CN101982304B - Inner driving spherical robot - Google Patents
Inner driving spherical robot Download PDFInfo
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- CN101982304B CN101982304B CN201010289931XA CN201010289931A CN101982304B CN 101982304 B CN101982304 B CN 101982304B CN 201010289931X A CN201010289931X A CN 201010289931XA CN 201010289931 A CN201010289931 A CN 201010289931A CN 101982304 B CN101982304 B CN 101982304B
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- electromagnet
- spherical shell
- bevel gear
- frame
- drive ball
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Abstract
The invention discloses an inner driving spherical robot comprising a first spherical shell (1), a linear travelling mechanism and a steering control mechanism, wherein the linear travelling mechanism and the steering control mechanism are arranged in the first spherical shell (1); the linear travelling mechanism comprises a driving spherical shell (2), a rack (3), electromagnet (4), a bearing (7) and a shaft (8); the steering control mechanism comprises an electromagnet base (5), an electric brush (6), a bevel gear (9), a bevel gear (10), an electromotor substrate (11), a steering motor (12) and a coupler (13); after electrified, the electromagnet (4) generates attractive force with magnetic material on the inner side of the first spherical shell so as to change the center of mass of the spherical robot, and magnetic material rolls along the inner side of the first spherical shell under the driving of gravity to push a sphere to move linearly; the rack is provided with the steering control mechanism along the direction of the geometric center line of the rack; and the shaft (8) rotates along the axle center thereof under the driving of the steering motor (12) to drive the electromagnet to rotate to change the travelling direction of the linear travelling mechanism. The invention has the advantages of simple structure, flexible motion and the like and is convenient for miniaturization design.
Description
Technical field:
The invention belongs to electromechanical integration technology area, be specifically related to a kind of interior drive ball anthropomorphic robot.
Background technology:
Ball shape robot is a kind ofly to have spherical housing and be the novel intelligent robot of main motion mode with rolling movement.Because ball shape robot has the shell of sealing and special forms of motion; It is compared with wheeled or rail mounted and humanoid robot; Have can after unstability, obtain maximum stability, can realize omnidirectional rolling, plurality of advantages such as can turn more flexibly; Its inner good sealing property enjoys great popularity fields such as ball shape robot celestial body exploration outside, the exploration of radiation corrosion environment.
AarneHalme; T.Sehonberg; The ball shape robot " Spherical Mobile Robot " that people such as Y.Wang developed in 1996 is (referring to " Motion control of a spherical mobile robot "; 4th IEEE International Workshop on Advanced Motion Control AMC ' 96,1996:259-264), this ball shape robot is first ball shape robot with spherical motion truly; The driver element of this ball shape robot is a driving wheel that connects firmly with motor, thereby this driver element is realized simple rectilinear motion through the center of gravity that changes spheroid of in spherical shell, rolling.
The omni-bearing spherical kinematic robot " August " that Amir Homayoun Javadi A. and Puyan Mojabi developed in 2002 is (referring to " Introducing august:a novel strategy for an omni directional spherical rolling robot "; Proc IEEE Int Conference on Robotics and Automation; 2002:3527-3533); The drive system of this ball shape robot is made up of four spokes; Carry mass on each spoke, mass can carry out oscilaltion, thereby along with the different position of mass constitutes different barycenter changes spheroid under weight-driven motion state.
Application number is 200510011953.9 omnibearing movable spherical robot; One motion that is not connected with spherical shell is arranged in the inside of spherical shell; This motion rolls in spherical shell under the driving of motor through the single wheel tourelle; Promote the rectilinear motion of whole spherical shell, another single wheel tourelle rotates the omnibearing movable of realizing robot with respect to supporting mechanism under the driving of another motor.
Application number is 200810020279.4 omnidirectional moving spherical robot, and its main wheel is side roll in the spherical shell of the driving lower edge of movable motor, promotes the spheroid rectilinear motion through moving forward and backward the spheroid center of gravity; Horizon bar and the mass geometric center lines around the semicircle frame under the driving of steer motor is rotated, thereby causes that the spherical shell backward rotation changes the direction of motion of spheroid.
It seems that totally existing ball shape robot all exists deficiencies such as movement locus complicacy, calculation of complex, difficult control in practical application.Structure is more complicated all, in reality, is difficult to apply and is difficult to carry out miniaturization Design.
Summary of the invention:
The present invention mainly solves existing ball shape robot and exists complex structure, complicated, the uppity problem of movement locus.
The present invention realizes through following technical scheme:
Drive ball anthropomorphic robot in a kind of comprises first spherical shell 1 and the travel driving unit that is located in first spherical shell 1, and travel driving unit comprises straight line moving mechanism and turn to controlling organization that straight line moving mechanism comprises drive ball spherical shell 2; Frame 3, electromagnet 4, bearing 7, axle 8; Turn to controlling organization to comprise electromagnet pedestal 5, brush 6, the first bevel gears 9, the second bevel gears 10; Motor pedestal 11, steer motor 12, shaft coupling 13; Frame 3 in the straight line moving mechanism is fixed on drive ball spherical shell 2; Frame 3 along its diametric(al) around its central shaft symmetry six bearings 7 that are connected; Axle 8 forms revolute pair along the drive ball diametric(al) through bearing 7 and frame 3, six electromagnet 4 that are connected on the frame 3, and electromagnet 4 has electromagnet pedestal 5; Conducting slip ring on the electromagnet pedestal 5 is connected with brush 6 contacts; Frame 3 is installed along its geometric center lines direction and is turned to controlling organization, turns to controlling organization to be provided with motor pedestal 11, and motor pedestal 11 is provided with steer motor 12; Steer motor 12 is connected with second bevel gear 10, first bevel gear 9 through shaft coupling 13, and second bevel gear 10, first bevel gear 9 are connected with spools 8.Electromagnet 4 is six, is 60 degree and distributes.Frame 3 is installed counterweight 14 along its geometric center lines.First spherical shell, 1 inside is coated with magnetic material.
The present invention compared with prior art has following beneficial effect: inner structure of the present invention is succinct, and travel driving unit separates with first spherical shell 1.Electromagnet on the axle adopts conducting slip ring to be connected with control circuit, can not produce the situation that lead twines.The travel driving unit motion is flexible, and each system is separate, and good stability can be realized omnidirectional's walking and high-precision arbitrarily angled turning to.
Description of drawings:
Fig. 1 is a structural representation of the present invention,
Fig. 2 is the left view of Fig. 1.
The specific embodiment:
Interior drive ball anthropomorphic robot is made up of first spherical shell 1 and inner travel driving unit thereof.Its travel driving unit comprises drive ball spherical shell 2 and the frame 3 that is fixed on drive ball spherical shell 2; Around its central shaft symmetry six bearings 7 that are connected, axle 8 forms revolute pairs along the drive ball diametric(al) through bearing 7 and frame 3 to frame 3 along its diametric(al); Six electromagnet 4 are connected on the frame 3; Electromagnet 4 has electromagnet pedestal 5; Conducting slip ring on the electromagnet pedestal 5 is connected with brush 6 contacts; To produce attraction with first spherical shell, 1 inboard magnetic material after giving wherein arbitrary electromagnet 4 energisings, will be adsorbed onto first spherical shell, 1 inner surface at the effect lower electromagnet 4 of attraction, thereby change the whole barycenter of ball shape robot; Drive ball will make the whole center of gravity of ball shape robot be positioned at minimum point along side roll in first spherical shell 1 under weight-driven; Switch on to adjacent electromagnets after walking to minimum point, drive ball will continue to roll forward to make center of gravity be positioned at minimum point under weight-driven again, thereby this process that circulates realizes spheroid rectilinear motion; Frame 3 is installed along its geometric center lines direction and is turned to controlling organization; Turn to controlling organization to be provided with motor pedestal 11; Motor pedestal 11 is provided with steer motor 12; Steer motor 12 is connected with second bevel gear 10, first bevel gear 9 through shaft coupling 13, and second bevel gear 10, first bevel gear 9 are connected with spools 8.Six roots of sensation axle 8 rotates around its axle center separately through second bevel gear 10 and 9 transmissions of first bevel gear under the driving of steer motor 12, drives electromagnet 4 and rotates the direction of travel that changes straight line moving mechanism, thereby change the direction of motion of spheroid.Wherein electromagnet 4 distributes for being 60 degree.Frame 3 is installed counterweight 14 along its geometric center lines.First spherical shell, 1 inside is coated with magnetic material.
Claims (4)
1. drive ball anthropomorphic robot in a kind comprises first spherical shell (1) and is located at the travel driving unit in first spherical shell, and travel driving unit comprises straight line moving mechanism and turns to controlling organization, straight line moving mechanism to comprise drive ball spherical shell (2); Frame (3), electromagnet (4), bearing (7), axle (8); Turn to controlling organization to comprise electromagnet pedestal (5), brush (6), first bevel gear (9), second bevel gear (10); Motor pedestal (11), steer motor (12), shaft coupling (13); It is characterized in that: the frame in the straight line moving mechanism (3) is fixed on drive ball spherical shell (2), and around its central shaft symmetry six bearings (7) that are connected, axle (8) forms revolute pair, frame along the drive ball diametric(al) through bearing (7) and frame (3) to frame (3) along its diametric(al)
(3) six electromagnet (4) are connected on; Electromagnet (4) has electromagnet pedestal (5); Conducting ring on the electromagnet pedestal (5) is connected with brush (6) contact; Frame (3) is installed along its geometric center direction and is turned to controlling organization, turns to controlling organization to be provided with motor pedestal (11), and motor pedestal (11) is provided with steer motor (12); Steer motor (12) is connected with second bevel gear (10), first bevel gear (9) through shaft coupling (13), and second bevel gear (10), first bevel gear (9) are connected with axle (8).
2. drive ball anthropomorphic robot in according to claim 1, it is characterized in that: electromagnet (4) is six, is 60 degree and distributes.
3. drive ball anthropomorphic robot in according to claim 1 is characterized in that: said frame (3) is installed counterweight (14) along its geometric center lines.
4. drive ball anthropomorphic robot in according to claim 1, it is characterized in that: said first spherical shell (1) inside is coated with magnetic material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010289931XA CN101982304B (en) | 2010-09-18 | 2010-09-18 | Inner driving spherical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010289931XA CN101982304B (en) | 2010-09-18 | 2010-09-18 | Inner driving spherical robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101982304A CN101982304A (en) | 2011-03-02 |
| CN101982304B true CN101982304B (en) | 2012-09-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010289931XA Expired - Fee Related CN101982304B (en) | 2010-09-18 | 2010-09-18 | Inner driving spherical robot |
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| Country | Link |
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| CN (1) | CN101982304B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102602465B (en) * | 2011-03-24 | 2016-08-24 | 泰山学院 | Dicyclo disengaging type Electromagnetic Drive ball shape robot |
| CN103587600B (en) * | 2013-11-12 | 2016-01-13 | 上海大学 | Practical rapid inflation spherical robot |
| CN103895725B (en) * | 2014-03-14 | 2016-02-17 | 上海大学 | A kind of electromagnetism internal drive formula ball shape robot |
| CN104326031B (en) * | 2014-10-29 | 2016-08-31 | 北京可以科技有限公司 | Cellular machineries people |
| US20180043952A1 (en) * | 2016-08-12 | 2018-02-15 | Spin Master Ltd. | Spherical mobile robot with shifting weight steering |
| CN107054058B (en) * | 2017-05-03 | 2019-02-26 | 吴万敏 | A kind of spherical drive wheel based on a motor control |
| CN107697180B (en) * | 2017-10-26 | 2023-10-17 | 桂林电子科技大学 | Spherical omnidirectional wheel mechanism based on artificial potential field |
| CN107891416B (en) * | 2017-11-06 | 2023-12-12 | 长安大学 | Electromagnetic driving type spherical robot and control method thereof |
| CN108897320B (en) * | 2018-06-26 | 2020-11-24 | 清华大学 | Self-driven walking robot and control method thereof |
| CN113173213B (en) * | 2021-06-30 | 2021-09-03 | 中国科学院地质与地球物理研究所 | Small celestial body surface magnetic force mobile robot and moving method thereof |
| CN114802508A (en) * | 2022-05-23 | 2022-07-29 | 北京交通大学 | Omnidirectional wheel drive magnetism reinforcing spherical robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4501569A (en) * | 1983-01-25 | 1985-02-26 | Clark Jr Leonard R | Spherical vehicle control system |
| US4726800A (en) * | 1985-05-22 | 1988-02-23 | Shinsei Kogyo Co., Ltd. | Radio-controllable spherical toy vehicle |
| WO1999030876A1 (en) * | 1997-12-16 | 1999-06-24 | Board Of Trustees Operating Michigan State University | Spherical mobile robot |
| CN101229832A (en) * | 2008-02-28 | 2008-07-30 | 南京航空航天大学 | Omnidirectional moving spherical robot |
| CN201380492Y (en) * | 2009-05-05 | 2010-01-13 | 扬州大学 | Magnetic suspension spherical driving joint with centripetal tension |
-
2010
- 2010-09-18 CN CN201010289931XA patent/CN101982304B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4501569A (en) * | 1983-01-25 | 1985-02-26 | Clark Jr Leonard R | Spherical vehicle control system |
| US4726800A (en) * | 1985-05-22 | 1988-02-23 | Shinsei Kogyo Co., Ltd. | Radio-controllable spherical toy vehicle |
| WO1999030876A1 (en) * | 1997-12-16 | 1999-06-24 | Board Of Trustees Operating Michigan State University | Spherical mobile robot |
| CN101229832A (en) * | 2008-02-28 | 2008-07-30 | 南京航空航天大学 | Omnidirectional moving spherical robot |
| CN201380492Y (en) * | 2009-05-05 | 2010-01-13 | 扬州大学 | Magnetic suspension spherical driving joint with centripetal tension |
Non-Patent Citations (1)
| Title |
|---|
| 李鑫勇等.电磁驱动结构的球形机器人研究.《机械设计与制造》.2010,(第5期), * |
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| CN101982304A (en) | 2011-03-02 |
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