CN103895725A - Electromagnetism internal-driving-type spherical robot - Google Patents
Electromagnetism internal-driving-type spherical robot Download PDFInfo
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- CN103895725A CN103895725A CN201410092787.9A CN201410092787A CN103895725A CN 103895725 A CN103895725 A CN 103895725A CN 201410092787 A CN201410092787 A CN 201410092787A CN 103895725 A CN103895725 A CN 103895725A
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 40
- 229910052742 iron Inorganic materials 0.000 claims abstract description 20
- 230000005484 gravity Effects 0.000 claims abstract description 5
- 230000008859 change Effects 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 6
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 6
- 229920000747 poly(lactic acid) Polymers 0.000 claims description 6
- 239000004626 polylactic acid Substances 0.000 claims description 6
- 239000007779 soft material Substances 0.000 claims description 6
- 229920002725 thermoplastic elastomer Polymers 0.000 claims description 6
- 238000004040 coloring Methods 0.000 claims description 3
- 239000000696 magnetic material Substances 0.000 claims description 3
- 230000035699 permeability Effects 0.000 claims description 3
- 230000008901 benefit Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 241000404883 Pisa Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
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Abstract
The invention discloses an electromagnetism internal-driving-type spherical robot. The electromagnetism internal-driving-type spherical robot comprises an external elastic spherical shell, an internal rigid spherical shell, six connecting supporting rods, an iron ball and four electromagnet devices. The electromagnetism internal-driving-type spherical robot is characterized in that the external elastic spherical shell and the internal rigid spherical shell are respectively formed by connecting two hemispherical shells, the connecting supporting rods are used for connecting the external elastic spherical shell with the internal rigid spherical shell, the iron ball is freely placed in the internal rigid spherical shell, the electromagnet devices are fixedly installed on the inner surface of the external elastic spherical shell, the mass center of the robot is changed by controlling the electromagnet devices to attract the iron ball, and the robot can move under the drive of the gravity. Compared with a traditional spherical robot, the electromagnetism internal-driving-type spherical robot is simple and reliable in structure, stable and flexible in movement and high in controllability. Meanwhile, compared with the existing spherical robot, the driving mode of the electromagnetism internal-driving-type spherical robot is greatly simplified, the small-scale design is facilitated, serialization is easy to form, and the electromagnetism internal-driving-type spherical robot has the wide application prospect.
Description
Technical field
The invention belongs to electromechanical integration technology area, relate to moving ball anthropomorphic robot, specifically, relate to a kind of electromagnetism internal drive formula ball shape robot that utilizes electromagnetism absorption and conservation of angular momentum principle to drive, be convenient to carry out Miniaturization Design, be easy to form seriation, have broad application prospects.
Background technology
Ball shape robot is a kind of new structure walking robot that has spherical housing, walks with roll mode, has the features such as kinematic velocity is fast, off-road capability good, control is relatively simple.Ball shape robot is the breakthrough of robot motion's mode, its maximum feature is that mode of motion is special, spherical shell will make robot can after unstability, obtain maximum stability, compared with the wheeled robot of walking that rolls with wheel, do not have the problem of " overturning ", its globosity can freely be realized omnidirectional rolling walking to any direction rotation; Compared with walking or climbing robot, have the advantages that kinematic velocity is fast, load-carrying capacity is strong, and have driving less, control simple feature.In addition, ball shape robot modern design uniqueness, flexibly, turn radius is very little in action; Globosity has stronger self-recovery ability, and spherical shell also makes robot can roll across easily coarse landform.Meanwhile, because the resistance of motion of the resistance relative sliding of balls tumble point contact or the line contact of wheeled devices is much smaller, so ball shape robot also has advantages of that sport efficiency is high, energy consumes little.Because ball shape robot has many unique advantages, to extremely scientific and technical personnel's concern of the research of ball shape robot, be one of the hot issue in current robot research field.At present, ball shape robot has become a brand-new field of research, has and studies widely space and good application prospect.
Since the people such as Haier's nurse (Halme) of Helsinki, Finland University of Science and Technology made after first ball shape robot in 1996, ball shape robot becomes one of the focus in domestic and international Research on Intelligent Robots field gradually.Abroad, the priorities such as Italian University of Pisa, Uppsala Univ Sweden and Rotimdus company, NASA, Quebec, Canada Univ Sherbrooke are carried out ball shape robot research, release the ball shape robot of difference in functionality.Also have at home some units and scholar to start the exploration of aspect, the universities and colleges such as Beijing University of Post & Telecommunication, BJ University of Aeronautics & Astronautics, Shanghai Communications University, University Of Suzhou, the National University of Defense technology and Xian Electronics Science and Technology University are all obtaining certain achievement in research aspect ball shape robot research.
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: dolly drives, counterweight drives and three kinds of forms of wind drive.Dolly drive form poor controllability, easily skids or tumbles; Counterweight form needs multiple motors to drive, and load is excessive; Wind drive shortcoming is that load-carrying capacity is poor, depends on wind energy unduly.Existing ball shape robot all exists the deficiencies such as path of motion complexity, calculation of complex, more difficult control in actual applications.Structure is more complicated all, is difficult in practice apply and is difficult to carry out miniaturization and Seriation Design.
Summary of the invention
The object of the invention is to solve existing ball shape robot driver train complexity, path of motion complexity, uppity problem, propose that a kind of simple in structure, mechanism is reliable, motion flexibly, electromagnetism internal drive formula ball shape robot that controllability is strong.
In order to reach above-mentioned requirements, design of the present invention is:
The present invention adopts spherical mechanism, can be good at adapting to different terrain environment.Robot utilization is evenly distributed on the electromagnet apparatus of portion's elastic spherical shell inside face to being positioned over the barycenter of the iron ball generation attractive force change robot in internal rigid spherical shell, move according to conservation of angular momentum principle drive machines people, by the difference to electromagnet apparatus power-up sequence and time, can realize the flexible motion of robot.
According to foregoing invention design, the present invention adopts following technical proposals:
A kind of electromagnetism internal drive formula ball shape robot, comprise an outside elastic spherical shell, an internal rigid spherical shell, six connect strut bar, an iron ball and four electromagnet apparatus, it is characterized in that: described outside elastic spherical shell and internal rigid spherical shell are formed by connecting by two hemispherical Shells; Described connection strut bar is used for connecting outside elastic spherical shell and internal rigid spherical shell; Described iron ball is freely positioned in internal rigid spherical shell; Described electromagnet apparatus is fixedly mounted on outside elastic spherical shell inside face, by controlling electromagnet apparatus, iron ball is produced the barycenter of attractive force change robot, realizes the motion of robot under gravity drive.
Described outside elastic spherical shell (1) adopts soft material, and this soft material is thermoplastic elastomer TPE, has the feature of high resiliency, high strength, high resilience, and has good coloring, and soft-touch is aesthetic in appearance.
Described internal rigid spherical shell adopts polylactic acid PLA material, and this strength of material is high, and rigidity is large.
Described internal rigid spherical shell surface scribbles permeability magnetic material, strengthens the sucking action of electromagnet apparatus to inner iron ball.
Described electromagnet apparatus is four, being methane molecule planform space uniform distributes, utilization is evenly distributed on the electromagnet apparatus of portion's elastic spherical shell inside face to being positioned over the barycenter of the iron ball generation attractive force change robot in internal rigid spherical shell, move according to conservation of angular momentum principle drive machines people, by the difference to electromagnet apparatus power-up sequence and time, can realize the flexible motion of robot, even skip motion.
The present invention compared with prior art, has following apparent outstanding substantive distinguishing features and remarkable advantage:
(1) electromagnetism internal drive formula ball shape robot of the present invention is simple in structure, drives without motor, only needs to control the power on/off of electromagnet apparatus, has reduced the consumption of the energy;
(2) mechanical device that electromagnetism internal drive formula ball shape robot of the present invention is large without any volume or quality is heavy, has greatly reduced the load of robot, has improved robot motion's freedom and alerting ability;
(3) electromagnetism internal drive formula ball shape robot of the present invention produces the barycenter of attractive force change robot to iron ball by controlling electromagnet apparatus, realizes the flexible motion of robot under gravity drive;
(4) electromagnetism internal drive formula ball shape robot motion stabilization of the present invention is flexible, and controllability is strong, is convenient to carry out Miniaturization Design, is easy to form seriation, has broad application prospects.
Brief description of the drawings
Fig. 1 is perspective view of the present invention.
Fig. 2 is the present invention's schematic diagram of advancing that rolls.
Fig. 3 is skip motion schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are further described.
Embodiment mono-:
Referring to Fig. 1, this electromagnetism internal drive formula ball shape robot, comprise an outside elastic spherical shell (1), an internal rigid spherical shell (2), six connect strut bar (3), an iron ball (4) and four electromagnet apparatus (5), it is characterized in that: described outside elastic spherical shell (1) and internal rigid spherical shell (2) are formed by connecting by two hemispherical Shells; Described connection strut bar (3) is for connecting outside elastic spherical shell (1) and internal rigid spherical shell (2); Described iron ball (4) is freely positioned in internal rigid spherical shell (2); Described electromagnet apparatus (5) is fixedly mounted on outside elastic spherical shell (1) inside face, by controlling electromagnet apparatus (5), iron ball (4) is produced the barycenter of attractive force change robot, realizes the motion of robot under gravity drive.
Embodiment bis-:
The present embodiment and embodiment mono-are basic identical, and special feature is as follows: described outside elastic spherical shell (1) adopts soft material, and this soft material is thermoplastic elastomer TPE, there is the feature of high resiliency, high strength, high resilience, and there is good coloring, soft-touch, aesthetic in appearance.
Described internal rigid spherical shell (2) adopts polylactic acid PLA material, and this strength of material is high, and rigidity is large.
Described internal rigid spherical shell (2) surface scribbles permeability magnetic material, strengthens the sucking action of electromagnet apparatus to inner iron ball.
Embodiment tri-:
The present embodiment and embodiment mono-are basic identical, special feature is as follows: referring to Fig. 1 ~ Fig. 3, this electromagnetism internal drive formula ball shape robot, comprise an outside elastic spherical shell (1), an internal rigid spherical shell (2), six connect strut bar (3), an iron ball (4) and four electromagnet apparatus (5).
Described electromagnet apparatus (5) is four, being methane molecule planform space uniform distributes, utilization is evenly distributed on the electromagnet apparatus (5) on (1) surface in outside elastic spherical shell to being positioned over the barycenter of iron ball (4) the generation attractive force change robot in internal rigid spherical shell (2), move according to conservation of angular momentum principle drive machines people, by to electromagnet apparatus (5) power-up sequence and the difference of time, can realize the flexible motion of robot, even skip motion.
Embodiment tetra-: the present embodiment and embodiment mono-are basic identical, and special feature is as follows: the mechanical device that robot is large without any volume or quality is heavy, greatly reduce the load of robot, improve robot motion's freedom and alerting ability; Simultaneously simple in structure, drive without motor, only need to control the power on/off of electromagnet apparatus (5), reduce the consumption of the energy; Robot motion is flexibly stable, and controllability is strong, is convenient to carry out Miniaturization Design, is easy to form seriation, has broad application prospects.
Working process of the present invention is as follows:
Electromagnetism internal drive formula ball shape robot of the present invention is simple in structure, drives without motor, and without any volume, large or quality mechanical device heavily, has greatly reduced the load of robot, has improved robot motion's freedom and alerting ability.The outside elastic spherical shell of electromagnetism internal drive formula ball shape robot of the present invention (1) and internal rigid spherical shell (2) are formed by connecting by two hemispherical Shells, outside elastic spherical shell (1) elasticity is high, intensity is high, rebound resilience is high, internal rigid spherical shell (2) intensity is high, and rigidity is large.Electromagnetism internal drive formula ball shape robot of the present invention utilization is evenly distributed on four electromagnet apparatus (5) of outside elastic spherical shell (1) inside face to being positioned over the barycenter of iron ball (4) the generation attractive force change robot in internal rigid spherical shell (2), move according to conservation of angular momentum principle drive machines people, by to electromagnet apparatus (5) power-up sequence and the difference of time, can realize the flexible motion of robot, even skip motion.The type of drive of electromagnetism internal drive formula ball shape robot of the present invention ball shape robot more in the past is greatly simplified, and is convenient to carry out Miniaturization Design, is easy to form seriation, has broad application prospects.
Claims (5)
1. an electromagnetism internal drive formula ball shape robot, comprise an outside elastic spherical shell (1), an internal rigid spherical shell (2), six connect strut bar (3), an iron ball (4) and four electromagnet apparatus (5), it is characterized in that: described outside elastic spherical shell (1) and internal rigid spherical shell (2) are formed by connecting by two hemispherical Shells; Described connection strut bar (3) is for connecting outside elastic spherical shell (1) and internal rigid spherical shell (2); Described iron ball (4) is freely positioned in internal rigid spherical shell (2); Described electromagnet apparatus (5) is fixedly mounted on outside elastic spherical shell (1) inside face, by controlling electromagnet apparatus (5), iron ball (4) is produced the barycenter of attractive force change robot, realizes the motion of robot under gravity drive.
2. electromagnetism internal drive formula ball shape robot according to claim 1, it is characterized in that: described outside elastic spherical shell (1) adopts soft material, this soft material is thermoplastic elastomer TPE, there is the feature of high resiliency, high strength, high resilience, and there is good coloring, soft-touch, aesthetic in appearance.
3. electromagnetism internal drive formula ball shape robot according to claim 1, is characterized in that: described internal rigid spherical shell (2) adopts polylactic acid PLA material, and this strength of material is high, and rigidity is large.
4. electromagnetism internal drive formula ball shape robot according to claim 1, is characterized in that: described internal rigid spherical shell (2) surface scribbles permeability magnetic material.
5. electromagnetism internal drive formula ball shape robot according to claim 1, is characterized in that: described electromagnet apparatus (5) is four, is methane molecule planform space uniform and distributes.
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| CN201410092787.9A CN103895725B (en) | 2014-03-14 | 2014-03-14 | A kind of electromagnetism internal drive formula ball shape robot |
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| CN201410092787.9A CN103895725B (en) | 2014-03-14 | 2014-03-14 | A kind of electromagnetism internal drive formula ball shape robot |
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| CN103895725B CN103895725B (en) | 2016-02-17 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104192220A (en) * | 2014-08-29 | 2014-12-10 | 电子科技大学 | Mouse-driven-rotating-cage-imitated spherical robot |
| CN105564523A (en) * | 2015-10-16 | 2016-05-11 | 朱虹斐 | Robot for exploring complicated terrains |
| CN107150357A (en) * | 2017-03-21 | 2017-09-12 | 坎德拉（深圳）科技创新有限公司 | A kind of spherical shell and ball shape robot |
| CN107891416A (en) * | 2017-11-06 | 2018-04-10 | 长安大学 | A kind of electromagnetic drive type ball shape robot and its control method |
| CN108897320A (en) * | 2018-06-26 | 2018-11-27 | 清华大学 | A kind of driving walking robot and its control method certainly |
| CN110341822A (en) * | 2019-07-30 | 2019-10-18 | 深圳市琅硕海智科技有限公司 | Internal driving system of spherical robot |
| CN110877643A (en) * | 2019-11-19 | 2020-03-13 | 贵州电网有限责任公司 | Spherical robot structure driven by electromagnet and iron sand in matched mode |
| CN111994274A (en) * | 2020-08-20 | 2020-11-27 | 云南恒草生物科技有限公司 | Unmanned aerial vehicle puts in device with buffer function |
| CN112109816A (en) * | 2020-09-23 | 2020-12-22 | 北京理工大学 | Continuous hopping robot and hopping method |
| CN113173213A (en) * | 2021-06-30 | 2021-07-27 | 中国科学院地质与地球物理研究所 | Small celestial body surface magnetic force mobile robot and moving method thereof |
| CN113927588A (en) * | 2021-11-09 | 2022-01-14 | 绍兴文理学院 | Bent rod tensioning integral robot based on electromagnetic assembly rolling ball driving |
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| GB9624761D0 (en) * | 1996-11-28 | 1997-01-15 | Levon Leif | Rolling sphere |
| JP2010076707A (en) * | 2008-09-29 | 2010-04-08 | Sony Corp | Center of gravity movement device and center of gravity movement method |
| CN101982304A (en) * | 2010-09-18 | 2011-03-02 | 中北大学 | Inner driving spherical robot |
| CN102642573A (en) * | 2011-03-24 | 2012-08-22 | 泰山学院 | Fluid driving spherical robot |
| CN103587601A (en) * | 2013-11-12 | 2014-02-19 | 上海大学 | Long journey continuing wind power driven type spherical robot in polar region |
-
2014
- 2014-03-14 CN CN201410092787.9A patent/CN103895725B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| GB9624761D0 (en) * | 1996-11-28 | 1997-01-15 | Levon Leif | Rolling sphere |
| JP2010076707A (en) * | 2008-09-29 | 2010-04-08 | Sony Corp | Center of gravity movement device and center of gravity movement method |
| CN101982304A (en) * | 2010-09-18 | 2011-03-02 | 中北大学 | Inner driving spherical robot |
| CN102642573A (en) * | 2011-03-24 | 2012-08-22 | 泰山学院 | Fluid driving spherical robot |
| CN103587601A (en) * | 2013-11-12 | 2014-02-19 | 上海大学 | Long journey continuing wind power driven type spherical robot in polar region |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104192220A (en) * | 2014-08-29 | 2014-12-10 | 电子科技大学 | Mouse-driven-rotating-cage-imitated spherical robot |
| CN105564523A (en) * | 2015-10-16 | 2016-05-11 | 朱虹斐 | Robot for exploring complicated terrains |
| CN107150357B (en) * | 2017-03-21 | 2020-04-14 | 坎德拉（深圳）科技创新有限公司 | Spherical shell and spherical robot |
| CN107150357A (en) * | 2017-03-21 | 2017-09-12 | 坎德拉（深圳）科技创新有限公司 | A kind of spherical shell and ball shape robot |
| CN107891416A (en) * | 2017-11-06 | 2018-04-10 | 长安大学 | A kind of electromagnetic drive type ball shape robot and its control method |
| CN107891416B (en) * | 2017-11-06 | 2023-12-12 | 长安大学 | Electromagnetic driving type spherical robot and control method thereof |
| CN108897320B (en) * | 2018-06-26 | 2020-11-24 | 清华大学 | Self-driven walking robot and control method thereof |
| CN108897320A (en) * | 2018-06-26 | 2018-11-27 | 清华大学 | A kind of driving walking robot and its control method certainly |
| CN110341822A (en) * | 2019-07-30 | 2019-10-18 | 深圳市琅硕海智科技有限公司 | Internal driving system of spherical robot |
| CN110877643A (en) * | 2019-11-19 | 2020-03-13 | 贵州电网有限责任公司 | Spherical robot structure driven by electromagnet and iron sand in matched mode |
| CN111994274A (en) * | 2020-08-20 | 2020-11-27 | 云南恒草生物科技有限公司 | Unmanned aerial vehicle puts in device with buffer function |
| CN112109816A (en) * | 2020-09-23 | 2020-12-22 | 北京理工大学 | Continuous hopping robot and hopping method |
| CN112109816B (en) * | 2020-09-23 | 2021-08-27 | 北京理工大学 | Continuous hopping robot and hopping method |
| CN113173213A (en) * | 2021-06-30 | 2021-07-27 | 中国科学院地质与地球物理研究所 | Small celestial body surface magnetic force mobile robot and moving method thereof |
| CN113173213B (en) * | 2021-06-30 | 2021-09-03 | 中国科学院地质与地球物理研究所 | Small celestial body surface magnetic force mobile robot and moving method thereof |
| CN113927588A (en) * | 2021-11-09 | 2022-01-14 | 绍兴文理学院 | Bent rod tensioning integral robot based on electromagnetic assembly rolling ball driving |
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