CN104354551B - Amphibious elliposoidal robot based on Electromagnetic Control - Google Patents
Amphibious elliposoidal robot based on Electromagnetic Control Download PDFInfo
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- CN104354551B CN104354551B CN201410614161.XA CN201410614161A CN104354551B CN 104354551 B CN104354551 B CN 104354551B CN 201410614161 A CN201410614161 A CN 201410614161A CN 104354551 B CN104354551 B CN 104354551B
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Abstract
The present invention relates to a kind of amphibious elliposoidal robot based on Electromagnetic Control.After elliposoidal housing dimidiation, two elliposoidal housings disconnect section and are respectively provided with motor and propeller.Spherical shell is directly connected with two motor at two ends.When moving on land, control counterweight by calutron and realize divertical motion；Realize seesawing by controlling motor.By the motion that revolution speed of propeller difference realizes in water.Adopt drive unit drives spherical shell and centre-of gravity shift hybrid drive system, the problem not only solving bonding strength, and exercise performance is more perfect.Being controlled counterweight by calutron thus controlling to turn to, electromagnetic mechanism drives weight shifts, makes robot mass centre changing, produces steering moment, adopts ellipsoid shell so that turning to more steady simultaneously.During lower water, being opened by ball and become the two halves being hinged in water, two semielliptical folding faces after opening are provided with propeller, make robot realize the motion in water by propeller.
Description
Technical field
The present invention relates to robot field, particularly to a kind of amphibious elliposoidal robot based on Electromagnetic Control that can realize amphibious motion.
Background technology
Ball shape robot is a kind of self-movement body with roll mode walking, with ball spherical, approximate or dish for shell.All work out the ball shape robot of molding at present both at home and abroad, design ball shape robot is Helsinki, Finland polytechnical university first, this robot interior is a single-wheel mechanism that can roll in ball, adopt single motor internal driving device, the design achieves the motion of spherical shell, but the inherent limitation of single wheel drive makes its system cannot realize omnibearing movable.Development along with robot research, ball shape robot also improves gradually, most representative be Iran two scholars in 2002 develop ball shape robot August, its internal driving mechanism adopts a set of four spokes, often set spoke includes a motor, a cylindrical screw and a counterweight, producing driving moment realization rolling by changing position of centre of gravity, simply movement velocity is relatively slow, and controls difficult.
Although current ball shape robot has been provided with multiple advantage, as structure is relatively easy, driving device is relatively easy to control, low-profile, motion flexibly, is disturbed little, and bearing capacity is higher, but still comes with some shortcomings, as motion mode is still comparatively single, less stable, mostly can only in land-based activities.
Summary of the invention
It is an object of the invention to provide a kind of amphibious elliposoidal robot based on Electromagnetic Control, solve the problems referred to above that prior art exists.The amphibious elliposoidal robot based on Electromagnetic Control of the present invention is possible not only on complicated road surface to roll, and can resolve into two parts, and to realize underwater swimming, the electromagnetic torque system simultaneously adopted makes ball shape robot motion more flexible.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 motor and propeller.Elliposoidal housing is directly connected with two motor at two ends.When robot moves on land, by magnet control counterweight, ball shape robot is made to realize divertical motion；By controlling described 2 motor, it is achieved seesawing of ball shape robot.When water exercise, by 4 described revolution speed of propeller differences, it is achieved the motion in water.
The above-mentioned purpose of the present invention is achieved through the following technical solutions:
Amphibious elliposoidal robot based on Electromagnetic Control, elliposoidal housing dimidiation and between be hinged and connected by connecting device 12, the output shaft of elliposoidal housing 11 and dc motor I 3 is fixedly connected on B location, described dc motor I 3 is fixed on motor fix seat 15, and described motor fix seat 15 is welded in location A with supporting axle 4；It is fixedly installed ring electromagnet in calutron 5, is fixed by pin between calutron 5 and support axle 4 simultaneously；Supporting axle 4 to be connected for fixing with splined shaft 6, calutron 5 is connected with splined sleeve 16 by back-moving spring 14, and described splined sleeve 16 is connected with splined shaft 6 spline, arranges backing pin 17, position when restriction splined sleeve 16 resets on splined shaft 6；Splined sleeve 16 is connected with counter weight device 7 by connecting rod, and described counter weight device 7 is internal is provided with lithium battery 1；Splined shaft 4 is fixing with plectane 9 to be connected, and circuit board and receptor 2, direction sensor 8, dc motor II 13 are respectively fixedly connected with on plectane 9, 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 waterproof machine.
The present invention adopts drive unit drives spherical shell and centre-of gravity shift hybrid drive system.The startup stage of robot, electric control gear calutron 5 and splined shaft 6 controlling counter weight device 7, after counter weight device 7 turns over certain angle (being computed drawing), elliposoidal housing 11 just starts to rotate；Being 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 moment, it is achieved turning function.In order to avoid the rollover phenomenon caused because calutron 5 quickly changes counter weight device 7 position, special employing ellipsoid shell 11 is so that turning to more steady.
The ball shape robot of the present invention, can being opened by elliposoidal housing 11 in water and become two halves, two semielliptical rear portions after opening are provided with propeller 10, make robot realize the motion in water by propeller 10, deeper position can be slipped into, make ball shape robot that amphibious function is fully achieved.
The beneficial effects of the present invention is: novel, ingenious, simple in construction.It is possible not only on complicated road surface and rolls, and two parts can 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, improve again the steering capability of robot, the electromagnetic torque system energy simultaneously innovated is more convenient, change the position of counterweight rapidly, makes ball shape robot motion more flexibly, rapidly.Two semiellipse rear portions after opening are provided with propeller, robot is made to realize the motion in water by propeller, robot pace in water is thus greatly improved, and its motion is not only limited to the water surface, make ball shape robot that amphibious function is fully achieved, simultaneously ellipsoid robot dimidiation ellipsoid in water, propeller exposes, more a lot of by force than the completely enclosed power of spherical shell, balance and speed are also more easy to control, practical.
Accompanying drawing explanation
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, and the illustrative example of the present invention and explanation thereof are used for explaining the present invention, are not intended that inappropriate limitation of the present invention.
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is principles of the invention schematic diagram；
Fig. 3 is the structural representation of the 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 the land rolling movement analysis chart of the present invention；
Fig. 7 is the close-up schematic view near the dc motor I of the present invention；
Fig. 8 is the close-up schematic view near the back-moving spring of the present invention；
Fig. 9 is the semielliptical perspective exploded view of the present invention.
In figure: 1, lithium battery；2, circuit board and receptor；3, dc motor I；4, axle is supported；5, calutron；6, splined shaft；7, counter weight device；8, direction sensor；9, plectane；10, propeller；11, elliposoidal housing；12, connecting device；13, dc motor II；14, back-moving spring；15, motor fix seat；16, splined sleeve；17, backing pin.
Detailed description of the invention
Detailed content and the detailed description of the invention thereof of the present invention is further illustrated below in conjunction with accompanying drawing.
Referring to Fig. 1 to Fig. 9, the amphibious elliposoidal robot based on Electromagnetic Control of the present invention, elliposoidal housing dimidiation and between be hinged and connected by connecting device 12, the output shaft of elliposoidal housing 11 and dc motor I 3 is fixedly connected on B location, described dc motor I 3 is fixed on motor fix seat 15, and described motor fix seat 15 is welded in location A with supporting axle 4；It is fixedly installed ring electromagnet in calutron 5, is fixed by pin between calutron 5 and support axle 4 simultaneously；Supporting axle 4 to be connected for fixing with splined shaft 6, calutron 5 is connected with splined sleeve 16 by back-moving spring 14, and described splined sleeve 16 is connected with splined shaft 6 spline, arranges backing pin 17, position when restriction splined sleeve 16 resets on splined shaft 6；Splined sleeve 16 is connected with counter weight device 7 by connecting rod, and described counter weight device 7 is internal is provided with lithium battery 1；Splined shaft 4 is fixing with plectane 9 to be connected, and circuit board and receptor 2, direction sensor 8, dc motor II 13 are respectively fixedly connected with on plectane 9, 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 waterproof machine.
Referring to shown in Fig. 1 to Fig. 6, dc motor I 3, support axle 4, splined shaft 6, counter weight device 7 constitute motor balance weight mechanism, wherein comprise lithium battery 1 in counter weight device 7.During robot rectilinear motion on land, motor balance weight mechanism plays a role.When dc motor I 3 drives counter weight device 7 to rotate to an angle, driving force is just not enough so that counter weight device 7 continues to rise, and elliposoidal housing 11 starts to rotate, and then just achieves seesawing of robot.Combined effect according to the moment of counterweight, the friction and load torque etc. on ground, calculates the relation of gross mass Y and weight mass X1, it is ensured that the motion of robot and this programme feasible.Assuming that coefficient of friction is β, load torque is T1, during moving equilibrium, for ensureing that spherical shell rotates, then it must is fulfilled for, finally give required relation。
Shown in Figure 2, during the robot motion of left and right turn on land, circuit board and receptor 2 control calutron 5, and counter weight device 7 is produced graviational interaction, it is achieved the motion of counter weight device 7 after obtaining magnetic by calutron 5 energising.When turning to the left, the electric magnet energising of the calutron 5 of left side hemisphere, counter weight device 7 is moved to the left, right side electric magnet no power, and right side counter weight device is motionless, then whole robot center of gravity left shift, just achieves the divertical motion that robot is first left.Turn to the right in like manner.When turning to end, counter weight device 7 is resetted by back-moving spring 14.
Shown in Fig. 1 and Fig. 5, during amphibious robot underwater exercise, when robot dives beneath the water, elliposoidal housing 11 is opened for two hemisphere (junction is referring to Fig. 5), at this moment the propeller 10 of two hemisphere afterbodys is just exposed in water, circuit board and receptor 2, direction sensor 8 control the rotating speed of dc motor II 13.Different by the rotating speed of each propeller 10, thus realizing robot motion upwards, downwards, to the left and to the right in water.Such as, when moving downward, the revolution speed of propeller of upper row, more than lower row, just achieves downward motion.
The foregoing is only the 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., 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), the output shaft of elliposoidal housing (11) and dc motor I (3) is fixedly connected on B location, described dc motor I (3) is fixed on motor fix seat (15), and described motor fix seat (15) is welded in location A with supporting axle (4)；It is fixedly installed ring electromagnet in calutron (5), is fixed by pin between calutron (5) and support axle (4) simultaneously；Support axle (4) to be connected for fixing with splined shaft (6), calutron (5) is connected with splined sleeve (16) by back-moving spring (14), described splined sleeve (16) is connected with splined shaft (6) spline, splined 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) is internal is provided with lithium battery (1)；Splined shaft (6) is fixing with plectane (9) to be connected, and circuit board and receptor (2), direction sensor (8), dc motor II (13) are respectively fixedly connected with on plectane (9), 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, it is characterised in that: described dc motor II (13) is waterproof machine.
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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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| CN201410614161.XA CN104354551B (en) | 2014-11-05 | 2014-11-05 | Amphibious elliposoidal robot based on Electromagnetic Control |
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| CN104354551B true CN104354551B (en) | 2016-06-29 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108334100B (en) * | 2016-01-06 | 2021-03-23 | 左晓武 | Water-air amphibious unmanned aerial vehicle counterweight attitude adjusting method |
| 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 |
Citations (5)
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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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- 2014-11-05 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 |
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