CN100554067C - Three-drive spherical robot - Google Patents

Three-drive spherical robot Download PDF

Info

Publication number
CN100554067C
CN100554067C CNB2008101118804A CN200810111880A CN100554067C CN 100554067 C CN100554067 C CN 100554067C CN B2008101118804 A CNB2008101118804 A CN B2008101118804A CN 200810111880 A CN200810111880 A CN 200810111880A CN 100554067 C CN100554067 C CN 100554067C
Authority
CN
China
Prior art keywords
track
drive
motor
minor axis
spherical
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CNB2008101118804A
Other languages
Chinese (zh)
Other versions
CN101318526A (en
Inventor
孙汉旭
贾庆轩
曹红玉
李红义
张延恒
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing University of Posts and Telecommunications
Original Assignee
Beijing University of Posts and Telecommunications
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing University of Posts and Telecommunications filed Critical Beijing University of Posts and Telecommunications
Priority to CNB2008101118804A priority Critical patent/CN100554067C/en
Publication of CN101318526A publication Critical patent/CN101318526A/en
Application granted granted Critical
Publication of CN100554067C publication Critical patent/CN100554067C/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The invention discloses a kind of three-drive spherical robot, it comprises full circle shape spherical shell and drive motor, and wherein, described spherical shell inside face is provided with track, and described track inside face is provided with annular rack; One walking support also is provided with the mobile roof support track adjusting wheel by linking to each other with track with road wheel that described tooth bar is meshed on it; On the described mobile roof support orbit motor is housed; Also comprise a ball frame, the one end links to each other with mobile roof support by bearing, and the other end links to each other with a swinging mounting by the major axis motor; One minor axis motor shaft is located on the ball frame, and axle is provided with heavily pendulum on the described minor axis motor; Described swinging mounting links to each other with track by the track adjusting wheel which is provided with.The present invention not only moves flexibly, has realized that also motion is redundant; Under the situation of one of axis of an orbit motor-driven and minor axis motor-driven et out of order, use remaining two drivings still can realize omnidirectional rolling, promptly realized System Fault Tolerance by configured.

Description

Three-drive spherical robot
Technical field
The present invention relates to a kind of ball shape robot, specifically a kind of motion redundant three-drive spherical robot that moves flexibly.
Background technology
Currently reconnoitre in space probation, military affairs, in civilian fire-fighting, anti-terrorism and disaster relief and the field work work, mobile robot's application is more and more widely.Movable spherical robot is a kind of new mobile robot's version that just occurs the domestic and international nearly more than ten years, is that a class is included in driver train and control system in the spherical shell, utilizes spherical housing to make the mobile-robot system of running gear.The mobile robot traditional with wheeled, sufficient formula, crawler type etc. compares, the mobile robot that movable spherical robot is a kind of novel structure, motion is flexible, sport efficiency is high.1) motion is the most flexible.Can realize that omnidirectional drives, turn radius is zero.2) anti-pourability.Traveling gear is omnidirectional's shell, does not have the problem of turning in the walking process.3) anti-ambient interference.All controls, drive configuration are closed in spherical shell inside, can come and go freely in rainy day or brambles environment, can not be short-circuited or lead such as hangs at problem, make the adaptive capacity of ball shape robot harsh environment strengthen.4) operating efficiency height.The walking shell contact friction force that produces with ground be propulsive effort, do not have driven pulley, the sport efficiency height, and shell is to put to contact with ground-surface the contact, low to rto request, adaptive capacity is strong.5) load-carrying capacity is big.Ball shape robot can be loaded with full load and walking flexibly in its spherical shell.
Professor Halme of Helsinki, Finland University of Science and Technology equals to make first in 1996 and has two drive ball anthropomorphic robots of ball shell.Design a cover single-wheel mechanism (IDU) in the spherical shell of this ball shape robot and driven the spheroid motion.But this ball shape robot can not be finished straight-line motion.Camicia, Conticelli and the Bicchi of Italy University of Pisa have developed a kind of spherical vehicle in 1997.This spherical vehicle is made of spheroid and a dolly of a hollow, spherical shell bottom surface motion in dolly is close to.Owing to all applied nonholonomic constraint in the outside and the inside of spheroid, so the control of this two drive ball anthropomorphic robot is very complicated, can not realize omnibearing ambulation.The moving ball shape robot of the Javadi of Iran and Mojabi have developed an August by name in 2002 4 wheel driven.Its internal drive mechanism adopts four spokes of a cover, every cover spoke comprises a stepping motor, a cylindrical screw and a counterweight, counterweight in ball along the spoke quick travel, change the center-of-gravity position of ball shape robot, thereby generation drive torque, ball shape robot is rolled, but since the variation of ball shape robot center of gravity by the motion of counterweight on pillar and the synthetic decision of spheroid motion itself, the kinematic model of ball shape robot is very complicated, control is difficult.2005, people such as the Fredrik C.Bruhn of Uppsala Univ Sweden developed a kind of two drive ball anthropomorphic robot SMIPS[7 that are used for celestial body detecting].It has two drive motor, and one drives major axis and rotates around the ball size direction, another drive counterweight with the same plane of major axis on swing.The synthetic turning that realizes ball shape robot of these two kinds of motions, but can not realize omnibearing ambulation, and turn radius is bigger.2005, the scholars such as F.Michaud of Canadian Sherbrooke university developed a kind of ball shape robot Roball[8 that is used for children education].The SMIPS of scholars such as the internal mechanical structure of this ball shape robot and Fredrik C.Bruhn development is similar, and just counterweight is wound the direction swing perpendicular to major axis, and limitation is too big, and actual application prospect can not be arranged.
Also there are some units and scholar to begin the research of ball shape robot at home.Your Puritanism of Shanghai Communications University poplar awarded and developed a kind of synchronous pulley internal drive formula two drive ball anthropomorphic robot SMR calendar year 2001.This ball shape robot adopts two motor-driven, and one of them motor is a reversing motor, and one is drive motor.Cooperation by two motors realizes the rotation of spheroid, and speed is slow, complex structure.The war of BJ University of Aeronautics ﹠ Astronautics is taught by force and has been designed one in 2003 and adjust the counterweight center-of-gravity position, have noxious gas and detect spherical detecting robot BHQ-1[12 with environment monitoring function by swing arm], designed a spherical detecting robot BHQ-2 in conjunction with swing arm and driving trolley structure in 2004.But two kinds of movable spherical robots of BHQ-1 and BHQ-2 all can not be realized omnibearing ambulation.The Kingcon of Electromechanical Control research institute of Shanghai Communications University in 2005 advances, and scholars such as Shi Guanglin have proposed the moving ball shape robot of a kind of 4 wheel driven.This robot interior has the motor of 4 symmetrical distributions, and each motor band an eccentric weight.Thereby realize that by driven by motor eccentric weight motion change system barycenter spheroid rolls to specific direction, kinematic velocity is slow, is difficult to realize steadily rolling.2006, the Li Tuanjie of Xian Electronics Science and Technology University's Electrical and Mechanical Engineering College, Zhu Chao proposed a kind of omnidirectional rolling two with stable platform and have driven spherical robot device.This ball shape robot is by being contained in spheroid inside, mutual vertically arranged two driven by servomotor, omnidirectional rollings in the plane.Have a stable instrument, equipment to carry platform in ball shape robot inside, this platform remains stable attitude and does not roll with spheroid in spheroid omnidirectional rolling process, but this robot mechanism complexity does not also have model machine to realize.Professor Deng Zongquan of Harbin Institute of Technology has developed two drive ball anthropomorphic robots of a kind of being referred to as " spherical locomotory apparatus ".This sphere locomotory apparatus characteristics in design are to be separated from each other turning to and drive two kinds of motions of walking, but this robot can not be realized omnibearing ambulation.
Existing ball shape robot mostly is moving and two drivings of 4 wheel driven.The moving ball shape robot of 4 wheel driven mostly is spoke structure and four motor-driven modes, uses four motors and driving circuit cost higher, and system is complicated; Two drive ball anthropomorphic robots have made full use of the characteristics of imperfect system and have used the walking of owing to drive the ball shape robot of having realized three degree of freedom, only use two motors and driving circuit to greatly reduce cost, and have reduced the complexity of system.But these ball shape robots all do not have the redundant characteristics of motion, and do not realize System Fault Tolerance in mechanism.
Summary of the invention
The objective of the invention is to propose a kind of three-drive spherical robot at the problem that has ball shape robot now, this three-drive spherical robot has not only improved kinematic dexterity, has realized that motion is redundant, and makes this ball shape robot have Fault Tolerance.
For achieving the above object, the inventor draws following technical scheme through long-term experiment:
By the center-of-gravity position that changes ball shape robot the state of kinematic motion of ball shape robot is changed, as by static to roll, quicken, deceleration, static etc. by being rolled to.At least use two drivings can change ball shape robot center of gravity position in the plane, promptly realize the omnidirectional rolling of ball shape robot through suitable design.And invention intends adopting three to drive, and realizes the omnidirectional rolling of ball shape robot.Orthogonal minor axis to drive with major axis when driving combined action, but the ball shape robot omnidirectional rolling; Orthogonal major axis is done the time spent to driving and axis of an orbit simultaneously to driving, but the ball shape robot omnidirectional rolling; The time spent is done in three drivings simultaneously, and ball shape robot is omnidirectional rolling neatly, and has the redundant characteristics of motion; Under the situation of one of axis of an orbit driving and minor axis driving et out of order, use remaining two drivings still can realize omnidirectional rolling, promptly realize System Fault Tolerance by configured.
The present invention realizes that the concrete technical scheme of goal of the invention is as follows:
A kind of three-drive spherical robot, it comprises full circle shape spherical shell and drive motor, and described spherical shell inside face is provided with track, and described track inside face is provided with annular rack; One walking support also is provided with the mobile roof support track adjusting wheel by linking to each other with track with road wheel that described tooth bar is meshed on it; On the described mobile roof support orbit motor is housed; Also comprise a ball frame, the one end links to each other with mobile roof support by bearing, and the other end links to each other with a swinging mounting by the major axis motor; One minor axis motor shaft is located on the ball frame, and axle is provided with heavily pendulum on the described minor axis motor; Described swinging mounting links to each other with track by the track adjusting wheel which is provided with, and described track adjusting wheel places on the concave station.
Above-mentioned spherical shell is made up of two big bullets such as grade.Described track outside face is provided with osed top sphere band; Described annular rack both sides are respectively equipped with annular concave platform.The described heavy portion of accommodating is a sector structure, and heavily pendulum can be done flip-flop movement around the minor axis motor.
Above-mentioned ball frame is an oblong.Above-mentioned minor axis motor was positioned at the described spherical shell centre of sphere and the minor axis parallel with the minor face of ball frame makes progress.Above-mentioned major axis motor was positioned at the described spherical shell centre of sphere and the major axis parallel with the long limit of ball frame makes progress.Described orbit motor with cross the described spherical shell centre of sphere and perpendicular to the track axially parallel of orbital plane.
Above-mentioned minor axis to, major axis to axis of an orbit to intersecting at same center-point, and axis of an orbit to major axis to vertical mutually, major axis to minor axis to mutual vertical.
Motion principle of the present invention is:
When minor axis motor-driven minor axis motor shaft rotates, heavily put around minor axis to rotation, the ball shape robot center-of-gravity position changes; When major axis motor-driven major axis motor shaft rotates, the ball frame and heavily pendulum etc. around major axis to rotation, the ball shape robot center-of-gravity position changes; When orbit motor drive track motor shaft rotates, road wheel rotates and walks along the orbit centre annular rack, mobile roof support track adjusting wheel and swinging mounting track adjusting wheel are walked along annular concave platform, make mobile roof support, ball frame, heavily pendulum, swinging mounting etc. are around the track axial rotation, the ball shape robot center-of-gravity position changes; The change of center-of-gravity position changes the ball shape robot state of kinematic motion that is placed on the coarse plane.Minor axis to drive with major axis when driving combined action, but the ball shape robot omnidirectional rolling; Major axis is done the time spent to driving and axis of an orbit simultaneously to driving, but the ball shape robot omnidirectional rolling; The time spent is done in three drivings simultaneously, and ball shape robot is omnidirectional rolling neatly, and has the redundant characteristics of motion.
Advantage of the present invention and benefit:
Three-drive spherical robot of the present invention not only moves flexibly, has realized that also motion is redundant; Under the situation of one of axis of an orbit motor-driven and minor axis motor-driven et out of order, use remaining two drivings still can realize omnidirectional rolling, promptly realized System Fault Tolerance by configured.
Description of drawings
Fig. 1 shows structural representation for three-drive spherical robot of the present invention cuts open;
Fig. 2 is a three-drive spherical robot plan structure scheme drawing of the present invention (no spherical shell and track);
Fig. 3 is a three-drive spherical robot side-looking structural representation of the present invention;
Fig. 4 is a three-drive spherical robot track sectional structure scheme drawing of the present invention.
The specific embodiment
Shown in Fig. 1,2,3 and 4, a kind of three-drive spherical robot comprises spherical shell and drive motor.Spherical shell 1 is made up of two big hemispherical Shells such as grade; Spherical shell 1 inside face is provided with track 2, and track 2 outside faces are osed top sphere band 21, and the inside face center is provided with annular rack 22, and annular rack 22 both sides are respectively equipped with annular concave platform 23; One walking support 3 also is provided with mobile roof support track adjusting wheel 32 by linking to each other with track 2 with road wheel 31 that described annular rack 22 is meshed on the described mobile roof support 3, on the described mobile roof support 3 orbit motor 33 is housed; Also comprise an oblong ball frame 4, the one end links to each other with mobile roof support 3 by bearing, and the other end links to each other with a swinging mounting 6 by major axis motor 5, and described ball frame 4 can serve as an axle rotation with major axis motor and mobile roof support center and swinging mounting center; Described swinging mounting 6 is provided with swinging mounting track adjusting wheel 61; One minor axis motor 7 is located on the ball frame 4, and 7 in described minor axis motor is provided with heavily puts 8, and heavily putting 8 bottoms is sector structure.
Above-mentioned minor axis motor 7 was positioned at described spherical shell 1 centre of sphere and the minor axis parallel with the minor face of ball frame 4 on A.Above-mentioned major axis motor 5 was positioned at described spherical shell 1 centre of sphere and grew the parallel major axis in limits on B with ball frame 4.The described orbit motor 33 and mistake described spherical shell 1 centre of sphere and parallel to C perpendicular to the axis of an orbit of orbital plane.Described ball frame 4 can rotate to B around major axis, and described heavy pendulum 8 can be done flip-flop movement to A around minor axis.
Above-mentioned minor axis all the time intersects at the centre of sphere to B and axis of an orbit to C to A, major axis, and axis of an orbit is vertical mutually all the time to B with major axis to C, and major axis is vertical mutually all the time to A with minor axis to B.

Claims (10)

1, a kind of three-drive spherical robot, it comprises full circle shape spherical shell and drive motor, it is characterized in that, and described spherical shell inside face is provided with track, and described track inside face is provided with annular rack; One walking support also is provided with the mobile roof support track adjusting wheel by linking to each other with track with road wheel that described tooth bar is meshed on the described mobile roof support; On the described mobile roof support orbit motor is housed; Also comprise a ball frame, the one end links to each other with mobile roof support by bearing, and the other end links to each other with a swinging mounting by the major axis motor; One minor axis motor is located on the ball frame, and described minor axis motor shaft is provided with heavily pendulum; Described swinging mounting links to each other with track by the track adjusting wheel which is provided with.
2, a kind of three-drive spherical robot according to claim 1 is characterized in that, described spherical shell is made up of two big bullets such as grade.
3, a kind of three-drive spherical robot according to claim 1 is characterized in that, described track outside face is provided with osed top sphere band.
4, according to claim 1,2 or 3 described a kind of three-drive spherical robots, it is characterized in that described annular rack both sides are respectively equipped with annular concave platform.
5, a kind of three-drive spherical robot according to claim 1 is characterized in that, the described heavy portion of accommodating is a sector structure.
6, a kind of three-drive spherical robot according to claim 1 is characterized in that, described ball frame is an oblong.
7, a kind of three-drive spherical robot according to claim 6 is characterized in that, described minor axis motor was positioned at the described spherical shell centre of sphere and the minor axis parallel with the minor face of ball frame makes progress.
8, a kind of three-drive spherical robot according to claim 7 is characterized in that, described major axis motor was positioned at the described spherical shell centre of sphere and the major axis parallel with the long limit of ball frame makes progress.
9, a kind of three-drive spherical robot according to claim 8 is characterized in that, described orbit motor with cross the described spherical shell centre of sphere and perpendicular to the track axially parallel of orbital plane.
10, a kind of three-drive spherical robot according to claim 9 is characterized in that, described minor axis to, major axis to axis of an orbit to intersecting at same center-point, and axis of an orbit to major axis to vertical mutually, major axis to minor axis to mutual vertical.
CNB2008101118804A 2008-05-19 2008-05-19 Three-drive spherical robot Expired - Fee Related CN100554067C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNB2008101118804A CN100554067C (en) 2008-05-19 2008-05-19 Three-drive spherical robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNB2008101118804A CN100554067C (en) 2008-05-19 2008-05-19 Three-drive spherical robot

Publications (2)

Publication Number Publication Date
CN101318526A CN101318526A (en) 2008-12-10
CN100554067C true CN100554067C (en) 2009-10-28

Family

ID=40178856

Family Applications (1)

Application Number Title Priority Date Filing Date
CNB2008101118804A Expired - Fee Related CN100554067C (en) 2008-05-19 2008-05-19 Three-drive spherical robot

Country Status (1)

Country Link
CN (1) CN100554067C (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101565062B (en) * 2009-05-20 2010-08-25 北京邮电大学 Hemispheric differential spherical robot
CN102161356B (en) * 2011-05-09 2013-01-30 北京邮电大学 Tridrive spherical robot
CN102358421B (en) * 2011-09-06 2013-06-05 北京邮电大学 Flyable spherical robot
CN105035197B (en) * 2015-04-23 2018-12-07 河南理工大学 Ball-shape robot based on gesture control
CN104960588B (en) * 2015-07-27 2017-05-24 王学贵 Spherical walking platform
CN112937711B (en) * 2021-04-12 2022-07-08 合肥工业大学 Spherical robot deformation mechanism and deformation method

Non-Patent Citations (6)

* Cited by examiner, † Cited by third party
Title
二驱动球形机器人的全方位运动特性分析. 孙汉旭等.北京航空航天大学学报,第31卷第7期. 2005
二驱动球形机器人的全方位运动特性分析. 孙汉旭等.北京航空航天大学学报,第31卷第7期. 2005 *
球形机器人的圆周运动分析. 王亮清等.机器人,第29卷第1期. 2007
球形机器人的圆周运动分析. 王亮清等.机器人,第29卷第1期. 2007 *
球形机器人的爬坡与弹跳能力. 王亮清等.北京邮电大学学报,第30卷第2期. 2007
球形机器人的爬坡与弹跳能力. 王亮清等.北京邮电大学学报,第30卷第2期. 2007 *

Also Published As

Publication number Publication date
CN101318526A (en) 2008-12-10

Similar Documents

Publication Publication Date Title
CN100554067C (en) Three-drive spherical robot
CN101229832B (en) Omnidirectional moving spherical robot
CN101269678B (en) Wheeled robot with traveling system
CN105416428A (en) Spherical robot with in-situ rotation function carried with control moment gyro
CN105667622A (en) Six-wheel-foot type moving robot with three robot bodies
CN102179812B (en) Ball-shaped robot used for detection
CN105667632A (en) Omnidirectional mobile platform for Mecanum wheels
CN201189913Y (en) Omnidirectional motion simplification mechanism of spherical robot
CN1098751C (en) Movable spherical robot
CN100343027C (en) Spherical detection robot
CN202180886U (en) Self-balanced intelligent traffic robot
CN111267567B (en) Heavy pendulum eccentric driving amphibious reconnaissance spherical robot
CN201176217Y (en) Omnidirectional mobile spherical robot
Yoon et al. Spherical robot with new type of two-pendulum driving mechanism
CN101386173A (en) Environmental detection spherical robot
CN206691206U (en) A kind of four-wheel drive robot chassis structure
CN1616258A (en) Stracture improved ball shape robot omnibearing walking device
CN201313307Y (en) Spherical environment detection robot
CN102407890A (en) Spherical moving device with enhanced function
CN102975782A (en) Wheel foot amphibious robot mechanism based on differential wheel eccentric mechanism
CN102431605A (en) Sphere-wheel compound transformable mobile robot
CN109292017B (en) Wheel-leg-changeable multi-legged robot
CN102602468B (en) Dual-swing omni-directional moving spherical robot
CN2719510Y (en) Spherical detecting robot
CN202098476U (en) Wheel-leg combined mobile robot platform

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20091028

Termination date: 20190519