CN103158799B - Flexible-surface spherical mobile robot - Google Patents
Flexible-surface spherical mobile robot Download PDFInfo
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- CN103158799B CN103158799B CN201310091215.4A CN201310091215A CN103158799B CN 103158799 B CN103158799 B CN 103158799B CN 201310091215 A CN201310091215 A CN 201310091215A CN 103158799 B CN103158799 B CN 103158799B
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Abstract
The invention discloses a kind of Flexible-surface spherical mobile robot, this robot comprises an internal rigid ball, several support tubes, skeleton, air cavity bottom surface and flexible surface, described internal rigid ball and each air cavity underrun respectively each support tube are connected, and air cavity bottom surface, skeleton and flexible surface form multiple independent air; Described internal rigid ball is positioned at the centre of sphere, built-in pneumatic drive source and control system; Described support tube forms gas circuit also has electromagnetic valve, 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 needs mobile, source of the gas is crossed electromagnetic valve from internal rigid ball warp and is inflated to corresponding air cavity, and corresponding flexible surface deforms under the influence of air pressure to interact with the external environment condition of joint and produces propelling thrust, and motion terminates, air cavity is vented, and flexible surface recovers original form.
Description
Technical field
The present invention relates to a kind of movable spherical robot, especially a kind of Flexible-surface spherical mobile robot.
Background technology
Ball shape robot, as a kind of mobile robot of novelty, is compared with traditional wheeled, crawler type or sufficient formula mobile robot, and having can not the tumbler characteristic of overturning failure, easily adapts to multiple types of floors complex-terrain.The research of ball-shape robot has launched decades, from Helsinki, Finland University of Science and Technology 1996 development first there is the ball shape robot of circular housing, many scholars both domestic and external propose 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, substantially can be divided into: in-wheel driving, counterweight drive and wind drive three kinds of forms.Wheeledly need multiple motor to drive with counterweight versions robot, cause load excessive; 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 spherical mobile robot with flexible surface structure driven with single power source, this robotic surface is had elastomeric flexible surface formed by multiple, each flexible surface is closed with the structure supporting it becomes a sealed air-space, the pneumatic source being positioned at centre portion, to different air cavity inflation venting, makes robotic surface different parts to deform drive machines people motion.
Realizing the object of the invention technical scheme is: a kind of Flexible-surface spherical mobile 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 respectively each support tube are connected, and air cavity bottom surface, skeleton and flexible surface form multiple independent air; Described internal rigid ball is positioned at the centre of sphere, built-in pneumatic drive source and control system; Described support tube forms gas circuit also has electromagnetic valve, 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 needs mobile, source of the gas is crossed electromagnetic valve from internal rigid ball warp and is inflated to corresponding air cavity, and corresponding flexible surface deforms under the influence of air pressure to interact with the external environment condition of joint and produces propelling thrust, and motion terminates, air cavity is vented, and flexible surface recovers original form.
Air cavity is made up 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 compared with prior art, has following apparent outstanding substantive distinguishing features and remarkable technological advance:
1. the flexible ball anthropomorphic robot of the present invention's realization, simplifies the physical construction required for robot realization motion, can realize the motion under complex-terrain.
2. the distortion by controlling flexible surface different parts can realize the motion of robot under different terrain, improves the freedom of robot motion, alerting ability and comformability.
3. by controlling the kinematic accuracy of the distortion size control of different surfaces.
4. realize all motions of robot by a propulsion source.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is overall perspective view of the present invention.
Fig. 2 is that the present invention is at flat overground locomotion schematic diagram.
Fig. 3 is that multiple flexible surface is out of shape schematic diagram when drive machines people moves simultaneously.
Detailed description of the invention
The preferred embodiments of the present invention accompanying drawings is as follows:
Embodiment one:
See Fig. 1, this Flexible-surface spherical mobile 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) form multiple 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) forms gas circuit also has electromagnetic valve, 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 needs mobile, source of the gas is inflated to corresponding air cavity from internal rigid ball (3) through electromagnetic valve, corresponding flexible surface (4) deforms under the influence of air pressure to interact with the external environment condition of joint and produces propelling thrust, motion terminates, air cavity is vented, and flexible surface (4) recovers original form.
Embodiment two:
The present embodiment is substantially identical with embodiment one, 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) constitute the rigid construction of ball shape robot.Robot, when moving, can be different several independent air inflations simultaneously.How many each flexible surface (4) distortion sizes can be controlled by inflation.
Embodiment three:
See Fig. 1 ~ Fig. 3, the movable spherical robot of this flexible surface comprises skeleton (1), support tube (2), internal rigid ball (3), plastic deformation surface (4), air cavity bottom surface (5) formation.
Support tube (2), internal rigid ball (3), air cavity bottom surface (5) and skeleton (1) constitute the rigid construction of ball shape robot;
The outside face of flexible ball anthropomorphic robot has more sheets of flexible surface (4) to form, and flexible surface adopts soft material, has elasticity; Rigid backbone (1) supports whole flexible surface (4), and forms multiple 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 the multiple support tube in each air cavity bottom surface (2), and air cavity bottom surface 5 skeleton 1 and flexible surface form multiple 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, the break-make of each gas circuit of solenoid control thus control inflation and the venting of each air cavity inside;
Air cavity is made up of skeleton (1) air cavity bottom surface (5) and flexible surface (4), and support tube (2) one end is 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 inflation and venting to realize projection and the recovery of flexible surface, the surface that the projection of flexible surface can contact with it produces the effect of mutual power, thus make robot obtain corresponding propulsive effort, the motion of drive machines people.
Working process of the present invention is as follows:
The projection of spheroid flexible surface (4) different parts and recovery allow spheroid achieve various motion.Internal rigid ball (3) is positioned at the centre of sphere, built-in source of the gas power, sensor and control system, sensor grasps the position and attitude of ball shape robot in real time, inner source of the gas opens corresponding electromagnetic valve under control of the control system, source of the gas by air valve to the air cavity inner inflatable of specifying, heave at gaseous tension effect lower air chamber flexible surface (4), and and ground interaction, interaction force promotes spheroid motion; After this step motion terminates, corresponding blow off valve is by evacuate air in air cavity, and flexible surface 4 returns to virgin state.The size of how many control plastic deformations of air cavity inflation, thus the size of driving force; In order to realize different mode of motion, several air cavity can be inflated simultaneously, realizes the distortion of different surfaces, thus realizes complicated motion.
Claims (5)
1. a Flexible-surface spherical mobile 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 respectively by a support tube (2) with each air cavity bottom surface (5), air cavity bottom surface (5), skeleton (1) and flexible surface (4) form multiple 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) forms gas circuit also has electromagnetic valve, 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 needs mobile, source of the gas is inflated to corresponding air cavity from internal rigid ball (3) through electromagnetic valve, corresponding flexible surface (4) deforms under the influence of air pressure to interact with the external environment condition of joint and produces propelling thrust, motion terminates, air cavity is vented, and flexible surface (4) recovers original form.
2. Flexible-surface spherical mobile robot according to claim 1, is characterized in that: described flexible surface (4) adopts soft material, has elasticity.
3. Flexible-surface spherical mobile robot according to claim 1, is characterized in that: described support tube (2), internal rigid ball (3), air cavity bottom surface (5) and skeleton (1) constitute the rigid construction of ball shape robot.
4. Flexible-surface spherical mobile robot according to claim 1, is characterized in that: robot, when moving, can be different several independent air inflations simultaneously.
5. Flexible-surface spherical mobile 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 |
Applications Claiming Priority (3)
| 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 CN103158799A (en) | 2013-06-19 |
| CN103158799B true 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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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103587600B (en) * | 2013-11-12 | 2016-01-13 | 上海大学 | Practical rapid inflation spherical robot |
| 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 |
| CN105479463B (en) * | 2016-01-26 | 2017-10-17 | 清华大学 | A kind of deformable flexible robot Electromagnetically actuated based on liquid metal |
| 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 |
| CN110774292B (en) * | 2019-10-25 | 2021-01-12 | 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 |
| CN115723871B (en) * | 2022-11-01 | 2023-08-15 | 浙大城市学院 | Spherical robot |
Citations (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 |
| CN102219032A (en) * | 2011-06-07 | 2011-10-19 | 中国人民解放军理工大学工程兵工程学院 | Soft-shell spherical robot |
| CN102431605A (en) * | 2011-10-27 | 2012-05-02 | 北京邮电大学 | Sphere-wheel compound transformable mobile 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 |
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2013
- 2013-03-21 CN CN201310091215.4A patent/CN103158799B/en not_active Expired - Fee Related
Patent Citations (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 |
| CN102219032A (en) * | 2011-06-07 | 2011-10-19 | 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 |
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| CN103158799A (en) | 2013-06-19 |
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