CN101314222B - Spherical robot having visual sensation and arms on both sides - Google Patents

Spherical robot having visual sensation and arms on both sides Download PDF

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Publication number
CN101314222B
CN101314222B CN2008101063479A CN200810106347A CN101314222B CN 101314222 B CN101314222 B CN 101314222B CN 2008101063479 A CN2008101063479 A CN 2008101063479A CN 200810106347 A CN200810106347 A CN 200810106347A CN 101314222 B CN101314222 B CN 101314222B
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China
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spherical
leading screw
motor
arm
spherical shell
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CN101314222A (en
Inventor
孙汉旭
贾庆轩
赵凯亮
张延恒
刘大亮
史成坤
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Beijing University of Posts and Telecommunications
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Beijing University of Posts and Telecommunications
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Abstract

The invention discloses a spherical robot with vision and arms on two sides. The spherical robot comprises a spherical shell, two lateral arms, a lifting photographing device, a movement driving system and a support stabilizing mechanism, wherein, the spherical shell consists of a lifting top spherical crown, a left spherical crown, a right spherical crown, a unlifting bottom spherical crown and a middle spherical shell. The lower part of the top spherical crown is provided with the photographing device which can lift and rotate by 360 degrees in a plane; the left spherical crown and the right spherical crown on two sides of the spherical robot are respectively provided with one or a plurality of 3-DOF (degree of freedom) mechanical arms which can respectively extend out of the shell; and the bottom spherical crown is provided with a mechanism which can make a sphere stand stably. The spherical robot is a mobile robot provided with a vision sensor and can carry out complex operations and have the flexible kinetic characteristics.

Description

Bilateral band arm ball shape robot with vision
Technical field
The present invention relates to a kind of ball shape robot of architecture advances, exactly, design a kind of spherical walking robot with bilateral band arm of vision, this robot both can be used as a kind of special delivery vehicle, was used in the specific occasion again and finished some particular tasks; Belong to the Robotics field.
Background technology
Spherical walking robot (hereinafter to be referred as: be to rise, also develop extraordinary research field rapidly in recent years both at home and abroad recently ball shape robot).At present, developed the ball shape robot that some kinds of different structures are formed both at home and abroad.The applicant has also successively applied for the patent of invention (patent No. ZL0118289.X of the ball shape robot of several different structures to Patent Office of the People's Republic of China calendar year 2001,2002 and 2004, patent No. ZL02128933.6, application number 200410096567.X, application number 200410096568.X).These ball shape robots and ground are to contact-belong to pure rolling friction, resistance is very little, drive walking and turn to flexible, characteristics with comprehensive driving walking function and zero radius of turn, promptly can on two-dimentional ground, realize omni-directional walking and easyly pass the tortuous passageway that bore is slightly larger than its diameter, the function that adapts to road is very strong, is expected to become a kind of more satisfactory means of transport that robot from now on walks on ups and downs ground.But in some particular surroundings and occasion, the application of 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 telescopic mechanical arm or other limbs are installed in ball shape robot, 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 in many occasions as sensing organs such as manipulator, machinery foot or vision sensors, thereby can be engaged in many specific operations and expand the range of application of spherical walking robot, just become that the applicant pays close attention to and the new problem of research.
Summary of the invention
In view of this, the purpose of this invention is to provide a kind of spherical walking robot that has telescopic arm, lack four limbs so that can overcome ball shape robot traditional in the prior art, can not carry out various operations and have polypody or various defectives that the kinematic dexterity of the robot of manipulator is restricted, make the present invention become and a kind ofly can either be engaged in complex operations, have the mobile robot of cleverness, flexible motion characteristic again.
In order to achieve the above object, the invention provides a kind of bilateral band arm ball shape robot with vision, except comprise with existing robot same running gear, it mainly also comprises spherical shell, two side direction arms, lifting camera head, motion driving system and supporting ﹠ stablizing mechanisms; Wherein:
Described spherical shell is a split-type structural: by liftable top spherical crown, about the middle casing that is combined into spheroid with described each side spherical crown at each spherical crown, bottom spherical crown and middle part forms, described bottom spherical crown and described middle casing connect firmly and make that the bottom spherical crown is the part of liftable not;
This top spherical crown below liftable and can be planar 360 ° be provided with a camera head rotatably, on this camera head and this spherical shell inwall or be located at driving mechanism and the transmission mechanism that is provided with lifting and rotation between the support in the described spherical shell;
Be respectively equipped with one or more three freedom degree manipulator arms that can stretch out housing respectively in this spherical crown of the left and right sides, on this mechanical arm and this spherical shell inwall or be located between the support in the described spherical shell and be provided with telescopic drive mechanism and transmission mechanism;
Being provided with one in this bottom spherical crown can make on stable mechanism described stand mechanism and this spherical shell inwall of standing of spheroid or be located to be provided with between the support in the described spherical shell and stretch out driving mechanism and transmission mechanism extendedly.
In technique scheme, described mechanical arm can be to connect by joint motor, can do the big arm of relative rotary motion, middle arm and forearm forms: this big arm is installed on the disk on rotatably being fixed on the described spherical shell inwall, make it have the free degree of a rotation, described disk and this spherical shell inwall or be located at and be provided with the transmission mechanism that drives and rotate between the support in the described spherical shell; Should be connected on this big arm by a joint motor by middle arm, make it can be parallel to this big arm rotation; Arm end during this forearm is connected by the wrist joint motor makes it be the axle rotation by middle arm.
Can be embedded with one deck ball grid cribbing on the described spherical shell inwall, this support cooperates spherical shell to be divided into three parts: to should each part of left and right sides spherical crown and to part that should the central spherical housing.Support mainly is in order to improve the spherical shell intensity of ball shape robot.Present spherical shell is generally made of materials such as lucite, and intensity is not very high, therefore strengthens its intensity by net grid support.In addition, can also adhere to intrinsic net grid support on the outer wall of spherical shell, its effect has two: 1. the shell of pair ball shape robot plays the effect that improves intensity, can make robot adapt to multiple complex environment, improves its application greatly; 2. in the robot rolling process, increase the friction on itself and ground.
Can be provided with three corresponding support pallets as described support under three described spherical crowns, it becomes the platform of affixed driving mechanism and transmission mechanism and placement controller simultaneously with three these spherical crowns and spherical shell intermediate isolating.
The liftable top spherical crown of described spherical shell, about two spherical crowns respectively and the described driving mechanism between the middle casing corresponding position and transmission mechanism can be leading screw screw-drive mechanism and the motor that is provided with, each described screw-drive mechanism connects motor.Transmission mechanism by the rotation of driven by motor leading screw comes lifting and opens and closes spherical crown, make the camera head of robot and arm to stretch out or to withdraw, and when closure, whole housing keeps spherical design.
The concrete structure of leading screw screw-drive mechanism and motor can be: described top and/or comprise that the described spherical crown back location of both sides is provided with motor, the rotating shaft of this motor is connected with leading screw, the outside of leading screw is fixed with a leading screw sleeve that has chute, this leading screw sleeve is fixed on the framework, the feed screw nut that spins with leading screw is stuck in the chute of leading screw sleeve, and described spherical crown is fixed on the described feed screw nut.When motor shaft drove the leading screw rotation, feed screw nut will move axially along the chute of leading screw sleeve.Realize whereby spherical crown lifting and with the separating of spheroid with closed.
The top of described leading screw sleeve chute and end preferably respectively are provided with a hall position sensor, are used for the position that the sensing feed screw nut moves, and realize the software limit of this transmission mechanism, have improved the security of this mechanism.
Described top spherical crown installs on thereunder the feed screw nut, and camera head is packed in spherical crown below, top.When motor shaft drove the leading screw rotation, feed screw nut will move axially along the chute of leading screw sleeve.At this moment, the top spherical crown will rise or be closed, and camera head will move with it, to realize the vertical lift of camera head.360 ° of rotations of camera head are the running gears by this robot, promptly drive heavily pendulum and framework respectively by two motors, and the center of gravity of change ball shape robot is carried out.
Middle arm is connected on the big arm by a joint motor; Arm end during forearm is connected by the wrist joint motor; Arm is different with respect to big arm and forearm with respect to the rotation of middle arm in described: the former joints axes is the normal of perpendicular; The latter's joints axes is the normal of horizontal plane.
The big arm of described mechanical arm can be packed in like this can disk with respect to spheroid rotation on: be fixed with a dovetail groove on disk, the big arm that has the tooth bar shape of tooth bar above is installed in the dovetail groove, can slide relatively along groove.Dovetail groove one example is provided with the big arm engagement of the wheel and rack shape that sets firmly on the flexible machine shaft of an arm, makes when the flexible motor of arm rotates, and drive big arm and slide relatively along groove, thus the action of stretching out spherical shell and withdrawal spherical shell of realization mechanical arm.
The driving and the rotation drive machine that make described rotating circular disk rotate are: described rotating circular disk is packed on the wheel hub of a driven gear, this gear is rotatably mounted on other parts of this spherical shell or the described support, the driving gear of another and this gears engaged is packed on the output shaft of a motor, and this motor is fixed on other parts of this spherical shell or the described support.When making motor rotate, drive driving gear and rotate thereupon, promptly rotating circular disk rotates around axis, thereby has realized setting firmly the rotary freedom of arm thereon, makes also that in robot mechanical arm can remain the act state when horizontal direction is rolled.Motor and driving and driven gear shaft all fix on described spherical shell inwall or are located on the support in the described spherical shell.
When the bilateral band arm ball shape robot with vision make a stretch of the arm carry out operation task before, the spherical crown of the robot left and right sides will be opened respectively.This spherical crown Unclosing structure is identical with top spherical crown elevating mechanism.
Described one that is provided with in the spherical crown of described bottom can make the stable mechanism of standing of spheroid.The structure that this mechanism is similar to umbrella comprises at least three linkages, each linkage comprises that three rod hinge connections form this linkage, three described linkages become hexagonal angle to be articulated on the feed screw nut in a horizontal plane, this feed screw nut is screwed onto on the leading screw, and leading screw connects a motor.The bottom spherical crown is provided with three spherical shell pieces and spherical crown is a released state, these three spherical shell pieces are connected to the lower end of the connecting rod in three linkages, an one extreme position is and the part of the spherical globulate housing in bottom that another extreme position is to stretch out in the outside of spherical shell to form the leg of standing.When the motor shaft rotation of leading screw below, drive the leading screw rotation, feed screw nut then along lead screw shaft to vertical lift, make described spherical shell piece stretch out to become to stand to give advice and withdraw to make the outer spherical shell that forms of this robot.
The syndeton of described leading screw and motor can be: be fixed with a gear on the described leading screw, another and its meshed gears is packed on the motor shaft, makes that driven wheel rotated thereupon when motor rotated, and promptly leading screw rotates around axis.
The present invention be a kind of be body with the spherical walking robot, install the camera head of spherical shell inside that can stretch out or withdraw thereon additional, the mechanical arm that can stretch out or withdraw in the left and right sides, the below can stablize that the mechanism of standing realizes.Should flexible camera head be the robotic vision sensor, when the robot manipulation, be used to observe surrounding environment.Should both can install manipulator additional in its end by flexible mechanical arm, be used to be engaged in various complex operations; Also can settle various senser elements, carry out perception to external world to help ball shape robot.Should stable stand and be used for the stable of robot when mechanism carries out job task in robot and stand.
The present invention is after installing the telescopic manipulator arm additional on the ball shape robot, not only can make it keep the characteristics of its flexible motion in two dimensional surface, and make it have executing agency, the task that can fulfil assignment, this has just expanded the application of ball shape robot greatly: its many special occasions such as rescue, anti-terror explosive removing that catch fire at floor can be applied.The grid type support that spherical shell inwall of the present invention is embedded with has improved the intensity and the adaptive faculty of ball shape robot shell, also helps robot and walks in the ground environment of complexity.In addition, because surrounding environment can be observed by camera head by this robot, can keep the position stability of robot when static by the stable mechanism of standing, and the arm of this Three Degree Of Freedom, can be engaged in various operations as staff, therefore can replace the people to go to carry out the activity of some danger.For example: go deep into the depopulated zone, replace the people to carry out geological prospecting; This ball shape robot also can be used for military affairs, passes obstacle neatly, gos deep into inside, enemy campsite, by camera head the enemy is carried out reconnaissance activities, and afield, more can on arm, install firearms additional and replace the soldier, finish position fight, can avoid casualties simultaneously the enemy.Therefore, can estimate, the bilateral band arm ball shape robot that the present invention has a vision in the near future can speedily carry out rescue work, many occasions such as fire-fighting, the disaster relief, geological prospecting, military affairs are widely used.
Description of drawings
Fig. 1 is the overall structure schematic diagram that the present invention has the bilateral band arm ball shape robot of vision.
Fig. 2 is the structural representation with bilateral band arm ball shape robot closure state of vision provided by the invention;
Each opens the structural representation that the parts that stretch out stretch out to Fig. 3 for the bilateral band arm ball shape robot with vision provided by the invention;
Fig. 4 for the bilateral band arm ball shape robot with vision provided by the invention about the plan structure schematic diagram that stretches out of two mechanical arms.
The specific embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, the present invention is described in further detail below in conjunction with accompanying drawing.
Referring to Fig. 1, the one embodiment of the invention of showing among the figure is that the camera with bilateral band arm spherical walking robot of vision stretches out housing, the two ends symmetry install the state that mechanical arm is packed up additional.Among Fig. 1, spherical shell is made up of top spherical crown 2, right part spherical crown 8, left part spherical crown 24, bottom spherical crown 23 and middle casing 7.The bottom of middle casing 7 connects firmly the bottom spherical crown, and the position of corresponding left and right sides spherical crown and bottom spherical crown is provided with three and supports pallet 71,72,73, support fixation one frame 0 in middle casing 7 inner spaces in middle casing.In the inner space of middle casing 7 motion is set, it is the running gear of ball shape robot.Continued to use the running gear of ball shape robot in the prior art in the present embodiment, promptly driven heavily pendulum and framework respectively by two motors, the center of gravity that changes ball shape robot is walked.It has movement characteristics such as omnibearing ambulation, zero radius of turn.Therefore, can realize the 360 ° of rotations in its original place by control.In spherical shell, also include: camera 1, webcam driver and transmission mechanism, multi-joint mechanical arm 15, the driving of mechanical arm and transmission mechanism, the driving of leg 16 and leg and transmission mechanism;
This top spherical crown below liftable and can be planar 360 ° be provided with a camera head rotatably, be provided with the driving mechanism and the transmission mechanism of lifting and rotation between this camera head and other parts of this spherical shell or the support 0.
The assembly relation of the driving mechanism of lifting and rotation and transmission mechanism is among Fig. 1: webcam driver and transmission mechanism comprise the motor 6 of camera feed screw nut 3, leading screw 4, leading screw sleeve 5 and lifting camera, top spherical crown 2 is fixed together with camera feed screw nut 3 and camera 1, wherein, the top spherical crown installs on thereunder the feed screw nut, and camera is packed in spherical crown below, top.Wherein feed screw nut 3 is screwed on the leading screw 4, and leading screw 4 is fixed on the motor shaft of lifting camera motor 6, and motor is fixed on the frame.The outside of leading screw 4 is fixed with a leading screw sleeve 5 that has chute, and it is fixed on the frame, and the feed screw nut 3 that spins with leading screw is stuck in the chute of leading screw sleeve 5.Like this, drive leading screw and rotate when motor shaft rotates, feed screw nut will be with top spherical crown and camera together along leading screw 4 elevating movements.When motor shaft drove the leading screw rotation, feed screw nut will move axially along the chute of leading screw sleeve.At this moment, the top spherical crown will rise, and camera stretches out spherical shell, and perhaps the top spherical crown descends, camera withdrawal spherical shell, and top spherical crown and spherical shell close up closure, and camera head will move with the top spherical crown, to realize the vertical lift of camera head.360 ° of rotations of camera head can be passed through aforesaid motion, be that the running gear of ball shape robot makes whole spherical shell rotate to realize, when camera stretches out spherical shell, start running gear, the reaction force that produces by the motor-driven frames rotation makes robot rotate, after turning to proper angle, standing device stretches out spherical shell, supports the location.Also can realize by other slew gears of the prior art.For example, camera is rotatably mounted on the feed screw nut by bearing or similar means, and connects a drive motors, makes camera turn to suitable angle by the control motor.
Multi-joint manipulator each side is provided with a cover spherical shell, and it can be a various manipulator of the prior art, also can be a kind of structure of multi-joint mechanical arm 15.About the structure of two cover mechanical arms identical, existing is that example is described below with the right side mechanical arm: shown in Fig. 1,3,4, it comprises arm rotating circular disk 9, rotating circular disk gear 11, driven wheel 13, rotating circular disk drive motors 12, right part spherical crown lifting motor 10, big arm driven gear 14.
In order to make the multi-joint manipulator of being located at the left and right sides from spherical shell, to stretch out, left and right sides spherical crown need be opened, the on-off structure of the on-off structure of left and right sides spherical crown and top spherical crown is basic identical, with the right side spherical crown is example, shown in Fig. 1,3, on support pallet 72, set firmly right part spherical crown lifting motor 10, connect leading screw on the motor output shaft, connect feed screw nut on leading screw, the madial wall of itself and right part spherical crown is affixed.Same, a leading screw sleeve 5a is fixed on the spherical shell, is provided with chute on leading screw sleeve 5a, and feed screw nut is stuck in the chute of leading screw sleeve 5a.Right part spherical crown lifting motor 10 rotates, and can make nut and affixed together right part spherical crown open with respect to the middle casing 7 of spherical shell or mobile and close to the right in the other direction.
Rotating circular disk 9 is packed on the rotating circular disk gear 11, and rotating circular disk gear 11 and rotating circular disk 9 are rotatably mounted on the leading screw sleeve 5a together.The leading screw sleeve is fixed on the spherical shell.Be connected with the driven wheel 13 of the rotating circular disk gear 11 engagement motor shaft with the drive motors 12 of rotating circular disk, this motor shaft is located at and supports on the pallet 72.Rotating circular disk drive motors 12 also fixes and is supporting on the pallet 72.When the motor shaft of disk drive motors 12 rotated, driven wheel 13 was with 11 rotations of driven rotary carousel gear, and the rotation of realization rotating circular disk 9.Multi-joint mechanical arm 15 is installed on the rotating circular disk 9, and therefore, its rotation also makes multi-joint mechanical arm 15 have the free degree of a rotation.Make also that in robot mechanical arm can remain the act state when horizontal direction is rolled.
Referring to shown in Figure 4 be to have the state that the bilateral band arm ball shape robot arm of vision stretches out.Show the robot mechanical arm arm 15 that stretches out spheroid among the figure, it comprises big arm 151, middle arm 152 and forearm 153.Wherein, big arm 151 is installed on the rotating circular disk 9, the big arm of described mechanical arm 151 is such be packed in can rotating circular disk 9 with respect to the spheroid rotation on: be fixed with a dovetail groove on rotating circular disk 9, the big arm that has the tooth bar shape of tooth bar is installed in the dovetail groove, can slide relatively along groove.Dovetail groove one side is fixed on the gear 14 and the big arm engagement of tooth bar shape on the arm machine shaft on the disk, makes when the arm motor rotates, and drives big arm and slides relatively along groove.Driving arm by the driven wheel 14 that is engaged in tooth bar can stretch out and withdraw; Middle arm 152 is connected on the big arm 151 by a joint motor 155, makes that it can be around horizontal rotational shaft; Arm 152 ends during forearm 153 is connected by wrist joint motor 154, it can promptly rotate around the normal on plane, Fig. 4 place around vertical axes.The free end of forearm 153 can install manipulator or senser element additional by the wrist joint motor, is used to be engaged in the operation or the detection operations of program setting.
The driving of leg and transmission mechanism can be multiple structure, and be concrete, shown in Fig. 1,3, comprises linkage 17, lower support mechanism leading screw 18, feed screw nut 19, screw gear 20, leading screw driven wheel 21 and leading screw drive motors 22.
Isolate a spherical shell as leg 16 on bottom spherical crown 23, linkage 17 is hinged and connected with bottom spherical crown 23, leg 16 and feed screw nut 18 respectively.Feed screw nut 18 is screwed on the leading screw 19, be fixed with screw gear 20 on the leading screw 19, the driven wheel 21 that is engaged with connection is fixed on the motor shaft of leading screw drive motors 22, and motor 22 is fixed on frame 0 or the bottom spherical crown 23 fixing with the leading screw that is connected with feed screw nut.When the motor shaft on the motor 22 rotates, driven wheel 21 rotations, and drive screw gear 20 and leading screw 19 rotations, feed screw nut 18 will vertically move, and at this moment, linkage 17 will drive leg 16 and open, when leg touches ground, with stable the standing of auxiliary robot.
Referring to shown in Figure 2 be that bilateral band arm ball shape robot camera with vision is regained the state in the housing.As can be seen, in the time of when camera is regained housing with feed screw nut in, the top spherical crown also descends simultaneously, constitutes the sealing spherical shell with middle casing, makes that robot can be with the walking of rolling of the shape of ball.
Referring to shown in Figure 3 be to have the state that the bilateral band arm ball shape robot of vision is stablely stood, camera stretches out, the bilateral spherical crown is opened.
Ball shape robot provided by the invention, it can have some versions, for example, on spherical shell, can just there be the described camera head of liftable top spherical crown and the liftable that matches and planar 360 ° of rotations and this bottom spherical crown to stablize the mechanism of standing with the spheroid that can make that is provided with that matches extendedly.Constitute one thus and have the ball shape robot that to stand firm and to take.Again for example, can comprise the exsertile robot device in described camera head and one or both sides.Again for example, can be only to have described stable mechanism and exsertile robot device of standing.Can satisfy various user demands according to using needs to make up in the practical application.
Can be embedded with one deck ball grid cribbing on the described spherical shell inwall, this support cooperates spherical shell to be divided into three parts: to should each part of left and right sides spherical crown and to part that should the central spherical housing.In addition, can also on the outer wall of spherical shell, adhere to intrinsic net grid support.

Claims (9)

1. the bilateral band arm ball shape robot with vision comprises spherical shell, two side direction arms, lifting camera head, motion driving system and supporting ﹠ stablizing mechanisms; It is characterized in that:
Described spherical shell is a split-type structural: but forms by the middle casing that is combined into spheroid with described each side spherical crown at each spherical crown, bottom spherical crown and middle part about the spherical crown move left and right of liftable top, and described bottom spherical crown and described middle casing connect firmly and make that the bottom spherical crown is the part of liftable not;
This top spherical crown below liftable and can be planar 360 ° be provided with a camera head rotatably, be provided with the driving mechanism and the transmission mechanism of lifting and rotation in this top spherical crown and camera head and other parts of this spherical shell or the spherical shell between the support of setting;
Be respectively equipped with the described arm of every side that constitutes by one or more three freedom degree manipulator arms that can stretch out housing respectively in the spherical crown of the left and right sides, be provided with telescopic drive mechanism and transmission mechanism between the support that is provided with in this mechanical arm and other parts of this spherical shell or the spherical shell;
Be provided with one in this bottom spherical crown extendedly and can make the stable mechanism of standing of spheroid, be provided with between the support that is provided with in described stand mechanism and other parts of this spherical shell or the spherical shell and stretch out driving mechanism and transmission mechanism.
2. the bilateral band arm ball shape robot with vision according to claim 1, it is characterized in that: described mechanical arm is by connecting by joint motor, can do the big arm of relative rotary motion, middle arm and forearm forms: this big arm is installed on the disk that rotatably is fixed in the described spherical shell movably, makes it have the free degree of a rotation; Should be connected on this big arm by a joint motor by middle arm, make it can be parallel to this big arm rotation, make that promptly it can be around horizontal rotational shaft; This forearm is connected arm end in this by the wrist joint motor, and making it can serve as the axle rotation with arm in this, promptly rotates around vertical axes.
3. the bilateral band arm ball shape robot with vision according to claim 1 is characterized in that: the liftable top spherical crown of described spherical shell and/or telescopic about two spherical crowns respectively and the described driving mechanism between the support that is provided with in other parts of this spherical shell or the spherical shell and transmission mechanism be motor and leading screw rotating actuator.
4. the bilateral band arm ball shape robot with vision according to claim 3, it is characterized in that: described motor and leading screw rotating actuator are: be provided with motor on other parts of this spherical shell of the spherical crown back location of top and both sides or described support, the rotating shaft of this motor is connected with leading screw, the outside of leading screw is fixed with a leading screw sleeve that has chute, and the feed screw nut that spins with leading screw is stuck in the chute of leading screw sleeve; Described leading screw sleeve is fixed on other parts of this spherical shell or the described support; And/or,
On other parts of this spherical shell of the spherical crown back location of top and both sides or described support, be provided with motor, the rotating shaft of this motor is connected with leading screw, the outside of leading screw is fixed with a leading screw sleeve that has chute, and the feed screw nut that spins with leading screw is stuck in the chute of leading screw sleeve; Described leading screw sleeve is fixed on other parts of this spherical shell or the described support, respectively is provided with a hall position sensor at the top and the end of described leading screw sleeve chute, is used for the position that the sensing feed screw nut moves; And/or,
On other parts of this spherical shell of the spherical crown back location of top and both sides or described support, be provided with motor, the rotating shaft of this motor is connected with leading screw, the outside of leading screw is fixed with a leading screw sleeve that has chute, and the feed screw nut that spins with leading screw is stuck in the chute of leading screw sleeve; Described leading screw sleeve is fixed on other parts of this spherical shell or the described support, this top spherical crown installs on thereunder the feed screw nut, camera head is packed in spherical crown below, top, makes that feed screw nut will move axially along the chute of leading screw sleeve when motor shaft drives the leading screw rotation.
5. the bilateral band arm ball shape robot with vision according to claim 2, it is characterized in that: described big arm is packed in movably and can is with respect to the structure on the described disk of spheroid rotation: be fixed with a dovetail groove on this disk, this the big arm that has the tooth bar shape of tooth bar is installed in the dovetail groove, can slide relatively along groove; This disk of dovetail groove one side is provided with a big arm motor, the gear that sets firmly on its output revolving shaft and described GreatlyTooth bar engagement on the arm makes when big arm motor rotates, and drives big arm and slides relatively along described dovetail groove.
6. the bilateral band arm ball shape robot with vision according to claim 2, it is characterized in that: the driving and the rotation drive machine that make described disk rotate are: described disk (9) is packed on the wheel hub of a driven gear (11), this driven gear (11) is rotatably mounted on other parts of this spherical shell or the described support, the driving gear (13) of another and this gears engaged is packed on the output shaft of a motor (12), and this motor (12) is fixed on other parts of this spherical shell or the described support.
7. the bilateral band arm ball shape robot with vision according to claim 1 is characterized in that: the described stable mechanism of standing of spheroid that can make that is provided with in the described bottom spherical crown (23) is: be included in the three cover linkages that become 120 ° of distributions on the horizontal plane The described linkage of every cover comprises three connecting rods, also comprise a motor and ByLeading screw ConstituteRotating actuator, leading screw wherein (19) is fixed on and connects described motor (22) on described bottom spherical crown (23) and/or the described support, one nut (18) is screwed onto on this leading screw (19), one end and the described nut of a connecting rod in every cover linkage are hinged, one end of another connecting rod (17) is hinged with the inwall of isolating a spherical shell as leg (16) on the spherical crown of described bottom, three cover linkages have three legs, one end of the 3rd connecting rod and bottom spherical crown inwall are hinged, the other end of preceding two connecting rods all with the 3rd rod hinge connection.
8. according to claim 3 or 7 described bilateral band arm ball shape robots with vision, it is characterized in that: the syndeton of described leading screw and described motor is: be fixed with a gear on the described leading screw, another and its meshed gears is packed on the motor shaft, make when motor rotates, driven wheel rotates thereupon, and promptly leading screw is around its axis rotation.
9. the bilateral band arm ball shape robot with vision according to claim 1, it is characterized in that: described spherical shell inwall is embedded with one deck ball grid cribbing, and/or, on the outer wall of described spherical shell, adhere to a grid type support; This support cooperates spherical shell to be divided into three parts: each part of corresponding left and right sides spherical crown and to part that should the central spherical housing.
CN2008101063479A 2008-05-12 2008-05-12 Spherical robot having visual sensation and arms on both sides Expired - Fee Related CN101314222B (en)

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