CN103587602A - Active simple pendulum spherical robot - Google Patents
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- CN103587602A CN103587602A CN201310569776.0A CN201310569776A CN103587602A CN 103587602 A CN103587602 A CN 103587602A CN 201310569776 A CN201310569776 A CN 201310569776A CN 103587602 A CN103587602 A CN 103587602A
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 6
- 229910052744 lithium Inorganic materials 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 208000020442 loss of weight Diseases 0.000 claims description 3
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- 230000001141 propulsive effect Effects 0.000 description 3
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Abstract
The invention discloses an active simple pendulum spherical robot. The active simple pendulum spherical robot comprises a spherical shell and a simple pendulum. The spherical shell is formed by matching a front hemispherical shell body with a rear hemispherical shell body in a screwed mode through screws. In an inner cavity of the spherical shell, the simple pendulum is installed through a front fixing strip and a rear fixing strip. According to the simple pendulum, a long-axis motor and a short-axis motor are coaxially installed in an inside casing, wherein the long-axis motor is directly connected with the front hemispherical shell body and drives the front hemispherical shell body to rotate around the central axis Y of the inner casing, the short-axis motor drives a driving pendulum to rotate around an X axis perpendicular to the central axis Y through a transmission mechanism, and therefore the spherical robot can walk stably in an all-dimensional mode. The active simple pendulum spherical robot is compact in structure, high in rigidity, and smooth and steady in movement.
Description
Technical field
The present invention relates to a kind of robot, particularly a kind of active single pendulum ball shape robot.
Background technology
Ball shape robot is a kind of mobile robot with roll mode walking, and its driving principle is mainly by the motion of internal drive, to break the static balancing of spheroid, and motion flexibly, can realize pivot stud and omnibearing ambulation.
Consult existing domestic and foreign literature and find, existing ball shape robot adopts eccentric massblock type of drive mostly, and machine eccentric moment and moment of inertia drive lower realization turn to and walk.But present ball shape robot adopts double pendulum centre-of gravity shift to drive, cannot guarantee that two eccentric massblocks synchronously swing under same motor drives, cause robot drive torque fluctuation larger, stable propulsive effort cannot be provided, make that robot motion's stability is low, vibrations are large.And motor lateral arrangement drives pendulum mode, two drive motor distributions in 90 °, robot static balancing is controlled complicated, and after being collided, attitude is adjusted difficulty.
Adopt the ball shape robot of eccentric massblock type of drive, driver element carries out eccentric massblock transmission by transmission device, the stationarity of transmission device greatly affects mass and swings, how to guarantee that transmission device transmission is compact, gap minimum is difficult problem of design study, and key is transmission device to carry out installation site adjustment.
Consult existing domestic and foreign literature and find, in order to alleviate ball shape robot weight, existing robot interior adopts inner frame structure more, but one of this structure is main stressed member, in robot motion's process, inside casing deflection is large, robot motion's substantial deviation desired trajectory, moves uncontrollable.For driving pendulum, once pivot angle is excessive, due to effect of inertia, the moment that eccentric massblock gravity produces, by the moment that is greater than drive motor and can provides, causes robot motion out of control.Yet ball shape robot is to driving pendulum pivot angle safety control aspect Shortcomings at present.
Summary of the invention
The object of the invention is to have defect for prior art, a kind of active single pendulum ball shape robot is provided, with meet transmission device gap adjustable, drive that pendulum pivot angle is controlled, drive motor axis arranged, high rigidity inside casing and single pendulum control multinomial technical requirements, compact conformation, rigidity is high, and motion steadily.
For achieving the above object, design of the present invention is: design the spheroid that single pendulum structure is equipped with in an inside, and spheroid dimidiation, two hemispheres is by being threaded.Single pendulum minor axis axis overlaps with ball centre with the intersection point of balance staff axis.Spheroid is connected by inside casing with single pendulum, and inside casing can rotate around central axis Y with respect to spheroid, and single pendulum can rotate around the X-axis line perpendicular to Y, rotates by driven by servomotor.In order to guarantee sphere structure symmetry, servomotor is all arranged along axis Y.Centre-of gravity shift by inside casing and single pendulum is moved, for robot provides propulsive effort.Single pendulum structure not only provides centre-of gravity shift to drive, and the The Cloud Terrace support of design can be installed detecting and data acquisition equipment, and robot can better be conformed and image data.For preventing the out of control and drive efficiency of robot motion, centre-of gravity shift angle should be in certain scope, and transmission device must closely cooperate.In inside casing, symmetrical design expandable stent, moment of torsion receiving plate improve robot integral rigidity greatly.
According to foregoing invention design, the present invention adopts following technical proposals:
A kind of active single pendulum ball shape robot.It comprises a spherical housing and a single pendulum, and described spherical housing screws by a front Loadings On Hemispherical Shell and a rear quarter housing spherical shell forming with screw.In described spherical housing inner chamber, by fixed strip after a front fixed strip and, described single pendulum is installed.Described single pendulum is that coaxial line is installed a major axis motor and a minor axis motor in an inside casing, this major axis motor straight connects in succession and drives described first half shell spherical shell to rotate around inside casing central axis Y, this minor axis motor drives pendulum to rotate around the X-axis line vertical with axis Y by one of transmission device transmission, realizes ball shape robot omnibearing stabilized walking.
Described inside casing is symmetrical U-shaped loss of weight positioning groove, on U-lag, by screw, described narrow frame expandable stent, wide frame expandable stent, minor axis motor support member and moment of torsion receiving plate is installed; Described inside casing middle part is rotated a minor axis is installed by two bearings and two bearing seats.
Described minor axis and a The Cloud Terrace support pass through key
and key
be fixedly connected with, this minor axis overlaps with this The Cloud Terrace carriage center line, carries out coaxial synchronous rotation, and detecting and data acquisition equipment are fixed on this The Cloud Terrace support.
Described minor axis group of motors is installed on by screw can be moving along y-axis shift in described inside casing well-distributed U-lag: described minor axis motor is fixed on a minor axis electric machine support, described minor axis electric machine support is fixed by screws on described inside casing by two minor axis group of motors location adjusting devices, can regulate and fix the position of this minor axis group of motors along Y-axis; The rotating shaft of minor axis motor is rotated along X-axis line by the bevel drive live stub axle of described two engagements, produces centre-of gravity shift drive torque.
On described inside casing, by nut, be symmetrically installed with limit shaft after a front limit axle and, a balance staff angle range of described driving pendulum is carried out to mechanical position limitation, pivot angle scope is ± 45 °.
Described driving pendulum is: there is key described balance staff one end
be connected with described minor axis, one end is to welding a battery case, and there is endoporus one end of this balance staff and this minor axis, and power supply, by wiring in hole, is at utmost guaranteed the static steadily of centre of gravity of described ball shape robot; Described battery case lower ending opening, can install lithium cell in it, and surrounding has ventilation slot, in the time of can realizing powered battery, dispels the heat; Battery installs, and a disc counterweight is connected with this battery case by screw, and this disc counterweight, battery case and lithium cell form to drive puts counterweight.
Described major axis motor is fixedly mounted in inside casing, described inside casing passes through respectively two bearings and bearing seat and a fore shell is put connector and back cover pendulum connector, and described fore shell pendulum connector is connected spherical housing by a front fixed strip with fixed strip after respectively with back cover pendulum connector; The rotor of described major axis motor is put connector by fore shell and is fixedly connected with front Loadings On Hemispherical Shell.
The present invention and prior art will compare, and have following apparent outstanding substantive distinguishing features and remarkable advantage:
1, the active mono-pendulum type ball shape robot of the present invention not only adopts single pendulum centre-of gravity shift type of drive, and two servo motor rotor deads in line, and the fluctuation of robot drive torque is little, and robot motion is steady and shake little, simple in structure.
2, the active mono-pendulum type ball shape robot of the present invention is installed expandable stent by U-shaped groove, slightly increasing under the prerequisite of robot weight, greatly improves robot integral rigidity, and control accuracy is high, and path of motion is accurate.
3, the minor axis group of motors location adjusting device of the active mono-pendulum type ball shape robot of the present invention can regulate minor axis motor transmission mechanism gap, makes finishing bevel gear cuter engagement closely, to guarantee stable drive and can transmit maximum drive torque, robot motion's good stability.
4, the limit shaft of the active mono-pendulum type ball shape robot of the present invention can mechanical position limitation be controlled balance staff pivot angle, prevent because of the excessive robot motion of causing of pivot angle out of control, the safety while improving robot motion.
5, the active single pendulum ball shape robot of the present invention The Cloud Terrace support and minor axis coaxial synchronous rotate, and soon, robot motion is flexible, is swift in response for position, attitude data feedback.
Accompanying drawing explanation
Fig. 1 is the structural representation of one embodiment of the invention.
Fig. 2 is the structural representation of single pendulum in Fig. 1.
Fig. 3 is the birds-eye view of Fig. 2.
Fig. 4 drives the structural representation of pendulum in Fig. 3.
Fig. 5 is the parts explosion of the short-and-medium spindle motor location adjusting device of Fig. 3.
Fig. 6 is the short-and-medium spindle motor group of Fig. 3 parts explosion.
The specific embodiment
Details are as follows by reference to the accompanying drawings for the preferred embodiments of the present invention:
Embodiment mono-:
With reference to figure 1～Fig. 6, this active single pendulum ball shape robot, it comprises a spherical housing and a single pendulum (5).Described spherical housing screws the spherical shell of formation by a front Loadings On Hemispherical Shell (2) and a rear quarter housing (3) with screw; In described spherical housing inner chamber, by fixed strip (4) after a front fixed strip (1) and, described single pendulum (5) is installed; Described single pendulum (5) is that coaxial line is installed a major axis motor (9) and a minor axis motor (34) in an inside casing (6), this major axis motor (9) directly connects the described first half shell spherical shell of driving and rotates around inside casing (6) central axis Y, this minor axis motor (34) drives pendulum (18) to rotate around the X-axis line vertical with axis Y by one of transmission device transmission, realizes ball shape robot omnibearing stabilized walking.
Embodiment bis-:
The present embodiment and embodiment mono-are basic identical, and special feature is as follows:
Described inside casing (6) is symmetrical U-shaped loss of weight positioning groove, on U-lag, by screw, described narrow frame expandable stent (10,15), wide frame expandable stent (8,16), minor axis motor support member (11) and moment of torsion receiving plate (19,24) is installed; Described inside casing (6) middle part is rotated a minor axis (28) is installed by two bearings (27A, 27B) and two bearing seats (29A, 29B).
3. active single pendulum ball shape robot according to claim 2, described minor axis (28) passes through key with a The Cloud Terrace support (12)
(26-B) and key
(26-C) be fixedly connected with, this minor axis (28) overlaps with this The Cloud Terrace support (12) line of centers, carries out coaxial synchronous rotation, and detecting and data acquisition equipment are fixed on this The Cloud Terrace support (12).
Described minor axis group of motors (14) is installed on by screw can be moving along y-axis shift in described inside casing (6) well-distributed U-lag: described minor axis motor (34) is fixed on a minor axis electric machine support (14-C), it is upper that described minor axis electric machine support (14-C) is fixed by screws in described inside casing (6) by two minor axis group of motors location adjusting devices (23,25), can regulate and fix the position of this minor axis group of motors (14) along Y-axis; The rotating shaft of minor axis motor (34) is rotated along X-axis line by finishing bevel gear cuter (21-A, 21-B) the transmission live stub axle (28) of described two engagements, produces centre-of gravity shift drive torque.
Described inside casing (6) is upper is symmetrically installed with limit shaft (22) after a front limit axle (20) and by nut, and a balance staff (30) angle range of described driving being put to (18) carries out mechanical position limitation, and pivot angle scope is ± 45 °.
Described driving pendulum (18) is: there is key described balance staff (30) one end
(26-D) be connected with described minor axis (28), one end is to welding a battery case (31), and there is endoporus one end of this balance staff (30) and this minor axis (28), and power supply, by wiring in hole, is at utmost guaranteed the static steadily of centre of gravity of described ball shape robot; Described battery case (31) lower ending opening, can install lithium cell in it, and surrounding has ventilation slot, in the time of can realizing powered battery, dispels the heat; Battery installs, and a disc counterweight (32) is connected with this battery case (31) by screw, and this disc counterweight (32), battery case (31) and lithium cell form to drive puts counterweight (33).
Described major axis motor (9) is fixedly mounted in inside casing (6), described inside casing (6) is respectively by two bearings (27A, 27B) and bearing seat (29A, 29B) and a fore shell pendulum connector (7) and back cover pendulum connector (17), and described fore shell pendulum connector (7) is connected spherical housing by a front fixed strip (1) with fixed strip (4) after respectively with back cover pendulum connector (17); The rotor of described major axis motor (9) is put connector (7) by fore shell and is fixedly connected with front Loadings On Hemispherical Shell (2).
Embodiment tri-:
As shown in Figure 1, this active single pendulum ball shape robot comprises spherical housing and a single pendulum (5), and described single pendulum (5) is installed in spherical housing; This single pendulum (5) comprising: inside casing (6), narrow/wide frame expandable stent (8,10,15,16), forward and backward shell pendulum connector (7,17), moment of torsion receiving plate (19,24), minor axis motor support member (11) drive pendulum (18), The Cloud Terrace support (12), minor axis group of motors (14), minor axis group of motors location adjusting device (23,25) and limit shaft (20,22); Described inside casing (6) connects a fore shell pendulum connector (7) and back cover pendulum connector (17) by bearing, described fore shell pendulum connector (7) is fixedly connected with spherical housing by described front fixed strip (1) with rear fixed strip (4) with back cover pendulum connector (17), thereby this single pendulum (5) can be rotated around inside casing (6) major axis Y relative to spherical housing;
A major axis motor (9) stator is fixedly connected with described inside casing (6), this major axis motor (9) rotor is fixedly connected with and drives described front Loadings On Hemispherical Shell (2) with described front Loadings On Hemispherical Shell (2) by described fore shell pendulum connector (7), and spherical housing rotates around Y-axis under the driving of major axis motor (9); It is upper that a minor axis motor (34) stator is fixed on a minor axis electric machine support (14-C), and this minor axis motor (34) rotor connects a finishing bevel gear cuter
(21-B), this finishing bevel gear cuter
(21-B) with an angular contact bearing 7306(14-A) interference fixes and pass through gear-bearing supporting (14-B) and be installed on described minor axis electric machine support (14-C) and go up, finishing bevel gear cuter
(21-B) with another finishing bevel gear cuter
(21-A) engaged transmission, described finishing bevel gear cuter
(21-A) be fixedly set in a minor axis (28) above, described minor axis (28) rotates around minor axis central axis X under the driving of described minor axis motor (34); This major axis motor (9) axis overlaps with this minor axis motor shaft (34) line and passes through the spherical housing centre of sphere; There is key a balance staff (30) one end
(26-D) connect described minor axis (28), the other end drives pendulum counterweight (33) to be fixedly connected with one, and this drives the geometric centre of pendulum counterweight (33) on this balance staff (30) axis; This major axis motor (9) axis, minor axis motor (34) axis, minor axis (28) axis and balance staff (30) axes intersect are in the described spherical housing centre of sphere, by described major axis motor (9) and minor axis motor (34), drive, can realize described driving pendulum counterweight (33) along X-axis and Y-axis skew, make ball shape robot comprehensive steady walking on the ground;
Described inside casing (6) is designed with symmetrical U-shaped groove, and this U-shaped groove can effectively alleviate inside casing weight; Simultaneously, this U-shaped groove is used for installing described narrow frame expandable stent (10,15), wide frame expandable stent (8,16), moment of torsion receiving plate (19,24) and minor axis motor support member (11), generally speaking, robot weight increases by a small margin, but the installation of expandable stent improves the rigidity of system greatly, and system force distortion is little, control accuracy is high, and path of motion is accurate;
Described minor axis group of motors (14) is installed in the U-shaped groove of described inside casing (6), and U-shaped groove plays guide-localization effect; Described minor axis group of motors location adjusting device (23,25) is comprised of nut (B) and the set screw (C) of described base (A), fine thread, and this base (A) is fixedly connected with described inside casing (6); Before this minor axis group of motors (14) mounting screw group is tightened, by this set screw (C), can make this minor axis group of motors (14) moving along y-axis shift in U-shaped groove, make described finishing bevel gear cuter (21-A, 21-B) closely engagement, minor axis motor (34) moment described in smooth transfer, for robot motion provides larger propulsive effort, make the more stable walking of robot;
Described limit shaft (20, 22) the definite plane of axis and minor axis (28) axis is ± 45 ° with the angle between described inside casing (6) centre plane, when described balance staff (30) pivot angle is ± 45 °, this balance staff (30) will be encountered limit shaft (20, 22) and pivot angle can not continue to increase, there is stall in described minor axis motor (34), and then this minor axis motor (34) reversion, control described balance staff (30) pivot angle within the scope of ± 45 °, the moment that described driving pendulum counterweight (33) gravity produces will can not be greater than the moment that this minor axis motor (34) can provide, can guarantee that robot is in motion interior walking not out of control.
Described The Cloud Terrace support (12) pivot center overlaps with minor axis (28) pivot center, this The Cloud Terrace support (12) rotates with minor axis (28) coaxial synchronous, detecting and data acquisition equipment (not shown) are fixed on this The Cloud Terrace support (12), high-speed receiving position, attitude data, carry out robot motion's adjustment, robot motion is flexible, is swift in response.
The above specific embodiment is used for the present invention that explains, rather than invention is limited, and in the protection domain of spirit of the present invention and claim, any modification and change that the present invention is made, all drop on protection scope of the present invention.
Claims (7)
1. an active single pendulum ball shape robot, comprises a spherical housing and a single pendulum (5), it is characterized in that:
A. described spherical housing screws the spherical shell of formation by a front Loadings On Hemispherical Shell (2) and a rear quarter housing (3) with screw;
B. in described spherical housing inner chamber, by fixed strip (4) after a front fixed strip (1) and, described single pendulum (5) is installed;
C. described single pendulum (5) is that coaxial line is installed a major axis motor (9) and a minor axis motor (34) in an inside casing (6), this major axis motor (9) directly connects the described first half shell spherical shell of driving and rotates around inside casing (6) central axis Y, this minor axis motor (34) drives pendulum (18) to rotate around the X-axis line vertical with axis Y by one of transmission device transmission, realizes ball shape robot omnibearing stabilized walking.
2. active single pendulum ball shape robot according to claim 1, it is characterized in that described inside casing (6) is symmetrical U-shaped loss of weight positioning groove, is provided with described narrow frame expandable stent (10,15), wide frame expandable stent (8,16), minor axis motor support member (11) and moment of torsion receiving plate (19,24) by screw on U-lag; Described inside casing (6) middle part is rotated a minor axis (28) is installed by two bearings (27A, 27B) and two bearing seats (29A, 29B).
3. active single pendulum ball shape robot according to claim 2, described minor axis (28) passes through key with a The Cloud Terrace support (12)
(26-B) and key
(26-C) be fixedly connected with, this minor axis (28) overlaps with this The Cloud Terrace support (12) line of centers, carries out coaxial synchronous rotation, and detecting and data acquisition equipment are fixed on this The Cloud Terrace support (12).
4. active single pendulum ball shape robot according to claim 1, it is characterized in that a minor axis group of motors (14) is installed in described inside casing (6) well-distributed U-lag and can be moved along y-axis shift by screw: described minor axis motor (34) is fixed on a minor axis electric machine support (14-C), it is upper that described minor axis electric machine support (14-C) is fixed by screws in described inside casing (6) by two minor axis group of motors location adjusting devices (23,25), can regulate and fix the position of this minor axis group of motors (14) along Y-axis; The rotating shaft of minor axis motor (34) is rotated along X-axis line by finishing bevel gear cuter (21-A, 21-B) the transmission live stub axle (28) of described two engagements, produces centre-of gravity shift drive torque.
5. active single pendulum ball shape robot according to claim 1, it is characterized in that described inside casing (6) is upper is symmetrically installed with limit shaft (22) after a front limit axle (20) and by nut, a balance staff (30) angle range to described driving pendulum (18) carries out mechanical position limitation, and pivot angle scope is ± 45 °.
6. active single pendulum ball shape robot according to claim 5, is characterized in that: described driving pendulum (18) is: there is key described balance staff (30) one end
(26-D) be connected with described minor axis (28), one end is to welding a battery case (31), and there is endoporus one end of this balance staff (30) and this minor axis (28), and power supply, by wiring in hole, is at utmost guaranteed the static steadily of centre of gravity of described ball shape robot; Described battery case (31) lower ending opening, can install lithium cell in it, and surrounding has ventilation slot, in the time of can realizing powered battery, dispels the heat; Battery installs, and a disc counterweight (32) is connected with this battery case (31) by screw, and this disc counterweight (32), battery case (31) and lithium cell form to drive puts counterweight (33).
7. active single pendulum ball shape robot according to claim 1, it is characterized in that: described major axis motor (9) is fixedly mounted in inside casing (6), described inside casing (6) is respectively by two bearings (27A, 27B) and bearing seat (29A, 29B) and a fore shell pendulum connector (7) and back cover pendulum connector (17), and described fore shell pendulum connector (7) is connected spherical housing by a front fixed strip (1) with fixed strip (4) after respectively with back cover pendulum connector (17); The rotor of described major axis motor (9) is put connector (7) by fore shell and is fixedly connected with front Loadings On Hemispherical Shell (2).
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| CN201310569776.0A CN103587602B (en) | 2013-11-13 | 2013-11-13 | Active simple pendulum spherical robot |
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| CN201310569776.0A CN103587602B (en) | 2013-11-13 | 2013-11-13 | Active simple pendulum spherical robot |
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| CN103587602B CN103587602B (en) | 2015-10-07 |
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Cited By (8)
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| CN103904824A (en) * | 2014-03-14 | 2014-07-02 | 上海大学 | Barrel-shaped mechanism with self-power-generation function |
| CN104002887A (en) * | 2014-05-26 | 2014-08-27 | 上海大学 | Fast steering spherical robot |
| CN105181573A (en) * | 2015-06-16 | 2015-12-23 | 大连理工大学 | Ground rolling friction coefficient spherical sensor facing unstructured environment |
| CN106005080A (en) * | 2016-06-02 | 2016-10-12 | 东北农业大学 | Crop bottom-layer stalk routing inspection spherical robot with jumping obstacle avoiding function |
| CN106347512A (en) * | 2016-09-14 | 2017-01-25 | 北京邮电大学 | Active spherical robot with double pendulums |
| CN106741291A (en) * | 2017-01-26 | 2017-05-31 | 西安豆芽电子科技有限公司 | Two-wheeled balanced robot based on single pendulum structure |
| CN107456761A (en) * | 2016-06-03 | 2017-12-12 | 秦皇岛两只老虎科技有限公司 | Spherical vehicle |
| TWI735215B (en) * | 2019-08-07 | 2021-08-01 | 日商神戶製鋼所股份有限公司 | Welding control method of portable welding robot, welding control device, portable welding robot and welding system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103904824A (en) * | 2014-03-14 | 2014-07-02 | 上海大学 | Barrel-shaped mechanism with self-power-generation function |
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| CN106347512A (en) * | 2016-09-14 | 2017-01-25 | 北京邮电大学 | Active spherical robot with double pendulums |
| CN106741291A (en) * | 2017-01-26 | 2017-05-31 | 西安豆芽电子科技有限公司 | Two-wheeled balanced robot based on single pendulum structure |
| TWI735215B (en) * | 2019-08-07 | 2021-08-01 | 日商神戶製鋼所股份有限公司 | Welding control method of portable welding robot, welding control device, portable welding robot and welding system |
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| Publication number | Publication date |
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| CN103587602B (en) | 2015-10-07 |
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