CN100556622C - The omnibearing movable spherical robot of designs simplification - Google Patents
The omnibearing movable spherical robot of designs simplification Download PDFInfo
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- CN100556622C CN100556622C CNB2008100202807A CN200810020280A CN100556622C CN 100556622 C CN100556622 C CN 100556622C CN B2008100202807 A CNB2008100202807 A CN B2008100202807A CN 200810020280 A CN200810020280 A CN 200810020280A CN 100556622 C CN100556622 C CN 100556622C
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Abstract
The omnibearing movable spherical robot of this designs simplification relates to the ball shape robot technical field.Its travel driving unit comprises the circular arc frame (5) that is in vertical state, and at its outside two edge diametric(al) symmetries a pair of minor axis (3) that is connected, minor axis is crossed the centre of sphere and through bearing and spherical shell formation revolute pair; The below of the circular arc frame straight line moving mechanism that is connected, this straight line moving mechanism comprises movable motor (6), main wheel (7) and counterweight (8), main wheel is side roll in the spherical shell of the driving lower edge of movable motor, drives the spheroid moving linearly; The upside of circular arc frame turns to controlling organization, this turns to controlling organization is the quality dolly (12) that comprises steamboat (10) and motor internal, drive by steamboat under the driving of portion's motor within it of quality dolly and move along circular arc frame upside groove, make about the spheroid center of gravity to be offset, thereby realize the control that turns to of ball shape robot.The present invention is simple in structure, and control is convenient, and motion is flexible, and good stability has the ability of carrying annex.
Description
Technical field
The present invention relates to a kind of omnibearing movable spherical robot of designs simplification, belong to electromechanical integration technology area.Can be used for fields such as environment detection, Device Diagnostic, military investigation, Extraterrestrial adventure, home entertaining.
Background technology
Ball shape robot is a kind of spherical housing that has, and is the intelligent robot of main motion mode with rolling movement.The quick locomotor activity that it had both had the picture wheeled mobile robot can move in irregular complex-terrain as legged mobile robot again, and motion continuity is strong, and the direction controllability is good, is a kind of very good motion carrier.
First ball shape robot motion that has truly put forward in 1996 (referring to " Motion Control of A Spherical Mobile robot " by people such as Halme, Proceedings ofAMC ' 96-MIE, IEEE, 1996:259-264), this motion is provided with a driving wheel in spherical shell, it rolls in spherical shell by motor-driven, realize the rectilinear motion of robot by the center of gravity that changes spheroid, but shortcoming is to change the direction of motion.After this, constantly occur various new spherical robot device both at home and abroad, several ball shape robot schemes wherein have much representativeness.
Roball a kind of ball shape robot scheme that to be people such as Francois Michaud propose in calendar year 2001 is (referring to " Autonomous Spherical Mobile Robot for Child Development Studies ", IEEETransactions on Systems, Man, and Cybernetics, 35 (4): 1-10; The close domestic patent No. is 01241360.7 utility model " ball shape robot "), it hangs weight on the main shaft of crossing the centre of sphere, seesaw as straight line by the motor-driven spherical shell that is installed on the main shaft, vert about spheroid to realize that robot turns to by driving to be offset about weight to make.The control of this scheme is simple, but two motors must overcome the rotary inertia of spherical shell and the rotary inertia of weight respectively, thereby the moment of torsion of electric machine assembly etc. is had relatively high expectations; Simultaneously, owing to two motors are installed in respectively on the main shaft, the transmission mechanism relative complex, and higher in equal quality lower sphere center of gravity.
Application number is 200510011953.9 " omnibearing movable spherical robot ", a motion that is not connected with spherical shell is arranged in spherical shell inside, it rolls in spherical shell by the single wheel tourelle, promote the spheroid moving linearly, by change the relative supporting mechanism of single wheel tourelle towards the omnibearing movable of realizing robot.This scenario-frame is succinct, and is easy for installation, but the single wheel tourelle guarantees with the deadweight that the rolling of spherical shell contacts by motion, thereby the resistance to shock deficiency; Simultaneously, because the randomness of spheroid motion does not have fixed interface on the spherical shell, can not externally carry associate member, charge, must open spherical shell during work such as maintenance, the sealing of spheroid is affected.
The patent No. is 02128933.6 " improved all-direction moving unit for spherical robot ", and an annulus is arranged in spherical shell, and two short supporting axles are stretched out at two, has a motor to drive annulus by gears engaged on the annulus and does relative rolling with spherical shell; Place a major axis on the direction vertical with minor axis in the annulus, the major axis center is provided with balancing weight, and another motor drives the relative rolling around major axis of spherical shell and balancing weight do by gears engaged on the annulus.This scenario-frame is complicated, center of gravity is higher, is difficult to externally carry associate member, and charging waits work to have difficulty with maintenance.
It seems that totally existing ball shape robot scheme is each has something to recommend him, but mostly exist the deficiency that complex structure, Project Realization are difficult, practicality is lower.Particularly, the divertical motion of some device and forward travel coupling make that the state or the attitude of spheroid internal drive mechanism are uncertain, have strengthened the control difficulty; The spheroid center of gravity is higher, makes to climb and the obstacle climbing ability deficiency; No external stability interface or can not carry annex outside spherical shell causes charging with difficult in maintenance, and limits effective use of various environment detection sensors and manipulator, has reduced the practicality of ball shape robot.The problems referred to above have limited applying of ball shape robot to a great extent.
Summary of the invention
The objective of the invention is: propose that a kind of novel structure, control are simple, good stability, practical, have good anti-vibration and a shock resistance, and can omnibearing movable, can outside spherical shell, carry the ball shape robot organization plan of annex, overcome the deficiency of existing scheme.
Technical solution of the present invention is: the omnibearing movable spherical robot of designs simplification comprises spherical shell and inner travel driving unit thereof.Wherein, travel driving unit comprises the circular arc frame that is in vertical state, and at its outside two edge diametric(al) symmetries a pair of minor axis that is connected, minor axis is crossed the centre of sphere and through bearing and spherical shell formation revolute pair; The below of the circular arc frame straight line moving mechanism that is connected, this straight line moving mechanism comprises movable motor, main wheel, counterweight, main wheel is side roll in the spherical shell of the driving lower edge of movable motor, promotes the spheroid rectilinear motion thereby the spheroid center of gravity is moved forward and backward; The upside of circular arc frame turns to controlling organization, this turns to controlling organization is the quality dolly that comprises steamboat and motor internal, drive by steamboat under the driving of portion's motor within it of quality dolly and move, thereby make skew about the spheroid center of gravity realize the control that turns to of ball shape robot along circular arc frame upside groove.
The advantage of this scheme is:
1) simple in structure, cost is lower, is easy to realize;
2) center of gravity is away from the centre of sphere and be in spheroid below all the time, thereby the stability of a system is good, response speed is fast, can realize climbing, domaticly go up motor patterns such as fixed point is static;
3) two motors are controlled the rectilinear motion and the divertical motion of spheroid respectively, and the control mode decoupling zero can realize ball shape robot omnibearing motion and small radius steering; Simultaneously, wheeled type of drive reduces the requirement of characteristics such as Motor torque, is easy to choice of electrical machine;
4) if be respectively equipped with the pressure regulator of regulating main wheel and spherical shell, quality dolly and circular arc bridge joint touch, can effectively improve the motion vibration resistance of ball shape robot in straight line moving mechanism and quality dolly inside;
5) turn to the range of movement of quality dolly in the controlling organization to be limited to the circular arc frame, thereby the line between all electric components winding can not occur, need not to help centralized and unified control by electric slip ring;
6) if the circular arc frame is set to hollow minor axis and stretches out spherical shell at a pair of minor axis that its outside two edge diametric(al) symmetries are connected, then can carry annex (being used to load camera, various attitude or environmental sensor, manipulator, antenna, battery, charging inlet, counterweight etc.), thereby improve the practical value of ball shape robot;
7) when the qi of chong channel ascending adversely encapsulant in spherical shell outer wrap lightweight, it is big that the spherical shell external diameter becomes, and can improve ball shape robot water surface locomotor activity and shock resistance.
Description of drawings
Fig. 1 is the overall structure cross-sectional schematic of one embodiment of the present of invention 1.
Fig. 2 is the overall structure cross-sectional schematic of one embodiment of the present of invention 2.
Token name claims among the figure: 1, spherical shell, 2, pedestal, 3, minor axis, 4, bearing, 5, the circular arc frame, 6, movable motor, 7, main wheel, 8, counterweight, 9, annex, 10, steamboat, 11, stroke limiting stop, 12, quality dolly, 13, wishbone, 14, circular block, 15, pressure regulator, 16, connecting rod.
The specific embodiment
Embodiments of the invention 1 as shown in Figure 1.The omnibearing movable spherical robot of designs simplification comprises spherical shell 1 and inner travel driving unit thereof.Wherein, travel driving unit comprises the circular arc frame 5 that is in vertical state, and at its outside two edge diametric(al) symmetries a pair of minor axis 3 that is connected, minor axis 3 is crossed the centre ofs sphere and formed revolute pair through bearing 4 and spherical shell 1; The below of the circular arc frame 5 straight line moving mechanism that is connected, this straight line moving mechanism comprises movable motor 6, main wheel 7, counterweight 8, main wheel 7 is side roll in the spherical shell 1 of the driving lower edge of movable motor 6, promotes the spheroid rectilinear motion thereby the spheroid center of gravity is moved forward and backward; The upside of circular arc frame 5 turns to controlling organization, this turns to controlling organization is the quality dolly 12 that comprises steamboat 10 and motor internal, drive by steamboat 10 under quality dolly 12 driving of portion's motor within it and move, thereby make skew about the spheroid center of gravity realize the control that turns to of ball shape robot along circular arc frame 5 upside grooves.In this example, quality dolly 12 inside are provided with pressure regulator, have suitable contact force when moving on circular arc frame 5 with the dolly 12 of ensuring the quality of products.
Embodiments of the invention 2 as shown in Figure 2.Straight line moving mechanism is identical with embodiment 1, the wishbone 13 that turns to controlling organization to comprise to contain the quality dolly 12 of steamboat 10 and motor internal, is connected with circular arc frame 5 two ends, be positioned at the circular block 14 of wishbone 13 bottoms, also comprising that an end and circular block (14) center are to rotate contacts the connecting rod 16 that the other end and quality dolly (12) are connected.Drive by steamboat 10 under quality dolly 12 driving of portion's motor within it and move, thereby make skew about the spheroid center of gravity realize the control that turns to of ball shape robot along circular arc frame 5 upside grooves.In this example, connecting rod 16 is provided with pressure regulator 15, has suitable contact force when moving on circular arc frame 5 with the dolly 12 of ensuring the quality of products.
In all embodiment of the present invention, counterweight 8 can be battery, circuit board etc.
In addition, between main wheel 7 and the spherical shell 1, being wheeled between quality dolly 12 and the circular arc frame 5 contacts or toothed engagement.For preventing to come off, constitute slip-off preventing constraints such as packaging type between quality dolly 12 and the circular arc frame 5.
In addition, the in-house pressure regulator that is provided with of straight line moving has suitable contact force to guarantee main wheel 7 when rolling in spherical shell 1.
In addition, two minor axises 3 can be hollow and stretch out spherical shell, carry annex 9 (being used to load camera, sensor, manipulator, antenna, battery, counterweight and expansion interface etc.) in the mode that is connected or hang.
In addition, the qi of chong channel ascending adversely encapsulant of lightweight can be wrapped up in spherical shell 1 outside, and the spherical shell external diameter is increased, thereby improves ball shape robot water surface locomotor activity and shock resistance.
Claims (8)
1, a kind of omnibearing movable spherical robot of designs simplification, comprise spherical shell (1) and inner travel driving unit thereof, it is characterized in that: travel driving unit comprises the circular arc frame (5) that is in vertical state, at its outside two edge diametric(al) symmetries a pair of minor axis (3) that is connected, minor axis (3) is crossed the centre of sphere and is formed revolute pair through bearing (4) and spherical shell (1); The below of described circular arc frame (5) the straight line moving mechanism that is connected, this straight line moving mechanism comprises movable motor (6), main wheel (7) and counterweight (8), main wheel (7) is side roll in the driving lower edge of movable motor (6) spherical shell (1), promotes the spheroid rectilinear motion thereby the spheroid center of gravity is moved forward and backward; The upside of described circular arc frame (5) turns to controlling organization, this turns to controlling organization is the quality dolly (12) that comprises steamboat (10) and motor internal, drive along the motion of circular arc frame (5) upside groove by steamboat (10) under quality dolly (12) driving of portion's motor within it, thereby make skew about the spheroid center of gravity realize the control that turns to of ball shape robot.
2, the omnibearing movable spherical robot of designs simplification according to claim 1 is characterized in that: the pressure regulator of regulating main wheel (7) and spherical shell (1) contact force is contained in described straight line moving mechanism.
3, the omnibearing movable spherical robot of designs simplification according to claim 1 is characterized in that: described circular arc frame (5) two ends are provided with the stroke limiting stop (11) of quality dolly (12).
4, the omnibearing movable spherical robot of designs simplification according to claim 1 is characterized in that: constitute the slip-off preventing constraint between described quality dolly (12) and the circular arc frame (5).
5, according to the omnibearing movable spherical robot of claim 1 or 4 described designs simplifications, it is characterized in that: described quality dolly (12) contains the pressure regulator of regulating itself and circular arc frame (5) contact force.
6, according to the omnibearing movable spherical robot of the arbitrary described designs simplification of claim 1-4, it is characterized in that: the described wishbone (13) that turns to controlling organization also to comprise to be connected with circular arc frame (5) two ends, be fixed in the circular block (14) of wishbone (13) bottom, also comprising that an end and circular block (14) center are to rotate contact the connecting rod (16) that the other end and quality dolly (12) are connected, and connecting rod (16) is provided with the pressure regulator (15) of quality of regulation dolly (12) and circular arc frame (5) contact force.
7, the omnibearing movable spherical robot of designs simplification according to claim 1 is characterized in that: described minor axis (3) is hollow, and stretches out spherical shell (1) to carry annex (9).
8, the omnibearing movable spherical robot of designs simplification according to claim 1 is characterized in that: the qi of chong channel ascending adversely encapsulant or the damping material of described spherical shell (1) outer wrap lightweight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CNB2008100202807A CN100556622C (en) | 2008-02-28 | 2008-02-28 | The omnibearing movable spherical robot of designs simplification |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2008100202807A CN100556622C (en) | 2008-02-28 | 2008-02-28 | The omnibearing movable spherical robot of designs simplification |
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| CN101229833A CN101229833A (en) | 2008-07-30 |
| CN100556622C true CN100556622C (en) | 2009-11-04 |
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| CN102152311B (en) * | 2011-03-14 | 2012-08-01 | 哈尔滨工业大学 | Spherical robot driven by double eccentric mass blocks |
| CN102602468B (en) * | 2012-03-30 | 2015-02-25 | 北京交通大学 | Dual-swing omni-directional moving spherical robot |
| CN104590415A (en) * | 2014-12-30 | 2015-05-06 | 陕西理工学院 | Spherical communication media |
| CN105058413B (en) * | 2015-08-12 | 2017-06-20 | 北京化工大学 | Imitative snake search and rescue robot becomes born of the same parents' articulation mechanism |
| CN105128967B (en) * | 2015-08-28 | 2017-09-22 | 北京交通大学 | A kind of omnibearing movable spherical robot |
| CN107719500A (en) * | 2017-11-23 | 2018-02-23 | 滨州学院 | A kind of spherical rescue facility |
| CN108000508B (en) * | 2018-01-25 | 2024-01-26 | 西南石油大学 | Motion adjusting device |
| CN108326891B (en) * | 2018-03-19 | 2023-10-27 | 南京航空航天大学 | Decoupling mechanism of rope-driven mechanical arm joint and decoupling method thereof |
| CN110844032B (en) * | 2019-11-19 | 2023-10-27 | 贵州电网有限责任公司 | Spherical water sports device with adjustable center of gravity of floating center |
| CN113431749A (en) * | 2021-03-16 | 2021-09-24 | 王中君 | Dry pre-pressing energy-guiding source supply power generation, vehicle, ship, instrument and aircraft |
| CN112810716A (en) * | 2021-03-17 | 2021-05-18 | 章征凯 | Posture adjusting device |
| CN114434429B (en) * | 2022-03-18 | 2023-09-08 | 南京航空航天大学 | Dynamic precision design method and system for industrial robot |
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|---|---|---|---|---|
| CN1295907A (en) * | 1999-11-11 | 2001-05-23 | 丁希仑 | Self-controlled ball shaped robot |
| CN1397411A (en) * | 2002-08-22 | 2003-02-19 | 北京邮电大学 | Improved all-direction moving unit for spherical robot |
| CN201189913Y (en) * | 2008-02-28 | 2009-02-04 | 南京航空航天大学 | Omnidirectional motion simplification mechanism of spherical robot |
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2008
- 2008-02-28 CN CNB2008100202807A patent/CN100556622C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1295907A (en) * | 1999-11-11 | 2001-05-23 | 丁希仑 | Self-controlled ball shaped robot |
| CN1397411A (en) * | 2002-08-22 | 2003-02-19 | 北京邮电大学 | Improved all-direction moving unit for spherical robot |
| CN201189913Y (en) * | 2008-02-28 | 2009-02-04 | 南京航空航天大学 | Omnidirectional motion simplification mechanism of spherical robot |
Non-Patent Citations (1)
| Title |
|---|
| 二驱动球形机器人的全方位运动特性分析. 孙汉旭，肖爱平，贾庆轩，王亮清.北京航空航天大学学报，第31卷第7期. * |
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