CN105905177A - Driving mechanism of spherical robot - Google Patents
Driving mechanism of spherical robot Download PDFInfo
- Publication number
- CN105905177A CN105905177A CN201511033658.3A CN201511033658A CN105905177A CN 105905177 A CN105905177 A CN 105905177A CN 201511033658 A CN201511033658 A CN 201511033658A CN 105905177 A CN105905177 A CN 105905177A
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- Prior art keywords
- gear
- base plate
- plate
- bottom fixed
- robot
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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
Abstract
The invention discloses a driving mechanism of a spherical robot. The spherical robot comprises a spherical housing and a base. The driving mechanism is installed in the spherical housing. The driving mechanism comprises a rollover mechanism installed in the spherical housing, and a jumping mechanism installed between the spherical housing and the base. Through installing the rollover mechanism and the jumping mechanism in the sealed spherical housing, the jumping mechanism uses an extension spring to store energy, and after the extension spring is released, the bottom plate of the jumping mechanism drives a balancing weight to move upward rapidly, and after the balancing weight strikes a balance disk, jumping of the robot is realized. The bottom plate is provided with a rollover wheel train. Through a rollover motor, the balancing weight is driven to rotate, to realize rollover motion of the spherical robot. The driving mechanism ensures stability of robot operation, expands application range, and provides convenience for controlling stability of the robot in a jumping process. The driving mechanism can also be used to realize control of steering and other motions in a rollover process, and provides convenience for control.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of ball shape robot drive mechanism.
Background technology
The application of robot is increasingly wider, is substituting people and is playing the effect become more and more important, along with range of application
Expansion, the working environment that robot faces is more severe, such as space exploration, military surveillance and anti-terrorism
Movable etc..In these applications, physical features is the most complicated, there are barrier miscellaneous or irrigation canals and ditches, has
Time there is also danger, this just requires that robot has the strongest mobility and motility.
Mainly there are two kinds of motion modes in the most mobile robot, and a kind of roller or track drive, another kind is imitative
Raw creeps or walking movement mode.The robot of wheel or track drive can only be under the physical features of relatively flat
Work, once physical features its motion uneven will be very restricted.Walking or climbing robot degree of freedom
Many, control complexity, motion is slow, and it is the most helpless to run into barrier.Wheeled robot and creeper
Device people can not cross and self sizable barrier, and this just can be accomplished by the robot that only can jump
Point.Hopping robot can cross several times even several times in the barrier of own dimensions.If can be machine
The jumping exercise mode of device people is combined with other motion mode, then can improve mobility and the spirit of robot
Activity, and then widen its field of operations and application.
Compared with ball shape robot rolls, with wheel, the wheeled robot walked, the problem that there is not " overturning ",
Compared with walking or climbing robot, have the advantages that movement velocity is fast, bearing capacity is strong, and there is driving
Less, simple advantage is controlled.Additionally, ball shape robot is again a kind of novel robot, and its modern design is other
Causing, action flexibly, almost without dead angle, can realize 0 angle easily and turn and omnibearing ambulation, because of
And ball shape robot can be used on the area such as the rugged ground without exploitation or marsh and performs transport, scouting
With the removal of mines or the task such as celestial body detecting, thus the research of ball shape robot extremely scientific and technical personnel pay close attention to.
Although existing ball shape robot is capable of tumbling motion smoothly, but hopping mechanism is the most complicated,
Jump process is discontinuous, the phenomenon of overturning, less stable easily occurs, is unfavorable for camera collection image.
Summary of the invention
The technical problem to be solved is to provide a kind of ball shape robot drive mechanism, and hopping mechanism is adopted
With stretching spring energy-storage, after release stretching spring, the base plate of hopping mechanism drives balancing weight to move upward rapidly,
Realize jumping after clashing into balancing frame, rolling train is installed on base plate simultaneously, drives counterweight by rolling motor
Block rotates, it is achieved the tumbling action of ball shape robot, keeps the stability of robot operating, expands and adapts to model
Enclose.
For solving above-mentioned technical problem, the technical solution used in the present invention is: a kind of ball shape robot drives
Mechanism, ball shape robot includes spherical housing and base, and drive mechanism is arranged in spherical housing, described in drive
Motivation structure includes rolling mechanism and the hopping mechanism being arranged in spherical housing.
Described hopping mechanism includes that connecting plate, base plate, top board, balancing frame, linear gear system and bottom are fixed
Plate, described connecting plate, top board and base plate be arranged in parallel from top to bottom, and described bottom fixed board is positioned under base plate
Side, installs two guide rods and two leading screws, two guide rod upper ends and top between described top board and bottom fixed board
Plate is fixing to be connected, and base plate is slidably matched by sliding sleeve and two guide rods, two lower end of the guide rod and bottom fixed board
Connect, two leading screw upper ends through top board arrange and and top board installation bearing, two leading screw lower ends are equal
Being arranged on bottom fixed board by thrust bearing, described balancing frame coordinates peace by means of feed screw nut with leading screw
Dress, described base plate arranges two through holes, and two leading screws are arranged, on described base plate circumference through two through holes
Uniform at least four stretching springs, stretching spring upper end is connected with balancing frame, described base plate and bottom fixed board
Between plug assembly is set, described connecting plate for and spherical housing inside fixing connect, connecting plate by means of
Column and top board are fixing to be connected, on described base plate fixed installation rolling gear train, described top board and connecting plate it
Between install linear gear system, bottom fixed board is fixedly connected with the casing.
Described plug assembly includes the plate being mounted vertically on bottom fixed board and is horizontally arranged at table on base plate
The latch in face and for driving the grafting motor of latch, described plate arranges jack.
Described linear gear system includes linear electric motors, driving gear, idler gear and driven gear, described directly
Line motor is vertically fixedly mounted on cover top surface, and its clutch end fixed installation driving gear, with active
The idler gear engaged is overlapped in gear supporting installation two, and two set idler gears are relative to the axis of driving gear
Axisymmetricly, described two leading screw tops fixedly mount a set of driven gear respectively, and two set driven gears are respectively
Engage with two set idler gears.
Described rolling mechanism includes rolling motor and the gear wheel being fixedly mounted on base plate, and described gear wheel is borrowed
The balancing weight helping gear shaft and be arranged on below base plate is connected, and installs two sets between described gear shaft and base plate
Reverse thrust bearing, described balancing weight is cylindrical-shaped structure, the fixing peace of described rolling motor power outfan
The little gear that dress engages with gear wheel, rolling motor driving pinion rotates, and sets in the middle part of described bottom fixed board
Putting through hole, described balancing weight is positioned at this through hole.
Use and have the beneficial effects that produced by technique scheme: by mechanism and the hopping mechanism peace of rolling
Being contained in the spherical housing of sealing, hopping mechanism uses stretching spring energy-storage, after release stretching spring, jumps
The base plate of mechanism drives balancing weight to move upward rapidly, realizes jumping, after clashing into balancing frame simultaneously on base plate
Rolling train is installed, drives balancing weight to rotate by rolling motor, it is achieved the tumbling action of ball shape robot,
Keep the stability of robot operating, expand subject range, it is simple in jump process, control the steady of robot
Qualitative, the control for realizing actions such as turning in roll procedure, convenient control can also be crossed simultaneously.
Accompanying drawing explanation
Fig. 1 is peace weighing apparatus mechanism of rolling mechanism scheme of installation；
Fig. 2 is the structural representation after Fig. 1 removes balancing frame；
Fig. 3 is the structural representation after Fig. 2 removes connecting plate；
Wherein: 5, connecting plate；6, linear gear system；7, top board；8, gear wheel；9, rolling motor；
10, base plate；11, balance weight；12, linear electric motors；13, leading screw；14, balancing weight；21, guide rod；
23, balancing frame；24, feed screw nut.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear,
It is fully described by, it is clear that described embodiment is only a part of embodiment of the present invention rather than complete
The embodiment in portion.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creativeness
The every other embodiment obtained under work premise, broadly falls into the scope of protection of the invention.
Elaborate a lot of detail in the following description so that fully understanding the present invention, but the present invention
Other can also be used to be different from alternate manner described here implement, those skilled in the art can be not
Doing similar popularization in the case of running counter to intension of the present invention, therefore the present invention is not by following public specific embodiment
Restriction.
As Figure 1-3, the invention discloses a kind of ball shape robot drive mechanism ball shape robot and include ball
Shape shell and base, drive mechanism is arranged in spherical housing, described drive mechanism include being arranged on spherical outside
Rolling mechanism in shell and hopping mechanism.
Described hopping mechanism includes connecting plate 5, base plate 10, top board 7, balancing frame 23, linear gear system 6
And bottom fixed board, described connecting plate 5, top board 7 and base plate 10 be arranged in parallel from top to bottom, described bottom
Fixed plate is positioned at below base plate 10, installs two guide rods 21 and two between described top board 7 and bottom fixed board
Root leading screw 13, two guide rod 21 upper ends are fixing with top board 7 to be connected, and base plate 10 passes through sliding sleeve and two guide rods
21 are slidably matched, and two guide rod 21 lower ends are connected with bottom fixed board, and two leading screw 13 upper ends are through top board
7 arrange and and top board 7 between install bearing, two leading screw 13 lower ends are all arranged on the end by thrust bearing
In portion's fixed plate, described balancing frame 23 coordinates installation by means of feed screw nut with leading screw, on described base plate 10
Arranging two through holes, two leading screws 13 are arranged through two through holes, on described base plate 10 circumference uniform at least
Four stretching springs, stretching spring upper end is connected with balancing frame, sets between described base plate 10 and bottom fixed board
Put plug assembly, described connecting plate 5 for and spherical housing 2 inside fixing connect, connecting plate 5 by means of
Column and top board 7 is fixing to be connected, fixed installation rolling gear train on described base plate 10, described top board 7 with connect
Installing linear gear system 6 between fishplate bar 5, bottom fixed board is fixedly connected with the casing.
Described plug assembly includes the plate being mounted vertically on bottom fixed board and is horizontally arranged at base plate 10
The latch of upper surface and for driving the grafting motor of latch, described plate arranges jack.
Described linear gear system 6 includes linear electric motors 12, driving gear, idler gear and driven gear, institute
Stating linear electric motors 12 and be vertically fixedly mounted on top board 7 upper surface, its clutch end fixedly mounts driving gear,
The idler gear engaged is overlapped in installation two supporting with driving gear, and two set idler gears are relative to driving gear
Axis axisymmetricly, described two leading screw 13 tops fixedly mount a set of driven gear respectively, and two sets are passive
Gear engages with two set idler gears respectively.
Described rolling mechanism includes the rolling motor 9 and the gear wheel 8 that are fixedly mounted on base plate 10, described greatly
Gear 8 is connected with the balancing weight 14 being arranged on below base plate 10 by means of gear shaft, described gear shaft and the end
Installing the thrust bearing that two sets are reverse between plate 10, described balancing weight 14 is cylindrical-shaped structure, described rolling
Motor 9 clutch end fixedly mounts the little gear engaged with gear wheel 8, and roll motor 9 driving pinion
Rotating, arrange through hole in the middle part of described bottom fixed board, described balancing weight is positioned at this through hole.
The present invention is by being arranged on rolling mechanism and hopping mechanism in the spherical housing of sealing, and hopping mechanism is adopted
With stretching spring energy-storage, linear electric motors 12 drive leading screw to revolve by driving gear, idler gear and driven gear
Turning, balancing frame moves upward under leading screw drives, the spring that stretching is arranged between balancing frame and base plate, when
When needing to jump, the plug assembly being arranged between base plate and bottom fixed board unclamps, release stretching spring,
The base plate of hopping mechanism drives balancing weight to move upward rapidly, after clashing into balancing frame under the effect of stretching spring
Realize jumping, rolling train be installed on base plate simultaneously, drive balancing weight to rotate by rolling motor, it is achieved
The tumbling action of ball shape robot, keeps the stability of robot operating, expands subject range, it is simple to jumping
Control the stability of robot during jumping, can also cross for realizing actions such as turning in roll procedure simultaneously
Control, convenient control.
Claims (5)
1. a ball shape robot drive mechanism, it is characterised in that: ball shape robot includes spherical housing and the end
Seat, drive mechanism is arranged in spherical housing, and described drive mechanism includes the rolling being arranged in spherical housing
Mechanism and hopping mechanism.
Ball shape robot drive mechanism the most according to claim 1, it is characterised in that: described jump machine
Structure include connecting plate (5), base plate (10), top board (7), balancing frame (23), linear gear system (6) and
Bottom fixed board, described connecting plate (5), top board (7) and base plate (10) be arranged in parallel from top to bottom, institute
State bottom fixed board and be positioned at base plate (10) lower section, between described top board (7) and bottom fixed board, install two
Guide rod (21) and two leading screws (13), two guide rod (21) upper ends are fixing with top board (7) to be connected, the end
Plate (10) is slidably matched by sliding sleeve and two guide rods (21), and two guide rod (21) lower ends are solid with bottom
Determine plate to connect, two leading screw (13) upper ends through top board (7) arrange and and top board (7) installation
Bearing, two leading screw (13) lower ends are all arranged on bottom fixed board by thrust bearing, described balancing frame
(23) coordinate installation by means of feed screw nut with leading screw, described base plate (10) arranges two through holes, two
Root leading screw (13) is arranged through two through holes, uniform at least four stretching bullets on described base plate (10) circumference
Spring, stretching spring upper end is connected with balancing frame, arranges grafting between described base plate (10) and bottom fixed board
Device, described connecting plate (5) for and spherical housing (2) inner side is fixing connects, connecting plate (5) by
Fix in column and top board (7) and be connected, described base plate (10) upper fixed installation rolling gear train, described top
Installing linear gear system (6) between plate (7) and connecting plate (5), bottom fixed board is fixedly connected with the casing.
Ball shape robot drive mechanism the most according to claim 2, it is characterised in that: described grafting fills
Put the latch including the plate being mounted vertically on bottom fixed board He being horizontally arranged at base plate (10) upper surface
And for driving the grafting motor of latch, described plate arranges jack.
Ball shape robot drive mechanism the most according to claim 2, it is characterised in that: described straight line tooth
Train (6) includes linear electric motors (12), driving gear, idler gear and driven gear, described straight-line electric
Machine (12) is vertically fixedly mounted on top board (7) upper surface, and its clutch end fixedly mounts driving gear,
The idler gear engaged is overlapped in installation two supporting with driving gear, and two set idler gears are relative to driving gear
Axis axisymmetricly, described two leading screw (13) tops fixedly mount a set of driven gear respectively, two sets
Driven gear engages with two set idler gears respectively.
Ball shape robot drive mechanism the most according to claim 1, it is characterised in that: described roller
Structure includes rolling motor (9) and the gear wheel (8) being fixedly mounted on base plate (10), described gear wheel (8)
It is connected with the balancing weight (14) being arranged on base plate (10) lower section by means of gear shaft, described gear shaft and the end
Installing the thrust bearing that two sets are reverse between plate (10), described balancing weight (14) is cylindrical-shaped structure, institute
Stating rolling motor (9) clutch end and fixedly mount the little gear engaged with gear wheel (8), roll motor
(9) driving pinion rotates, and arranges through hole in the middle part of described bottom fixed board, and described balancing weight is positioned at this through hole
In.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511033658.3A CN105905177B (en) | 2015-12-30 | 2015-12-30 | Ball shape robot drive mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511033658.3A CN105905177B (en) | 2015-12-30 | 2015-12-30 | Ball shape robot drive mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105905177A true CN105905177A (en) | 2016-08-31 |
| CN105905177B CN105905177B (en) | 2017-10-31 |
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ID=56744102
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511033658.3A Expired - Fee Related CN105905177B (en) | 2015-12-30 | 2015-12-30 | Ball shape robot drive mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105905177B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113247131A (en) * | 2021-07-01 | 2021-08-13 | 中国科学院地质与地球物理研究所 | Small celestial body surface elastic power type jumping robot and moving method thereof |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3715000A (en) * | 1971-05-21 | 1973-02-06 | H Ottaway | Engine powered jumping stick |
| CN2810917Y (en) * | 2005-05-11 | 2006-08-30 | 西安电子科技大学 | Globular robot device based on linear motor |
| CN102773860A (en) * | 2012-07-10 | 2012-11-14 | 潘济安 | Throwable variable structure spherical robot |
| CN103552617A (en) * | 2013-11-04 | 2014-02-05 | 沈阳工业大学 | Bouncing omnidirectional rolling spherical robot provided with stable platform |
| CN103600784A (en) * | 2013-12-09 | 2014-02-26 | 东南大学 | Symmetric continuous-jump bounce robot |
| CN104015827A (en) * | 2014-06-10 | 2014-09-03 | 上海大学 | Variable structure spherical robot capable of crossing obstacle |
| CN204137152U (en) * | 2014-07-12 | 2015-02-04 | 桂林电子科技大学 | The stored energy of hopping robot and release gear |
| CN205652230U (en) * | 2015-12-30 | 2016-10-19 | 东莞市凡豆信息科技有限公司 | Spherical robot actuating mechanism |
-
2015
- 2015-12-30 CN CN201511033658.3A patent/CN105905177B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3715000A (en) * | 1971-05-21 | 1973-02-06 | H Ottaway | Engine powered jumping stick |
| CN2810917Y (en) * | 2005-05-11 | 2006-08-30 | 西安电子科技大学 | Globular robot device based on linear motor |
| CN102773860A (en) * | 2012-07-10 | 2012-11-14 | 潘济安 | Throwable variable structure spherical robot |
| CN103552617A (en) * | 2013-11-04 | 2014-02-05 | 沈阳工业大学 | Bouncing omnidirectional rolling spherical robot provided with stable platform |
| CN103600784A (en) * | 2013-12-09 | 2014-02-26 | 东南大学 | Symmetric continuous-jump bounce robot |
| CN104015827A (en) * | 2014-06-10 | 2014-09-03 | 上海大学 | Variable structure spherical robot capable of crossing obstacle |
| CN204137152U (en) * | 2014-07-12 | 2015-02-04 | 桂林电子科技大学 | The stored energy of hopping robot and release gear |
| CN205652230U (en) * | 2015-12-30 | 2016-10-19 | 东莞市凡豆信息科技有限公司 | Spherical robot actuating mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113247131A (en) * | 2021-07-01 | 2021-08-13 | 中国科学院地质与地球物理研究所 | Small celestial body surface elastic power type jumping robot and moving method thereof |
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| Publication number | Publication date |
|---|---|
| CN105905177B (en) | 2017-10-31 |
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