CN104015827B - A kind of can the structure changes ball shape robot of obstacle detouring - Google Patents
A kind of can the structure changes ball shape robot of obstacle detouring Download PDFInfo
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- CN104015827B CN104015827B CN201410254327.1A CN201410254327A CN104015827B CN 104015827 B CN104015827 B CN 104015827B CN 201410254327 A CN201410254327 A CN 201410254327A CN 104015827 B CN104015827 B CN 104015827B
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Abstract
The present invention relates to a kind of can the structure changes ball shape robot of obstacle detouring.Robot includes balancing weight horizontal-shift module, rolling movement drives module, flywheel to drive module and flywheel brake module, it is possible to realize pure rolling and obstacle detouring both basic exercise patterns.Under pure rolling pattern, this programme is similar to the traditional spheroidal robot relying on center-of-gravity shift type to drive, and has the advantages that sport efficiency is high；And under obstacle detouring pattern, robot only need to increase line shaft driving moment, the acceleration energy storage to flywheel group can be automatically obtained, the pawl foot launching to be hidden in spherical shell both sides will be triggered when Speed of Reaction Wheels reaches predetermined threshold value.Meanwhile, the spherical shell of retard motion will brake flywheel, thus the energy prompt explosion laid in driving claw foot rotate and realize obstacle detouring, after energy release, system recovery is PURE ROLLING pattern.This programme has compact conformation, controls the advantages such as simple, obstacle climbing ability is strong, system is reliable, improves landform adaptive capacity and the practicality of ball shape robot.
Description
Technical field
The present invention relates to a kind of ball shape robot.More clearly, the present invention relates to a kind of complicated landform is had motor fitness can the structure changes ball shape robot of obstacle detouring.
Background technology
Ball shape robot is gained the name because generally having the Outer structural shape of spheroidal, is the novel mobile apparatus people's form of a class.Being different from traditional wheeled, legged type robot, the principal character advantage of ball shape robot is in that, by the scrolling realization basic exercise of spherical housing, it is easy to accomplish the omnidirectional moving under level terrain, and has higher sport efficiency and movement velocity；In motor process, when colliding when robot or fall from eminence, the spherical housing of closing can also effectively protect robot interior equipment.
The applied environment of ball shape robot, while possessing above-mentioned technical advantage, is limited to smooth terrain environment by spherical structure also.Typically, for relying on centre-of gravity shift to obtain the conventional ball shape robot type of drive such as weight-driven moment, its driving moment is generally less, make robot when running into the non-equilibrium drilling environment having compared with multi-obstacle avoidance or more hypsography, it is easy to lose motor capacity and be stuck in certain position.For this kind of defect of ball shape robot, recent domestic also has been proposed that a variety of improvement project, for instance: design has the motion structure of continuous bounce ability and helps ball shape robot to surmount obstacles (patent No.: ZL201110296831.4)；Design increases lower limb extremity body structures and helps ball shape robot to run (patent No.: 201310476310.6) etc. in non-equilibrium drilling.The enforcement of these improved methods, all needs specialized designs control system with matching and algorithm.
Summary of the invention
It is an object of the invention to for the defect that prior art exists provide a kind of can the structure changes ball shape robot of obstacle detouring, can not by under the premise of complex control system and control method, by the feature that the mechanical of robot self and electrically driven structure possess, realize the obstacle detouring action of robot, thus strengthening the landform adaptive capacity of ball shape robot.
For reaching above-mentioned purpose, the technical solution used in the present invention is:
A kind of can the structure changes ball shape robot of obstacle detouring, drive module, flywheel to drive module and flywheel brake module including spherical shell, balancing weight horizontal-shift module, rolling movement；It is characterized in that: the rolling movement axis collinear of described each block motion axis and spherical shell；Described balancing weight horizontal-shift module is positioned at spherical shell left side cavity, and is connected with spherical shell left side wall；Described rolling movement drives module to be positioned at the right-side cavity of spherical shell, and is connected with the right side wall of spherical shell；Described flywheel drives module to run through spherical shell left side wall, and is connected with left side wall；Described flywheel brake module runs through and is connected on the left and right sides wall of spherical shell；There are the one the second Serve Motor Control balancing weights to move along spherical shell inside spherical shell the horizontal-shift of rotating shaft in described balancing weight horizontal-shift module, control the size of ball shape robot rolling movement radius of turn；Described rolling movement drives in module to be had the one the second drive motors to control ball shape robot to realize PURE ROLLING pattern and obstacle detouring pattern；The rolling movement that connects that described flywheel drives the structure of module to be two series connection drives the planet circular system of module and flywheel brake module, and when obstacle detouring pattern, it coordinates rolling movement to drive module to realize the acceleration energy storage to two flywheels in left and right in flywheel brake module；The pawl foot having 6 can only brake flywheel group moment in described flywheel brake module and to launch, to realize the instantaneous burst of flywheel group energy reserve.
Above-mentioned balancing weight horizontal-shift module includes balancing weight and drives arm, the first servomotor, the second servomotor, clutch shaft bearing, the second bearing, feather key, balancing weight axle, balancing weight.Wherein balancing weight axle is rotatably connected by clutch shaft bearing and spherical shell so that balancing weight axle and spherical shell can axially opposing rotation and can not axially opposing movement.Wherein feather key is horizontally fixed on balancing weight axle, and wherein balancing weight is socketed on balancing weight axle and feather key and constitutes moving sets.Wherein balancing weight drives arm by the second bearing hinge connection balancing weight so that balancing weight drive arm can balancing weight axial rotation relatively, but can not axially opposing movement.Wherein the first servomotor and the second servomotor are symmetrically and fixedly mounted on spherical shell left side wall inwall, it is secondary that the screw rod type output shaft of two motors and balancing weight drive arm to constitute the worm drive being arranged symmetrically with, make the rotary motion of Synchronization Control the two motor, balancing weight can be realized and move at the horizontal-shift within ball shape robot.
Above-mentioned rolling movement driving module includes line shaft, the 3rd bearing, the 4th bearing, the 5th bearing, the first drive motor, the second drive motor, the first motor fixing frame, the second motor fixing frame, preloader, the first spring, the first driving friction pulley, the second driving friction pulley, the first driving gear, the second driving gear, the 3rd driving gear.Wherein line shaft is connected with balancing weight axle and spherical shell right side wall formation revolute pair by the 3rd bearing, the 4th bearing and the 5th axle, between this three can axially opposing freely rotatable but can not axially opposing movement.Wherein the first drive motor and the second drive motor are fixed on the inner surface of spherical shell right side wall respectively through the first motor fixing frame and the second motor fixing frame symmetry, and two motor in synchrony run.Wherein the 3rd gear is driven to be fixed on line shaft.Wherein the first drive motor and the second drive motor drive gear and second to drive gear synchronous to drive the 3rd driving gear respectively through first, it is achieved the driving to line shaft.Wherein second friction pulley is driven to be fixedly mounted on the right-hand member of balancing weight axle.Wherein first drive friction pulley to be socketed on line shaft formation moving sets, its can only move axially relative to line shaft and can not axial rotation.Wherein preloader is fixed on line shaft, and drives friction pulley and second to drive friction pulley to be pressed together by initial tension of spring by the first spring handle first, forms the line shaft slip gear to balancing weight axle, and this preload adjustable value is designated as F1, first drives friction pulley and second to drive the maximum friction moment value that friction pulley can transmit to be designated as T1max。
Above-mentioned flywheel drives module to include: flywheel shaft, the 6th bearing, the 7th bearing, the first gear fixed mount, planet carrier, the first row star-wheel, the second planetary gear, the third line star-wheel, fourth line star-wheel, the first sun gear, the second sun gear, fifth line star-wheel, the 6th planetary gear, flywheel driving gear, wheel friction are taken turns.Wherein flywheel shaft passes through the 6th bearing and the 7th bearing, formed and be connected with the revolute pair of line shaft, and and then form spherical shell, flywheel shaft, line shaft and the coaxial revolute pair structure of balancing weight axle four axle so that they can each independently rotate relatively freely around spherical shell axis.Wherein planet carrier, the first row star-wheel, the second planetary gear, the third line star-wheel, fourth line star-wheel, the first sun gear and the second sun gear constitute first planet gear train, wherein the first sun gear is fixed on balancing weight axle left end, second sun gear is fixed on line shaft left end, and the first row star-wheel, the second planetary gear, the third line star-wheel and fourth line star-wheel are arranged on planet carrier.Wherein the first gear fixed mount, planet carrier, fifth line star-wheel, the 6th planetary gear and flywheel driving gear constitute the second epicyclic train, wherein the first gear fixed mount is fixedly mounted on spherical shell, fifth line star-wheel and the 6th planetary gear are respectively symmetrically in the rotating shaft being arranged in the first gear fixed mount, and flywheel driving gear forms revolute pair with flywheel shaft and is connected.Wherein first planet gear train and the second epicyclic train form the transitive relation of motion and power by common component planet carrier.
Above-mentioned flywheel brake module includes left flywheel, right flywheel, the first flywheel pawl, the second flywheel pawl, the 3rd flywheel pawl, the 4th flywheel pawl, flywheel chuck, the first flywheel chuck gear, the second flywheel chuck gear, the 3rd flywheel chuck gear, first right sufficient, second right sufficient, the 3rd right sufficient, first left sufficient, the second left sufficient, the 3rd left sufficient, the first foot axle, the second foot axle, tripodia axle.Wherein wheel friction wheel is realized and the revolute pair annexation of flywheel shaft by bearing, between both can only axial rotation and can not move axially.Wherein wheel friction wheel is relatively fixed installation with flywheel driving gear coaxial line so that directly transmit moment between the two.Wherein left flywheel and flywheel shaft form moving sets, can move axially between the two and can not axial rotation so that rotating torque can be transmitted between the two.Wherein left flywheel passes through the fixing nut of flywheel shaft left end by spring pressure pretension so that it fits together with wheel friction wheel, remembers that this pretightning force is F2, the maximum moment value can transmitted between the two is designated as T2max.Wherein right flywheel and flywheel shaft fixed installation.Wherein the first flywheel pawl, the second flywheel pawl, the 3rd flywheel pawl and the 4th flywheel pawl are arranged in the equally distributed rotating shaft of circumference of right flywheel respectively through respective helical spring, initial rest position when they are static is contraction state, make when right flywheel drives these four tires to rotate, four tires are flared out by the effect of centrifugal force, and it is issued to new equilbrium position in the effect of the restoring moment of respective helical spring, what namely flywheel turned is more fast, and the subtended angle of four tires is also more big.Wherein flywheel chuck is connected with flywheel shaft formation revolute pair, can only rotate to axial and can not move axially.Reset helical spring is installed, for retraining the motion of flywheel chuck between flywheel chuck and spherical shell.Wherein flywheel chuck has tooth-shape structure, and it is meshed with the first flywheel chuck gear being arranged on spherical shell, the second flywheel chuck gear and the 3rd flywheel chuck gear.Wherein the first right foot and the first left foot are fixed together by the first foot axle.Wherein the second right foot and the second left foot are fixed together by the second foot axle.Wherein the 3rd right foot and the 3rd left foot are fixed together by tripodia axle.Wherein the first foot axle, the second foot axle and tripodia axle are connected with spherical shell formation revolute pair.Wherein first right sufficient, second is right sufficient and the 3rd right sufficient structure all contains sector gear, they are meshed with the first flywheel chuck gear, the second flywheel chuck gear and the 3rd flywheel chuck gear respectively, make flywheel chuck sufficient relative to rotating described 6 pawl can be opened of spherical shell, until encountering the sufficient limited block on spherical shell.
The present invention compared with prior art, has following apparent prominent substantive distinguishing features and notable technological progress:
1. present invention preserves the kinetic characteristic of traditional spheroidal robot so that in more smooth landform during motion, there is higher energy utilization efficiency.And further, the present invention is when robot is stranded by barrier and is difficult to move on, by the automatic fast storage kinetic energy of flywheel, and can automatically excite the instantaneous braking of flywheel subsequently, be hidden in 6 pawl foot synchronous expansions in spheroid both sides to drive and perform rapid circular movement.It is similar to that the rapid circular movement that biological biped is run so that ball shape robot possesses obstacle climbing ability in the short time by this pawl foot.After obstacle detouring energy burst, system can automatically revert to again original configuration and spherical rolling state, and is that the outburst again after normal high efficiency spherical rolling and chance barrier is ready.
2. the present invention drives module and flywheel to drive module by rolling movement, is automatically obtained the distribution from line shaft driving moment.When less driving moment, total driving moment is mainly distributed to balancing weight and is realized the reach of spheroid center of gravity and realize PURE ROLLING.And when entering Obstacle Negotiation pattern, when driving by bigger driving moment, total driving moment is mainly distributed to flywheel and is accelerated energy storage.
In the middle of practical application, the present invention will embody following remarkable advantage:
1. under basic exercise pattern, remain the spherical sealed structure of ball shape robot, possess the movement characteristic of high efficiency, high speed and the defencive function to internal structure.
2. after meeting with barrier, can automatically trigger pawl foot structure by frame for movement launch and realize obstacle detouring, this process only needs motor is simply driven control, and it is independent of the algorithm of complexity and expensive sophisticated sensor, therefore, while realizing the lifting of landform adaptive capacity, also ensure that the reliability of system.
3. population structure is simpler, it is easy to safeguard and popularization and application.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of ball shape robot of the present invention.
Fig. 2 is the balancing weight horizontal-shift structural scheme of mechanism of ball shape robot of the present invention.
Fig. 3 is the driving structural representation of ball shape robot of the present invention.
Fig. 4 is the driving structure sectional view of ball shape robot of the present invention.
Fig. 5 is the flywheel module structural representation of ball shape robot of the present invention.
Fig. 6 is the foot modular structure schematic diagram of ball shape robot of the present invention.
Fig. 7 is the structural representation when obstacle detouring pattern of ball shape robot of the present invention.
Fig. 8 is the motion schematic diagram of ball shape robot of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing and preferred embodiment, the invention will be further described, but following example are merely illustrative, and protection scope of the present invention is also not restricted by the embodiments.
Embodiment one:
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, originally can the structure changes ball shape robot of obstacle detouring includes spherical shell 0, balancing weight horizontal-shift module I, rolling movement drive module II, flywheel to drive module III and flywheel brake module IV；It is characterized in that: the rolling movement axis collinear of described each block motion axis and spherical shell 0；Described balancing weight horizontal-shift module I is positioned at spherical shell 0 left side cavity, and is connected with spherical shell 0 left side wall 0-1；Described rolling movement drives module II to be positioned at the right-side cavity of spherical shell 0, and is connected with the right side wall 0-2 of spherical shell 0；Described flywheel drives module III to run through spherical shell 0 left side wall 0-1, and is connected with left side wall 0-1；Described flywheel brake module IV runs through and is connected on the left and right sides wall 0-1,0-2 of spherical shell 0；There are the one the second servomotor 1-2,1-3 to control the balancing weight 1-8 horizontal-shift in the internal rotating shaft of moving along spherical shell 0 of spherical shell 0 in described balancing weight horizontal-shift module I, control the size of ball shape robot rolling movement radius of turn；Described rolling movement drives in module II to be had the one the second drive motor 2-1,2-6 to control ball shape robot to realize PURE ROLLING pattern and obstacle detouring pattern；The rolling movement that connects that described flywheel drives the structure of module III to be two series connection drives the planet circular system of module II and flywheel brake module IV, when obstacle detouring pattern, it coordinates rolling movement to drive module II to realize the acceleration energy storage to left and right two flywheels 4-1,4-2 in flywheel brake module IV；Pawl foot 4-8,4-9,4-11,4-14,4-17, the 4-19 having 6 can only brake flywheel group moment in described flywheel brake module IV and to launch, to realize the instantaneous burst of flywheel group energy reserve.
Embodiment two:
The present embodiment is essentially identical with embodiment one, and special feature is as follows:
As shown in Figure 1 and Figure 2, above-mentioned balancing weight horizontal-shift module I, it includes balancing weight and drives arm 1-1, the first servomotor 1-2, the second servomotor 1-3, clutch shaft bearing 1-4, feather key 1-5, balancing weight axle 1-6, the second bearing 1-7, balancing weight 1-8；Described balancing weight axle 1-6 is rotatably connected by clutch shaft bearing 1-4 and spherical shell 0 so that balancing weight axle 1-6 and spherical shell 0 can axially opposing rotation and can not axially opposing movement；Feather key 1-5 is horizontally fixed on balancing weight axle 1-6；Balancing weight 1-8 is socketed on balancing weight axle 1-6 and feather key 1-5 and constitutes moving sets；Balancing weight drives arm 1-1 by the second hinged balancing weight 1-8 of bearing 1-7 so that balancing weight drive arm 1-1 can balancing weight 1-8 axial rotation relatively, but can not axially opposing movement；First servomotor 1-2 and the second servomotor 1-3 is symmetrically and fixedly mounted on spherical shell 0 left side wall 0-1 inwall, it is secondary that the screw rod type output shaft of two motors and balancing weight drive arm 1-1 to constitute the worm drive being arranged symmetrically with, make the rotary motion of Synchronization Control the two motor, balancing weight 1-8 can be realized and move at the horizontal-shift within ball shape robot.
As shown in Fig. 1, Fig. 3, Fig. 4, above-mentioned rolling movement driving module II, comprising: line shaft 2-8, the 3rd bearing 2-15, the 4th bearing 2-3, the 5th bearing 2-7, the first drive motor 2-1, the second drive motor 2-6, the first motor fixing frame 2-2, the second motor fixing frame 2-5, preloader 2-4, the first spring 2-12, the first driving friction pulley 2-14, the second driving friction pulley 2-9, the first driving gear 2-10, the second driving gear 2-13, the 3rd driving gear 2-11；Line shaft 2-8 by the 3rd bearing 2-15, the 4th bearing 2-3 and the five bearing 2-7 and balancing weight axle 1-6 and spherical shell 0 right side wall 0-2 formation revolute pair be connected, between this three can axially opposing freely rotatable but can not axially opposing movement；First drive motor 2-1 and the second drive motor 2-6 is fixed on the inner surface of spherical shell 0 right side wall 0-2 respectively through the first motor fixing frame 2-2 and the second motor fixing frame 2-5 symmetry, and two motor in synchrony run；3rd drives gear 2-11 to be fixed on line shaft 2-8；First drive motor 2-1 and the second drive motor 2-6 drives gear 2-10 and second to drive gear 2-13 to synchronize to drive the 3rd driving gear 2-11 respectively through first, it is achieved the driving to line shaft 2-8；Second drives friction pulley 2-9 to be fixedly mounted on the right-hand member of balancing weight axle 1-6；First drive friction pulley 2-14 be socketed on line shaft 2-8 and form moving sets, its can only move axially relative to line shaft 2-8 and can not axial rotation；Preloader 2-4 is fixed on line shaft 2-8, and drive friction pulley 2-14 and the second to drive friction pulley 2-9 to be pressed together by initial tension of spring by the first spring 2-12 first, forming the slip gear of line shaft 2-8 to balancing weight axle 1-6, this preload adjustable value is designated as F1, first drives friction pulley 2-14 and the second to drive the friction pulley 2-9 maximum friction moment value that can transmit to be designated as T1max；
As shown in Fig. 1, Fig. 3, Fig. 4, above-mentioned flywheel drives module III, comprising: flywheel shaft 3-2, the 6th bearing 3-15, the 7th bearing 3-10, the first gear fixed mount 3-3, planet carrier 3-4, the first row star-wheel 3-13, the second planetary gear 3-14, the third line star-wheel 3-6, fourth line star-wheel 3-1, the first sun gear 3-5, the second sun gear 3-7, fifth line star-wheel 3-12, the 6th planetary gear 3-8, flywheel driving gear 3-9, wheel friction wheel 3-11；Described flywheel shaft 3-2 passes through the 6th bearing 3-15 and the seven bearing 3-10, formed and be connected with the revolute pair of line shaft 2-8, and and then form spherical shell 0, flywheel shaft 3-2, line shaft 2-8 and the coaxial revolute pair structure of balancing weight axle 1-6 tetra-axle so that they can rotate relatively freely around spherical shell 0 axis independently of one another；Described planet carrier 3-4, the first row star-wheel 3-13, the second planetary gear 3-14, the third line star-wheel 3-6, fourth line star-wheel 3-1, the first sun gear 3-5 and the second sun gear 3-7 constitute first planet gear train, wherein the first sun gear 3-5 is fixed on balancing weight axle 1-6 left end, second sun gear 3-7 is fixed on line shaft 2-8 left end, and the first row star-wheel 3-13, the second planetary gear 3-14, the third line star-wheel 3-6 and fourth line star-wheel 3-1 are arranged on planet carrier 3-4；Described first gear fixed mount 3-3, planet carrier 3-4, fifth line star-wheel 3-12, the 6th planetary gear 3-8 and flywheel driving gear 3-9 constitute the second epicyclic train, wherein the first gear fixed mount 3-3 is fixedly mounted on spherical shell 0, fifth line star-wheel 3-12 and the six planetary gear 3-8 is respectively symmetrically in the rotating shaft being arranged in the first gear fixed mount 3-3, and flywheel driving gear 3-9 and flywheel shaft 3-2 forms revolute pair and is connected；Described first planet gear train and the second epicyclic train form the transitive relation of motion and power by common component planet carrier 3-4.
As shown in Fig. 1, Fig. 4, Fig. 5, Fig. 6, Fig. 7, above-mentioned flywheel brake module IV, comprising: left flywheel 4-1, right flywheel 4-2, the first flywheel pawl 4-3, the second flywheel pawl 4-4, the 3rd flywheel pawl 4-5, the 4th flywheel pawl 4-6, flywheel chuck 4-15, the first flywheel chuck gear 4-13, the second flywheel chuck gear 4-16, the 3rd flywheel chuck gear 4-18, the first right sufficient 4-14, the second right sufficient 4-19, the 3rd right sufficient 4-17, the first left sufficient 4-11, the second left sufficient 4-8, the 3rd left sufficient 4-9, the first foot axle 4-12, the second foot axle 4-7, tripodia axle 4-10；Described wheel friction wheel 3-11 is realized and the revolute pair annexation of flywheel shaft 3-2 by bearing, between both can only axial rotation and can not move axially；Described wheel friction wheel 3-11 is relatively fixed installation with flywheel driving gear 3-9 coaxial line so that directly transmit moment between the two；Left flywheel 4-1 and flywheel shaft 3-2 form moving sets, can move axially between the two and can not axial rotation so that rotating torque can be transmitted between the two；Described left flywheel 4-1 passes through the fixing nut of flywheel shaft 3-2 left end by spring pressure pretension so that it remembers that this pretightning force is F together with fitting tightly with wheel friction wheel 3-112, the maximum moment value can transmitted between the two is designated as T2max；Right flywheel 4-2 and flywheel shaft 3-2 fixed installation；First flywheel pawl 4-3, the second flywheel pawl 4-4, the 3rd flywheel pawl 4-5 and the four flywheel pawl 4-6 are arranged in the axial equally distributed rotating shaft of right flywheel 4-2 respectively through respective helical spring, initial rest position when they are static be contraction state as shown in Figure 5, make when right flywheel 4-2 drives these four tires to rotate, four tires are flared out by the effect of centrifugal force, and it is issued to new equilbrium position in the effect of the restoring moment of respective helical spring, what namely flywheel turned is more fast, and the subtended angle of four tires is also more big；Flywheel chuck 4-15 and flywheel shaft 3-2 forms revolute pair and is connected, and can only rotate to axial and can not move axially.Between flywheel chuck 4-15 and spherical shell 0, reset helical spring is installed, for retraining the motion of flywheel chuck 4-15；Described flywheel chuck 4-15 has tooth-shape structure, and it is meshed with the first flywheel chuck gear 4-13 being arranged on spherical shell 0, the second flywheel chuck gear 4-16 and the 3rd flywheel chuck gear 4-18；The first left sufficient 4-11 of right sufficient 4-14 and the first is fixed together by the first foot axle 4-12；The second left sufficient 4-8 of right sufficient 4-19 and the second is fixed together by the second foot axle 4-7；The 3rd right left sufficient 4-9 of sufficient 4-17 and the three is fixed together by tripodia axle 4-10；Described first foot axle 4-12, the second foot axle 4-7 and tripodia axle 4-10 form revolute pair with spherical shell 0 and are connected；Described first right sufficient 4-14, the second right sufficient 4-17 structure of right sufficient 4-19 and the three all contain sector gear, they are meshed with the first flywheel chuck gear 4-13, the second flywheel chuck gear 4-16 and the 3rd flywheel chuck gear 4-18 respectively, make flywheel chuck 4-15 sufficient relative to rotating described 6 pawl can be opened of spherical shell 0, until meeting the sufficient limited block 4-20 on spherical shell 0；The initial position of described flywheel chuck 4-15 and 6 pawl foots is as shown in Figure 6；Reply helical spring between described spherical shell 0 and flywheel chuck 4-15, when flywheel chuck 4-15 initial position, it still has certain initial restoring moment so that when initial position, 6 pawls can hold spherical shell 0 enough tightly.The position of maximum extension of described flywheel chuck 4-15 and 6 pawl foots is as shown in Figure 7.
Robot of the present invention is generally under following two state and runs: 1) PURE ROLLING, and 2) Obstacle Negotiation.And for ball shape robot switching under both basic status, it is possible to by remote control or mode automatically, could be adjusted to realize to the output torque size of the first drive motor 2-1 and the second drive motor 2-6.In the present invention, as shown in Figure 8, robot is achieved the leap of barrier in direction of advance a kind of typical motion situation of robot by the cooperation of two kinds of kinestates.
The operation principle of the present embodiment is as follows:
PURE ROLLING pattern:
Running environment: ball shape robot runs in flatter landform.
Control mode: the driving torque that the first drive motor 2-1 and the second drive motor 2-6 output is less.
Exercise performance: can carry out scroll forward and backward motion (in Fig. 1, x-axis direction is positive direction) of variable-ratio, the acceleration of motion is driven the center of gravity reach weight-driven moment that module II provides to determine by rolling movement.And the horizontal-shift that can pass through balancing weight horizontal-shift module I adjustment barycenter realizes turning simultaneously, radius of turn is also controlled.
Under this pattern, the basic exercise process prescription of robot is as follows:
1) accelerated motion:
Ball shape robot is in ground grading, the driving torque that first drive motor 2-1 and the second drive motor 2-6 output is less, line shaft 2-8 drives the frictional force between friction pulley 2-9 by the first driving friction pulley 2-14 and second, balancing weight axle 1-6 and balancing weight 1-8 is driven to turn forward, the barycenter making robot overall turns forward, therefore by the effect of gravity, whole spheroid is subjected to weight-driven moment forward and accelerated motion forward.Owing to the driving moment of now line shaft 2-8 is less, when the inclination angle forward (angle in the arm axle of balancing weight 1-8 and acceleration of gravity direction) of balancing weight axle 1-6 and balancing weight 1-8 increases (less than or equal to 90 degree), the weight-driven moment that barycenter reach produces also will increase accordingly, so can realize the control to spheroid acceleration of motion by controlling the size at this inclination angle.
In this process, by regulating the preload pressure value of preloader 2-4, to drive friction pulley 2-14 and the second to drive the maximum friction moment of transmission between friction pulley 2-9 to be set to T by first1max.This moment of friction transmits the driving moment constituting line shaft 2-8 further, and this driving moment is for the gravity torque of counterweight block 1-8.In this process, the first sun gear 3-5 and the second sun gear 3-7 keeps geo-stationary so that first planet train is degenerated to a gear driving the second planet circular system.Under this state, structural equivalence of the present invention in one typically realize before and after spheroid by centre-of gravity shift, the ball shape robot of turning motion.In ball shape robot PURE ROLLING process, the second planet circular system also will drive left flywheel 4-1 and right flywheel 4-2 to rotate, but under this kinestate, the rotating speed of flywheel is less, will be not enough to trigger flywheel brake module IV.
2) uniform motion:
The uniform motion of ball shape robot may be considered the special accelerated motion situation that acceleration is zero.Namely, after ball-shape robot accelerates to forward, from static beginning, the speed specified, by reducing the first drive motor 2-1 and the output driving torque of the second drive motor 2-6, to reduce the inclination angle forward of balancing weight 1-8, and then make the moment of friction of weight-driven moment just balanced robot motion that spheroid obtains, so that the acceleration of spheroid entirety is zero, and finally realize uniform motion.
3) retarded motion:
Ball shape robot retarded motion, it is also possible to think that acceleration is negative special accelerated motion situation.Namely when ball shape robot needs to slow down, as long as making the driving torque of the first drive motor 2-1 originally and the second drive motor 2-6 output reversely, and the control mode of this backward acceleration is also complete and ball shape robot to realize the mechanism of accelerated motion completely the same.
4) turning motion:
In the above-mentioned motion forward or backwards of ball shape robot, balancing weight 1-8 moving horizontally along spherical shell 0 rolling axis direction in balancing weight horizontal-shift module I can be passed through, realize the horizontal-shift of spheroid center of gravity, with the contact point on ground during to change spherical shell 0 rolling movement.Correspondingly, the touchdown point track of spherical shell, by by the original diameter circle being perpendicular to spherical shell rolling axis center, transitions deviating from the roundlet of axis centre, thus realizing turning motion.And further, the size of this radius of circle that lands can be adjusted by controlling the side-play amount of balancing weight 1-8, thus realizing the adjustment of ball shape robot turning motion radius.
Obstacle Negotiation pattern:
Running environment: ball shape robot encounters barrier in the middle of the process of PURE ROLLING, it is difficult to move on.
Control mode: increase the driving torque of the first drive motor 2-1 and the second drive motor 2-6 output.
Exercise performance: although now, ball shape robot is due to the constraint of external environment, and can not continue to run forward, but flywheel can be made to accelerate energy storage by increasing driving moment.And further, after the rotating speed of flywheel reaches setting value, trigger flywheel brake module IV so that ball shape robot moment opens 6 pawl foots the rotating speed that instantaneous acquisition is bigger, so that ball shape robot instantaneous burst goes out bigger obstacle climbing ability.
Under this pattern, the basic exercise process prescription of robot is as follows:
In the ball shape robot process that (in Fig. 1, x-axis positive direction is just) is run forward, owing to the weight-driven moment purely obtained by balancing weight 1-8 skew is less, it is possible to owing to running into landform or the barrier of complexity, and certain position can be stuck in.Now rely on original motion mode, it may be difficult to extricate oneself from a predicament.
For special driving structure of the present invention, owing to being driven friction pulley 2-14 and the second to drive the maximum friction moment T that can transmit between friction pulley 2-9 by first1maxRestriction so that when being increased the driving moment of line shaft 2-8 by the first drive motor 2-1 and the second drive motor 2-6, unnecessary moment will drive the relative sliding of friction pulley 2-14 and the second driving friction pulley 2-9 tap by first.A part still is used for driving balancing weight axle 1-6, and another part is then delivered to flywheel by first planet train and the second planet circular system.So left flywheel 4-1 and right flywheel 4-2 can be further speeded up by increasing the output torque of line shaft 2-8.
Subsequently, when the rotating speed of right flywheel 4-2 reaches setting value, 4 flywheel pawls on right flywheel 4-2 are enough to touch the draw-in groove on flywheel chuck 4-15 by opening up into so that right flywheel 4-2 flywheel driven chuck 4-15 rotates.The rotation of flywheel chuck 4-15, drives 6 pawls foots outwards to launch by 3 chuck gear further, until 6 pawls foots meet the sufficient limited block 4-20 on spherical shell 0 and stop motion.Position of maximum extension is as shown in Figure 7.Now left flywheel 4-1, right flywheel 4-2, flywheel chuck 4-15,6 pawl foots and spherical shell 0 all geo-stationary, is stored in the kinetic energy on two flywheels originally, is changed for the kinetic energy of whole system entirety by this process.Namely ball-shape robot has gone out bigger energy instantaneous enhancing kinetic energy forward, upwards in this instantaneous burst, thus being greatly improved obstacle climbing ability.Subsequently, under the effect of the reset helical spring between flywheel chuck 4-15 and spherical shell, flywheel chuck 4-15 and 6 pawl foots will be reset to initial position, and 4 flywheel pawls, also under the effect of respective back-moving spring, reset to initial position.If obstacle crossed smoothly by robot, then robot can continue high efficiency motion advance under PURE ROLLING pattern, if being still in obstacle environment or non-flat forms environment, proceeds to Obstacle Negotiation pattern by continuing.
Claims (5)
1. can the structure changes ball shape robot of obstacle detouring, drive module (II), flywheel to drive module (III) and flywheel brake module (IV) including spherical shell (0), balancing weight horizontal-shift module (I), rolling movement；It is characterized in that: the rolling movement axis collinear of described each block motion axis and spherical shell (0)；Described balancing weight horizontal-shift module (I) is positioned at spherical shell (0) left side cavity, and is connected with spherical shell (0) left side wall (0-1)；Described rolling movement drives module (II) to be positioned at the right-side cavity of spherical shell (0), and is connected with the right side wall (0-2) of spherical shell (0)；Described flywheel drives module (III) to run through spherical shell (0) left side wall (0-1), and is connected with left side wall (0-1)；Described flywheel brake module (IV) is run through and is connected on the left and right sides wall (0-1,0-2) of spherical shell (0)；There are the one the second servomotors (1-2,1-3) to control balancing weight (1-8) at the internal horizontal-shift along spherical shell (0) motion rotating shaft of spherical shell (0) in described balancing weight horizontal-shift module (I), control the size of ball shape robot rolling movement radius of turn；Described rolling movement drives to be had the one the second drive motors (2-1,2-6) to control ball shape robot to realize PURE ROLLING pattern and obstacle detouring pattern in module (II)；The connection rolling movement that described flywheel drives the structure of module (III) to be two series connection drives the planet circular system of module (II) and flywheel brake module (IV), when obstacle detouring pattern, it coordinates rolling movement to drive module (II) to realize the acceleration energy storage to two flywheels (4-1,4-2) in the left and right in flywheel brake module (IV)；Pawl foot (4-8,4-9,4-11,4-14,4-17,4-19) having 6 can only brake flywheel group moment in described flywheel brake module (IV) and to launch, to realize the instantaneous burst of flywheel group energy reserve.
2. according to claim 1 can the structure changes ball shape robot of obstacle detouring, it is characterised in that: described balancing weight horizontal-shift module (I) includes balancing weight and drives arm (1-1), the first servomotor (1-2), the second servomotor (1-3), clutch shaft bearing (1-4), feather key (1-5), balancing weight axle (1-6), the second bearing (1-7), balancing weight (1-8)；Described balancing weight axle (1-6) is rotatably connected by clutch shaft bearing (1-4) and spherical shell (0) so that balancing weight axle (1-6) and spherical shell (0) can axially opposing rotation and can not axially opposing movement；Described feather key (1-5) is horizontally fixed on balancing weight axle (1-6), and described balancing weight (1-8) is socketed on balancing weight axle (1-6) and feather key (1-5) and constitutes moving sets；Described balancing weight drives arm (1-1) by the second bearing (1-7) hinged balancing weight (1-8) so that balancing weight drive arm (1-1) can balancing weight (1-8) axial rotation relatively, but can not axially opposing movement；Described first servomotor (1-2) and the second servomotor (1-3) are symmetrically and fixedly mounted on spherical shell (0) left side wall (0-1) inwall, it is secondary that the screw rod type output shaft of two motors and balancing weight drive arm (1-1) to constitute the worm drive being arranged symmetrically with, make the rotary motion of Synchronization Control the two motor, balancing weight (1-8) can be realized and move at the horizontal-shift within ball shape robot.
3. according to claim 1 can the structure changes ball shape robot of obstacle detouring, it is characterized in that: described rolling movement drives module (II) to include line shaft (2-8), 3rd bearing (2-15), 4th bearing (2-3), 5th bearing (2-7), first drive motor (2-1), second drive motor (2-6), first motor fixing frame (2-2), second motor fixing frame (2-5), preloader (2-4), first spring (2-12), first drives friction pulley (2-14), second drives friction pulley (2-9), first drives gear (2-10), second drives gear (2-13), 3rd drives gear (2-11)；Described line shaft (2-8) is formed revolute pair by the 3rd bearing (2-15), the 4th bearing (2-3) and the 5th bearing (2-7) be connected with balancing weight axle (1-6) and spherical shell (0) right side wall (0-2), between this three can axially opposing freely rotatable but can not axially opposing movement；Described first drive motor (2-1) and the second drive motor (2-6) are fixed on the inner surface of spherical shell (0) right side wall (0-2) respectively through the first motor fixing frame (2-2) and the second motor fixing frame (2-5) symmetry, and two motor in synchrony run；Described 3rd drives gear (2-11) to be fixed on line shaft (2-8)；By the first driving gear (2-10), the second drive motor (2-6) drives gear (2-13) then to synchronize to drive the 3rd driving gear (2-11) by second to described first drive motor (2-1), it is achieved the driving to line shaft (2-8)；Described second drives friction pulley (2-9) to be fixedly mounted on the right-hand member of balancing weight axle (1-6)；Described first drive friction pulley (2-14) be socketed on line shaft (2-8) and form moving sets, its can only move axially relative to line shaft (2-8) and can not axial rotation；Described preloader (2-4) is fixed on line shaft (2-8), and drive friction pulley (2-14) to drive friction pulley (2-9) to be pressed together by initial tension of spring with second by the first spring (2-12) first, forming the line shaft (2-8) slip gear to balancing weight axle (1-6), this spring pre-tightening force value is designated as F1, first drives friction pulley (2-14) to drive the maximum friction moment value that friction pulley (2-9) can transmit to be designated as T with second1max。
4. according to claim 1 can the structure changes ball shape robot of obstacle detouring, it is characterized in that: described flywheel drives module (III) to include: flywheel shaft (3-2), 6th bearing (3-15), 7th bearing (3-10), first gear fixed mount (3-3), planet carrier (3-4), the first row star-wheel (3-13), second planetary gear (3-14), the third line star-wheel (3-6), fourth line star-wheel (3-1), first sun gear (3-5), second sun gear (3-7), fifth line star-wheel (3-12), 6th planetary gear (3-8), flywheel driving gear (3-9), wheel friction wheel (3-11)；Described flywheel shaft (3-2) is by the 6th bearing (3-15) and the 7th bearing (3-10), formed and be connected with the revolute pair of line shaft (2-8), and and then form spherical shell (0), flywheel shaft (3-2), line shaft (2-8) and the coaxial revolute pair structure of balancing weight axle (1-6) four axles so that they can rotate relatively freely around spherical shell (0) axis independently of one another；Described planet carrier (3-4), the first row star-wheel (3-13), the second planetary gear (3-14), the third line star-wheel (3-6), fourth line star-wheel (3-1), the first sun gear (3-5) and the second sun gear (3-7) constitute first planet gear train, wherein the first sun gear (3-5) is fixed on balancing weight axle (1-6) left end, second sun gear (3-7) is fixed on line shaft (2-8) left end, and the first row star-wheel (3-13), the second planetary gear (3-14), the third line star-wheel (3-6) and fourth line star-wheel (3-1) are arranged on planet carrier (3-4)；Described first gear fixed mount (3-3), planet carrier (3-4), fifth line star-wheel (3-12), the 6th planetary gear (3-8) and flywheel driving gear (3-9) constitute the second epicyclic train, wherein the first gear fixed mount (3-3) is fixedly mounted on spherical shell (0), fifth line star-wheel (3-12) and the 6th planetary gear (3-8) line centered by flywheel shaft (3-2) axis are arranged symmetrically in the rotating shaft (3-3) of the first gear fixed mount, and flywheel driving gear (3-9) forms revolute pair with flywheel shaft (3-2) and is connected；Described first planet gear train and the second epicyclic train form the transitive relation of motion and power by common component planet carrier (3-4).
5. according to claim 4 can the structure changes ball shape robot of obstacle detouring, it is characterized in that: described flywheel brake module (IV) includes left flywheel (4-1), right flywheel (4-2), first flywheel pawl (4-3), second flywheel pawl (4-4), 3rd flywheel pawl (4-5), 4th flywheel pawl (4-6), flywheel chuck (4-15), first flywheel chuck gear (4-13), second flywheel chuck gear (4-16), 3rd flywheel chuck gear (4-18), first right foot (4-14), second right foot (4-19), 3rd right foot (4-17), first left foot (4-11), second left foot (4-8), 3rd left foot (4-9), first foot axle (4-12), second foot axle (4-7), tripodia axle (4-10)；Described wheel friction wheel (3-11) is realized and revolute pair annexation of flywheel shaft (3-2) by bearing, between both can only axial rotation and can not move axially；Described wheel friction wheel (3-11) and flywheel driving gear (3-9) coaxial line are relatively fixed installation so that directly transmit moment between the two；Described left flywheel (4-1) and flywheel shaft (3-2) form moving sets, can move axially between the two and can not axial rotation so that rotating torque can be transmitted between the two；Described left flywheel (4-1) by the fixing nut of flywheel shaft (3-2) left end by spring pressure pretension so that it takes turns with wheel friction together with (3-11) fit tightly, and remembers that this pretightning force is F2, the maximum moment value can transmitted between the two is designated as T2max；Described right flywheel (4-2) and flywheel shaft (3-2) fixed installation；First flywheel pawl (4-3), the second flywheel pawl (4-4), the 3rd flywheel pawl (4-5) and the 4th flywheel pawl (4-6) are arranged in the circumferential equally distributed rotating shaft of right flywheel (4-2) respectively through respective helical spring, initial rest position when they are static is contraction state, make when right flywheel (4-2) drives these four tires to rotate, four tires are flared out by the effect of centrifugal force, and it is issued to new equilbrium position in the effect of the restoring moment of respective helical spring, what namely flywheel turned is more fast, and the subtended angle of four tires is also more big；Described flywheel chuck (4-15) forms revolute pair with flywheel shaft (3-2) and is connected, can only rotate to axial and can not move axially, between flywheel chuck (4-15) and spherical shell (0), reset helical spring is installed, is used for retraining the motion of flywheel chuck (4-15)；Described flywheel chuck (4-15) has tooth-shape structure, and it is meshed with the first flywheel chuck gear (4-13) being arranged on spherical shell (0), the second flywheel chuck gear (4-16) and the 3rd flywheel chuck gear (4-18)；Described first right foot (4-14) is fixed together by the first foot axle (4-12) with the first left foot (4-11)；Described second right foot (4-19) is fixed together by the second foot axle (4-7) with the second left foot (4-8)；Described 3rd right foot (4-17) and the 3rd left foot (4-9) are fixed together by tripodia axle (4-10)；Described first foot axle (4-12), the second foot axle (4-7) and tripodia axle (4-10) form revolute pair with spherical shell (0) and are connected；Described first right foot (4-14), the second right foot (4-19) and the 3rd right foot (4-17) structure all contain sector gear, they are meshed with the first flywheel chuck gear (4-13), the second flywheel chuck gear (4-16) and the 3rd flywheel chuck gear (4-18) respectively, make flywheel chuck (4-15) will can open described 6 pawl foot (4-8,4-9,4-11,4-14,4-17,4-19) relative to rotating of spherical shell (0), until encountering the sufficient limited block (4-20) on spherical shell (0)；Described flywheel brake module (IV), when the rotating speed of right flywheel (4-2) reaches setting value, right flywheel (4-2) flywheel driven chuck (4-15) launches 6 pawl foots, until 6 pawl foots contact with the sufficient limited block (4-20) on spherical shell (0) and stop motion, to realize the instantaneous burst of flywheel group energy reserve.
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