Dual-swing omni-directional moving spherical robot
A spherical robot, all-round technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problems of restricting the popularization and application of spherical robots, difficult control, and difficult engineering realization, so as to improve the use value, expand the scope of application, and facilitate The effect of control
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[0038] Example 1:
[0039] Such as figure 1 As shown, a dual-swing omnidirectional motion spherical robot includes a spherical shell 1 and a walking transmission mechanism located inside the spherical shell 1. The walking transmission mechanism includes a semicircular ring 2 and a mass trolley 3 driven by an internal motor. The opening of the semicircular ring 2 is upward, and the semicircular ring 2 is kept in a vertical state; the inner surface of the semicircular ring 2 is provided with gear teeth 21, and the mass trolley 3 is provided with a drive gear 31 which is connected with The gear teeth 21 provided on the inner surface of the semicircular ring 2 are matched and meshed together; the mass trolley 3 is provided with a Bluetooth receiving control device 32 for driving and controlling the rotation of the driving gear 31 provided on the mass trolley 3.
[0040] Both ends of the semicircular ring 2 are provided with two supporting stub shafts 22, 23 extending outward in the dir...
Example Embodiment
[0049] Example 2:
[0050] Such as figure 2 As shown, the difference between this embodiment and embodiment 1 is that: the outer surface of the semicircular ring 2 is provided with gear teeth 21, the mass trolley 3 is provided with a drive gear 31, and the drive gear 31 is provided with a prevention The fixer 34 of the mass trolley 3 detached from the semicircular ring has one end 341 rotatably mounted on the drive gear 31; the other end 342 is sleeved on the semicircular ring 2 through a bearing and is connected to the The inner surface of the semicircular ring 2 constitutes a rolling pair; the driving gear 31 meshes with the gear teeth 21 on the outer surface of the semicircular ring 2 in a matching manner; and both ends of the semicircular ring 2 are provided for mass limiting The limit block 24 for the travel of the trolley 3.
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