CN107719499B - Universal rolling spherical robot - Google Patents
Universal rolling spherical robot Download PDFInfo
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- CN107719499B CN107719499B CN201710866370.7A CN201710866370A CN107719499B CN 107719499 B CN107719499 B CN 107719499B CN 201710866370 A CN201710866370 A CN 201710866370A CN 107719499 B CN107719499 B CN 107719499B
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- 238000005096 rolling process Methods 0.000 title claims abstract description 23
- 230000005484 gravity Effects 0.000 claims abstract description 43
- 230000005540 biological transmission Effects 0.000 claims description 18
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 9
- 229910052744 lithium Inorganic materials 0.000 claims description 9
- 230000003287 optical effect Effects 0.000 claims description 9
- 238000003466 welding Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 8
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 208000028752 abnormal posture Diseases 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a universal rolling spherical robot, which aims to solve the problems that in the prior art, the running direction is limited, the rolling in any direction cannot be realized, the stability is poor and the posture adjustment precision is poor due to the fact that a platform is built more complex, and the universal rolling spherical robot comprises a shell part, a center support frame (3), a gravity center moving device part and an automatic control part; the shell part is a spherical shell part; the central supporting frame (3) is a square frame-type structural member; the gravity center moving device part comprises 6 gravity center moving devices (5) with the same structure; the inner ends of the 6 center of gravity moving devices (5) with the same structure are fixedly connected with 6 plane frames of the square center support frame (3) in sequence, the shell part is sleeved around the 6 center of gravity moving devices (5) with the same structure which are installed on the center support frame (3), and the outer ends of the 6 center of gravity moving devices (5) with the same structure are fixedly connected with the inner wall of the shell part.
Description
Technical Field
The invention relates to a robot in the technical field of electromechanical integration, in particular to a universal rolling spherical robot.
Background
The spherical robot is a novel rolling walking robot with a novel structure, the appearance of the spherical robot is spherical, and three driving modes are currently common, namely variable mass center driving, roller driving and multi-degree-of-freedom driving. The spherical robot has the characteristics of high movement speed, good off-road performance, good direction controllability and the like. The device can be used for running activities such as home service, entertainment games, scientific investigation and the like on flat roads, slopes, silt roads, snow roads and even in water, and can be used for running activities such as dangerous environment detection, fire fighting and disaster relief and the like under the environments such as toxic gas leakage, radiation, biological hazard and the like. At present, spherical robots are becoming one of the hot spots in the research field of intelligent robots at home and abroad.
Compared with a wheel-shaped mobile robot, the spherical robot has two unique advantages, firstly, the spherical robot is a totally-enclosed individual, is not easy to be polluted by the external environment, and meanwhile, the spherical robot does not have the phenomenon of rollover and the like; the obstacle crossing capability of the second spherical robot is strong, the obstacle crossing capability of the wheel-shaped mobile robot is limited by the size of the wheels of the second spherical robot, and the invention of the spherical robot is pushed to enhance the obstacle crossing capability of the robot.
However, the existing spherical robot has the defects that the running direction is limited, the rolling in any direction cannot be realized, the built platform is complex, the stability is poor, and the accuracy of robot posture adjustment is poor. Therefore, the actual market needs and applications cannot be well met.
The purpose of the invention is that: the spherical robot structure scheme has the advantages of realizing universal rolling without motion dead angles, along with simple and reliable control, good stability of an accessory carrying platform and simple abnormal posture adjustment, and overcomes the defects in the existing scheme.
Disclosure of Invention
The invention aims to solve the technical problems that the running direction is limited, the rolling in any direction cannot be realized, the stability is poor and the posture adjustment precision is poor due to the fact that a platform is built more complex in the prior art, and provides a universal rolling spherical robot.
In order to solve the technical problems, the invention is realized by adopting the following technical scheme: the universal rolling spherical robot comprises a shell part, a central supporting frame, a gravity center moving device part and an automatic control part;
the shell part is a spherical hollow shell structural member and comprises 3 side shells, an upper shell and a lower shell which have the same structure;
the side shell is a shell structural member with a spherical curved surface, the curvature radius of the side shell is the same as that of the lower shell and the upper shell, the right edge of the side shell is provided with a side shell fixed contact right cambered surface, and round through holes for fixedly connecting with the other side shell are uniformly formed in the side shell fixed contact right cambered surface; the left edge of the side shell is also provided with a side shell fixed contact left cambered surface, round through holes are uniformly formed in the side shell fixed contact left cambered surface, the upper edge of the side shell is provided with a side shell fixed contact upper cambered surface, the lower edge of the side shell is provided with a side shell fixed contact lower cambered surface, and round through holes fixedly connected with the upper shell fixed contact cambered surface of the upper shell and the lower shell fixed contact cambered surface of the lower shell are uniformly formed in the side shell fixed contact upper cambered surface and the side shell fixed contact lower cambered surface;
the central support frame is a square frame-type structural member and comprises a square front plane frame, a square top plane frame, a square back plane frame, a square bottom plane frame, a square left plane frame and a square right plane frame;
the front plane frame, the top plane frame, the rear plane frame, the bottom plane frame, the left plane frame and the right plane frame of the central support frame are composed of 1 square side frame and 4 rib plates with rectangular cross sections; the rib plates with 4 rectangular cross sections in each plane frame are arranged in pairs, 2 rib plates in each pair are parallel to each other, 2 pairs of rib plates are mutually perpendicular, each pair of rib plates is parallel to the corresponding frame side in the square side frame on the plane, each pair of rib plates is in contact connection with the inner side of the vertical frame side in the square side frame on the plane and fixedly connected in a welding mode, each pair of rib plates is symmetrically arranged at the center of the square side frame in the plane frame, so the square side frame on each plane of the center support frame is divided into 9 rectangular small frames by the 4 rib plates with rectangular cross sections, and through holes with the same structure and used for fixing a servo motor in a gravity center moving device part are arranged at four corners of the rectangular small frame in the center of each plane frame; through holes are formed in two corners of the outer sides of the left rectangular large frame and the right rectangular large frame on the left side and the right side of the rectangular small frame at the center; the front plane frame, the top plane frame, the rear plane frame and the bottom plane frame in the central supporting frame have the same structure; the left plane frame and the right plane frame have the same structure, and through holes for fixing hyperboloid guide rails in the gravity center moving device part are formed in two corners of the outer sides of an upper rectangular large frame and a lower rectangular large frame of the upper and lower sides of a rectangular small frame at the center of the left plane frame and the right plane frame; the number of through holes on the front plane frame, the top plane frame, the rear plane frame, the bottom plane frame, the left plane frame and the right plane frame of the central support frame is the same as that of the through holes;
the gravity center moving device part comprises 6 gravity center moving devices with the same structure;
the gravity center moving device also comprises a No. 1 bearing fixing bracket, a hyperboloid guide rail, a nut block, a counterweight sliding block, a screw rod, a No. 2 bearing fixing bracket, 2 bearings with the same structure, a coupler and a servo motor; wherein: the bearing fixing support No. 1 comprises an upper support and a lower support, the bearing fixing support No. 2 comprises an upper support No. 2 and a lower support No. 2, and the hyperboloid guide rail comprises a left guide rail and a right guide rail; the servo motor is fixed on a rectangular small frame at the center of a certain plane frame in the center support frame by adopting a bolt, an output shaft of the servo motor is fixedly connected with the front end of a screw rod through a coupler, a nut block is sleeved on the screw rod, the top end and the bottom end of the nut block are fixedly connected with the lower connecting plate and the upper counterweight sliding block through an upper connecting plate and a lower connecting plate, the upper surfaces of the upper counterweight sliding block and the lower counterweight sliding block as well as the left guide rail and the right guide rail are contacted with the lower surface and form sliding connection, the rear ends of the left guide rail and the right guide rail are fixedly connected with a fixed spherical plate through bolts, the front ends of the left guide rail and the right guide rail are fixed on square side frames of a certain plane frame in the center support frame by adopting bolts, the upper support frame and the lower support frame are respectively fixed in grooves at the rear ends of the upper surface and the lower surface of the left guide rail, and the 1 st bearing is clamped in a round hole formed by two semicircular grooves of the upper support frame and the lower support frame and is sleeved on the rear end of the screw rod; the No. 2 upper bracket and the No. 2 lower bracket are respectively fixed in grooves at the front ends of the upper surface and the lower surface of the left guide rail and the right guide rail by bolts, and the No. 2 bearing is clamped in a round hole formed by two semicircular grooves of the No. 2 upper bracket and the No. 2 lower bracket and sleeved on the optical axis at the front end of the lead screw;
the front end face and the rear end face of the right guide rail are respectively provided with a groove with the same structure, the middle of each groove bottom is provided with a threaded hole for fixing a No. 1 bearing fixing bracket and a No. 2 bearing fixing bracket, the upper surface and the lower surface of the right guide rail are arranged into cylindrical surfaces with the same structure, the rear end face of the right guide rail is arranged into a spherical surface, the curvature radius of the right guide rail is the same as that of a fixed spherical surface plate, two threaded holes for fixedly connecting a bolt with a square frame of a rear plane frame in a central support frame (3) are longitudinally arranged on the front end face of the right guide rail along the right guide rail, and two threaded holes for fixedly connecting the bolt with a fixed spherical surface plate are longitudinally arranged on the rear end face of the right guide rail along the right guide rail; the right guide rail and the left guide rail have the same structure and shape and are straight rod structural members;
the automatic control part comprises a lithium battery, a singlechip controller, a wireless transmission module, two annular lamps with the same structure, a GPS positioning module, a gyroscope, a balancing weight and a remote controller;
the lithium battery is arranged at the front right corner of the top plane frame of the central support frame, the singlechip controller is arranged at the rear left corner of the top plane frame of the central support frame, the wireless transmission module is arranged at the bottom left corner of the front plane frame of the central support frame, the GPS positioning module is arranged at the rear bottom corner of the right plane frame of the central support frame, the gyroscope is arranged at the center of the central support frame, and the balancing weight is arranged at the bottom right corner of the front plane frame of the central support frame; the positioning module, the gyroscope, the 2 annular lamps with the same structure and the wireless transmission module are electrically connected with the input ends of the 4 servo motors with the same structure and the singlechip controller;
the inner ends of the 6 gravity center moving devices with the same structure are sequentially arranged on a square front plane frame, a square top plane frame, a square back plane frame, a square bottom plane frame, a square left plane frame and a square right plane frame of the central supporting frame by bolts; the casing part is sleeved around 6 gravity center moving devices which are fixedly installed on a front plane frame, a top plane frame, a rear plane frame, a bottom plane frame, a left plane frame and a right plane frame and have the same structure, wherein: the outer ends of the 4 center-of-gravity moving devices with the same structure, namely the fixed ball panel, which are fixedly arranged on the front plane frame, the left plane frame and the rear plane frame, are fixedly connected with the inner walls of the 3 side shells with the same structure, the outer ends of the 5 th center-of-gravity moving device with the same structure, namely the fixed ball panel, which are fixedly arranged on the top plane frame, are fixedly connected with the inner walls of the upper shell, and the outer ends of the 6 th center-of-gravity moving device with the same structure, namely the fixed ball panel, which are fixedly arranged on the bottom plane frame, are fixedly connected with the inner walls of the lower shell;
the wireless transmission module is arranged on the central supporting frame, the two annular lamps with the same structure are arranged on the upper shell and the lower shell, and the remote controller controlled by a person is in wireless connection with the wireless transmission module.
In the technical scheme, the upper shell is a shell structural member with a spherical curved surface, the curvature radius of the upper shell is the same as that of the lower shell and the side shell, the lower edge of the upper shell is provided with an upper shell fixed contact cambered surface, round through holes for fixedly connecting with the side shell are uniformly formed in the upper shell fixed contact cambered surface, and an annular groove for embedding an annular lamp is formed in the outer side surface of the upper shell; the upper shell and the lower shell have the same structural shape.
In the technical scheme, 3 side shells with the same structure sequentially pass through the right cambered surface and the circular through hole which are fixedly contacted with the side shell of the previous side shell and are assembled and fixedly connected with the left cambered surface and the circular through hole which are fixedly contacted with the side shell of the next side shell, so that the three side shells with the same structure form an annular spherical shell, the upper cambered surface and the circular through hole which are fixedly contacted with the upper shell of the upper shell are fixedly contacted with the lower cambered surface and the circular through hole which are fixedly connected with the upper shell of the upper shell respectively, and the lower cambered surface and the circular through hole which are fixedly contacted with the lower shell of the lower shell are fixedly contacted with the circular through hole respectively, and therefore, the three side shells with the same structure, the 1 upper shell and the 1 lower shell form the spherical shell with the same curvature radius.
In the technical scheme, the upper bracket and the lower bracket are both straight bar structural members with rectangular cross sections and in the shape of steps, rectangular notches with the same structure are arranged on the same sides of the two ends of the upper bracket and the lower bracket, a through hole for connecting a bolt, a left guide rail and a right guide rail is arranged at the bottom of each rectangular notch, and semicircular through grooves are formed in the middle of the upper bracket and the lower bracket and on the same sides of the rectangular notches; the upper bracket and the lower bracket and the No. 2 upper bracket and the No. 2 lower bracket have the same structure and shape.
The nut block comprises nuts, an upper connecting plate and a lower connecting plate, wherein the upper connecting plate and the lower connecting plate are strip-shaped plate structural members with the same structure, two ends of the upper connecting plate and the lower connecting plate are respectively provided with a pair of through holes, the upper connecting plate and the lower connecting plate are connected with the cuboid nuts between the upper connecting plate and the lower connecting plate into a whole, the upper connecting plate is aligned and parallel with the lower connecting plate, and the upper connecting plate is parallel with the rotation axes of threaded holes of the lower connecting plate and the cuboid nuts;
the counterweight sliding block comprises an upper counterweight sliding block and a lower counterweight sliding block, the upper counterweight sliding block and the lower counterweight sliding block are strip-shaped plate structural members with the same structure, 2 groups of 2 screw holes are symmetrically arranged in the middle of the upper counterweight sliding block and the middle of the lower counterweight sliding block, the 2 groups of screw holes are aligned with a pair of through holes at the two ends of the upper connecting plate and the lower connecting plate, and the upper connecting plate and the lower connecting plate are fixed in the middle of the upper counterweight sliding block and the lower counterweight sliding block through bolts.
Compared with the prior art, the invention has the beneficial effects that:
1. the universal rolling spherical robot can realize motion in any direction, and the motion speed and the acceleration can be controlled by controlling a servo motor to change the mass center of the spherical robot;
2. the universal rolling spherical robot comprises 6 gravity center moving devices, and one or more gravity center moving devices can be controlled simultaneously to realize the accurate control of the mass center, so that the accurate control of the movement speed and acceleration of the spherical robot is realized;
3. the structure of the universal rolling spherical robot is of a symmetrical structure, the center of the spherical robot is a central supporting frame, the six faces of the central supporting frame are respectively fixed with a gravity center moving device, a shell is fixed outside the gravity center moving device, the whole structure is of a central symmetrical structure, and meanwhile, balancing weights are also arranged, so that the mass center position of the spherical robot can be conveniently adjusted in an initial state (namely, each balancing weight sliding part in the gravity center moving device is positioned at the position closest to a servo motor);
4. compared with the traditional spherical robot, the universal rolling spherical robot is simple to control and convenient to control.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is an isometric view of a gimbaled ball robot according to the present invention with the next side housing removed;
FIG. 2 is an isometric view of the gimbaled ball robot of FIG. 1 with the housing portion removed and rotated 90 degrees clockwise;
FIG. 3 is an exploded isometric view of a center of gravity shifting device in a gimbaled ball robot according to the present invention;
FIG. 4 is an isometric view of a center support in a gimbaled ball robot according to the present invention;
FIG. 5 is an isometric view of a left housing in a gimbaled ball robot according to the present invention;
FIG. 6 is an isometric view of an upper housing in a gimbaled ball robot according to the present invention;
in the figure: 1. the upper shell is fixedly contacted with the cambered surface, the side shell is fixedly contacted with the right cambered surface, the side shell is fixedly contacted with the left cambered surface, the side shell is fixedly contacted with the upper cambered surface, the side shell is fixedly contacted with the lower cambered surface, the center support frame is 3, the lower shell is 4, the gravity center moving device is 5, the fixed ball panel is 51, and the bearing fixing support is 52.1; 53. the device comprises a hyperboloid guide rail, 54 parts of nut blocks, 55 parts of counterweight sliding blocks, 56 parts of lead screws, 57.2 parts of bearing fixing brackets, 58 parts of couplings, 59 parts of servo motors, 6 parts of annular lamps, 7 parts of lithium batteries, 8 parts of single-chip microcomputer controllers, 9 parts of wireless transmission modules, 10 parts of GPS positioning modules, 11 parts of gyroscopes, 12 parts of counterweights and 13 parts of remote controllers.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
referring to fig. 1, the universal rolling ball robot of the present invention includes a housing part, a center support frame 3, a center of gravity shifting device part, and an automatic control part.
A shell part
Referring to fig. 1, 5 and 6, the shell part is a spherical hollow shell structural member, and comprises an upper shell 1, 3 side shells 2 with the same structure and a lower shell 4, which are mechanically and fixedly connected to form the spherical hollow shell structural member.
The upper shell 1 is a shell structural member with a spherical curved surface, the curvature radius of the upper shell 1 is the same as that of the lower shell 4 and the side shell 2, the lower edge of the upper shell 1 is provided with an upper shell fixed contact cambered surface 1A, round through holes are uniformly formed in the upper shell fixed contact cambered surface 1A and are fixedly connected with the side shell 2, an annular groove is formed in the outer side surface of the upper shell 1, an annular lamp 6 is inlaid in the groove, the annular lamp 6 is fixed in the annular groove at the outer side of the upper shell 1 through adhesive and other adhesive agents, and the shape of the annular lamp 6 is in smooth transition with that of the upper shell 1.
The lower shell 4 and the upper shell 1 have the same structural shape; the lower shell 4 is a shell structure with a spherical curved surface, the upper edge of the lower shell 4 is provided with a lower shell fixed contact cambered surface, lower round through holes are uniformly formed in the lower shell fixed contact cambered surface and are fixedly connected with the side shell 2, an annular groove is also formed in the outer side surface of the lower shell 4, the second annular lamp 6 is embedded in the groove, and the shape of the annular lamp is in smooth transition with the shape of the lower shell 4.
The side shell 2 also be spherical curved surface's shell structure, the radius of curvature of side shell 2 is the same with the radius of curvature of lower casing 4 and last casing 1, the right limb of side shell 2 is provided with side shell fixed contact right cambered surface 2A, evenly be provided with the round through-hole on side shell fixed contact right cambered surface 2A for with another (adjacent) side shell 2 fixed connection, left limb also is provided with side shell fixed contact left cambered surface 2B, also evenly be provided with the round through-hole on side shell fixed contact left cambered surface 2B, the top edge is provided with side shell fixed contact upper cambered surface 2C, the bottom edge also is provided with side shell fixed contact lower cambered surface 2D, side shell fixed contact upper cambered surface 2C is provided with the round through-hole on side shell fixed contact lower cambered surface 2D also evenly, side shell fixed contact upper cambered surface 2C is used for respectively with the last shell fixed contact cambered surface 1A of upper casing 1 and lower casing 4's lower casing fixed contact cambered surface through screw or rivet fixed connection.
The 3 side shells 2 with the same structure sequentially pass through the side shell fixed contact right cambered surface 2A and the round through hole of the previous side shell 2 to be assembled with the side shell fixed contact left cambered surface 2B and the round through hole of the next side shell 2 and fixedly connected with the side shell fixed contact right cambered surface 2B and the round through hole through screws or rivets, so that the three side shells 2 with the same structure form an annular spherical shell, the side shell fixed contact upper cambered surface 2C and the round through hole of the three side shells 2 with the same structure are respectively contacted with the upper shell fixed contact cambered surface 1A and the round through hole of the upper shell 1 and fixedly connected with the round through screws or rivets, and the side shell fixed contact lower cambered surface 2D and the round through hole of the three side shells 2 with the same structure are respectively contacted with the lower shell fixed contact cambered surface and the round through holes of the lower shell 4 and fixedly connected with the round through screws or rivets, and therefore, the three side shells 2, 1 upper shell and 1 lower shell 4 form the spherical shell with the same curvature radius.
Second, center support frame
Referring to fig. 1, 2 and 4, the central supporting frame 3 is a square frame structure, specifically, the square central supporting frame 3 is composed of a front plane frame, a top plane frame, a back plane frame, a bottom plane frame, a left plane frame and a right plane frame, and the front plane frame, the top plane frame, the back plane frame, the bottom plane frame, the left plane frame and the right plane frame are composed of 1 square side frame and 4 rib plates with rectangular cross sections; the rib plates with 4 rectangular cross sections in each plane frame are arranged in pairs, 2 rib plates in each pair are parallel to each other, 2 pairs of rib plates are mutually perpendicular, each pair of rib plates is parallel to the corresponding frame side in the square side frame on the plane, each pair of rib plates is in contact connection with the inner side of the vertical frame side in the square side frame on the plane and fixedly connected in a welding mode, each pair of rib plates is symmetrically arranged at the center of the square side frame on the plane, so the rib plates with 4 rectangular cross sections divide the square side frame on each plane of the center support frame 3 into 9 rectangular small frames, through holes with the same structure are arranged at four corners of the rectangular small frames at the center of each plane frame, and the through holes with the same structure are used for fixing the servo motor 59 in the gravity center moving device part; through holes are formed in two corners of the outer sides of the left rectangular large frame and the right rectangular large frame on the left side and the right side of the rectangular small frame at the center; the front plane frame, the top plane frame, the back plane frame and the bottom plane frame in the center support frame 3 have the same structure; the left plane frame and the right plane frame have the same structure, through holes are formed in two corners of the outer sides of an upper rectangular big frame and a lower rectangular big frame of the upper and lower sides of a rectangular small frame at the center of the left plane frame and the right plane frame, and the through holes in the two corners are used for fixing hyperboloid guide rails in the gravity center moving device part; the number of through holes on the front plane frame, the top plane frame, the rear plane frame, the bottom plane frame, the left plane frame and the right plane frame of the center support frame 3 is the same as that of the through hole structure.
Third, center of gravity shifting device part
Referring to fig. 1, 2 and 3, the gravity center moving device part includes 6 gravity center moving devices 5 with the same structure; the gravity center moving device 5 comprises a fixed ball panel 51, a No. 1 bearing fixing support 52, a hyperboloid guide rail 53, a nut block 54, a counterweight slider 55, a screw rod 56, a No. 2 bearing fixing support 57, 2 bearings with the same structure, a coupler 58 and a servo motor 59.
Referring to fig. 3, the fixed ball panel 51 is a spherical elongated plate structure, four corners of the structure are respectively provided with a through hole, and the four through holes are used for fixedly connecting with the shell part, and the curvature radius of the fixed ball panel 51 is the same as that of the side shell 2 in the shell part;
the hyperboloid guide rail 53 comprises a left guide rail and a right guide rail, the upper surface and the lower surface of the right guide rail are respectively provided with a groove with the same structure near the front end and the rear end, the middle of each groove is provided with a threaded hole for fixing the No. 1 bearing fixing bracket 52 and the No. 2 bearing fixing bracket 57, the upper surface and the lower surface of the right guide rail are arranged into cylindrical surfaces with the same structure, the cylindrical surfaces are mainly used for reducing the contact area between the upper surface and the lower surface of the right guide rail and the counterweight slider 55, the rear end surface of the right guide rail is arranged into a spherical surface, the curvature radius of the spherical surface is the same as that of the fixed ball panel 51, the front end surface and the rear end surface of the right guide rail are respectively provided with two threaded holes along the longitudinal direction of the right guide rail, the two threaded holes on the rear end surface are used for fixedly connecting the rear end surface with the fixed ball panel 51 by bolts, and the two threaded holes on the front end surface are used for fixedly connecting the front end surface of the right guide rail with a square frame of a rear plane frame in the central support frame 3 by bolts; the left guide rail and the right guide rail have the same structure and shape and are straight rod structural members.
The number 1 bearing fixing support 52 comprises an upper support and a lower support, the structures of the upper support and the lower support are identical to each other in shape, the upper support and the lower support are all stepped straight rod structural members with rectangular cross sections, rectangular notches with identical structures are formed in the same sides of two ends of the upper support and the lower support, semicircular through grooves are formed in the middle of the upper support and the lower support and in the same sides of the rectangular notches, the upper support and the lower support are respectively fixed in grooves of the rear ends of the hyperboloid guide rails 53, namely the upper surfaces and the lower surfaces of the left guide rail and the right guide rail, and bearings are clamped in two semicircular groove synthetic round holes of the upper support and the lower support and sleeved on the rear end optical axis of the screw rod 56.
The No. 2 bearing fixing support 57 comprises a No. 2 upper support and a No. 2 lower support, the upper supports in the No. 2 upper support and the No. 2 lower support and the upper supports in the No. 1 bearing fixing support 52 are identical in structure and are step-shaped straight rod structural members with rectangular cross sections, and the No. 2 upper support and the No. 2 lower support are respectively fixed in grooves at the front ends of the hyperboloid guide rail 53, namely the upper surfaces and the lower surfaces of the left guide rail and the right guide rail, by bolts; the No. 1 bearing fixing support 52 and the first bearing are arranged on the optical axis of the rear end of the screw rod 56, the No. 2 bearing fixing support 57 and the second bearing are arranged on the optical axis of the front end of the screw rod 56, the optical axis of the front end of the screw rod 56 and the optical axis of the rear end of the screw rod 56 are respectively fixedly connected with the inner rings of the bearings in an interference fit manner, and the structure and the function of the No. 2 bearing fixing support 57 are the same as those of the No. 1 bearing fixing support 52.
The nut block 54 comprises a nut, an upper connecting plate and a lower connecting plate, wherein the upper connecting plate and the lower connecting plate are strip-shaped plate structural members with the same structure, two ends of the upper connecting plate and the lower connecting plate are respectively provided with a pair of through holes, the upper connecting plate and the lower connecting plate are connected with the cuboid-shaped nut between the upper connecting plate and the lower connecting plate into a whole, the upper connecting plate is aligned and parallel with the lower connecting plate, and the upper connecting plate is parallel with the rotation axes of threaded holes of the lower connecting plate and the cuboid-shaped nut.
The counterweight slider 55 comprises an upper counterweight slider and a lower counterweight slider, the upper counterweight slider and the lower counterweight slider are strip-shaped plate structural members with the same structure, 2 groups of 2 screw holes are symmetrically arranged in the middle of the upper counterweight slider and the middle of the lower counterweight slider, the 2 groups of screw holes are aligned with a pair of through holes at the two ends of the upper connecting plate and the lower connecting plate, and the upper connecting plate and the lower connecting plate are fixed in the middle of the upper counterweight slider and the lower counterweight slider through bolts.
The screw 56 is a small-lead high-precision ball screw (SFK 00401 is taken as an example in the technical scheme of the invention), the front end optical axis of the screw 56 is fixedly connected with a bearing and a coupler 58 respectively, and the rear end optical axis part of the screw 56 is fixedly connected with the bearing.
The coupling 58 is an elastic coupling (FL 08-type coupling is taken as an example in the technical scheme of the present invention), the rear end of the coupling 58 is fixedly connected with the front end of the screw 56, and the front end of the coupling 58 is fixedly connected with the output shaft of the servo motor 59.
The servo motor 59 is fixed on a rectangular small frame (through holes at four corners) at the center of a certain plane frame in the center support frame 3 through bolts, an output shaft of the servo motor 59 is fixedly connected with the front end of a lead screw 56 through a coupler 58, a nut block 54 is sleeved on the lead screw 56, the top end and the bottom end of the nut block 54 are fixedly connected with the lower counterweight slide block through an upper connecting plate and a lower connecting plate, the left end and the right end of the upper counterweight slide block and the lower counterweight slide block are in contact connection with the upper surface and the lower surface of a hyperboloid guide rail 53, namely the upper surface and the lower surface of a left guide rail and a right guide rail, the upper counterweight slide block and the lower counterweight slide block slide back and forth on the hyperboloid guide rail 53, namely the upper surface and the lower surface of the left guide rail and the right guide rail, the rear end faces of the left guide rail and the right guide rail in the hyperboloid guide rail 53 are fixed on a fixed ball panel 51 through bolts, the front end faces of the left guide rail and the right guide rail in the center support frame 3 are fixed on a square side frame (through holes) of the rear plane frame, and 6 gravity center moving devices 5 with the same structure are respectively fixed on the front plane frame, the top plane frame, the rear plane frame, the left plane frame and the right plane frame. The housing part is fitted around 6 structurally identical center of gravity shifting devices 5 which have been fixed to the front, top, rear, bottom, left and right planar frames of the center support frame 3, wherein: the outer ends of the 4 center of gravity moving devices 5 with the same structure, i.e. the fixed ball panel 51, fixedly mounted on the front plane frame, the left plane frame, the rear plane frame and the right plane frame are fixedly connected with the inner walls of the 3 side shells 2 with the same structure in the shell parts, the outer ends of the 5 th center of gravity moving device 5 with the same structure, i.e. the fixed ball panel 51, fixedly mounted on the top plane frame are fixedly connected with the inner walls of the upper shell 1 in the shell parts, and the outer ends of the 6 th center of gravity moving device 5 with the same structure, i.e. the fixed ball panel 51, fixedly mounted on the bottom plane frame are fixedly connected with the inner walls of the lower shell 4 in the shell parts.
Fourth, automatic control part
Referring to fig. 1, 2 and 4, the automatic control part includes a lithium battery 7, a single-chip microcomputer controller 8, a wireless transmission module 9, a GPS positioning module 10, a gyroscope 11, two ring lamps 6 with the same structure, a balancing weight 12 and a remote controller 13.
The lithium battery 7 is arranged at the front right corner of the top plane frame of the center support frame 3, the singlechip controller 8 is arranged at the rear left corner of the top plane frame of the center support frame 3, the wireless transmission module 9 is arranged at the bottom left corner of the front plane frame of the center support frame 3, the GPS positioning module 10 is arranged at the rear bottom corner of the right plane frame of the center support frame 3, the gyroscope 11 is arranged at the center of the center support frame 3, in order to ensure that the integral gravity center of the center support frame 3 coincides with the geometric center of the center support frame 3, the balancing weight 12 is arranged at the bottom right corner of the front plane frame of the center support frame 3, after other parts are arranged on the robot, the weight of the balancing weight 12 is determined in a balance test mode and the like, and after the weight of the balancing weight 12 is determined, the weight and the fixing position of the balancing weight 12 are not changed as long as the robot structure and the parts are unchanged.
The GPS positioning module 10, the gyroscope 11, the wireless transmission module 9 and 4 servo motors 59 with the same structure are respectively and electrically connected with the input end of the single-chip microcomputer controller 8, the GPS positioning module 10 provides position information of the spherical robot, the gyroscope 11 provides movement (speed and acceleration) information, 2 annular lamps 6 with the same structure, the wireless transmission module 9 and 4 servo motors 59 with the same structure are electrically connected with the output end of the single-chip microcomputer controller 8, the annular lamps 6 flash all the time in the movement process to play a role of warning, the wireless transmission module 9 transmits various data of the spherical robot to the remote controller 13 controlled by a person, and meanwhile, the remote controller 13 transmits control instructions to the single-chip microcomputer controller 8 through the wireless control module 9, so that closed-loop control is realized.
The whole device adopts the lithium cell 7 power supply, is connected with electric quantity detection device in the system, can feed back the electric quantity condition to the remote controller 13 to remind operating personnel in time to charge when the electric quantity is not enough.
Working principle of universal rolling spherical robot:
in an initial state (namely, each weight slide block 55 in the gravity center moving device 5 is positioned at the position closest to the servo motor 59), whether the electric quantity of the lithium battery 7 is enough or not is checked by the far-end controller 13, if the electric quantity is enough, the moving speed and the moving direction of the spherical robot can be set by the far-end controller 13, the far-end controller 13 sends signals to the wireless transmission module 9, the wireless transmission module 9 transmits the signals to the singlechip controller 8, the singlechip controller 8 controls one or more servo motors 59 in the 6 gravity center moving devices 5 to rotate through operation, the weight slide blocks 55 are driven to move forwards and backwards along the hyperboloid guide rail direction through the lead screw 56 and the nut block 54, the mass center of the spherical robot which rolls universally is changed is driven, and the movement of the spherical robot which rolls universally can be realized.
Claims (5)
1. The universal rolling spherical robot is characterized by comprising a shell part, a center support frame (3), a gravity center moving device part and an automatic control part;
the shell part is a spherical hollow shell structural member and comprises 3 side shells (2), an upper shell (1) and a lower shell (4) which are identical in structure;
the side shell (2) is a shell structural member with a spherical curved surface, the curvature radius of the side shell (2) is the same as that of the lower shell (4) and the upper shell (1), the right edge of the side shell (2) is provided with a side shell fixed contact right cambered surface (2A), and round through holes for fixedly connecting with the other side shell (2) are uniformly formed in the side shell fixed contact right cambered surface (2A); the left edge of the side shell (2) is also provided with a side shell fixed contact left cambered surface (2B), round through holes are uniformly formed in the side shell fixed contact left cambered surface (2B), the upper edge is provided with a side shell fixed contact upper cambered surface (2C), the lower edge is provided with a side shell fixed contact lower cambered surface (2D), and round through holes fixedly connected with the upper shell fixed contact cambered surface (1A) of the upper shell (1) and the lower shell fixed contact cambered surface of the lower shell (4) are uniformly formed in the side shell fixed contact upper cambered surface (2C) and the side shell fixed contact lower cambered surface (2D);
the central support frame (3) is a square frame-type structural member, and the square central support frame (3) comprises a square front plane frame, a square top plane frame, a square back plane frame, a square bottom plane frame, a square left plane frame and a square right plane frame;
the front plane frame, the top plane frame, the back plane frame, the bottom plane frame, the left plane frame and the right plane frame of the central support frame (3) are composed of 1 square side frame and 4 rib plates with rectangular cross sections; the rib plates with 4 rectangular cross sections in each plane frame are arranged in pairs, 2 rib plates in each pair are parallel to each other, 2 pairs of rib plates are mutually perpendicular, each pair of rib plates is parallel to the corresponding frame side in the square side frame on the plane, each pair of rib plates is in contact connection with the inner side of the vertical frame side in the square side frame on the plane and fixedly connected in a welding mode, each pair of rib plates is symmetrically arranged at the center of the square side frame in the plane frame, so the square side frame on each plane of the center support frame (3) is divided into 9 rectangular small frames by the 4 rib plates with rectangular cross sections, and through holes with the same structure and used for fixing servo motors (59) in the center-of-gravity moving device parts are arranged at four corners of the rectangular small frames at the center of each plane frame; through holes are formed in two corners of the outer sides of the left rectangular large frame and the right rectangular large frame on the left side and the right side of the rectangular small frame at the center; the front plane frame, the top plane frame, the back plane frame and the bottom plane frame in the central supporting frame (3) have the same structure; the left plane frame and the right plane frame have the same structure, and through holes for fixing hyperboloid guide rails in the gravity center moving device part are formed in two corners of the outer sides of an upper rectangular large frame and a lower rectangular large frame of the upper and lower sides of a rectangular small frame at the center of the left plane frame and the right plane frame; the number of through holes on the front plane frame, the top plane frame, the rear plane frame, the bottom plane frame, the left plane frame and the right plane frame of the central support frame (3) is the same as that of the through holes;
the gravity center moving device part comprises 6 gravity center moving devices (5) with the same structure;
the gravity center moving device (5) further comprises a No. 1 bearing fixing support (52), a hyperboloid guide rail (53), a nut block (54), a counterweight sliding block (55), a screw rod (56), a No. 2 bearing fixing support (57), 2 bearings with the same structure, a coupler (58) and a servo motor (59); wherein: the No. 1 bearing fixing support (52) comprises an upper support and a lower support, the No. 2 bearing fixing support (57) comprises a No. 2 upper support and a No. 2 lower support, and the hyperboloid guide rail (53) comprises a left guide rail and a right guide rail;
the servo motor (59) is fixed on a rectangular small frame at the center of a certain plane frame in the center support frame (3) by adopting a bolt, an output shaft of the servo motor (59) is fixedly connected with the front end of a screw rod (56) through a coupler (58), a nut block (54) is sleeved on the screw rod (56), the top end and the bottom end of the nut block (54) are fixedly connected with the lower connecting plate and the upper counterweight sliding block through an upper connecting plate and an upper counterweight sliding block in the nut block, the upper counterweight sliding block and the lower counterweight sliding block are in contact with the upper surface and the lower surface of a left guide rail and a right guide rail and form sliding connection, the rear ends of the left guide rail and the right guide rail are fixedly connected with a fixed ball panel (51) through bolts, the front ends of the left guide rail and the right guide rail are respectively fixed on square edge frames of a certain plane frame in the center support frame (3) by adopting bolts, and a 1 st bearing is clamped in a round hole formed by two semicircular grooves of the upper support and the lower support and is sleeved on the rear end of the screw rod (56); the No. 2 upper bracket and the No. 2 lower bracket are respectively fixed in grooves at the front ends of the upper surface and the lower surface of the left guide rail and the right guide rail by bolts, and the No. 2 bearing is clamped in a round hole formed by two semicircular grooves of the No. 2 upper bracket and the No. 2 lower bracket and sleeved on the optical axis at the front end of the lead screw (56);
the front end face and the rear end of the upper surface and the lower surface of the right guide rail are respectively provided with a groove with the same structure, the middle of each groove bottom is provided with a threaded hole for fixing a No. 1 bearing fixing bracket (52) and a No. 2 bearing fixing bracket (57), the upper surface and the lower surface of the upper surface and the lower surface between the two grooves of the right guide rail are cylindrical surfaces with the same structure, the rear end face of the right guide rail is provided with a spherical surface, the curvature radius of the spherical surface is the same as that of a fixed ball panel (51), the front end face of the right guide rail is longitudinally provided with two threaded holes for fixedly connecting a square frame of a rear plane frame in a central support frame (3) by adopting bolts, and the rear end face of the right guide rail is longitudinally provided with two threaded holes for fixedly connecting the fixed ball panel (51) by adopting the bolts; the right guide rail and the left guide rail have the same structure and shape and are straight rod structural members;
the automatic control part comprises a lithium battery (7), a singlechip controller (8), a wireless transmission module (9), two annular lamps (6) with the same structure, a GPS positioning module (10), a gyroscope (11), a balancing weight (12) and a remote controller (13);
the lithium battery (7) is arranged at the front right corner of the top plane frame of the center support frame (3), the singlechip controller (8) is arranged at the rear left corner of the top plane frame of the center support frame (3), the wireless transmission module (9) is arranged at the bottom left corner of the front plane frame of the center support frame (3), the GPS positioning module (10) is arranged at the rear bottom corner of the right plane frame of the center support frame (3), the gyroscope (11) is arranged at the center of the center support frame (3), and the balancing weight (12) is arranged at the bottom right corner of the front plane frame of the center support frame (3); the positioning module (10), the gyroscope (11), the 2 annular lamps (6) with the same structure, the wireless transmission module (9) are electrically connected with the input ends of the 4 servo motors (59) with the same structure and the singlechip controller (8);
the inner ends of the 6 gravity center moving devices (5) with the same structure are sequentially arranged on a square front plane frame, a square top plane frame, a square back plane frame, a square bottom plane frame, a square left plane frame and a square right plane frame of the center support frame (3) by bolts; the housing part is sleeved around 6 center of gravity shifting devices (5) which are fixedly arranged on a front plane frame, a top plane frame, a back plane frame, a bottom plane frame, a left plane frame and a right plane frame of the center support frame (3) and have the same structure, wherein: the outer ends of the 4 center-of-gravity moving devices (5) with the same structure, namely the fixed ball panel (51), which are fixedly arranged on the front plane frame, the left plane frame and the rear plane frame, are fixedly connected with the inner walls of the 3 side shells (2) with the same structure, the outer ends of the 5 th center-of-gravity moving devices (5) with the same structure, namely the fixed ball panel (51), which are fixedly arranged on the top plane frame are fixedly connected with the inner walls of the upper shell (1), and the outer ends of the 6 th center-of-gravity moving devices (5) with the same structure, namely the fixed ball panel (51) which are fixedly arranged on the bottom plane frame are fixedly connected with the inner walls of the lower shell (4);
the wireless transmission module (9) is arranged on the central supporting frame (3), two annular lamps (6) with the same structure are arranged on the upper shell (1) and the lower shell (4), and a remote controller (13) controlled by a person is in wireless connection with the wireless transmission module (9).
2. The universal rolling spherical robot according to claim 1, wherein the upper shell (1) is a shell structural member with a spherical curved surface, the curvature radius of the upper shell (1) is the same as that of the lower shell (4) and that of the side shell (2), an upper shell fixed contact cambered surface (1A) is arranged at the lower edge of the upper shell (1), round through holes for fixedly connecting with the side shell (2) are uniformly formed in the upper shell fixed contact cambered surface (1A), and an annular groove for embedding an annular lamp (6) is formed in the outer side surface of the upper shell (1); the upper shell (1) and the lower shell (4) have the same structural shape.
3. The universal rolling spherical robot according to claim 1, wherein the 3 side shells (2) with the same structure sequentially pass through the side shell fixed contact right arc surface (2A) and the round through hole of the previous side shell (2) to be assembled and fixedly connected with the side shell fixed contact left arc surface (2B) and the round through hole of the next side shell (2), so that the three side shells (2) with the same structure form an annular spherical shell, the side shell fixed contact upper arc surface (2C) and the round through hole of the three side shells (2) with the same structure are respectively contacted and fixedly connected with the upper shell fixed contact arc surface (1A) and the round through hole of the upper shell (1), and the side shell fixed contact lower arc surface (2D) and the round through hole of the three side shells (2) with the same structure are respectively contacted and fixedly connected with the lower shell fixed contact arc surface and the round through hole of the lower shell (4), and therefore the three side shells (2), the 1 upper shell (1) and the 1 lower shell (4) with the same structure form the spherical shell with the same curvature radius.
4. The universal rolling spherical robot according to claim 1, wherein the upper bracket and the lower bracket are stepped straight rod structural members with rectangular cross sections, rectangular notches with the same structure are arranged on the same side of two ends of the upper bracket and the lower bracket, a through hole for connecting a bolt and a left guide rail with a right guide rail is formed in the bottom of each rectangular notch, and semicircular through grooves are formed in the middle of the upper bracket and the lower bracket and on the same side of each rectangular notch; the upper bracket and the lower bracket and the No. 2 upper bracket and the No. 2 lower bracket have the same structure and shape.
5. The universal rolling spherical robot according to claim 1, wherein the nut block (54) comprises a nut, an upper connecting plate and a lower connecting plate, wherein the upper connecting plate and the lower connecting plate are elongated plate structural members with the same structure, two ends of the upper connecting plate and the lower connecting plate are respectively provided with a pair of through holes, the upper connecting plate and the lower connecting plate are connected into a whole with the cuboid nuts between the upper connecting plate and the lower connecting plate, the upper connecting plate is aligned and parallel with the lower connecting plate, and the upper connecting plate is parallel with the rotation axes of threaded holes of the nuts with the cuboid shapes;
the counterweight sliding block (55) comprises an upper counterweight sliding block and a lower counterweight sliding block, the upper counterweight sliding block and the lower counterweight sliding block are strip-shaped plate structural members with the same structure, 2 groups of 2 screw holes are symmetrically arranged in the middle of the upper counterweight sliding block and the middle of the lower counterweight sliding block, the 2 groups of screw holes are aligned with a pair of through holes at the two ends of the upper connecting plate and the lower connecting plate, and the upper connecting plate and the lower connecting plate are fixed in the middle of the upper counterweight sliding block and the lower counterweight sliding block through bolts.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710866370.7A CN107719499B (en) | 2017-09-22 | 2017-09-22 | Universal rolling spherical robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710866370.7A CN107719499B (en) | 2017-09-22 | 2017-09-22 | Universal rolling spherical robot |
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| CN107719499B true CN107719499B (en) | 2024-04-05 |
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| CN101386174A (en) * | 2008-10-17 | 2009-03-18 | 西安电子科技大学 | Spherical robot with inside and outside driving |
| CN102514645A (en) * | 2011-12-16 | 2012-06-27 | 北京航空航天大学 | Spherical rolling robot |
| CN106347512A (en) * | 2016-09-14 | 2017-01-25 | 北京邮电大学 | Active spherical robot with double pendulums |
| CN106828643A (en) * | 2017-02-28 | 2017-06-13 | 胡旸海 | A kind of omni-directional movement ball shape robot |
| CN207389346U (en) * | 2017-09-22 | 2018-05-22 | 赵蕴涵 | The ball shape robot of universal rolling |
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2017
- 2017-09-22 CN CN201710866370.7A patent/CN107719499B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101386174A (en) * | 2008-10-17 | 2009-03-18 | 西安电子科技大学 | Spherical robot with inside and outside driving |
| CN102514645A (en) * | 2011-12-16 | 2012-06-27 | 北京航空航天大学 | Spherical rolling robot |
| CN106347512A (en) * | 2016-09-14 | 2017-01-25 | 北京邮电大学 | Active spherical robot with double pendulums |
| CN106828643A (en) * | 2017-02-28 | 2017-06-13 | 胡旸海 | A kind of omni-directional movement ball shape robot |
| CN207389346U (en) * | 2017-09-22 | 2018-05-22 | 赵蕴涵 | The ball shape robot of universal rolling |
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