CN107253500B - A kind of passive type mobile robot with energy harvesting capabilities - Google Patents
A kind of passive type mobile robot with energy harvesting capabilities Download PDFInfo
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- CN107253500B CN107253500B CN201710418643.1A CN201710418643A CN107253500B CN 107253500 B CN107253500 B CN 107253500B CN 201710418643 A CN201710418643 A CN 201710418643A CN 107253500 B CN107253500 B CN 107253500B
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- robot
- energy
- power generator
- balance staff
- pendulum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/32—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from a charging set comprising a non-electric prime mover rotating at constant speed
Abstract
A kind of passive type mobile robot with energy harvesting capabilities is claimed in the present invention.It mainly include flap-type elastic shell, four tunnel power generator and double freedom pendulum-type battery compartment；Wherein flap-type elastic shell is made of four identical flap-type gas cells, and ball shape is assembled into outside robot；Four tunnel power generator are evenly arranged in robot wobble ring, the mechanical rotational energy of both direction can be converted into electric current energy simultaneously；Double freedom pendulum-type battery compartment is mounted on the center of robot, and mass cg can store the energy that robot is collected into below the robot centre of sphere, can be along trunnion axis swing opposite with robot shell；The outstanding feature of this kind of robot be under the action of external force of environment can passive type it is mobile, and the energy of applied external force can be changed into electric energy, and be stored in battery compartment；This kind of robot is not necessarily to power source, so that it may carry miniature detection sensor and move for a long time under ocean or polar region environment and execute data acquisition session.
Description
Technical field
The invention belongs to field of special robots, and in particular to a kind of passive type moving machine with energy harvesting capabilities
Device people.
Background technique
Currently, the information for carrying out marine environment and polar region environment collects the weight for increasingly having obtained the scientific research personnel of countries in the world
Depending on.There is mineral resources abundant, living resources and space resources etc. in marine environment and polar region environment, but due to ocean
Environment is complicated, and area is vast, and polar region environment is not suitable for human normal life and action, the spy of environment throughout the year by snow and ice cover
Different property collects task to the smooth performing environment information of scientific research personnel and brings difficulty.In recent years, application autonomous robot technology into
The detection of row hazardous environment has been to be concerned by more and more people, but due to marine environment and polar region environment far from human lives and
The place of work, and robot carry limited energy, therefore long-term work of the robot under this particular surroundings by
Limitation.Not needing to carry the energy because the invention is a kind of can move and the robot of performing environment detection mission has for a long time
Important meaning.
A kind of robot for not needing to carry the long-term performing environment detection mission of energy energy is invented, this requires robots
There are energy harvesting capabilities.The external energy in environment can be converted in the robot of electric energy at present, to collect too
Sun can be relatively conventional come the environment exploring robot that generates electricity, but on the one hand this robot requires detected environment to have abundance
On the other hand luminous energy also requires robot to have sufficiently large surface area to be unfolded solar panel, and benthos and terrestrial pole
The head of district does not have sunlight covering the time, so will receive limitation to this environment by collecting solar powered robot application.
There are also a kind of common energy collecting devices, and the energy of mechanical oscillation is exactly absorbed using piezoelectric ceramics, uses this energy
Collection method requires robot additionally to carry power generator, and to have vibration to generate in moving process, and robot is in pole
It is moved under ground environment or under marine environment, generating this desired vibration more difficulty, this Energy harvesting methods is also not
It is highly desirable.Therefore the particular surroundings of comprehensive analysis ocean and polar region will have mobile and information to collect in conjunction with sniffing robot
It is required that study it is a kind of can passive type it is mobile and collect external energy and carry out ocean and the robot of polar region environment detection and have
Significance.
Different from existing disclosed robot technology, this robot of invention has passive type locomotivity
And energy harvesting capabilities, it can passively be moved using ocean current power in environment and wind-force, while converting mechanical energy into electric energy.Entirely
Spherical-like morphology is presented in robot, and by the effect of external environment ocean current power and wind-force, robot can pass through rolling using shell
Mode it is mobile, internal battery can be rotated relative to spherical shell, and the mechanical energy of rotation can be converted into electric energy by power generator
It is stored in battery.This patent specially devises flap-type elastic shell, four tunnel power generator and double freedom swing mechanism, makes institute
The robot of invention under external force of environment effect can passive type it is mobile, while the energy of environment can also be collected.
Summary of the invention
It is an object of the invention to be directed to the deficiency of existing environment exploring robot, devise it is a kind of have collection of energy and
The robot of passive type locomotivity, movement and sensor of this kind of robot using the ocean current power and wind-force in environment for oneself
Detection provides energy；Robot uses enclosed elastic shell, and internal element is mountable in shell, will not be by external seawater
It corroding and object scraping collision, shell elasticity can buffer excessive impact force, power generator will generate electric current as the robot moves,
It finally imported into battery and stores.Two pivot centers of double freedom swing mechanism are mutually perpendicular to intersect, may be implemented it is double from
It is swung by degree.Robot has good planar movement ability, collects environmental energy storage into battery, can be detection sensor
Power supply has the ability of the execution information acquisition tasks in ocean and polar region environment for a long time.
Technical scheme is as follows:
A kind of passive type mobile robot with energy harvesting capabilities comprising: flap-type elastic shell, four tunnels power generation dress
It sets and is formed with double freedom swing mechanism, wherein the flap-type elastic shell is to be assembled into spherical shape by several air bags, is located at
The outermost layer of robot, four tunnel power generator and double freedom swing mechanism are located in flap-type elastic shell；The double freedom
Pendulum-type battery compartment is mounted on the center of robot, and mass cg is received below the robot centre of sphere for storing robot
The energy collected, along horizontal axis swing opposite with robot shell；Four tunnel power generator is evenly arranged in robot
In internal wobble ring, for simultaneously converting the mechanical rotational energy of both direction, machinery can be relatively rotated to speed amplification
It is transferred to induction coil, it is the micro- of robot that the magnetic induction line magnetic of induction coil cutting permanent magnet, which is converted into electric current and can be carried out storage,
Type device with energy.
Further, the petaloid elastic shell of the robot is made of four petaloid air bags, the external edge of petaloid air bag
Design has three sticky tapes at edge, and left and right sides viscosity tape can be bonded with adjacent petaloid elastic balloon, intermediate viscosity
Tape can be bonded with the spherical frame of robot.
Further, four petaloids inside air bag gassy, is uniformly wrapped in outside the spherical frame of robot.
Further, four tunnel power generator includes first via power generator-fourth round power generator, uniform to be arranged
In on the spherical lower portion four direction of robot machine people, the first via power generator is mainly by speed increaser, permanent magnet, sense
Coil is answered to form；Wobble ring has two coaxial generators with the design of spherical frame junction, and it is opposite with spherical frame to collect wobble ring
Mechanical energy is rotated, balance staff there are two coaxial generators with the design of wobble ring junction, collects the machine of balance staff and wobble ring relative rotation
Tool energy；Output shaft of the speed increaser and coil are connected, and for promoting the velocity of rotation of coil, produce induction coil fly-cutting permanent magnet
Raw magnetic induction line, the electric current of generation is transmitted to pendulum circle from spherical frame, then is transmitted to balance staff from Bai Quan.
Further, the double freedom swing mechanism of the robot mainly includes spherical frame, Bai Quan, balance staff and electricity
Pond composition；The center of pendulum circle is overlapped with spherical frame center, and putting circle can be around the axis of coupled a pair of of generator
Relatively spherical frame member, rectangular cell are connected firmly in the centre of balance staff, center of gravity in balance staff lower part, battery and balance staff can around with its
The axis of connected another pair generator is relative to pendulum circle rotation, it is ensured that there are two the pendulum of freedom degree in the tool of robot interior for battery
It is dynamic, it will not influence robot in the mobility of ground moving.
Further, the spherical frame is welded into spherical shape by four and half curved metal items, the pendulum circle can with it is spherical
Frame relatively rotates, and balance staff can be relatively rotated with pendulum circle, and the axis of oscillation of pendulum circle and balance staff is mutually perpendicular to.
It advantages of the present invention and has the beneficial effect that:
The advantage of the invention is that having invented one kind has according to the performance requirement of ocean and polar region environment exploring robot
The passive type mobile robot of energy harvesting capabilities；This flexible spherical shell of small scale robot is made in external force of environment
It can freely be rolled under, spherical shell is made of four petaloid air bags, easy for removal and installation；Interior design has four tunnel power generator
The mechanical energy that robot spherical shell can be rotated is converted into electric energy, is stored in internal cell, powers to sensor；In robot
The double freedom swing mechanism in portion has there are two swing freedom degree and balance staff is mutually perpendicular to, and on the one hand provides sky for generator design
Between, the passive type that on the other hand will not influence robot is mobile.In conclusion the robot invented can not carry power supply
Under conditions of, long-term movement and detection mission is executed under ocean and polar region environment.
Detailed description of the invention
Fig. 1 is that the present invention provides the robot appearance diagram of preferred embodiment
Fig. 2 is the assembling schematic diagram that robot of the invention removes part spherical shell
Fig. 3 is robot interior structure top view of the invention
Fig. 4 is robot interior structural side view of the invention
Fig. 5 is robot interior structure front view of the invention
Fig. 6 is the assembling schematic diagram of robot pendulum circle and balance staff of the invention
Figure label: 1: petaloid air bag, 2: sticky tape, 3: spherical frame, 4: pendulum circle, 5: balance staff, 6: the line of left motor
Circle, 7: the permanent magnet of left motor, 8: the speed increaser of left motor, 9: the coil of right motor, 10: the permanent magnet of right motor, 11: right electricity
The speed increaser of machine, 12: the coil of front motor, 13: the permanent magnet of front motor, 14: the speed increaser of front motor, 15: battery, 16: after
The coil of motor, 17: the permanent magnet of rear motor, 18: the speed increaser of rear motor.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, detailed
Carefully describe.Described embodiment is only a part of the embodiments of the present invention.
The technical solution that the present invention solves above-mentioned technical problem is:
Structure design of the invention, main contents are exactly to devise one there is collection external environment energy and passive type to move
The miniature mobile robot of kinetic force.The mechanical energy that the robot can act on external environment on spherical shell is converted into electric energy and stores up
There are in battery, it can be microdevice and the passive sensor power supply of the carrying of robot, have under ocean and polar region environment
The ability detected for a long time.
Fig. 1 is the robot appearance diagram of invention: the positive spherical housing of robot is a valve as we can see from the figure
Formula elastic shell structure, assembled by four petaloid air bags 1, this structure can be tried hard to keep with absorbing external protects robot interior member
Part can also roll movement.
Fig. 2 is the assembling schematic diagram that robot of the invention removes part spherical shell, the side band of the petaloid air bag 1 of robot
Toughness tape 2 can be Nian Jie with adjacent petaloid air bag, and intermediate sticky tape can be Nian Jie with spherical frame 3, designs in this way
Convenient for the disassembly and installation of robot；The four tunnel power generator and double freedom pendulum-type battery compartment of robot are mounted on robot ball
Inside shape frame 3.
Fig. 3 is robot interior structure top view of the invention, and Fig. 4 is robot interior structural side view of the invention,
Fig. 5 is robot interior structure front view of the invention: spherical frame is welded into spherical shape by four and half curved metal items in figure, pendulum
Circle 4 is located inside spherical frame 3, and pendulum circle 4 can be relatively rotated with spherical frame 3, and balance staff 5 is located inside pendulum circle 3, and balance staff 5 can
To relatively rotate with pendulum circle 4, the axis of oscillation of pendulum circle 4 and balance staff 5 is mutually perpendicular to, and battery 15 is fixed among balance staff 5, center of gravity
Positioned at 5 lower section of balance staff.
Fig. 6 is the assembling schematic diagram of of the invention robot pendulum circle and balance staff, the coil 6 of left motor in figure, left motor
The speed increaser 8 of permanent magnet 7 and left motor constitutes first via power generator, 10 and of permanent magnet of the coil 9 of right motor, right motor
The speed increaser 11 of right motor constitutes the second tunnel power generator, the coil 12 of front motor, the permanent magnet 13 of front motor and front motor
Speed increaser 14 constitute third road power generator, the speedup of the coil 16 of rear motor, the permanent magnet 17 of rear motor and rear motor
Device 18 constitutes the 4th tunnel power generator；All the way with the speedup of the speed increaser 8 of the left motor in two tunnel power generator and right motor
Device 11 is located at 4 left and right ends of pendulum circle, and axis is overlapped with the pivot center of pendulum circle 4, and shell and pendulum circle 4 are connected, input shaft
It being connect with spherical frame 3, output shaft is respectively connect with the coil 9 of the coil 6 of the left motor for power generator of going the same way and right motor,
The permanent magnet 7 of left motor is located at 6 two sides of coil of left motor, and is connected with pendulum circle 4, and the permanent magnet 10 of right motor is located at right motor
9 two sides of coil, also with pendulum circle 4 be connected；The increasing of the speed increaser 14 and rear motor of front motor in three-way and four-way power generator
Fast device 18 is located at the rear and front end of balance staff 5, and axis is overlapped with the pivot center of balance staff 5, and shell and balance staff 5 are connected, defeated
Enter axis to connect with pendulum circle 4, output shaft respectively connects with the coil 16 of the coil 12 of the front motor for power generator of going the same way and rear motor
It connects, the permanent magnet 13 of front motor is located at the two sides of the coil 12 of front motor, and is connected with balance staff 5, the permanent magnet of rear motor 17
In the two sides of the coil 16 of rear motor, also it is connected with balance staff 5.
Robot passive type is mobile and collection of energy process: since robot shell is in spherical, when the power in external environment
When on (such as ocean current power and wind-force) non-uniform petaloid air bag 1 for acting on robot, robot can be rolled passively, and machine
The center of gravity of battery 15 inside device people is located at the lower section of the robot centre of sphere, and under the action of gravitational moment, battery 15 can swing one
Low-angle, but will not be rotated with spherical shell, will exist between such battery 15 and spherical frame 3 and relatively rotate, this phase
The rotation of pendulum circle 4 and balance staff 5, increasing of the velocity of rotation Jing Guo four tunnel power generator are broken down into inside spherical frame 3 to rotation
Fast device amplifies, and the magnetic induction line of induction coil fly-cutting permanent magnet just generates electric current, finally imports in battery 15 and carries out
Storage is powered for miniature or passive sensor, and here it is the movement of robot passive type and collection of energy processes.
In summary: a kind of passive type mobile robot with energy harvesting capabilities invented is made in external force of environment
Under can passive type it is mobile, flap-type elastic shell is spherical, can not only roll and also have elasticity can absorbing external power,
And it can protect internal component；The rolling of spherical shell can be resolved into pendulum circle in robot interior by double freedom swing mechanism
With the rotation of balance staff；Four tunnel power generator are symmetrically arranged in orthogonal rotary shaft, can will be in robot moving process
Rotation mechanical energy be converted to power storage in the battery, can for sensor power；It is mobile flat that robot can be used as detection
Platform carries various miniature and passive sensor, can be in ocean and polar region environment under conditions of not needing additionally to carry the energy
Medium-term and long-term execution information is collected and detection mission.
The above embodiment is interpreted as being merely to illustrate the present invention rather than limit the scope of the invention.?
After the content for having read record of the invention, technical staff can be made various changes or modifications the present invention, these equivalent changes
Change and modification equally falls into the scope of the claims in the present invention.
Claims (6)
1. a kind of passive type mobile robot with energy harvesting capabilities characterized by comprising flap-type elastic shell, four
Road power generator and double freedom swing mechanism, wherein the flap-type elastic shell is to be assembled into spherical shape by several air bags,
Positioned at the outermost layer of robot, four tunnel power generator and double freedom swing mechanism are located in flap-type elastic shell；Double freedom
Pendulum-type battery compartment is mounted on the center of robot, and mass cg is received below the robot centre of sphere for storing robot
The energy collected, along horizontal axis swing opposite with robot shell；Four tunnel power generator is evenly arranged in robot
In internal wobble ring, for simultaneously converting the mechanical rotational energy of both direction, machinery can be relatively rotated to speed amplification
It is transferred to induction coil, it is that robot is miniature that the magnetic induction line magnetic of induction coil cutting permanent magnet, which is converted into electric current and can be carried out storage,
Device with energy.
2. the passive type mobile robot according to claim 1 with energy harvesting capabilities, which is characterized in that the machine
The petaloid elastic shell of device people is made of four petaloid air bags (1), and design has three viscosity at the external margin of petaloid air bag (1)
Tape (2), left and right sides viscosity tape can be bonded with adjacent petaloid elastic balloon, and intermediate viscosity tape can be with robot
Spherical frame (3) bonding.
3. the passive type mobile robot according to claim 2 with energy harvesting capabilities, which is characterized in that described four
A petaloid inside air bag gassy is uniformly wrapped in outside the spherical frame of robot.
4. according to claim 1 with the passive type mobile robot of energy harvesting capabilities described in one of -3, which is characterized in that
Four tunnel power generator includes first via power generator-fourth round power generator, is uniformly set to robot machine people's ball
On shape lower portion four direction, the first via power generator is by speed increaser, permanent magnet, induction coil composition；Wobble ring and ball
The design of shape frame junction has two coaxial generators, collects wobble ring and spherical frame relatively rotates mechanical energy, balance staff and pendulum
The design of ring junction has two coaxial generators, collects the mechanical energy that balance staff (5) and wobble ring (4) relatively rotate；Speed increaser is defeated
Shaft and coil are connected, and for promoting the velocity of rotation of coil, the magnetic induction line for generating induction coil fly-cutting permanent magnet is raw
At electric current be transmitted to pendulum circle from spherical frame, then from Bai Quan be transmitted to balance staff.
5. the passive type mobile robot according to claim 2 with energy harvesting capabilities, which is characterized in that the machine
The double freedom swing mechanism of device people includes spherical frame (3), pendulum circle (4), balance staff (5) and battery；Pendulum circle (4) center with
Spherical frame center (3) is overlapped, and putting circle (4) can be around the relatively spherical frame of axis of coupled a pair of of generator turn
Dynamic, rectangular cell connects firmly the centre in balance staff (5), and for center of gravity in balance staff lower part, battery and balance staff can be around coupled another pair
The axis of generator is relative to pendulum circle rotation, it is ensured that there are two the swing of freedom degree, Bu Huiying in the tool of robot interior for battery
Robot is rung in the mobility of ground moving.
6. the passive type mobile robot according to claim 5 with energy harvesting capabilities, which is characterized in that the ball
Shape frame (3) is welded into spherical shape by four and half curved metal items, and the pendulum circle (4) can relatively rotate with spherical frame (3), put
Axis (5) can be relatively rotated with pendulum circle (4), and the axis of oscillation of pendulum circle (4) and balance staff (5) is mutually perpendicular to.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710418643.1A CN107253500B (en) | 2017-06-06 | 2017-06-06 | A kind of passive type mobile robot with energy harvesting capabilities |
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| CN201710418643.1A CN107253500B (en) | 2017-06-06 | 2017-06-06 | A kind of passive type mobile robot with energy harvesting capabilities |
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| CN107253500A CN107253500A (en) | 2017-10-17 |
| CN107253500B true CN107253500B (en) | 2019-05-31 |
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| CN201710418643.1A Active CN107253500B (en) | 2017-06-06 | 2017-06-06 | A kind of passive type mobile robot with energy harvesting capabilities |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111396237A (en) * | 2020-02-20 | 2020-07-10 | 重庆邮电大学 | Spherical underwater robot wave energy capturing system and method based on inertial pendulum |
| CN111345882B (en) * | 2020-04-09 | 2022-12-09 | 南方医科大学第三附属医院 | Intramedullary pressurizing robot capable of replacing transverse bone moving |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101249849A (en) * | 2008-04-08 | 2008-08-27 | 西安电子科技大学 | Pneumatic environment detection spherical robot having multiple motion modes |
| CN102087528A (en) * | 2010-08-05 | 2011-06-08 | 北京交通大学 | Passively-driven exploration robot based on tumbleweed bionics |
| CN105591452A (en) * | 2016-01-16 | 2016-05-18 | 上海大学 | Spherical robot capable of balanced generation |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5488131B2 (en) * | 2010-03-31 | 2014-05-14 | シンフォニアテクノロジー株式会社 | Electromagnetic actuator |
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2017
- 2017-06-06 CN CN201710418643.1A patent/CN107253500B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101249849A (en) * | 2008-04-08 | 2008-08-27 | 西安电子科技大学 | Pneumatic environment detection spherical robot having multiple motion modes |
| CN102087528A (en) * | 2010-08-05 | 2011-06-08 | 北京交通大学 | Passively-driven exploration robot based on tumbleweed bionics |
| CN105591452A (en) * | 2016-01-16 | 2016-05-18 | 上海大学 | Spherical robot capable of balanced generation |
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