CN107226144A - A kind of mechanical gyroscope structure ball shape robot - Google Patents
A kind of mechanical gyroscope structure ball shape robot Download PDFInfo
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- CN107226144A CN107226144A CN201710383149.6A CN201710383149A CN107226144A CN 107226144 A CN107226144 A CN 107226144A CN 201710383149 A CN201710383149 A CN 201710383149A CN 107226144 A CN107226144 A CN 107226144A
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- axis motor
- control panel
- support frame
- fixed
- ball shape
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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
A kind of mechanical gyroscope structure ball shape robot disclosed herein, is related to new structure ball shape robot field, mainly including spherical shell, X-axis motor, support frame, y-axis motor and control panel.X-axis motor is fixed on support frame, and shaft end is fixed on spherical shell；Y-axis motor is fixed on control panel, and shaft end is fixed on support frame, and keeps X-axis motor to be axially mutually perpendicular to y-axis motor, and counterweight, which is fixed on immediately below control panel, causes spheroid center of gravity control panel under the lower section of the geometric center of ball, inactive state to keep horizontality.When X-axis motor is individually rotated, spherical shell is rotated so that ball shape robot is moved forward and backward；When y-axis motor is rotated, because center of gravity is in the underface of control panel, so control panel keeps level, now support frame produces angle in X-axis, changes the angle of control panel and support frame in motion process to change the direction of motion and the track of spheroid.Cost of the present invention is relatively low, and stability is good, practical, it is possible to achieve the rolling of any direction.
Description
Technical field
The invention belongs to intelligent robot control technology field, and in particular to be it is a kind of can remote control, have the autonomous work(in part
The new structure ball shape robot of energy.
Background technology
Ball shape robot has the advantages that its is unique compared with wheel shape mobile robot.Wheel shape mobile robot vulnerable to pollution,
Can not overturn and turn to can have dead band；Due to its inertia deficiency, to cause it to cross the ability of rough surface weaker.Spherical machine
Device people is a kind of rolling walking robot of new structure, is a totally enclosed individual, with speed is fast, cross-country power is good,
The features such as controlling relatively easy, is increasingly pursued and is paid attention to by people, is increasingly becoming domestic and international intelligent robot control and grinds
Study carefully one of the emphasis in field.
Halme of Finland in 1996 et al. has made First with ball shape robot truly, the spherical machine
A set of single-wheel mechanism driving spheroid motion is devised in the spherical shell of device people, realizes that the straight line of spheroid is transported by changing the center of gravity of spheroid
It is dynamic, but due to the limitation of single wheel drive, the omnibearing movable of system can not be realized.2005, the Uppsala of Sweden was big
Invent one kind two and drive ball-shape robot.The ball shape robot has two motors, and a driving major axis is around the straight of ball
Footpath direction is rotated, and another driving weight is swung on the same plane with major axis.The synthesis moved by both is to reach
The turning of ball shape robot, but bead radius of turn is very big under which and can not realize comprehensive motion.
Ball shape robot is closely obtaining the concern of numerous units and scholar during the last ten years.The Kingcon of Shanghai Communications University enters
Scholar proposes a kind of ball shape robot of four drivings：Ball interior, which has, is furnished with one on 4 symmetrical motors, each motor
Individual eccentric weight, motor driven belts move mass movement and change spheroid center of gravity so as to realize the rolling to specific direction, but due to small
Sphere volume is excessive, and movement velocity is slow, less stable, is difficult to realize the even running of spheroid.Nanjing Aero-Space University Yang Zhong
Et al. invention " omnibearing movable spherical robot "：Main wheel side roll along along spherical shell under the driving of movable motor, so as to drive
Dynamic spheroid is for linear motion, and mass and horizon bar above half round frame are moved under the driving of its steering motor along circular arc frame,
Offset spheroid center of gravity or so, so as to realize the course changing control of robot, the robot of the structure utilizes the spy of Incomplete System
Point constitutes incomplete Three Degree Of Freedom using 2 motors.Rotated when being moved due to quality dolly along circular arc frame by circular arc frame
Secondary limitation, its steering range is less than hemisphere interval, there is motion dead angle, when ball shape robot because the effect of external force is turned to
During robot minor axis location, robot can not move, and lose locomotive function.
Though existing ball shape robot respectively has its feature, structure is all very complicated on the whole, while mostly there is quantities
The more low weak point of larger, practicality.Particularly in terms of divertical motion is coupled with forward travel, if some devices are handled
It is bad, ball interior drive mechanism state can be caused not know, the actual motion of spheroid is influenceed, so that it is difficult to considerably increase control
Degree, much can also have motion dead band, seldom can be in arbitrfary point pivot stud, it is impossible to carry out omnibearing movable, greatly limit
The space that robot is used, and if unsighted pivot stud mode of the shell phase to ground；Many robots connect without external stability simultaneously
Annex can not be carried outside mouth or spherical shell so that debugged, charging there may be difficulty with maintenance, limited various in actual use
The use of detection sensor and manipulator.
The content of the invention
The purpose of the present invention is the new structure ball that a kind of structure of design is novel, control is simple, controllability is good, practical
Anthropomorphic robot, overcomes the shortcomings of prior art.
Thus the technical scheme is that：A kind of mechanical gyroscope structure ball shape robot, including spherical shell 1 and its inside
Travel driving unit；The travel driving unit includes X-axis motor 6, support frame 8, y-axis motor 9 and control panel 11；
X-axis motor 6 is two, is fixed on the left and right sides of support frame 8, the shaft end of X-axis motor 6 is fixed on spherical shell 1, structure
Into scroll forward and backward mechanism；Y-axis motor 9 is two, is fixed on the front and rear sides of control panel 11, and the shaft end of y-axis motor 9 is fixed on
On support frame 8, the axial direction of X-axis motor 6 and y-axis motor 9 is kept to be mutually perpendicular to, the underface of control panel 11 is fixed with counterweight 12,
It is whole to constitute course changing control mechanism；
Under inactive state, control panel 11 keeps horizontality, and when X-axis motor 6 is rotated, spherical shell 1 is rotated so that spherical machine
Device people moves forward and backward；When y-axis motor 9 is rotated so that control panel 11 and support frame 8 produce angle, because center of gravity is in control panel 11
Underface, so control panel 11 keep level, now support frame 8 angle is produced in X-axis, if simultaneously X-axis motor rotate, ball
The track of anthropomorphic robot will be a circle, and the radius and angle of circle have quantitative relationship；Change control panel 11 in motion process
Angle with support frame 8 is so as to change the direction of motion and the track of spheroid.
Further, the ball shape robot uses mechanical gyroscope structure, and itself has good directional characteristic.
Further, support frame as described above 8 is hollow class annulus, either for hollow oval ring-type structure or be regular
Polygonized structure, the polygonized structure ensure that X-axis motor, spatially there is orthogonal fixation the shaft end of y-axis motor 9
Point.
Further, gear a3 is housed on the axle of y-axis motor 9, and is intermeshed with the gear b4 that is equipped with the axle of potentiometer 5.
Further, the potentiometer 5 measures the angle of control panel 11 and support frame 8 by gear drive, so as to change
The steering of ball shape robot.
Further, in addition to collector ring 10, a pair of motors drivings are connected to preferably real by y-axis motor by collector ring 10
Existing power demands.
Further, described one end of collector ring 10 is fixed on control panel 11, and the other end is fixed on support frame 8, while Y-axis
The bearing of motor is concentric with the center of collector ring, while the two ends of collector ring 10 relative can be slided.
Further, X-axis motor and y-axis motor are fixed using fixed seat 7.
Further, some vibration-absorptive materials can be added outside spherical shell 1.
The advantage of this programme is：
1) drive mechanism is simple, and control accuracy is high, and cost is relatively low.
2) motor shaft is fixed with spherical shell, and motor is fixed with weight, and weight center of gravity is relatively low, and the center of gravity of whole system is in spheroid
Middle and lower part, stability is good, and system response time is fast.
3) sphere structure uses gyroscope arrangement in itself, and itself has good directional characteristic.
4) measurement angle, using the AD conversion function of controller, reads electricity using the continuous potentiometer of individual pen as sensor
Pressure, which can be calculated, obtains angle.
5) two motors drive the advance and steering of spheroid respectively, after tested, and can control ball to realize on ground well
On towards arbitrary directional rolling and dead band very little.
Brief description of the drawings
Fig. 1 is that gyroscope arrangement ball shape robot moves forward and backward principle schematic.
Fig. 2 is the structural representation of mechanical gyroscope structure ball shape robot.
Fig. 3 is gyroscope arrangement ball shape robot movement under force schematic diagram.
1- spherical shells；2- bearing blocks；3- gears a；4- gears b；5- potentiometers；6-X spindle motors；7- motor fixing seats；8- branch
Support；9-Y spindle motors；10- collector rings；11- control panels；12- counterweights.
Embodiment
As shown in Figure 1, gyroscope arrangement ball shape robot moves forward and backward principle schematic.Motor shaft is fixed with spherical shell 1, electricity
Machine and counterweight 12 are fixed, and the center of gravity of counterweight 12 is relatively low, and the center of gravity of whole system is almost at the center of counterweight 12.When motor is rotated
When, it is assumed that the weight enough of counterweight 12, it can rotate outside spherical shell 1, so that the power of rolls forward is produced, if counterweight 12 is inadequate
Weight, is lifted certain altitude, will produce mgsin θ r moment of torsion, makes spheroid rolls forward.
As shown in Fig. 2 the structural representation of mechanical gyroscope structure ball shape robot, is driven by spherical shell 1 and its internal walking
Dynamic device composition.Its travel driving unit is made up of X-axis motor 6, support frame 8, y-axis motor 9 and control panel 11.X-axis motor 6
It is fixed on by motor fixing seat 7 on support frame 8, the axle of X-axis motor 6 is fixed on spherical shell 1, constitutes scroll forward and backward mechanism；Y-axis
Motor 9 is fixed on control panel 11, and the axle of y-axis motor 9 is fixed on support frame 8, and the axial direction of X-axis motor 6 and y-axis motor 9
It is mutually perpendicular to, is powered using the principle of collector ring 10, counterweight 12 is fixed on the underface of control panel 11, it is whole to constitute course changing control machine
Structure；Under inactive state, control panel 11 keeps horizontality.When X-axis motor 6 is rotated, spherical shell 1 is rotated so that ball shape robot
Move forward and backward；When y-axis motor 9 is rotated so that control panel 11 and support frame 8 produce angle, due to center of gravity in control panel 11 just
Lower section, so control panel 11 keeps level, now support frame 8 produces angle in X-axis；Gear b4 is housed on the axle of potentiometer 5,
And engaged with the axle gear a3 of y-axis motor 9, potentiometer 5 can be measured between control panel 11 and support frame 8 by gear drive
Angle；If now X-axis motor 6 is rotated, the track of ball shape robot will be a circle and diameter of a circle and angle have quantitative relationship；
The steering of any direction can be realized by changing support frame 8 and the angle of control panel 11 in motion process.
Equipped with a gear 4 on the axle of potentiometer 5, it is meshed with the gear 3 on y-axis motor axle, and potentiometer 5 is fixed on
On control panel 11；The one end of collector ring 10 is fixed on control panel 11, and the other end is fixed on support frame 8, while the axle of y-axis motor
The center held with collector ring is concentric, and the two ends of collector ring relative can also be slided.
As shown in figure 3, gyroscope arrangement ball shape robot movement under force schematic diagram.The characteristics of motion is：From two pairs of axial directions
Orthogonal motor is X-axis motor 6 and y-axis motor 9；The radius of a ball is r, and X-axis motor 6 is fixed on branch by motor fixing seat 7
On support 8, the axle of X-axis motor 6 is fixed on spherical shell 1；Control panel 11 keeps level, the folder between support frame 8 and control panel 11
Angle is θ；X-axis motor 6, which is rotated, provides onward impulse；Y-axis motor 9 is rotated for changing direction；X-axis motor 6 and y-axis motor 9 can
With timesharing campaign, it can also move simultaneously.When y-axis motor 9 moves alone, ball shape robot is in absolute linear motion；X-axis electricity
When machine 6 is moved and speed is slower, the movement locus of ball shape robot is in the circle that radius is R, and radius R size and support frame 8
Angle theta between control panel 11 is relevant, i.e.,：
Special circumstances：When being that X-axis motor 6 moves alone when θ is 0 degree, operating radius R is infinitely great, and movement locus is one
Bar straight line；When θ is 90 degree, operating radius R is zero, and ball shape robot original place is spinned.
There is following feature on the present invention：
1) counterweight 12 can be circuit board, battery etc..
2) one lithium battery of internal placement is powered to whole system, and a pair of motors drivings are connected on motor internal, and another pair is led to
Collector ring is crossed to be connected to external motor to meet power supply needs.
3) mechanical gyroscope structure is used, itself has good directional characteristic, while setting two pairs of axial directions to be mutually perpendicular to
Motor to realize the rolling of any direction.
4) two pairs of motors are fixed using fixed seat 7, prevent loose or dislocation.
To sum up, above-mentioned mechanical gyroscope structure ball shape robot is main by spherical shell, X-axis motor, support frame, y-axis motor, control
Making sheet is constituted.X-axis motor is fixed on support frame, and the axle of X-axis motor is fixed on spherical shell.Y-axis motor is fixed on control panel,
The axle of y-axis motor is fixed on support frame, and X-axis motor is axially mutually perpendicular to y-axis motor, under counterweight is fixed on control panel just
Side causes spheroid center of gravity control panel under the lower section of the geometric center of ball, inactive state to keep horizontality.When X-axis motor is rotated
When, spherical shell is rotated so that ball shape robot is moved forward and backward.When y-axis motor is rotated so that control panel and support frame produce angle.
Because center of gravity is in the underface of control panel, so control panel keeps level, now support frame produces angle in X-axis.If X-axis is electric
Machine is rotated, and the track of ball shape robot will be a circle, and diameter of a circle and angle have quantitative relationship.Change in motion process
The angle of control panel and support base is so as to realize turn.
Claims (9)
1. a kind of mechanical gyroscope structure ball shape robot, including spherical shell (1) and its internal travel driving unit；Its feature exists
In：The travel driving unit includes X-axis motor (6), support frame (8), y-axis motor (9) and control panel (11)；
X-axis motor (6) is two, is fixed on the left and right sides of support frame (8), the shaft end of X-axis motor (6) is fixed on spherical shell (1)
On, constitute scroll forward and backward mechanism；Y-axis motor (9) is two, is fixed on the front and rear sides of control panel (11), and y-axis motor (9)
Shaft end be fixed on support frame (8), keep X-axis motor (6) and the axial direction of y-axis motor (9) to be mutually perpendicular to, control panel (11)
Underface is fixed with counterweight (12), whole to constitute course changing control mechanism；
Under inactive state, control panel (11) keeps horizontality, when X-axis motor (6) is rotated, and spherical shell (1) is rotated so that spherical
Robot is moved forward and backward；When y-axis motor (9) is rotated so that control panel (11) and support frame (8) produce angle, because center of gravity exists
The underface of control panel (11), so control panel (11) keeps level, now support frame (8) produces angle in X-axis, in motion
During change the angle of control panel (11) and support frame (8) so as to change the direction of motion and the track of spheroid.
2. a kind of mechanical gyroscope structure ball shape robot according to claim 1, it is characterised in that the spherical machine
People uses mechanical gyroscope structure, and itself has good directional characteristic.
3. a kind of mechanical gyroscope structure ball shape robot according to claim 1, it is characterised in that support frame as described above
(8) it is hollow class annulus, either for hollow oval ring-type structure or be regular polygon structure, the polygonized structure
It ensure that X-axis motor (6), the shaft end of y-axis motor (9) spatially have orthogonal fixing point.
4. a kind of mechanical gyroscope structure ball shape robot according to claim 1 or 3, it is characterised in that y-axis motor
(9) gear a (3) is housed on axle, and is intermeshed with the gear b (4) that is equipped with the axle of potentiometer 5.
5. a kind of mechanical gyroscope structure ball shape robot according to claim 4, it is characterised in that the potentiometer
(5) angle of control panel (11) and support frame (8) is measured by gear drive, so as to change the steering of ball shape robot.
6. a kind of mechanical gyroscope structure ball shape robot according to claim 1 or 3, it is characterised in that also including collection
Electric ring (10), a pair of motor drivings by collector ring (10) be connected to y-axis motor power demands are better achieved.
7. a kind of mechanical gyroscope structure ball shape robot according to claim 6, it is characterised in that the collector ring
(10) one end is fixed on control panel (11), and the other end is fixed on support frame (8), while the bearing and collector ring of y-axis motor
Center be concentric, while the two ends of collector ring (10) relative can be slided.
8. a kind of mechanical gyroscope structure ball shape robot according to claim 1, it is characterised in that X-axis motor (6) and
Y-axis motor (9) is fixed using fixed seat (7).
9. a kind of mechanical gyroscope structure ball shape robot according to claim 1, it is characterised in that spherical shell (1) outside may be used
Add some vibration-absorptive materials.
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| CN201710383149.6A CN107226144B (en) | 2017-05-26 | 2017-05-26 | A kind of mechanical gyroscope structure ball shape robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110844033A (en) * | 2019-11-19 | 2020-02-28 | 贵州电网有限责任公司 | Gravity center adjusting device for spherical robot on water |
| CN110877644A (en) * | 2019-11-19 | 2020-03-13 | 贵州电网有限责任公司 | All-directional movement spherical robot structure driven by linear motor principle |
| CN111231829A (en) * | 2020-04-25 | 2020-06-05 | 杭州鸿晶自动化科技有限公司 | Vehicle warning signal device |
| CN111391751A (en) * | 2020-04-25 | 2020-07-10 | 杭州鸿晶自动化科技有限公司 | Triangular warning indicator |
| WO2021010752A3 (en) * | 2019-07-15 | 2021-03-11 | 연세대학교 산학협력단 | Weighted ball comprising finger stimulating member |
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| CN102398265A (en) * | 2010-09-17 | 2012-04-04 | 俞建峰 | Universal rolling spherical robot |
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| 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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| CN201220700Y (en) * | 2008-04-21 | 2009-04-15 | 战强 | High mobility spherical detecting robot |
| CN102398265A (en) * | 2010-09-17 | 2012-04-04 | 俞建峰 | Universal rolling spherical robot |
| CN204359317U (en) * | 2014-12-05 | 2015-05-27 | 浙江大学 | The single shaft double tops systems stabilisation that band controls |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021010752A3 (en) * | 2019-07-15 | 2021-03-11 | 연세대학교 산학협력단 | Weighted ball comprising finger stimulating member |
| CN110844033A (en) * | 2019-11-19 | 2020-02-28 | 贵州电网有限责任公司 | Gravity center adjusting device for spherical robot on water |
| CN110877644A (en) * | 2019-11-19 | 2020-03-13 | 贵州电网有限责任公司 | All-directional movement spherical robot structure driven by linear motor principle |
| CN110844033B (en) * | 2019-11-19 | 2023-09-08 | 贵州电网有限责任公司 | Gravity center adjusting device for spherical robot on water |
| CN110877644B (en) * | 2019-11-19 | 2024-04-02 | 贵州电网有限责任公司 | Omnidirectional movement spherical robot structure driven by linear motor principle |
| CN111231829A (en) * | 2020-04-25 | 2020-06-05 | 杭州鸿晶自动化科技有限公司 | Vehicle warning signal device |
| CN111391751A (en) * | 2020-04-25 | 2020-07-10 | 杭州鸿晶自动化科技有限公司 | Triangular warning indicator |
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