CN101386174A - Spherical robot with inside and outside driving - Google Patents
Spherical robot with inside and outside driving Download PDFInfo
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- CN101386174A CN101386174A CNA2008102317862A CN200810231786A CN101386174A CN 101386174 A CN101386174 A CN 101386174A CN A2008102317862 A CNA2008102317862 A CN A2008102317862A CN 200810231786 A CN200810231786 A CN 200810231786A CN 101386174 A CN101386174 A CN 101386174A
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Abstract
The invention discloses a spherical robot device with both inner drive and outer drive. The device mainly consists of a spherical shell and an internal work component, wherein, the spherical shell is made of an air-cell spherical shell (1); the internal work component comprises a centre shaft guide screw (2), a guide rod (3), a counterweight component (A), an end connection component (B) and a solar component (C); the centre shaft guide screw (2) and the guide rod (3) are fixed in the air-cell spherical shell (1) through the end connection component (B); the counterweight component (A) is sheathed on the centre shaft guide screw (2) and the guide rod (3); the solar component (C) is fixed on the end connection component (B); the counterweight component (A) controls self to move along the centre shaft guide screw (2) through energy collected by the solar component (C) so as to drive the air-cell spherical shell (1) to roll. The device gives the leading role to wind drive and supplementary role to inner drive, can independently select drive mode, has the advantages of small energy consumption and low cost, and can be used in space detection, investigation and military field.
Description
Technical field
The invention belongs to field of mechanical technique, relate to the electric controller of relevant two dimension walking in specific environment in the control of on-electric variable or the regulating system, the environment detection spherical robot that specifically a kind of external wind drives and internal drive has both.Can be used for the environment detection of ground environments such as river, desert, polar region and planetary surface, also can be used for fields such as transportation, investigation, amusement, military affairs.
Background technology
The characteristics of ball shape robot maximum are that motion mode is special, spherical shell will make robot can obtain maximum stability after unstability, therefore be not afraid of overturning, the balance that can under various environment, keep system, and can on any direction on a plane, do rolling movement, be fit to very much explore unknown adverse circumstances.
Domestic and international existing ball shape robot patent nearly all is to come the motion of drive ball anthropomorphic robot by the internal motivation device at present, though these ball shape robots have advantages such as can realizing autokinetic movement, but as environment exploring robot, the enough energy, fuel or power supply device be must carry, inner TT﹠C system and displacement control system are used to drive.And for the kinetic control system of interior drive ball anthropomorphic robot, the required energy accounts for the overwhelming majority.In case the ball shape robot internal power source exhausts, replenishing of the energy will be a great problem.In the space environment sniffer, often increasing some weight just needs to increase very big spending outside, and internal drive and energy resource supply device thereof often account for weight greatly.Therefore, interior drive ball anthropomorphic robot is carried the restriction of the energy, and scope of activities is limited, is difficult to realize the environment detection of long-distance large-range.
Utilize the ball shape robot of natural wind energy merely for driving force, avoided the problem of energy resource supply, but because the independence of its motion is relatively poor, lower to wind energy utilization, thereby can not well carry out and finish set task, also be difficult in actual applications obtain promote.
Summary of the invention
The objective of the invention is to solve the energy resource supply problem that existing spherical robot device exists, a kind of inside and outside spherical robot device that has both that drives is proposed, utilize outside wind energy drive ball anthropomorphic robot to carry out rolling movement, when running into barrier or getting into a difficult position, adjust position and attitude by starting internal drive, to cross/avoiding obstacles or extricate oneself from a predicament, improve utilization rate to natural wind energy.
For achieving the above object, the inside and outside spherical robot device that has both that drives provided by the invention mainly is made up of spherical shell and internal work assembly, wherein spherical shell adopts the air bag spherical shell, the internal work assembly comprises the axis leading screw, guide post, balance weight assembly, end coupling assembly and solar components, axis leading screw and guide post are fixed in the air bag spherical shell by the end coupling assembly, the balance weight assembly cross-under is on axis leading screw and guide post, solar components is fixed on the coupling assembly of end, balance weight assembly changes the solar energy of solar components collection into electric energy, control self and move, drive the air bag spherical shell and roll along the axis leading screw.
The spherical robot device that above-mentioned inside and outside driving is had both, wherein said axis leading screw is parallel with guide post, and is arranged on the diametric(al) of air bag spherical shell.
The spherical robot device that above-mentioned inside and outside driving is had both, its medial end portions coupling assembly comprises end fixed block, end fixed head, end-fitting, one side of this end fixed block is the structural member that the center has circular groove, the end fixed head is provided with central bore and eccentric inner hole, end-fitting is up-small and down-big adapter assembly, and the center is provided with axial bore, and described these structural members all are fixed in the inwall of ball shape robot.
The spherical robot device that above-mentioned inside and outside driving is had both, wherein balance weight assembly comprises linear electric motors and balance weight body fixed mount, the inside center of this balance weight body fixed mount connects with linear electric motors, outside surrounded surface is fixed with motor detection components, positioning component, master control circuit board, linear motor driver and battery pack respectively, and this positioning component mainly is made up of gyroscope and control circuit thereof.
The spherical robot device that above-mentioned inside and outside driving is had both, wherein solar components is mainly by arc installation panel and solar panel, and symmetry is fixed on the two ends of axis leading screw; This arc installation panel is inboard fixedlys connected with the end fixed head, and solar panel is fixed on the arc installation panel extrados; There is circuit to be connected between solar panel and the battery pack.
The present invention compared with prior art has following advantage:
1. the present invention is because the extraneous natural wind of main dependence is realized motion, and internal drive only starts when robot leap/avoiding obstacles, so less energy intensive, and scope of activities is big.
2. spherical shell of the present invention adopts the type inflatable airbag structure, light weight, and effectively front face area is big, can make full use of natural wind energy as main driving force, improves the exercise performance of robot; Simultaneously, this structure also is convenient to deposit and transport.
3. the present invention is by control linear stepping motor moving along the axis leading screw, can realize the autonomous rolling/turning of this ball shape robot, and then cross/avoiding obstacles, its obstacle detouring/keep away barrier ability is simple and practical, the redundant phenomenon when also having avoided robot to carry out colony's collaborative work.
4. the present invention rationally utilizes linear electric motors, battery pack and interior instrument device simultaneously as the mobile counterweight body of internal drive mechanism, and whole mechanism design is simplified practicality.
5. the present invention can be made into the ball shape robot of different-diameter dimensions according to different purposes, forms seriation; Its manufacturing and assembling are simple, realize that cost is low, are applicable to and do colony's collaborative work, promptly can be used as exploration instrument lift-launch platform and are used for to earth particular surroundings such as desert, river, irrigation canals and ditches, polar region on a large scale, the remote exploration; In celestial body environment such as Mars, then can this robot of large quantities of inputs, realize collaborative detection of celestial body surface colony.
Description of drawings
Fig. 1 is the general structure module diagram of apparatus of the present invention;
Fig. 2 is that the general structure of apparatus of the present invention is formed schematic diagram;
Fig. 3 is a direction partial structurtes schematic diagram of Fig. 2;
Fig. 4 is the b direction partial structurtes schematic diagram of Fig. 2.
The specific embodiment
With reference to Fig. 1, the present invention is mainly by air bag spherical shell 1, axis leading screw 2, guide post 3, end coupling assembly B, balance weight assembly A and solar components C form, its external shell adopts air bag spherical shell 1, the internal work assembly comprises axis leading screw 2, guide post 3, balance weight assembly A, end coupling assembly B and solar components C, axis leading screw 2 and guide post 3 are fixed in the air bag spherical shell 1 by end coupling assembly B, balance weight assembly A cross-under is on axis leading screw 2 and guide post 3, solar components C is fixed on the coupling assembly B of end, balance weight assembly A changes the solar energy that solar components C gathers into electric energy, control self and move, drive air bag spherical shell 1 and roll along axis leading screw 2.
With reference to Fig. 2, Fig. 3 and Fig. 4, detailed structure of the present invention is as follows:
Air bag spherical shell 1, unique and external environment condition contacting structure parts are made by toughness and higher TPU or the PVC material of intensity for this spherical robot device, and wall thickness is 1～1.5mm, and respectively there are a pressure-sealing zipper and charging valve in the surface.Opening pressure-sealing zipper can be at inner erection unit device of spheroid and instrument, and closing pressure-sealing zipper then has good air-tightness and watertightness, to realize the complete closed of spherical shell inside and external environment; Then can be by special fan by charging valve to air bag spherical shell 1 inner inflatable, air bag spherical shell 1 is a spheroid after being full of gas, constitutes the exterior contour structure of ball shape robot.
End coupling assembly B is about ball shape robot centre of sphere two symmetrical groups structure assembly parts, material is that strength and toughness is higher, the NYLON610 of lighter weight, this assembly is mainly by end fixed block 4, end fixed head 5, end-fitting 6, one side of this end fixed block 4 is the structural member that the center has circular groove, end fixed head 5 is provided with central bore and eccentric inner hole, end-fitting 6 is up-small and down-big adapter assembly, and the center is provided with axial bore, and overall fixed is installed on the inwall of ball shape robot.End fixed block 4 adopts the sphere inner wall of hot melt silica gel and air bag spherical shell 1 to be adhesively fixed, the base of the inner groovy of end fixed block 4 and end-fitting 6 assembles with matched in clearance, the top connection of central bore on the end fixed head 5 and end-fitting 6 is assembled with matched in clearance, 4 of end fixed blocks and end fixed head 5 are close to, and the two corresponding aperture position connects with bolt and nut.The center of two end-fittings 6 is processed with axial bore, is used for assembling with the two ends of axis leading screw 2, and is attached thereto by pin and is one; One end of two end fixed heads 5 is processed with eccentric inner hole, be used for assembling with the two ends of guide post 3, and the holding screw 22 by side direction is attached thereto and is one.
Balance weight assembly A is the internal drive core component assembly of this ball shape robot, as Fig. 2, shown in Figure 3, this assembly mainly is made up of linear electric motors 7, balance weight body fixed mount 8, linear motor driver 19, motor detection components D, positioning component E, battery pack 17, master control circuit board 10 and associated couplings parts.Linear electric motors 7 are for connecting the shaft type stepper motor, and axis leading screw 2 connects in the lead screw transmission mode by the internal thread hole at the center of linear electric motors 7.Balance weight body fixed mount 8 connects 18 by the polylith nylon sheet by bolt and nut to be made, and its profile is configured to two opposite opening frame shells, linear electric motors 7 is surrounded wherein, and be connected as one with it with bolt and nut 11.On four surfaces of balance weight body fixed mount 8 housings, be mounted with master control circuit board 10, linear motor driver 19, encoder 13, battery pack 17 and gyroscope 9 respectively, each parts and balance weight body fixed mount 8 are all installed in the bolt and nut mode.Be processed with axis on the balance weight body fixed mount 8 and be parallel to the manhole of axis leading screw 2 directions, guide post 3 passes this through hole, forms and is slidingly connected pair, moves and leads and balance to be used for straight line to balance weight assembly A integral body.Motor detection components D mainly by encoder 13, be with 16 synchronously, synchronous pulley 14, encoder fixed support 15, strap clamp sheet 23 and corresponding control circuit system form synchronously.As shown in Figure 2, encoder fixed support 15 is fixed in side outside the balance weight body fixed mount 8 with bolt and nut 12, and 13 of encoders and encoder fixed support 15 mechanically are connected as one.A synchronous pulley 14 is installed on the output revolving shaft of encoder 13; Be with synchronously 16 along and axis leading screw 2 parallel directions arrange that for being similar to the opening fixed form of tooth bar, its two ends are fixed on the end fixed head 5 with synchronous strap clamp sheet 23, synchronous pulley 14 be with 16 to be meshed synchronously.The control circuit system of motor detection components connects encoder 13 and master control circuit board 10, to realize detecting information processing and feedback.Positioning component E mainly is made up of gyroscope 9 and control circuit thereof, and this assembly is mounted on balance weight body fixed mount 8 one sides, and its control circuit connects gyroscope 9 and master control circuit board 10, carries out the information transmission and carries out feedback command.Positioning component E is mainly used in displacement and the relative position of ball shape robot in ground environment is carried out coordinate setting, to determine the detection direction of motion of robot.Master control circuit board 10 and linear motor driver 19, battery pack 17 and each checkout gear circuit constitute the core control-driven system of ball shape robot.Wherein, master control circuit board 10, linear motor driver 19 and battery pack 17 are mounted on three sides of balance weight body fixed mount 8 case frames, master control circuit board 10 is arranged with gyroscope 9 homonymies, adopt between master control circuit board 10 and the miscellaneous part and be electrically connected, battery pack 17 is mainly used to provide firm power energy to master control circuit board 10, linear motor driver 19 has circuit to be connected with linear electric motors 7 in addition, required electric energy and sending controling instruction are provided for linear electric motors 7 by master control circuit board 10, the moving parameter information of handling simultaneously and feeding back linear electric motors 7 is given master control circuit board 10, to realize closed-loop control, reach the purpose of real-time adjustment robot pose.
Solar components C is made up of arc installation panel 20 and solar panel 21, is identical two groups, and symmetry is fixed on the two ends of axis leading screw 2; Fixedly connected with end fixed head 5 in arc installation panel 20 inboards, arc installation panel 20 extrados fixed installation plurality of solar battery panels 21; There is circuit to be connected between solar panel 21 and the battery pack 17.The effect of solar components C mainly be the conversion of solar energy that will collect be electrical power storage in battery pack 17, provide lasting energy to supply with to the internal control drive system of robot.
Guide post 3 adopts round tube shape structure, along being parallel to axis leading screw 2 mounting arrangements, pass the manhole on the balance weight body fixed mount 8, its two ends also connect with end coupling assembly B, make it to be fixed within the spheroid that air bag spherical shell 1 forms, the effect of guide post 3 mainly is balance weight assembly A is carried out vertically straight line mobile guide.
The enforcement principle of the present invention and the course of work are:
Ball shape robot of the present invention has both inside and outside driving, is main drive with the natural wind energy, and internal drive is auxiliary control, can be according to selecting its motion type of drive from the state in acquisition environment.This ball shape robot main body forms of motion generally speaking is the omnidirectional rolling motion under wind drives, its internal motion drive unit is in closed condition, have only positioning component E to detect the geographical environment positional information in real time, with ground is reference coordinate, determine displacement and the relative position of ball shape robot in ground environment, and send information to master control circuit board 10 by gyroscope 9 and handle comparison, determine the motion state of robot, carry out next step motion decision-making and survey predeterminated target.
This ball shape robot is cruised in certain environment when carrying out detection operations, the spherical structure of its type inflatable makes itself and ground friction resistance very little, under the effect of wind-force, can be along wind direction generation rolling movement, its exterior material elasticity preferably makes it when running into less barrier or hole concave relief slight spring rolling can take place.If charge into the inert gas that density is lower than ambient air outside density to air bag spherical shell 1 inside, such as helium, hydrogen or hydrogen/helium gas mixture body etc. to reduce the influence of ground gravity factor, can make ball shape robot obtain better exercise performance.The quality of spheroid inside symmetrically when driving motion down for assurance wind, the balance weight assembly A integral body of ball shape robot is in its control zero-bit, that is sphere center position, and this moment, each part device of robot interior was about centre of sphere symmetric arrangement, barycenter is positioned at the centre of sphere, and ball shape robot can be realized omnidirectional rolling.
When this ball shape robot runs into big barrier or slope and when by the driving of natural wind it can not be extricated oneself from a predicament merely, master control circuit board 10 is by reading gyroscope 9 detected robot environment's position datas in real time, if its value reciprocation cycle in certain codomain changes, to be ball shape robot be in relative static conditions in a certain position under wind drives and oscillate, and then this robot of decidable gets into a difficult position.At this moment, master control circuit board 10 sends instruction automatically and starts internal drive system, driving linear electric motors 7 drives the balance weight assembly integral body and carries out straight line along axis leading screw 2 and guide post 3 to an end from the centre of sphere and move, the position of centre of gravity of spheroid changes thereupon, the direction generation rolling movement that ball shape robot moves along linear electric motors 7 thereupon, because the integral body of balance weight assembly A moves spheroid and barrier/slope contact point are produced enough big moment, robot is crossed/cut-through thing or climb up the slope, be similar to the stastus format of tumbler with arrival.After arriving this stable state, master control circuit board 10 is sent instruction according to the stable state detection information of gyroscope 9 again and is driven linear electric motors 7, travelling backwards is to centre of sphere zero-bit again to make it to drive balance weight assembly, and the realization barycenter overlaps again with the centre of sphere, and ball shape robot recovers set wind driving condition motion.As be not completely free of predicament or run into barrier once more, then can drive the position and attitude that flow process repeats to adjust ball shape robot according to above-mentioned control, up to thoroughly above water, proceed to cruise according to the predetermined detection of a target.In this process, when linear electric motors 7 drive balance weight assembly A integral body when guide post 3 straight lines move, synchronous pulley 14 be with 16 engaged transmission take place synchronously, owing to be with 16 two ends to be fixedly linked in end fixed head 5 synchronously, so when synchronous pulley 14 moves with the integral body of balance weight assembly A and be with 16 to be meshed and to rotate synchronously; And synchronous pulley 14 is fixedly installed on the output revolving shaft of encoder 13, therefore, count by the number of turns value that 13 pairs of synchronous pulleys 14 of encoder turn over, write down its value, information is handled via master control circuit board 10, feedback command is given stepper motor 7 again, it rotates the number of turns closed-loop control, can accurately determine the relative position of balance weight assembly A integral body on axis leading screw 2 like this, be that control circuit board 10 can move predetermined distance along axis leading screw 2 according to the environment measuring information independence transmission instruction driving stepper motor 7 of gyroscope 9, and after robot finishes the pose adjustment, control it again and reply centre of sphere zero-bit.
When ball shape robot when its acquisition environment is cruised, 21 of solar panels are converted into electric energy in real time with the solar energy of collecting and are stored among the battery pack 17 by delivery circuit, drive required for robot interior control.
Above-mentioned functions has obtained checking in virtual Prototype and emulation.
Claims (10)
1. drive the spherical robot device that has both inside and outside one kind, mainly form by spherical shell and internal work assembly, it is characterized in that: spherical shell adopts air bag spherical shell (1), the internal work assembly comprises axis leading screw (2), guide post (3), balance weight assembly (A), end coupling assembly (B) and solar components (C), axis leading screw (2) and guide post (3) are fixed in the air bag spherical shell (1) by end coupling assembly (B), balance weight assembly (A) cross-under is on axis leading screw (2) and guide post (3), solar components (C) is fixed on the end coupling assembly (B), the solar energy that balance weight assembly (A) is gathered solar components (C) changes electric energy into, control self and move, drive air bag spherical shell (1) and roll along axis leading screw (2).
2. the inside and outside spherical robot device that has both that drives according to claim 1, it is characterized in that: axis leading screw (2) is parallel with guide post (3), and is arranged on the diametric(al) of air bag spherical shell (1).
3. the inside and outside spherical robot device that has both that drives according to claim 1, it is characterized in that: end coupling assembly (B) comprises end fixed block (4), end fixed head (5), end-fitting (6), one side of this end fixed block (4) is the structural member that the center has circular groove, end fixed head (5) is provided with central bore and eccentric inner hole, end-fitting (6) is up-small and down-big adapter assembly, and the center is provided with axial bore, and described these structural members all are fixed in the inwall of ball shape robot.
4. the inside and outside spherical robot device that has both that drives according to claim 3, it is characterized in that: the inwall of the outside of end fixed block (4) and air bag spherical shell (1) is bonding, the base matched in clearance of inner groovy and end-fitting (6); The top connection matched in clearance of the central bore of end fixed head (5) and end-fitting (6); End fixed block (4) is fixed as one with end fixed head (5).
5. according to claim 1 or the 3 described inside and outside spherical robot device that have both that drive, it is characterized in that: end-fitting (6) is connected by the two ends of axial bore with axis leading screw (2); End fixed head (5) connects as one by the two ends of eccentric inner hole and guide post (3).
6. the inside and outside spherical robot device that has both that drives according to claim 1, it is characterized in that: balance weight assembly (A) comprises linear electric motors (7) and balance weight body fixed mount (8), the inside center of this balance weight body fixed mount (8) connects with linear electric motors (7), outside surrounded surface is fixed with motor detection components (D), positioning component (E), master control circuit board (10), linear motor driver (19) and battery pack (17) respectively, and this positioning component (E) mainly is made up of gyroscope (9) and control circuit thereof.
7. the inside and outside spherical robot device that has both that drives according to claim 6, it is characterized in that: motor detection components (D), positioning component (E), linear motor driver (19) and battery pack (17) are electrically connected with master control circuit board (10) respectively, linear motor driver (19) is electrically connected with linear electric motors (7), and positioning component (E) is arranged with master control circuit board (10) homonymy.
8. the inside and outside spherical robot device that has both that drives according to claim 6, it is characterized in that: motor detection components (D) mainly is made up of encoder (13), synchronous band (16) and encoder fixed support (15), and encoder fixed support (15) is connected as one with encoder (13); Synchronous pulley (14) is installed on the output revolving shaft of encoder (13), and synchronous pulley (14) is meshed with being with (16) synchronously, and with the mobile generation engaged transmission of balance weight assembly (A), the output shaft that drives encoder (13) rotates to be counted; The two ends of band (16) fasten on end fixed head (5) by synchronous strap clamp sheet (23) synchronously.
9. according to claim 1 or the 6 described inside and outside spherical robot device that have both that drive, it is characterized in that: mainly by arc installation panel (20) and solar panel (21), symmetry is fixed on the two ends of axis leading screw (2) to solar components (C); This arc installation panel (20) is inboard fixedlys connected with end fixed head (5), and solar panel (21) is fixed on arc installation panel (20) extrados; There is circuit to be connected between solar panel (21) and the battery pack (17).
10. the inside and outside spherical robot device that has both that drives according to claim 6, it is characterized in that: axis leading screw (2) connects by the lead screw transmission mode with linear electric motors (7); Linear electric motors (7) drive by linear motor driver (19) control; Balance weight body fixed mount (8) is provided with manhole, and guide post (3) passes this through hole, and its two ends are connected with eccentric inner hole on the end fixed head (5).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102317862A CN101386174B (en) | 2008-10-17 | 2008-10-17 | Spherical robot with inside and outside driving |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2008102317862A CN101386174B (en) | 2008-10-17 | 2008-10-17 | Spherical robot with inside and outside driving |
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| CN101386174A true CN101386174A (en) | 2009-03-18 |
| CN101386174B CN101386174B (en) | 2010-08-25 |
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| CN2008102317862A Expired - Fee Related CN101386174B (en) | 2008-10-17 | 2008-10-17 | Spherical robot with inside and outside driving |
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| CN103991486A (en) * | 2014-05-26 | 2014-08-20 | 上海大学 | Hybrid drive type Antarctic science investigation spherical robot |
| CN104128924A (en) * | 2014-07-24 | 2014-11-05 | 清华大学 | Modular rotating driving unit with gravity center adjusting function |
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| CN104128924A (en) * | 2014-07-24 | 2014-11-05 | 清华大学 | Modular rotating driving unit with gravity center adjusting function |
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| CN107719500A (en) * | 2017-11-23 | 2018-02-23 | 滨州学院 | A kind of spherical rescue facility |
| CN109176453A (en) * | 2018-09-12 | 2019-01-11 | 江苏省电力试验研究院有限公司 | A kind of spherical exploration robot and the exploration system based on the robot |
| CN109176453B (en) * | 2018-09-12 | 2024-01-30 | 江苏省电力试验研究院有限公司 | Spherical exploration robot and exploration system based on same |
| CN108939569A (en) * | 2018-10-12 | 2018-12-07 | 苏州征之魂专利技术服务有限公司 | A kind of true man's experience version tumbler entertainment body building device that can fill weight material |
| CN111823239A (en) * | 2019-04-19 | 2020-10-27 | 中国民航大学 | Spherical assembly robot |
| CN111301725A (en) * | 2020-03-20 | 2020-06-19 | 上海大学 | Balancing structure and balancing method of mechanical wrist |
| CN111409722A (en) * | 2020-05-06 | 2020-07-14 | 行星算力(深圳)科技有限公司 | Full-automatic spherical robot |
| CN114291177A (en) * | 2022-01-18 | 2022-04-08 | 北京理工大学 | Anti-impact rolling robot based on tensioning integral structure |
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