CN107128382B - Ball shape robot - Google Patents
Ball shape robot Download PDFInfo
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- CN107128382B CN107128382B CN201710171308.6A CN201710171308A CN107128382B CN 107128382 B CN107128382 B CN 107128382B CN 201710171308 A CN201710171308 A CN 201710171308A CN 107128382 B CN107128382 B CN 107128382B
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- Prior art keywords
- spherical shell
- interconnecting piece
- driving
- driving wheel
- actuating arm
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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 present invention provides a kind of ball shape robot, including spherical shell and driving assembly, the driving component includes interconnecting piece and flexible driving portion, actuating arm.The interconnecting piece is connected to the spherical shell inner wall by floating attachment.The actuating arm is equipped with driving wheel and first motor, the driving wheel is located at one end far from the interconnecting piece of the actuating arm and the contact spherical shell, the first motor drives the spherical shell to rotate for driving the driving wheel to rotate, and by generating frictional force between the driving wheel and the spherical shell.First connecting rod is equipped between the actuating arm and the flexible driving portion, the flexible driving portion pushes the first connecting rod to do back and forth movement relative to the interconnecting piece, it drives the actuating arm to swing around the interconnecting piece, the spherical shell revolving speed is adjusted with variation by the relatively described interconnecting piece position of the driving wheel.Ball shape robot provided by the invention realizes that speed is adjusted in the case where not influencing electric efficiency.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of ball shape robot of continuously variable.
Background technique
Ball shape robot is due to the walking manner for being limited to roll, and often kinetic stability is not high, is encountering ground protrusion
When obstacle, excessive velocities will lead to spherical shell and raised obstacle hard hit, can cause to damage to spherical shell, or even inside damage spherical shell
Electronic circuit and component；And when encountering that the ground caved in, speed will lead to ball shape robot slowly excessively can not roll out recess.In order to
Ball shape robot kinetic stability is improved, needs to control the movement velocity of ball shape robot, existing ball shape robot
Usually by motor adjustment speed, including variable voltage control, pole-changing control, frequency control etc., but these speed regulating methods there is
Occur in speed regulation process as electric efficiency is lower, have harmonic wave interference, operate normally when non-brake torque or can not achieve stepless flat
The problems such as sliding speed regulation.
It is therefore proposed that a kind of ball shape robot for being adjustable movement velocity and keeping electric efficiency, to increase spherical machine
The kinetic stability of people is people in the industry's emphasis research topic.
Summary of the invention
For above problem, the object of the present invention is to provide a kind of ball shape robots, are adjustable movement velocity and holding
Electric efficiency.
In order to solve the problems, such as that the following technical solution can be used in background technique, the application: a kind of spherical shape machine
People, the driving assembly including spherical shell and inside the spherical shell, the driving component include interconnecting piece and are fixed on the company
The flexible driving portion of socket part, the actuating arm for being rotationally connected with the interconnecting piece；The interconnecting piece is connected to by floating attachment
The spherical shell inner wall；
The actuating arm is equipped with driving wheel and first motor, and the driving wheel is located at the separate connection of the actuating arm
The one end in portion and the contact spherical shell, the first motor for driving the driving wheel to rotate, and by the driving wheel and
Frictional force is generated between the spherical shell drives the spherical shell rotation；First is equipped between the actuating arm and the flexible driving portion
Connecting rod, the flexible driving portion push the first connecting rod to do back and forth movement relative to the interconnecting piece, drive the actuating arm
It is swung around the interconnecting piece, the spherical shell revolving speed is adjusted with variation by the relatively described interconnecting piece position of the driving wheel.
In a kind of embodiment, the flexible driving portion includes the first guide rail, first guide rail is fixed on the company
The guide rail fixing element of socket part, the first connector being sheathed on first guide rail and be set to first guide rail far from the company
Second motor of one end of socket part, second motor is to drive first connector to slide along first guide rail；
The first connecting rod includes the first end and second end being oppositely arranged, and the first end and the 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, described in drive
First connecting rod does back and forth movement relative to the interconnecting piece, and the actuating arm is driven to swing around the interconnecting piece.
In a kind of embodiment, the actuating arm further includes second be connected between the interconnecting piece and the driving wheel
Connecting rod is equipped with flexible connector between the driving wheel and the second connecting rod, the flexible connector is along the actuating arm
Direction extends, and buffering is played in the ball shape robot motion process and is provided between the driving wheel and the spherical shell connecing
The effect of touch pressure.
In a kind of embodiment, the flexible connector include spring, set on the spring opposite sides the second guide rail,
And the sliding block on second guide rail, second guide rail one end are fixedly connected on the second connecting rod, other end direction
The driving wheel direction extends, and described sliding block one end is set 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 is in compressive state, in order to be the driving wheel and institute
It states and contact pressure is provided between spherical shell.
In a kind of embodiment, face where the extending direction of the actuating arm is rotated by the driving wheel.
In a kind of embodiment, the floating attachment includes connecting rod and is set between the connecting rod and the spherical shell
Universal wheel, the connecting rod is fixedly connected on the interconnecting piece, and the universal wheel is in contact with the spherical shell inner wall, and makes
The floating attachment can together with the driving component with the spherical shell relative motion.
In a kind of embodiment, the actuating arm be it is multiple, be surrounded on the flexible driving portion and be symmetric.
In a kind of embodiment, which is characterized in that the driving component be it is multiple, the multiple driving assembly is connected to institute
Floating attachment is stated, and the multiple driving assembly is symmetric in the spherical shell about the spherical shell center.
In a kind of embodiment, the ball shape robot further includes supporting table and clump weight, and the driving component is fixed on
In the supporting table；The clump weight is set to the side that the supporting table deviates from the driving component, to reduce the spherical shape
Stability of the center of gravity and increase the driving component of robot in the spherical shell.
In a kind of embodiment, the supporting table is additionally provided with support wheel, and the support wheel circumferential surface is in contact with the spherical shell,
To support the supporting table.
The application is unable to satisfy for existing ball shape robot in the case where not influencing electric efficiency, realizes asking for speed adjusting
Topic, provides a kind of ball shape robot, the driving assembly including spherical shell and inside the spherical shell.The driving component includes
Interconnecting piece and be fixed on the flexible driving portion of the interconnecting piece, be rotationally connected with the interconnecting piece and be set to the flexible driving portion
The actuating arm of opposite sides；The driving wheel rotation is driven by the first motor, generates rotation friction in spherical shell inner wall
To drive the spherical shell to rotate relative to the driving component, rotating in for the spherical shell generates frictional force between ground, realizes
Rolling of the spherical shell relative to ground；By the way that first connecting rod is arranged between the actuating arm and the flexible driving portion,
The flexible driving portion pushes the first connecting rod to do back and forth movement relative to the interconnecting piece, drives the actuating arm around described
Interconnecting piece is swung, and changes the relatively described interconnecting piece position of driving wheel, to drive the driving wheel in the spherical shell inner wall
Along different circular motion.Wherein, the driving wheel circular motion bigger along radius, then spherical shell velocity of rotation is smaller, institute
State the driving wheel circular motion smaller along radius, then spherical shell velocity of rotation is bigger, by the opening or tightening that adjust actuating arm
The spherical shell velocity of rotation is adjusted in angle, which is variable speed process, realizes and stablizes speed change, and not
Electric efficiency is influenced, improves the transmission efficiency of ball shape robot, and advantageously reduce the energy consumption of ball shape robot, when increasing continuation of the journey
Between.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this field
For those of ordinary skill, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of ball shape robot structural schematic diagram provided in an embodiment of the present invention.
Fig. 2 is a kind of ball shape robot structural schematic diagram provided in an embodiment of the present invention.
Fig. 3-1 is a kind of ball shape robot rotating ratio Principles of Regulation figure provided in an embodiment of the present invention.
Fig. 3-2 is a kind of ball shape robot rotating ratio Principles of Regulation figure provided in an embodiment of the present invention.
Fig. 4-1 is a kind of driving assembly structural schematic diagram of ball shape robot provided in an embodiment of the present invention.
Fig. 4-2 is a kind of driving assembly structural schematic diagram of ball shape robot provided in an embodiment of the present invention.
Fig. 5 is a kind of driving assembly partial structural diagram of ball shape robot provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, carries out to the technical solution of the embodiment of the present invention clear, complete
Ground description.
Fig. 1 and Fig. 2 is please referred to, Fig. 1 and Fig. 2 are a kind of ball shape robot provided in an embodiment of the present invention, including 1 He of spherical shell
Driving assembly 2 inside the spherical shell 1.The driving component 2 is including interconnecting piece 20 and is fixedly connected on the interconnecting piece
20 flexible driving portion 22, the actuating arm 21 for being rotationally connected with the interconnecting piece 20.The interconnecting piece 20 passes through floating attachment 6
It is connected to 1 inner wall of spherical shell.In a kind of embodiment, flexible driving portion 22 can be distributed along 1 central axis of spherical shell.It is described
The fixed interconnecting piece 20 of floating attachment 6, one end are in contact with 1 inner wall of spherical shell, and can be with the driving component 2 together
With 1 relative motion of spherical shell, to prevent the driving component 2 from turning on one's side in the spherical shell 1.
Further, the actuating arm 21 is equipped with driving wheel 201 and the driving drive far from one end of the interconnecting piece 20
Around the first motor 202 of central shaft rotation, the portion peripheral surface of the driving wheel 201 connects driving wheel 201 with 1 inner wall of spherical shell
Touching, the driving wheel 201 generate rotation friction during rotation, in 1 inner wall of spherical shell to drive 1 phase of spherical shell
The driving component 2 is rotated, the rotating in for spherical shell 1 generates frictional force between ground, it is opposite to realize the spherical shell 1
Rolling in ground.The kind of drive between the first motor 202 and the driving wheel 201 is not limited to belt transmission,
Other kinds of drive can be used.
Further, first connecting rod 23, the flexible drive are equipped between the actuating arm 21 and the flexible driving portion 22
Dynamic portion 22 pushes the first connecting rod 23 to do back and forth movement relative to the interconnecting piece 20, drives the actuating arm 21 around the company
Socket part 20 is swung to adjust the spherical shell revolving speed in the variation of the interconnecting piece position by driving the driving wheel opposite.One
In kind embodiment, the actuating arm 21 is two, and is symmetrically distributed in 22 two sides of flexible driving portion, the flexible driving
Portion 22 pushes the first connecting rod 23 to do back and forth movement relative to the interconnecting piece 20, and two actuating arms 21 can be driven around institute
It states interconnecting piece 20 and does opening or tightening movement, adjusted by the way that the driving wheel 201 is opposite in the change in location of the interconnecting piece 20
Save 1 revolving speed of spherical shell.Specifically, the driving wheel 201 moves in a circle relative to the spherical shell 1,201 phase of driving wheel
To the variation in 20 position of interconnecting piece, so that the driving wheel 201 is transported in 1 inner wall of spherical shell along different circumference
It is dynamic, fixed in 201 revolving speed one of driving wheel, the driving wheel 201 in 1 inner wall of spherical shell along different circular motion, then institute
The rotating ratio stated between driving wheel 201 and the spherical shell 1 is different, so that realize makes the ball while not influencing electric efficiency
The stepless variation of shell 1.
A kind of ball shape robot provided by the embodiments of the present application drives the driving wheel 201 by the first motor 202
Rotation generates rotation friction in 1 inner wall of spherical shell to drive the spherical shell 1 relative to the rotation of the driving component 2, the spherical shell
1 rotate in generates frictional force between ground, realize rolling of the spherical shell 1 relative to ground；By in the actuating arm
First connecting rod 23 is set between 21 and the flexible driving portion 22, and the flexible driving portion 22 pushes the first connecting rod 23 opposite
Back and forth movement is done in the interconnecting piece 20, the actuating arm 21 is driven to swing around the interconnecting piece 20, and drives the driving wheel
201 in 1 inner wall of spherical shell along different circular motion, to adjust the rotating ratio of the driving wheel 201 and the spherical shell 1,
Make the rotation speed change of the spherical shell 1 while not influencing electric efficiency.Wherein, the driving wheel 201 is bigger along radius
Circular motion, then 1 velocity of rotation of spherical shell is smaller, the driving wheel 201 circular motion smaller along radius, then 1 velocity of rotation of spherical shell
It is bigger, by adjusting the opening of actuating arm 21 or the angle of tightening；In addition, passing through the opening or tightening that continuously adjust actuating arm 21
Angle, realize 1 variable speed of spherical shell.
It is to be appreciated that the driving component 2 that the application is protected can be used for but be not limited only to the spherical machine
Device people can be also used for other and need in speed change or the ball-type motion mechanism of variable speed.
It is to be appreciated that the actuating arm 21 can be a pair, it is also possible to be greater than or equal to 3.In a pair of drive
In swing arm 21, the ball shape robot is can be realized by the differential of a pair of driving wheel 201 of control in the first motor 202
The movement such as advance, retrogressing, left-hand bend, right-hand bend, rotation.
Please refer to Fig. 3-1 and Fig. 3-2, in a kind of embodiment, actuating arm 21 is a pair, and the flexible driving portion 22 passes through
The center of the spherical shell 1, the actuating arm 21 and driving wheel 201 are symmetrically distributed in the two sides of flexible driving portion 22；The driving
Output rotating ratio I between driving wheel 201 and the spherical shell 1 described in component 2 are as follows:
I=(n1/n2)=(L/r) ∝ (1/ θ) (1)
Wherein, n1 is the revolving speed of the driving wheel 201, in the case where 202 driving power of first motor is constant, institute
The revolving speed for stating driving wheel 201 is constant；N2 is the revolving speed of the spherical shell 1；201 radius of driving wheel described in r is invariant；L is described
The radius of a circle that driving wheel 201 is moved relative to the spherical shell 1；θ is 201 center of driving wheel to the center of the spherical shell 1
Line and vertical centerline between angle.
By formula (1) it is found that the angle theta of the opening of the pair of actuating arm 21 is bigger, the driving wheel 201 is along the spherical shell
The radius of a circle L of 1 movement is smaller, then the output rotating ratio I between the driving wheel 201 and the spherical shell 1 is with regard to 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 movement is bigger, then the output rotating ratio I between the driving wheel 201 and the spherical shell 1 is bigger, the ball
The velocity of rotation of shell 1 is slower.The angle theta that the present embodiment is opened by adjusting the pair of actuating arm 21, can be realized the ball
The adjusting of the velocity of rotation of shell 1, moreover, because the adjustable consecutive variations of angle theta that the pair of actuating arm 21 opens, the then drive
Output rotating ratio I between driving wheel 201 and the spherical shell 1 also adjustable consecutive variations, to realize the nothing that the spherical shell 1 rotates
Grade gearshift adjustment.
Fig. 3-1 is please referred to, when ball shape robot obstacle detouring or climbing, in the case where output power of motor is certain, to mention
For sufficiently large rotating torque, then need lesser 1 speed of spherical shell, that is, need to increase the driving wheel 201 and the spherical shell 1 it
Between output rotating ratio, that is, actuating arm 21 open angle theta it is smaller.First is driven by the second motor 224 of control at this time
Connector 223 is mobile towards second motor 224, and the first connector 223 drives actuating arm 21 around institute by first connecting rod 23
It states interconnecting piece 20 to rotate towards first connector 223, to make a pair of of actuating arm 21 tighten, thus reduced angle
θ 1, driving wheel 201 is the circular motion of A1C1, B1D1 along diameter at this time.By formula (1) it is found that rotating ratio I increases at this time, ball
1 speed of shell reduces.
Fig. 3-2 is please referred to, when ball shape robot is in level walking, needs to improve the movement speed of robot, i.e., to increase
The velocity of rotation of the big spherical shell 1, needs to reduce the output rotating ratio between the driving wheel 201 and the spherical shell 1, that is,
The angle theta that actuating arm 21 opens is larger.Push the first connector 223 towards the connection by the second motor 224 of control at this time
Portion 20 is mobile, and the first connector 223 drives actuating arm 21 around the interconnecting piece 20 towards far from described first by first connecting rod 23
The rotation of 223 direction of connector, so that a pair of of actuating arm 21 be made to trail, to obtain biggish angle theta 2, driving wheel 201 at this time
It is the circular motion of A2C2, B2D2 along diameter.By formula (1) it is found that rotating ratio I reduces at this time, 1 speed of spherical shell increases.
From the foregoing, it will be observed that the angle theta opened by changing actuating arm 21, any in a certain range according to demand can change
Rotating ratio I, so that the spherical shell 1 realizes variable speed.
In the application embodiment, the pair of 21 intersection point of actuating arm can be located at 1 center of spherical shell and the connection
Portion 20 is set to 1 center of spherical shell, can not also be located at 1 center of spherical shell, the application is for the pair of 21 intersection point of actuating arm
With no restrictions relative to the position in the spherical shell 1.
The application for the actuating arm 21 quantity with no restrictions, the actuating arm 21 can be symmetrically distributed in for 2
22 two sides of flexible driving portion are surrounded on the flexible drive it is also possible that the actuating arm 21 can be 3 or more respectively
Dynamic portion 22 is symmetrical.Correspondingly, multiple first connecting rods 23 can be equipped with, the multiple 23 one end of first connecting rod is rotationally connected with
First connector 223, the flexible driving portion 22 drive first connector 223 to transport towards or away from the interconnecting piece 20
It is dynamic, it drives the multiple first connecting rod 23 to push or pull down multiple actuating arms 21 and is swung simultaneously around the interconnecting piece 20, realized more
The opening or tightening of a actuating arm 21, to adjust the speed of the spherical shell 1.Multiple actuating arms 21 are that the ball shape robot mentions
Multiple driving wheels 201 have been supplied, bigger driving force can be provided for the spherical shell 1.
Please refer to Fig. 4-1 and Fig. 4-2, the flexible driving portion 22 includes the first guide rail 221, by first guide rail 221
It is fixed on the guide rail fixing element 222 of the interconnecting piece 20, the first connector 223 for being sheathed on first guide rail 221 and sets
The second motor 224 in the one end of first guide rail 221 far from the interconnecting piece 20, second motor 224 is to drive
First connector 223 is slided along first guide rail 221.The first connecting rod 23 includes the first end 232 being oppositely arranged
With second end 233, the first end 232 and the second end 233 are rotationally connected with first connector 223 and described respectively
Actuating arm 21；First connector 223 is slided along first guide rail 221, drives the first connecting rod 23 relative to described
Interconnecting piece 20 does back and forth movement, and the actuating arm 21 is driven to swing around the interconnecting piece 20.
It should be understood that second motor 224 is not limited to use using screw motor or linear motor
Hydraulic cylinder or other can realize other link mechanisms for swinging actuating arm 21.
Further, 221 both ends of the first guide rail are additionally provided with the first locating part 225,226, first locating part
225, the limit of 226 two endpoint locations slided for first connector 223 along first guide rail 221.Described
One locating part 225,226 can be limit damping block, it is also possible to limit switch or other limit methods substitution.First limit
The material of part 225,226 can be the wear-resistant materials such as rubber, on the one hand play shock absorbing effect to the first connector 223,
On the other hand, the abrasion to the first connector 223 is reduced, is prolonged its service life.
Referring to Fig. 5, the actuating arm 21 further includes being connected to the interconnecting piece 20 and the drive in a kind of embodiment
Second connecting rod 227 between driving wheel 201；The second connecting rod 227 is equipped with the second connector 229, the first connecting rod 23
Second end 233 is rotationally connected with second connector 229.First connector 223 is along first guide rail 221 towards institute
20 sliding process of interconnecting piece is stated, so that the first connecting rod 23 pushes the actuating arm 21 to rotate around the interconnecting piece 20 always,
To increase the angle that the actuating arm 21 is stretched around the interconnecting piece 20.Specifically, the second motor 224 pushes the first connection
Towards in 20 motion process of interconnecting piece, the first connecting rod 23 rotates around second connector 229 and pushes institute part 223
Actuating arm 21 is stated, and then opens actuating arm 21, when the first connector 223 is located at top, i.e., near the connection
When the position in portion 20, the angle theta that actuating arm 21 opens at this time is maximum, and such design can get what biggish actuating arm 21 opened
Angle theta, while 223 moving distance of the first connector is smaller, can simplify and reduce the structure of flexible driving portion 22, to reduce drive
The space that dynamic component 2 occupies, convenient for the layout of other structures.
Please refer to Fig. 4-1, Fig. 4-2 and Fig. 5, in a kind of embodiment, the driving wheel 201 and the second connecting rod 227
Between be equipped with flexible connector 24, the flexible connector 24 extends along 21 direction of actuating arm, in the spherical shape machine
Buffer protection is played in people's motion process and provides contact pressure between the driving wheel 201 and the spherical shell 1.A kind of implementation
In mode, the flexible connector 24 include spring 241, set on 241 opposite sides of spring the second guide rail 242 and set
Sliding block 243 on second guide rail 242, described second guide rail, 242 one end are fixedly connected on the second connecting rod 227, separately
One end extends towards 201 direction of driving wheel, and 242 both ends of the second guide rail are equipped with the second locating part 244,245, the second limit
Position part 244,245 is used to limit the sliding position of the sliding block 243.Described 243 one end of sliding block is set to second guide rail 242
On, it can be slided relative to second guide rail 242, the other end is fixed on the driving wheel 201, and the spring 241 is fixed on institute
It states between second connecting rod 227 and the driving wheel 201, and is in compressive state, in order to be the driving wheel 201 and the ball
Contact pressure is provided between shell 1.In addition, the spring 241 can pass through the change of its decrement in ball shape robot motion process
Change ensures that driving wheel 201 is in close contact always with spherical shell 1 in order to which the driving wheel 201 drives the ball by rotation friction
Shell 1 moves.In other embodiments, the flexible connector 24 is also possible to other elasticity such as elastic rubber, elastoplastic
Element does not limit the specific structure of the flexible connector 24 in this application.
In a kind of embodiment, face, i.e. institute where the extending direction of the actuating arm 21 is rotated by the driving wheel 201
State the extending direction radially along the actuating arm 21 of driving wheel 201, so that the circumferential surface of driving wheel 201 comes into full contact with ball
Shell 1, the speed that ball rolls is faster；And flexible connector 24 is right for the pressure of the driving wheel 201 and the driving wheel 201
Consistent in the pressure direction of spherical shell 1, structure design is more reasonable, more stable in ball shape robot movement.
Referring to Fig. 1, the floating attachment 6 include connecting rod 61 and be set to the connecting rod 61 and the spherical shell 1 it
Between universal wheel 62, the connecting rod 61 is fixedly connected on the interconnecting piece 20, the universal wheel 62 and the 1 inner wall phase of spherical shell
Contact, the floating attachment 62 can with the driving component 2 together with 1 relative motion of spherical shell.The floating attachment 6
The stability of driving assembly can be increased.Universal wheel 62 can also be replaced by ball.
The application for the driving component 2 quantity with no restrictions, multiple drivings can be equipped in the spherical shell 1
Component 2, the multiple driving assembly are all connected on the floating attachment, and the multiple driving assembly 2 is in the spherical shell 1
In can be symmetric about 1 center of spherical shell.
Further, the ball shape robot further includes supporting table 3 and clump weight 4, and the driving component 2 is fixed on described
In supporting table 3；The clump weight 4 is set to the side that the supporting table 3 deviates from the driving component 2, to reduce the spherical shape
The center of gravity of robot, and increase stability of the driving component 2 in the spherical shell 1.
The supporting table 3 is equipped with support wheel 5, and 5 circumferential surface of support wheel is in contact with the spherical shell 1, described to support
Supporting table 3.
A kind of ball shape robot provided by the embodiments of the present application drives the driving wheel 201 by the first motor 202
Rotation generates rotation friction in 1 inner wall of spherical shell to drive the spherical shell 1 relative to the rotation of the driving component 2, the spherical shell
1 rotate in generates frictional force between ground, realize rolling of the spherical shell 1 relative to ground；By in the actuating arm
First connecting rod 23 is set between 21 and the flexible driving portion 22, and the flexible driving portion 22 pushes the first connecting rod 23 opposite
Back and forth movement is done in the interconnecting piece 20, the actuating arm 21 is driven to swing around the interconnecting piece 20, and drives the driving wheel
201 in 1 inner wall of spherical shell along different circular motion, to adjust the rotating ratio of the driving wheel 201 and the spherical shell 1,
Make the rotation speed change of the spherical shell 1 while not influencing electric efficiency.Wherein, the driving wheel 201 is bigger along radius
Circular motion, then 1 velocity of rotation of spherical shell is smaller, the driving wheel 201 circular motion smaller along radius, then 1 velocity of rotation of spherical shell
It is bigger, by adjusting the opening of actuating arm 21 or the angle of tightening,；It is transported to adjust the driving wheel 201 in 1 inner wall of spherical shell
Dynamic radius of a circle, to realize that 1 velocity of rotation of spherical shell is adjusted；Further, since can be by continuously adjusting actuating arm 21
The angle opened or tightened, to realize 1 variable speed of spherical shell.
Ball shape robot provided by the present application realizes the speed of the ball shape robot in the case where not influencing motor efficiency
Degree variation particularly when ball shape robot obstacle detouring, can not influence to realize reduction movement velocity in the case of motor efficiency, defeated
Biggish torsional moment out helps obstacle detouring, and advantageously reduces the energy consumption of ball shape robot, increases cruise duration.In addition, the speed
Change procedure is variable speed, and speed is easy to adjust controllable, and the mechanism structure is novel, practical, assembly is simple.
Claims (10)
1. a kind of ball shape robot, the driving assembly including spherical shell and inside the spherical shell, which is characterized in that the driving
Component includes interconnecting piece and is fixed on the flexible driving portion of the interconnecting piece, is rotationally connected with the actuating arm of the interconnecting piece；Institute
It states interconnecting piece and the spherical shell inner wall is connected to by floating attachment；
The actuating arm is equipped with driving wheel and first motor, and the driving wheel is located at the separate interconnecting piece of the actuating arm
One end and the contact spherical shell, the first motor pass through the driving wheel and described for driving the driving wheel to rotate
Frictional force is generated between spherical shell drives the spherical shell rotation；First is equipped between the actuating arm and the flexible driving portion to connect
Bar, the flexible driving portion push the first connecting rod to do back and forth movement relative to the interconnecting piece, drive the actuating arm around
The interconnecting piece swings, and adjusts the spherical shell revolving speed with the variation by the relatively described interconnecting piece position of the driving wheel.
2. a kind of ball shape robot according to claim 1, which is characterized in that the flexible driving portion is led including first
Rail, the first connection that first guide rail is fixed on the guide rail fixing element of the interconnecting piece, is sheathed on first guide rail
Part and the second motor set on the described one end of first guide rail far from the interconnecting piece, second motor is to drive described
A connection piece is slided along first guide rail；
The first connecting rod includes the first end and second end being oppositely arranged, the first end and the 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 does back and forth movement relative to the interconnecting piece, and the actuating arm is driven to swing around the interconnecting piece.
3. a kind of ball shape robot according to claim 2, which is characterized in that the actuating arm further include be connected to it is described
Second connecting rod between interconnecting piece and the driving wheel is equipped with flexible connector between the driving wheel and the second connecting rod,
The flexible connector extends along the actuating arm direction, plays buffering and in the ball shape robot motion process for institute
It states and the effect of contact pressure is provided between driving wheel and the spherical shell.
4. a kind of ball shape robot according to claim 3, which is characterized in that the flexible connector includes spring, sets
The second guide rail in the spring opposite sides and the sliding block on second guide rail, second guide rail one end are fixed
It is connected to the second connecting rod, the other end extends towards the driving wheel direction, and described sliding block one end is set to 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 pressure between the driving wheel and the spherical shell.
5. a kind of ball shape robot according to claim 1, which is characterized in that the extending direction of the actuating arm passes through institute
Face where stating driving wheel rotation.
6. a kind of ball shape robot according to claim 1, which is characterized in that the floating attachment include connecting rod and
Universal wheel between the connecting rod and the spherical shell, the connecting rod is fixedly connected on the interconnecting piece, described universal
Wheel is in contact with the spherical shell inner wall, and makes the floating attachment opposite with the spherical shell together with the driving component
Movement.
7. described in any item a kind of ball shape robots according to claim 1~6, which is characterized in that the actuating arm be it is multiple,
The flexible driving portion is surrounded on to be symmetric.
8. described in any item a kind of ball shape robots according to claim 1~6, which is characterized in that the driving component is more
A, multiple the driving component are connected to the floating attachment, and multiple the driving component in the spherical shell about institute
Spherical shell center is stated to be symmetric.
9. a kind of ball shape robot according to claim 8, which is characterized in that the ball shape robot further includes supporting table
And clump weight, the driving component are fixed in the supporting table；The clump weight is set to the supporting table and deviates from the driving
The side of component, to reduce the center of gravity of the ball shape robot and increase stabilization of the driving component in the spherical shell
Property.
10. a kind of ball shape robot according to claim 9, which is characterized in that the supporting table is additionally provided with support wheel, institute
It states support wheel circumferential surface to be in contact with the spherical shell, to support the supporting table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710171308.6A CN107128382B (en) | 2017-03-21 | 2017-03-21 | Ball shape robot |
Applications Claiming Priority (1)
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| CN109435677B (en) * | 2018-12-05 | 2023-09-19 | 深圳市远弗科技有限公司 | Initiative obstacle crossing wheel set |
| CN110341822A (en) * | 2019-07-30 | 2019-10-18 | 深圳市琅硕海智科技有限公司 | Internal driving system of spherical robot |
| CN110834682A (en) * | 2019-12-13 | 2020-02-25 | 中国科学院沈阳自动化研究所 | Internal friction type omnidirectional moving spherical robot |
| CN111332378A (en) * | 2020-02-03 | 2020-06-26 | 北京交通大学 | Double-power four-wheel five-omni-directional wheel heavy-load spherical robot |
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| JPH09254838A (en) * | 1996-03-19 | 1997-09-30 | Sony Corp | Spherical moving device |
| JPH11114234A (en) * | 1997-10-15 | 1999-04-27 | Sony Corp | Spherical shell body moving apparatus |
| CN101633372A (en) * | 2009-07-16 | 2010-01-27 | 哈尔滨工业大学深圳研究生院 | Spherical jumping robot |
| CN205345105U (en) * | 2016-02-03 | 2016-06-29 | 桂林电子科技大学 | All -round spherical robot mechanism of drive in friction formula |
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| JPH09254838A (en) * | 1996-03-19 | 1997-09-30 | Sony Corp | Spherical moving device |
| JPH11114234A (en) * | 1997-10-15 | 1999-04-27 | Sony Corp | Spherical shell body moving apparatus |
| CN101633372A (en) * | 2009-07-16 | 2010-01-27 | 哈尔滨工业大学深圳研究生院 | Spherical jumping robot |
| CN205345105U (en) * | 2016-02-03 | 2016-06-29 | 桂林电子科技大学 | All -round spherical robot mechanism of drive in friction formula |
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