CN107187509B - A kind of ball shape robot with walking function - Google Patents
A kind of ball shape robot with walking function Download PDFInfo
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- CN107187509B CN107187509B CN201710350257.3A CN201710350257A CN107187509B CN 107187509 B CN107187509 B CN 107187509B CN 201710350257 A CN201710350257 A CN 201710350257A CN 107187509 B CN107187509 B CN 107187509B
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- gear
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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
- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses a kind of ball shape robot with bionic walking function, including spherical shell module, roll drive module, foot module, supporting module, foot balance modules.The present invention not only has spherical rolling movement and both basic exercise modes of sufficient formula walking movement, robot is set to have both the high sport efficiency of spherical rolling and the good landform adaptability of sufficient formula walking, both motor patterns can also be made to complement one another, promote the obstacle climbing ability of spherical rolling and the sport efficiency of sufficient formula walking.
Description
Technical field
The present invention relates to a kind of deformable ground moving robots.More clearly, the present invention relates to one kind to have ball
Shape rolls and the fighter toy of four-footed walking function.Belong to robotic technology field.
Technical background
As robot technology constantly develops, people propose the movement high efficiency and landform adaptability of mobile robot
Higher requirement is gone out, conventional mobile robot is difficult to meet the needs of this more complicated, the machine with combination drive
People has good development prospect.
Synthesis of mechanism is carried out to realize multi-motion modes to a variety of conventional motion mechanisms, becomes a kind of feasible design
Thinking.Wherein, the robot that spherical rolling and sufficient formula walking combine has had both ball shape robot sport efficiency height and sufficient formula machine
The good feature of people's landform adaptability.Ball shape robot and sufficient formula walking robot differ greatly in structure, and key is
How by both motor patterns progress depth comprehensive design, to have both the advantages of realizing both motor patterns.
A kind of robot with rolling movement and sufficient formula walking function is disclosed in patent of invention CN103538644A, it should
The advantages of robot is also in conjunction with two kinds of motor patterns of rolling and walking, but the lower half spherical housing for rolling is also used for
Walking, during scrolling, lower hemisphere shell are difficult to keep complete spherical surface, roll efficiency and are affected；In the process of walking, it opens
The hemispherical Shell opened reduces the closed protection to robot fuselage.It is disclosed in patent of invention CN104002887A a kind of quick
The robot of steering, including two sides 8 are to spherical balls foot mechanism and intermediate pendulum mechanism, it can by the spherical balls foot mechanism of two sides
Realize the fast steering of robot, but spherical balls foot mechanism does not have walking function, it is difficult to adapt to increasingly complex landform.
Summary of the invention
It is an object of the invention in view of the deficienciess of the prior art, providing one kind has both spherical rolling and sufficient formula walking
The robot of function walks spherical rolling and sufficient formula both motor pattern depth integrations, the sport efficiency of hoisting machine people
With the adaptability to complex environment.
In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical solutions: a kind of ball with Four-feet creeping function
Anthropomorphic robot, including spherical shell module, roll drive module, supporting module, foot module, foot balance module.It is characterized by:
The middle section of spherical shell module and supporting module are connected, and the main shaft of roll drive module is connected in supporting module by flange,
Foot module is divided into two parts, is separately mounted to the both ends of main shaft, and foot balance module is mounted in supporting module, with spherical shell mould
Block, the connection of foot module.
The spherical shell module is made of hollow thin-wall spherical shell, is divided into three parts, and the first part of spherical shell module is ball
The part of cydariform among shape shell, spherical shell module second part are the part on the both sides of spherical housing, the spherical shell module on every one side
All there are two holes for second part, and spherical shell module Part III is the spherical surface thin-walled for filling up two holes in spherical shell module second part.
The roll drive module is by main shaft, rolling pinion gear, rolling gear wheel, rolling support, rolling base, rolling
Motor rolls motor driver, worm type of reduction gearing, conducting slip ring, gear bush, conducting slip ring axle sleeve, flange composition.Rolling
Dynamic bracket is mounted on main shaft by bearing, and rolling gear wheel, conducting slip ring are mounted on main shaft, is located at rolling support
Two sides, gear bush, conducting slip ring axle sleeve are mounted on main shaft, for rolling the axially position of gear wheel and conducting slip ring.Rolling
It is fixedly connected between moving base and rolling support, rolls motor and be mounted on worm type of reduction gearing, roll motor driver, snail
Worm and gear retarder is mounted in rolling base, is rolled pinion gear and is mounted on the output shaft of worm type of reduction gearing, with rolling
Gear wheel engagement.It rolls motor, worm type of reduction gearing, roll counterweight of the motor driver as robot of the present invention,
For changing the center of gravity of robot.
The supporting module is made of keel, two groups of connection angle supports, two groups of connecting plates, two support plates.Every group of company
Fishplate bar is spliced into an annular by one group of connection angle support, and each support plate is fixedly connected with one group of connecting plate, thus
Form the one side of supporting module.Two groups of connection angle supports, two groups of connecting plates, two support plates are divided into two groups, and another side is used
Another group connects in an identical manner, and the both ends of keel are connect with two groups of connection angle supports on supporting module two sides respectively, branch
The two sides of hold mode block connects.
The foot module, by foot pedestal, foot conducting slip ring, connecting tube, cushion block and four groups of independent foot moulds
Block subelement forms, and the mounting means of components is identical in each group of foot modular sub-units.Each group of foot modular sub-units
It all include hip joint bracket, thigh knuckle support, calf joint bracket, sufficient end support, sufficient end bar, the first steering engine, second
Steering engine, third steering engine, steering wheel a, steering wheel b, steering wheel c, potentiometer a, potentiometer b, potentiometer c, connecting shaft a, connecting shaft b, connection
Axis c, potentiometer gear a, potentiometer gear b, potentiometer support, potentiometer shaft.Foot pedestal is divided into left side foot pedestal and the right side
Parapodum portion pedestal, each group of foot modular sub-units are installed on the foot pedestal ipsilateral with it.In foot modular sub-units
In, each steering engine is assembled with a steering wheel, and the first steering engine is mounted on ipsilateral foot pedestal, the installation of hip joint bracket one end
On the steering wheel of the first steering engine, the other end is mounted on thigh knuckle support, passes through connecting shaft a, foot pedestal, branch to hip joint
Frame, thigh knuckle support link together.Second steering engine is mounted on thigh knuckle support, and third steering engine is mounted on sufficient end branch
On frame.Calf joint bracket one end is mounted on the steering wheel and thigh knuckle support of the second steering engine, and the other end is mounted on third rudder
On the steering wheel of machine and sufficient end support, sufficient end bar is mounted on sufficient end support.Connecting shaft b connection thigh knuckle support and small
Leg joint bracket, the sufficient end support of connecting shaft c connection and calf joint bracket.Potentiometer a is mounted in potentiometer support, current potential
Device bracket is mounted on ipsilateral foot pedestal, and potentiometer gear a is mounted on potentiometer a by potentiometer shaft, potentiometer tooth
Wheel b is mounted on steering engine a, and potentiometer gear a is engaged with potentiometer gear b.Potentiometer b is mounted on connecting shaft b, potentiometer c
It is mounted on connecting shaft c.The Part III of mounting ball shell mold block on sufficient end support.Foot conducting slip ring inner hole is mounted on main shaft
On, outer ring is mounted on ipsilateral foot pedestal.Cushion block is mounted on the second part of spherical shell module, one end installation of connecting tube
On cushion block, the other end is mounted on ipsilateral foot pedestal.
The foot balance module, by balance motor, balance gear a, balance gear b, pedestal axle sleeve, guide rail, guide post
Cushion block, guide post composition.Balance motor is mounted in the ipsilateral support plate of supporting module, and balance gear a is mounted on balance motor,
Through bearing on pedestal axle sleeve, end face is mounted on the ipsilateral foot pedestal of foot module the inner hole of balance gear b, balance
Gear a is engaged with balance gear b.Guide rail is mounted on the ipsilateral connecting plate of supporting module, and guide post cushion block is mounted on spherical shell module
On the edge of second part, one end of guide post is mounted on guide post cushion block, and one end is slided in the groove of guide rail.
The present invention has three kinds of substantially spherical rolling mode, basic four-footed walking mode and hybrid motion mode movement moulds
Formula.In spherical rolling, foot module is contracted in spherical shell module, i.e. the three of spherical shell module part forms a complete ball
Shape.Motor driven in roll drive module rolls pinion rotation, drives rolling support, rolling base, rolls motor, rolls
Motor driver, worm type of reduction gearing rotate around the spindle, so that the center of gravity of entire robot be made to shift, realize machine
The straight line of people rolls.During scrolling, the foot module of robot does not occur under the action of foot balance module with ground
Rotation, the only relative movement in horizontal direction.When needing to turn to, the foot pedestal of foot balance module drive two sides is with phase
Anti- direction accelerates rotation, generates steering moment, turns to robot in situ.In basic four-footed walking mode, foot is flat
The spherical shell module of module drive foot module opposed robots that weighs and supporting module are remain stationary, and foot modular sub-units are to overhanging
Exhibition, sufficient end land, and four groups of foot modular sub-units form four legs of robot, realize machine under the mutual cooperation of four legs
The walking of device people.The hybrid motion mode of robot be exactly when robot is using one of basic exercise mode as main motion,
The executing agency of another basic exercise mode helps its preferably execution.For example, encountering lesser obstacle in robot
When object can not be rolled across directly, the foot modular sub-units of part can be enabled to stretch out spherical shell and acted with stepping on, machine is helped
Device people clears the jumps.In basic sufficient formula Walking Mode, the center of gravity of the adjustable robot of roll drive module makes robot
Stride in the walking of sufficient formula increases, to promote walking speed and stability.
Compared with prior art, present invention has the advantage that
(1) present invention has both two kinds of basic exercise modes of spherical rolling and sufficient formula walking, allows robot on level land
It rapidly moves, rugged landform can also be crossed.
(2) present invention merges two kinds of basic exercise modes of spherical rolling and sufficient formula walking, keeps robot not only simultaneous
Have the advantages of both motor patterns, goes back obstacle climbing ability of the significant increase robot in spherical rolling motion state, with
And stability and movement velocity in sufficient formula walking movement state.
(3) the sufficient formula structure of robot of the present invention and motion structure for rolling are mutually indepedent.Robot is in ball
When shape rolls, the retentivity of spherical housing is more preferable, rolls more stable.In sufficient formula obstacle detouring, spherical housing facilitates obstacle detouring
It realizes.
(4) robot of the present invention utilizes the foot module of the left and right sides, and the no-radius for realizing robot turns to,
Improve application of the robot in small space.
(5) there is supporting module in robot of the present invention, keep the fuselage of robot firmer, in spherical rolling
When, the spherical retentivity of spherical shell module is fine.
Detailed description of the invention
Fig. 1 is the general structure schematic diagram of robot spherical rolling state provided by the invention.
Fig. 2 is the general structure schematic diagram of robot foot formula walking states provided by the invention.
Fig. 3 is the counterweight drive module structural schematic diagram of Tu1Zhong robot.
Fig. 4 is the foot module diagram of Tu1Zhong robot.
Fig. 5 is the foot modular sub-units schematic diagram of Tu4Zhong robot.
Fig. 6 is leg joint big in foot modular sub-units in Fig. 5, calf joint, sufficient end scheme of installation.
Fig. 7 is the supporting module schematic diagram of the robot provided of the invention.
Fig. 8 is the foot balance module diagram of robot provided by the invention.
Fig. 9 is schematic diagram of the robot of the present invention when crossing ladder.
Figure 10 is schematic diagram of the robot of the present invention in climbing.
Figure 11 is schematic diagram of the robot of the present invention when across zanjon.
Figure 12 is the embodiment five of robot of the present invention.
Specific embodiment
Details are as follows for the preferred embodiment of the present invention combination attached drawing, but following embodiment is merely illustrative, of the invention
Protection scope is not limited to these embodiments restrictions.
Embodiment one
As shown in Figure 1, Figure 2, Figure 3, Figure 4, robot of the present invention include spherical shell module 1, roll drive module 2,
Foot module 3, supporting module 4, foot balance module 5.Spherical shell module is divided into spherical shell module first part 11, spherical shell module second
Part 121,122, spherical shell module Part III 131,132,133,134.Roll drive module 2 passes through flange 212,213 and branch
The support plate 412,422 of hold mode block connects.Supporting module 4 includes Left-side support 41 and Right side support 42.Left-side support 41 and the right side
Collateral support 42 is separately mounted to the left and right sides of the first part 11 of spherical shell module, plays the role of robot architecture's support.Foot
Portion's module 3 includes left side foot and right side foot, is separately mounted to the both ends of the main shaft 21 of roll drive module 2, spherical shell module
Second part 121,122 is connect with left side foot, right side foot respectively, and 131,132,133,134 points of spherical shell module Part III
It is not mounted in foot modular sub-units 31,32,33,34.Foot balance module 5 includes left side foot balance 51 and right side foot
Balance 52, be separately mounted to supporting module 4, spherical shell module second part 121,122, foot module 3, on main shaft 21.In machine
When people's spherical rolling, roll drive block motion changes the center of gravity of robot, so that robot be driven to roll.It is rolling
When, foot balance module 5 drives foot module 3 so that it keeps opposite ground parallel.
As shown in Fig. 2, being the sufficient formula walking states of robot provided by the invention, spherical shell module first part 11 and support
Module 4 forms the main body of robot, and left side foot, right side foot are mounted on the two sides of spherical shell module first part 11.Robot
When walking, foot modular sub-units 31,32,33,34 are stretched out from spherical shell module second part 121,122 to be come, four groups of foots
Modular sub-units are successively lifted in a certain order, swing, are fallen, and realize the function of sufficient formula walking.In robot foot formula row
When walking, foot balance module 5 drives the left side foot pedestal 351 of foot module 3, right side foot pedestal 352 with respect to spherical shell
Module first part 11 and supporting module 4 are static.
As shown in figure 3, roll drive module include main shaft 21, rolling support 22, rolling base 23, roll gear wheel 24,
Pinion gear 25, worm type of reduction gearing 26 are rolled, motor 27 is rolled, rolls motor driver 28, conducting slip ring 29, conducting slip ring
Axle sleeve 210, gear bush 211, flange 212 and flange 213.Rolling support 22 is mounted on main shaft 21 by bearing, rolls base
Seat 23 is connected with rolling support 22, and worm type of reduction gearing 26 and rolling motor driver 28 are mounted in rolling base 23.Rolling
Dynamic motor 27 and rolling pinion gear 25 are separately mounted on the input terminal and output end of worm type of reduction gearing 26.Roll gear wheel
24, the inner hole of conducting slip ring 29 and main shaft 21 are connected, and are separately mounted to the two sides of rolling support 22.It rolls gear wheel 24 and rolls
Pinion gear 25 engages.Conducting slip ring axle sleeve 210 is mounted on main shaft 21, for the axial restraint of conducting slip ring 29, gear bush
211 are mounted on main shaft 21, for rolling the axial restraint of gear wheel 24.Flange 212 and 213 sets of flange on main shaft 21, with
Main shaft 21 is connected.The axial restraint of flange 212, flange 213 for conducting slip ring axle sleeve 210 and gear bush 211, flange 212,
Flange 213 is also connected with support plate 412,422, plays the role of connecting drive module 2 and supporting module 4.The work of scrolling module 2
It is to roll motor 27 to rotate as principle, moves across worm type of reduction gearing 26 and rolling pinion gear 25 is driven to rotate, because rolling
Gear wheel 24 and main shaft 21 are connected, so under the drive for rolling pinion gear 25, by rolling support 22, rolling base 23, worm gear
Worm reducer 26, rolling motor 27 are rolled with the rotation of main shaft 21 is recoiled composed by motor driver 28, to reach change
The purpose of robot center of gravity.
As shown in figure 4, the foot module 3 of robot of the present invention includes foot modular sub-units 31,32,33,34, it is left
Parapodum portion pedestal 351, right side foot pedestal 352, connecting tube 361,362,363,364, cushion block 371,372,373,374, left side
Foot conducting slip ring 381, right side foot conducting slip ring 382.Foot module 3 is symmetrical structure, by taking left-hand component as an example, foot mould
Block subelement 31,32 is mounted on the both ends of left side foot pedestal 351, and the outer ring of left side foot conducting slip ring 381 is mounted on left side
In the centre bore of foot pedestal 351, inner hole is mounted on main shaft 21, and left side foot conducting slip ring 381 is used for robot main control
Signal transmission between system and steering gear control system, one end of connecting tube 361 is mounted on left side foot pedestal 351, another
Cushion block 371 is installed, cushion block 371 and spherical shell module second part 121 are connected on end；The connection type of connecting tube 362, cushion block 372
It is identical with connecting tube 361, cushion block 371；Spherical shell module Part III 131 and foot modular sub-units 31,32 are connected；Left side foot
One end of 351 centre bore of pedestal is mounted on main shaft 21 by bearing, and the end face of the other end and balance gear b514 are connected；In machine
When device people rolls or walks, the movement of left side foot balance 51 is applied on balance gear b514, drives left side foot pedestal
351 relative to main shaft 21 rotate or it is static.The right-hand component structure of foot module 3 is identical with mounting means.When robot is in base
In this spherical rolling mode, foot modular sub-units 31,32,33,34 are in contraction state, and three parts of spherical shell module 1 are formed
One complete spherical.When robot is in basic four-footed walking mode, foot modular sub-units 31,32,33,34 are from spherical shell mould
It is stretched out in block second part 121,122, forms leg of the robot in basic four-footed walking mode.
As shown in Figure 5, Figure 6, the structure of foot modular sub-units is illustrated by taking foot modular sub-units 33 as an example.Foot module
Subelement includes the first steering engine 331, hip joint bracket 332, the second steering engine 333, thigh knuckle support 334, calf joint bracket
335, third steering engine 336, sufficient end support 337, sufficient end bar 338, steering wheel a339, steering wheel b3310, steering wheel c3311, potentiometer
A3312, potentiometer b3313, potentiometer c3314, connecting shaft a3315, connecting shaft b3316, connecting shaft c3317, potentiometer shaft
3318, potentiometer support 3319, potentiometer gear a3320, potentiometer gear b3321.First steering engine 331 is mounted on right side foot
On pedestal 352, one end of hip joint bracket 332 is installed on the first steering engine 331 by steering wheel a339, and the other end is mounted on thigh pass
It saves on bracket 334, by connecting shaft a3315, so that right side foot pedestal 352, hip joint bracket 332, thigh knuckle support 334
It links together, one end that connecting shaft a3315 is connected with right side foot pedestal 352 is equipped with a bearing, to reduce branch to hip joint
Friction when frame 332 rotates, the other end are fixed by a nut.First steering engine 331 drives hip joint 332 to rotate.Such as Fig. 6 institute
Show, the second steering engine 333 is mounted on thigh knuckle support 334, and one end of calf joint bracket 335 passes through steering wheel b3310 and company
Spindle b3316 is mounted on the second steering engine 333 and thigh knuckle support 334.Second steering engine 333 drives calf joint bracket 335
Relatively large leg joint bracket 334 rotates.Third steering engine 336 is mounted on sufficient end support 337, calf joint bracket 335 it is another
One end is mounted on third steering engine 336 and sufficient end support 337 by steering wheel c3311 and connecting shaft b3316, third steering engine 336
Sufficient end support 337 is driven to rotate relative to calf joint bracket 335.Sufficient end bar 338 is connected on sufficient end support 337.It is small
335 middle section both sides of leg joint bracket are sunken, and are reduced and spherical shell module when in order to allow foot modular sub-units to move
121,122 interference increases the space of foot modular sub-units.Potentiometer a3312, potentiometer b3313, potentiometer
C3314 is used to measure the angle that the first steering engine 331, the second steering engine 333, third steering engine 336 rotate.Potentiometer a3312 is mounted on
In potentiometer support 3319, potentiometer support 3319 is mounted on right side foot pedestal 352, and potentiometer shaft 3318 connects potentiometer
A3312 and potentiometer gear a3320, potentiometer gear b3321 are mounted on the first steering engine 331, and the movement of the first steering engine 331 is logical
The engagement of overpotential device gear a3321 and potentiometer gear b3320 pass to potentiometer a3312.Potentiometer b3313 is mounted on greatly
At the rotation of leg joint bracket 334 and calf joint bracket 335.Potentiometer c3314 is mounted on calf joint bracket 335 and foot end
At the rotation for holding bracket 337.
As shown in fig. 7, the supporting module 4 of robot of the present invention includes keel 43, Left-side support 41, Right side support
42.Left-side support 41 is identical as the structure of Right side support 42, and Left-side support 41 and Right side support are illustrated by taking Left-side support 41 as an example
42 structure.Left-side support 41 includes connecting plate 411, support plate 412, connection angle support 413.Each spoke of support plate 412
On be mounted with connecting plate 411, connecting plate 411 is spliced into an annular, connection angle support 413 it is vertical be mounted on connecting plate on one side
On 411, circumferentially it is equally spaced.Right side support 42 is installed in an identical manner.The both ends of keel 43 are separately mounted to joint angle
On bracket 413,423, it is connected to Left-side support 41 and Right side support 42.Connect angle support 413, the one side and spherical shell of 423 curved surfaces
The first part 11 of module is connected, and the flange 212 and flange 213 in hole and counterweight drive module among support plate 412,422 connect
It connects, supporting module 4 plays the role of the integrated support to robot of the present invention.
As shown in figure 8, the foot balance module of robot of the present invention is divided into left side foot balance 51 and right side foot
Balance 52, the foot balance modular structure of every side is identical.Illustrate by taking right side foot balance 52 as an example, including guide post 521, guide post
Cushion block 522, guide rail 523, balance gear b524, pedestal axle sleeve 525, balance gear a526, balance motor 527.Balance motor peace
In support plate 422, balance gear a526 is mounted on balance motor 527, and balance gear b524 interstitial hole is pacified by bearing
On pedestal axle sleeve 525, pedestal axle sleeve 525 is mounted on main shaft 21, and the end face of balance gear b524 is connected in right side foot
On pedestal 352, balance gear a526 and balance gear b524 engagement.Guide post cushion block 522 is connected in spherical shell module second part 121
On, guide rail 523 is connected in the annular that connecting plate 422 is spliced into, and an end cap of guide post 521 is on guide post cushion block 522, the other end
It is inserted into the groove of guide rail 523.Hole there are two being driveed between 525 inner peripheral surface of pedestal axle sleeve and outer circumference surface, it is therefore an objective to make right side
The lead of 382 inner ring of foot conducting slip ring is stretched out from right side foot pedestal 352.Robot is in substantially spherical rolling movement mode
In, balance motor 527 drives balance gear a526 rotation, moves across in gear drive to right side foot pedestal 352, driving foot
The right part of portion's module is rotated relative to spherical shell module first part 11.During rotation, it will drive spherical shell module second
122 are divided to rotate relative to spherical shell module first part 11, spherical shell module second part 122 is in guide post 521, guide post cushion block 522, guide rail
Under the action of 523, rotates with one heart, ensure that the integrality of spherical housing during rotation, while guide post 521, guide post cushion block
522, guide rail 523 reduces the pivoting friction between spherical shell module first part 11 and spherical shell module second part 122.Robot
In basic sufficient formula walking mode, balance motor is remain stationary, so that foot module is remain stationary with respect to spherical shell module 11, is kept
The stability of robot when walking.
Embodiment two
As shown in figure 9, rolling and driving when robot, which encounters higher step, to be crossed by pure spherical rolling
The center of gravity that dynamic model block 2 adjusts robot turns forward, and spherical shell module first part 11 resists the edge of step, foot modular sub-units
32, it 33 stretches out to come from spherical shell module 121,122,32,33 end of foot modular sub-units contacts ground, two foots
The contact point and spherical shell module first part 11 on modular sub-units and ground and the contact point of step form three supporting points, foot
Modular sub-units 32,33 lift the center of gravity of robot under the driving of steering engine.During lifting, foot module is single
The end of member is remain stationary with ground, and left side foot pedestal 351, right side foot pedestal 352 are under the action of foot balance module 5
Keep opposite ground parallel.Since during scrolling, roll drive module 2 adjusts robot center of gravity and is biased to step direction.?
During robot lifts, when main shaft 21 crosses step surface 6, roll drive module 2 continues to keep the weight of robot
The heart leans forward, and foot modular sub-units 32,33 are withdrawn, and becomes the form of spherical rolling.
Embodiment three
As shown in Figure 10, during longer, steeper slope is climbed by robot, it can use the sufficient formula walking of robot
Motor pattern climbing.When robot motion is to bottom of slope, four groups of foot modular sub-units of foot module 3 31,32,33,
34 stretch out from spherical shell module second part 121,122, and sufficient end contacts ground, robot are lifted, spherical shell module first
11 are divided to be detached from ground, four groups of foot modular sub-units 31,32,33,34 cooperate, act in a certain order, realize machine
The walking function of device people.During robot ambulation, the center of gravity of the constantly adjustment robot of roll drive module 2 makes machine
People keeps stable in the process of walking.Foot balance module 5 keeps left side foot pedestal 351, right side foot pedestal 352 and ground
In parallel.When four groups of foot modular sub-units 31,32,33,34 all set foot on slope, the adjustment of foot balance module 5 left side foot
Portion's pedestal 351, right side foot pedestal 352 and slope surface keeping parallelism.The centre of gravity adjustment of roll drive module 2 makes robot be expert at
When walking, the stride of each step stepped increases, and accelerates the speed of climbing.
Example IV
As shown in figure 11, wider zanjon is encountered in robot, it, can be with when can not directly be crossed over using sufficient formula walking function
Using 3 collective effect of spherical shell module 1 and foot module of robot, across zanjon.When the edge of robot motion to zanjon,
Foot modular sub-units 31,32,33,34 are stretched out from spherical shell module second part 121,122, and two groups of front end foot module is single
On the terminal extensions to the ground on zanjon opposite of member 32,33, the end of two groups of rear end foot modular sub-units 31,34 falls in machine
On that side ground where human agent, during foot modular sub-units 31,32,33,34 stretch, roll drive module
2 constantly adjust the position of robot center of gravity, roll robot not.After sufficient end touches ground, foot module 3
Each joint motions, robot is lifted, and the main body of robot is moved on the ground on zanjon opposite, in robot across deeply
During ditch, foot balance module 5 keeps foot module 3 static with respect to spherical shell module first part 11 and supporting module 4.When
After the main body of robot is landed across zanjon, foot modular sub-units 31,32,33,34 are recovered to spherical shell module second part
121, in 122, during withdrawal, roll drive module 2 adjusts the center of gravity of robot, rolls robot not.
Embodiment five
As shown in figure 12, for the present embodiment compared with embodiment one, structure is essentially identical, the difference is that reducing rolling
Drive module.Spherical rolling and sufficient formula walking function, the function of roll drive module equally may be implemented in robot in the present embodiment
It can be realized by foot module.When robot is in spherical rolling, the left and right sides of foot module 3 is with respect to spherical shell module first part
11 rotate in same direction, and the center of gravity of robot two sides changes, so that robot be driven to roll.When needing robot to turn to
It waits, steering mode and embodiment one are identical.The sufficient formula walking function of robot is the same as example 1.
The above described is only a preferred embodiment of the present invention, not appointing to structure and control mode of the invention
What formal limitation.Any simple modification to the above embodiments, equivalent change according to the technical essence of the invention
Change and modification, in the range of still falling within technical solution of the present invention.
Claims (6)
1. a kind of ball shape robot with walking function, including spherical shell module (1), roll drive module (2), foot module
(3), supporting module (4), foot balance module (5), it is characterised in that: spherical shell module first part (11) and supporting module (4)
It is connected, roll drive module (2) is connected on supporting module (4) by flange (212,213), and foot module (3) is mounted on master
The both ends of axis (21), spherical shell module second part (121,122), spherical shell module Part III (131,132,133,134) and foot
Portion's module (3) connection, foot balance module (5) is mounted on supporting module (4), with spherical shell module second part (121,122),
Foot module (3) connection；In substantially spherical rolling mode, foot module (3) is retracted to spherical shell module second part for robot
In (121,122), spherical shell module (1) is made to form a complete spherical shape；Roll drive module (2) rotation, changes robot
The position of center of gravity realizes that the straight line of robot rolls；During robot rolls, the part on foot module (3) both sides exists
Under the driving of foot balance module (5), rotate in same direction and with ground keeping parallelism；In robot steering procedure, foot balance
Module (5) drives the incorgruous acceleration rotation in the part on foot module (3) both sides, forms the torque of a steering, realizes robot
Pivot stud；Robot is in basic sufficient formula walking mode, and four foot modular sub-units (31,32,33,34) are from spherical shell module
It stretches out and in second part (121,122), form four legs of robot, foot balance module (5) drives foot module (3)
Opposite spherical shell module first part (11), supporting module (4) are fixed, and four foot modular sub-units (31,32,33,34) are mutual
The walking of robot is realized in cooperation.
2. robot according to claim 1, it is characterised in that: the spherical shell module first part (11) is hollow thin
Drum portion among squash shell, spherical shell module second part (121,122), spherical shell module Part III (131,132,133,
134) it is located at spherical shell module first part (11) two sides, in substantially spherical rolling mode, entire spherical shell module (1) forms one
Complete spherical shell.
3. robot according to claim 1, it is characterised in that: the roll drive module (2), including main shaft
(21), rolling support (22), rolling base (23), rolling gear wheel (24), rolling pinion gear (25), worm type of reduction gearing
(26), motor (27) are rolled, roll motor driver (28), conducting slip ring (29), conducting slip ring axle sleeve (210), gear bush
(211), flange (212,213)；Wherein rolling support (22), worm type of reduction gearing (26), rolling motor driver (28) peace
On rolling base (23), rolling support (22) is mounted on main shaft (21) by bearing, can be rotated around main shaft (21)；Rolling
Dynamic motor (27) are mounted on the input terminal of worm type of reduction gearing (26), roll pinion gear (25) and are mounted on worm type of reduction gearing
(26) output end rolls gear wheel (24) and is mounted on main shaft (21), rolls pinion gear (25) and engages with gear wheel (24) are rolled；
Conducting slip ring (29), gear bush (211), conducting slip ring axle sleeve (210), flange (212,213) are mounted on main shaft (21)；Method
Blue (212,213) are connect with supporting module (4)；It rolling support (22), rolling base (23) and is mounted on rolling base (23)
Components, composition robot roll when change robot center of gravity counterweight.
4. robot according to claim 1, it is characterised in that: foot module (3) includes four foot modular sub-units
(31,32,33,34), left side foot pedestal (351), right side foot pedestal (352), four connecting tubes (361,362,363,
364), four cushion blocks (371,372,373,374), left side foot conducting slip rings (381), right side foot conducting slip rings (382)；It is left
Parapodum portion conducting slip ring (381) outer ring is mounted on left side foot pedestal (351), and inner hole is mounted on main shaft (21)；Right side foot
Portion's conducting slip ring (382) outer ring is mounted on right side foot pedestal (352), and inner hole is mounted on main shaft (21)；Four cushion blocks
(371,372,373,374) are mounted on spherical shell module second part (121,122), every connecting tube (361,362,363,
364) one end is mounted on corresponding cushion block (371,372,373,374), the other end be mounted on left side foot pedestal (351) or
The two sides of right side foot pedestal (352) interstitial hole, two foot modular sub-units (31,32) are mounted on left side foot pedestal
(351) both ends, another two foot modular sub-units (33,34) are mounted on the both ends of right side foot pedestal (352)；Four foots
The structure of modular sub-units is identical with mounting means, each foot modular sub-units specific structure include the first steering engine (331),
Hip joint bracket (332), the second steering engine (333), thigh knuckle support (334), calf joint bracket (335), third steering engine
(336), sufficient end support (337), sufficient end bar (338), steering wheel a (339), steering wheel b (3310), steering wheel c (3311), potentiometer
A (3312), potentiometer b (3313), potentiometer c (3314), connecting shaft a (3315), connecting shaft b (3316), connecting shaft c
(3317), potentiometer shaft (3318), potentiometer support (3319), potentiometer gear a (3320), potentiometer gear b (3321)；Rudder
Disk a (339), steering wheel b (3310), steering wheel c (3311) are separately mounted to the first steering engine (331), the second steering engine (333), third rudder
On machine (336), the first steering engine (331) is mounted on the left side foot pedestal (351) or right side foot pedestal (352) ipsilateral with it
On, the second steering engine (333) is mounted on thigh knuckle support (334), and third steering engine (336) is mounted on sufficient end support (337)
On；Hip joint bracket (332) one end is mounted on steering wheel a (339), and the other end passes through connecting shaft a (3315) and ipsilateral left side
Foot pedestal (351) or right side foot pedestal (352), thigh knuckle support (334) connection；Calf joint bracket (335) one end
It is mounted on the second steering engine (333) and thigh knuckle support (334) by steering wheel b (3310), connecting shaft b (3316), the other end
It is mounted on third steering engine (336) and sufficient end support (337) by steering wheel c (3311), connecting shaft c (3317)；Sufficient end bar
(338) it is mounted on sufficient end support (337)；Potentiometer a (3312) at hip joint bracket (332) passes through potentiometer support
(3319) it is mounted on the left side foot pedestal (351) or right side foot pedestal (352) ipsilateral with potentiometer a (3312), current potential
Device gear a (3320) is mounted on potentiometer a (3312) by potentiometer shaft (3318), and potentiometer gear b (3321) is mounted on
On first steering engine (331), potentiometer gear a (3320) is engaged with potentiometer gear b (3321), and potentiometer b (3313) is mounted on
At the rotation of thigh knuckle support (334) and calf joint bracket (335), potentiometer c (3314) is mounted on calf joint bracket
(335) and at the rotation of sufficient end support (337).
5. robot according to claim 1, it is characterised in that: supporting module (4) includes keel (43), two groups of joint angles
Bracket (413,423), two groups of connecting plates (411,421), two support plates (412,422)；Each wheel of each support plate (412)
It being assembled on spoke connecting plate (411), one group of connecting plate (411) that each support plate is installed is spliced into an annular, and one group
Connection angle support (413) is evenly distributed in the annular of this group of connecting plate (411) composition；Two groups of connecting plates (411,421), two
Support plate (412,422), two groups of connection angle supports (413,423) are divided into two groups of left and right, one group of left side composition Left-side support
(41), one group of right side forms Right side support (42) in an identical manner；The both ends of keel (43) respectively with two groups of connection angle supports
(413,423) it connects, Left-side support (41) and Right side support (42) is connected；Connect the curved surface of angle support (413,423)
It is connected with spherical shell module first part (11).
6. robot according to claim 5, it is characterised in that: foot balance module (5) includes left side foot balance
(51), right side foot balance (52)；Left side foot balance (51) is identical with mounting means with the structure of right side foot balance (52),
All include balance motor (527), balance gear a (526), balance gear b (524), pedestal axle sleeve (525), guide rail (523), lead
Column cushion block (522), guide post (521), balance motor (527) are mounted on ipsilateral support plate (422), balance gear a (526) peace
On the output end of balance motor (527), the centre bore of balance gear b (524) is mounted in pedestal axle sleeve (525) by bearing
On, end face is mounted on the left side foot pedestal (351) or right side foot pedestal (352) ipsilateral with balance gear b (524), is put down
Weighing apparatus gear a (526) is engaged with balance gear b (524), and guide rail (523) is mounted on the ipsilateral connecting plate of supporting module (4)
(421) on, guide post cushion block (522) is mounted on spherical shell module second part (122), and guide post (521) one end is mounted on guide post pad
On block (522), one end is slided in the groove of guide rail (523).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710350257.3A CN107187509B (en) | 2017-05-17 | 2017-05-17 | A kind of ball shape robot with walking function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710350257.3A CN107187509B (en) | 2017-05-17 | 2017-05-17 | A kind of ball shape robot with walking function |
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| CN107187509A CN107187509A (en) | 2017-09-22 |
| CN107187509B true CN107187509B (en) | 2019-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710350257.3A Expired - Fee Related CN107187509B (en) | 2017-05-17 | 2017-05-17 | A kind of ball shape robot with walking function |
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Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107856856A (en) * | 2017-11-24 | 2018-03-30 | 南京航空航天大学 | A kind of Flyable spherical robot |
| CN108097677B (en) * | 2017-12-15 | 2020-06-26 | 安徽工业大学 | Oil tank cleaning robot with squirrel-cage structure |
| CN108818548B (en) * | 2018-06-20 | 2021-07-20 | 乌鲁木齐明华智能电子科技有限公司 | Security robot capable of intelligently avoiding obstacles in complex environment |
| CN108945136A (en) * | 2018-07-09 | 2018-12-07 | 胡俊 | A kind of spherical roll of joint type climbs converting machine people |
| CN109178134A (en) * | 2018-08-16 | 2019-01-11 | 东莞理工学院 | A kind of multi-foot robot for realizing all-around mobile and obstacle detouring |
| CN109677494B (en) * | 2018-12-26 | 2021-07-20 | 广西大学 | Self-adaptive steering and climbing deformable spherical robot |
| CN109909981B (en) * | 2019-04-22 | 2022-05-27 | 滨州学院 | Spherical protection device |
| CN110861725B (en) * | 2019-12-18 | 2024-04-16 | 东莞理工学院 | Wireless control rolling spherical robot with transportation function |
| CN111452062B (en) * | 2020-04-29 | 2022-12-06 | 郑州科技学院 | Industrial remote shape balancing robot |
| CN111806178B (en) * | 2020-06-03 | 2022-01-11 | 中国北方车辆研究所 | Four-wheel vehicle trench crossing control method with telescopic rocker arm suspension |
| CN112548984B (en) * | 2020-12-10 | 2022-04-12 | 逻腾（杭州）科技有限公司 | Rolling obstacle crossing robot with telescopic arm |
| CN112936218A (en) * | 2021-03-24 | 2021-06-11 | 东莞市伟创动力科技有限公司 | Multi-legged robot with rolling type working mode |
| CN113044132B (en) * | 2021-03-25 | 2022-05-13 | 华南理工大学广州学院 | Multi-foot rotating balance robot and control method |
| CN113715929A (en) * | 2021-09-18 | 2021-11-30 | 智能移动机器人(中山)研究院 | Spherical foot type dual-purpose robot |
| CN114939877B (en) * | 2022-05-18 | 2023-11-10 | 北京邮电大学 | A portable operation spherical robot for moon base is built |
| CN115535106B (en) * | 2022-09-27 | 2023-08-15 | 西南科技大学 | Deformable obstacle-surmounting spherical robot |
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| JPS61113573A (en) * | 1984-11-08 | 1986-05-31 | Hitoshi Takahashi | Walking robot |
| CN103538644A (en) * | 2013-10-14 | 2014-01-29 | 上海大学 | Robot with functions of rolling motion and foot walking |
| CN104340292A (en) * | 2014-10-17 | 2015-02-11 | 燕山大学 | Wheel-leg dual-purpose shape shifting robot |
| CN105035199A (en) * | 2015-08-28 | 2015-11-11 | 榆林学院 | Spherical robot capable of conducting foot type movement and working method of robot |
| CN205706946U (en) * | 2016-05-04 | 2016-11-23 | 南京工程学院 | A kind of polypody rolling robot |
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|---|---|---|---|---|
| JPS61113573A (en) * | 1984-11-08 | 1986-05-31 | Hitoshi Takahashi | Walking robot |
| CN103538644A (en) * | 2013-10-14 | 2014-01-29 | 上海大学 | Robot with functions of rolling motion and foot walking |
| CN104340292A (en) * | 2014-10-17 | 2015-02-11 | 燕山大学 | Wheel-leg dual-purpose shape shifting robot |
| CN105035199A (en) * | 2015-08-28 | 2015-11-11 | 榆林学院 | Spherical robot capable of conducting foot type movement and working method of robot |
| CN205706946U (en) * | 2016-05-04 | 2016-11-23 | 南京工程学院 | A kind of polypody rolling robot |
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| CN107187509A (en) | 2017-09-22 |
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