CN103158799A - Flexible-surface spherical mobile robot - Google Patents
Flexible-surface spherical mobile robot Download PDFInfo
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- CN103158799A CN103158799A CN 201310091215 CN201310091215A CN103158799A CN 103158799 A CN103158799 A CN 103158799A CN 201310091215 CN201310091215 CN 201310091215 CN 201310091215 A CN201310091215 A CN 201310091215A CN 103158799 A CN103158799 A CN 103158799A
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Abstract
The invention discloses a flexible-surface spherical mobile robot. The flexible-surface spherical mobile robot comprises an interior rigid ball, a plurality of supporting pipes, a framework, air cavity bottom surfaces and flexible surfaces, wherein the interior rigid ball is connected with each of the air cavity bottom surfaces through each of the supporting pipes, the air cavity bottom surfaces, the framework and the flexible surfaces form a plurality of independent air cavities. The interior rigid ball is located at the center of a sphere, wherein a pneumatic driving source and a control system are placed in the interior rigid ball. The supporting pipes form air channels which are provided with electromagnetic valves, wherein the air channels are connected with an air source and the air cavities. The supporting pipes are hollow and each supporting pipe is connected with each corresponding air cavity. Each electromagnetic valve controls connection and disconnection of each air channel. When the robot needs to move, the air source aerates corresponding air cavities from the interior rigid ball through the electromagnetic valves, and the corresponding flexible surfaces deform under the action of air pressure and interact with an outside environment contacting with the corresponding flexible surfaces so as to produce propelling force. When a motion finishes, the air cavities are exhausted and the flexible surfaces recover original shapes.
Description
Technical field
The present invention relates to a kind of movable spherical robot, especially a kind of flexible surface movable spherical robot.
Background technology
Ball shape robot is as a kind of mobile robot of novelty, compares with traditional wheeled, crawler type or sufficient formula mobile robot, have not can overturning failure the tumbler characteristic, easily adapt to the multiple types of floors complex-terrain.The research of ball-shape robot has launched decades, have at first of development in 1996 from Helsinki, Finland University of Science and Technology the ball shape robot of circular housing, many scholars both domestic and external have proposed many different ball shape robot structures in succession.
All in all, existing ball shape robot is according to the difference of function, and scheme is each has something to recommend him, basically can be divided into: wheeled driving, counterweight drive and three kinds of forms of wind drive.Wheeled and counterweight form robot needs a plurality of motor-driven, causes load excessive; The wind drive shortcoming is that load-carrying capacity is poor, depends on wind energy unduly.
Summary of the invention
The object of the present invention is to provide a kind of flexible surface movable spherical robot with flexible surface structure that drives with single power source, this robotic surface is had elastomeric flexible surface and is consisted of by a plurality of, each flexible surface becomes a sealed air-space with the structure sealing of supporting it, the pneumatic source that is positioned at centre portion is to different air cavitys inflation venting, makes the drive machines people motion that deforms of robotic surface different parts.
Realize that the object of the invention technical scheme is: a kind of flexible surface movable spherical robot, comprise an internal rigid ball, several support tubes, skeleton, air cavity bottom surface and flexible surface, it is characterized in that: described internal rigid ball and each air cavity underrun each support tube respectively are connected, and air cavity bottom surface, skeleton and flexible surface consist of a plurality of independent air; Described internal rigid ball is positioned at the centre of sphere, built-in pneumatic drive source and control system; Described support tube consists of gas circuit and electromagnetic valve is arranged, and gas circuit connects source of the gas and air cavity, and support tube hollow and each stay tube are connected with corresponding air cavity, the break-make of each gas circuit of solenoid control; When robot need to move, source of the gas rigid ball internally inflate to corresponding air cavity through electromagnetic valve, and deform under the effect of air pressure external environment condition with the joint of corresponding flexible surface interacts and produces propelling thrust, the motion end, the air cavity exhaust, flexible surface recovers original form.
Air cavity is made of skeleton air cavity bottom surface and flexible surface, and support tube one end is connected with air cavity, and flexible surface adopts soft material, has elasticity.
The present invention has following apparent outstanding substantive distinguishing features and remarkable technological advance compared with prior art:
1. the flexible ball anthropomorphic robot of the present invention's realization, simplified robot and realized the needed physical construction of motion, can realize the motion under complex-terrain.
2. can realize the motion of robot under different terrain by the distortion of controlling the flexible surface different parts, improve robot motion's freedom, alerting ability and comformability.
3. pass through the kinematic accuracy of the distortion size control of control different surfaces.
4. realize all motions of robot by a propulsion source.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is whole perspective view of the present invention.
Fig. 2 is the present invention's motion schematic diagram on the level land.
Fig. 3 is that a plurality of flexible surfaces are out of shape drive machines people schematic diagram when moving simultaneously.
The specific embodiment
The preferred embodiments of the present invention accompanying drawings is as follows:
Embodiment one:
Referring to Fig. 1, this flexible surface movable spherical robot, comprise an internal rigid ball (3), several support tubes (2), skeleton (1), air cavity bottom surface (5) and flexible surface (4), it is characterized in that: described internal rigid ball (3) is connected by each support tube of difference (2) with each air cavity bottom surface (5), and air cavity bottom surface (5), skeleton (1) and flexible surface (4) consist of a plurality of independent air; Described internal rigid ball (3) is positioned at the centre of sphere, built-in pneumatic drive source and control system; Described support tube (2) consists of gas circuit and electromagnetic valve is arranged, and gas circuit connects source of the gas and air cavity, and support tube hollow and each stay tube are connected with corresponding air cavity, the break-make of each gas circuit of solenoid control; When robot need to move, source of the gas rigid ball (3) is internally inflated to corresponding air cavity through electromagnetic valve, deform under the effect of air pressure external environment condition with the joint of corresponding flexible surface (4) interacts and produces propelling thrust, motion finishes, the air cavity exhaust, flexible surface (4) recovers original form.
Embodiment two:
The present embodiment and embodiment one are basic identical, and special feature is as follows: described flexible surface (4) adopts soft material, has elasticity.Described support tube (2), internal rigid ball (3), air cavity bottom surface (5) and skeleton (1) have consisted of the rigid construction of ball shape robot.Robot when motion, can be different several independent air inflations simultaneously.How many each flexible surface (4) distortion sizes can be controlled by inflation.
Embodiment three:
Referring to Fig. 1 ~ Fig. 3, the movable spherical robot of this flexible surface comprises that skeleton (1), support tube (2), internal rigid ball (3), plastic deformation surface (4), air cavity bottom surface (5) consist of.
Support tube (2), internal rigid ball (3), air cavity bottom surface (5) and skeleton (1) have consisted of the rigid construction of ball shape robot;
The outside face of flexible ball anthropomorphic robot has multi-disc flexible surface (4) to consist of, and flexible surface adopts soft material, has elasticity; Rigid backbone (1) supports whole flexible surface (4), and consists of a plurality of independent air with each elastic surface 4 and air cavity bottom surface (5);
Internal rigid ball (3) is positioned at the centre of sphere, is mainly compressed air source unit and control system, and internal rigid ball (3) is connected with each a plurality of support tubes in air cavity bottom surface (2), and air cavity bottom surface 5 skeletons 1 and flexible surface consist of a plurality of independent air;
Support tube (2) has gas circuit and electromagnetic valve, gas circuit connects source of the gas and air cavity, support tube (2) hollow and support tube (2) two ends are connected with internal rigid ball (3) and air cavity bottom surface (5) respectively, thereby the break-make of each gas circuit of solenoid control is controlled inflation and the venting of each air cavity inside;
Air cavity is made of skeleton (1) air cavity bottom surface (5) and flexible surface (4), and support tube (2) one ends are connected with air cavity (5), and flexible surface (4) adopts soft material, has certain elasticity and toughness.
Principle of work of the present invention is: rely on each different air cavity inflations and venting to realize projection and the recovery of flexible surface, the projection of flexible surface can be contacted with it surface effect of producing mutual power, thereby make robot obtain corresponding propulsive effort, drive machines human motion.
Working process of the present invention is as follows:
Projection and the recovery of spheroid flexible surface (4) different parts allow spheroid realize various motions.Internal rigid ball (3) is positioned at the centre of sphere, built-in source of the gas power, sensor and control system, sensor is grasped the position and attitude of ball shape robot in real time, inner source of the gas is opened corresponding electromagnetic valve under the control of control system, source of the gas is by the air cavity inner inflatable of air valve to appointment, heave at gaseous tension effect lower air chamber flexible surface (4), and and ground interaction, interaction force promotes the spheroid motion; After this step motion finishes,, corresponding blow off valve is emptying with gas in air cavity, and flexible surface 4 returns to virgin state.The size of how much controlling plastic deformation of air cavity inflation, thereby the size of control propulsive effort; In order to realize different mode of motion, several air cavitys can be inflated simultaneously, realize the distortion of different surfaces, thereby realize complicated motion.
Claims (5)
1. flexible surface movable spherical robot, comprise an internal rigid ball (3), several support tubes (2), skeleton (1), air cavity bottom surface (5) and flexible surface (4), it is characterized in that: described internal rigid ball (3) is connected by a support tube (2) respectively with each air cavity bottom surface (5), and air cavity bottom surface (5), skeleton (1) and flexible surface (4) consist of a plurality of independent air; Described internal rigid ball (3) is positioned at the centre of sphere, built-in pneumatic drive source and control system; Described support tube (2) consists of gas circuit and electromagnetic valve is arranged, and gas circuit connects source of the gas and air cavity, and support tube hollow and each stay tube are connected with corresponding air cavity, the break-make of each gas circuit of solenoid control; When robot need to move, source of the gas rigid ball (3) is internally inflated to corresponding air cavity through electromagnetic valve, deform under the effect of air pressure external environment condition with the joint of corresponding flexible surface (4) interacts and produces propelling thrust, motion finishes, the air cavity exhaust, flexible surface (4) recovers original form.
2. flexible surface movable spherical robot according to claim 1 is characterized in that: described flexible surface (4) adopts soft material, has elasticity.
3. flexible surface movable spherical robot according to claim 1, it is characterized in that: described support tube (2), internal rigid ball (3), air cavity bottom surface (5) and skeleton (1) have consisted of the rigid construction of ball shape robot.
4. flexible surface movable spherical robot according to claim 1 is characterized in that: robot when motion, can be that different several independent air are inflated simultaneously.
5. flexible surface movable spherical robot according to claim 1 is characterized in that: how many each flexible surface (4) distortion sizes can be controlled by inflation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310091215.4A CN103158799B (en) | 2012-09-21 | 2013-03-21 | Flexible-surface spherical mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210352364.7 | 2012-09-21 | ||
| CN201210352364 | 2012-09-21 | ||
| CN201310091215.4A CN103158799B (en) | 2012-09-21 | 2013-03-21 | Flexible-surface spherical mobile robot |
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| Publication Number | Publication Date |
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| CN103158799A true CN103158799A (en) | 2013-06-19 |
| CN103158799B CN103158799B (en) | 2015-10-28 |
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| CN201310091215.4A Expired - Fee Related CN103158799B (en) | 2012-09-21 | 2013-03-21 | Flexible-surface spherical mobile robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103587600A (en) * | 2013-11-12 | 2014-02-19 | 上海大学 | Practical and rapid inflation spherical robot |
| CN103921858A (en) * | 2014-04-15 | 2014-07-16 | 南京航空航天大学 | Ground touring spherical detector and working mode thereof |
| CN105479463A (en) * | 2016-01-26 | 2016-04-13 | 清华大学 | Deformable and flexible robot based on liquid metal electromagnetic actuation |
| CN105841721A (en) * | 2016-03-21 | 2016-08-10 | 中广核核电运营有限公司 | Fiber Bragg grating force sense sensor, robot and sensing measurement method of robot |
| CN110774292A (en) * | 2019-10-25 | 2020-02-11 | 上海交通大学 | Bionic soft rolling robot |
| CN113492394A (en) * | 2021-07-08 | 2021-10-12 | 中南大学 | Wheel-shaped rolling robot based on inflatable dielectric elastomer driver |
| WO2024093858A1 (en) * | 2022-11-01 | 2024-05-10 | 浙大城市学院 | Spherical robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6702050B1 (en) * | 2002-09-23 | 2004-03-09 | The United States Of America As Represented By The Secretary Of The Army | Robotic vehicle construction |
| CN102219032B (en) * | 2011-06-07 | 2013-04-24 | 中国人民解放军理工大学工程兵工程学院 | Soft-shell spherical robot |
| CN202295050U (en) * | 2011-09-30 | 2012-07-04 | 浙江理工大学 | Multi-locomotion stated mechanism for allowing spherical robot to realize continuous bounce |
| CN102431605A (en) * | 2011-10-27 | 2012-05-02 | 北京邮电大学 | Sphere-wheel compound transformable mobile robot |
-
2013
- 2013-03-21 CN CN201310091215.4A patent/CN103158799B/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103587600A (en) * | 2013-11-12 | 2014-02-19 | 上海大学 | Practical and rapid inflation spherical robot |
| CN103587600B (en) * | 2013-11-12 | 2016-01-13 | 上海大学 | Practical rapid inflation spherical robot |
| CN103921858A (en) * | 2014-04-15 | 2014-07-16 | 南京航空航天大学 | Ground touring spherical detector and working mode thereof |
| CN103921858B (en) * | 2014-04-15 | 2016-04-13 | 南京航空航天大学 | Spherical detector and mode of operation thereof are maked an inspection tour in ground |
| CN105479463A (en) * | 2016-01-26 | 2016-04-13 | 清华大学 | Deformable and flexible robot based on liquid metal electromagnetic actuation |
| CN105841721A (en) * | 2016-03-21 | 2016-08-10 | 中广核核电运营有限公司 | Fiber Bragg grating force sense sensor, robot and sensing measurement method of robot |
| CN105841721B (en) * | 2016-03-21 | 2018-08-03 | 中广核核电运营有限公司 | A kind of fiber grating force sensor, robot and its sensing measuring method |
| CN110774292A (en) * | 2019-10-25 | 2020-02-11 | 上海交通大学 | Bionic soft rolling robot |
| CN113492394A (en) * | 2021-07-08 | 2021-10-12 | 中南大学 | Wheel-shaped rolling robot based on inflatable dielectric elastomer driver |
| WO2024093858A1 (en) * | 2022-11-01 | 2024-05-10 | 浙大城市学院 | Spherical robot |
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| CN103158799B (en) | 2015-10-28 |
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