CN106347512A - Active spherical robot with double pendulums - Google Patents
Active spherical robot with double pendulums Download PDFInfo
- Publication number
- CN106347512A CN106347512A CN201610825305.5A CN201610825305A CN106347512A CN 106347512 A CN106347512 A CN 106347512A CN 201610825305 A CN201610825305 A CN 201610825305A CN 106347512 A CN106347512 A CN 106347512A
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- Prior art keywords
- spherical
- pendulum
- ball
- motor
- cylinder
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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)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses an active mobile spherical robot with double pendulums. The robot comprises a spherical casing, an internal beam and other structures, wherein the spherical casing comprises two spherical caps and a spheroidal cylinder in rotational cooperation by screws; the spheroidal cylinder is a small section of cylinder formed by removing spherical caps at two ends of a ball and stretching the middle part; the two pendulums are fixed on one pendulum shaft mounted on the beam, and a drive motor and a pendulum control motor are mounted coaxially in the beam; the drive motor is connected with the spherical casing through a coupler to drive the spherical casing to rotate; the pendulum control motor is connected with the pendulum shaft through a bevel gear and used for controlling swing of the pendulums. The two motors work coordinately and can control all-directional stable traveling of the spherical robot. The spherical robot is compact in structure and stable in motion.
Description
Technical field
The present invention relates to a kind of ball shape robot, it particularly relates to a kind of two drivings with cramped construction is removable
Dynamic ball shape robot.
Background technology
Ball shape robot is a kind of mobile robot realizing walking by roll mode, and its driving principle is mainly passed through
The motion of internal drive changes the position of centre of gravity of robot, breaks the static equilibrium of spheroid, spheroid is concrete according to center of gravity
Position carries out rolling and recovers static equilibrium again, can realize the pivot stud and entirely just of ball shape robot according to principles above
Position walking.
Consult existing domestic and foreign literature to find, existing ball shape robot great majority adopt eccentric massblock driving principle,
By eccentric massblock swing produced by eccentric moment and moment of inertia drive and realize turning to and walk.Existing spherical machine
The non-coaxial arrangement of two motors of dual pendulum type of drive that people is adopted is so that its drive part is bulky.
Content of the invention
Present invention aims to the defect that exists of prior art is it is proposed that a kind of coaxially arranged new of motor
Type ball shape robot structure.
For achieving the above object, the design concept of the present invention is: one inside of design is equipped with spherical, the ball of dual pendulum structure
Shape shell is divided into three parts, respectively two spherical crowns in left and right and spherical cylinder, and it is spherical that each several part is connected by screw composition
Shell.The intersection point of dual axis of oscillation and cross beam support frame and spherical housing center superposition.Spherical housing passes through crossbeam with dual pendulum
Connect, crossbeam can be realized rotating around central axis y with respect to spheroid, dual pendulum also can be around perpendicular to y's by the effect of motor
X-axis rotate.Dual swinging mechanism not only provides centre-of gravity shift to drive moreover it is possible to improve the symmetry of moment, improves ball shape robot
The stability run.For reducing the quality of robot, power supply is symmetrically installed in dual pendulum, improve mechanism compactness and
Reliability of operation.
According to above-mentioned design concept, the present invention adopts following technical proposals:
A kind of active double pendulum ball shape robot.It includes a spherical housing and crossbeam (6), and described spherical housing is by one
Individual left spherical crown (4), right spherical crown (1) and a spherical cylinder (2) screw composition with screw；Described crossbeam (6) is u shape
Groove, u-shaped slot length direction rotary shaft is y-axis, and width rotary shaft is x-axis.In u-shaped groove, coaxial line installs one along the y-axis direction
Individual heavy pendulum motor (9) and a motor (17)；Motor (17) is arranged in crossbeam (6), its output shaft be arranged on
On the fixing shaft coupling (18) of right spherical crown (1), and directly drive spherical housing around y-axis rotation；Weight pendulum motor (9) passes through bevel gear
(12) drive two to put (701,702) with the engaged transmission of bevel gear (13) to rotate around the x-axis vertical with axis y again.
Put the two ends that (701,702) are symmetrically mounted on weight balance staff (10) for two, weight balance staff (10), along x direction, is put again again
Axle (10) is upper to install bevel gear (13).On heavy pendulum motor (9) output shaft of weight balance staff (10), bevel gear (12) is installed, weight
Pendulum motor (9) passes through the engaged transmission of bevel gear (12) and bevel gear (13), drives dual pendulum to rotate around x-axis.
Described heavy pendulum (701,702) is arranged on weight balance staff two ends by screw, and weight center of oscillation is groove-like, described power supply
(7012) it is fixed on again in the groove of pendulum (701,702) by baffle plate (7013).
Described crossbeam (6) has cylinder hollow boss (601,602) on two ends along the y-axis direction, and connects with being fixed on ball axle
Bearing (1901,1902) cooperation in fitting (5,8) is installed.Ball shaft coupling piece (5,8) is arranged on spherical shell by screw.
The method have the advantages that
1st, two motors of the present invention active double pendulum ball shape robot are coaxially arranged, and the driving decreasing robot is empty
Between.
2nd, two power supplys that the present invention active double pendulum ball shape robot adopts, for being arranged on again in pendulum, improve robot
Space and load utilization ratio.
Brief description
Fig. 1 is the overall structure figure of the present invention.
Fig. 2 is the beam structure figure of the present invention.
Fig. 3 is the heavy balance staff structure chart of the present invention.
Fig. 4 is that explosive view installed by the crossbeam bearing of the present invention.
Fig. 5 is the spherical shell outline drawing of the present invention.
Fig. 6 attaches most importance to and puts and battery structure figure.
Specific embodiment
For making technical scheme, construction featuress clearer, below in conjunction with the accompanying drawings the present invention is done further
Detailed description.
The present invention includes a spherical housing and crossbeam (6), and described crossbeam (6) is arranged in spherical housing.Described spherical
Shell is screwed with screw and is constituted by left spherical crown (4), right spherical crown (1) and a spherical cylinder (2), and spherical shell is according to specific requirement
Design slotted eye (202).Cross beam support frame (6) passes through ball shaft coupling piece (5) and (8) are arranged in described spherical housing inner chamber.
Described crossbeam (6) is symmetrical u-shaped groove, and length direction is provided with cylinder hollow boss (601,602)；Circuit board
(15), weight pendulum motor (9) and a motor (17) are arranged in crossbeam (6), and weight pendulum motor (9) and motor (17) are same
Axle is installed；Described motor (17) is fixed with crossbeam by motor support (16), and its output shaft is fixed on and right spherical crown
(1) on fixing shaft coupling (18), thus directly drive spherical housing rotating around the y-axis consistent with crossbeam (6) length direction；Institute
State weight pendulum motor (9) to be arranged in crossbeam (6) by weight pendulum motor support (11), its output shaft is connected with bevel gear (12), and
Pendulum (701,702) again is driven to turn around the x-axis vertical with axis y by the engaged transmission of bevel gear (12) and bevel gear (13)
Dynamic.
Bearing (2001,2002) is arranged in the through hole on both sides in the middle part of crossbeam (6), and by being fixed on crossbeam (6)
Bearing (ball) cover (1401,1402) realizes positioning；Described heavy balance staff (10) is arranged on bearing (2001,2002), and its two ends is symmetrical
Install two and put (701,702) again, weight balance staff (10) is provided with bevel gear (13).The output of weight pendulum motor (9) is passed through to bore tooth
The engaged transmission of wheel (12) and (13) drives weight balance staff (10) to rotate, thus realize putting (701,701) rotation around x-axis again.
Cylinder hollow boss (601,602) had on the two ends of described crossbeam (6) length direction, cylinder hollow boss (601,
602) install with bearing (1901,1902) cooperation.Described bearing (1901,1902) is separately fixed at ball shaft coupling piece (5) and (8)
Interior, ball shaft coupling piece (5,8) is fixed by screws on left and right spherical crown (4,1).Described motor (17) passes through electric machine support
(16) it is fixed on crossbeam (6) one end, after output shaft passes through described crossbeam (6) hollow boss (601), and be fixed on left spherical crown (4)
Shaft coupling (18) fixed installation.
Described two heavy pendulum (701,702) are not entity structures, and each contains a cavity, the size of cavity in putting again
Similar to power supply (7012) profile.Power supply (7012) is fixed on again on pendulum (701,702) by screw baffle plate (7013), double
Pendulum (701,702) is fastened on weight balance staff (17) two ends by screw.
The concrete motor process of ball shape robot is, under the control of circuit board (15), individually controls motor (17)
Rotate, then press drive connection as described above, motor (17) output shaft will drive spherical housing relatively by shaft coupling (18)
Rotate in crossbeam (6), and because spherical housing is contacted with ground, when initial, in the presence of ground drag square, spherical housing is not
Rotate, then crossbeam (6) drives and puts the rotation of (701,702) relatively spherical shell again accordingly, thus producing eccentric moment, works as bias
When moment is more than the moment of resistance of spherical housing faced by ground, spherical housing is then along the direction vertical with motor (17) rotating shaft along ground
Face rolls；Corresponding under the control of circuit board (15), individually control weight pendulum motor (9) rotates, then press transmission pass as described above
System, weight pendulum motor (9) output shaft will be driven and put (701,702) around crossbeam again by the engaged transmission of bevel gear (12) and (13)
(6) rotate, thus producing eccentric moment, in the presence of eccentric moment ball shape robot will along with weight pendulum motor (9) output shaft
Vertical side is upwardly along ground surface；Analogize, circuit board (15) control similarly hereinafter when control motor (17) and again put
Motor (9) rotates, then can realize ball shape robot along the rolling of any direction.
Claims (6)
1. a kind of active double pendulum ball shape robot, including a spherical housing and crossbeam (6) it is characterised in that:
A. described spherical housing is one and is screwed with screw and constituted by left spherical crown (4), right spherical crown (1), spherical cylinder (2)
Spherical shell；
B., in described spherical housing inner chamber, between left spherical crown (4), right spherical crown (1), described horizontal stroke is installed by ball shaft coupling piece (5,8)
Beam (6)；
C. in described crossbeam (6), coaxial line installs weight pendulum motor (9) and a motor (17) along the y-axis direction；Drive
Motor (17) output shaft is arranged on the shaft coupling (18) fixing with right spherical crown (1), and directly drives spherical housing and turn around y-axis
Dynamic；Weight pendulum motor (9) pass through bevel gear (12) and bevel gear (13) engaged transmission drive two again pendulum (701,702) around with axle
The vertical x-axis of line y rotates.
2. active double pendulum ball shape robot according to claim 1 is it is characterised in that described crossbeam (6) is u-shaped groove,
There is cylinder hollow boss (601,602) at its length direction two ends, on u-shaped groove by screw install described electric machine support (11),
Circuit board (15)；Perforate in the middle part of described crossbeam (6), and by two bearings (2001,2002) and two bearing (ball) covers (1401,
1402) weight balance staff (10) is installed.
3. active double pendulum ball shape robot according to claim 2, described heavy balance staff (10) two ends are symmetrically installed double
Pendulum (701,702), axle is installed fixing bevel gear (13).It is solid with crossbeam (6) that described heavy pendulum motor (9) passes through electric machine support (11)
Fixed；The fixing bevel gear (12) of weight pendulum motor (9) output shaft end, bevel gear (12) and the bevel gear being fixed on weight balance staff (10)
(13) engage；Pendulum (701,702) is subject to the control synchronous hunting of weight pendulum motor (9) again.
4. active double pendulum ball shape robot according to claim 2, on described crossbeam (6) two ends along its length
Cylinder hollow boss (601,602) is installed with bearing (the 1901,1902) cooperation being fixed in ball shaft coupling piece (5,8) respectively.
Described bearing (1901,1902) is fixed in ball shaft coupling piece (5,8), and shaft coupling piece (5,8) is arranged on left and right ball by screw
On hat (4,1).
5. active double pendulum ball shape robot according to claim 3, described heavy pendulum (701,702) is arranged on by screw
Weight balance staff (10) two ends, pendulum (701,702) center is groove-like again, and described power supply (7012) is fixed on weight by baffle plate (7013)
In the groove of pendulum (701,702).
6. spherical housing according to claim 1 by left spherical shell (4), right spherical shell (1), spherical cylinder (2) with
The spherical shell that screw fixation is constituted, class ball cylinder (2) is to be removed left spherical crown (4), right spherical crown (1) and incited somebody to action by a complete ball
Remaining partly in the middle of elongate as cylinder (201) gained, described spherical cylinder (2) is machined with a number of groove
(202).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610825305.5A CN106347512A (en) | 2016-09-14 | 2016-09-14 | Active spherical robot with double pendulums |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610825305.5A CN106347512A (en) | 2016-09-14 | 2016-09-14 | Active spherical robot with double pendulums |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106347512A true CN106347512A (en) | 2017-01-25 |
Family
ID=57859508
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610825305.5A Pending CN106347512A (en) | 2016-09-14 | 2016-09-14 | Active spherical robot with double pendulums |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106347512A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828646A (en) * | 2017-03-15 | 2017-06-13 | 王纪元 | The sphere travelling device of celestial body surface detector |
| CN107150727A (en) * | 2017-03-21 | 2017-09-12 | 坎德拉（深圳）科技创新有限公司 | Ball shape robot |
| CN107719499A (en) * | 2017-09-22 | 2018-02-23 | 赵蕴涵 | The ball shape robot of universal rolling |
| CN108791558A (en) * | 2018-06-15 | 2018-11-13 | 深圳市智能机器人研究院 | A kind of movable spherical robot |
| CN112937711A (en) * | 2021-04-12 | 2021-06-11 | 合肥工业大学 | Spherical robot deformation mechanism and deformation method |
| CN115122842A (en) * | 2022-08-01 | 2022-09-30 | 煤炭科学技术研究院有限公司 | Amphibious robot with external operation function |
| CN115123416A (en) * | 2022-08-01 | 2022-09-30 | 煤炭科学技术研究院有限公司 | Spherical robot with external operation function |
| CN117022485A (en) * | 2023-10-10 | 2023-11-10 | 逻腾（杭州）科技有限公司 | Rolling robot |
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| CN103171638A (en) * | 2013-03-04 | 2013-06-26 | 北京邮电大学 | Spherical robot with binocular stereoscopic vision |
| CN103587602A (en) * | 2013-11-13 | 2014-02-19 | 上海大学 | Active simple pendulum spherical robot |
| CN103847825A (en) * | 2014-02-27 | 2014-06-11 | 上海大学 | Spherical robot driven by planet gear and worm and gear |
| CN103895721A (en) * | 2014-03-24 | 2014-07-02 | 上海大学 | Micro vibration generator spherical robot |
| CN103921860A (en) * | 2014-04-21 | 2014-07-16 | 北京航空航天大学 | Ellipsoidal robot |
| US9428019B1 (en) * | 2013-07-09 | 2016-08-30 | Guardbot Inc. | Drive and stabilizaton system for amphibious robotic ball |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103171638A (en) * | 2013-03-04 | 2013-06-26 | 北京邮电大学 | Spherical robot with binocular stereoscopic vision |
| US9428019B1 (en) * | 2013-07-09 | 2016-08-30 | Guardbot Inc. | Drive and stabilizaton system for amphibious robotic ball |
| CN103587602A (en) * | 2013-11-13 | 2014-02-19 | 上海大学 | Active simple pendulum spherical robot |
| CN103847825A (en) * | 2014-02-27 | 2014-06-11 | 上海大学 | Spherical robot driven by planet gear and worm and gear |
| CN103895721A (en) * | 2014-03-24 | 2014-07-02 | 上海大学 | Micro vibration generator spherical robot |
| CN103921860A (en) * | 2014-04-21 | 2014-07-16 | 北京航空航天大学 | Ellipsoidal robot |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828646A (en) * | 2017-03-15 | 2017-06-13 | 王纪元 | The sphere travelling device of celestial body surface detector |
| CN107150727A (en) * | 2017-03-21 | 2017-09-12 | 坎德拉（深圳）科技创新有限公司 | Ball shape robot |
| CN107150727B (en) * | 2017-03-21 | 2019-06-25 | 坎德拉（深圳）科技创新有限公司 | Ball shape robot |
| CN107719499A (en) * | 2017-09-22 | 2018-02-23 | 赵蕴涵 | The ball shape robot of universal rolling |
| CN107719499B (en) * | 2017-09-22 | 2024-04-05 | 赵蕴涵 | Universal rolling spherical robot |
| CN108791558A (en) * | 2018-06-15 | 2018-11-13 | 深圳市智能机器人研究院 | A kind of movable spherical robot |
| CN112937711B (en) * | 2021-04-12 | 2022-07-08 | 合肥工业大学 | Spherical robot deformation mechanism and deformation method |
| CN112937711A (en) * | 2021-04-12 | 2021-06-11 | 合肥工业大学 | Spherical robot deformation mechanism and deformation method |
| CN115122842A (en) * | 2022-08-01 | 2022-09-30 | 煤炭科学技术研究院有限公司 | Amphibious robot with external operation function |
| CN115123416A (en) * | 2022-08-01 | 2022-09-30 | 煤炭科学技术研究院有限公司 | Spherical robot with external operation function |
| CN115123416B (en) * | 2022-08-01 | 2023-10-27 | 煤炭科学技术研究院有限公司 | Spherical robot with external operation function |
| CN115122842B (en) * | 2022-08-01 | 2024-05-24 | 煤炭科学技术研究院有限公司 | Amphibious robot with external operation function |
| CN117022485A (en) * | 2023-10-10 | 2023-11-10 | 逻腾（杭州）科技有限公司 | Rolling robot |
| CN117022485B (en) * | 2023-10-10 | 2023-12-19 | 逻腾（杭州）科技有限公司 | rolling robot |
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Application publication date: 20170125 |