CN104960588B - Spherical walking platform - Google Patents
Spherical walking platform Download PDFInfo
- Publication number
- CN104960588B CN104960588B CN201510452459.XA CN201510452459A CN104960588B CN 104960588 B CN104960588 B CN 104960588B CN 201510452459 A CN201510452459 A CN 201510452459A CN 104960588 B CN104960588 B CN 104960588B
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- China
- Prior art keywords
- spherical
- shell
- gear
- spherical shell
- connecting shaft
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a spherical walking platform. The spherical walking platform comprises a spherical shell and connecting shafts arranged in the spherical shell along the diameter direction of the spherical shell. The spherical shell is formed by butt joint of two semi-spherical shells. The connecting shafts are symmetrically arranged on the semi-spherical shells. One ends of connecting shafts stretch out of the spherical shell and the other ends of connecting shafts are connected with a revolving platform. The middle portion of the revolving platform is provided with a groove equipped with a driving motor. The connecting shafts are in movable sleeve joint with gear motors. An eccentric platform is arranged between the gear motors. The gear motors are provided with gear shafts. The connecting shafts are provided with gears connected with the semi-spherical shells. The gears are engaged with gear motor gears connected with the gear shafts. The spherical walking platform has following beneficial effects: by adoption of a differential torque principle, a walking function is fulfilled by changing the centre-of-gravity of the spherical shell so that space utilization rate of the spherical shell is high and the spherical walking platform is stable and reliable and moves stably.
Description
Technical field
It is to be related to a kind of spherical wheel platform in particular the present invention relates to a kind of ball shape robot.
Background technology
Ball shape robot is a kind of mobile robot walked with roll mode, and its driving principle is mainly is driven by inside
The static balancing of spheroid is broken in the motion of dynamic device, and motion is flexible, it is possible to achieve pivot stud and omnibearing ambulation.
Under existing ball shape robot uses eccentric massblock type of drive, machine eccentric moment and moment of inertia to drive mostly
Realize turning to and walk.But present ball shape robot is driven using double pendulum centre-of gravity shift mostly, it is impossible to ensure double eccentric mass
Block synchronous hunting under the driving of same motor, causes robotically-driven torque fluctuations larger, it is impossible to provide the driving force of stabilization, make
Robot motion's stability is low, vibrations are big.And motor lateral arrangement drives pendulum mode, two motor distributions in 90 °, machine
The control of people's static balancing is complicated, and pose adjustment is difficult after being collided.Using the ball shape robot of eccentric massblock type of drive,
Driver element carries out eccentric massblock transmission by transmission mechanism, and the stationarity of transmission mechanism greatly influences mass to swing,
How to ensure that transmission mechanism transmission is compact, the installation site of space utilization and transmission mechanism in spherical shell has a very big impact.
In order to mitigate ball shape robot weight, inner frame structure, but the structure being used existing robot interior mainly to receive more
One of power part, in robot kinematics, inside casing deflection is big, and robot motion's substantial deviation desired trajectory, motion cannot be controlled
System.Put for driving, once pivot angle is excessive, due to effect of inertia, eccentric massblock gravity, the torque of generation will be greater than driving electricity
The torque that machine can be provided, causes robot motion out of control.However, ball shape robot is to driving pendulum pivot angle security control side at present
Face Shortcomings.
The content of the invention
The invention aims to overcome deficiency of the prior art, there is provided a kind of spherical wheel platform, this it is spherical walk
Row platform, by changing position of centre of gravity in ball, reaches traveling purpose using difference principle of moments, and space availability ratio is high in spherical shell, surely
It is fixed reliable, stable movement.
The purpose of the present invention is achieved through the following technical solutions：
A kind of spherical wheel platform, including spherical shell, the connecting shaft being arranged at along spherical shell diametric(al) in spherical shell, the spherical shell
Formed by the docking of two Loadings On Hemispherical Shells, the connecting shaft is symmetrical respectively to be arranged on the Loadings On Hemispherical Shell, the connecting shaft
One end stretch out in spherical shell respectively, the other end of connecting shaft is connected with each other revolving dial, and the revolving dial middle part offers
Groove equipped with motor；Movable sleeve is connected to reducing motor in the connecting shaft, and being connected with each other between the reducing motor has
Eccentric platform, is additionally provided with gear shaft on reducing motor, the gear being connected with Loadings On Hemispherical Shell is additionally provided with the connecting shaft,
The reducing motor gear being connected with gear shaft is engaged with the gear.
The revolving dial bottom is further opened with shell.
Battery and control board are installed in the shell.
The rotor center axle of the motor overlaps with the vertical centre of spherical shell.
Fastener is provided with the connecting shaft for stretching out in spherical shell.
The spherical shell outer surface is additionally provided with solar panel.
Described two Loadings On Hemispherical Shell butt ends outer surface is provided with lanyard.
The eccentric mesa base is provided with electricity reception coil.
Compared with prior art, the beneficial effect that technical scheme is brought is：
1. the wheel platform is ball-type, using difference principle of moments, revolving dial is connected with by connecting shaft in spherical shell, is turned round
Motor is installed in the middle part of platform, reducing motor is also socketed with connecting shaft, eccentric platform is installed between reducing motor,
Therefore traveling purpose can be reached by changing position of centre of gravity in ball, can before and after walking, can pivot stud, a little contacted to earth during traveling,
With broader practicality with it is interesting, in addition can built-in power source, radius of turn is zero；Spherical shell is by two Loadings On Hemispherical Shells pair
Connect and form, good seal, land and water can walk.
2. revolving dial bottom of the present invention is further opened with shell, can as needed, for placing to reach various functions institute
Instrument, equipment for needing etc., such as audio control unit, wireless device, RCU, GPS.
3. spherical traveling device of the invention can formulate the material object of different size size according to need of work, and range of application is wide.
4. spherical shell outer surface of the present invention is provided with solar panel, can energy saving, economic and environment-friendly, spherical shell internal electric source
Operation is not can also continue to after electricity, it is reliable and stable.
5. the eccentric mesa base in spherical shell of the present invention is additionally provided with electricity reception coil, is reached by special electromagnetic induction device
To charging purpose, charging in many ways, it is ensured that reliable and stable operation.
Brief description of the drawings
Fig. 1 is partial cross structural representation of the invention.
Fig. 2 is charged state schematic diagram of the present invention.
Reference：The right hemispherical Shell 2- left hemispheres shell 3- connecting shafts 4- fasteners 5- revolving dials 6- of 1- drive electricity
The machine 7- reducing motors 8- bias platform 9- electricity reception coil 10- gear 11- reducing motor gear 12- lanyard 13- sun
Can cell panel 14- electromagnetic induction charged devices
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings：
As depicted in figs. 1 and 2, a kind of spherical wheel platform, including spherical shell, spherical shell is by right hemispherical Shell 1 and the phase of left hemisphere shell 2
Mutually docking is formed, and only cuts to show its internal structure, right hemisphere the right hemispherical Shell of spherical wheel platform of the invention open in Fig. 1
The diametrically opposed title of shell 1 and left hemisphere shell 2 is provided with two connecting shafts 3, and one end of connecting shaft 3 stretches out right half respectively
Spherical shell 1 and left hemisphere shell 2, stretch out in and fastener 4 are provided with the connecting shaft 3 of spherical shell, can be by fastener 4 by right hemispherical Shell 1
Internal maintenance is separately carried out with left hemisphere shell 2, needs fastener 4 also to be used as antenna equipment further according to actual conditions, connected
The other end of axle 3 is connected with each other revolving dial 5, and the bottom of revolving dial 5 is further opened with shell, shell for pacifying in the present embodiment
Packed battery, control board and other be used for expanded function instrument and equipment.
The middle part of revolving dial 5 offers rectangular recess, and motor 6 is provided with groove, and the stator of motor 6 exists
Fixed in groove, the rotor center axle of motor 6 overlaps with the vertical centre of spherical shell, and movable sleeve is connected to deceleration in connecting shaft 3
Motor 7, the bottom that interconnection has eccentric platform 8, eccentric platform 8 between reducing motor 7 is provided with electricity reception coil 9, to charge
When wheel platform of the present invention can be placed on electromagnetic induction charged device 14, the circuit for leading to battery, electromagnetism are set in spherical shell
Induction electricity charger 14 is provided with the concave surface that shape matches with spheroid of the present invention, charge coil and the bias of electromagnetic induction charged device 14
Electricity reception coil 9 in platform 8 produces electromagnetic induction, automatic charging.Gear shaft is additionally provided with reducing motor 7, in connecting shaft 3 also
The gear 10 being connected with right hemispherical Shell 1 and left hemisphere shell 2 is respectively arranged with, is engaged with what is be connected with gear shaft on gear 10
Reducing motor gear 11.
The outer surface of right hemispherical Shell 1 and the butt end of left hemisphere shell 2 is provided with lanyard 12 in the present embodiment, outside spherical shell
Surface is additionally provided with solar panel 13.
Concrete operating principle of the invention, when reducing motor 7 starts, reducing motor gear 11 is rotated, now reducing motor 7
On torque can be done work from both direction, one is that can be rotated by the drive connection axle 3 of gear 10, and one is to drive eccentric platform 8 to do
Opposite direction is rotated, and when eccentric platform 8 is rotated, its deviation of gravity center generates an opposing torque, and its rotational angle is bigger, reversely
Torque is bigger, when traveling torque of its torque more than spheroid, spheroid setting in motion.Eccentric platform 8 is and spheroid internal diameter kissing
The curved metal body of conjunction, two groups of numerical value identical reducing motors 7 are fixed on the both sides of eccentric platform 8, common to drive eccentric platform 8 to revolve
Turn, the center of gravity of eccentric platform 8 is lower, quality is bigger, the eccentricity that it is produced is bigger, the power that spheroid advances is also bigger.
This ball-type wheel platform is spherical, and any contacts to earth, therefore spheroid should be able to be with the vertical line of the touchdown point of ball during revolution
For pivot rotates, the rotor of the motor 6 of the middle part installation of revolving dial 5 is two-layer, when normally running, is turned up and down
Sub- opposite direction runs at high speed, and makes the held stationary of revolving dial 5, center of gravity vertically over the ground, equivalent to stabilizer, it is ensured that the instrument for being loaded
Device equipment stabilization；During steering, the equidirectional operating of rotor can produce a torque for reverse rotation when rotor is operated to stator,
Revolving dial 5 can be subject to a torque for opposite direction, its power to be passed on spherical shell by connecting shaft 3, rotate spheroid；When spheroid row
When walking to run into upward slope or strong resistance, to overcome resistance, eccentricity can be increased eccentric platform 8, and when certain angle is reached, revolution is flat
Platform 5 makes motor 6 run at high speed to make monolithic stability, and it can produce the torque for making the stabilization of revolving dial 5, the torque
Reducing motor gear 11 is reached by eccentric platform 8, the driving force that motor runs to spheroid has been greatly reinforced.
Claims (8)
1. a kind of spherical wheel platform, including spherical shell, the connecting shaft being arranged at along spherical shell diametric(al) in spherical shell, its feature exist
Formed by two Loadings On Hemispherical Shells docking in, the spherical shell, the connecting shaft is symmetrical respectively to be arranged on the Loadings On Hemispherical Shell,
One end of the connecting shaft stretches out in spherical shell respectively, and the other end of connecting shaft is connected with each other revolving dial, the revolving dial
Middle part offers the groove equipped with motor；Movable sleeve is connected to reducing motor in the connecting shaft, between the reducing motor
Interconnection has eccentric platform, and gear shaft is additionally provided with reducing motor, is additionally provided with the connecting shaft and hemispherical Shell body phase
The gear of connection, is engaged with the reducing motor gear being connected with gear shaft on the gear.
2. a kind of spherical wheel platform according to claim 1, it is characterised in that the revolving dial bottom is further opened with
Shell.
3. a kind of spherical wheel platform according to claim 2, it is characterised in that battery and control are provided with the shell
Circuit board.
4. a kind of spherical wheel platform according to claim 1, it is characterised in that the rotor center axle of the motor
Overlapped with the vertical centre of spherical shell.
5. a kind of spherical wheel platform according to claim 1, it is characterised in that in the connecting shaft for stretching out in spherical shell
It is provided with fastener.
6. a kind of spherical wheel platform according to claim 1, it is characterised in that the spherical shell outer surface is additionally provided with too
Positive energy cell panel.
7. a kind of spherical wheel platform according to claim 1, it is characterised in that outside described two Loadings On Hemispherical Shell butt ends
Surface is provided with lanyard.
8. a kind of spherical wheel platform according to claim 1, it is characterised in that the eccentric mesa base is provided with to be received
Electric coil.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510452459.XA CN104960588B (en) | 2015-07-27 | 2015-07-27 | Spherical walking platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510452459.XA CN104960588B (en) | 2015-07-27 | 2015-07-27 | Spherical walking platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104960588A CN104960588A (en) | 2015-10-07 |
| CN104960588B true CN104960588B (en) | 2017-05-24 |
Family
ID=54214736
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510452459.XA Expired - Fee Related CN104960588B (en) | 2015-07-27 | 2015-07-27 | Spherical walking platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104960588B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106938595B (en) * | 2017-03-09 | 2019-01-29 | 西安交通大学 | A kind of amphibious sandy beach spherical shape tour bus of servo motor bias direct-drive type |
| CN107499405B (en) * | 2017-08-29 | 2023-12-22 | 歌尔科技有限公司 | spherical robot |
| CN111409721A (en) * | 2020-05-06 | 2020-07-14 | 行星算力(深圳)科技有限公司 | Spherical robot |
| CN111873731A (en) * | 2020-07-22 | 2020-11-03 | 西北工业大学 | Amphibious robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100554067C (en) * | 2008-05-19 | 2009-10-28 | 北京邮电大学 | Three-drive spherical robot |
| CN102398265A (en) * | 2010-09-17 | 2012-04-04 | 俞建峰 | Universal rolling spherical robot |
| CN102407890A (en) * | 2011-10-27 | 2012-04-11 | 北京邮电大学 | Spherical moving device with enhanced function |
| WO2014116037A1 (en) * | 2013-01-23 | 2014-07-31 | Jin Jang Min | Spherical moving object and driving method therefor |
| CN204846102U (en) * | 2015-07-27 | 2015-12-09 | 王学贵 | Capable platform is walked to sphere |
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- 2015-07-27 CN CN201510452459.XA patent/CN104960588B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN104960588A (en) | 2015-10-07 |
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