CN107054489A - Ball shape robot - Google Patents
Ball shape robot Download PDFInfo
- Publication number
- CN107054489A CN107054489A CN201710171310.3A CN201710171310A CN107054489A CN 107054489 A CN107054489 A CN 107054489A CN 201710171310 A CN201710171310 A CN 201710171310A CN 107054489 A CN107054489 A CN 107054489A
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- CN
- China
- Prior art keywords
- ball shape
- shape robot
- control
- driving wheel
- moment gyro
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
- B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
- B62D37/06—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses using gyroscopes
Abstract
The invention provides a kind of ball shape robot, including spherical shell and drive component；The drive component includes fixed support, connecting portion, telescopic drive portion and control-moment gyro system, actuating arm.First connecting rod is provided between the actuating arm and the telescopic drive portion, the telescopic drive portion promotes the first connecting rod to drive the actuating arm to be swung around the connecting portion, adjusts the driving wheel with the contact position of the spherical shell to adjust the speed of travel of the ball shape robot.The ball shape robot be interfered torque interference when, the stability by controlling the control-moment gyro system beat to produce precession moment to overcome the disturbance torque and improve the ball shape robot, so as to balance the posture of the ball shape robot.The present invention improves the obstacle detouring climbing capacity of ball shape robot, realizes variable speed.
Description
Technical field
The present invention relates to robot field, and in particular to a kind of ball shape robot.
Background technology
Ball shape robot refers to the robot moved using the scrolling realization of spheroid, it is possible to achieve omnibearing movable, with ground
Face is single-contact, and frictional resistance is small, and energy utilization efficiency is high, and with tumbler characteristic, can avoid conventional machine
What people easily occurred topples over unstable phenomenon.The important component of robot is included in ball interior, good by sphere shell
Protection, it is not easy to failed because of destruction.Suitable seal approach is taken, the shell of ball shape robot can be enable to possess waterproof
Power, and then used under the conditions of more atrocious weather, with round-the-clock adaptability.
Ball shape robot is due to the walking manner for being limited to roll, and often kinetic stability is not high, and obstacle detouring climbing energy
Power is not strong, this cause ball shape robot people sphere of life (such as have more than 30 degree slope or stair obstacle) or certain
The application in a little rough places is extremely limited.
Therefore, the obstacle detouring climbing capacity of ball shape robot how is improved, to increase the application scenarios and fortune of ball shape robot
Dynamic stability, is people in the industry's emphasis research topic.
The content of the invention
The problem of for the above, it is an object of the invention to provide a kind of ball shape robot, obstacle detouring climbing, automatic tune can be achieved
Save posture and increase kinetic stability.
In order to solve problem present in background technology, the invention provides a kind of ball shape robot, including spherical shell and drive
Dynamic component；The drive component includes fixed support, the connecting portion on the fixed support, is fixed on the connecting portion
Telescopic drive portion and control-moment gyro system, the actuating arm for being rotationally connected with the connecting portion；
One end away from the connecting portion of the actuating arm is provided with the driving wheel that is in contact with the spherical shell, and by with
Frictional force is produced between the spherical shell drives the spherical shell to rotate；First is provided between the actuating arm and the telescopic drive portion
Connecting rod, the telescopic drive portion promotes the first connecting rod to drive the actuating arm to be swung around the connecting portion, and regulation is described
The contact position of the relatively described spherical shell of driving wheel is to control the speed of travel of ball shape robot；
The ball shape robot be interfered torque when, by controlling the telescopic drive portion to drive the actuating arm to put
It is dynamic, to change the speed of travel of the ball shape robot, then control the synchronous beat of described two control-moment gyro system reverses
Stability to increase precession moment to overcome the disturbance torque and improve the ball shape robot.
In a kind of embodiment, the telescopic drive portion includes the first guide rail, first guide rail is fixed on into the company
The guide rail fixing element of socket part, the first connector being sheathed on first guide rail and located at first guide rail away from the company
Second motor of one end of socket part, second motor is to drive first connector to be slided along first guide rail；
The first connecting rod includes first end and the second end being oppositely arranged, and the first end and second end turn respectively
It is dynamic to be connected to first connector and the actuating arm；First connector is slided along first guide rail, is driven described
First connecting rod moves reciprocatingly relative to the connecting portion, and drives the actuating arm to be swung around the connecting portion.
In a kind of embodiment, the actuating arm also includes second be connected between the connecting portion and the driving wheel
Connecting rod, is provided with Flexible Connector between the driving wheel and the second connecting rod, the Flexible Connector is along the actuating arm
Direction is stretched, played in the ball shape robot motion process shock absorbing effect and for the driving wheel and the spherical shell it
Between provide contact effect.
In a kind of embodiment, the Flexible Connector include spring, the second guide rail located at the spring opposite sides,
And the sliding block on second guide rail, described second guide rail one end is fixedly connected on the second connecting rod, other end direction
The driving wheel direction extension, described sliding block one end is on second guide rail, and the other end is fixed on the driving wheel, described
Spring is fixed between the second connecting rod and the driving wheel, and in compressive state, in order to being the driving wheel and institute
State and provide contact between spherical shell.
In a kind of embodiment, the control-moment gyro system includes control-moment gyro and beat motor；It is described solid
Fixed rack includes the fixing end being oppositely arranged with the connecting portion, and the fixing end is located at the control moment with the connecting portion
Gyro both sides and being rotated by beat axle and the control-moment gyro are connected；The beat motor is located at the control moment top
On spiral shell and at the fixing end, the fixing end is provided with first gear, and the beat motor is provided with and the first gear
The second gear being meshed, the beat motor is by driving the second gear relative to the first gear beat, with band
The control-moment gyro is moved around the beat axle beat.
In a kind of embodiment, provided with first axially, the driving wheel and the actuating arm are on institute for the fixed support
State first axially symmetrical, the control-moment gyro system is multiple, and the institute of the multiple control-moment gyro system
The bearing of trend for stating beat axle extends along first axially direction.
In a kind of embodiment, the multiple control-moment gyro system along described first axially distribution and/or on
Described first is axially symmetrical.
In a kind of embodiment, the multiple control-moment gyro system is distributed in the described first axial both sides, and along
Described first axially offsets.
In a kind of embodiment, the multiple control-moment gyro system is set along perpendicular to first axial stratification is folded
In in institute's supporting table.
In a kind of embodiment, provided with first axially, the driving wheel and the actuating arm are on institute for the fixed support
State the first axial direction symmetrical, the control-moment gyro system is multiple, one of the multiple control-moment gyro system portion
Point axially it is distributed along described first, provided with the first beat axle, the bearing of trend of the first beat axle is along the first axle
To direction extension, another part of the multiple control-moment gyro system is axially symmetrical on described first, is provided with
Second beat axle, the second beat axle extends perpendicularly to first axially direction.
The embodiment of the present application provides a kind of ball shape robot, including spherical shell, drive component.The drive component includes driving
Swing arm and driving wheel, driving wheel produce drag torque to drive the spherical shell to rotate with the spherical shell inwall；Stretched by setting
Contracting driving and first connecting rod, telescopic drive portion drives the actuating arm to be swung around the connecting portion by first connecting rod, so as to change
Become the contact position of the driving wheel and the spherical shell inwall, when ball shape robot walking can be realized in the case where not influenceing electric efficiency
Variable speed；Walking disorder is run into ball shape robot, and the driving moment of driving wheel is sufficient so that the ball shape robot
During obstacle detouring, the control-moment gyro can produce precession moment so as to the chassis of stable spherical robot by free beat,
The driving moment of driving wheel is set all to pass to spherical shell, so that ball shape robot surmounts obstacles.When the driving moment of driving wheel
When being not enough to obstacle detouring, when ball shape robot drives the control-moment gyro with more than free beat by controlling beat motor
Angular speed beat, to obtain larger precession moment in a short time, the precession moment be superimposed with the driving moment of driving wheel with
Realize obstacle detouring.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be attached to what is used required in embodiment
Figure is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this area
For those of ordinary skill, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of ball shape robot overall structure diagram provided in an embodiment of the present invention.
Fig. 2-1 is the structural representation of drive component in a kind of ball shape robot provided in an embodiment of the present invention.
Fig. 2-2 is stationary frame structure schematic diagram in a kind of ball shape robot provided in an embodiment of the present invention.
Fig. 3 is a kind of infinitely variable speed structure schematic diagram provided in an embodiment of the present invention.
Fig. 4 is a kind of infinitely variable speed structure schematic diagram provided in an embodiment of the present invention.
Fig. 5 is the schematic diagram of control-moment gyro in a kind of ball shape robot provided in an embodiment of the present invention.
Fig. 6-1 is a kind of ball shape robot rotating ratio Principles of Regulation figure provided in an embodiment of the present invention.
Fig. 6-2 is a kind of ball shape robot rotating ratio Principles of Regulation figure provided in an embodiment of the present invention.
Fig. 7-1 is a kind of infinitely variable speed structure schematic diagram provided in an embodiment of the present invention.
Fig. 7-2 is a kind of infinitely variable speed structure schematic diagram provided in an embodiment of the present invention.
Fig. 8 is elastic connecting-piece structure schematic diagram in a kind of variable speed provided in an embodiment of the present invention.
Fig. 9 is a kind of control-moment gyro schematic diagram provided in an embodiment of the present invention.
Figure 10-1 is a kind of arrangement mode schematic diagram of control-moment gyro provided in an embodiment of the present invention.
Figure 10-2 is a kind of arrangement mode schematic diagram of control-moment gyro provided in an embodiment of the present invention.
Figure 10-3 is a kind of arrangement mode schematic diagram of control-moment gyro provided in an embodiment of the present invention.
Figure 10-4 is a kind of arrangement mode schematic diagram of control-moment gyro provided in an embodiment of the present invention.
Figure 10-5 is a kind of arrangement mode schematic diagram of control-moment gyro provided in an embodiment of the present invention.
Figure 10-6 is a kind of arrangement mode schematic diagram of control-moment gyro provided in an embodiment of the present invention.
Figure 10-7 is a kind of arrangement mode schematic diagram of control-moment gyro provided in an embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme progress to the embodiment of the present invention is clear, complete
Ground is described.
It is a kind of ball shape robot provided in an embodiment of the present invention to refer to Fig. 1 to Fig. 2-1, Fig. 1, including spherical shell 1 and is set
Drive component 2, supporting table 4 inside the spherical shell 1, the fixed support 5 being fixed in the supporting table 4.The driving group
Part 2 includes connecting portion 20 on the fixed support 5, be fixedly connected on the connecting portion 20 telescopic drive portion 22 and control
Moment gyro system 3 processed, the actuating arm 21 for being rotationally connected with the connecting portion 20.The fixed support 5 is taken turns by flexibly supporting
The inwall of spherical shell 1 is connected to, can be relatively rotated together with the drive component 2 with the spherical shell 1, to prevent the driving group
Part 2 is unstable in the spherical shell 1.
The one end of the actuating arm 21 away from the connecting portion 20 provided with driving wheel 201 and drive the driving wheel 201 around
First motor 202 of central shaft rotation, the portion peripheral surface of the driving wheel 201 is in contact with the inwall of spherical shell 1, described to drive
Driving wheel 201 produces rotation friction (drag torque) to drive the spherical shell 1 during rotation in the inwall of spherical shell 1
Rotated relative to the drive component 2, rotating between ground for the spherical shell 1 produces frictional force, realizes the phase of spherical shell 1
For the rolling on ground.The kind of drive between first motor 202 and the driving wheel 201 is not limited to belt transmission,
Also other kinds of drive can be used.
Fig. 2-1 and Fig. 3 is referred to, first connecting rod 23, institute are provided between the actuating arm 21 and the telescopic drive portion 22
Stating telescopic drive portion 22 promotes the first connecting rod 23 to be moved reciprocatingly relative to the connecting portion 20, drives the actuating arm 21
Swing to change the driving wheel with adjusting the ball shape robot in the contact position of the spherical shell around the connecting portion 20
The speed of travel.
Refer in Fig. 3 and Fig. 4, a kind of embodiment, the actuating arm 21 is two, and be symmetrically distributed in described flexible
The both sides of drive division 22, the telescopic drive portion 22 promotes the first connecting rod 23 to be moved reciprocatingly relative to the connecting portion 20,
Two actuating arms 21 can be driven to be done around the connecting portion 20 and open or tighten up motion, it is relative described by the driving wheel
The change of the contact position of spherical shell 1 adjusts the rotating speed of spherical shell 1.Specifically, the driving wheel 201 is relative to the spherical shell 1
Move in a circle, in the case where the driving wheel speed is certain, wherein, the driving wheel 201 is along the bigger circular motion of radius, then ball
The anthropomorphic robot speed of travel is slower, and the driving wheel 201 is got over along the smaller circular motion of radius, then the ball shape robot speed of travel
It hurry up.By adjusting the angle opened or tightened up of actuating arm 21, to adjust the driving wheel 201 with respect to connecing in the spherical shell 1
The change of position is touched, that is, the radius of a circle that the driving wheel 201 is moved in the inwall of spherical shell 1 is adjusted, in the rotating speed of driving wheel 201
One fixs, the driving wheel 201 in the inwall of spherical shell 1 along different circular motion, then the driving wheel 201 and the ball
Rotating ratio between shell 1 is different, so that realize makes the stepless change of the spherical shell 1 while electric efficiency is not influenceed.
Referring to Fig. 5, control-moment gyro system 3 includes control-moment gyro 31 and beat motor 32, the controling power
Square gyro 31 includes rotor 311, bearing 312, the rotor frame 313 for being sheathed on the periphery of rotor 311 and drives the rotor
311 spinning motors 314 rotated around central shaft, the spinning motor 314 is on the rotor frame 313, by driving
The bearing 312 is to drive the rotor 311 to rotate.The beat motor 32 be fixed on the rotor frame 313 with it is described
Control-moment gyro 31 is together relative to the beat of fixed support 5.In the ball shape robot motion process, the rotation
Motor 314 drives the rotor 311 to be rotated at a high speed around bearing 312.
In order to increase ball shape robot during obstacle detouring rotating torque, it is necessary to reduce the velocity of rotation of the spherical shell 1, this
When, ball shape robot is by controlling first motor 202 to drive the telescopic drive portion 22 to drive the phase of first connecting rod 23
Moved for first motor 202, so that drive the actuating arm 21 to tighten up is not influenceing the electric efficiency to realize
The speed of travel of spherical shell 1 is reduced under state, is that obstacle detouring is prepared.Meeting barrier in ball shape robot, (such as great slope, ground are protruded
Thing, stair etc.) when, barrier can produce disturbance torque to hinder it to move to the spherical shell 1, and the spherical shell 1 is by the perturbed force
Square is sent to the control-moment gyro system 3 under the drive component 2, high speed rotation status by the driving wheel 201
By disturbance torque effect, can free beat produce one with the disturbance torque in the opposite direction it is equal-sized enter power
Square makes ball shape robot chassis stable so that driving moment (torque of drive wheel spherical shell) all is forwarded to spherical shell to realize
Obstacle detouring.When ball shape robot is disturbed by larger interference torque, the control under the ball shape robot control high speed rotation
Angular speed beat when moment gyro 31 processed is with more than free beat, to increase the precession moment.The control-moment gyro
On the one hand 31 precession moments produced stabilize the drive component, it is to avoid it overturns, and on the other hand, precession moment is led to
Cross the fixed support 5 and be transferred to driving wheel 201, and then be all sent to spherical shell after being superimposed with the driving moment of driving wheel 201
1, so as to improve the obstacle detouring grade climbing performance and adjust automatically posture balancing of ball shape robot.
The embodiment of the present application provides a kind of ball shape robot, and driving wheel 201 produces drag torque with the inwall of spherical shell 1
So as to drive the spherical shell 1 to walk；By setting telescopic drive portion 22 and first connecting rod 23, telescopic drive portion 22 connects by first
Bar 23 drives the actuating arm 21 to be swung around the connecting portion 20, so as to change the contact of the driving wheel 201 and the inwall of spherical shell 1
Position, the variable speed when realizing ball shape robot walking under not influenceing power of motor；By setting control-moment gyro system
System 3, when ball shape robot meet hinder when, the spherical shell 1 be interfered torque interference, the control-moment gyro system 3 produce into
Kinetic moment, and with reference to the actuating arm 21 speed of travel of the spherical shell 1 is reduced, it is sent to the ball in drive component 2
In the case of the power of shell 1 is certain, the rotating torque increase of the spherical shell 1, so as to promote the ball shape robot obstacle detouring, balances institute
State the posture of ball shape robot.
In a kind of embodiment, actuating arm 21 is a pair, and the telescopic drive portion 22 is by the center of the spherical shell 1, institute
State actuating arm 21 and driving wheel 201 is symmetrically distributed in the both sides in telescopic drive portion 22；Driving wheel described in the drive component 2
Output speed between 201 and the spherical shell 1 is than I：
I=(n1/n2)=(L/r) ∝ (1/ θ) (1)
Wherein, n1 is the rotating speed of the driving wheel 201, in the case where the driving power of the first motor 202 is constant, institute
The rotating speed for stating driving wheel 201 is constant；N2 is the rotating speed of the spherical shell 1；The radius of driving wheel 201 described in r, is invariant；L is described
Driving wheel 201 is along the radius of a circle moved relative to the spherical shell 1；θ is the center of driving wheel 201 to the pair of driving
Angle between the line and vertical center line of the center intersection point of the spherical shell 1 of arm 21.
From formula (1), the angle theta that the pair of actuating arm 21 opens is bigger, and the driving wheel 201 is along the spherical shell
1 motion radius of a circle L it is smaller, then the output speed between the driving wheel 201 and the spherical shell 1 than I just smaller, the ball
The velocity of rotation of shell 1 is faster；The angle theta that the pair of actuating arm 21 opens is smaller, and the driving wheel 201 is along the spherical shell 1
The radius of a circle L of motion is bigger, then the output speed between the driving wheel 201 and the spherical shell 1 is bigger than I, the ball
The velocity of rotation of shell 1 is slower.The present embodiment is by adjusting the angle theta that the pair of actuating arm 21 opens, you can realize the ball
The regulation of the velocity of rotation of shell 1, is additionally, since the adjustable consecutive variations of angle theta that the pair of actuating arm 21 opens, then described to drive
Output speed between driving wheel 201 and the spherical shell 1 is than I also adjustable consecutive variations, it is achieved thereby that the nothing that the spherical shell 1 is rotated
Level gearshift adjustment.
Fig. 6-1 is referred to, when ball shape robot obstacle detouring or climbing, in the case where output power of motor is certain, to carry
For sufficiently large output torsion power square, then need the less speed of spherical shell 1, that is, need to increase the driving wheel 201 with it is described
Output speed ratio between spherical shell 1, that is, the angle theta that actuating arm 21 opens are smaller.Now by controlling the band of the second motor 224
Dynamic first connector 223 is moved towards second motor 224, and the first connector 223 drives actuating arm by first connecting rod 23
21 rotate around the connecting portion 20 towards first connector 223, so that a pair of actuating arms 21 are tightened up, so as to be reduced
Angle theta 1, now circular motion of the driving wheel 201 along a diameter of A1C1, B1D1.From formula (1), now rotating ratio I increasings
Greatly, the speed of spherical shell 1 reduces, so that ball shape robot obtains bigger obstacle detouring driving moment.
Fig. 6-2 are referred to, when ball shape robot is in level walking, it is necessary to improve the translational speed of robot, i.e., to be increased
The velocity of rotation of the big spherical shell 1, it is necessary to reduce the output speed ratio between the driving wheel 201 and the spherical shell 1, that is,
The angle theta that actuating arm 21 opens is larger.Now by controlling the second motor 224 to promote the first connector 223 towards the connection
Portion 20 is moved, and the first connector 223 drives actuating arm 21 around the connecting portion 20 towards away from described first by first connecting rod 23
The direction of connector 223 is rotated, so that a pair of actuating arms 21 trail, so as to obtain larger angle theta 2, now driving wheel 201
Along a diameter of A2C2, B2D2 circular motion.From formula (1), now rotating ratio I reductions, the speed of spherical shell 1 increases, so that
Realize that ball shape robot obtains the faster speed of travel.
From the foregoing, it will be observed that by changing the angle theta that actuating arm 21 opens, you can any within the specific limits according to demand to change
Rotating ratio I, so that the spherical shell 1 realizes variable speed.
In the application embodiment, the pair of intersection point of actuating arm 21 can be located at the center of spherical shell 1, and the connection
Portion 20 is located at the center of spherical shell 1, can not also be located at the center of spherical shell 1, the application is for the pair of intersection point of actuating arm 21
It is not limited relative to the position in the spherical shell 1.
Refer to Fig. 7-1 and Fig. 7-2, the telescopic drive portion 22 includes the first guide rail 221, by first guide rail 221
The first connector 223 for be fixed on the guide rail fixing element 222 of the connecting portion 20, being sheathed on first guide rail 221 and set
The second motor 224 in the one end of first guide rail 221 away from the connecting portion 20, second motor 224 is to drive
First connector 223 is slided along first guide rail 221.
The first connecting rod 23 includes the end 233 of first end 232 and second that is oppositely arranged, the first end 232 and described
Second end 233 is rotationally connected with first connector 223 and the actuating arm 21 respectively；First connector 223 is along institute
State the first guide rail 221 to slide, drive the first connecting rod 23 to be moved reciprocatingly relative to the connecting portion 20, and drive described drive
Swing arm 21 is swung around the connecting portion 20.
It should be understood that second motor 224 is not limited to use screw motor or linear electric motors, it would however also be possible to employ
Hydraulic cylinder or other can realize other linkages for swinging actuating arm 21.
In a kind of embodiment, the two ends of the first guide rail 221 are additionally provided with the first locating part 225,226, first limit
Position part 225,226 is used for the spacing of two endpoint locations that first connector 223 is slided along first guide rail 221.Institute
It can be limit damping block to state the first locating part 225,226, it is also possible to which limit switch or other limit methods are substituted.Described first
The material of locating part 225,226 can be the high-abrasive materials such as rubber, and bumper and absorbing shock work is on the one hand served to the first connector 223
With on the other hand, abrasion of the reduction to the first connector 223 extends its service life.
Fig. 7-1 and Fig. 7-2 are referred to, the actuating arm 21 also includes being connected to the connecting portion 20 and the driving wheel
Second connecting rod 227 between 201；The second connecting rod 227 is provided with the second connector 229, the second of the first connecting rod 23
End 233 is rotationally connected with second connector 229.First connector 223 is along first guide rail 221 towards the company
The sliding process of socket part 20 so that the first connecting rod 23 promotes the actuating arm 21 to be rotated around the connecting portion 20 all the time, to increase
The angle that the big actuating arm 21 stretches around the connecting portion 20.Specifically, the second motor 224 promotes the first connector
223 towards in the motion process of connecting portion 20, and the first connecting rod 23, which is remained, pushes up second connector
229, and then promote actuating arm 21 to open, when the first connector 223 is located at top, i.e., near the connecting portion 20
During position, the angle theta that now actuating arm 21 opens is maximum, and such design can obtain the angle theta that larger actuating arm 21 opens,
The displacement of the first connector 223 is smaller simultaneously, can simplify and reduce the structure in telescopic drive portion 22, so as to reduce drive component
2 spaces occupied, are easy to the layout of other structures.
Referring to Fig. 8, being provided with Flexible Connector 24, the elasticity between the driving wheel 201 and the second connecting rod 227
Connector 24 is flexible along the direction of actuating arm 21, played in the ball shape robot motion process shock absorbing effect and
To provide the effect of contact between the driving wheel 201 and the spherical shell 1.In a kind of embodiment, the elastic connection
Part 24 includes spring 241, the second guide rail 242 located at the opposite sides of spring 241 and on second guide rail 242
Sliding block 243, described one end of second guide rail 242 is fixedly connected on the second connecting rod 227, and the other end is towards the driving wheel
201 directions extend, and the two ends of the second guide rail 242 are provided with the second locating part 244,245, and the second locating part 244,245 is used to limit
Make the sliding position of the sliding block 243.Described one end of sliding block 243, can be relative to described second on second guide rail 242
Guide rail 242 is slided, and the other end is fixed on the driving wheel 201, the spring 241 be fixed on the second connecting rod 227 with it is described
Between driving wheel 201, and in compressive state, in order to contact pressure to be provided between the driving wheel 201 and the spherical shell 1
Power.In addition, in ball shape robot motion process, the spring 241 can ensure that driving wheel 201 begins by the change of its decrement
End and spherical shell 1 are in close contact to increase the transmission efficiency between spherical shell 1 described in the driving wheel 201.Other embodiment
In, the Flexible Connector 24 can also be other flexible members such as elastic caoutchouc, elastoplast, in this application, not right
The concrete structure of the Flexible Connector 24 is limited.
Fig. 2-2 are referred to, the resilient support wheel 6 includes the support wheel 62 of the sum of elastic component 61, the support wheel 62 and institute
The inwall of spherical shell 1 is stated to be in contact.Support wheel 62 can also be ball.Elastic component 61 could be arranged to the elasticity such as spring, elastic caoutchouc
Part, the elastic component 61 is in compressive state, plays buffer protection function, and the elastic component 61 of compressive state is ensured in fortune
During dynamic, the driving wheel 201 is contacted with the spherical shell 1, or even gives the driving wheel 201 certain contact.
Fig. 2-2 and Fig. 4 is referred to, the fixed support 5 includes the fixing end 51 being oppositely arranged with the connecting portion 20, institute
Fixing end 51 is stated with the connecting portion 20 located at the both sides of control-moment gyro 31 and by beat axle 33 and the controling power
Square gyro 31 rotates connection.The beat motor 32 is located on the control-moment gyro 32 and at the fixing end 51,
The fixing end 51 is provided with first gear 511, and the beat motor 32 is provided with the second tooth being meshed with the first gear 511
Wheel 521, the beat motor 32 is by driving the second gear 521 relative to the beat of first gear 511, to drive
Control-moment gyro 31 is stated around the beat of beat axle 33.
Referring to Fig. 9, in a kind of embodiment, two control-moment gyro systems can be included in the drive component 2
3a, 3b, the rotor sense of rotation of two control-moment gyro systems 3a, 3b are opposite.The fixed support 4 is provided with the first axial direction Y,
The driving wheel 201 is symmetrical on the described first axial direction Y, and described two control-moment gyro systems 3a, 3b is described
Direction extension of beat axle 33a, 33b bearing of trend along the described first axial direction Y.When the ball shape robot is along Y positive directions
When walking runs into obstacle, ball shape robot control actuating arm 21 is tightened up relative to the telescopic drive portion 22, to increase the ball
Speed of travel ratio between shell 1 and the driving wheel 201, is that spherical shell obstacle detouring is prepared so as to reduce the speed of travel of spherical shell.By
In the disturbance torque of obstacle, the driving moment of driving wheel 201 can not all pass to spherical shell 1 so that part driving moment is transmitted
To the connecting portion 20 inside spherical shell 1, at this moment control-moment gyro system 3 will occur precession and produce in precession moment balance
The part driving moment stated, to stablize the connecting portion 20 inside spherical shell 1 and increase the biography between driving wheel 201 and the spherical shell 1
Efficiency of movement, makes the driving moment of driving wheel 201 all pass to spherical shell 1 to realize obstacle detouring, and then avoid the drive inside spherical shell 1
Dynamic component will roll in spherical shell 1, and spherical shell 1 can not obtain maximum drive torque and realize obstacle detouring.
In the embodiment of the present application, the control-moment gyro system 3 can also be multiple, for the control-moment gyro
The arrangement mode of system 3 can be in the following way：When the precession moment direction that obstacle detouring needs is along the first axial direction Y, controling power
The beat of square gyro system 3 is axially arranged in X direction；Conversely, when obstacle detouring needs are when entering motive torque direction along X-axis, controlling
The beat of moment gyro system 3 is arranged axially along the first axial Y-direction.
Exemplified by when the precession moment direction that obstacle detouring needs is along X-axis, the beat axial direction of multiple control-moment gyro systems 3
Arranged along Y-direction.The specific arrangement mode of the control-moment gyro system 3 includes but is not limited to：
The first embodiment, as shown in Figure 10-1, the multiple control-moment gyro system 3 can be along the first axle
It is distributed to Y, the direction extension of the bearing of trend of the beat axle 33 along the described first axial direction Y.
Second of embodiment, as shown in Figure 10-2, the multiple control-moment gyro system 3 can be on the first axle
It is symmetrical to Y, the direction extension of the bearing of trend of the beat axle 33 along the described first axial direction Y.
The third embodiment, as shown in Figure 10-3 and Figure 10-4, the multiple control-moment gyro system 3 is distributed in described
First axial direction Y both sides, and staggering along the described first axial direction Y, the bearing of trend of the beat axle 33 is along the described first axial direction Y
Direction extension.
4th kind of embodiment, as shown in Figure 10-5, the multiple control-moment gyro system 3 is along perpendicular to the support
The direction Z of platform 4 is stacked in institute's supporting table 4, and the direction of the bearing of trend of the beat axle 33 along the described first axial direction Y is prolonged
Stretch.
5th kind of embodiment, as shown in Figure 10-6, the part of the multiple control-moment gyro system 3 is along described
One axial direction Y is distributed, and another part of the multiple control-moment gyro system 3 is symmetrical on the described first axial direction Y, described
The bearing of trend of beat axle 33 extends each along the described first axial direction Y direction.
The multiple control-moment gyro system 3 can also provide the precession moment of X and Y both directions simultaneously.6th kind
Embodiment, as shown in Figure 10-7, a part for the multiple control-moment gyro system 3 is distributed along the described first axial direction Y, if
There is the first beat axle, the direction extension of the bearing of trend of the first beat axle along the described first axial direction Y, the multiple control
Another part of moment gyro system 3 is symmetrical on the described first axial direction Y, provided with the second beat axle, second beat
The bearing of trend X of axle 3 is perpendicular to the described first axial direction Y direction.Specifically, the control-moment gyro system 3 can be
Two pairs, the paired control-moment gyro system 3 mutually, wherein, two beat axle bearing of trends are along the described first axial direction Y
Direction extension, direction of the another two beat axle bearing of trend along X.
Arrangement mode illustrated above, multiple control-moment gyro system arrangement modes that only the application is protected
Several embodiments, can also there is other arrangement modes, and arrangement mode illustrated above can serve as an elementary cell
Expand the quantity of control-moment gyro 31 in drive component 2, build complicated control-moment gyro system 3.It is real based on the application
Apply mode and combine in the quantity and arrangement mode of above-mentioned control-moment gyro system 3, the ball shape robot, to the application institute
The control-moment gyro system 3 of offer carries out simple number change, or the layout thought based on the application, and the application is carried
The control-moment gyro system 3 of confession carries out simple arrangement mode change, and these belong to the protection domain of the application.
In summary, although the present invention it is disclosed above with preferred embodiment, but the preferred embodiment and be not used to limitation
The present invention, one of ordinary skill in the field without departing from the spirit and scope of the present invention, can make various changes and profit
Adorn, therefore protection scope of the present invention is defined by the scope that claim is defined.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of ball shape robot, it is characterised in that including spherical shell and drive component；The drive component include fixed support,
Connecting portion on the fixed support, the telescopic drive portion for being fixed on the connecting portion and control-moment gyro system, turn
The dynamic actuating arm for being connected to the connecting portion；
One end away from the connecting portion of the actuating arm is provided with the driving wheel that is in contact with the spherical shell, and by with it is described
Frictional force is produced between spherical shell drives the spherical shell to rotate；Connect between the actuating arm and the telescopic drive portion provided with first
Bar, the telescopic drive portion promotes the first connecting rod to drive the actuating arm to be swung around the connecting portion, adjusts described drive
The contact position of the relatively described spherical shell of driving wheel is to control the speed of travel of ball shape robot；
The ball shape robot be interfered torque when, by controlling the telescopic drive portion to drive the driving arm swing, with
Change the speed of travel of the ball shape robot, then control the synchronous beat of described two control-moment gyro system reverses to increase
Stability of the precession moment to overcome the disturbance torque and improve the ball shape robot.
2. a kind of ball shape robot according to claim 1, it is characterised in that led including first in the telescopic drive portion
Rail, the first connection that first guide rail is fixed on the guide rail fixing element of the connecting portion, is sheathed on first guide rail
Part and the second motor located at the described one end of first guide rail away from the connecting portion, second motor is to drive described
A connection piece is slided along first guide rail；
The first connecting rod includes the first end that is oppositely arranged and the second end, the first end and second end company of rotation respectively
It is connected to first connector and the actuating arm；First connector is slided along first guide rail, drives described first
Connecting rod moves reciprocatingly relative to the connecting portion, and drives the actuating arm to be swung around the connecting portion.
3. a kind of ball shape robot according to claim 2, it is characterised in that the actuating arm is also described including being connected to
Second connecting rod between connecting portion and the driving wheel, is provided with Flexible Connector between the driving wheel and the second connecting rod,
The Flexible Connector extends along the actuating arm direction, and bumper and absorbing shock work is played in the ball shape robot motion process
With and between the driving wheel and the spherical shell provide contact effect.
4. a kind of ball shape robot according to claim 3, it is characterised in that the Flexible Connector includes spring, set
In the second guide rail and the sliding block on second guide rail of the spring opposite sides, described second guide rail one end is fixed
The second connecting rod is connected to, the other end extends towards the driving wheel direction, described sliding block one end is located at second guide rail
On, the other end is fixed on the driving wheel, and the spring is fixed between the second connecting rod and the driving wheel, and in pressure
Contracting state, in order to provide contact between the driving wheel and the spherical shell.
5. a kind of ball shape robot according to claim 1, it is characterised in that the control-moment gyro system includes control
Moment gyro and beat motor processed；The fixed support includes the fixing end being oppositely arranged with the connecting portion, the fixing end
It is located at the control-moment gyro both sides with the connecting portion and is rotated by beat axle with the control-moment gyro and is connected；Institute
Beat motor is stated on the control-moment gyro and at the fixing end, the fixing end is provided with first gear, institute
State beat motor and be provided with the second gear being meshed with the first gear, the beat motor is by driving the second gear
Relative to the first gear beat, to drive the control-moment gyro around the beat axle beat.
6. a kind of ball shape robot according to claim 5, it is characterised in that the fixed support is provided with first axially,
The driving wheel and the actuating arm are axially symmetrical on described first, and the control-moment gyro system is multiple, and
The bearing of trend of the beat axle of the multiple control-moment gyro system extends along first axially direction.
7. a kind of ball shape robot according to claim 6, it is characterised in that the multiple control-moment gyro system edge
Described first axially to be distributed and/or axially symmetrical on described first.
8. a kind of ball shape robot according to claim 6, it is characterised in that the multiple control-moment gyro system point
The described first axial both sides are distributed in, and are axially offset along described first.
9. a kind of ball shape robot according to claim 6, it is characterised in that the multiple control-moment gyro system edge
And be stacked at perpendicular to first axial stratification in institute's supporting table.
10. a kind of ball shape robot according to claim 5, it is characterised in that the fixed support is provided with first axially,
The driving wheel and the actuating arm are axially symmetrical on described first, and the control-moment gyro system is multiple, institute
The part for stating multiple control-moment gyro systems is axially distributed along described first, inclined provided with the first beat axle, described first
The bearing of trend of balance staff extends along first axially direction, and another part of the multiple control-moment gyro system is closed
Axially symmetrical in described first, provided with the second beat axle, the second beat axle extends perpendicularly to described first
Axially direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710171310.3A CN107054489B (en) | 2017-03-21 | 2017-03-21 | Ball shape robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710171310.3A CN107054489B (en) | 2017-03-21 | 2017-03-21 | Ball shape robot |
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| Publication Number | Publication Date |
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| CN107054489A true CN107054489A (en) | 2017-08-18 |
| CN107054489B CN107054489B (en) | 2019-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710171310.3A Active CN107054489B (en) | 2017-03-21 | 2017-03-21 | Ball shape robot |
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| CN (1) | CN107054489B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108001553A (en) * | 2017-11-20 | 2018-05-08 | 北京交通大学 | Single-power double step gait is creeped six-bar mechanism |
| CN108974165A (en) * | 2018-06-26 | 2018-12-11 | 坎德拉（深圳）软件科技有限公司 | Crawler belt ball shape robot |
| CN109015667A (en) * | 2018-06-26 | 2018-12-18 | 坎德拉（深圳）软件科技有限公司 | Ball shape robot |
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| JP2006290347A (en) * | 2006-05-08 | 2006-10-26 | Chiba Inst Of Technology | Vehicle |
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| CN103552617A (en) * | 2013-11-04 | 2014-02-05 | 沈阳工业大学 | Bouncing omnidirectional rolling spherical robot provided with stable platform |
| CN105416428A (en) * | 2015-11-03 | 2016-03-23 | 北京邮电大学 | Spherical robot with in-situ rotation function carried with control moment gyro |
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| JPS60219173A (en) * | 1984-04-14 | 1985-11-01 | Toshiba Corp | Active body |
| JP2006290347A (en) * | 2006-05-08 | 2006-10-26 | Chiba Inst Of Technology | Vehicle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108001553A (en) * | 2017-11-20 | 2018-05-08 | 北京交通大学 | Single-power double step gait is creeped six-bar mechanism |
| CN108001553B (en) * | 2017-11-20 | 2019-09-24 | 北京交通大学 | Single-power double step gait is creeped six-bar mechanism |
| CN108974165A (en) * | 2018-06-26 | 2018-12-11 | 坎德拉（深圳）软件科技有限公司 | Crawler belt ball shape robot |
| CN109015667A (en) * | 2018-06-26 | 2018-12-18 | 坎德拉（深圳）软件科技有限公司 | Ball shape robot |
| CN109015667B (en) * | 2018-06-26 | 2022-05-03 | 坎德拉（深圳）软件科技有限公司 | Spherical robot |
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| Publication number | Publication date |
|---|---|
| CN107054489B (en) | 2019-04-16 |
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