CN102991600A - Ball type self-balancing robot - Google Patents
Ball type self-balancing robot Download PDFInfo
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- CN102991600A CN102991600A CN2012105300681A CN201210530068A CN102991600A CN 102991600 A CN102991600 A CN 102991600A CN 2012105300681 A CN2012105300681 A CN 2012105300681A CN 201210530068 A CN201210530068 A CN 201210530068A CN 102991600 A CN102991600 A CN 102991600A
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Abstract
The invention discloses a ball type self-balancing robot which relates to the robot suitable for field operation in a narrow space where people cannot work normally and in higher demand on balance of the robot. The technical problem to be solved is that the invention provides the ball type self-balancing robot suitable for field operation of robots working in the narrow space and field operation in higher demand on the balance of the robot. The robot comprises a ball and a part on the ball. The part on the ball comprises three organic glass plates arranged in parallel and connected through three side beams, and a bottom glass plate is connected with three feet. The direction and angle of an inclined angle are detected through three sensors, and then, data is fed back to a singlechip microcomputer which drives the ball by controlling the corresponding motors to rotate and by controlling the rotating speed, so that the bottom of the robot moves towards the direction, and the center of gravity of the upper part on the ball is vertical to the connecting line of the center of the ball and the ground. Therefore, the robot is always in a dynamic balanced state, and the application range is wider.
Description
Technical field
The present invention relates to a kind of robot, be applicable to the small space that can't work the people and the field operation that the robot balance is had relatively high expectations.
Background technology
The mobile robot has widely in all trades and professions and uses, mainly contain wheeled, crawler type, sufficient formula.But ubiquity turns to underaction, and a lot of robots are not considered self to keep the problem of balance at the beginning of design, and the bottom major part all adopts wheeled not strong for the different terrain comformability, they can satisfy people's demand to a certain extent, but along with the requirement of working environment is more and more higher, the flexibility problem of wheeled robot seems more and more outstanding, wheeled robot needs very large turn radius when turning, this makes him be not suitable for being operated in narrow space, is fit to be operated in the narrow space robot and has no report.
Summary of the invention
Technical matters to be solved by this invention provides a kind of robot that is fit to be operated in small space and a kind of ball formula self-balance robot of field operation that the robot balance is had relatively high expectations.
The present invention solves the technical scheme of its technical matters:
Ball formula self-balance robot, this ball formula self-balance robot comprises: part on ball and the ball.Ball top point comprises: the organic glass plate of A, B poly (methyl methacrylate) plate, A curb girder, B curb girder, C curb girder, C poly (methyl methacrylate) plate, A foot, C foot, B foot, A motor, B motor, C motor, C coupler, C wheel, B coupler, B wheel, A coupler, A wheel.
Described A curb girder, B curb girder, C curb girder are three identical corrosion-resistant steel square tubes.
Described A foot, C foot, B be enough three identical, and made by corrosion-resistant steel.
The type selecting of described A motor, B motor, C motor is identical.
Described A poly (methyl methacrylate) plate, B poly (methyl methacrylate) plate and C poly (methyl methacrylate) plate are that three diameters are identical, the circular poly (methyl methacrylate) plate that thickness is identical, and on the plate face, centered by the center of circle, establish angle and be 120 degree, first, second and third rectangular opening that equidistantly distributes.
Described C poly (methyl methacrylate) plate in first, second and third rectangular opening inboard respectively angular separation, the oriented center of circle be adjacent the first, two, three groups of 120 degree, every group is comprised of the screwed through hole of four rectangular distributions through the poly (methyl methacrylate) plate top and bottom.
Connection between the described part:
Described A curb girder places the first rectangular opening on A poly (methyl methacrylate) plate, B poly (methyl methacrylate) plate and the C poly (methyl methacrylate) plate, by three screws respectively with being threaded of A poly (methyl methacrylate) plate, B poly (methyl methacrylate) plate and C poly (methyl methacrylate) plate, the A curb girder is connected and fixed with A poly (methyl methacrylate) plate, B poly (methyl methacrylate) plate and C poly (methyl methacrylate) plate respectively.
Described B curb girder places second adjacent with first rectangular opening on A poly (methyl methacrylate) plate, B poly (methyl methacrylate) plate and C poly (methyl methacrylate) plate rectangular opening; By three screws respectively with being threaded of A poly (methyl methacrylate) plate, B poly (methyl methacrylate) plate and C poly (methyl methacrylate) plate, B curb girder and A poly (methyl methacrylate) plate, B poly (methyl methacrylate) plate and C poly (methyl methacrylate) plate are connected and fixed.
Described C curb girder places A poly (methyl methacrylate) plate, B poly (methyl methacrylate) plate and C poly (methyl methacrylate) plate and second the 3rd rectangular opening that rectangular opening is adjacent; By three screws respectively with being threaded of A poly (methyl methacrylate) plate, B poly (methyl methacrylate) plate and C poly (methyl methacrylate) plate, A curb girder and A poly (methyl methacrylate) plate, B poly (methyl methacrylate) plate and C poly (methyl methacrylate) plate are connected and fixed.
A curb girder, B curb girder and C curb girder are connected with the C poly (methyl methacrylate) plate with A poly (methyl methacrylate) plate, B poly (methyl methacrylate) plate and are connected, and make A poly (methyl methacrylate) plate, B poly (methyl methacrylate) plate parallel with the C poly (methyl methacrylate) plate, and coaxial.
Four through hole ends of described A foot are threaded fixing by four screws with the C poly (methyl methacrylate) plate.
Four through hole ends of described C foot are threaded fixing by four screws with the C poly (methyl methacrylate) plate.
Four through hole ends of described B foot are threaded fixing by four screws with the C poly (methyl methacrylate) plate.
The other end of described A foot is threaded fixing by screw with the A motor.
The other end of described C foot is threaded fixing by screw with the C motor.
The other end of described B foot is threaded fixing by screw with the B motor.
Described A motor is installed the A coupler at output shaft.
Described C motor is installed the C coupler at output shaft.
Described B motor is installed the B coupler at output shaft.
Six square toes ends of described A coupler are inserted in the A wheel subcenter hexagonal groove, and by being threaded of screw and A coupler, realization A wheel is captiveed joint with the A motor output shaft.
Six square toes ends of described C coupler are inserted in the C wheel subcenter hexagonal groove, and by being threaded of screw and C coupler, realization C wheel is captiveed joint with the C motor output shaft.
Six square toes ends of described B coupler are inserted in the B wheel subcenter hexagonal groove, and by being threaded of screw and B coupler, realization B wheel is captiveed joint with the B motor output shaft;
As axle is 120 degree places ENC03 and 7260 sensors are installed respectively take the center of circle on the periphery of described A glass board.
Beneficial effect of the present invention:
1. stable, three foots of robot of the present invention are mutually the driver modules at 120 degree angles, consist of a triangle in the bottom and have stability, therefore can bear a heavy burden above 10kg.By to the A motor, the C motor, the control of three motors of B motor drives the A wheel, the C wheel, the B wheel drives ball, when robot because during the External Force Acting lack of equilibrium, be positioned on the periphery of A glass board take the center of circle as axle and be direction and the angle that three sensors that 120 degree distribute can detect the inclination angle, then with data feedback to micro controller system, micro controller system rotates by the control corresponding motor, rotating speed comes drive ball that the robot bottom is moved to this direction, make the center of gravity of part on the ball keep vertical with the line of ball center with ground, make robot regain balance, therefore robot remains at a dynamic balance state, so institute is applicable wider general.
2. alerting ability, the equality of three curb girders of the present invention and three poly (methyl methacrylate) plates connects and composes cylinder moulding (referring to part on the ball), use the organism glass manufacturing to make integral structure more light and handy sensitive, because the bottom of robot is a ball, drive machines people moves and can realize by the rotation situation that changes three drive wheels moving fast and accurately to either direction.And the rotation situation of drive wheel is written as different functions will move to different directions when coding the time, only needs so a call function that robot is moved in principal function.
Description of drawings
Fig. 1 ball formula self-balance robot front view.
Fig. 2 motor and wheel annexation figure.
Fig. 3 motor and sufficient annexation figure.
The shaft side figure of Fig. 4 A poly (methyl methacrylate) plate.
The partial enlarged drawing at the B place of Fig. 5 Fig. 4.
The shaft side figure of Fig. 6 C poly (methyl methacrylate) plate.
The partial enlarged drawing at the A place of Fig. 7 Fig. 6.
The shaft side figure of Fig. 8 curb girder.
Fig. 9 A, B, C poly (methyl methacrylate) plate and A, B, C curb girder assembly drowing.
The partial enlarged drawing at the C place of Figure 10 Fig. 9.
The shaft side figure of Figure 11 foot.
Figure 12 foot and poly (methyl methacrylate) plate annexation figure.
Figure 13 coupler front view.
Figure 14 coupler left view.
Figure 15 coupler shaft side figure.
The specific embodiment
The invention will be further described by reference to the accompanying drawings.
Ball formula self-balance robot, this ball formula self-balance robot comprises: part on ball 19 and the ball.
Described ball top point comprises: the organic glass plate 1 of A, B poly (methyl methacrylate) plate 2, A curb girder 3, B curb girder 4, C curb girder 5, C poly (methyl methacrylate) plate 6, A foot 7, C foot 8, B foot 9, A motor 10, B motor 11, C motor 12, C coupler 13, C wheel 14, B coupler 15, B wheel 16, A coupler 17, A wheel 18.
Described A curb girder 3, B curb girder 4, C curb girder 5 are three identical corrosion-resistant steel square tubes.
Described A foot 7, C foot 8, B foot 9 be three identical, and made by corrosion-resistant steel;
The model of described A motor 10, B motor 11, C motor 12 all is 775.
Described A poly (methyl methacrylate) plate 1, B poly (methyl methacrylate) plate 2 and C poly (methyl methacrylate) plate 6 are that three diameters are identical, the circular poly (methyl methacrylate) plate that thickness is identical, and on the plate face, centered by the center of circle, establish angle and be 120 degree, first, second and third rectangular opening that equidistantly distributes.
Described C poly (methyl methacrylate) plate 6 in first, second and third rectangular opening inboard respectively angular separation, the oriented center of circle be adjacent the first, two, three groups of 120 degree, every group is comprised of the screwed through hole of four rectangular distributions through the poly (methyl methacrylate) plate top and bottom.
Connection between the described part:
Described A curb girder 3 places the first rectangular opening on A poly (methyl methacrylate) plate 1, B poly (methyl methacrylate) plate 2 and the C poly (methyl methacrylate) plate 6, by three screws respectively with being threaded of A poly (methyl methacrylate) plate 1, B poly (methyl methacrylate) plate 2 and C poly (methyl methacrylate) plate 6, A curb girder 3 is connected and fixed with A poly (methyl methacrylate) plate 1, B poly (methyl methacrylate) plate 2 and C poly (methyl methacrylate) plate 6 respectively.
Described B curb girder 4 places second adjacent with first rectangular opening on A poly (methyl methacrylate) plate 1, B poly (methyl methacrylate) plate 2 and the C poly (methyl methacrylate) plate 6 rectangular opening; By three screws respectively with being threaded of A poly (methyl methacrylate) plate 1, B poly (methyl methacrylate) plate 2 and C poly (methyl methacrylate) plate 6, B curb girder 4 and A poly (methyl methacrylate) plate 1, B poly (methyl methacrylate) plate 2 and C poly (methyl methacrylate) plate 6 are connected and fixed.
Described C curb girder 5 places A poly (methyl methacrylate) plate 1, B poly (methyl methacrylate) plate 2 and C poly (methyl methacrylate) plate 6 and second the 3rd rectangular opening that rectangular opening is adjacent; By three screws respectively with being threaded of A poly (methyl methacrylate) plate 1, B poly (methyl methacrylate) plate 2 and C poly (methyl methacrylate) plate 6, A curb girder 3 and A poly (methyl methacrylate) plate 1, B poly (methyl methacrylate) plate 2 and C poly (methyl methacrylate) plate 6 are connected and fixed.
A curb girder 3, B curb girder 4 and C curb girder are connected to be connected with the C poly (methyl methacrylate) plate with A poly (methyl methacrylate) plate 1, B poly (methyl methacrylate) plate 2 and are connected, and make A poly (methyl methacrylate) plate 1, B poly (methyl methacrylate) plate 2 parallel with C poly (methyl methacrylate) plate 6, and coaxial.
Four through hole ends of described A foot 7 are threaded fixing by four screws with C poly (methyl methacrylate) plate 6.
Four through hole ends of described C foot 8 are threaded fixing by four screws with C poly (methyl methacrylate) plate 6.
Four through hole ends of described B foot 9 are threaded fixing by four screws with C poly (methyl methacrylate) plate 6.
The other end of described A foot 7 is threaded fixing by screw with A motor 10.
The other end of described C foot 8 is threaded fixing by screw with C motor 12.
The other end of described B foot 9 is threaded fixing by screw with B motor 11.
Described A motor 10 is installed A coupler 17 at output shaft.
Described C motor 11 is installed C coupler 13 at output shaft.
Described B motor 12 is installed B coupler 15 at output shaft.
Six square toes ends of described A coupler 17 are inserted in the A wheel 18 center hexagonal groove, by being threaded of screw and A coupler 17, realize captiveing joint of A wheel 18 and A motor 10 output shafts.
Six square toes ends of described C coupler 13 are inserted in the C wheel 14 center hexagonal groove, by being threaded of screw and C coupler 13, realize captiveing joint of C wheel 14 and C motor 12 output shafts.
Six square toes ends of described B coupler 15 are inserted in the B wheel 16 center hexagonal groove, by being threaded of screw and B coupler 15, realize captiveing joint of B wheel 16 and B motor 11 output shafts.
As axle is 120 degree places ENC03 and 7260 sensors are installed respectively take the center of circle on the periphery of described A glass board 1.
Drive by control driving A wheel 18, C wheel 14,16 pairs of balls of B wheel to A motor 10, C motor 11,12 3 motors of B motor, when ball changes center of gravity owing to outside cause, be positioned at the direction that three the sensor of installing on the A glass board detects the inclination angle, by the motor-driven ball robot is moved to this direction, make the center of gravity of part on the ball keep vertical with the line of ball center with ground, ball formula robot is kept upright to fall.For example when robot tilted to A foot direction, sensor detected tilt signals, passes through at once B motor, C motor with identical rotating speed, thereby makes robot keep balance to the toppling direction motion.
The radius of ball is 24 centimetres～40 centimetres, on the ball part by three wheels be stuck in first sphere 1/3rd and 2/3rds between, two parts are combined.
Claims (1)
1. ball formula self-balance robot is characterized in that this ball formula self-balance robot comprises: part on ball (19) and the ball; Ball top point comprises: the organic glass plate of A (1), B poly (methyl methacrylate) plate (2), A curb girder (3), B curb girder (4), C curb girder (5), C poly (methyl methacrylate) plate (6), A foot (7), C foot (8), B foot (9), A motor (10), B motor (11), C motor (12), C coupler (13), C wheel (14), B coupler (15), B wheel (16), A coupler (17), A wheel (18);
Described A curb girder (3), B curb girder (4), C curb girder (5) are three identical corrosion-resistant steel square tubes;
Described A foot (7), C foot (8), B foot (9) be three identical, and made by corrosion-resistant steel;
The type selecting of described A motor (10), B motor (11), C motor (12) is identical;
Described A poly (methyl methacrylate) plate (1), B poly (methyl methacrylate) plate (2) and C poly (methyl methacrylate) plate (6) are that three diameters are identical, the circular poly (methyl methacrylate) plate that thickness is identical, and on the plate face, centered by the center of circle, establish angle and be 120 degree, first, second and third rectangular opening that equidistantly distributes;
Described C poly (methyl methacrylate) plate (6) in first, second and third rectangular opening inboard respectively angular separation, the oriented center of circle be 120 degree adjacent first, two, three groups of tapped through holees, every group is comprised of the screwed through hole of four rectangular distributions through the poly (methyl methacrylate) plate top and bottom;
Connection between the described part:
Described A curb girder (3) places A poly (methyl methacrylate) plate (1), B poly (methyl methacrylate) plate (2) and upper the first rectangular opening of C poly (methyl methacrylate) plate (6), by three screws respectively with being threaded of A poly (methyl methacrylate) plate (1), B poly (methyl methacrylate) plate (2) and C poly (methyl methacrylate) plate (6), A curb girder (3) is connected and fixed with A poly (methyl methacrylate) plate (1), B poly (methyl methacrylate) plate (2) and C poly (methyl methacrylate) plate (6) respectively;
Described B curb girder (4) places upper second rectangular opening adjacent with first rectangular opening of A poly (methyl methacrylate) plate (1), B poly (methyl methacrylate) plate (2) and C poly (methyl methacrylate) plate (6); By three screws respectively with being threaded of A poly (methyl methacrylate) plate (1), B poly (methyl methacrylate) plate (2) and C poly (methyl methacrylate) plate (6), B curb girder (4) and A poly (methyl methacrylate) plate (1), B poly (methyl methacrylate) plate (2) and C poly (methyl methacrylate) plate (6) are connected and fixed;
Described C curb girder (5) places upper and second the 3rd rectangular opening that rectangular opening is adjacent of A poly (methyl methacrylate) plate (1), B poly (methyl methacrylate) plate (2) and C poly (methyl methacrylate) plate (6); By three screws respectively with being threaded of A poly (methyl methacrylate) plate (1), B poly (methyl methacrylate) plate (2) and C poly (methyl methacrylate) plate (6), A curb girder (3) and A poly (methyl methacrylate) plate (1), B poly (methyl methacrylate) plate (2) and C poly (methyl methacrylate) plate (6) are connected and fixed;
A curb girder (3), B curb girder (4) are connected 5 with the C curb girder) be connected with the C poly (methyl methacrylate) plate with A poly (methyl methacrylate) plate (1), B poly (methyl methacrylate) plate (2) and be connected, make A poly (methyl methacrylate) plate (1), B poly (methyl methacrylate) plate (2) parallel with C poly (methyl methacrylate) plate (6), and coaxial;
Four through hole ends of described A foot (7) are threaded fixing by four screws with C poly (methyl methacrylate) plate (6);
Four through hole ends of described C foot (8) are threaded fixing by four screws with C poly (methyl methacrylate) plate (6);
Four through hole ends of described B foot (9) are threaded fixing by four screws with C poly (methyl methacrylate) plate (6);
The other end of described A foot (7) is threaded fixing by screw with A motor (10);
The other end of described C foot (8) is threaded fixing by screw with C motor (12);
The other end of described B foot (9) is threaded fixing by screw with B motor (11);
Described A motor (10) is installed A coupler (17) at output shaft;
Described C motor (10) is installed C coupler (13) at output shaft;
Described B motor (10) is installed B coupler (15) at output shaft;
Six square toes ends of described A coupler (17) are inserted in the hexagonal groove of A wheel (18) center, by being threaded of screw and A coupler (17), realize captiveing joint of A wheel (18) and A motor (10) output shaft;
Six square toes ends of described C coupler (13) are inserted in the hexagonal groove of C wheel (14) center, by being threaded of screw and C coupler (13), realize captiveing joint of C wheel (14) and C motor (12) output shaft;
Six square toes ends of described B coupler (15) are inserted in the hexagonal groove of B wheel (16) center, by being threaded of screw and B coupler (15), realize captiveing joint of B wheel (16) and B motor (11) output shaft;
As axle is each installation of 120 degree places ENC03 and 7260 sensors are installed respectively take the center of circle on the periphery of described A glass board (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012105300681A CN102991600A (en) | 2012-12-10 | 2012-12-10 | Ball type self-balancing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012105300681A CN102991600A (en) | 2012-12-10 | 2012-12-10 | Ball type self-balancing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102991600A true CN102991600A (en) | 2013-03-27 |
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ID=47920841
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012105300681A Pending CN102991600A (en) | 2012-12-10 | 2012-12-10 | Ball type self-balancing robot |
Country Status (1)
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| CN (1) | CN102991600A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104155976A (en) * | 2014-07-18 | 2014-11-19 | 北京理工大学 | Autonomous ball-wheel-moving robot and control method thereof |
| CN106864617A (en) * | 2017-04-05 | 2017-06-20 | 西南交通大学 | A kind of self-balance robot system |
| CN107226143A (en) * | 2017-05-05 | 2017-10-03 | 华南理工大学 | A kind of transmission device of spherical tire |
| CN107407939A (en) * | 2015-03-12 | 2017-11-28 | 株式会社村田制作所 | Ball balanced robot |
| CN108415429A (en) * | 2018-03-03 | 2018-08-17 | 北京工业大学 | Self-balancing mobile robot on one bulb |
| CN108890615A (en) * | 2018-09-18 | 2018-11-27 | 路远 | Universal walking device for robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104155976A (en) * | 2014-07-18 | 2014-11-19 | 北京理工大学 | Autonomous ball-wheel-moving robot and control method thereof |
| CN104155976B (en) * | 2014-07-18 | 2016-08-24 | 北京理工大学 | Autonomous type ball wheel mobile robot and control method thereof |
| CN107407939A (en) * | 2015-03-12 | 2017-11-28 | 株式会社村田制作所 | Ball balanced robot |
| CN107407939B (en) * | 2015-03-12 | 2020-08-14 | 株式会社村田制作所 | Ball balance robot |
| CN106864617A (en) * | 2017-04-05 | 2017-06-20 | 西南交通大学 | A kind of self-balance robot system |
| CN107226143A (en) * | 2017-05-05 | 2017-10-03 | 华南理工大学 | A kind of transmission device of spherical tire |
| CN108415429A (en) * | 2018-03-03 | 2018-08-17 | 北京工业大学 | Self-balancing mobile robot on one bulb |
| CN108890615A (en) * | 2018-09-18 | 2018-11-27 | 路远 | Universal walking device for robot |
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Application publication date: 20130327 |