WO2014116037A1 - Spherical moving object and driving method therefor - Google Patents

Abstract

The present invention relates to a spherical moving object capable of obtaining driving force according to displacement of the center of mass thereof and changing direction and a driving method therefor. The spherical moving object comprises: a hollow sphere (20); a plurality of rotary shafts (30,32) disposed on a center line (L1) consistent with the center (C1) inside the sphere (20); a frame (40) supported by the shafts (30,32) and rotated in the back and forth direction; a weight (50) positioned below the center (C1) of the sphere (20); a driving mechanism (60) for generating driving force according to displacement of the center of mass by rotating the weight (50) in the back and forth direction; and a direction changing mechanism (70) for changing the movement direction of the sphere (20) by moving the weight (50) in the left or right direction.

Description

Spherical mobile body and driving method

The present invention relates to a spherical movable body and a driving method thereof, and more particularly, to a spherical movable body and a driving method for obtaining a driving force by the movement of the center of gravity, the direction can be changed.

In general, as a means of transportation using friction with the ground, circular wheels include four-wheeled vehicles, two-wheeled bicycles, one-wheeled bicycles and two-wheeled segways that are mainly used for stunts, and caterpillars such as caterpillars. Tanks, tractors, bulldozers and backhoe.

However, the movement means using the wheels has a lot of restrictions in the movement in a narrow space, especially in the movement in a harsh environment, such as a fire scene, it is very difficult to protect the internal drive parts and has the disadvantage of becoming bulky. .

The present invention has been made to solve the above problems, an object thereof is to provide a spherical movable body and a driving method capable of moving the sphere at the same time, the direction can be freely changed, the movement and the direction can be changed in a narrow space. have.

In order to achieve the object of the present invention, a hollow sphere, a plurality of rotating shafts installed on the same center line that meets the spherical center inside the sphere, a frame supported by the rotating shaft to rotate in the front and rear direction, and lower than the center of the sphere A spherical body including a weight positioned at the center, a drive mechanism for generating a propulsion force by moving the weight in the front and rear direction, and a turning mechanism for shifting the moving direction of the sphere by moving the weight in left and right directions. A mobile body is provided.

In order to achieve another object of the present invention, there is provided a method of driving a spherical mobile body by moving the center of gravity of a weight located below the spherical center in the front and rear directions to obtain a driving force in the front and rear directions.

As described above, the present invention has the effect of being able to freely move forward and backward as well as change the direction by using a sphere.

In addition, the present invention is provided with an acceleration sensor required to control the center movement speed of the weight in conjunction with the movement speed of the sphere, it is possible to control the constant speed has the effect of obtaining a smooth movement.

In addition, the present invention has the effect that the sphere is to be rolled autonomously, the radio control is easy, and the movement and direction change in a narrow space is easy.

The present invention is not limited to the above-described specific preferred embodiments, and various modifications can be made by those skilled in the art without departing from the gist of the present invention as claimed in the claims. Of course, such changes will fall within the scope of the claims.

1 is an exploded perspective view showing a spherical movable body according to the present invention,

Figure 2 is an exploded perspective view of the main portion showing a spherical mobile body according to the present invention,

3 is a front sectional view showing a spherical mobile body according to the present invention;

Figure 4 is a front cross-sectional view showing the inside of the incision of the present invention,

5 is a perspective view showing a spherical movable body according to the present invention;

6 is a transparent perspective view showing a spherical movable body according to the present invention;

FIG. 7 is a transparent perspective view of FIG. 6 viewed from the bottom;

8 is a right side view showing a spherical movable body according to the present invention;

Figure 9a is a model for explaining the forward and backward operation of the spherical movable body according to the present invention,

Figure 9b is a model diagram for explaining the redirection of the spherical mobile body according to the present invention,

Figure 10a is a model diagram for explaining the process of losing the driving force when the moving speed of the weight falls below the rotational speed of the sphere according to the present invention,

10B is a model diagram schematically illustrating a process of detecting a position of a weight by an acceleration sensor according to the present invention;

Figure 11 is a model for explaining that the speed is uneven while being affected by the weight as the acceleration is attached to the moving speed of the sphere in the present invention,

12 is a model diagram for explaining that the moving speed of the weight to the moving speed of the sphere according to the present invention is controlled by the constant speed control by following the acceleration sensor to interlock;

13 is a perspective view showing a spherical movable body according to the present invention,

14 is an exploded perspective view showing a spherical mobile body according to the present invention;

15 is a perspective view showing the bracket of the spherical movable body according to the present invention transparently;

16 is a perspective view showing the camera movement according to the movement of the bodyless weight according to the present invention,

17 is a perspective view of one end surface of the spherical movable body removed according to the present invention;

18 is a perspective view showing the expansion groove and the expansion device of the spherical movable body according to the present invention.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings.

For reference, in describing the present invention, when it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof is omitted.

In addition, terms to be described below are terms defined in consideration of functions in the present invention, which may vary according to the intention or convention of a user or an operator.

Therefore, the definition should be made based on the contents throughout the specification.

The spherical movable body of the present invention is installed on the hollow sphere 20 and the center line L1 coinciding with the center C1 inside the sphere 20, as shown in the accompanying drawings. A plurality of rotary shafts 30 and 32, a frame 40 supported by the rotary shafts 30 and 32 and rotating in the front-rear direction, and a weight weight 50 positioned below the center C1 of the sphere 20. And, by rotating the weight 50 in the front and rear direction to move the drive mechanism 60 and the weight 50 to the left and right direction to generate a driving force by the center of gravity to switch the direction of movement of the sphere 20 It consists of a turning mechanism 70 for.

The sphere 20 may be divided into a hemispherical shape and then molded.

The drive mechanism 60 is a drive motor 61 fixed to the frame 40 to generate a rotational force, a pinion gear 63 and a plurality of rotation shafts 30 installed on the motor shaft 62 of the drive motor 61. It is composed of a drive gear 64 is installed on at least one rotation shaft 30 of the 32 and meshed with the pinion gear 63 to receive power from the pinion gear (63).

The turning mechanism 70 has a steering motor 71 installed on the frame 40, an electric gear 73 installed on the motor shaft 72 of the steering motor 71, and left and right lengths on the frame 40. It is coupled to the transfer screw 74 is installed in the direction, and the driven screw 75 and the transfer screw 74 is installed in the transfer screw 74 to receive power from the electric gear 73 to the weight 50 It consists of a direction change nut 76 to be conveyed in the left and right directions.

The linear guide jaw (77) is formed on the front and rear edges of the frame (40) parallel to each other in the left and right direction, and is coupled to the linear guide groove (41) and slides. Formed on top of).

Further, in order to reduce the frictional force between the turning nut 76 and the frame 40, the center of the straight guide jaw 77 formed on the turning nut 76 is further cut downward to prevent friction from occurring. ).

For example, the transfer screw 74 is formed of a metal, the turning nut 76 is formed of a synthetic resin having a self-lubricating activity to reduce the friction loss during power transmission.

The stud bolts 76s are installed vertically at the lower portion of the diverting nut 76, and the weight 50 is formed with a tab hole 52 that is coupled to the stud bolts 76s to form the diverting nut 76 and Screw the weight (50).

Both ends of the conveying screw 74 installed in the frame 40 are supported by screw support plates 42 and 43 which are separated from the frame 40 and bent downward, and the conveying screw 74 moves in the axial direction. Stopping grooves 74a and 74b are formed at both ends of the transfer screw 74 so as not to engage the E-rings 74c and 74d.

The drive motor 61 and the steering motor 71 may be fixed to the upper surface of the frame 40 using, for example, double-sided tapes 66 and 78, but is not limited thereto.

The rotary shaft 30, 32 can be molded in the state of being inserted into the mold in the form of an insert when molding the sphere 20, for this purpose, an insert portion of a disc shape at one end of the rotary shaft (30) 34) 36.

The frame 40 has a vertical bent portion (44, 45) at both ends to be installed in the form of hanging on the rotary shaft (30, 32), the vertical bent portion (44, 45) on the rotating shaft (30, 32) ) Burring holes 44h and 45h for insertion are formed, and annular jaws 30a and 32a that are caught by burring holes 44h and 45h are formed in the rotation shafts 30 and 32, respectively. 38 are inserted into the burring holes 44h and 45h.

Meanwhile, an acceleration sensor 80 for measuring the center movement of the weight 50 is installed at the center of the frame 40 to adjust the center movement speed of the weight 50 according to the forward and backward speed of the sphere 20. By driving in conjunction with the sphere 20 to have a constant acceleration force.

That is, the acceleration force can be obtained only when the moving speed of the weight 50 is faster than the rotating speed when the sphere 20 moves forward and backward, and the sphere 20 according to the rotational force of the sphere 20 to obtain a constant speed Control the movement speed of the weight 50 to interlock.

In the method of driving a spherical movable body according to the present invention, by moving the center of gravity (W1) of the weight (50) located below the spherical center (C1) in the interior of the sphere 20 in the front and rear direction, the driving force in the front and rear direction To obtain, by adjusting the position of the weight 50 in the left and right direction to switch the direction of the sphere (20).

In the drawings, reference numeral 82 denotes a control box for controlling the driving motor 61 and the steering motor 71, and 84 denotes a double-sided tape for fixing the control box 82 to the upper surface of the frame 40. .

Hereinafter, the operation according to the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIGS. 1 to 12, when the sphere 20 is moved forward or backward, when the motor shaft 62 of the drive motor 61 is rotated clockwise or counterclockwise, the motor shaft 62 is rotated. Rotation force is transmitted to the drive gear 64 while the pinion gear 63 connected to the clockwise or counterclockwise direction is rotated, and the weight 50 together with the frame 40 on which the drive motor 61 is installed. As the driving motor 61 is rotated in the same direction as the rotation direction, the center of gravity W1 of the weight 50 is moved out of the spherical center C1 of the sphere 20.

At this time, the sphere 20 is obtained by pushing in the balancing direction by the movement of the center of gravity as shown in (a), (a) of the accompanying drawings, weight (50) is biased toward the front side When the sphere 20 is advanced, the weight 20 is reversed when the weight 50 is biased toward the rear side.

In addition, by adjusting the moving speed of the weight 50, it is possible to shift the moving speed of the sphere (20). That is, the pinion gear 63 is connected to the drive motor 61 installed in the frame 40, and the drive gear 64 is installed on the rotary shaft 32 installed on the sphere 20, so that the drive motor ( As the pinion gear 63 rotates the drive gear 64 in the form of a planetary gear by the rotation of 61, the center of gravity W1 of the weight 50 is moved by the frame 40.

In addition, since the weight 50 is installed in the turning nut 76 installed in the frame 40, the frame 40 is rotated while being rotated together.

When the direction of the sphere 20 is to be changed in the forward or backward process as described above, if the motor shaft 72 of the steering motor 71 is rotated clockwise or counterclockwise, it is connected to the motor shaft 72 While the electric gear 73 and the driven gear 75 are rotated clockwise or counterclockwise, the feed screw 74 is rotated at the same time.

At this time, while the turning nut 76 coupled to the conveying screw 74 is transferred in the left or right direction, the center of gravity W1 due to the weight 50 is left or right from the spherical center C1 of the sphere 20. It is biased to the right so that the sphere 20 is tilted toward the weighted side.

In this process, the sphere 20 can be rotated in an inclined direction as shown in (a), (b) and (c) of FIG. 9B to change directions. In this case, (C) of FIG. 9B is a plan view of the sphere 20.

That is, when the electric gear 73 and the driven gear 75 is rotated by the steering motor 71, the direction of the turning nut 76 is linearly moved in the horizontal direction while the feed screw 74 is rotated, the direction turning nut 76 is linearly guided in the horizontal direction by the straight guide groove 41 formed in the frame 40 and the straight guide jaw 77 formed on the direction change nut 76.

At this time, the friction preventing groove (76g) formed in the upper portion of the turning nut 76 acts to reduce the contact area between the turning nut 76 and the frame 40, the turning nut 76 is less power To help you move smoothly.

Meanwhile, as shown in (A), (B), and (C) of FIG. 10A, the moving speed of the weight 50 is lower than the moving speed (rotational speed) of the sphere 20, as shown in FIG. 11. As described above, the movement speed of the sphere 20 becomes nonuniform, resulting in a severe vibration or the sphere 20 rotating in the opposite direction, in order to prevent this, (a), (A) of FIG. b), (c) by detecting the moving speed and position of the weight 50 by the acceleration sensor 80 to maintain a constant angle according to the moving speed (rotational speed) of the sphere 20 As shown in FIG. 12, the sphere 20 can move at a uniform speed and at the same time smooth the movement by the constant speed control to prevent vibration.

 That is, since the acceleration sensor 80 is installed at the center of the frame 40 and tilts together as the weight 50 moves, when the inclination integer data detected from the acceleration sensor 80 is read, the weight 50 ) Position is known.

Referring to FIG. 14, the spherical movable body according to another embodiment of the present invention has a hollow tire-shaped sphere 20 ′, side members 210 provided on both sides of the sphere 20 ′, and a rotating shaft 30. 32, the bearing 220, the bracket 230, the camera 240, the frame 40, the weight 50 ′, the drive mechanism 60, and the direction change mechanism 70 ′.

The sphere 20 'is provided in a hollow tire shape. More specifically, the sphere 20 'is provided in a circular tire shape with both sides open. The sphere 20 'has a space therein and has a space in which the weight 50', the drive mechanism 60, the direction change mechanism 70 ', and the like are disposed. The sphere 20 'makes the spherical movable body move in the front, rear, left and right directions when the center of gravity is moved by the weight 50'. In addition, the sphere 20 ′ may be molded and bonded to be bisected.

Side member 210 is provided on both sides of the sphere (20 '). The side member 210 makes it possible to protect the inside of the sphere 20 'from foreign matter. In more detail, the side member 210 is connected to the rotating shafts 30 and 32 to support the sphere 20 '. In addition, when the center of gravity movement by the weight (50 ') (20), the internal components of the sphere (for example, frame 40, weight 50', drive mechanism 60 and the turning mechanism 70 Supporting ') allows the sphere 20' to rotate.

The rotating shafts 30 and 32 are installed at the center of the side member 210. Although not limited thereto, the rotation shafts 30 and 32 are provided through an opening formed in the center of the side member 210. This is to make the bearing 220 to be described later to be provided on the rotating shaft 30, 32 to fasten the bracket 230.

The inner circumferential surface of the bearing 220 is in contact with the outer circumferential surface of the rotation shafts 30 and 32. More specifically, the bearing 220 is connected to the side member 210 to allow the sphere 20 'to rotate more effectively. In addition, it is not necessarily limited thereto, but is preferably coupled to the bracket 230 to be described later to prevent the bracket 230 from rotating together with the sphere 20 '. This is to prevent the camera 240 provided in the bracket 230 to be described later from rotating according to the rotation of the sphere 20 '.

The bracket 230 is provided on one side of the side member 210. In addition, the bracket may be combined with the bearing 220. The bracket 230 is provided in a hemispherical shape. The bracket 230 provides a space for the camera 240 and the bracket motor 250 to be described later. The hemispherical bracket 230 is coupled to the sphere 20 ', making the spherical mobile body of the present invention closer to a spherical shape, thereby reducing the damage of the product. Specifically, referring to FIG. 15, the bracket 230 is made of a transparent material. The bracket 230 is provided with a bracket 230 made of a transparent material so that the camera 240 provided therein can photograph the outside, so that the camera 240 can more effectively photograph the external situation.

The camera 240 is provided at one end of the rotation shaft 32. The camera 240 is formed inside the bracket 230 in order to capture an external image from the spherical mobile body, but may capture an external image because the bracket 230 is made of a transparent material. Although not necessarily limited thereto, the camera 240 is provided at an angle to one end of the rotation shaft 32. In more detail, referring to FIG. 16, 5 degrees to 45 degrees are inclined horizontally. When the weight 50 'provided in the frame 40 is rotated for the movement of the spherical body, the weight 40 is rotated together with the frame 40 so that the external body can be photographed horizontally from the spherical body. However, the present invention is not limited thereto, and the camera 240 may be configured to be rotatable at 350 degrees within the bracket as in the embodiment illustrated in FIG. 17. In another aspect of the invention, the camera 240 is provided including an image sensor. An image sensor is a device that detects information of a subject and converts it into an electric video signal. For example, an image sensor is a sensor that automatically stores an image of a human shape when the image is captured. Using this, the spherical mobile body can be used as a CCTV for detecting and continuously tracking an object, and an observation camera for observing infants continuously.

In addition, the camera 240 may be provided in the bracket 230. The camera 240 is formed on the outside of the bracket 230 in order to allow the spherical movable body to capture an external image, but the other camera 240 is formed inside the bracket 230. In another aspect of the invention, the camera 240 is provided including an image sensor. An image sensor is a device that detects information of a subject and converts it into an electric video signal. For example, an image sensor is a sensor that automatically stores an image of a human shape when the image is captured. Using this, the spherical mobile body can be used as a CCTV for detecting and continuously tracking an object, and an observation camera for observing infants continuously. Since the camera 240 preferably captures an external image, particularly an external image in front of the traveling direction, the bracket (ie, the camera) should not rotate due to the rotation of the sphere 20 ', as described above. The bearing 220 is interposed between the bracket and the rotating shaft to prevent rotation of the bracket. In addition, as will be described later, when the bracket 230 is rotated through the bracket motor 250, the bracket may be rotated to adjust the photographing direction of the camera 240 to the front.

The frame 40 is supported by the rotation shafts 30 and 32 to rotate in the front-rear direction. The frame 40 may be provided with a driving mechanism 60 and a turning mechanism 70 ′, and is coupled to the weight support 510.

The weight 50 'is positioned below the center of the sphere 20' such that the weight center is changed in accordance with the movement of the weight 50 'such as the weight 50 described above so that the sphere can rotate. do. The weight 50 'according to the present embodiment is different from the weight 50 in that one end is fixed like the pendulum of the clock, and the other end is rotated in the left and right direction by drawing an arc through the direction change mechanism 70'. Do.

The driving mechanism 60 rotates the frame 40 and the weight 50 'in the front and rear directions to generate a driving force by moving the center of gravity. Since the driving mechanism 60 moves the frame 40 and the weight 50 'as described above, a detailed description thereof will be omitted.

The direction change mechanism 70 'shifts the weight 50' from side to side to switch the moving direction of the sphere 20 '. The redirection mechanism 70 ′ preferably uses a motor, such as a drive mechanism 60.

In another aspect of the present invention, the bracket motor 250 is provided inside the sphere 20 'or inside the bracket 230 to transmit a rotational force to the bracket (230). This is a device that allows the bracket 230 to maintain a constant angle, making it possible to shoot the camera 240 provided in the bracket 230 at a constant angle to make more effective use of the camera 240. According to a preferred embodiment with reference to Figure 17, the bracket motor 250 is connected to the bracket gear 260 formed inside the bracket 230 to maintain a constant shooting angle of the camera 240 or any shooting It may be driven along the bracket gear 260 to move the camera 240 to each other. That is, the camera is provided inside the bracket to rotate about the rotation axis through the bracket motor. For example, the bracket motor 250 may receive a control signal from an external terminal to rotate the photographing angle of the camera 240 about the side 32 to allow the user to capture a screen image in a desired direction. .

The acceleration sensor 80 is provided in the frame 40. The acceleration sensor 80 may measure the center movement of the weight 50 'to make the rotational speed of the sphere 20' faster than the acceleration to allow the sphere 20 'to continuously move.

According to a preferred embodiment of the present invention, the acceleration sensor 80 is provided in the bracket 230 to obtain the rotation information of the bracket 230 to the camera through the bracket motor 250 provided in the bracket 230 The photographing direction of 240 may be maintained. That is, the acceleration sensor 80 provided in the bracket 230 acquires the rotation information of the bracket 230 and transmits the obtained information to the bracket motor 250 to maintain the bracket 230 at a constant angle. The camera 240 installed on the bracket 230 maintained at an angle may capture an image with less shaking and maintain the shooting direction in the front direction.

In another aspect of the present invention, the direction change mechanism 70 'includes a steering motor 71 installed on the frame 40 and an electric gear 73 installed on the motor shaft 72 of the steering motor 71. The weight 50 'is connected to the electric gear 73 and moved in the left and right directions. The steering motor 71, the motor shaft 72, and the electric gear 73 are described in detail with reference to FIGS. 1 to 7, and thus a detailed description thereof will be omitted. According to this embodiment, the sphere 20 'is provided with a weight support 510 connected to one end of the frame 40 therein so that the weight 50' is supported by the weight support 510. Make. In addition, since the weight support 510 itself also has weight, when the weight 50 'moves in the front and rear direction, there is an effect that the driving force according to the center of gravity movement can be more strongly applied. More specifically, it may be provided with an anti-wear washer 520 that can prevent the wear between the weight support 510 and the weight 50 '. This can prevent partial wear between the weight 50 'and the weight support 510, thereby preventing damage to the spherical movable body, thereby extending the life of the product. The weight 50 'is moved in an arc in the left and right directions by the steering motor 71 to move the center of gravity of the spherical body in the left and right direction to move the spherical body in the direction desired by the user. Since the weight 50 'is directly rotated, there is an advantage that the direction can be changed more quickly.

The weight 50 'is provided with one or more iron plate so that the spherical movable body can adjust the moving speed according to the weight change of the weight 50'. In other words, because the steel plate is made of several overlapping, there is an advantage that the user can use a variety of products according to the use situation.

In another aspect of the present invention, the spherical mobile body may be provided including a control unit and a communication unit although not shown in the drawings. The controller may control the overall operation of the spherical mobile body. For example, in order to control the driving mechanism 60 and the turning mechanisms 70 and 70 ', the operation of the power supply of the motor for the movement of the spheres 20 and 20' may be controlled. The control unit may be used in the same sense as the control box described above. Preferably, the controller may automatically control the spheres 20 and 20 'through position and rotation information transmitted from the acceleration sensor. In addition, the operation of the camera 240 may be controlled to control image capturing of the camera 240. The communication unit makes communication with an external terminal. That is, by communicating with the terminal receives a control signal from the external terminal, it is possible to control the spherical mobile body from the outside in association with the control unit. In addition, the image captured by the camera 240 can be transmitted to the outside through the communication unit. The terminal is one selected from a mobile terminal, a computer, and a controller. For example, it is possible to control the spherical mobile body using the application of the mobile phone. Since the user can control the old mobile phone by using a mobile phone, the user can easily search the place where the human being cannot enter or make it possible to use it in various fields.

In another embodiment of the present invention, referring to FIG. 18, the expansion groove 231 is provided in the bracket 230. In more detail, the outer surface of the bracket 230 is provided. Expansion groove 231 is provided so that the expansion device 600 to be described later can be connected to the control unit. The expansion groove 231 is positioned on an extension line of the rotation shafts 30 and 32 like an opening formed in the center of the side member 210. That is, the expansion groove 231 serves as a passage connecting the expansion device 600 and the frame 40 (more specifically, the control unit). In a preferred embodiment, the controller has an interface that can be connected to the expansion device 600 and the interface and the expansion device 600 are connected to each other to control the expansion device 600 through the control unit. In addition, when the expansion device 600 is not used, it may be provided with an expansion groove cover 233 that can prevent foreign substances from flowing through the expansion groove 231.

The expansion device 600 is connected to the control unit through the expansion groove 231. The expansion device 600 is a device including a camera, a speaker, a robot arm and a terminal. The expansion device 600 is connected to a spherical mobile body to make the spherical mobile body more versatile.

[Description of the code]

20, 20 ': sphere 30, 32: axis of rotation

30a, 32a: annular jaw 34, 36: insert portion

37,38: washer 40: frame

42,43: screw support plate 44,45: vertical bending part

44h, 45h: Burring Hole 41: Straight Guide Groove

50,50 ': Weight 52: Tapped hole

60: drive mechanism 61: drive motor

62: motor shaft 63: pinion gear

64: drive gear 66,78,84: double sided tape

70,70 ': Direction change mechanism 71: Steering motor

72: motor shaft 73: electric gear

74: feed screw 74a, 74b: stop groove

74c, 74d: E-ring 75: driven gear

76: direction change nut 76g: friction prevention groove

76s: stud bolt 77: straight guide jaw

80: acceleration sensor 82: control box

C1: Spherical center L1: Center line

W1: center of gravity

210: side member 220: bearing

230: bracket 231: expansion groove

233: expansion groove cover 240: camera

250: bracket motor 260: bracket gear

510: weight support 520: anti-wear washer

600: expansion device

The present invention has the effect that not only can be freely moved back and forth using the sphere, but also the direction can be changed.

In addition, the present invention is provided with an acceleration sensor necessary to control the center movement speed of the weight in conjunction with the movement speed of the sphere, it is possible to control the constant speed has the effect of obtaining a smooth movement.

In addition, the present invention can be usefully used because the sphere is to autonomously roll, the radio control is easy, and the movement and direction change in a narrow space is easy.

Claims (21)

Hollow sphere 20, A plurality of rotation shafts 30 and 32 installed on the same center line L1 that meets the spherical center C1 inside the sphere 20; A frame 40 supported by the rotation shafts 30 and 32 to rotate in the front and rear directions; A weight weight 50 positioned below the center C1 of the sphere 20, Driving mechanism 60 for generating the propulsion force by moving the center of gravity by rotating the weight 50 in the front and rear direction and Spherical moving body, characterized in that it comprises a direction change mechanism 70 for changing the moving direction of the sphere 20 by moving the weight (50) in the left and right directions. According to claim 1, wherein the sphere (20) is a spherical mobile body, characterized in that divided into hemispherical. According to claim 1, The drive mechanism 60 is a drive motor 61 is fixed to the frame 40 to generate a rotational force, Pinion gear 63 installed on the motor shaft 62 of the drive motor 61 and And a drive gear 64 installed on at least one of the plurality of rotation shafts 30 and 32 and engaged with the pinion gear 63 to receive power from the pinion gear 63. Spherical mobile body. The method of claim 1, wherein the direction change mechanism 70 and the steering motor 71 is installed in the frame 40, An electric gear 73 installed on the motor shaft 72 of the steering motor 71; A transfer screw 74 installed on the frame 40 in a left and right length direction; A driven gear 75 installed on the transfer screw 74 and receiving power from the electric gear 73; The spherical movable body is coupled to the transfer screw 74, characterized in that it comprises a direction switching nut 76 for transferring the weight 50 in the left and right directions. The method according to claim 4, wherein the linear guide groove 41 is formed in the frame 40, and the linear guide jaw 77 coupled to the linear guide groove 41 is formed on the turning nut 76. A spherical mobile body characterized by. The spherical movable body according to claim 4, wherein the turning nut (76) and the weight (50) are screwed together. The spherical movable body according to claim 1, further comprising an acceleration sensor (80) for measuring the center movement of the weight (50). A method of driving a spherical mobile body, characterized in that moving the center of gravity (W1) of the weight (50) located below the spherical center (C1) in the inside of the sphere 20 in the front and rear direction to obtain a driving force in the front and rear direction. . The method of claim 8, wherein the weight of the spherical movable body, characterized in that configured to switch the direction of the sphere (20) by adjusting the position of the weight (50) in the left and right directions. 10. The method of claim 8, wherein the sphere 20 is configured to have a constant acceleration force in conjunction with the center movement speed of the weight (50) in accordance with the forward and backward speed of the sphere (20). The method of claim 1, wherein the direction change mechanism 70 is a steering motor 71 is installed in the frame 40 and An electric gear 73 is installed on the motor shaft 72 of the steering motor 71, The weight 50 is connected to the electric gear (73) is a spherical movable body, characterized in that conveyed in the left and right directions. 12. The spherical movable body according to claim 11, wherein the weight (50) is composed of one or more iron plates. 12. The spherical movable body according to claim 11, further comprising a weight support (510) connected to the frame (40) and supporting the weight (50). Hollow tire-shaped sphere 20 '; Side members 210 provided on both sides of the sphere 20 '; Rotating shafts 30 and 32 installed at the center of the side member 210; Bearings 220 provided on the rotation shafts 30 and 32; A bracket 230 provided on one side of the side member 210; A camera 240 positioned inside the bracket 230 and provided at one end of the rotation shaft 32; A frame 40 supported by the rotation shafts 30 and 32 to rotate in the front and rear directions; A weight 50 'positioned below the center C1 of the sphere 20'; A driving mechanism 60 which rotates the weight 50 'in the front and rear directions to generate a driving force by moving the center of gravity; And And a reversing mechanism (70 ') for changing the moving direction of the sphere (20') by moving the weight (50 ') in the left and right directions. 15. The spherical movable body according to claim 14, wherein the bracket is made of a transparent material. 15. The method of claim 14, further comprising an acceleration sensor 80, The acceleration sensor (80) is a spherical mobile body, characterized in that for measuring the rotational movement of the center movement or bracket 230 of the weight (50). 15. The method of claim 14, The direction change mechanism 70 is a steering motor 71 is installed in the frame 40 and An electric gear 73 is installed on the motor shaft 72 of the steering motor 71, The weight (50 ') is connected to the electric gear (73) is a spherical mobile body, characterized in that moved in an arc in the left and right directions. 18. The spherical movable body according to claim 17, further comprising a weight support (510) connected to the frame (40) and supporting the weight (50). 15. The method of claim 14, wherein the spherical movable body includes a control unit for controlling the drive mechanism 60 and the change direction mechanism 70 'and a communication unit for communicating with an external terminal, A spherical mobile body characterized in that the control unit controls the spherical mobile body through a control signal transmitted from the outside through the communication unit. 16. The spherical movable body according to claim 15, wherein the camera (240) is provided to rotate about the rotation axis (32) through the bracket motor (250). The method of claim 14, wherein the expansion groove 231 provided in the bracket 230 and Spherical movable body, characterized in that it comprises an expansion device 600 is connected to the expansion groove (231).

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