CN103465992B - Jet spherical robot - Google Patents
Jet spherical robot Download PDFInfo
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- CN103465992B CN103465992B CN201310378865.7A CN201310378865A CN103465992B CN 103465992 B CN103465992 B CN 103465992B CN 201310378865 A CN201310378865 A CN 201310378865A CN 103465992 B CN103465992 B CN 103465992B
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- ducted fan
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- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 230000005484 gravity Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 230000002146 bilateral effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Abstract
Jet spherical robot, is made up of spherical shell and inner kinematic mechanism.Spherical shell is connected by bearing with kinematic mechanism, and kinematic mechanism and spherical shell can rotate around horizontal center line.Spherical shell adopts cylinder mould shape non-tight structure.Kinematic mechanism is made up of two ducted fans, bracing frame and weights.Two ducted fans are equidistantly arranged on both sides, elevation profile, and weight is connected on bracing frame by rigid bar.During motion, when two ducted fan constant velocity rotation produce identical thrust, thrust promotes weight, and internal motion mechanism center-of-gravity position changes, and spherical shell, around horizontal center line twirl, realizes forward movement; When two ducted fan variable speeds rotate small one and large one thrust of generation, also produce deflecting torque at forward movement, robot is around vertical direction turning motion simultaneously.The present invention adopts jet propulsion mode, compared with the motor drive mode of traditional spheroidal robot, has structure simpler, light and handy, and robot manoevreability such as to increase substantially at the advantage.
Description
Art
The present invention relates to a kind of a kind of Jet spherical robot that can be used for environment detection, investigation and toy entertainment field.
Background technology
The general name of ball shape robot or spherical mechanism to be a class by movement executing mechanism, sensor, controller the be arranged on system in global shell.Such mechanism relies on movement executing mechanism to change center of gravity, thus realizes front and back and the yaw motion of robot.This kind of robot has good dynamic and static state balance, can not produce instability status because of collision.A.Halme, T.SchonbergandY.Wang, MotionControlofaSphericalMobileRobot, 4thIEEEInternationalWorkshoponAdvancedMotionControlAMC ' 96, MieUniversity, Japan1996. describe a kind of ball shape robot of the designs such as the AarneHalme of Finland and applied for patent, this ball shape robot have employed a single wheel rolled in spherical shell to drive the motion of whole ball shape robot; BhattacharyaS.andS.K.Agrawal.Sphericalrollingrobot:adesi gnandmotionplanningstudies [J] .IEEETransonRoboticsandAutomation, 2000,16 (6): the 835-839. a kind of drive schemes utilizing principle of conservation of momentum describing the people such as Bhattacharya and Agrawal design, this robot controls the rotating direction of spheroid, the speed of motion and acceleration/accel by the rotating speed of two electric machine control, two orthogonal rotating disks; Chinese invention patent application 01118289.X, the ball shape robot omnibearing traveling gear improved discloses the patent of an omni-bearing spherical robot of Beijing University of Post & Telecommunication's application, and it is the motion being realized ball shape robot by the omnibearing movable mechanism of in ball.Applicant had also once applied for the patent of a ball shape robot, and it moves spherical shell by motor straight tape splicing to carry out forward-reverse, realized the turning of ball shape robot by swinging weight.
The ball shape robot of foregoing invention or design is all adopt motor to drive to change center of gravity mode, and spherical shell is closed, structure relative complex, and weight per unit volume is large, and maneuvering performance is restricted.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, provides the Jet spherical robot that a kind of structure is simple, lightweight, have better landform adaptive capacity and stronger hill climbing ability.
Technical solution of the present invention is: Jet spherical robot, comprise spherical shell and internal motion mechanism, connected by bearing between spherical shell and internal motion mechanism, can rotate around horizontal center line between kinematic mechanism and spherical shell, spherical shell adopts non-tight cylinder mould shape, profile is spherical, can pass in and out air-flow, it is characterized in that: a bearing seat is installed respectively along the two ends of elevation profile symmetry in spherical shell inside; Inner kinematic mechanism is made up of two ducted fans, bracing frame and weights etc.Two ducted fans, by the ducted fan mount pad above bracing frame, are equidistantly arranged on bilateral symmetry position, elevation profile.Weight is connected on bracing frame by a rigid bar, and the overall center of gravity of robot is on the lower side, has auto stability.During motion, as two ducted fan constant velocity rotation, when producing the identical thrust of size, thrust changes weight position, thus changes internal motion mechanism center-of-gravity position, and robot spherical shell, around horizontal center line twirl, realizes forward movement; When two ducted fan non-uniform movements, when producing small one and large one thrust, also produce deflecting torque at the center-of-gravity position changing internal motion mechanism, robot can rotate around vertical direction, realizes turning motion simultaneously.
The present invention's beneficial effect compared with prior art:
(1) this invention is different from the motor drive schemes of existing ball shape robot, and robot adopts jet propulsion mode, and its landform adaptive capacity and hill climbing ability are improved, and maneuvering performance is better.
(2) this invention adopts jet-propelled ducted fan driving engine, and robot spherical shell adopts wire mesh cage structures, and ducted fan is installed succinct, and robot unit mass is little.
(3) this invention is by changing ducted fan stagger angle, can realize " floating type " progression rapidly.
Accompanying drawing explanation
Fig. 1 is that the master of a specific embodiments of the present invention cuts open schematic diagram;
Fig. 2 is that schematic diagram is cutd open in the side of a specific embodiments of the present invention;
Fig. 3 is the graphics of the cylinder mould shape spherical shell of a specific embodiments of the present invention;
Fig. 4 is the second embodiment of the present invention, and the ducted fan line of centres is positioned at the above installation side of horizontal center line and cuts open schematic diagram;
Fig. 5 is the third embodiment of the present invention, and the ducted fan line of centres is positioned at the following installation side of horizontal center line and cuts open schematic diagram;
Fig. 6 is the present invention's the 4th kind of embodiment, and ducted fan and the angled installation side of horizontal surface cut open schematic diagram.
Detailed description of the invention
As shown in Figure 1, Figure 2, Figure 3 shows, one embodiment of the present of invention are: Jet spherical robot is made up of spherical shell 1 and internal motion mechanism.Be connected left and right respectively by left bearing 10 and right bearing 3 between internal motion mechanism with spherical shell 1, can relatively rotate around horizontal center line between internal motion mechanism and spherical shell.Spherical shell 1 is made up of latitude annulus 15, longitude annulus 16,17,18 and left bearing mount pad 2, right bearing mount pad 9.Latitude annulus 15 number N1>=4, become radial around horizontal center line and angularly distribute; Longitude annulus number N2>=1, and symmetrical along elevation profile; Left shaft holder 9 and right bearing seat 2 are equidistantly fixed on the inner the right and left of spherical shell along elevation profile symmetry.Internal motion mechanism is by bracing frame 7, left ducted fan 12, right ducted fan 6, weight 14, rigid bar 13 and be fixed on left minor axis 11 on bracing frame, right minor axis 4 forms.Left ducted fan 12, right ducted fan 6, by the left and right ducted fan mount pad on bracing frame 7, equidistantly along elevation profile are arranged on the left and right sides, elevation profile, and the line of centres of two ducted fans is positioned on horizontal center line; Weight 14 is connected on bracing frame 7 by rigid bar 13, is positioned on spherical shell elevation profile; Left minor axis 11 is enclosed within left bearing 10 inner ring, and right minor axis 4 is enclosed within right bearing 3 inner ring.Due to the effect of weight, the overall center of gravity of robot is below horizontal center line, and robot has auto stability.When motion, when left and right ducted fan 12,6 produces identical thrust, thrust promotes internal motion mechanism and deflects around horizontal center line, and the overall center-of-gravity position of robot changes, and spherical shell rotates around horizontal center line, realizes robot forward movement; When left and right ducted fan 12,6 rotating speed is different, produce when varying in size thrust, robot also produces yaw motion at forward movement simultaneously, realizes turning to of robot.
As shown in Figure 4, the second embodiment of the present invention is: the line of centres of left ducted fan 12, right ducted fan 6 is positioned at more than spherical shell 1 horizontal center line line, and other mechanisms are similar to embodiment 1 to function.
As shown in Figure 5, the third embodiment of the present invention is: the line of centres of left ducted fan 12, right ducted fan 6 is positioned at below spherical shell 1 horizontal center line line, and other mechanisms are similar to embodiment 1 to function.
As shown in Figure 6, the 4th kind of embodiment of the present invention is: the stagger angle of two ducted fans 6,12 and the angled θ of horizontal surface, other mechanisms are similar to embodiment 1 to function.When motion, fan section thrust component offsets part even all gravity of ball shape robot, and all the other thrust components promote ball shape robot, realize " floating type " forward movement.
Claims (7)
1. Jet spherical robot, is comprised spherical shell and internal motion mechanism, is connected between spherical shell and internal motion mechanism by bearing, can rotate around horizontal center line between kinematic mechanism and spherical shell, spherical shell adopts non-tight cylinder mould shape, and profile is spherical, can pass in and out air-flow; It is characterized in that: a bearing seat is installed respectively along the two ends of elevation profile symmetry in spherical shell inside; Inner kinematic mechanism is made up of two ducted fans, bracing frame and weights etc., two ducted fans are by the ducted fan mount pad above bracing frame, equidistantly be arranged on bilateral symmetry position, elevation profile, the line of centres of two ducted fans and horizontal center line are in same level, and weight is connected on bracing frame by a rigid bar; When two ducted fan constant velocity rotation produce identical thrust, thrust changes internal motion mechanism center of gravity, and robot realizes forward movement; When two ducted fan differentials rotate the thrust producing and vary in size, robot produces deflecting torque at forward movement simultaneously, realizes turning motion.
2. Jet spherical robot according to claim 1, is characterized in that: described robot two ducted fan lines of centres are more than spherical shell horizontal center line.
3. Jet spherical robot according to claim 1, is characterized in that: described robot two ducted fan lines of centres are below spherical shell horizontal center line.
4. Jet spherical robot according to claim 1, is characterized in that: described robot ducted fan installation direction and horizontal surface exist certain angle, produces " floating type " forward movement.
5. Jet spherical robot according to claim 1, is characterized in that: described ducted fan can be electric ducted fan, also can be the dynamic ducted fan of oil.
6. Jet spherical robot according to claim 1, it is characterized in that: described robot spherical shell adopts net cage structure, spherical shell is formed by connecting by longitude annulus and latitude annulus, latitude annulus number N1>=4, longitude annulus number N2>=2.
7. Jet spherical robot according to claim 1, it is characterized in that: described robot spherical shell adopts net cage structure, spherical shell is woven into netted by material, profile is spherical, and mesh shape is polygon or the circle of limit number N3>=3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310378865.7A CN103465992B (en) | 2013-08-27 | 2013-08-27 | Jet spherical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310378865.7A CN103465992B (en) | 2013-08-27 | 2013-08-27 | Jet spherical robot |
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| Publication Number | Publication Date |
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| CN103465992A CN103465992A (en) | 2013-12-25 |
| CN103465992B true CN103465992B (en) | 2016-04-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310378865.7A Expired - Fee Related CN103465992B (en) | 2013-08-27 | 2013-08-27 | Jet spherical robot |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104908964A (en) * | 2014-06-06 | 2015-09-16 | 苏州晓炎自动化设备有限公司 | Spherical robot |
| CN104608152B (en) * | 2015-01-30 | 2017-07-11 | 李群机器人科技（深圳）有限责任公司 | A kind of integrated robot with efficient radiating apparatus |
| CN104965430A (en) * | 2015-06-29 | 2015-10-07 | 广州杰赛科技股份有限公司 | Environment detection device, power supply control method thereof and emergency monitoring system |
| CN106114620A (en) * | 2016-08-18 | 2016-11-16 | 杭州骑客智能科技有限公司 | Big wheelbarrow |
| CN106080837A (en) * | 2016-08-18 | 2016-11-09 | 杭州骑客智能科技有限公司 | A kind of big wheelbarrow |
| CN110524521A (en) * | 2019-09-11 | 2019-12-03 | 孙文卿 | A kind of transfer of intellect service robot |
| CN110920773B (en) * | 2019-12-06 | 2021-07-20 | 张占锁 | Rolling off-road device |
| CN114536352B (en) * | 2020-11-27 | 2023-09-12 | 三赢科技（深圳）有限公司 | Mechanical positioning structure and manipulator assembly |
| CN113492936B (en) * | 2021-08-02 | 2023-03-14 | 天津大学 | Trolley with air injection auxiliary power mechanism and control method thereof |
| CN113650691B (en) * | 2021-08-30 | 2023-05-30 | 西安交通大学 | All-terrain obstacle-surmounting spherical robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4505346A (en) * | 1982-03-29 | 1985-03-19 | Leonard E. Mueller | Rolling vehicle |
| GB2165196A (en) * | 1984-10-09 | 1986-04-09 | Dr Taha Khalil Aldoss | Spherical vehicle |
| CN1550192A (en) * | 2003-03-05 | 2004-12-01 | ������������ʽ���� | Self-walking sweeper and charging device used thereof |
| CN201313307Y (en) * | 2008-11-10 | 2009-09-23 | 战强 | Spherical environment detection robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2804936B1 (en) * | 2000-02-15 | 2002-06-07 | Bertin Technologies Sa | REMOTE CONTROL FLYING VEHICLE, IN PARTICULAR FOR SURVEILLANCE OR INSPECTION |
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2013
- 2013-08-27 CN CN201310378865.7A patent/CN103465992B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4505346A (en) * | 1982-03-29 | 1985-03-19 | Leonard E. Mueller | Rolling vehicle |
| GB2165196A (en) * | 1984-10-09 | 1986-04-09 | Dr Taha Khalil Aldoss | Spherical vehicle |
| CN1550192A (en) * | 2003-03-05 | 2004-12-01 | ������������ʽ���� | Self-walking sweeper and charging device used thereof |
| CN201313307Y (en) * | 2008-11-10 | 2009-09-23 | 战强 | Spherical environment detection robot |
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| CN103465992A (en) | 2013-12-25 |
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Granted publication date: 20160406 |