CN107697179A - Double mode spherical robot mechanism and traveling method - Google Patents
Double mode spherical robot mechanism and traveling method Download PDFInfo
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- CN107697179A CN107697179A CN201711003637.6A CN201711003637A CN107697179A CN 107697179 A CN107697179 A CN 107697179A CN 201711003637 A CN201711003637 A CN 201711003637A CN 107697179 A CN107697179 A CN 107697179A
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- spherical shell
- balancing weight
- grating scale
- ball shape
- wheel
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 206010018325 Congenital glaucomas Diseases 0.000 claims abstract description 5
- 206010012565 Developmental glaucoma Diseases 0.000 claims abstract description 5
- 208000007157 Hydrophthalmos Diseases 0.000 claims abstract description 5
- 201000001024 buphthalmos Diseases 0.000 claims abstract description 5
- 238000005096 rolling process Methods 0.000 claims abstract description 3
- 230000005484 gravity Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 3
- UDGUGZTYGWUUSG-UHFFFAOYSA-N 4-[4-[[2,5-dimethoxy-4-[(4-nitrophenyl)diazenyl]phenyl]diazenyl]-n-methylanilino]butanoic acid Chemical compound COC=1C=C(N=NC=2C=CC(=CC=2)N(C)CCCC(O)=O)C(OC)=CC=1N=NC1=CC=C([N+]([O-])=O)C=C1 UDGUGZTYGWUUSG-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- Engineering & Computer Science (AREA)
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- Transportation (AREA)
- Mechanical Engineering (AREA)
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- Toys (AREA)
Abstract
The invention discloses a kind of double mode spherical robot mechanism and traveling method, including outer spherical shell and outer spherical shell hoofing part element, outer spherical shell hoofing part element includes three orthogonal single omni-directional wheels and half interior spherical shell in the upper and lower hemispherical Shell of outer spherical shell, it is in rolling contact in half between spherical shell and outer spherical shell by buphthalmos wheel, three single omni-directional wheels are installed in supporting plate by corresponding wheel carrier and are provided with the stepper motor of the corresponding single omni-directional wheel of driving with the interior spherical shell face CONTACT WITH FRICTION of outer spherical shell, each wheel carrier；Vertical central axis line in half in spherical shell is provided with grating scale, balancing weight is arranged with grating scale, for balancing weight by rack pinion pair in making lifting moving on grating scale, balancing weight, which is provided with, senses the reading head that grating scale is overlapped or deviateed to detect barycenter with the centre of sphere.The present invention adjusts centroid position by actual conditions, and any switching laws of high speed rotor pattern and low speed eccentric mass pattern can be achieved, ball shape robot is faster more accurate to up to target location.
Description
Technical field
The present invention relates to spherical robot mechanism, specially a kind of double mode spherical robot mechanism and traveling method.
Background technology
Ball shape robot can be turned to more delicately than other motion modes, and spherical device can adjust running status rapidly, enter
The continuous work of row, has very strong recovery capability.
Different according to driving principle, the type of drive of ball shape robot has two kinds of driving methods at present, and the first is eccentric
Quality driving method, second is rotor driving method.
In the ball shape robot using the driving of eccentric mass method, more representational is that BJ University of Aeronautics ＆ Astronautics grinds
The ball shape robot BHQ-2 of system, it produces eccentric moment and overcome and rubs by constantly adjusting and changing the position of centre of gravity of robot
Wiping the moment of resistance rolls robot；Similar, the ball shape robot BYQ-III that Beijing University of Post ＆ Telecommunication develops, it can be by interior
Portion mechanism produces eccentric moment around the rotation of trunnion axis makes robot scroll forward and backward.
The ball shape robot of eccentric mass method driving can accurately reach target location, but if start position is from target
When position is remote, because the type of drive is applied to low-speed motion, the time spent is more, and efficiency can reduce.
In the ball shape robot using the driving of rotor method, more representational is the complete right of Shanghai Communications University's development
Claim ball shape robot, it is the motion that ball shape robot is realized in rotating forward, reversion and start-stop by adjusting two motors respectively.
Rotor driving method is applied to high-speed rotation, it is ensured that ball shape robot is quickly reached near target location, effect
Rate is high, but is easily interfered, and the less stable of anchor point, thus is not easy precisely to reach target location.
Existing ball shape robot can realize eccentric mass drive pattern or rotor drive pattern one of which at present, and this two
Any switching laws are not implemented in kind pattern, thus are not easy to realize quick and accurate arrival target location simultaneously.
The content of the invention
In view of the shortcomings of the prior art, the technical problems to be solved by the invention are to propose a kind of achievable high speed rotor
The double mode spherical robot mechanism and traveling method that pattern mutually switches with low speed eccentric massblock pattern.
The double mode spherical robot mechanism of above-mentioned technical problem is can solve the problem that, its technical scheme includes outer spherical shell and set
In the outer spherical shell hoofing part element in outer spherical shell, except that the outer spherical shell hoofing part element is included with one heart located at outer
Half interior spherical shell in spherical shell lower hemisphere shell and three orthogonal single omni-directional wheels located at outer spherical shell upper hemispherical shell inner periphery uniformly,
It is in rolling contact in described half between spherical shell and outer spherical shell by uniform buphthalmos wheel, three single omni-directional wheels are pacified by corresponding wheel carrier
Loaded in the supporting plate at the top of half interior spherical shell and corresponding single provided with driving with the interior spherical shell face CONTACT WITH FRICTION of outer spherical shell, each wheel carrier
Arrange the stepper motor of omni-directional wheel and the encoder of the corresponding single omni-directional wheel rotary state of detection；It is vertical in spherical shell in described half
Axis is provided with grating scale, the balancing weight that barycenter is on half interior spherical shell axis is arranged with the grating scale, two match somebody with somebody
Pouring weight makees lifting moving by rack pinion pair on grating scale, and the balancing weight is provided with sensing grating scale and matched somebody with somebody with detecting
The reading head that pouring weight barycenter is overlapped or deviateed with the centre of sphere.
Further, the rack pinion is secondary includes being located at grating scale left surface or rack and and rack on right flank
Meshed gears, two balancing weights correspond to gear and are installed on located at the front side of grating scale and rear side, the wheel shaft both ends of the gear
In forward and backward balancing weight medial surface, the reading head is located on the medial surface of front or rear balancing weight, the lateral surface of forward and backward balancing weight
Servomotor and profile, the quality and servomotor identical short supporting axle of synchronous drive gear both ends wheel shaft are provided with, it is described
Servomotor and short supporting axle are installed on the forward and backward frame plate of framework, the right side of framework or the right side or left side of light frame plate and grating scale
Guiding sliding pair of vertical is formed between face.
Further, the lower end of the grating scale is installed on the bottom of spherical shell in half, and the upper end of grating scale passes through supporting plate
Port be connected with the support frame above three single omni-directional wheels, three heel braces of support frame as described above are respectively arranged in corresponding wheel
On frame.
Further, the port is opened in the hemispherical top of the trellis to arch upward in supporting plate center, and each wheel carrier is taken turns by corresponding
Seat is arranged on the correspondence position of hemispherical frame.
To ensure the stability under ball shape robot halted state, the half interior spherical shell is provided with when ball shape robot stops
When balancing weight is moved downward to the reset switch of extreme lower position.
The traveling method of above-mentioned double mode spherical robot mechanism, it is by driving three single omni-directional wheels and mobile counterweight
The upper and lower position of block and realize switching of the spherical machine between people's rotor pattern and eccentric modes i.e. fast mode and low-speed mode
Between switching, its walking manner is：
1st, balancing weight is moved to when making ball shape robot barycenter and centre of sphere overlapping positions, and ball shape robot can be single at three
Quickly walked under the high speed rotation driving of omni-directional wheel.
2nd, balancing weight is moved downward to when making ball shape robot barycenter and centre of sphere eccentric position, under gravity in half
Spherical shell produces the swing of low-angle, and the low speed fortune of ball shape robot is realized under the rotation driving at a slow speed of three single omni-directional wheels
It is dynamic.
3rd, after ball shape robot reaches target location, balancing weight is made to drop to extreme lower position matter even if starting reset switch
The heart is preferably minimized, so as to realize that ball shape robot is more stablized after stopping.
Beneficial effects of the present invention：
1st, the present invention is adjusted up by balancing weight, when the centre of sphere of spherical shell in ball shape robot barycenter and outer spherical shell and half
During coincidence, ball shape robot is in high speed rotor pattern, it is achieved thereby that ball shape robot high-speed motion, can quickly reach target
Near position.
2nd, the downward regulation of the invention by balancing weight, when the centre of sphere of spherical shell in ball shape robot barycenter and outer spherical shell and half
During deviation, ball shape robot is in low speed eccentric massblock pattern, and the biasing of barycenter can make half interior spherical shell under gravity
The swing of angle very little is produced, so as to realize the low-speed motion of ball shape robot, ball shape robot is more accurately reached mesh
Cursor position.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of one embodiment of the present invention.
Fig. 2 is the cut-away view of Fig. 1 embodiments.
Fig. 3 is the sectional view of Fig. 1 embodiments.
Fig. 4 is Fig. 3 A direction views.
Figure number identifies：1st, outer spherical shell；2nd, half interior spherical shell；3rd, single omni-directional wheel；4th, wheel carrier；5th, supporting plate；6th, encoder；7、
Grating scale；8th, balancing weight；9th, reading head；10th, buphthalmos wheel；11st, stepper motor；12nd, rack；13rd, gear；14th, servomotor；
15th, framework；16th, support frame；17th, hemispherical frame；18th, reset switch；19th, short supporting axle.
Embodiment
Illustrated embodiment is described further to technical scheme below in conjunction with the accompanying drawings.
Double mode spherical robot mechanism of the present invention, its structure include outer spherical shell 1, half interior spherical shell 2 and the walking of outer spherical shell and driven
Dynamic element and centroid adjustment component.
Spherical shell 2 is located in the lower hemisphere shell of outer spherical shell 1 with one heart in described half, uniform more in the ectosphere shell surface of spherical shell 2 in half
Individual buphthalmos wheel so that roll connection in half between spherical shell 2 and outer spherical shell 1, spherical shell 2 is suitable for reading covered with annular backup pad 5 in half,
The hemispherical frame 17 of arch is provided with the center ring hole of the supporting plate 5, the top of the hemispherical frame 17 offers port, such as
Shown in Fig. 1, Fig. 2, Fig. 3.
The outer spherical shell hoofing part element includes three located at the outer upper hemispherical shell inner periphery of spherical shell 1 uniform (in horizontal plane)
Individual single omni-directional wheel 3, three single omni-directional wheels 3 installed by corresponding wheel carrier 4 and with the interior spherical shell face CONTACT WITH FRICTION of outer spherical shell 1,
Each wheel carrier 4 is installed by corresponding wheel seat on the correspondence position of hemispherical frame 17, orthogonal i.e. three lists of three single omni-directional wheels 3
The centre of gyration line of row's omni-directional wheel 3 is intersected at a point upwards, and the point is on vertical centre of sphere axis, and each wheel carrier 4, which is provided with, to be driven
The encoder 6 of the stepper motor 11 of dynamic corresponding single omni-directional wheel 3 and the corresponding single rotary state of omni-directional wheel 3 of detection, as Fig. 1,
Shown in Fig. 2, Fig. 3.
The centroid adjustment component includes grating scale 7 and balancing weight 8 and reading head 9, and the grating scale 7 is vertically located at outer
Spherical shell 2 is interior in the upper hemispherical shell of spherical shell 1 and half and is in vertical support plate 5 and crosses on the axis of the centre of sphere, the bottom of the grating scale 7
Portion is fixedly installed in the bottom of spherical shell 2 in half, and the middle part of grating scale 7 passes through the port of hemispherical frame 17, the top peace of grating scale 7
The bottom of support frame 16 loaded on three tops of single omni-directional wheels 3, three heel braces of support frame as described above 16 are installed on pair separately down
On the wheel carrier 4 answered, what the left surface of grating scale 7 was provided with that rack 12 engages with rack 12 is the gear on the left surface of grating scale 7
13；Two balancing weights 8 correspond to gear 13 and are in right sphere mandrel located at the front side of grating scale 7 and rear side, the barycenter of two balancing weights 8
On line, the wheel shaft both ends of the gear 13 are installed in the medial surface of forward and backward balancing weight 8 by bearing respectively, the reading head 9
Relative with side before or after grating scale 7 on the medial surface of front or rear balancing weight 8, the lateral surface of forward and backward balancing weight 8 is provided with
The servomotor 14 and profile of one end wheel shaft of drive gear 13, quality and the identical short supporting axle 19 of servomotor 14, it is described to watch
Take motor 14 and short supporting axle 19 is installed on the forward and backward frame plate of framework 15, the right frame plate of framework 15 and the right flank of grating scale 7
Between form guiding sliding pair of vertical, the bottom of spherical shell 2 is provided with reset switch 18 in half by the bottom of grating scale 7, as shown in Figure 3, Figure 4.
In said structure, reading that the particular location of 8 upper and lower lifting moving of balancing weight can be by reading head 9 to grating scale 7
Obtain, by reading head 9 read the particular location of balancing weight 8 can calculate ball shape robot centroid position.
Double mode spherical robot mechanism traveling method of the present invention, including two kinds of walking manners, it is respectively：
1st, balancing weight 8 is moved to when making ball shape robot barycenter and centre of sphere overlapping positions, and ball shape robot can be in three lists
Arrange and quickly walked under the high speed rotation driving of omni-directional wheel 3.
2nd, balancing weight 8 is moved downward to when making ball shape robot barycenter and centre of sphere eccentric position, and under gravity half
Interior spherical shell 2 can produce the swing of a low-angle, and ball shape robot is realized under the rotation driving at a slow speed of three single omni-directional wheels 3
Low-speed motion.
3rd, after ball shape robot reaches target location, starting reset switch 18 makes balancing weight 8 drop to extreme lower position i.e.
It is preferably minimized barycenter, so as to realize that ball shape robot is more stablized after stopping.
Claims (6)
1. double mode spherical robot mechanism, including outer spherical shell (1) and the outer spherical shell hoofing part member in outer spherical shell (1)
Part, it is characterised in that：The outer spherical shell hoofing part element includes the half interior spherical shell with one heart in outer spherical shell (1) lower hemisphere shell
(2) and located at three uniform orthogonal single omni-directional wheels (3) of outer spherical shell (1) upper hemispherical shell inner periphery, the half interior spherical shell (2)
It is in rolling contact between outer spherical shell (1) by uniform buphthalmos wheel (10), three single omni-directional wheels (3) pass through corresponding wheel carrier (4)
Be installed in the supporting plate (5) in half at the top of spherical shell (2) and with the interior spherical shell face CONTACT WITH FRICTION of outer spherical shell (1), on each wheel carrier (4)
The volume of stepper motor (11) and corresponding single omni-directional wheel (3) rotary state of detection provided with the corresponding single omni-directional wheel (3) of driving
Code device (6)；Vertical central axis line in described half in spherical shell (2) is provided with grating scale (7), is arranged with the grating scale (7)
Barycenter is in the balancing weight (8) on spherical shell (2) axis in half, and two balancing weights (8) are by rack pinion pair in grating scale
(7) lifting moving is made on, the balancing weight (8) is provided with sensing grating scale (7) and overlapped to detect balancing weight (8) barycenter with the centre of sphere
Or the reading head (9) deviateed.
2. double mode spherical robot mechanism according to claim 1, it is characterised in that：The secondary bag of the rack pinion
Include located at grating scale (7) left surface or rack (12) on right flank and with rack (12) meshed gears (13), two balancing weights
(8) gear (13) is corresponded to located at the front side of grating scale (7) and rear side, the wheel shaft both ends of the gear (13) are installed on forward and backward
In balancing weight (8) medial surface, the reading head (9) is located on the medial surface of front or rear balancing weight (8), forward and backward balancing weight (8)
Lateral surface is provided with servomotor (14) and profile, quality and servomotor (14) identical of drive gear (13) one end wheel shaft
Short supporting axle (19), the servomotor (14) and short supporting axle (19) are installed on the forward and backward frame plate of framework (15), framework
(15) guiding sliding pair of vertical is formed between the right side or the right or left surface of light frame plate and grating scale (7).
3. double mode spherical robot mechanism according to claim 2, it is characterised in that：The lower end of the grating scale (7)
It is installed on the bottom of spherical shell (2) in half, the port and three single omni-directional wheels (3) of the upper end of grating scale (7) through supporting plate (5)
Support frame (16) connection of top, three heel braces of support frame as described above (16) are respectively arranged on corresponding wheel carrier (4).
4. double mode spherical robot mechanism according to claim 3, it is characterised in that：The port is opened in supporting plate
(5) at the top of the hemispherical frame (17) that center is arched upward, each wheel carrier (4) is arranged on the corresponding position of hemispherical frame (17) by corresponding wheel seat
Put.
5. the double mode spherical robot mechanism according to any one in Claims 1 to 4, it is characterised in that：In described half
Spherical shell (2) is provided with the reset switch (18) for making balancing weight (8) be moved downward to extreme lower position when ball shape robot stops.
6. it is logical using the double mode ball shape robot traveling method of double mode spherical robot mechanism as claimed in claim 5
The upper and lower position for three single omni-directional wheels (3) and the self-balanced upper rotary (8) of overdriving and realize ball shape robot in rotor pattern and
Switching between eccentric modes is the switching between fast mode and low-speed mode, and its walking manner is：
1., balancing weight (8) be moved to when making ball shape robot barycenter and centre of sphere overlapping positions, ball shape robot can be single at three
Quickly walked under the high speed rotation driving of omni-directional wheel (3).
2., balancing weight (8) be moved downward to when making ball shape robot barycenter and centre of sphere eccentric position, under gravity in half
Spherical shell (2) produces the swing of low-angle, and the low of ball shape robot is realized under the rotation driving at a slow speed of three single omni-directional wheels (3)
Speed motion；
3., when ball shape robot reach target location after, start reset switch (18) balancing weight (8) is dropped to extreme lower position i.e.
It is preferably minimized barycenter, so as to realize that ball shape robot is more stablized after stopping.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711003637.6A CN107697179B (en) | 2017-10-24 | 2017-10-24 | Dual-mode spherical robot mechanism and walking method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711003637.6A CN107697179B (en) | 2017-10-24 | 2017-10-24 | Dual-mode spherical robot mechanism and walking method |
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| CN107697179A true CN107697179A (en) | 2018-02-16 |
| CN107697179B CN107697179B (en) | 2023-10-27 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108556577A (en) * | 2018-04-23 | 2018-09-21 | 西南科技大学 | A kind of land and air double-used ball shape robot |
| CN114833843A (en) * | 2022-04-26 | 2022-08-02 | 西安理工大学 | Spherical wheel leg explosive-handling robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114833843A (en) * | 2022-04-26 | 2022-08-02 | 西安理工大学 | Spherical wheel leg explosive-handling robot |
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| CN107697179B (en) | 2023-10-27 |
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