CN101011984A - Holohedral symmetry spherical robot - Google Patents
Holohedral symmetry spherical robot Download PDFInfo
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- CN101011984A CN101011984A CN 200710037291 CN200710037291A CN101011984A CN 101011984 A CN101011984 A CN 101011984A CN 200710037291 CN200710037291 CN 200710037291 CN 200710037291 A CN200710037291 A CN 200710037291A CN 101011984 A CN101011984 A CN 101011984A
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- thrust baring
- screw
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- thrust
- spherical shell
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Abstract
The invention relates to a full symmetrical spherical robot, which has left and right generators fixed on the spherical shell, with the bearing disk and spherical shell fixed together, left rotating roll feed screw left end output shaft fixed with the left generator output shaft, left rotating roll feed screw fitting No.1 annular thrust bearing and No.1 thrust bearing from left to right, and the No.2 thrust bearing and No.2 angular thrust bearing from left to right at the right end of the right rotating roll feed screw, left weighting block fitting on the left rotating roll head screw, right rotating roll feed screw right end output shaft fixed with the output shaft of the right generator, fitting No.4 angular thrust bearing and No.4 thrust bearing from right to the left of the right rotating roll feed screw, and the No.3 thrust bearing and No.3 angular thrust bearing at the left end shat from right to left of the right rotating roll feed scrw, with the right weighting block fitting on the right rotating feed screw.
Description
Technical field
What the present invention relates to is a kind of robot, relates in particular to a kind of holohedry ball shape robot that utilizes the characteristic that there is not unstability in spheroid, belongs to electromechanical integration technology area.
Background technology
Along with the expansion in mankind's activity field and the in-depth of heuristic process, common wheeled, leg formula, caterpillar mobile robot have been difficult to utilization in some rugged environment.If can design a kind of mobile vehicle of similar tumbler, the balance and stability that just can under harsh environment, can keep system, and there is not instability status, even even bump with static or dynamic obstacle and also can recover stable state through the of short duration back of self adjusting, so with the roll mode walking, sphere or class ball shape robot that motion-promotion force relies on internal drive and outside friction force to provide arise at the historic moment.Ball shape robot had both had the quick locomotor activity of picture wheeled mobile robot, can move in irregular complex-terrain as legged mobile robot again, and motion continuity is strong simultaneously, has good sense of motion controllability.
Find that through literature search Aarne Halme etc. are " 4 to prior art
ThIEEE InternationalWorkshop on Advanced Motion Control AMC ' 96 " " Motion Control of a SphericalMobile Robot " (" motion control of movable spherical robot ") delivered on (the 4th world advanced motion control Conference Papers collection) (1996 the 259th page), propose a single-wheel that is supported on the spherical shell bottom in this article and roll and drive the ball shape robot of spherical shell motion.The single-wheel that is supported on spherical shell bottom is as inside mobile device independently, produces moment by it in the rolling of spherical shell inside face and drives the spherical shell motion.Its principle that realizes motion is very simple, but its internal drive partly is a nonholonomic system, and the motion of spherical shell also is a nonholonomic system, makes accuracy control become impossible.Also find in the retrieval, in addition Xiao of Beijing University of Post ﹠ Telecommunication likes to propose in " a kind of design of ball shape robot and principle analysis " that equality delivers on " developing electro-mechanic product and innovation " (2004 the 17th the volume first phase the 14th page) to rotate around two mutually perpendicular axles by the motor-driven counterweight and changes center-of-gravitys position, produces eccentric moment and drives spherical shell and move.Mechanism's complexity of this ball shape robot, less stable, the control method of desired trajectory also are very difficult to try to achieve.Therefore to improve dynamic stability, the low-speed stability of robot, and the accuracy control of realizing it, internal drive mechanism be designed to ball shape robot design-calculated core.
Summary of the invention
The objective of the invention is provides a kind of holohedry ball shape robot at existing design-calculated deficiency, make its have simple for structure, take up room for a short time, fully symmetry, stability are better, and advantages such as trajectory planning and the easier realization of control algorithm design.
The present invention is achieved by the following technical solutions, the present invention includes: spherical shell, left-handed ball-screw, left clump weight, left motor, first radial thrust bearing, first thrust baring, second thrust baring, second radial thrust bearing, the 3rd be thrust baring, the 3rd thrust baring, right clump weight, right motor, four-way heart thrust baring, the 4th thrust baring, dextrorotation ball-screw, supporting disk entad.
Left side motor, right motor are fixed on the spherical shell, and left motor and right motor symmetry are on the diametric(al) of spherical shell.Supporting disk connects firmly with spherical shell is in the same place.
The shaft fixed connection of left-handed ball-screw left end shaft and left motor.Left-handed ball-screw left end shaft is assembled first radial thrust bearing and first thrust baring from left to right successively, and the outer ring of first radial thrust bearing and first thrust baring is assemblied on the spherical shell.Left-handed ball-screw right-hand member axle is by assembling second thrust baring, second radial thrust bearing from left to right successively, and the outer ring of second thrust baring, second radial thrust bearing is assemblied on the supporting disk.Left side clump weight is assemblied on the left-handed ball-screw.
The shaft fixed connection of dextrorotation ball-screw right-hand member shaft and right motor.Dextrorotation ball-screw right-hand member axle assembles four-way heart thrust baring and the 4th thrust baring from right to left successively, and the outer ring of four-way heart thrust baring and the 4th thrust baring is assemblied on the spherical shell.Dextrorotation ball-screw left end shaft is installed entad thrust baring of the 3rd thrust baring, the 3rd from right to left successively, and the 3rd thrust baring, the 3rd entad is assemblied on the supporting disk thrust baring outer ring.Right clump weight is assemblied on the dextrorotation ball-screw.
The present invention fixes left motor and right motor on the diametric(al) of spherical shell, drive two left-handed ball-screws and dextrorotation ball-screw respectively.Left-handed ball-screw is opposite with dextrorotation ball-screw rotation direction, and helical pitch, class of accuracy specification are identical.Because symmetry is installed, so when left motor, right motor 2 switched in opposite, left motor is identical to the drive torque that spherical shell produces with right motor.Suppose that initial condition is the lead screw shaft level, left side clump weight and right clump weight symmetric arrangement, as long as at this moment allow left motor opposite with right motor steering, then because left-handed ball-screw is different with dextrorotation ball-screw rotation direction, left side clump weight, right clump weight are done the motion of symmetry, can not produce centre-of gravity shift, just make spherical shell realize straight-line motion.If straight-line motion is long, then the situation that clump weight moves to the leading screw end of travel can appear, and at this moment clump weight becomes rotation by moving, and spherical shell continues straight-line motion.
Because left motor and right motor drive the rotation of left-handed ball-screw and dextrorotation ball-screw respectively, will drive the motion of corresponding left clump weight and right clump weight.Because two clump weights are designed to center of gravity on the lower side, when then weighting block is in the middle of the leading screw because self gravitation effect and only moving, and when moving to the stroke two ends, owing to the effect of thrust ball bearing becomes rotation as straight line.If make left motor, right motor steering identical, then they are reverse to the drive torque of spherical shell, destroy the symmetry of left clump weight and right clump weight, produce eccentric moment.After reaching required turn radius, change the motor steering that produces the opposite moment of required sense of motion, so spherical shell begins to do the circular motion of certain curvature radius.If circular motion is long, the end of travel that clump weight on one side moves to leading screw earlier then can appear, at this moment stop the motor of another side, only allow a machine operation, spherical shell then continues to do the circular motion of this radius of curvature, keeps this state, and spherical shell is just made circular movement.Forward and backward and start-stop campaign by regulating two motors respectively just can realize the motion of the desired trajectory of spherical shell like this.
The present invention is skillfully constructed, merged the advantage of front two big class ball shape robot type of drive, adopted by two motors and directly driven spherical shell scrolling realization straight-line motion, motor drives two groups of screw-drive mechanisms again respectively simultaneously, and the center-of-gravity position that changes part in the ball by moving of clump weight is to realize turning.Because symmetrical fully on the structure, stability is better; Also easier dynamics analysis, the realization accuracy control of carrying out of driver train.
Description of drawings
Fig. 1 is a structural representation of the present invention
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment comprises spherical shell 1, left-handed ball-screw 2, left clump weight 3, left motor 4, first radial thrust bearing 5, first thrust baring 6, second thrust baring 7, second radial thrust bearing 8, the 3rd entad thrust baring 9, the 3rd thrust baring 10, right clump weight 11, right motor 12, four-way heart thrust baring 13, the 4th thrust baring 14, dextrorotation ball-screw 15, supporting disk 16.
The fuselage of left side motor 4 is fixed on the spherical shell 1 by the flange on the spherical shell 1, and the fuselage of right motor 12 is fixed on the spherical shell 1 by the flange on the spherical shell 1, and left motor 1 and right motor 12 symmetries are on the diametric(al) of spherical shell 1.Supporting disk 16 connects firmly with spherical shell 1 is in the same place.
The shaft fixed connection of left-handed ball-screw 2 left end shafts and left motor 4.The outer ring that left-handed ball-screw 2 left end shaft are assembled first radial thrust bearing 5 and first thrust baring, 6, the first radial thrust bearings 5 and first thrust baring 6 from left to right successively is assemblied in the bearing saddle bore on the spherical shell 1.Left-handed ball-screw 2 right-hand member axles are assemblied in the bearing saddle bore of supporting disk 16 by the outer ring of assembling second thrust baring 7, second radial thrust bearing, 8, the second thrust barings 7, second radial thrust bearing 8 from left to right successively.Left side clump weight 3 is assemblied on the left-handed ball-screw 2 by attaching nut.
The shaft fixed connection of the right motor 12 of dextrorotation ball-screw 15 right-hand member shafts.The outer ring that dextrorotation ball-screw 15 right-hand member axles assemble four-way heart thrust baring 13 and the 4th thrust baring 14, the four-way heart thrust barings 13 and the 4th thrust baring 14 from right to left successively is assemblied in the spherical shell 1 top chock hole.Dextrorotation ball-screw 15 left end shaft install successively from right to left the 3rd thrust baring 10, the 3rd entad thrust baring 9, the three thrust barings 10, the 3rd entad be assemblied in the bearing saddle bore of supporting disk 16 thrust baring 9 outer rings.Right clump weight 11 is assemblied on the dextrorotation ball-screw 15 by attaching nut again.
Claims (7)
1, a kind of holohedry ball shape robot, comprise: spherical shell (1), left-handed ball-screw (2), left side clump weight (3), left side motor (4), first radial thrust bearing (5), first thrust baring (6), second thrust baring (7), second radial thrust bearing (8), the 3rd thrust baring (9) entad, the 3rd thrust baring (10), right clump weight (11), right motor (12), four-way heart thrust baring (13), the 4th thrust baring (14), dextrorotation ball-screw (15), supporting disk (16), it is characterized in that, left side motor (4), right motor (12) is fixed on the spherical shell (1), supporting disk (16) and spherical shell (1) connect firmly together, the shaft fixed connection of left-handed ball-screw (2) left end shaft and left motor (4), left-handed ball-screw (2) left end shaft is assembled first radial thrust bearing (5) and first thrust baring (6) from left to right successively, the outer ring of first radial thrust bearing (5) and first thrust baring (6) is assemblied on the spherical shell (1), left-handed ball-screw (2) right-hand member axle is by assembling second thrust baring (7) from left to right successively, second radial thrust bearing (8), second thrust baring (7), the outer ring of second radial thrust bearing (8) is assemblied on the supporting disk (16); The shaft fixed connection of the right motor of dextrorotation ball-screw (15) right-hand member shaft (12), dextrorotation ball-screw (15) right-hand member axle assembles four-way heart thrust baring (13) and the 4th thrust baring (14) from right to left successively, the outer ring of four-way heart thrust baring (13) and the 4th thrust baring (14) is assemblied on the spherical shell (1), dextrorotation ball-screw (15) left end shaft sets gradually entad thrust baring (9) of the 3rd thrust baring (10), the 3rd from right to left, and the 3rd thrust baring (10), the 3rd entad thrust baring (9) outer ring is assemblied on the supporting disk (16); Left side clump weight (3), right clump weight (11) are assemblied in respectively on left-handed ball-screw (2), the dextrorotation ball-screw (15).
2, holohedry ball shape robot according to claim 1 is characterized in that, the fuselage of the fuselage of described left motor (4) and right motor (12) is fixed on the spherical shell (1) by the flange on the spherical shell (1).
3, holohedry ball shape robot according to claim 1 and 2 is characterized in that, described left motor (1) and right motor (12) symmetry are on the diametric(al) of spherical shell (1).
4, holohedry ball shape robot according to claim 1, it is characterized in that the outer ring of described first radial thrust bearing (5), first thrust baring (6), four-way heart thrust baring (13) and the 4th thrust baring (14) is assemblied in the bearing saddle bore on the spherical shell (1).
5, holohedry ball shape robot according to claim 1, it is characterized in that described second thrust baring (7), second radial thrust bearing (8), the 3rd thrust baring (10) and the 3rd entad outer ring of thrust baring (9) are assemblied in the bearing saddle bore of supporting disk (16).
6, holohedry ball shape robot according to claim 1 is characterized in that, described left clump weight (3), right clump weight (11) are assemblied in respectively on left-handed ball-screw (2), the dextrorotation ball-screw (15) by attaching nut.
According to claim 1 or 6 described holohedry ball shape robots, it is characterized in that 7, described left clump weight (3) and right clump weight (11) center of gravity are on the lower side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100372911A CN100460266C (en) | 2007-02-08 | 2007-02-08 | Holohedral symmetry spherical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100372911A CN100460266C (en) | 2007-02-08 | 2007-02-08 | Holohedral symmetry spherical robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101011984A true CN101011984A (en) | 2007-08-08 |
| CN100460266C CN100460266C (en) | 2009-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007100372911A Expired - Fee Related CN100460266C (en) | 2007-02-08 | 2007-02-08 | Holohedral symmetry spherical robot |
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| CN (1) | CN100460266C (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103231745A (en) * | 2013-04-28 | 2013-08-07 | 上海大学 | Five-drive spherical robot using mixed synchronous belt |
| CN103387016A (en) * | 2013-08-01 | 2013-11-13 | 哈尔滨工程大学 | Hemisphere differential telescopic spherical robot |
| CN103702852A (en) * | 2011-08-02 | 2014-04-02 | 株式会社罗凛 | Torque driving device |
| CN103895726A (en) * | 2014-03-14 | 2014-07-02 | 上海大学 | Novel full-symmetric spherical robot |
| CN105774931A (en) * | 2016-03-29 | 2016-07-20 | 河南理工大学 | Spherical robot |
| CN110774282A (en) * | 2019-10-15 | 2020-02-11 | 哈尔滨工程大学 | Spherical tensioning integral robot control system and control method based on mobile phone Bluetooth APP software |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2403220A1 (en) * | 1977-09-20 | 1979-04-13 | Schreiner Alain | Amphibious, spherical shaped vehicle - has motorised seat for passenger rolling inside on guides and sphere has external rolling track and paddle blades |
| CN2406782Y (en) * | 1999-11-11 | 2000-11-22 | 丁希仑 | Spherical robot |
| CN1313249C (en) * | 2002-08-22 | 2007-05-02 | 北京邮电大学 | Structure improved ball shape robot omnibearing walking device |
| CN2846267Y (en) * | 2005-06-17 | 2006-12-13 | 北京航空航天大学 | Ominibearing moving ball shape robot |
| CN2806083Y (en) * | 2005-06-21 | 2006-08-16 | 北京航空航天大学 | T shape spherical detection robot |
-
2007
- 2007-02-08 CN CNB2007100372911A patent/CN100460266C/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103702852A (en) * | 2011-08-02 | 2014-04-02 | 株式会社罗凛 | Torque driving device |
| CN103231745A (en) * | 2013-04-28 | 2013-08-07 | 上海大学 | Five-drive spherical robot using mixed synchronous belt |
| CN103231745B (en) * | 2013-04-28 | 2016-06-29 | 上海大学 | Mixed synchronization band five is adopted to drive ball shape robot |
| CN103387016A (en) * | 2013-08-01 | 2013-11-13 | 哈尔滨工程大学 | Hemisphere differential telescopic spherical robot |
| CN103387016B (en) * | 2013-08-01 | 2015-09-30 | 哈尔滨工程大学 | hemisphere differential telescopic spherical robot |
| CN103895726A (en) * | 2014-03-14 | 2014-07-02 | 上海大学 | Novel full-symmetric spherical robot |
| CN105774931A (en) * | 2016-03-29 | 2016-07-20 | 河南理工大学 | Spherical robot |
| CN110774282A (en) * | 2019-10-15 | 2020-02-11 | 哈尔滨工程大学 | Spherical tensioning integral robot control system and control method based on mobile phone Bluetooth APP software |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100460266C (en) | 2009-02-11 |
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Granted publication date: 20090211 Termination date: 20120208 |