CN103991486A - Hybrid drive type Antarctic science investigation spherical robot - Google Patents

Hybrid drive type Antarctic science investigation spherical robot Download PDF

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Publication number
CN103991486A
CN103991486A CN201410223705.XA CN201410223705A CN103991486A CN 103991486 A CN103991486 A CN 103991486A CN 201410223705 A CN201410223705 A CN 201410223705A CN 103991486 A CN103991486 A CN 103991486A
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CN
China
Prior art keywords
robot
spherical shell
stepping motor
flexible spherical
thin film
Prior art date
Application number
CN201410223705.XA
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Chinese (zh)
Inventor
罗均
邹旭东
马捷
姚骏峰
谢少荣
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上海大学
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Application filed by 上海大学 filed Critical 上海大学
Priority to CN201410223705.XA priority Critical patent/CN103991486A/en
Publication of CN103991486A publication Critical patent/CN103991486A/en

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Abstract

The invention discloses a hybrid drive type Antarctic science investigation spherical robot which mainly comprises a flexible spherical shell, an internal driving device and a solar cell thin film. The transparent flexible spherical shell is inflated through an inflation opening. The internal driving device is installed on a sealing zipper. The internal driving device comprises a guide lead screw, a linear stepping motor, a low-temperature battery balance weight, a control system device and an end connecting device, wherein the guide lead screw is fixed to the flexible spherical shell through the end connecting device, the linear stepping motor and the low-temperature battery balance weight can move along the guide lead screw so as to drive the spherical shell to move, the solar cell thin film is attached to the inner surface of the flexible spherical shell for energy collection and continuously charges the low-temperature battery balance weight, and therefore the robot can normally work for a long time. The robot is driven by wind power, the motion state is changed through internal driving when the robot encounters a difficult situation, the robot has the advantages of being simple in structure, easy to assemble and low in energy consumption, occupies small space inside the spherical shell, and can be widely applied to science investigation in the Antarctic environment, and other additional functions of the robot can be easily achieved.

Description

A kind of hybrid drive-type South Pole scientific investigation ball shape robot
Technical field
The present invention is under the jurisdiction of field of special robots, what relate to is a kind of robot, being specifically related to is a kind of hybrid drive-type South Pole scientific investigation ball shape robot, rely on wind-force and internal drive to move, can be used for the environment investigation of Antarctica circumstances not known, also can, for fields such as amusement, military affairs, transports, there is good compatible with environment and functions expanding.
Background technology
South Pole scientific investigation has important strategic importance at aspects such as national politics territory, military strategy, energy security, climate environments, current many countries have all started Antarctic regions to carry out exploratory development, but due to the restriction of the reasons such as matenal support, the vehicle, bad weather, scientific investigation scope only concentrates on by inshore area, and most place, the South Pole was not also investigated.
The application of intelligent robot has improved the work efficiency of South Pole scientific investigation greatly, has expanded scientific investigation personnel's action radius, has also reduced the danger of scientific investigation personnel outdoor activities.But most robot is all to adopt battery or engine fuel that power is provided, and this just limits robot movable scope greatly, and may pollute problem, affects the external environment condition of South Pole fragility.There are abundant solar power and wind energy resources in the South Pole, if it is used, can realize robot " infinitely " continuation of the journey roaming in the South Pole.
Ball shape robot at the scientific research field of many countries at present or a newer concept, and has certain advantage with wheeled comparing with legged type robot, and the particularly comformability to environment, has very high using value so study ball shape robot.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 domestic and international prior art is found, existing ball shape robot is all to realize robot motion by internal drive form substantially, as fight strong " BHQ-2 ", " the BYQ-III " of Sun Hanxu and " HIT " of Harbin Institute of Technology are all by the motion of 2 drive motor control masses, produce eccentric moment and realize rotation.Although these ball shape robots can be realized autokinetic movement, during for environment detection, must carry sufficient power supply energy supply device and provide power for robot.But during for Members In Antarctic Environment, condition just does not allow to provide for robot the energy of enough abundances substantially, once ball shape robot internal power source exhausts, cannot obtain energy recharge, and robot will lose the effect that continues scientific investigation.Internal drive formula ball shape robot is because the weight of internal drive is very large simultaneously, and the energy not only consuming is more, and greatly limits exercise performance and the action radius of robot, is difficult to realize the environment detection work of long distance under Members In Antarctic Environment.
External NASA and JPL are devoted to mars exploration work and have developed complete wind and driven formula ball shape robot, as Tumbleweed Rover, and Hamster-Ball and Tumble-Cup etc.Although wind drives formula ball shape robot and solved energy resource supply problem completely, robot motion relies on wind-force effect completely, moves completely uncontrollable, in the time that robot gets into a difficult position, can not independently get rid of poverty, and is difficult in actual applications be promoted.
Summary of the invention
The object of the invention is to for above problem, propose a kind of hybrid drive-type South Pole scientific investigation ball shape robot, have simple for structure, be easy to assembling, energy consumption is low, and to features such as spheroid inner space Occupation efficiency are few.By extraneous wind drive ball shape robot motion, when robot gets into a difficult position, as when running into the obstacle that cannot cross or being stuck in irrigation canals and ditches, can adjust robot state of kinematic motion by changing internal drive position, with the object of crossing or avoid obstacle, reach to extricate oneself from a predicament.
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 using flexible spherical shell to increase the compatible with environment of robot; Ball shape robot drives by extraneous wind-force, the large problem of avoiding consuming energy, and carry out battery charging by solar battery thin film, make robot can realize the detection operations of the long distance in the South Pole; Ball shape robot can change robot motion's state by internal drive, has certain independence.
According to foregoing invention design, the present invention adopts following technical proposals:
A kind of hybrid drive-type South Pole scientific investigation ball shape robot.This robot mainly comprises flexible spherical shell, internal drive and a solar battery thin film, and described transparent flexible spherical shell is inflated by the inflation inlet on it, and carries out the installation of internal drive by the pressure-sealing zipper place on it; Described internal drive comprises guiding leading screw, linear stepping motor, low temperature battery counterweight, control system device and end connecting device, guiding leading screw fix by end connecting device and flexible spherical shell, linear stepping motor cover fit over guiding leading screw on and can along guiding leading screw move driving spherical shell move; Described solar battery thin film is fitted in flexible spherical shell inside face and carries out the collection of energy, constantly charges for low temperature battery counterweight, realizes the long-time normal work of robot.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 flexible spherical shell is selected transparent material, is conducive to solar battery thin film high efficiency conversion solar; At the many small salient points of outside face adhesion of flexible spherical shell, can increase robot earth-grasping force simultaneously, avoid occurring skidding.
Described end connecting device is made up of end fixing lug boss and end connecting panel, end fixing lug boss and bonding being connected of flexible spherical shell inside face; End connecting panel is connected with end fixing lug boss by bolt.
Described guiding leading screw is arranged along ball shape robot maximum gauge direction, and is connected with clamp nut with end connecting device.
Described low temperature battery counterweight and control system device are connected by bending sheet metal component and linear stepping motor, the corresponding change position with the motion of motor.Solar battery thin film electrical connection low temperature battery counterweight, and low temperature battery counterweight is through control system device electrical connection linear stepping motor.
The present invention compared with prior art, has following apparent outstanding substantive distinguishing features and remarkable advantage:
(1) hybrid drive-type of the present invention South Pole scientific investigation ball shape robot quality is light, simple for structure, easy to assembly, be easy to realize, and aesthetic in appearance;
(2) hybrid drive-type of the present invention South Pole scientific investigation ball shape 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;
(3) hybrid drive-type of the present invention South Pole scientific investigation ball shape robot is realized the main movement of robot by extraneous wind-force, less energy intensive, and action radius is large;
(4) hybrid drive-type of the present invention South Pole scientific investigation ball shape robot, in the time running into predicament, is adjusted robot state of kinematic motion by changing internal drive position, with the object of crossing or avoid obstacle, reach to extricate oneself from a predicament, improves the exercise performance of robot;
(5) hybrid drive-type of the present invention South Pole scientific investigation ball shape robot can carry out battery charging by solar battery thin film, constantly for robot provides the energy, realizes the long distance time scientific investigation work of robot.
Brief description of the drawings
Fig. 1 is structural representation of the present invention.
Fig. 2 is obstacle detouring schematic diagram of the present invention.
Fig. 3 is the barrier schematic diagram of keeping away of the present invention.
Fig. 4 is more ditch 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 hybrid drive-type South Pole scientific investigation ball shape robot, comprise a flexible spherical shell (1), internal drive and solar battery thin film (2), it is characterized in that: described transparent flexible spherical shell (1) is inflated by inflation inlet (10), pressure-sealing zipper (9) locates to carry out the installation of internal drive; Described internal drive comprises guiding leading screw (7), linear stepping motor (5), low temperature battery counterweight (8), control system device (4) and end connecting device (3), guiding leading screw (7) passes through end connecting device (3) to be fixed with flexible spherical shell (1), and linear stepping motor (5) cover fits over guiding leading screw (7) and above can move along guiding leading screw (7) and drive spherical shell (1) motion; Described low temperature battery counterweight (8) and control system device (4) are connected by a bending sheet metal component (6) and linear stepping motor (5); Solar battery thin film (2) electrical connection low temperature battery counterweight (8), and low temperature battery counterweight (8) is through control system device (4) electrical connection linear stepping motor (5); Described solar battery thin film (2) is fitted in flexible spherical shell (1) inside face and carries out the collection of energy, constantly charges to linear stepping motor (5) power supply for low temperature battery counterweight (8), realizes the long-time normal work of robot.
Embodiment bis-:
The present embodiment and embodiment mono-are basic identical, and special feature is as follows: described flexible spherical shell (1) is selected transparent material, is conducive to solar battery thin film (2) high efficiency conversion solar; At the many small salient points of outside face adhesion of flexible spherical shell (1), can increase robot earth-grasping force simultaneously, avoid occurring skidding.Described end connecting device (3) is made up of end fixing lug boss (3-A) and end connecting panel (3-B), end fixing lug boss (3-A) and bonding being connected of flexible spherical shell (1) inside face; End connecting panel (3-B) is connected with end fixing lug boss (3-A) by bolt.
Working process of the present invention is as follows:
Referring to Fig. 1 ~ Fig. 4, this hybrid drive-type South Pole scientific investigation ball shape robot, under normal circumstances, robot relies on extraneous wind-force effect to drive, and now internal drive is not worked and is positioned at centre of sphere place.When ball shape robot gets into a difficult position, as when running into the obstacle that cannot cross or being stuck in irrigation canals and ditches, can adjust robot state of kinematic motion by changing internal drive position, with the object of crossing or avoid obstacle, reach to extricate oneself from a predicament.
This machine hostage measures light, simple for structure, easy to assembly, be easy to realize, 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; Robot carries out battery charging by solar battery thin film (2), constantly for robot provides the energy, realizes the long distance time scientific investigation work of robot.
Hybrid drive-type of the present invention South Pole scientific investigation ball shape robot, quality is light, simple for structure, easy to assembly, be easy to realize, and aesthetic in appearance; Hybrid drive-type of the present invention South Pole scientific investigation ball shape 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; Hybrid drive-type of the present invention South Pole scientific investigation ball shape robot is realized the main movement of robot by extraneous wind-force, less energy intensive, and action radius is large; Hybrid drive-type of the present invention South Pole scientific investigation ball shape robot, in the time running into predicament, is adjusted robot state of kinematic motion by changing internal drive position, with the object of crossing or avoid obstacle, reach to extricate oneself from a predicament, improves the exercise performance of robot; Hybrid drive-type of the present invention South Pole scientific investigation ball shape robot can carry out battery charging by solar battery thin film (2), constantly for robot provides the energy, realize the long distance time scientific investigation work of robot, can be widely used in the scientific investigation work under Members In Antarctic Environment, have broad application prospects.

Claims (4)

1. a hybrid drive-type South Pole scientific investigation ball shape robot, comprise a flexible spherical shell (1), internal drive and solar battery thin film (2), it is characterized in that: described transparent flexible spherical shell (1) is inflated by the inflation inlet (10) on it, and locate to carry out the installation of described internal drive by the pressure-sealing zipper (9) on it; Described internal drive comprises guiding leading screw (7), linear stepping motor (5), low temperature battery counterweight (8), control system device (4) and end connecting device (3), described guiding leading screw (7) is fixedly connected with flexible spherical shell (1) by two end connecting devices (3), and linear stepping motor (5) cover fits over guiding leading screw (7) and above can move along guiding leading screw (7) and drive spherical shell (1) motion; Described low temperature battery counterweight (8) and control system device (4) are connected by a bending sheet metal component (6) and linear stepping motor (5); Solar battery thin film (2) electrical connection low temperature battery counterweight (8), and low temperature battery counterweight (8) is through control system device (4) electrical connection linear stepping motor (5); Described solar battery thin film (2) is fitted in flexible spherical shell (1) inside face and carries out the collection of energy, constantly charges to linear stepping motor (5) power supply for low temperature battery counterweight (8), realizes the long-time normal work of robot.
2. hybrid drive-type according to claim 1 South Pole scientific investigation ball shape robot, is characterized in that: described flexible spherical shell (1) is selected transparent material, is conducive to solar battery thin film (2) high efficiency conversion solar.
3. hybrid drive-type according to claim 1 South Pole scientific investigation ball shape robot, is characterized in that: the many small salient points of described flexible spherical shell (1) outside face adhesion, increase robot earth-grasping force, and avoid occurring skidding.
4. hybrid drive-type according to claim 1 South Pole scientific investigation ball shape robot, it is characterized in that: described end connecting device (3) is made up of end fixing lug boss (3-A) and end connecting panel (3-B) end fixing lug boss (3-A) and bonding being connected of flexible spherical shell (1) inside face; End connecting panel (3-B) is connected with end fixing lug boss (3-A) by bolt.
CN201410223705.XA 2014-05-26 2014-05-26 Hybrid drive type Antarctic science investigation spherical robot CN103991486A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106741262A (en) * 2016-12-22 2017-05-31 深圳市智能机器人研究院 A kind of ball shape 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
CN109484503A (en) * 2018-10-29 2019-03-19 逻腾(杭州)科技有限公司 A kind of rolling robot with anti-skidding rolling band

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004306921A (en) * 2003-04-10 2004-11-04 Masatoyo Matsuda Ball actuator
US20070215394A1 (en) * 2006-03-15 2007-09-20 Sun Hanxu Spherical walking robot
CN101386174A (en) * 2008-10-17 2009-03-18 西安电子科技大学 Spherical robot with inside and outside driving
CN201670289U (en) * 2010-05-10 2010-12-15 姜亮 Spherical robot
CN102219032A (en) * 2011-06-07 2011-10-19 中国人民解放军理工大学工程兵工程学院 Soft-shell spherical robot
CN103496409A (en) * 2013-09-26 2014-01-08 上海大学 Independent power-supply-type all-dimensional exercise spherical robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004306921A (en) * 2003-04-10 2004-11-04 Masatoyo Matsuda Ball actuator
US20070215394A1 (en) * 2006-03-15 2007-09-20 Sun Hanxu Spherical walking robot
CN101386174A (en) * 2008-10-17 2009-03-18 西安电子科技大学 Spherical robot with inside and outside driving
CN201670289U (en) * 2010-05-10 2010-12-15 姜亮 Spherical robot
CN102219032A (en) * 2011-06-07 2011-10-19 中国人民解放军理工大学工程兵工程学院 Soft-shell spherical robot
CN103496409A (en) * 2013-09-26 2014-01-08 上海大学 Independent power-supply-type all-dimensional exercise spherical robot

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106741262A (en) * 2016-12-22 2017-05-31 深圳市智能机器人研究院 A kind of ball shape robot
WO2018113368A1 (en) * 2016-12-22 2018-06-28 深圳市智能机器人研究院 Spherical robot
CN106741262B (en) * 2016-12-22 2018-10-12 深圳市智能机器人研究院 A kind of ball shape 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
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
CN109484503A (en) * 2018-10-29 2019-03-19 逻腾(杭州)科技有限公司 A kind of rolling robot with anti-skidding rolling band
CN109484503B (en) * 2018-10-29 2019-12-31 逻腾(杭州)科技有限公司 Rolling robot with anti-skid rolling belt

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Application publication date: 20140820