)。
4. a kind of station ball-type robot according to claim 1, it is characterised in that: in the second laminate (4) upper surface
Heart position is fixedly installed with controller (41).
5. a kind of station ball-type robot according to claim 1, it is characterised in that: third laminate (5) lower end surface is solid
Dingan County is equipped with the second driver (51), and third laminate (5) upper surface is fixedly installed with gyroscope (52).
6. a kind of station ball-type robot according to claim 1, it is characterised in that: between the chassis (6) and aluminum frame (1)
There are four being vertically arranged mounting rod (61), it is provided with egative film (62) right above the chassis (6), egative film (62) upper surface
It is fixedly mounted with aluminum frame (1) lower end, the egative film (62) is fixedly mounted on four mounting rods (61) far from chassis (6) one end, institute
It states egative film (62) lower end surface to be fixedly installed with battery (63), four mounting rod (61) specifications are consistent and are between each other in rectangle
Array distribution, four mounting rods (61) are fixedly installed with the second vibration-absorbing mounting between chassis (6) one end and chassis (6)
(64), four mounting rods (61) are fixedly mounted far from chassis (6) one end and the corner of egative film (62) lower end surface four.
7. a kind of station ball-type robot according to claim 1, it is characterised in that: three driving mechanisms (7) are wrapped
Direct current generator (71), motor connection sheet (72) and omni-directional wheel (73) are included, direct current generator (71) specification is consistent and mutual
About the circle distribution that chassis (6) upper surface center of circle is isodistantly spaced, three direct current generators (71) and chassis (6) are in 60 degree
Inclination angle, three direct current generators (71) are equipped with motor connection sheet (72) close to the equal fixing sleeve of output end, three motors
Connection sheet (72) is fixedly mounted on chassis (6) far from direct current generator (71) one end, three direct current generator (71) outputs
End is fixedly connected to omni-directional wheel (73), and three omni-directional wheel (73) specifications are consistent and external annulus is upper with driving ball (8)
The tangent setting of portion's spherical surface.
8. a kind of station ball-type robot according to claim 1, it is characterised in that: three position-limit mechanisms (9) are wrapped
Limit curved rod (91) is included, the lower end of three described limit curved rod (91) centripetal sides is embedded in installation finite place piece
(92), three centripetal sides of the locating part (92) are embedded with a multi-directional ball (93), the ball of three multi-directional balls (93)
Face is tangent with driving ball (8) lower spherical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910623378.XA CN110253526A (en) | 2019-07-11 | 2019-07-11 | Standing ball type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910623378.XA CN110253526A (en) | 2019-07-11 | 2019-07-11 | Standing ball type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110253526A true CN110253526A (en) | 2019-09-20 |
Family
ID=67925585
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910623378.XA Pending CN110253526A (en) | 2019-07-11 | 2019-07-11 | Standing ball type robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110253526A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005342818A (en) * | 2004-06-01 | 2005-12-15 | Furukawa Electric Co Ltd:The | One-leg spherical wheel moving robot |
| US20080084175A1 (en) * | 2006-10-10 | 2008-04-10 | Hollis Ralph L | Dynamic balancing mobile robot |
| CN102445944A (en) * | 2011-10-10 | 2012-05-09 | 北京工业大学 | Single-wheel self-balancing robot system |
| CN106627824A (en) * | 2015-07-17 | 2017-05-10 | 南京工程学院 | Ball-borne self-balancing mobile robot platform support |
| CN106864617A (en) * | 2017-04-05 | 2017-06-20 | 西南交通大学 | A kind of self-balance robot system |
| CN206400352U (en) * | 2017-01-17 | 2017-08-11 | 北京工业大学 | A kind of pair of flying wheel space reversible pendulum system |
| KR20170099683A (en) * | 2016-02-24 | 2017-09-01 | 주식회사 알앤씨 | Ball robot tmaintaining stable posture |
| KR20180022518A (en) * | 2016-11-01 | 2018-03-06 | 주식회사 맥스로텍 | 6 dof ball-driven robot with a 3 dof parallel kinematic manipulator |
| CN210414519U (en) * | 2019-07-11 | 2020-04-28 | 南方科技大学 | Standing ball type robot |
-
2019
- 2019-07-11 CN CN201910623378.XA patent/CN110253526A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005342818A (en) * | 2004-06-01 | 2005-12-15 | Furukawa Electric Co Ltd:The | One-leg spherical wheel moving robot |
| US20080084175A1 (en) * | 2006-10-10 | 2008-04-10 | Hollis Ralph L | Dynamic balancing mobile robot |
| CN102445944A (en) * | 2011-10-10 | 2012-05-09 | 北京工业大学 | Single-wheel self-balancing robot system |
| CN106627824A (en) * | 2015-07-17 | 2017-05-10 | 南京工程学院 | Ball-borne self-balancing mobile robot platform support |
| KR20170099683A (en) * | 2016-02-24 | 2017-09-01 | 주식회사 알앤씨 | Ball robot tmaintaining stable posture |
| KR20180022518A (en) * | 2016-11-01 | 2018-03-06 | 주식회사 맥스로텍 | 6 dof ball-driven robot with a 3 dof parallel kinematic manipulator |
| CN206400352U (en) * | 2017-01-17 | 2017-08-11 | 北京工业大学 | A kind of pair of flying wheel space reversible pendulum system |
| CN106864617A (en) * | 2017-04-05 | 2017-06-20 | 西南交通大学 | A kind of self-balance robot system |
| CN210414519U (en) * | 2019-07-11 | 2020-04-28 | 南方科技大学 | Standing ball type robot |
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