CN102219032B - Soft-shell spherical robot - Google Patents
Soft-shell spherical robot Download PDFInfo
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- CN102219032B CN102219032B CN 201110149717 CN201110149717A CN102219032B CN 102219032 B CN102219032 B CN 102219032B CN 201110149717 CN201110149717 CN 201110149717 CN 201110149717 A CN201110149717 A CN 201110149717A CN 102219032 B CN102219032 B CN 102219032B
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Abstract
The invention discloses a soft-shell spherical robot which comprises an air sac spherical shell, an aeration and exhaust device and a moving device, wherein the aeration and exhaust device and the moving device are arranged in the spherical shell by virtue of glands, the aeration and exhaust device consists of an aeration pump, a check valve and an exhaust valve, the check valve and the exhaust valve are fixed at the two sides of an air pump, the check valve is connected with the rear end of the air outlet of the air pump in series, the exhaust valve is communicated with the air inlet of the air pump, and the air inlet of the air pump is communicated with the exterior of the spherical shell by virtue of a first gland. The soft-shell spherical robot disclosed by the invention is a sphere when moving and is a soft body when stopping, thus the soft-shell spherical robot is beneficial to concealment during reconnaissance and can be prevented from being blown away by wind.
Description
Technical field
The invention belongs to electromechanical integration technology area, particularly a kind of soft-shell spherical robot can be used for the multiple fields such as hypertoxic gas detection, site environment observation and military strike weapon.
Background technology
Ball shape robot is a kind of rolling walking robot of new structure, have the characteristics such as kinematic velocity is fast, off-road capability good, control is relatively simple, after the people such as Haier's nurse (Halme) of Helsinki, Finland University of Science and Technology made first ball shape robot in 1996, ball shape robot became one of the focus in domestic and international Research on Intelligent Robots field gradually.Abroad, Italian University of Pisa, Uppsala Univ Sweden and Rotimdus company, NASA, Quebec, Canada Univ Sherbrooke etc. successively carry out ball shape robot research, release the ball shape robot of difference in functionality.Also have at home some units and scholar to begin the exploration of aspect, the universities and colleges such as Beijing University of Post ﹠ Telecommunication, BJ University of Aeronautics ﹠ Astronautics, Shanghai Communications University, University Of Suzhou, the National University of Defense technology and Xian Electronics Science and Technology University are all obtaining certain achievement in research aspect the ball shape robot research
It seems that totally existing ball shape robot is according to the difference of function, scheme is each has something to recommend him, but basically all is the hard material global shell, is a little to contact substantially with ground, and contact surface is little, needs control accuracy higher.The spherical robot device that the inside and outside driving of the Li Tuanjie invention of Xian Electronics Science and Technology University is had both (publication number: CN101386174A) adopt airbag housing, can improve the little problem of housing and ground contact surface, but can not realize autonomous qi of chong channel ascending adversely, the same with the design of other ball shape robot, exist when target is large, static when hiding scouting the shortcomings such as blowing-resistant ability.
Summary of the invention
The object of the present invention is to provide and a kind ofly can before robot moves, carry out qi of chong channel ascending adversely to ball shape robot, behind the mobile end ball shape robot carried out exhaust and realize the ball shape robot of autonomous draw-in and draw-off function, and can realize the ball shape robot omnidirectional moving and turn to, can carry at balance weight assembly the soft-shell spherical robot organization plan of annex transportation article at a point.
The technical scheme that realizes the object of the invention is: a kind of soft-shell spherical robot, comprise the air bag spherical shell, fill exhaust gear, running gear, fill exhaust gear, running gear is contained in the spherical shell by gland, filling exhaust gear is comprised of qi of chong channel ascending adversely pump, check valve and blow off valve, check valve and blow off valve are fixed on the both sides of air pump, check valve is connected on the air extractor duct rear end of air pump, and blow off valve communicates with the admission port of air pump, and the admission port of air pump is by the first gland and spherical shell exterior;
Running gear comprises main axis, secondary axis, the craspedodrome drive motor, wheel flutter, locating wheel, turn to drive motor, turn to guide rod, main axis one end is equipped with the craspedodrome drive motor, this craspedodrome drive motor connects with spherical shell by the second gland, the main axis other end inserts in the secondary axis, main axis and secondary axis form and the quill shaft that does not rotate with spherical shell, secondary axis connects by the inflation pump motor of fixed type bearing and air pump, wheel flutter and turn to drive motor to be fixed on the main axis, turn to the axle of drive motor to be connected with turning to guide rod, and drive turns to guide rod to rotate, locating wheel is fixed on and turns on the guide rod, and around the wheel flutter rotation, turn to lower end of the guide rod that balance weight assembly is installed.
The present invention compared with prior art, its remarkable advantage is: (1) is a spheroid when the present invention moves, and is a beach flexible body when stopping, and is conducive to hide hiddenly when scouting, and can avoid being run by wind; (2) by regulating the size of qi of chong channel ascending adversely amount in the spheroid, change the area of contact on spheroid and ground, be conducive to improve the robot the moving stability, can reduce the difficulty of stair climbing and so on; (3) utilize contraction elasticity and the weight of soft-shell, gas extrusion in the spheroid can be got rid of the outer arranging device of bleeding that need not be special; (4) the pull major-minor axle of axis design, the vary in diameter demand in the time of can satisfying the spheroid variation also can be sensor installation, controller etc. stable platform is provided; (5) the polyhedron pull major-minor axle of axis design, the moment transmission in the time of can satisfying housing and relatively rotate; (6) mechanism is succinct, and center of gravity is in the below of spheroid, and good stability, system response time are fast; (7) two motors drive respectively straight-line motion and the divertical motion of spheroid, and mode solution lotus root can be realized the walking of ball shape robot omnidirectional and at a point pivot stud; (8) balance weight assembly also can carry annex (being used for loading camera, various attitude or environmental sensor, antenna, battery, charging inlet, transportation thing etc.), thereby improves the practical value of ball shape robot; (9) at the outside decorative pattern that blocks water that designs of spherical shell, can improve ball shape robot water surface locomotor activity.
Below in conjunction with accompanying drawing the present invention is described in further detail.
Description of drawings
Accompanying drawing is the structural representation of soft-shell spherical robot of the present invention.
Reference numeral among the figure and the component part of representative thereof:
1, soft spherical shell 2, balance weight assembly 3, main axis 4, secondary axis 5-1, the first gland 5-2, the second gland 6, craspedodrome drive motor 7, qi of chong channel ascending adversely pump motor 8, qi of chong channel ascending adversely pump 9, check valve 10, blow off valve 11, wheel flutter 12, locating wheel 13, turn to drive motor 14, turn to guide rod 15, fixed type bearing
The specific embodiment
By reference to the accompanying drawings, the global shell of soft-shell spherical robot of the present invention adopts soft material air bag spherical shell to consist of the exterior contour structure of ball shape robot; Rush exhaust gear before robot moves to carrying out qi of chong channel ascending adversely by qi of chong channel ascending adversely pump, check valve to robot, by blow off valve robot is carried out exhaust behind the mobile end.Kinematic mechanism mainly is made of axis, craspedodrome driver train, steering driving mechanism, balance weight assembly etc., axis connects by craspedodrome driver train and spherical shell, utilize balance weight assembly front and back centre-of gravity shift to realize the straight-line motion of ball shape robot, connect by steering driving mechanism and balance weight assembly, utilize balance weight assembly left and right sides centre-of gravity shift to realize the divertical motion of ball shape robot.The relative spherical shell of axis is motionless, for sensor installation, controller etc. provides stable platform.Global shell adopts the exterior contour structure of soft material air bag spherical shell 1 formation ball shape robot, according to the situation on the road surface of walking, adjusts and rushes free air capacity, regulates the ball internal pressure, cooperates spherical shell 1 flexibility, and the area of contact on change and road surface improves walking stability.
The concrete structure of above-mentioned soft-shell spherical robot is as follows: comprise air bag spherical shell 1, fill exhaust gear, running gear, fill exhaust gear, running gear is contained in the spherical shell 1 by gland 5, filling exhaust gear is comprised of qi of chong channel ascending adversely pump 8, check valve 9 and blow off valve 10, check valve 9 and blow off valve 10 are fixed on the both sides of air pump 8, check valve 9 is connected on the air extractor duct rear end of air pump 8, blow off valve 10 communicates with the admission port of air pump 8, and the admission port of air pump 8 is by the first gland 5-1 and spherical shell 1 exterior;
Running gear comprises main axis 3, secondary axis 4, craspedodrome drive motor 6, wheel flutter 11, locating wheel 12, turn to drive motor 13, turn to guide rod 14, main axis 3 one ends are equipped with craspedodrome drive motor 6, this craspedodrome drive motor 6 connects with spherical shell 1 by the second gland 5-2, main axis 3 other ends insert in the secondary axis 4, main axis 3 and secondary axis 4 form and the quill shaft that does not rotate with spherical shell 1, secondary axis 4 connects by the inflation pump motor 7 of fixed type bearing 15 with air pump 8, wheel flutter 11 and turn to drive motor 13 to be fixed on the main axis 3, turn to the axle of drive motor 13 to be connected with turning to guide rod 14, and drive turns to guide rod 14 to rotate, locating wheel 12 is fixed on and turns on the guide rod 14, and around wheel flutter 11 rotations, turn to guide rod 14 lower ends that balance weight assembly 2 is installed.
Before soft-shell spherical robot of the present invention need to move, air pump 8 formed the outside spherical contour structure of robot from spherical shell 1 outside process check valve 9 to spherical shell 1 inner qi of chong channel ascending adversely; After robot ambulation finished, to spherical shell 1 outside exhaust, robot became a beach flexible body to blow off valve 10 by the first gland 5-1.Air bag spherical shell 1 adopts soft material, and this soft material is the composite material of rubber and hardware cloth.Craspedodrome drive motor 6 drives main axis 3,4 generations of secondary axis relatively rotate with spherical shell 1, turns to 2 swings of 14 times dresses of guide rod balance weight assembly, causes the center of gravity of ball shape robot to be offset, the straight line of realization robot thereby drive spherical shell 1 rolls; Turn to drive motor 13 to drive to turn to guide rod 14 to occur and the relatively rotating of main axis 3, secondary axis 4, turn to 14 times dresses of guide rod balance weight assembly 2 to swing, cause the center of gravity of ball shape robot to be offset, thereby drive the turning motion that spherical shell 1 rolling realizes robot.Locating wheel 12 and wheel flutter 11 guarantees that dress balance weight assemblies 2 are with respect to the rotation with in surface that turns to guide rod 14 and quill shaft to form.Main axis 3, secondary axis 4 are polyhedron hollow drawing structure, are non-cylindrical configuration.
The check valve 9 of soft-shell spherical robot of the present invention and blow off valve 10 are fixed on the both sides of air pump 8, connect by gland 5 and spherical shell 1, communicate with external environment condition.Before robot need to move, air pump 8 formed the outside spherical contour structure of robot from spherical shell 1 outside process check valve 9 to spherical shell 1 inner qi of chong channel ascending adversely; After robot ambulation finished, to spherical shell 1 outside exhaust, robot became a beach flexible body to blow off valve 10 by gland 5, and hiding when being conducive to as scouting is hidden, and can avoid being run by wind; According to the situation on the road surface of walking, adjust and rush free air capacity, regulate the ball internal pressure, cooperate spherical shell 1 flexibility, the area of contact on change and road surface improves walking stability.
Craspedodrome drive motor 6 drives main axis 3,4 generations of secondary axis relatively rotate with spherical shell 1, turns to 2 swings of 14 times dresses of guide rod balance weight assembly, causes the center of gravity of ball shape robot to be offset, the straight line of realization robot thereby drive spherical shell 1 rolls; Turn to drive motor 13 to drive to turn to guide rod 14 to occur and the relatively rotating of main axis 3, secondary axis 4, turn to 14 times dresses of guide rod balance weight assembly 2 to swing, cause the center of gravity of ball shape robot to be offset, thereby drive the turning motion that spherical shell 1 rolling realizes robot.Locating wheel 12 guarantees to turn to drive motor 13 to drive with wheel flutter 11 and turns to guide rod 14 and the rotation with in surface of dress balance weight assembly 2 at relative and main axis 3, secondary axis 4.
Claims (5)
1. soft-shell spherical robot, it is characterized in that: comprise air bag spherical shell (1), fill exhaust gear, running gear, fill exhaust gear, running gear is contained in the spherical shell (1) by gland (5), fill exhaust gear by qi of chong channel ascending adversely pump (8), check valve (9) and blow off valve (10) form, check valve (9) and blow off valve (10) are fixed on the both sides of air pump (8), check valve (9) is connected on the air extractor duct rear end of air pump (8), blow off valve (10) communicates with the admission port of air pump (8), and the admission port of air pump (8) is by the first gland (5-1) and spherical shell (1) exterior;
Running gear comprises main axis (3), secondary axis (4), craspedodrome drive motor (6), wheel flutter (11), locating wheel (12), turn to drive motor (13), turn to guide rod (14), main axis (3) one ends are equipped with craspedodrome drive motor (6), this craspedodrome drive motor (6) connects with spherical shell (1) by the second gland (5-2), main axis (3) other end inserts in the secondary axis (4), main axis (3) and secondary axis (4) form and the quill shaft that does not rotate with spherical shell (1), secondary axis (4) connects by the inflation pump motor (7) of fixed type bearing (15) with air pump (8), wheel flutter (11) and turn to drive motor (13) to be fixed on the main axis (3), turn to the axle of drive motor (13) to be connected with turning to guide rod (14), and drive turns to guide rod (14) to rotate, locating wheel (12) is fixed on and turns on the guide rod (14), and around wheel flutter (11) rotation, turn to guide rod (14) lower end that balance weight assembly (2) is installed; Wherein locating wheel (12) and wheel flutter (11) guarantee to pack into balance weight assembly (2) with respect to the rotation with in surface that turns to guide rod (14) and quill shaft to form;
Air bag spherical shell (1) adopts soft material, and this soft material is the composite material of rubber and hardware cloth.
2. soft-shell spherical robot according to claim 1, robot it is characterized in that: before need to move, air pump (8) forms the outside spherical contour structure of robot from spherical shell (1) outside process check valve (9) to the inner qi of chong channel ascending adversely of spherical shell (1); After robot ambulation finished, to the outside exhaust of spherical shell (1), robot became a beach flexible body to blow off valve (10) by the first gland (5-1).
3. soft-shell spherical robot according to claim 1, it is characterized in that: craspedodrome drive motor (6) drives main axis (3), secondary axis (4) generation relatively rotates with spherical shell (1), turn to dress balance weight assembly (2) swing under the guide rod (14), cause the center of gravity of ball shape robot to be offset, drive spherical shell (1) thereby the straight-line motion of the realization robot that rolls; Turn to drive motor (13) to drive to turn to guide rod (14) to occur and the relatively rotating of main axis (3), secondary axis (4), turn under the guide rod (14) dress balance weight assembly (2) to swing, cause the center of gravity of ball shape robot to be offset, drive spherical shell (1) thereby the turning motion of the realization robot that rolls.
4. soft-shell spherical robot according to claim 1, it is characterized in that: main axis (3), secondary axis (4) are polyhedron hollow drawing structure.
5. soft-shell spherical robot according to claim 1 is characterized in that: main axis (3), secondary axis (4) are non-cylindrical configuration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110149717 CN102219032B (en) | 2011-06-07 | 2011-06-07 | Soft-shell spherical robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110149717 CN102219032B (en) | 2011-06-07 | 2011-06-07 | Soft-shell spherical robot |
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| CN102219032A CN102219032A (en) | 2011-10-19 |
| CN102219032B true CN102219032B (en) | 2013-04-24 |
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| CN 201110149717 Expired - Fee Related CN102219032B (en) | 2011-06-07 | 2011-06-07 | Soft-shell spherical robot |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102757109B (en) * | 2012-08-02 | 2013-08-21 | 中国水产科学研究院渔业机械仪器研究所 | Water surface autonomous walking mechanism |
| CN103158799B (en) * | 2012-09-21 | 2015-10-28 | 上海大学 | Flexible-surface spherical mobile robot |
| CN103386686B (en) * | 2013-08-03 | 2015-10-28 | 董昕武 | A kind of spherical transformable soft robot |
| CN103434582B (en) * | 2013-08-11 | 2015-11-18 | 林佳杰 | A kind of deformable multipurpose way soft robot |
| CN103587601B (en) * | 2013-11-12 | 2016-01-13 | 上海大学 | The long continuation of the journey in polar region wind drive formula ball shape robot |
| CN103991486A (en) * | 2014-05-26 | 2014-08-20 | 上海大学 | Hybrid drive type Antarctic science investigation spherical robot |
| CN105438299B (en) * | 2014-11-14 | 2017-10-03 | 福建省泉州市第七中学 | The complex road condition walking robot of amphibious data acquisition |
| CN104925156A (en) * | 2015-05-20 | 2015-09-23 | 苏州市职业大学 | All-direction spherical robot driving device |
| CN105599817B (en) * | 2016-03-02 | 2018-06-05 | 东南大学 | A kind of ball shape robot for possessing skip capability |
| CN106931835B (en) * | 2017-03-07 | 2018-07-17 | 中国科学院光电研究院 | A kind of inflation Land mine removing apparatus |
| CN107097864A (en) * | 2017-06-02 | 2017-08-29 | 中国人民解放军理工大学 | A kind of inflation ball shape robot certainly |
| CN111873731A (en) * | 2020-07-22 | 2020-11-03 | 西北工业大学 | Amphibious robot |
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| CN2767079Y (en) * | 2005-02-04 | 2006-03-29 | 黄宗汉 | Spherical robot |
| RU2297356C2 (en) * | 2002-12-05 | 2007-04-20 | Степан Георгиевич Тигунцев | Ball vehicle |
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Family Cites Families (4)
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|---|---|---|---|---|
| JP4105580B2 (en) * | 2003-04-10 | 2008-06-25 | 正豊 松田 | Ball actuator |
| CN100404212C (en) * | 2006-03-15 | 2008-07-23 | 北京邮电大学 | Spherical walking robot with telescopic arm |
| CN101386173A (en) * | 2008-11-10 | 2009-03-18 | 战强 | Environmental detection spherical robot |
| CN202243763U (en) * | 2011-06-07 | 2012-05-30 | 中国人民解放军理工大学工程兵工程学院 | Spherical robot with soft shell |
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2011
- 2011-06-07 CN CN 201110149717 patent/CN102219032B/en not_active Expired - Fee Related
Patent Citations (4)
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|---|---|---|---|---|
| RU2297356C2 (en) * | 2002-12-05 | 2007-04-20 | Степан Георгиевич Тигунцев | Ball vehicle |
| CN2767079Y (en) * | 2005-02-04 | 2006-03-29 | 黄宗汉 | Spherical robot |
| CN101249849A (en) * | 2008-04-08 | 2008-08-27 | 西安电子科技大学 | Pneumatic environment detection spherical robot having multiple motion modes |
| CN101279619A (en) * | 2008-04-21 | 2008-10-08 | 战强 | High mobility spherical detecting robot |
Non-Patent Citations (1)
| Title |
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| JP特开2004-306921A 2004.11.04 |
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