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Tridrive spherical robot

A spherical robot, three-drive technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problems of complex structure, not compact enough, etc., and achieve the effect of compact transmission mechanism, simplified structure and flexible transmission

Inactive Publication Date: 2011-08-24
BEIJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The spherical robot with this frame structure has a complex structure and is not compact enough.

Method used

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Embodiment Construction

[0026] Such as figure 1 and figure 2 As shown, the three-drive spherical robot provided by the present invention includes a spherical shell 1, a differential transmission mechanism and its driving motor 2 and a counterweight device 3;

[0027] The spherical shell 1 is composed of two equal-sized hemispherical shells 11 and 12 fixedly connected. In the spherical shell 1, one of the axes passing through the center of the sphere, such as figure 1 and figure 2 In the shown example, the transmission shaft 13 and the transmission shaft 14 are arranged symmetrically in the X-axis direction on the horizontal plane, one end of the transmission shaft 13 is integrally connected with the hemispherical shell 11, and the transmission shaft 14 is integrally connected with the hemispherical shell 12. , the axes of the two transmission shafts are perpendicular to the bisecting line of the two hemispherical shells.

[0028] In the differential transmission mechanism, it includes a frame 2...

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Abstract

The invention provides a tridrive spherical robot. The tridrive spherical robot comprises that: two transmission shafts are symmetrically arranged in a spherical shell through a sphere center; one end of each transmission shaft is fixedly connected with the inner wall of the spherical shell; a frame in a differential transmission mechanism is rotationally and fixedly arranged on a shaft end part adjacent to the two transmission shafts; two bevel gears are rotationally and fixedly arranged on the transmission shafts respectively and are connected with a motor respectively through the transmission mechanism; a counter weight connecting shaft is arranged on a frame body and is vertical to the two transmission shafts through the sphere center; a bevel gear is integrally and fixedly arranged on the counter weight connecting shaft, is positioned between the two bevel gears and is meshed with the two bevel gears; two oscillating bars are integrally and fixedly connected with and sleeved on the counter weight connecting shaft respectively; the oscillating bars are connected with counter weights; and the sleeved oscillating bar is connected with a counter weight motor through the transmission mechanism. The tridrive spherical robot adopts the differential transmission mechanism, so that the structure of the tridrive spherical robot is greatly simplified, the transmission mechanism is more compact, and transmission is performed flexibly and reliably.

Description

technical field [0001] The invention relates to a spherical robot, in particular to a three-drive spherical robot with simple structure, flexible and reliable movement. Background technique [0002] There is a three-drive spherical robot in the prior art, which can realize omnidirectional rolling of the spherical robot through three drives. The three-drive robot has a frame structure inside the spherical shell, and the frame structure is driven by a motor to rotate, and combined with the rotation of the counterweight arranged therein, the omnidirectional rolling of the robot is realized. The spherical robot with this frame structure has a complex structure and is not compact enough. Contents of the invention [0003] The object of the present invention is a three-drive spherical robot that is different from the transmission mode of similar spherical robots in the prior art and has a simple and compact structure, flexible movement and reliability. [0004] The purpose of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02
Inventor 孙汉旭贾庆轩张延恒叶平高欣宋荆州叶茁孙治伟赵伟
Owner BEIJING UNIV OF POSTS & TELECOMM
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