CN206719346U - Hoofing part component and ball shape robot - Google Patents
Hoofing part component and ball shape robot Download PDFInfo
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- CN206719346U CN206719346U CN201720278035.0U CN201720278035U CN206719346U CN 206719346 U CN206719346 U CN 206719346U CN 201720278035 U CN201720278035 U CN 201720278035U CN 206719346 U CN206719346 U CN 206719346U
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- hoofing part
- mecanum wheel
- part component
- ball shape
- shape robot
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Abstract
The utility model discloses a kind of hoofing part component, in the spherical shell of ball shape robot, it is characterized in that, the hoofing part component includes chassis, Mecanum wheel, motor, transmission mechanism and power supply, the chassis includes the first side and the second side being oppositely arranged, the power supply is fixed on first side, and electrically connect the motor, the motor is fixedly installed in second side, the Mecanum wheel is installed on first side, and the motor is connected by the transmission mechanism, the Mecanum wheel contacts the spherical shell inwall and drives the spherical shell to rotate.The utility model also disclosed a kind of ball shape robot.It can realize that turning of ball shape robot etc. acts by the differential between each Mecanum wheel, improve the intellectuality of ball shape robot, application scenarios are more rich.
Description
Technical field
Robotic technology field is the utility model is related to, more particularly, to a kind of hoofing part component and ball shape robot.
Background technology
Ball shape robot refers to the robot moved using the scrolling realization of spheroid, it is possible to achieve omnibearing movable, with ground
Face is single-contact, and frictional resistance is small, and energy utilization efficiency is high, and has tumbler characteristic, can avoid conventional machine
What people easily occurred topples over unstable phenomenon.The important component of robot is included in ball interior, good by sphere shell
Protection, it is not easy to failed because of destruction.Suitable seal approach is taken, the shell of ball shape robot can be enable to possess waterproof
Power, and then used under the conditions of more atrocious weather, there is round-the-clock adaptability.
In the prior art, ball shape robot relies on the mode of internal centroid motion to drive balls tumble, and drive efficiency is low, and
Ball shape robot turn in the process of walking it is dumb, ball shape robot it is intelligent low.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of hoofing part component and ball shape robot, to solve
The drive efficiency of ball shape robot is low in the prior art, and ball shape robot is turned dumb, spherical machine in the process of walking
People it is intelligent low the problem of.
In order to solve the above technical problems, the utility model provides a kind of hoofing part component, the hoofing part component bag
Chassis, Mecanum wheel, motor, transmission mechanism and power supply are included, the chassis includes the first side and second being oppositely arranged
Side, the power supply is fixed on first side, and electrically connects the motor, and the motor is fixedly installed in described
Two sides, the Mecanum wheel is installed on first side, and connects the motor, the wheat by the transmission mechanism
Ke Namu wheels contact the spherical shell inwall and drive the spherical shell to rotate.
Further, the motor is connected to form driver element with the Mecanum wheel by the transmission mechanism,
The quantity of the driver element is even number, and the driver element is symmetrically distributed in the edge on the chassis.
Further, the rotating shaft orientation of the Mecanum wheel of a pair of symmetrical driver elements is identical.
Further, the quantity of the driver element is four.
Further, the hoofing part component also includes elastic component, and the elastic component is connected to the chassis and the wheat
Between Ke Namu wheels.
Further, the quantity of the elastic component between each described Mecanum wheel and the chassis is two, two institutes
State elastic component and connect the chassis and the both ends of the rotating shaft of the Mecanum wheel respectively.
Further, the hoofing part component also includes rolling wheel support, and the rolling wheel support includes what is be mutually slidably connected
Rail guide piece and sliding block part, the rail guide piece are fixed on the chassis, and the sliding block part connects the Mecanum wheel and the bullet
Property part.
Further, the transmission mechanism is belt gear.
The utility model additionally provides a kind of ball shape robot, and the ball shape robot includes spherical shell and any of the above one
The hoofing part component, spherical shell described in the hoofing part Component driver rotate.
Further, the ball shape robot also includes head, and the head magnetism is connected to the outer wall of the spherical shell.
The beneficial effects of the utility model are as follows：Motor drives Mecanum wheel to roll by transmission mechanism, Mike
The spherical shell inwall of Na Mu wheel contact ball shape robots, and drive spherical shell to roll by frictional force, spherical shell wall contacts ground simultaneously leads to
Frictional force drives spherical shell is crossed with respect to ground rotation, so as to realize the walking function of ball shape robot, drive efficiency is high, further
, it can realize that turning of ball shape robot etc. acts by the differential between each Mecanum wheel, improve spherical machine
The intellectuality and flexibility of people, application scenarios are more rich.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the utility model, for those of ordinary skill in the art, is not paying the premise of creative work
Under, other obvious modes of texturing can also be obtained according to these accompanying drawings.
Fig. 1, Fig. 2 and Fig. 3 are the hoofing part component overall structure diagram that the utility model embodiment provides.
Fig. 4 is the direction of travel schematic diagram for the hoofing part component that the utility model embodiment provides.
Fig. 5 is the structure enlargement diagram for the hoofing part component that the utility model embodiment provides.
Fig. 6 is the part-structure schematic diagram for the hoofing part component that the utility model embodiment provides.
Fig. 7 is the bottom schematic view for the hoofing part component that the utility model embodiment provides.
Fig. 8 is the ball shape robot schematic diagram that the utility model embodiment provides.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
1 and Fig. 2 are referred to, the hoofing part component 12 that the utility model embodiment provides is applied to ball shape robot, has
Body, hoofing part component 12 is located in the spherical shell 10 of ball shape robot, and 10 turns of spherical shell is driven by way of rolling friction
It is dynamic.Hoofing part component 12 includes chassis 142, Mecanum wheel 120, motor 122, transmission mechanism 124 and power supply 126.
In a kind of preferably embodiment, chassis 142 is made using carbon fiber material, and carbon fiber material intensity is big, is not easily broken,
There is the characteristics of weight is small simultaneously, be advantageous to reduce the weight of hoofing part component 12 or even ball shape robot.In the present embodiment,
Symmetrical structure centered on chassis 142, in a kind of embodiment, chassis 142 is discoid.
In the present embodiment, chassis 142 includes the first side 142a being oppositely arranged and the second side 142b, power supply 126 are fixed on
First side 142a, and motor 122 is electrically connected, specifically, power supply 126 is installed on the first side 142a center, so that
The center of gravity of hoofing part component 12 concentrates on the center of hoofing part component 12, avoids center of gravity inequality from causing ball shape robot to move
It is unstable.Motor 122 is fixedly installed in the second side 142b, and Mecanum wheel 120 is installed on the first side 142a, and passes through biography
Motivation structure 124 connects motor 122, and Mecanum wheel 120 contacts the inwall of spherical shell 10 and drives spherical shell 10 to rotate.Mecanum
Wheel 120 and power supply 126 are installed on the same sides on chassis 142, i.e. the first side 142a, the first side 142a be ball shape robot closely
The side in face, advantageously reduce the center of gravity of ball shape robot and stablize its center of gravity.Motor 122 is located at the second of chassis 142
Side 142b, i.e., away from the side of power supply 126, make motor 122 there is bigger space to be beneficial to dismounting, be advantageous to hoofing part component
12 assembling and later maintenance.
Mecanum wheel 120 contradicts spherical shell 10, and motor 122 drives Mecanum wheel 120 to roll by transmission mechanism 124
Dynamic, Mecanum wheel 120 contacts the inwall 102 of spherical shell 10 of ball shape robot, and drives spherical shell 10 to roll by frictional force, spherical shell
10 outer walls 104 contact ground and by frictional force drives spherical shell 10 with respect to ground rotation, so as to realize the walking of ball shape robot
Function, drive efficiency is high, and Mecanum wheel 120 is located at the relative both sides on chassis 142 with power supply 126, is easily assembled or dismantles,
Further, it can realize that turning of ball shape robot etc. acts by the differential between each Mecanum wheel 120, improve
The intellectuality and flexibility of ball shape robot, application scenarios are more rich.
Fig. 3 is further, and 803 power supplys 126 are arranged at the side that power supply installing plate 1424 deviates from chassis 142, the bottom of power supply 126
Disk 142 is fixed on the first side 142a on chassis 142 by multiple fixed columns 1422, chassis 142 and power supply 126 separate one end away from
From making power supply 126 to reduce the center of gravity of ball shape robot, stable spherical robot, while can also be avoided closer to ground
Interference of the power supply 126 to Mecanum wheel 120 on structure space.
In the present embodiment, motor 122 is connected to form driver element with Mecanum wheel 120 by transmission mechanism 124,
The quantity of driver element is even number, and driver element is symmetrically distributed in the edge on chassis 142.Driver element is located at chassis
142 edge is advantageous to Mecanum wheel 120 and contacts the inwall 102 of spherical shell 10 without by chassis 142 or being installed on chassis 142
Other devices are interfered, such as power supply 126 etc..Further, turn of the Mecanum wheel 120 of a pair of symmetrical driver elements
Axle orientation is identical.Specifically, a pair of symmetrical driver element control spherical shells 10 rotate to a direction, i.e., spherical machine
Device people is walked to a direction, and at least two pairs of symmetrical driver elements can be walked with ball shape robot any direction.With reference to
Fig. 4, a kind of preferably in embodiment, the quantity of driver element is four, i.e. two pairs of symmetrical driver elements, and one
It is vertical with the line of the symmetrical driver element of another pair to the line of symmetrical driver element.First driver element 320a and second
Driver element 320b control ball shape robot left and right directions movements, the 3rd driver element 320c and the 4th driver element 320d controls
Ball shape robot fore-and-aft direction moves, and controls the row of the differential control ball shape robot of the Mecanum wheel 120 of each driver element
Direction is walked, such as controls the rotating speed of the first driver element 320a Mecanum wheel 120 to be more than the second driver element 320b wheat
The rotating speed of Ke Namu wheels 120, controls the rotating speed of the 3rd driver element 320c Mecanum wheel 120 to be more than the 4th driver element
The rotating speed of 320d Mecanum wheel 120, ball shape robot are walked to left front.
With reference to Fig. 5, Fig. 6 and Fig. 7, in the present embodiment, hoofing part component 12 also includes elastic component 128, and elastic component 128 connects
It is connected between chassis 142 and Mecanum wheel 120, in a kind of preferably embodiment, elastic component 128 is spring.Further,
Hoofing part component 12 also includes rolling wheel support 322, and rolling wheel support 322 includes the rail guide piece 322a and sliding block being mutually slidably connected
Part 322b, rail guide piece 322a are fixed on chassis 142, sliding block part 322b connections Mecanum wheel 120 and elastic component 128.It is a kind of compared with
In good embodiment, rail guide piece 322a guide rail section is swallow-tail form.Specifically, the one end of elastic component 128 is consolidated by fastener
Due on chassis 142, the other end is fixed on sliding block part 322b, and sliding block part 322b is slidably connected rail guide piece 322a, and connects wheat
Ke Namu wheels 120, rail guide piece 322a is fixed on chassis 142 by fastener.Mecanum wheel 120 by sliding block part 322b,
Rail guide piece 322a and elastic component 128 are connected on chassis 142, and relative on chassis 142 can be slided, a kind of preferably to implement
In mode, the elastic telescopic direction of elastic component 128 is the radial direction on chassis 142, so that Mecanum wheel 120 can be the bottom of at
Disk 142 moves in the radial direction, when ball shape robot jolts by the walking of hoofing part component 12, Mecanum wheel 120
It can be moved in the radial direction on chassis 142, there is certain shock-absorbing function, it is also possible to be provided for Mecanum wheel 120
Radial compensation, Mecanum wheel 120 is in close contact the inwall 102 of spherical shell 10 all the time, improve Mecanum wheel 120 to spherical shell 10
The normal pressure that inwall 102 applies, so as to improve the frictional force between Mecanum wheel 120 and spherical shell 10, improves hoofing part
Efficiency.
Further, the quantity of the elastic component 128 between each Mecanum wheel 120 and chassis 142 is two, two
Elastic component 128 distinguishes connecting base plate 142 and the both ends of the rotating shaft of Mecanum wheel 120, and the rotating shaft of Mecanum wheel 120 is uniform
By the extruding of elastic component 128,120 each position of Mecanum wheel is uniformly contacted with the inwall of spherical shell 10, improve hoofing part
The drive efficiency of component 12.
In the present embodiment, transmission mechanism 124 is belt gear 124, and the belt driving wheel of belt gear 124 connects
Motor 122 is connect, belt slave wheel connects the rotating shaft of Mecanum wheel 120, the rotation of motor 122 is delivered into Mike
The rotating shaft of Na Mu wheels 120, so as to drive Mecanum wheel 120 to rotate.Further, transmission mechanism 124 also includes tensioning wheel
1240, tensioning wheel 1240 is located between belt driving wheel and belt slave wheel, for tightening belt, increase belt and belt active
Frictional force between wheel and belt slave wheel, prevents from skidding, and increases transmission efficiency.In the present embodiment, chassis 142 is provided with through hole,
For through belt.
Motor 122 drives Mecanum wheel 120 to roll by transmission mechanism 124, and Mecanum wheel 120 contacts spherical
The inwall 102 of spherical shell 10 of robot, and drive spherical shell 10 to roll by frictional force, the outer wall 104 of spherical shell 10 contact ground simultaneously passes through
Frictional force drives spherical shell 10 is with respect to ground rotation, and so as to realize the walking function of ball shape robot, drive efficiency is high, is easily assembled
Or dismounting, further, it can realize that turning of ball shape robot etc. is dynamic by the differential between each Mecanum wheel 120
Make, improve the intellectuality of ball shape robot, application scenarios are more rich.
Referring to Fig. 8, the utility model embodiment also provides a kind of ball shape robot, including spheroid 1, spheroid 1 includes ball
Shell 10 and above-described hoofing part component 12, hoofing part component 12 drive spherical shell 10 to rotate by rolling friction, so as to
Spherical shell 10 is set to realize the walking behavior of ball shape robot with respect to ground surface.
Further, ball shape robot also includes head 2, and the magnetic of head 2 is connected to the outer wall 104 of spherical shell 10.Specifically,
Head 2 is provided with laser radar, the first-class function element of shooting, for realizing ball shape robot and environment, ball shape robot and people
The interaction capability of class.
Motor 122 drives Mecanum wheel 120 to roll by transmission mechanism 124, and Mecanum wheel 120 contacts spherical
The inwall 102 of spherical shell 10 of robot, and drive spherical shell 10 to roll by frictional force, the outer wall 104 of spherical shell 10 contact ground simultaneously passes through
Frictional force drives spherical shell 10 is with respect to ground rotation, and so as to realize the walking function of ball shape robot, drive efficiency is high, is easily assembled
Or dismounting, further, it can realize that turning of ball shape robot etc. is dynamic by the differential between each Mecanum wheel 120
Make, improve the intellectuality of ball shape robot, application scenarios are more rich.
Above disclosed is only the utility model several preferred embodiments, can not limit this practicality with this certainly
New interest field, one of ordinary skill in the art will appreciate that all or part of flow of above-described embodiment is realized, and according to
The equivalent variations that the utility model claims are made, still fall within the scope that utility model is covered.
Claims (10)
1. a kind of hoofing part component, in the spherical shell of ball shape robot, it is characterised in that the hoofing part component includes
Chassis, Mecanum wheel, motor, transmission mechanism and power supply, the chassis include the first side and the second side being oppositely arranged,
The power supply is fixed on first side, and electrically connects the motor, and the motor is fixedly installed in described second
Side, the Mecanum wheel is installed on first side, and connects the motor, the Mike by the transmission mechanism
Na Mu wheels contact the spherical shell inwall and drive the spherical shell to rotate.
2. hoofing part component according to claim 1, it is characterised in that the motor and the Mecanum wheel
Connect to form driver element by the transmission mechanism, the quantity of the driver element is even number, and the driver element
It is symmetrically distributed in the edge on the chassis.
3. hoofing part component according to claim 2, it is characterised in that a pair symmetrical driver elements
The rotating shaft orientation of the Mecanum wheel is identical.
4. hoofing part component according to claim 3, it is characterised in that the quantity of the driver element is four.
5. hoofing part component according to claim 1, it is characterised in that the hoofing part component also includes elasticity
Part, the elastic component are connected between the chassis and the Mecanum wheel.
6. hoofing part component according to claim 5, it is characterised in that each described Mecanum wheel and the bottom
The quantity of elastic component between disk is two, and two elastic components connect the chassis and turn of the Mecanum wheel respectively
The both ends of axle.
7. hoofing part component according to claim 5, it is characterised in that the hoofing part component also includes roller branch
Frame, the rolling wheel support include the rail guide piece being mutually slidably connected and sliding block part, and the rail guide piece is fixed on the chassis, described
Sliding block part connects the Mecanum wheel and the elastic component.
8. hoofing part component according to claim 1, it is characterised in that the transmission mechanism is belt gear.
9. a kind of ball shape robot, it is characterised in that the ball shape robot includes spherical shell and claim 1 to 8 any one
The hoofing part component, spherical shell described in the hoofing part Component driver rotate.
10. ball shape robot according to claim 9, it is characterised in that the ball shape robot also includes head, described
Head magnetism is connected to the outer wall of the spherical shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720278035.0U CN206719346U (en) | 2017-03-21 | 2017-03-21 | Hoofing part component and ball shape robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720278035.0U CN206719346U (en) | 2017-03-21 | 2017-03-21 | Hoofing part component and ball shape robot |
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| Publication Number | Publication Date |
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| CN206719346U true CN206719346U (en) | 2017-12-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720278035.0U Active CN206719346U (en) | 2017-03-21 | 2017-03-21 | Hoofing part component and ball shape robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109404233A (en) * | 2018-12-12 | 2019-03-01 | 同方计算机有限公司 | A kind of Drive And Its Driving Method suitable for adverse circumstances |
| CN110341822A (en) * | 2019-07-30 | 2019-10-18 | 深圳市琅硕海智科技有限公司 | Internal driving system of spherical robot |
| CN111169552A (en) * | 2020-01-03 | 2020-05-19 | 深圳市人工智能与机器人研究院 | Restructuring robot module and restructuring robot |
| CN111332378A (en) * | 2020-02-03 | 2020-06-26 | 北京交通大学 | Double-power four-wheel five-omni-directional wheel heavy-load spherical robot |
| WO2022205610A1 (en) * | 2021-03-31 | 2022-10-06 | 清华大学深圳国际研究生院 | Water-surface robot |
-
2017
- 2017-03-21 CN CN201720278035.0U patent/CN206719346U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109404233A (en) * | 2018-12-12 | 2019-03-01 | 同方计算机有限公司 | A kind of Drive And Its Driving Method suitable for adverse circumstances |
| CN110341822A (en) * | 2019-07-30 | 2019-10-18 | 深圳市琅硕海智科技有限公司 | Internal driving system of spherical robot |
| CN111169552A (en) * | 2020-01-03 | 2020-05-19 | 深圳市人工智能与机器人研究院 | Restructuring robot module and restructuring robot |
| CN111169552B (en) * | 2020-01-03 | 2021-01-26 | 深圳市人工智能与机器人研究院 | Restructuring robot module and restructuring robot |
| CN111332378A (en) * | 2020-02-03 | 2020-06-26 | 北京交通大学 | Double-power four-wheel five-omni-directional wheel heavy-load spherical robot |
| WO2022205610A1 (en) * | 2021-03-31 | 2022-10-06 | 清华大学深圳国际研究生院 | Water-surface robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210513 Address after: 415106 Guanxi Town, Dingcheng District, Changde City, Hunan Province Patentee after: Hunan candela Innovation Technology Co.,Ltd. Address before: 20 / F, sannuo wisdom building, 3012 Binhai Avenue, Yuehai street, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: CANDELA (SHENZHEN) TECHNOLOGY INNOVATION Co.,Ltd. |
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| TR01 | Transfer of patent right |