CN104354551A - Electromagnetic control-based amphibious ellipsoidal robot - Google Patents
Electromagnetic control-based amphibious ellipsoidal robot Download PDFInfo
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- CN104354551A CN104354551A CN201410614161.XA CN201410614161A CN104354551A CN 104354551 A CN104354551 A CN 104354551A CN 201410614161 A CN201410614161 A CN 201410614161A CN 104354551 A CN104354551 A CN 104354551A
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Abstract
The invention relates to an electromagnetic control-based amphibious ellipsoidal robot. After an ellipsoidal shell is divided into two haves, electric motors and screw propellers are respectively arranged on disconnected cross sections of the two ellipsoidal shells. The two ends of the ellipsoidal shell are directly connected with two electric motors. When the robot moves on the land, a counterweight is controlled by an electromagnetic device to realize steering movement; front and back movement is realized by controlling the electric motors; movement in water is realized through different rotation speeds of the screw propellers. A driving unit is adopted to drive the ellipsoidal shell and a gravity deflection hybrid driving system, the problem of connection strength is solved, and the movement performance is more perfect. The counterweight is controlled by the electromagnetic valve to control steering, and an electromagnetic mechanism drives the counterweight to deflect, so that the gravity center of the robot is changed, and steering torque is generated; meanwhile, the ellipsoidal shell is adopted, so that steering is more stable. When the robot walks in water, the ellipsoidal shell is unfolded into two halves which are hinged to each other in water, the screw propellers are arranged on opening surfaces of the two unfolded ellipsoidal shell halves, and movement of the robot in water is realized through the screw propellers.
Description
Technical field
The present invention relates to robot field, particularly a kind of amphibious elliposoidal robot based on electromagnetic control that can realize amphibious motion.
Background technology
Ball shape robot is a kind of with the self-movement body of roll mode walking, with spherical, approximate ball or dish for shell.All work out shaping ball shape robot both at home and abroad at present, what design ball shape robot first is Helsinki, Finland polytechnical university, this robot interior is a single-wheel mechanism can rolled in ball, adopt single motor internal actuating device, the design achieves the motion of spherical shell, but the inherent limitation of single wheel drive makes its system realize omnibearing movable.Along with the development of robot research, ball shape robot also improves gradually, the most representative ball shape robot August being two Iranian scholars and developing in 2002, its internal driving mechanism adopts a set of four spokes, often overlap spoke and comprise a stepping motor, a cylindrical screw and a counterweight, produce drive torque realization rolling by changing center-of-gravity position, just kinematic velocity is comparatively slow, and controls difficult.
Although current ball shape robot has possessed multiple advantage, as structure is relatively simple, actuating device is more easy to control, low-profile, and motion flexibly, be disturbed little, load-carrying capacity is higher, but still comes with some shortcomings, as mode of motion is still comparatively single, less stable, mostly can only in land-based activities.
Summary of the invention
The object of the present invention is to provide a kind of amphibious elliposoidal robot based on electromagnetic control, solve the problems referred to above that prior art exists.Amphibious elliposoidal robot based on electromagnetic control of the present invention not only can roll on the road surface of complexity, and can resolve into two parts, and to realize underwater swimming, it is more flexible that the electromagnetic torque system simultaneously adopted makes ball shape robot move.Robot of the present invention can realize amphibious motion, and can pull the plug.After elliposoidal housing dimidiation, two elliposoidal housings disconnect section and are respectively provided with 4 electrical motors and screw propeller.Elliposoidal housing is directly connected with two electrical motors at two ends.When robot moves on land, by magnet control counterweight, ball shape robot is made to realize divertical motion; By controlling 2 described electrical motors, realize seesawing of ball shape robot.When underwater exercise, by described 4 propeller speed differences, realize the motion in water.
Above-mentioned purpose of the present invention is achieved through the following technical solutions:
Based on the amphibious elliposoidal robot of electromagnetic control, elliposoidal housing dimidiation and between be hinged and connected by connecting device 12, elliposoidal housing 11 is fixedly connected on B position with the output shaft of DC motor I 3, described DC motor I 3 is fixed on motor fix seat 15, and described motor fix seat 15 is welded in A position with pivot shaft 4; Calutron 5 internal fixtion arranges annular electromagnet, is fixed between calutron 5 and pivot shaft 4 by pin simultaneously; Pivot shaft 4 and castellated shaft 6 are for being fixedly connected with, and calutron 5 is connected with splined sleeve 16 by retracing spring 14, and described splined sleeve 16 and castellated shaft 6 spline joint, castellated shaft 6 arranges backing pin 17, position when restriction splined sleeve 16 resets; Splined sleeve 16 is connected with counter weight device 7 by connecting rod, and described counter weight device 7 inside is provided with lithium cell 1; Castellated shaft 4 is fixedly connected with plectane 9, and circuit card and receptor 2, direction sensor 8, DC motor II 13 are fixedly connected on plectane 9 respectively, and described plectane 9 is fixed as one with elliposoidal housing 11; Propeller 10 is fixedly connected on elliposoidal housing 11 rear portion by DC motor II 13.
Described DC motor II 13 is drip proof machine.
The present invention adopts drive unit drives spherical shell and centre-of gravity shift hybrid drive system.The unloading phase of robot, by electrical controller---calutron 5 and castellated shaft 6 control counter weight device 7, and after counter weight device 7 turns over certain angle (drawing as calculated), elliposoidal housing 11 just starts to rotate; Controlled to turn to by calutron 5, counter weight device 7, when ball shape robot turns to, calutron 5 drives counter weight device 7 to offset, and makes robot left and right directions mass centre changing, produces steering torque, realizes turning function.In order to avoid the rollover phenomenon caused because calutron 5 changes counter weight device 7 position fast, the special ellipsoid shell 11 that adopts is more steady to make to turn to.
Ball shape robot of the present invention, can be opened by elliposoidal housing 11 in water and become two halves, two semielliptical rear portions after opening are provided with screw propeller 10, make robot realize the motion in water by screw propeller 10, darker position can be slipped into, make ball shape robot realize amphibious function completely.
Beneficial effect of the present invention is: novel, ingenious, structure is simple.Not only can roll on the road surface of complexity, and can two parts be resolved into, to realize underwater swimming.Adopt drive unit drives spherical shell and centre-of gravity shift hybrid drive system, both the control difficulty of robot had been reduced, turn improve the steering capability of robot, the electromagnetic torque system simultaneously innovated can more convenient, the position that changes counterweight rapidly, ball shape robot is moved more flexibly, rapidly.Two semiellipse rear portions after opening are provided with screw propeller, robot is made to realize the motion in water by screw propeller, so just increase substantially the speed of advance of robot in water, and its motion is not only confined to the water surface, makes ball shape robot realize amphibious function completely, ellipsoid robot dimidiation ellipsoid in water simultaneously, screw propeller exposes, more a lot of by force than the complete closed power of spherical shell, balance and speed also more easy to control, practical.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, forms a application's part, and illustrative example of the present invention and explanation thereof, for explaining the present invention, do not form inappropriate limitation of the present invention.
Fig. 1 is integral structure schematic diagram of the present invention;
Fig. 2 is principle schematic of the present invention;
Fig. 3 is the structural representation of counter weight device of the present invention;
Fig. 4 is the schematic side view of Fig. 3;
Fig. 5 is the junction structural representation of two semiellipticals of the present invention;
Fig. 6 is land of the present invention rolling movement analysis chart;
Fig. 7 is the close-up schematic view near DC motor I of the present invention;
Fig. 8 is the close-up schematic view near retracing spring of the present invention;
Fig. 9 is semielliptical perspective exploded view of the present invention.
In figure: 1, lithium cell; 2, circuit card and receptor; 3, DC motor I; 4, pivot shaft; 5, calutron; 6, castellated shaft; 7, counter weight device; 8, direction sensor; 9, plectane; 10, screw propeller; 11, elliposoidal housing; 12, connecting device; 13, DC motor II; 14, retracing spring; 15, motor fix seat; 16, splined sleeve; 17, backing pin.
Detailed description of the invention
Detailed content of the present invention and detailed description of the invention thereof is further illustrated below in conjunction with accompanying drawing.
See Fig. 1 to Fig. 9, amphibious elliposoidal robot based on electromagnetic control of the present invention, elliposoidal housing dimidiation and between be hinged and connected by connecting device 12, elliposoidal housing 11 is fixedly connected on B position with the output shaft of DC motor I 3, described DC motor I 3 is fixed on motor fix seat 15, and described motor fix seat 15 is welded in A position with pivot shaft 4; Calutron 5 internal fixtion arranges annular electromagnet, is fixed between calutron 5 and pivot shaft 4 by pin simultaneously; Pivot shaft 4 and castellated shaft 6 are for being fixedly connected with, and calutron 5 is connected with splined sleeve 16 by retracing spring 14, and described splined sleeve 16 and castellated shaft 6 spline joint, castellated shaft 6 arranges backing pin 17, position when restriction splined sleeve 16 resets; Splined sleeve 16 is connected with counter weight device 7 by connecting rod, and described counter weight device 7 inside is provided with lithium cell 1; Castellated shaft 4 is fixedly connected with plectane 9, and circuit card and receptor 2, direction sensor 8, DC motor II 13 are fixedly connected on plectane 9 respectively, and described plectane 9 is fixed as one with elliposoidal housing 11; Propeller 10 is fixedly connected on elliposoidal housing 11 rear portion by DC motor II 13.
Described DC motor II 13 is drip proof machine.
See shown in Fig. 1 to Fig. 6, DC motor I 3, pivot shaft 4, castellated shaft 6, counter weight device 7 form motor balance weight mechanism, wherein comprise lithium cell 1 in counter weight device 7.Robot on land straight-line motion time, motor balance weight mechanism plays a role.When DC motor I 3 drives counter weight device 7 to rotate to an angle, propulsive effort is just not enough to make counter weight device 7 continue to rise, and elliposoidal housing 11 starts to rotate, so just achieve seesawing of robot.According to the combined action of the moment of counterweight, the friction on ground and load torque etc., calculate the relation of total mass Y and weight mass X1, ensure that the motion of robot and the feasible of this programme.Suppose that friction coefficient is β, load torque is T1, during moving equilibrium
, for ensureing that spherical shell rotates, then must meet
, finally obtain required relation
.
Shown in Figure 2, robot on land left and right turn motion time, circuit card and receptor 2 control calutron 5, and calutron 5 is energized and obtains after magnetic, produces graviational interaction, realize the motion of counter weight device 7 to counter weight device 7.When left-handed turning to time, the electromagnet energising of the calutron 5 of left side hemisphere, counter weight device 7 is moved to the left, right side electromagnet no power, and right side counter weight device is motionless, so whole robot center of gravity offsets, just achieves the divertical motion that robot is first left left.Right-hand turning is in like manner.At the end of turning to, counter weight device 7 is resetted by retracing spring 14.
Shown in Fig. 1 and Fig. 5, during amphibious robot sub aqua sport, when robot is dived beneath the water, elliposoidal housing 11 is opened for two hemisphere (junction is see Fig. 5), at this moment the screw propeller 10 of two hemisphere afterbodys is just exposed in water, is controlled the rotating speed of DC motor II 13 by circuit card and receptor 2, direction sensor 8.Different by the rotating speed of each screw propeller 10, thus realize robot motion upwards, and to the right in water downwards left.Such as, when moving downward, the propeller speed of upper row is greater than lower row, just achieves downward motion.
The foregoing is only preferred embodiment of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.All any amendments made for the present invention, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (2)
1. the amphibious elliposoidal robot based on electromagnetic control, it is characterized in that: elliposoidal housing dimidiation and between be hinged and connected by connecting device (12), elliposoidal housing (11) is fixedly connected on B position with the output shaft of DC motor I (3), described DC motor I (3) is fixed on motor fix seat (15), and described motor fix seat (15) and pivot shaft (4) are welded in A position; Calutron (5) internal fixtion arranges annular electromagnet, is fixed between calutron (5) and pivot shaft (4) by pin simultaneously; Pivot shaft (4) and castellated shaft (6) are for being fixedly connected with, calutron (5) is connected with splined sleeve (16) by retracing spring (14), described splined sleeve (16) and castellated shaft (6) spline joint, castellated shaft (6) arranges backing pin (17), position when restriction splined sleeve (16) resets; Splined sleeve (16) is connected with counter weight device (7) by connecting rod, and described counter weight device (7) inside is provided with lithium cell (1); Castellated shaft (4) is fixedly connected with plectane (9), and circuit card and receptor (2), direction sensor (8), DC motor II (13) are fixedly connected on plectane (9) respectively, and described plectane (9) and elliposoidal housing (11) are fixed as one; Propeller (10) is fixedly connected on elliposoidal housing (11) rear portion by DC motor II (13).
2. the amphibious elliposoidal robot based on electromagnetic control according to claim 1, is characterized in that: described DC motor II (13) is drip proof machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410614161.XA CN104354551B (en) | 2014-11-05 | 2014-11-05 | Amphibious elliposoidal robot based on Electromagnetic Control |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410614161.XA CN104354551B (en) | 2014-11-05 | 2014-11-05 | Amphibious elliposoidal robot based on Electromagnetic Control |
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| CN104354551A true CN104354551A (en) | 2015-02-18 |
| CN104354551B CN104354551B (en) | 2016-06-29 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105425811A (en) * | 2016-01-06 | 2016-03-23 | 陈威宇 | Water-air amphibious unmanned aerial vehicle counterweight posture-adjusting mechanism |
| CN116252576A (en) * | 2022-12-30 | 2023-06-13 | 武汉中岩科技股份有限公司 | Blade type propeller and control method thereof |
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| CN102602466A (en) * | 2011-03-24 | 2012-07-25 | 泰山学院 | Double-fluid-ring drive omnibearing spherical robot |
| US8459383B1 (en) * | 2010-07-09 | 2013-06-11 | Daniel Burget | Spherical drive system |
| CN103358839A (en) * | 2013-08-05 | 2013-10-23 | 战强 | Amphibious spherical exploration robot |
| CN103921860A (en) * | 2014-04-21 | 2014-07-16 | 北京航空航天大学 | Ellipsoidal robot |
| CN204249765U (en) * | 2014-11-05 | 2015-04-08 | 吉林大学 | Based on the amphibious elliposoidal robot of electromagnetic control |
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2014
- 2014-11-05 CN CN201410614161.XA patent/CN104354551B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8459383B1 (en) * | 2010-07-09 | 2013-06-11 | Daniel Burget | Spherical drive system |
| CN102602466A (en) * | 2011-03-24 | 2012-07-25 | 泰山学院 | Double-fluid-ring drive omnibearing spherical robot |
| CN103358839A (en) * | 2013-08-05 | 2013-10-23 | 战强 | Amphibious spherical exploration robot |
| CN103921860A (en) * | 2014-04-21 | 2014-07-16 | 北京航空航天大学 | Ellipsoidal robot |
| CN204249765U (en) * | 2014-11-05 | 2015-04-08 | 吉林大学 | Based on the amphibious elliposoidal robot of electromagnetic control |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105425811A (en) * | 2016-01-06 | 2016-03-23 | 陈威宇 | Water-air amphibious unmanned aerial vehicle counterweight posture-adjusting mechanism |
| CN105425811B (en) * | 2016-01-06 | 2018-07-13 | 台州千玛供应链管理有限公司 | A kind of empty amphibious unmanned plane counterweight pose_adjuster of water |
| CN116252576A (en) * | 2022-12-30 | 2023-06-13 | 武汉中岩科技股份有限公司 | Blade type propeller and control method thereof |
| CN116252576B (en) * | 2022-12-30 | 2023-10-20 | 武汉中岩科技股份有限公司 | Blade type propeller and control method thereof |
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| CN104354551B (en) | 2016-06-29 |
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