CN103895725B - A kind of electromagnetism internal drive formula ball shape robot - Google Patents
A kind of electromagnetism internal drive formula ball shape robot Download PDFInfo
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- CN103895725B CN103895725B CN201410092787.9A CN201410092787A CN103895725B CN 103895725 B CN103895725 B CN 103895725B CN 201410092787 A CN201410092787 A CN 201410092787A CN 103895725 B CN103895725 B CN 103895725B
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- spherical shell
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- outside elastic
- shape robot
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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
- 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
- 239000000463 material Substances 0.000 claims description 5
- 239000000696 magnetic material Substances 0.000 claims description 3
- 230000035699 permeability Effects 0.000 claims description 3
- 230000006641 stabilisation Effects 0.000 abstract description 2
- 238000011105 stabilization Methods 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000004040 coloring Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 241000404883 Pisa Species 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
- 238000001179 sorption measurement Methods 0.000 description 1
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Abstract
The invention discloses a kind of electromagnetism internal drive formula ball shape robot.This robot comprises an outside elastic spherical shell, an internal rigid spherical shell, and 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 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, producing the barycenter that attractive force changes robot, realizing the motion of robot under the force of gravity by controlling electromagnet apparatus to iron ball.The present invention is compared with traditional ball shape robot, simple and reliable for structure, and motion stabilization is flexible, and controllability is strong.Type of drive of the present invention ball shape robot more in the past greatly simplifies simultaneously, is convenient to carry out Miniaturization Design, is easy to form seriation, has broad application prospects.
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 utilizing electromagnetic adsorption 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 having spherical housing, walk 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 can obtain maximum stability by making robot after unstability, compared with the wheeled robot of walking of rolling with wheel, there is not the problem of " overturning ", its globosity freely can rotate to any direction and realize omnidirectional rolling walking; 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 is unique, and flexibly, turn radius is very little in action; Globosity has stronger self-recovery ability, and spherical shell also enables robot roll across coarse landform easily.Meanwhile, because the resistance of motion of the resistance relative sliding of balls tumble point cantact or the linear contact lay of wheeled devices is much smaller, the advantage that sport efficiency is high so ball shape robot also has, energy ezpenditure is little.Because ball shape robot has many unique advantages, to research extremely scientific and technical personnel's concern 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 space and good application prospect widely.
After the people such as Haier's nurse (Halme) of Helsinki, Finland University of Science and Technology made first ball shape robot in 1996, ball shape robot has become one of the focus in domestic and international Research on Intelligent Robots field gradually.Abroad, Italian University of Pisa, Uppsala Univ Sweden and Rotimdus company, NASA, Quebec, Canada Univ Sherbrooke etc. successively carry out ball shape robot research, release the ball shape robot of difference in functionality.Also have some units and scholar to start the exploration of aspect at home, 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 all achieve certain achievement in research in 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 wind drive three kinds of forms.Dolly drive form poor controllability, easily skids or tumbles; Counterweight versions needs multiple motor 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 also 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, complicated, the uppity problem of path of motion, propose the electromagnetism internal drive formula ball shape robot that a kind of structure is simple, mechanism reliable, motion is flexible, 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 utilizes the electromagnet apparatus being evenly distributed on portion's elastic spherical shell inside face to produce to the iron ball be positioned in internal rigid spherical shell the barycenter that attractive force changes robot, move according to conservation of angular momentum principle drive machines people, by the difference to electromagnet apparatus power-up sequence and time, the flexible motion of robot can be realized.
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 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, producing the barycenter that attractive force changes robot, realizing the motion of robot under the force of gravity by controlling electromagnet apparatus to iron ball.
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 excellent coloring, soft-touch, 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 electromagnet apparatus to the sucking action of inner iron ball.
Described electromagnet apparatus is four, distribute in methane molecule planform space uniform, the electromagnet apparatus being evenly distributed on portion's elastic spherical shell inside face is utilized to produce to the iron ball be positioned in internal rigid spherical shell the barycenter that attractive force changes robot, move according to conservation of angular momentum principle drive machines people, by the difference to electromagnet apparatus power-up sequence and time, the flexible motion of robot can be realized, 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 structure of the present invention is simple, drives without the need to motor, only need control the power on/off of electromagnet apparatus, decrease 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, greatly reduces the load of robot, improves freedom and the alerting ability of robot motion;
(3) electromagnetism internal drive formula ball shape robot of the present invention produces to iron ball the barycenter that attractive force changes robot by controlling electromagnet apparatus, realizes the flexible motion of robot under the force of gravity;
(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.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention.
Fig. 2 is that the present invention rolls schematic diagram of advancing.
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 one:
See 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, producing the barycenter that attractive force changes robot, realizing the motion of robot under the force of gravity by controlling electromagnet apparatus (5) to iron ball (4).
Embodiment two:
The present embodiment is substantially identical with embodiment one, 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 have excellent 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 electromagnet apparatus to the sucking action of inner iron ball.
Embodiment three:
The present embodiment is substantially identical with embodiment one, special feature is as follows: see 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, distribute in methane molecule planform space uniform, the electromagnet apparatus (5) that utilization is evenly distributed on (1) surface in outside elastic spherical shell produces to the iron ball (4) be positioned in internal rigid spherical shell (2) barycenter that attractive force changes robot, move according to conservation of angular momentum principle drive machines people, by to electromagnet apparatus (5) power-up sequence and the difference of time, the flexible motion of robot can be realized, even skip motion.
Embodiment four: the present embodiment is substantially identical with embodiment one, and special feature is as follows: the mechanical device that robot is large without any volume or quality is heavy, greatly reduces the load of robot, improve freedom and the alerting ability of robot motion; Structure is simple simultaneously, drives without the need to motor, only need control the power on/off of electromagnet apparatus (5), decrease 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 structure of the present invention is simple, drives without the need to motor, and without any volume, large or quality mechanical device heavily, greatly reduces the load of robot, improve freedom and the alerting ability of robot motion.The outside elastic spherical shell (1) of electromagnetism internal drive formula ball shape robot of the present invention 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 utilizes four electromagnet apparatus (5) being evenly distributed on outside elastic spherical shell (1) inside face to produce to the iron ball (4) be positioned in internal rigid spherical shell (2) barycenter that attractive force changes robot, move according to conservation of angular momentum principle drive machines people, by to electromagnet apparatus (5) power-up sequence and the difference of time, the flexible motion of robot can be realized, even skip motion.The type of drive ball shape robot more in the past of electromagnetism internal drive formula ball shape robot of the present invention greatly simplifies, 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, producing the barycenter that attractive force changes robot, realizing the motion of robot under the force of gravity by controlling electromagnet apparatus (5) to iron ball (4).
2. electromagnetism internal drive formula ball shape robot according to claim 1, is characterized in that: described outside elastic spherical shell (1) adopts soft material, and this soft material is thermoplastic elastomer TPE.
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.
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, distributes in methane molecule planform space uniform.
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| Application Number | Priority Date | Filing Date | Title |
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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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| CN103895725A CN103895725A (en) | 2014-07-02 |
| CN103895725B true CN103895725B (en) | 2016-02-17 |
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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104192220B (en) * | 2014-08-29 | 2016-05-25 | 电子科技大学 | A kind of imitative mouse drives the ball shape robot of rotating cage |
| CN105564523B (en) * | 2015-10-16 | 2017-11-03 | 福州环亚众志计算机有限公司 | Complicated landform exploring robot |
| 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 |
| 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 |
| 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 |
| CN111114664A (en) * | 2020-01-18 | 2020-05-08 | 青岛理工大学 | Electromagnetic drive spherical robot |
| 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 |
| CN112109816B (en) * | 2020-09-23 | 2021-08-27 | 北京理工大学 | Continuous hopping robot and hopping method |
| 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 |
| CN113927588B (en) * | 2021-11-09 | 2023-07-14 | 绍兴文理学院 | Curved bar stretching whole robot based on electromagnetic assembly rolling ball driving |
| CN115854217B (en) * | 2022-12-27 | 2024-06-18 | 重庆大学 | Six-degree-of-freedom motion platform using electromagnetic spherical hinge |
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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 |
|---|---|---|---|---|
| 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 |
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