CN102773860A - Throwable variable structure spherical robot - Google Patents

Throwable variable structure spherical robot Download PDF

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Publication number
CN102773860A
CN102773860A CN2012102380203A CN201210238020A CN102773860A CN 102773860 A CN102773860 A CN 102773860A CN 2012102380203 A CN2012102380203 A CN 2012102380203A CN 201210238020 A CN201210238020 A CN 201210238020A CN 102773860 A CN102773860 A CN 102773860A
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China
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shaped
sphere
spherical
robot
telescoping tube
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CN2012102380203A
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CN102773860B (en
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潘济安
叶长龙
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潘济安
叶长龙
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Priority to CN201210238020.3A priority Critical patent/CN102773860B/en
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Publication of CN102773860B publication Critical patent/CN102773860B/en
Expired - Fee Related legal-status Critical Current
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Abstract

The invention discloses a throwable variable structure spherical robot, and belongs to the technical field of robots. The throwable variable structure spherical robot comprises two U-shaped spherical units. Each U-shaped spherical unit consists of a U-shaped elastic frame, two driving wheels with spherical surfaces, a connecting plate with a spherical surface, and two direct current servo motors, wherein the two direct current servo motors are fixedly arranged on the U-shaped elastic frame, and are connected with the two driving wheels with the spherical surfaces respectively; the two driving wheels with the spherical surfaces are arranged on the two sides of the U-shaped elastic frame; and the connecting plate with the spherical surface is fixedly arranged on the U-shaped elastic frame between the two driving wheels with the spherical surfaces. The two U-shaped spherical units are connected through a fixed pipe, a telescopic pipe and a fixed rod, and the fixed pipe is sleeved with the telescopic pipe which is sleeved with the fixed rod to form a telescopic structure. A compression spring is arranged outside the fixed pipe and the telescopic pipe. A baffle plate of the compression spring is arranged at the connecting end of the telescopic pipe and the fixed rod. The telescopic pipe is connected with the fixed rod through a pin shaft. Locking devices of the two U-shaped spherical units are arranged on the U-shaped spherical units.

Description

The throwing formula becomes the structure ball shape robot
Technical field
The invention belongs to the Robotics field, relate to a kind of throwing formula and become the structure ball shape robot, relate in particular to a kind of can throwing, and the mobile robot that can be out of shape, be mainly used in disaster relief, anti-terror explosive removing, military affairs and application similar with it.
Background technology
That the travel mechanism that disaster relief and search and rescue robot adopt mainly contains is wheeled, three kinds of leg formula and crawler types.Crawler type travel mechanism can move on hackly ground and can leaping over obstacles, and has motion stabilization, characteristics that the climbing ability is strong, so most of disaster relief robot adopts crawler belt travel mechanism as type of drive.The typical robot of crawler type travel mechanism that adopts mainly contains: Auriga-α mobile robot, also have everybody familiar PackBot robot and MicroVGTV, and this robotlike has good climbing ability.But the robot volume is bigger, can't accomplish the operation task that gets into small space.
Movable spherical robot is meant one type of general name that movement executing mechanism, sensor, controller, energy source device is installed in the system in the spherical shell.This robotlike utilizes the landform adaptability of spheroid on all directions, can comprehensively fast move.This robotlike's model machine is proposed and exploitation by Japanese scientific research personnel at first, and then China BJ University of Aeronautics & Astronautics robot research has also been developed this type of movable spherical robot model machine.Because this robotlike has good dynamic and static balancing property, has good sealing simultaneously, can go in unmanned, sand and dust, humidity, corrosive adverse circumstances, has amphibious function.So can be used for fields such as planetary detection, environmental monitoring, defence equipment, amusement.
Two-wheeled mobile robot is that two-wheeled is two wheel mobile robots that are symmetrically arranged, and its left and right wheels relies on differential to realize turning to respectively by a motor-driven, turns to flexibly.In recent years, this robot becomes one of research focus of global robot field gradually.Two wheel robot Yamabico Kurara like Japanese University of tsukuba in 1996 development adopt the structure of falling the pendulum model; Biorobot's laboratory development of the subordinate of Carnegie-Mellon University a kind of two wheel robots; TaiWan, China success university has developed two wheel robot TWV], the two wheel robot Recon Scout robots that apply to battlefield surroundings of Recon Scout company exploitation.Yet two-wheel running mechanism is a nature instability body, is high order, instability, multivariable, non-linear, strongly coupled system.Also there are many problems at present, can not practical application.
Though the above robot all has very strong locomitivity,, still can't reach some specific operating area owing to receive the restriction of volume and driving force.
Summary of the invention
To the problem that barriers such as body of wall, gully, river can't be crossed over by existing robot, the present invention provides a kind of throwing formula to become the structure ball shape robot.This robot can accomplish the search and rescue task in the zone through operating personnel's throwing to the operating area, barriers such as the gully that the process of this throwing makes robot can cross existing robot can't to cross at all, body of wall, river; Simultaneously, robot can be deformed into the job task that the mobile robot accomplishes search and formulates by throwing behind operating environment, fully expanded the operating environment and the job area of search and rescue robot.
To achieve these goals; The present invention adopts following technical scheme; A kind of throwing formula becomes the structure ball shape robot; Comprise two U-shaped sphere unit, said U-shaped sphere unit has the driving wheel of sphere, the connecting plate with sphere and two DC servo motors by U-shaped elastic shelf, two to be formed, and said two DC servo motors are fixed on the U-shaped elastic shelf; And be connected with two driving wheels with sphere that are arranged on U-shaped elastic shelf both sides respectively, on the U-shaped elastic shelf between two driving wheels with sphere, be fixed with connecting plate with sphere; Said two U-shaped sphere unit link together through stationary pipes, telescoping tube and fixed bar, and said stationary pipes is connected with the fixed bar fit with telescoping tube, telescoping tube, form stretching structure; Outer setting at said stationary pipes and telescoping tube has the compression spring; Be provided with the baffle plate of compression spring at the link of telescoping tube and fixed bar; Said telescoping tube is connected through bearing pin with fixed bar, and said U-shaped sphere unit is provided with the locking device of two U-shaped sphere unit.
Said locking device is made up of rotating shaft, plectrum, driving lever and steel wire, and the U-shaped elastic shelf of one of said U-shaped sphere unit is provided with through hole, and said rotating shaft and plectrum are fixed together, and are arranged on the both sides of said U-shaped elastic shelf through said through hole; In said rotating shaft, be set with the steel wire that connects another U-shaped sphere unit, an end of said driving lever is fixedly connected with the driving wheel with sphere, and the other end is corresponding with plectrum.
Beneficial effect of the present invention:
The main body of throwing formula change structure ball shape robot of the present invention is based on the structure of spherical housing and universal joint, and simple in structure, motion flexibly.Launch to have realized that robot of the present invention is varied to the mobile robot of four-wheel drive structure by spherical structure by being retracted to through control stationary pipes, telescoping tube and fixed bar.Based on robot construction characteristics of the present invention, this robot can have stronger climbing, cross ditch, obstacle detouring and stair activity ability and kinetic stability by throwing to operating environment after the expansion.Can be widely used in fields such as complex-terrain, anti-terrorism are explosion-proof, space exploration.
Description of drawings
Fig. 1 is the structural representation of U-shaped sphere of the present invention unit;
Fig. 2 is the left view of Fig. 1;
Fig. 3 is the shaft side figure of U-shaped sphere of the present invention unit;
Fig. 4 is deformed into the structural representation of spherical structure for robot of the present invention;
Fig. 5 is the internal structure sketch map of Fig. 4;
Fig. 6 is the B-B cutaway view of Fig. 4;
Fig. 7 is deformed into the structural representation of four-wheel drive structure for robot of the present invention;
Fig. 8 is the A-A cutaway view of Fig. 7;
Among the figure, 1-have the driving wheel of sphere, 2-U-shaped elastic shelf, 3-have the connecting plate of sphere, a 4-DC servo motor; 5-the first U-shaped sphere unit, 6-the second U-shaped sphere unit, 7-stationary pipes, 8-telescoping tube, 9-compression spring; 10-bearing pin, 11-fixed bar, 12-rotating shaft, 13-plectrum; 14-steel wire, 15-driving lever, 16-baffle plate, 17-locking device.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is done further explanation:
Like Fig. 1~shown in Figure 8; A kind of throwing formula becomes the structure ball shape robot; Comprise the first U-shaped sphere unit 5 and the second U-shaped sphere unit 6; The said first U-shaped sphere unit 5 is identical with the second U-shaped sphere unit, 6 structures, has the driving wheel 1 of sphere, the connecting plate 3 with sphere and two DC servo motors 4 by U-shaped elastic shelf 2, two and forms, and said two DC servo motors 4 are fixed on the U-shaped elastic shelf 2; And be connected with two that the are arranged on U-shaped elastic shelf 2 both sides driving wheels 1 with sphere respectively, on the U-shaped elastic shelf 2 between two driving wheels 1 with sphere, be fixed with connecting plate 3 with sphere; The said first U-shaped sphere unit 5 and the second U-shaped sphere unit 6 link together through stationary pipes 7, telescoping tube 8 and fixed bar 11, and said stationary pipes 7 is connected with fixed bar 11 fits with telescoping tube 8, telescoping tube 8, form stretching structure; Outer setting at said stationary pipes 7 and telescoping tube 8 has compression spring 9; Be provided with the baffle plate 16 of compression spring 9 at the telescoping tube 8 and the link of fixed bar 11; Said telescoping tube 8 is connected through bearing pin 10 with fixed bar 11, and said U-shaped sphere unit is provided with the locking device 17 of two U-shaped sphere unit.
Shown in Fig. 6~8; Said locking device 17 is made up of rotating shaft 12, plectrum 13, driving lever 15 and steel wire 14; The U-shaped elastic shelf 2 of the said second U-shaped sphere unit 6 is provided with through hole; Said rotating shaft 12 is fixed together with plectrum 13, and is arranged on the both sides of said U-shaped elastic shelf 2 through said through hole; In said rotating shaft 12, be set with the steel wire 14 that connects the first U-shaped sphere unit 5, an end of said driving lever 15 is fixedly connected with the driving wheel with sphere 1, and the other end is corresponding with plectrum 13.
Stationary pipes 7 can passively be rotated with telescoping tube 8, and telescoping tube 8 can be around 10 swings of the bearing pin on the fixed bar 11.
Said DC servo motor 4 adopts the DC servo steering wheel, and it carries radio receiver, and said radio receiver is corresponding with the wireless launcher of external remote.
Below in conjunction with a description of drawings course of action of the present invention:
Robot of the present invention deformable is two kinds of configurations, that is: spherical structure and four-wheel drive structure.
When stationary pipes 7, telescoping tube 8 and fixed bar 11 were compressed, compression spring 9 was compressed, and two U-shaped sphere unit become the staggered spherical structure of forming sealing of 90 degree, and through locking device 17 lockings, had strengthened the intensity of spherical structure.
The present invention drives the driving wheel 1 with sphere through DC servo motor 4 and rotates; Driving wheel 1 with sphere drives driving lever 15 motions; Stir plectrum 13 and rotate, rotate, make steel wire 14 break away from the first U-shaped sphere unit 5 and flick thereby drive rotating shaft 12; Make ball shape robot of the present invention be deformed into the four-wheel drive structure, thereby accomplish distortion.
When steel wire 14 breaks away from the first U-shaped sphere unit 5, compress spring 9 and flicked, stationary pipes 7, telescoping tube 8 and fixed bar 11 are flicked, and the mobile robot of four-wheel drive structures is formed in two U-shaped sphere unit, and can adapt to ground.And, formed the four-wheel drive mobile robot that can adapt to ground environment through the contacting fully of four driving wheels of two passive freedom degrees realizations of revolution on stationary pipes 7, telescoping tube 8 and the fixed bar 11 and rotation and ground.
Robot of the present invention can at first get into working environment with the form of throwing according to the characteristics of environment; After getting into working environment; Robot can consume potential energy and kinetic energy with the motion mode of balls tumble; Unfolded four-wheel drive structure mobile robot, the job task of completion in the appointed area of becoming of robot after rolling stops.Robot of the present invention can use fields such as disaster relief, anti-terror explosive removing, military affairs, has good obstacle performance and kinetic stability and mobility.

Claims (2)

1. a throwing formula becomes the structure ball shape robot; It is characterized in that comprising two U-shaped sphere unit; Said U-shaped sphere unit is had the driving wheel of sphere, the connecting plate with sphere and two DC servo motors and is formed by U-shaped elastic shelf, two; Said two DC servo motors are fixed on the U-shaped elastic shelf; And be connected with two driving wheels with sphere that are arranged on U-shaped elastic shelf both sides respectively, on the U-shaped elastic shelf between two driving wheels with sphere, be fixed with connecting plate with sphere; Said two U-shaped sphere unit link together through stationary pipes, telescoping tube and fixed bar, and said stationary pipes is connected with the fixed bar fit with telescoping tube, telescoping tube, form stretching structure; Outer setting at said stationary pipes and telescoping tube has the compression spring; Be provided with the baffle plate of compression spring at the link of telescoping tube and fixed bar; Said telescoping tube is connected through bearing pin with fixed bar, and said U-shaped sphere unit is provided with the locking device of two U-shaped sphere unit.
2. a kind of throwing formula according to claim 1 becomes the structure ball shape robot; It is characterized in that said locking device is made up of rotating shaft, plectrum, driving lever and steel wire; The U-shaped elastic shelf of one of said U-shaped sphere unit is provided with through hole; Said rotating shaft and plectrum are fixed together, and are arranged on the both sides of said U-shaped elastic shelf through said through hole; In said rotating shaft, be set with the steel wire that connects another U-shaped sphere unit, an end of said driving lever is fixedly connected with the driving wheel with sphere, and the other end is corresponding with plectrum.
CN201210238020.3A 2012-07-10 2012-07-10 Throwable variable structure spherical robot Expired - Fee Related CN102773860B (en)

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Application Number Priority Date Filing Date Title
CN201210238020.3A CN102773860B (en) 2012-07-10 2012-07-10 Throwable variable structure spherical robot

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CN102773860A true CN102773860A (en) 2012-11-14
CN102773860B CN102773860B (en) 2014-09-10

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103466091A (en) * 2013-09-23 2013-12-25 中国兵器工业计算机应用技术研究所 Scouting robot device and unmanned scouting system
CN103615630A (en) * 2013-11-29 2014-03-05 哈尔滨工程大学 Extensible robot for climbing inner wall of pipeline
CN103659819A (en) * 2014-01-02 2014-03-26 智慧城市系统服务(中国)有限公司 Modularized robot
CN104070526A (en) * 2013-03-29 2014-10-01 联想(北京)有限公司 Intelligent machine
CN105197122A (en) * 2015-10-16 2015-12-30 北京机械设备研究所 Throwable reconnaissance robot
CN105905177A (en) * 2015-12-30 2016-08-31 东莞市凡豆信息科技有限公司 Driving mechanism of spherical robot
CN111717651A (en) * 2020-06-08 2020-09-29 安徽理工大学 Cargo handling robot for industrial manufacturing

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CN202062558U (en) * 2011-03-25 2011-12-07 台慧(厦门)运动器材有限公司 Baseball and softball ball covering forming mold
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Publication number Priority date Publication date Assignee Title
CN2610717Y (en) * 2003-04-30 2004-04-14 东莞清溪松岗又福伞厂 Central rod structure of multi-folding stretching wire automatic umbrella
CN2799966Y (en) * 2004-01-17 2006-07-26 美泰玩具亚太有限公司 Universal ball and socket gimbal assembly made of plastic
JP2008229813A (en) * 2007-03-23 2008-10-02 Technical Research & Development Institute Ministry Of Defence Hand throw type robot
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CN202062558U (en) * 2011-03-25 2011-12-07 台慧(厦门)运动器材有限公司 Baseball and softball ball covering forming mold
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Cited By (12)

* Cited by examiner, † Cited by third party
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CN104070526A (en) * 2013-03-29 2014-10-01 联想(北京)有限公司 Intelligent machine
CN104070526B (en) * 2013-03-29 2017-03-01 联想(北京)有限公司 Intelligent machine
CN103466091A (en) * 2013-09-23 2013-12-25 中国兵器工业计算机应用技术研究所 Scouting robot device and unmanned scouting system
CN103466091B (en) * 2013-09-23 2015-06-17 中国兵器工业计算机应用技术研究所 Scouting robot device and unmanned scouting system
CN103615630A (en) * 2013-11-29 2014-03-05 哈尔滨工程大学 Extensible robot for climbing inner wall of pipeline
CN103615630B (en) * 2013-11-29 2015-07-22 哈尔滨工程大学 Extensible robot for climbing inner wall of pipeline
CN103659819A (en) * 2014-01-02 2014-03-26 智慧城市系统服务(中国)有限公司 Modularized robot
CN103659819B (en) * 2014-01-02 2016-03-30 智慧城市系统服务(中国)有限公司 A kind of modularization robot
CN105197122A (en) * 2015-10-16 2015-12-30 北京机械设备研究所 Throwable reconnaissance robot
CN105905177A (en) * 2015-12-30 2016-08-31 东莞市凡豆信息科技有限公司 Driving mechanism of spherical robot
CN105905177B (en) * 2015-12-30 2017-10-31 东莞市凡豆信息科技有限公司 Ball shape robot drive mechanism
CN111717651A (en) * 2020-06-08 2020-09-29 安徽理工大学 Cargo handling robot for industrial manufacturing

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Address after: 100084, Bauhinia apartment, Tsinghua University, Beijing, Haidian District 6

Patentee after: Pan Jian

Patentee after: Ye Changlong

Address before: Huanggu District of Shenyang City, Liaoning province 110841 the Yellow River South Street Hing Garden 78-5422

Patentee before: Pan Jian

Patentee before: Ye Changlong

CF01 Termination of patent right due to non-payment of annual fee
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Granted publication date: 20140910

Termination date: 20170710