CN101310941A - Spherical shell unwinding mechanism of spherical robot - Google Patents
Spherical shell unwinding mechanism of spherical robot Download PDFInfo
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- CN101310941A CN101310941A CNA2008101063498A CN200810106349A CN101310941A CN 101310941 A CN101310941 A CN 101310941A CN A2008101063498 A CNA2008101063498 A CN A2008101063498A CN 200810106349 A CN200810106349 A CN 200810106349A CN 101310941 A CN101310941 A CN 101310941A
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Abstract
The invention discloses a spherical shell unfolding mechanism of a spherical robot, which comprises an upper support, a lower support and a group of reinforcing ribs; the reinforcing ribs are used for supporting and connecting the upper support and the lower support, a group of spherical shell lamellas which can open and close can surround a full sphere together with external walls of the upper support and the lower support when being closed; the lower ends of the spherical shell lamellas are fixed on the lower support; a drive device that drives all spherical shell lamellas to open or close is positioned on the lower support. The drive device that drives all the spherical shell lamellas to open or close is a leading screw drive unit driven by a DC brushless motor; the leading screw drive unit comprises leading screws and leading screw nuts that can carry out screw transmission together with the leading screws, the other end of a connecting rod which is fixedly connected with the spherical shell lamellas is connected with the leading screw nuts of the leading screw drive unit at the corresponding end thereof. The spherical shell unfolding mechanism of the invention can solve the problems that the existing spherical robots can not carry out operation outwards and can not keep steady stability, etc.
Description
Technical field
The present invention relates to a kind of stabilizing mechanism of robot, especially for spherical shell unwinding mechanism of spherical robot.
Background technology
Spherical walking robot and movable spherical robot are to rise, also develop extraordinary research field rapidly in recent years both at home and abroad recently.At present, developed the ball shape robot that some kinds of different structures are formed both at home and abroad.Ball shape robot and ground are to contact, and it moves and turns to flexiblely, has the characteristics of omnibearing movable and zero radius of turn, and the ability that adapts to road is strong.Be expected to become a kind of more satisfactory means of transport that robot from now on walks on ups and downs ground.But in concrete application process, ball shape robot has sizable limitation.
At present, traditional polypody or the robot that has a mechanical arm have caused that people pay close attention to widely, study and use.This multi-foot robot has very strong adaptive capacity for the environment of an activation, but it does not possess the characteristics of the walking of ball shape robot two dimension omni-directional, zero radius of turn, and its kinematic dexterity is restricted in many occasions; And having the robot of mechanical arm, its dexterous mechanical arm can be engaged in various motions or operation as people's arm, thereby can be engaged in the work of many specific functions.Yet in some occasion, its application need has a good mobile vehicle.
How to overcome the existing above-mentioned defective of ball shape robot and just become the new problem that the applicant pays close attention to and studies.
Summary of the invention
The purpose of this invention is to provide the extensible stable supporting mechanism of a kind of spherical shell, it can overcome existing ball shape robot and can't externally operate, can't keep statically stable problem.
For achieving the above object, the present invention takes following design:
A kind of spherical shell unwinding mechanism of spherical robot, it comprises:
One upper support seat;
Supporting seat once;
One group of reinforcement is in order to support and to connect upper and lower supporting seat;
The one group of spherical shell lobe that can open or close, when closed and the outer wall of upper support seat, lower support seat can surround ball in aggregates, the lower end of each spherical shell lobe is fixed on the lower support seat;
One drives the drive unit that each spherical shell lobe is opened or closed, and is seated on the lower support seat.
The drive unit that each spherical shell lobe of described driving is opened or closed is the lead screw transmission unit of driven by Brush-Less DC motor, but this lead screw transmission unit constitutes by leading screw with the feed screw nut of its screw thread transmission, and the other end of a connecting rod that is fixedly connected with the spherical shell lobe is connected with the feed screw nut of corresponding end lead screw transmission unit.
Described one group of spherical shell lobe and described one group of reinforcement all can be to distribute symmetrically.
Described each spherical shell lobe can be by hinge and lower support seat hinge connection.
Advantage of the present invention is:
1, spherical shell unwinding mechanism of spherical robot of the present invention can make telescopic mechanical arm or other limbs can be installed in the ball shape robot, thereby is engaged in many specific operations, but the characteristic of the anthropomorphic robot flexible motion of in walking, moving, still not fumbling.
Keep poised state when 2, it can guarantee the ball shape robot action, can guarantee the spherical shell complete form during closure state, the exercise performance of ball shape robot and other performances are not exerted an influence.
3, transmission mechanism adopts lead screw transmission drivening rod mechanism, this drive mechanism transmission efficiency height.
4, whole spherical shell unwinding mechanism of spherical robot adopts at least three lobe symmetric configurations, and each that can guarantee ball shape robot static state is to stable.
Description of drawings
Fig. 1 is the structural representation (vertical view) of spherical shell unwinding mechanism of spherical robot of the present invention
Fig. 2 is an A-A cutaway view among Fig. 1
Fig. 3 is the structural representation after spherical shell expanding unit of the present invention launches
The present invention will be further described below in conjunction with drawings and Examples.
The specific embodiment
As shown in Figure 1 to Figure 3, spherical shell unwinding mechanism of spherical robot basic component of the present invention comprises the one group of spherical shell lobe 3 that can open or close and a corresponding combination leaf 6, upper support seat 2, lower support seat 10, one group of reinforcement 1 and motor installation chassis 5, also have one group to drive the drive unit that each spherical shell lobe is opened or closed, comprise one group of dc brushless motor 9, a cocainine thick stick 7, one group of nut 8, one group of kinematic link 4 etc.
The described one group of spherical shell lobe 3 that can open or close should distribute symmetrically, when closed and the outer wall of upper support seat, lower support seat can surround ball in aggregates, the lower end of each spherical shell lobe 3 can be by hinge 6 and lower support seat 10 hinge connection.One group of spherical shell lobe is distributed as good with three lobes symmetrically.Reinforcement can play the effect of supplemental support spherical shell when spherical shell is closed, make ball shape robot more stable when rolling.
Described one group of reinforcement is in order to support and to connect upper and lower supporting seat.Its set number should be at least the number of one group of spherical shell lobe, and the position to be being good in each spherical shell lobe joint close position, when reinforcement number during more than the number of spherical shell lobe, also can divide to be set in the inboard appropriate position of spherical shell lobe body.
The drive unit that each spherical shell lobe of described driving is opened or closed is seated on the lower support seat.Referring to Fig. 1 and Fig. 3, in the present embodiment, one group of spherical shell lobe is three lobes, one group of reinforcement is 3, has adopted a drive unit to drive the mode of a lobe spherical shell lobe.Described drive unit comprises: the lead screw transmission unit that dc brushless motor 9 drives, but this lead screw transmission unit constitutes by leading screw 7 with the feed screw nut 8 of its screw thread transmission, dc brushless motor 9 is installed on the motor installation chassis 5, its output shaft and leading screw 7 are connected, motor installation chassis 5 is fixed on the lower support seat 10, nut 8 cooperations are installed on the leading screw 7, kinematic link 4 one sides and nut 8 hinge connection, opposite side and spherical shell lobe 3 hinge connection.
Lead screw transmission process of the present invention is: dc brushless motor 9 rotating band movable wire thick sticks 7 rotate, and then the parallel of drive nut 8 moved, the translation of nut 8 causes the motion of kinematic link 4, and then drive ball valve 3 wraps the rotation of leaf 6 axle center, the open and close movement of realization spherical shell.Lead screw transmission efficient height, and screw-nut body can realize self-locking is so it is dexterous, firm to make that action is opened or closed to spherical shell unwinding mechanism of spherical robot of the present invention.
Because three motors drive three spherical shell lobes respectively,, can make ball shape robot adapt to different ground environments (as the slope) so the start point of each spherical shell lobe can be different.
Described upper support seat 2, lower support seat 10, reinforcement 1, motor installation chassis 5, connecting rod 4 all can adopt the aluminum alloy materials of lightweight to make, when above-mentioned member adopts this material to be formed in to guarantee that it has certain rigidity and intensity, can also alleviate total quality.
Because design of the present invention, make telescopic mechanical arm or other limbs can be installed in the ball shape robot that utilizes spherical shell unwinding mechanism of spherical robot of the present invention to make, so that this robot is when mechanical arm is withdrawn, the characteristic that can possess the ball shape robot flexible motion, and when mechanical arm stretches out, can be used as sensing organs such as manipulator, mechanical foot or vision sensor in many occasions, thereby can be engaged in many specific operations, thereby expand the range of application of movable spherical robot.Filled up this blank.
The various embodiments described above can not depart from the scope of the present invention down in addition some variations, thus more than explanation comprise and accompanying drawing shown in structure should be considered as exemplary, but not in order to limit claim of the present invention.
Claims (7)
1, a kind of spherical shell unwinding mechanism of spherical robot is characterized in that comprising:
One upper support seat;
Supporting seat once;
One group of reinforcement is in order to support and to connect upper and lower supporting seat;
The one group of spherical shell lobe that can open or close, when closed and the outer wall of upper support seat, lower support seat can surround ball in aggregates, the lower end of each spherical shell lobe is fixed on the lower support seat;
One drives the drive unit that each spherical shell lobe is opened or closed, and is seated on the lower support seat.
2, spherical shell unwinding mechanism of spherical robot according to claim 1, it is characterized in that: the drive unit that each spherical shell lobe of described driving is opened or closed is the lead screw transmission unit of driven by Brush-Less DC motor, but this lead screw transmission unit constitutes by leading screw with the feed screw nut of its screw thread transmission, and the other end of a connecting rod that is fixedly connected with the spherical shell lobe is connected with the feed screw nut of corresponding end lead screw transmission unit.
3, spherical shell unwinding mechanism of spherical robot according to claim 1 is characterized in that: described one group of spherical shell lobe distributes symmetrically, and described one group of reinforcement also distributes symmetrically and the quantity with one group of spherical shell lobe is identical at least.
4, spherical shell unwinding mechanism of spherical robot according to claim 3 is characterized in that: described one group of reinforcement is identical with the number of one group of spherical shell lobe, and is positioned at each spherical shell lobe joint close position.
5, spherical shell unwinding mechanism of spherical robot according to claim 3 is characterized in that: described one group of spherical shell lobe is three lobes, and one group of reinforcement is 3.
6, spherical shell unwinding mechanism of spherical robot according to claim 1 is characterized in that: described each spherical shell lobe can be by hinge and lower support seat hinge connection.
7, spherical shell unwinding mechanism of spherical robot according to claim 1 is characterized in that: described upper support seat, lower support seat, reinforcement, connecting rod all can adopt aluminum alloy materials to make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008101063498A CN100569461C (en) | 2008-05-12 | 2008-05-12 | Spherical shell unwinding mechanism of spherical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008101063498A CN100569461C (en) | 2008-05-12 | 2008-05-12 | Spherical shell unwinding mechanism of spherical robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101310941A true CN101310941A (en) | 2008-11-26 |
| CN100569461C CN100569461C (en) | 2009-12-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2008101063498A Expired - Fee Related CN100569461C (en) | 2008-05-12 | 2008-05-12 | Spherical shell unwinding mechanism of spherical robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104002886A (en) * | 2014-05-22 | 2014-08-27 | 战强 | Shape-shifting spherical detection robot |
| CN105128014A (en) * | 2015-09-28 | 2015-12-09 | 哈尔滨工业大学深圳研究生院 | Light large-sized sea turtle robot for stage performance |
| CN105151149A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Turtle shell opening and closing system of sea turtle robot |
| CN112156204A (en) * | 2020-09-23 | 2021-01-01 | 安徽惠丰国药有限公司 | Multistage all-round sterilizing equipment for traditional chinese medicine preparation process |
-
2008
- 2008-05-12 CN CNB2008101063498A patent/CN100569461C/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104002886A (en) * | 2014-05-22 | 2014-08-27 | 战强 | Shape-shifting spherical detection robot |
| CN105128014A (en) * | 2015-09-28 | 2015-12-09 | 哈尔滨工业大学深圳研究生院 | Light large-sized sea turtle robot for stage performance |
| CN105151149A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Turtle shell opening and closing system of sea turtle robot |
| CN112156204A (en) * | 2020-09-23 | 2021-01-01 | 安徽惠丰国药有限公司 | Multistage all-round sterilizing equipment for traditional chinese medicine preparation process |
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| Publication number | Publication date |
|---|---|
| CN100569461C (en) | 2009-12-16 |
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