CN103895726A - Novel full-symmetric spherical robot - Google Patents
Novel full-symmetric spherical robot Download PDFInfo
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- CN103895726A CN103895726A CN201410092789.8A CN201410092789A CN103895726A CN 103895726 A CN103895726 A CN 103895726A CN 201410092789 A CN201410092789 A CN 201410092789A CN 103895726 A CN103895726 A CN 103895726A
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Abstract
The invention discloses a novel full-symmetric spherical robot. The robot comprises an outer rigid spherical shell, two bearing discs, two servo motors, two linear motors and two balance weight swing arms, wherein the two ends of the outer rigid spherical shell are open and fixedly connected with the two bearing discs through set screws, the two servo motors and the two linear motors are symmetrically installed on the shell in the maximum diameter direction of the shell through the two bearing discs, the two balance weight swing arms are fixedly connected with output shafts of the linear motors respectively, the positions of the two balance weight swing arms are changed through the two linear motors, and the two servo motors are connected with the two linear motors in a matched mode respectively, drive the two linear motors to rotate and drive the balance weight swing arms to rotate at the same time so as to achieve rectilinear motion of the robot. The robot is simple in structure, high in stability and easy to assemble; symmetric design is adopted in the robot; only a small space inside the spherical shell is occupied, and therefore other additional functions of the robot can be easily achieved; the robot has good environment adaptability and function expansibility and can be used for spying, entertainment, military affairs and other fields.
Description
Technical field
The present invention is under the jurisdiction of field of special robots, and what relate to is a kind of robot, and being specifically related to is a kind of novel Holohedral symmetry spherical robot, can be used for the fields such as investigation, amusement, military affairs, has good compatible with environment and functions expanding.
Background technology
Along with the expansion in mankind's activity field and the in-depth of heuristic process, common wheeled, leg formula, caterpillar mobile robot have been difficult to use in some rugged environment.If can design a kind of mobile vehicle of similar tumbler, just can be under harsh environment can keeping system balance and stability, and there is not instability status, even even bump also and can recover stable state after of short duration self adjustment with static or dynamic obstacle, so with roll mode walking, the spherical or class ball shape robot that motion-promotion force relies on internal drive and outside friction force to provide arises at the historic moment.
Ball shape robot is a kind of robot with spherical housing.The feature of ball shape robot maximum is that mode of motion is special, spherical shell will make robot can after unstability, obtain maximum stability, therefore be not afraid of overturning, can only roll in one direction differently from wheel, it can do rolling movement in any direction of a plane.Meanwhile, equip sensor and the actr of various difference in functionalitys therein, just can make robot there are required various intelligent functions.
Through the Searches of Patent Literature of prior art is found, 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 Electromagnetic Drive.The scholars such as Aarne Halme propose a single-wheel that is supported on spherical shell bottom and roll the ball shape robot that drives spherical shell to move in the document " Motion Control of a Spherical Mobile Robot " of delivering for 1996, produce moment by it in the rolling on spherical shell surface and drive spherical shell motion, the principle that realizes motion is simple, but this kind dolly drive form is a nonholonomic system, the motion of spherical shell is also a nonholonomic system, makes robot controllability become very poor; Professor Sun Hanxu of Beijing University of Post & Telecommunication waits and in the document " a kind of design of ball shape robot and principle analysis " of delivering for 2004, proposes to drive counterweight to rotate to change center-of-gravity position around two mutually perpendicular axles by motor, produce eccentric moment and drive spherical shell motion, but this counterweight drive form needs multiple motors to drive, mechanism's complexity, less stable, the control method of desired trajectory is also very difficult to ask; Chinese invention patent ZL201010615231.5 discloses " a kind of Electromagnetic Drive ball shape robot ", this robot is by controlling the change in polarity of magnet coil, realize attraction and repulsion between the magnet on magnet coil and spherical shell inwall, the rotation of drive main shaft, make robot motion, but it is very accurate that this Electromagnetic Drive substantive requirements of form mechanism coordinates, and cost is more expensive.Therefore to improve dynamic stability, the low-speed stability of robot, and realize its accurate control, the design core that has been designed to ball shape robot of internal driving mechanism.
Summary of the invention
The object of the invention is to for above problem, a kind of novel Holohedral symmetry spherical robot is proposed, make it have simple for structure, symmetric design, good stability, be easy to assembling, and few to spheroid inner space Occupation efficiency, and trajectory planning and control algorithm design such as more easily realize at the feature.
In order to reach above-mentioned requirements, design of the present invention is:
The present invention arranges internal drive by full symmetric, avoids the initial condition imbalance problem of ball shape robot.Meanwhile, by being fixedly connected on the motion of driven by servomotor counterweight swing arm of spherical shell, produce eccentric moment on fore-and-aft direction and come the motion that moves forward and backward of drive ball anthropomorphic robot; Change the position of counterweight swing arm by linear electric motors, in the asymmetric situation of left and right counterweight swing arm, ball shape robot carrys out the eccentric moment on generation left and right directions the divertical motion of drive ball anthropomorphic robot.
According to foregoing invention design, the present invention adopts following technical proposals:
A kind of novel Holohedral symmetry spherical robot, comprises an external rigidity spherical shell, two supporting disks, two servomotors, two linear electric motors and two counterweight swing arms, and described supporting disk and external rigidity spherical shell are fixed together; Described servomotor is fixedly mounted on supporting disk; Described counterweight swing arm and linear electric motors output shaft are fixedly linked, and change counterweight swing arm position by linear electric motors; Described linear electric motors and servomotor are connected, and rotate by driven by servomotor linear electric motors, drive counterweight swing arm to rotate simultaneously, realize robot straight-line motion.
Described external rigidity spherical shell is selected transparent material, is conducive to observe inner structure, and good looking appearance.External rigidity spherical shell both ends open, is fixedly connected with two supporting disks by holding screw simultaneously.
Described two supporting disks, two servomotors and two linear electric motors symmetries are arranged in spherical shell maximum gauge direction, linear electric motors and servomotor are connected, rotate by driven by servomotor linear electric motors, drive counterweight swing arm to rotate simultaneously, realize robot straight-line motion.
Described counterweight swing arm is assemblied in respectively by attaching nut on the output shaft of two linear electric motors, changes counterweight swing arm position by linear electric motors, realizes robot divertical motion.
The present invention compared with prior art, has following apparent outstanding substantive distinguishing features and remarkable advantage:
(1) the novel Holohedral symmetry spherical robot of the present invention carries out design and installation by external rigidity spherical shell both ends open place, simple for structure, easy to assembly, and aesthetic in appearance;
(2) the novel Holohedral symmetry spherical robot of the present invention, without the large mechanical device of any volume, has greatly reduced the space occupancy of robot spherical shell inside, has improved kinematic dexterity and the functions expanding of robot;
(3) the novel Holohedral symmetry spherical robot of the present invention drives the movement of counterweight swing arm to change the center-of-gravity position on the both direction of robot by two groups of servomotors and linear electric motors, realizes seesawing and divertical motion of robot;
(4) full symmetric in the novel Holohedral symmetry spherical robot structure of the present invention, stability is fine, and driver train more easily carries out dynamics analysis, realizes accurately and controlling.
Brief description of the drawings
Fig. 1 is structural representation of the present invention.
Fig. 2 is straight-line motion schematic diagram of the present invention.
Fig. 3 is divertical 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 ~ Fig. 3, this novel Holohedral symmetry spherical robot, comprise an external rigidity spherical shell (1), two supporting disks (2), two servomotors (3), two linear electric motors (4) and two counterweight swing arms (5), it is characterized in that: described external rigidity spherical shell (1) both ends open, is fixedly connected with two supporting disks (2) by holding screw; Described two servomotors (3) and two linear electric motors (4) are arranged in spherical shell (1) maximum gauge direction by two supporting disks (2) symmetry; Described two counterweight swing arms (5) are fixedly linked with linear electric motors (4) output shaft respectively, change two counterweight swing arms (5) position by two linear electric motors (4); Described two linear electric motors (4) are connected with two servomotors (3) respectively, drive two linear electric motors (4) to rotate by two servomotors (3), drive counterweight swing arm (5) to rotate simultaneously, realize robot straight-line motion.
Embodiment bis-:
The present embodiment and embodiment mono-are basic identical, and special feature is as follows: described external rigidity spherical shell (1) is selected transparent material, is conducive to observe inner structure, and good looking appearance.External rigidity spherical shell (1) both ends open, is fixedly connected with two supporting disks (2) by holding screw simultaneously.
Embodiment tri-:
The present embodiment and embodiment mono-are basic identical, and special feature is as follows:
Described counterweight swing arm (5) is assemblied in respectively by attaching nut on the output shaft of two linear electric motors (4), changes counterweight swing arm (5) position by linear electric motors (4), realizes robot divertical motion.
Embodiment tetra-: the present embodiment and embodiment mono-are basic identical, and special feature is as follows: robot carries out design and installation by external rigidity spherical shell (1) both ends open place, simple for structure, easy to assembly, and aesthetic in appearance; Robot, without the large mechanical device of any volume, has greatly reduced the space occupancy of robot spherical shell inside, has improved kinematic dexterity and the functions expanding of robot; The upper full symmetric of robot architecture, stability is fine, and driver train more easily carries out dynamics analysis, realizes accurately and controlling.
Working process of the present invention is as follows:
The novel Holohedral symmetry spherical robot of the present invention, by external rigidity spherical shell (1), both ends open place carries out design and installation, simple for structure, easy to assembly, and aesthetic in appearance; The novel Holohedral symmetry spherical robot of the present invention, without the large mechanical device of any volume, has greatly reduced the space occupancy of robot spherical shell inside, has improved kinematic dexterity and the functions expanding of robot; The novel Holohedral symmetry spherical robot of the present invention drives the movement of counterweight swing arms (5) to change the center-of-gravity position on the both direction of robot by two groups of servomotors (3) and linear electric motors (4), realizes seesawing and divertical motion of robot; Full symmetric in the novel Holohedral symmetry spherical robot structure of the present invention, stability is fine, and driver train more easily carries out dynamics analysis, realizes accurately and controlling.The novel Holohedral symmetry spherical robot of the present invention has good compatible with environment and functions expanding, can be used for the fields such as investigation, amusement, military affairs.
Claims (3)
1. a novel Holohedral symmetry spherical robot, comprise an external rigidity spherical shell (1), two supporting disks (2), two servomotors (3), two linear electric motors (4) and two counterweight swing arms (5), it is characterized in that: described external rigidity spherical shell (1) both ends open, is fixedly connected with two supporting disks (2) by holding screw; Described two servomotors (3) and two linear electric motors (4) are arranged in spherical shell (1) maximum gauge direction by two supporting disks (2) symmetry; Described two counterweight swing arms (5) are fixedly linked with linear electric motors (4) output shaft respectively, change two counterweight swing arms (5) position by two linear electric motors (4); Described two linear electric motors (4) are connected with two servomotors (3) respectively, drive two linear electric motors (4) to rotate by two servomotors (3), drive counterweight swing arm (5) to rotate simultaneously, realize robot straight-line motion.
2. novel Holohedral symmetry spherical robot according to claim 1, is characterized in that: described external rigidity spherical shell (1) is selected transparent material, is conducive to observe inner structure, and good looking appearance.
3. novel Holohedral symmetry spherical robot according to claim 1, is characterized in that: described counterweight swing arm (5) is assemblied in respectively on the output shaft of two linear electric motors (4) by attaching nut.
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| CN201410092789.8A CN103895726A (en) | 2014-03-14 | 2014-03-14 | Novel full-symmetric spherical robot |
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| CN201410092789.8A CN103895726A (en) | 2014-03-14 | 2014-03-14 | Novel full-symmetric spherical robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105438300A (en) * | 2015-12-11 | 2016-03-30 | 浙江大学 | Spherical robot with double pendulum bobs and application thereof |
| CN106494523A (en) * | 2016-10-12 | 2017-03-15 | 浙江大学 | Dual Drive spherical detecting robot |
| CN108367429A (en) * | 2015-11-18 | 2018-08-03 | 软银机器人欧洲公司 | Motorization anthropomorphic robot |
| CN109404233A (en) * | 2018-12-12 | 2019-03-01 | 同方计算机有限公司 | A kind of Drive And Its Driving Method suitable for adverse circumstances |
| CN110979500A (en) * | 2019-11-27 | 2020-04-10 | 杭州电子科技大学 | Fluid-driven spherical rolling robot and driving method thereof |
| CN111267567A (en) * | 2020-02-26 | 2020-06-12 | 西安交通大学 | Heavy pendulum eccentric driving amphibious reconnaissance spherical robot |
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| CN2406782Y (en) * | 1999-11-11 | 2000-11-22 | 丁希仑 | Spherical robot |
| US6378634B1 (en) * | 2000-11-28 | 2002-04-30 | Xerox Corporation | Tracking device |
| CN101011984A (en) * | 2007-02-08 | 2007-08-08 | 上海交通大学 | Holohedral symmetry spherical robot |
| CN201189913Y (en) * | 2008-02-28 | 2009-02-04 | 南京航空航天大学 | Omnidirectional motion simplification mechanism of spherical robot |
| CN102152311A (en) * | 2011-03-14 | 2011-08-17 | 哈尔滨工业大学 | Spherical robot driven by double eccentric mass blocks |
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2014
- 2014-03-14 CN CN201410092789.8A patent/CN103895726A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2406782Y (en) * | 1999-11-11 | 2000-11-22 | 丁希仑 | Spherical robot |
| US6378634B1 (en) * | 2000-11-28 | 2002-04-30 | Xerox Corporation | Tracking device |
| CN101011984A (en) * | 2007-02-08 | 2007-08-08 | 上海交通大学 | Holohedral symmetry spherical robot |
| CN201189913Y (en) * | 2008-02-28 | 2009-02-04 | 南京航空航天大学 | Omnidirectional motion simplification mechanism of spherical robot |
| CN102152311A (en) * | 2011-03-14 | 2011-08-17 | 哈尔滨工业大学 | Spherical robot driven by double eccentric mass blocks |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108367429A (en) * | 2015-11-18 | 2018-08-03 | 软银机器人欧洲公司 | Motorization anthropomorphic robot |
| CN105438300A (en) * | 2015-12-11 | 2016-03-30 | 浙江大学 | Spherical robot with double pendulum bobs and application thereof |
| CN105438300B (en) * | 2015-12-11 | 2017-12-15 | 浙江大学 | Ball shape robot and its application with double pendulum hammer |
| CN106494523A (en) * | 2016-10-12 | 2017-03-15 | 浙江大学 | Dual Drive spherical detecting robot |
| CN109404233A (en) * | 2018-12-12 | 2019-03-01 | 同方计算机有限公司 | A kind of Drive And Its Driving Method suitable for adverse circumstances |
| CN110979500A (en) * | 2019-11-27 | 2020-04-10 | 杭州电子科技大学 | Fluid-driven spherical rolling robot and driving method thereof |
| CN110979500B (en) * | 2019-11-27 | 2020-11-06 | 杭州电子科技大学 | Fluid-driven spherical rolling robot and driving method thereof |
| CN111267567A (en) * | 2020-02-26 | 2020-06-12 | 西安交通大学 | Heavy pendulum eccentric driving amphibious reconnaissance spherical robot |
| CN111267567B (en) * | 2020-02-26 | 2021-07-27 | 西安交通大学 | Heavy pendulum eccentric driving amphibious reconnaissance spherical robot |
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Application publication date: 20140702 |