CN107878588A - Polar region length continuation of the journey wind drive formula ball shape robot - Google Patents
Polar region length continuation of the journey wind drive formula ball shape robot Download PDFInfo
- Publication number
- CN107878588A CN107878588A CN201711087635.XA CN201711087635A CN107878588A CN 107878588 A CN107878588 A CN 107878588A CN 201711087635 A CN201711087635 A CN 201711087635A CN 107878588 A CN107878588 A CN 107878588A
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- Prior art keywords
- wind
- spherical shell
- ball shape
- polar region
- wind blade
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- 230000005611 electricity Effects 0.000 claims abstract description 4
- 230000004888 barrier function Effects 0.000 claims description 6
- 150000001336 alkenes Chemical group 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 6
- 238000013016 damping Methods 0.000 abstract description 4
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 239000008358 core component Substances 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000002411 adverse Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
- 230000035807 sensation 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K16/00—Arrangements in connection with power supply of propulsion units in vehicles from forces of nature, e.g. sun or wind
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K16/00—Arrangements in connection with power supply of propulsion units in vehicles from forces of nature, e.g. sun or wind
- B60K2016/006—Arrangements in connection with power supply of propulsion units in vehicles from forces of nature, e.g. sun or wind wind power driven
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/90—Energy harvesting concepts as power supply for auxiliaries' energy consumption, e.g. photovoltaic sun-roof
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Wind Motors (AREA)
Abstract
The invention discloses a kind of polar region to grow continuation of the journey wind drive formula ball shape robot, including outer spherical shell, the first wind blade, the second wind blade, the 3rd wind blade, support tube and interior spherical shell, the interior spherical shell is fixedly connected by some support tubes with outer spherical shell, constitutes the rigid structure of ball shape robot；One group of first wind blade is fixed on interior spherical shell, and two group of second wind blade is symmetrically installed on the rear and front end of interior spherical shell, and two group of the 3rd wind blade is symmetrically installed on the rear and front end of two group of second wind blade.Robot is driven by wind-force passive type, and inside and outside spherical shell uses the support tube with damping device to connect, and can be played damping, be protected the effect of core component；The energy is provided by wind-power electricity generation, there is good environmental suitability and long continuation of the journey characteristic, be widely portable to the application detected under the circumstances not knowns such as polar region.
Description
Technical field
The present invention relates to a kind of polar region to grow continuation of the journey wind drive formula ball shape robot, is that one kind can apply to polar region environment and enter
The ball shape robot of the long continuation of the journey detection operations of row.
Background technology
Polar region environment is a low temperature, low illumination and harsher wind conditions, and polar region has the resources such as abundant oil gas, iron ore, institute
There is great strategic importance with the detection to polar region.In order to explore polar region environment, the application of intelligent robot receives extensively
Pay close attention on ground.How to realize that the detection operations of robot head's continuation of the journey are a research puzzles under the environment of polar region, key is machine
The index such as the acquisition modes of people's energy and environmental suitability.
Wherein, ball shape robot is as a kind of roller robot, with traditional wheeled, rail mounted or sufficient formula movement machine
People compares, and has the characteristic that sport efficiency is high, energy loss is small.It is public from Helsinki, Finland Universities of Science and Technology in 1996 and tramp
After department develops first ball-type motion robot jointly, ball shape robot gradually becomes domestic and international robot research field
A big focus.Abroad, Italian University of Pisa, Iran plus taste Wen Asade universities, Michigan State University, the vertical life of Japan
Shop university, Japan Kobe university etc. are successively studied ball shape robot, have developed the spherical machine of different driving form
Device people.At home, Beijing University of Post ＆ Telecommunication, Harbin Institute of Technology, Xian Electronics Science and Technology University, Shanghai Communications University, Shanghai are big
Xue Deng colleges and universities also achieve certain achievement in terms of the research of ball shape robot.
From the point of view of the research of comprehensive domestic and international ball shape robot, the type of drive of ball shape robot mainly has dolly drive at present
Dynamic, counterweight driving, deformation driving and wind drive.Dolly drive-type poor controllability, movement velocity are limited；Counterweight drive-type controls
Difficulty is big；Deformation drive-type can not carry other assemblies；Wind drive formula is overly dependent upon wind-force.Dolly drive-type and counterweight are driven
Dynamic formula can not provide prolonged continuation of the journey for actively campaign-styled robot, driving source；Deformation formula robot is unable to portable unit, institute
The detection of polar region environment is not suitable for this several ball shape robot；Wind drive formula ball shape robot can be sufficient in wind-force
Polar region make full use of wind-force to be moved, in order to obtain more detection datas, the long endurance of power supply turns into important measurement
Index.Chinese invention patent ZL200810017895.4 disclose " a kind of wind drive have multi-motion mode environment visit
Survey ball shape robot ", the robot uses wind drive completely, and realization is freely sprung up, and motion is uncontrollable, and built-in system is powered
Additional power supply is needed, can not so realize the polar region operation needs of long continuation of the journey long range.Chinese invention patent
ZL201310558991.0 discloses " a kind of polar region length continuation of the journey wind drive formula ball shape robot ", and the robot passes through interior spherical shell
The solar energy film on surface carries out the acquisition and storage of the energy, but the seal of its gasbag-type spherical shell requires high, and sphere
Shape solar energy film electricity conversion is low, it is impossible to veritably realizes the polar region detection operations of long continuation of the journey.
The content of the invention
It is an object of the invention to for problem above, propose a kind of polar region length continuation of the journey wind drive formula ball shape robot,
The polar region detection of the long continuation of the journey long range under polar low-temperature harsher wind conditions can be realized.
In order to realize the above object idea of the invention is that：
The present invention uses spherical mechanism, can be good at adapting to polar region environment progress detection operations.Robot is regenerated using polar region
Energy wind energy carries out passive matrix, and the work of long continuation of the journey long range is realized using wind power generation plant.Using the knot of class football alkene
Open outer spherical shell is configured to, protection bradyseism effect is realized, larger envelope can be efficiently solved using the structure of football alkene
The unmanageable problem of the outer spherical shell of enclosed；Used control system and power module are arranged in internal rigid ellipse spherical shell,
And it is connected with six roots of sensation support tube with ectosphere shell phase；The support tube of use is hollow and each support tube fills equipped with corresponding spring shock absorption
Put, to ensure that control system and TRT can better adapt to the adverse circumstances of polar region.
According to above inventive concept, the present invention uses following technical scheme：
A kind of polar region length continuation of the journey wind drive formula ball shape robot, including outer spherical shell, the first wind blade, the second wind blade,
3rd wind blade, support tube and interior spherical shell, the interior spherical shell are fixedly connected with outer spherical shell by some support tubes, constituted
The rigid structure of ball shape robot；One group of first wind blade is fixed on interior spherical shell, and two group of second wind blade is symmetrically pacified
Mounted in the rear and front end of interior spherical shell, two group of the 3rd wind blade is symmetrically installed on the rear and front end of two group of second wind blade.
The outer spherical shell is similar football alkene structure, is connected using some pipes with connector.
The interior spherical shell is Elliptical Rigid housing, and supply unit, control device and TRT are placed in inside.
The installation direction of first wind blade and the second wind blade is on the contrary, in the presence of the wind-force of polar region, and first
Wind blade drives whole ball shape robot motion, and the second wind blade rotation direction is sent out with the first wind blade on the contrary, driving
Electric installation works so that supply unit is collected and stores electric energy.
Second wind blade and the 3rd wind blade rotate up in orthogonal wind respectively, can be in different wind
Ensure TRT normal work in the case of to obtain electric energy.
Spring vibration damper is housed inside the support tube, can when striking barrier in robot kinematics
Slow down impact, avoid the device in interior spherical shell from being destroyed.
Robot of the present invention is driven by wind-force passive type, and class football ethylenic spherical shell structure is relatively simple, parts dismounting
Conveniently and it is easy to carry about with one, it is aesthetic in appearance, there is good architectural characteristic, certain delay can be played when it is acted on by external force
Rush protective effect；And inside and outside spherical shell uses the support tube with damping device to connect, damping, protection core component can be played
Effect.If robot is blocked under the particular surroundings of polar region by barrier when can not move, remain able to ensure wind-power electricity generation
Device operation, ensure that geographic location can be returned to incessantly before related personnel finds.
The present invention compared with prior art, has following prominent substantive distinguishing features and remarkable advantage：
The present invention is simple in construction, and volume is larger, and bulk can be diameter 1.5m ball, efficient can use wind energy as drive
Energy source, it is easy for installation, and move flexible；When robot motion runs into external environment condition effect, self structure device can be passed through
Adjustment effectively adapts to polar region complicated landform；Utilization of regenerative energy is carried out by wind power generation plant, realizes long continuation of the journey over long distances
Field polar region operation need.
Brief description of the drawings
Fig. 1 is the entirety perspective view of the present invention.
Fig. 2 is motion schematic diagram of the present invention on flat ground.
Fig. 3 is the motion schematic diagram when present invention encounters barrier.
Fig. 4 is that the TRT when present invention falls into traverse furrow rotates schematic diagram.
Embodiment
The preferred embodiments of the present invention are further described below in conjunction with accompanying drawing.
As shown in figure 1, a kind of polar region length continuation of the journey wind drive formula ball shape robot, including outer spherical shell 1, the first wind blade
2nd, the second wind blade 3, the 3rd wind blade 4, support tube 5 and interior spherical shell 6, the interior spherical shell 6 by some support tubes 5 with
Outer spherical shell 1 is fixedly connected, and constitutes the rigid structure of ball shape robot；One group of first wind blade 2 is fixed on interior spherical shell 6,
Two group of second wind blade 3 is symmetrically installed on the rear and front end of interior spherical shell 6, and two group of the 3rd wind blade 4 is symmetrically installed on
The rear and front end of two group of second wind blade 3.
The outer spherical shell 1 is similar football alkene structure, is connected using some pipes with connector.
The interior spherical shell 6 is Elliptical Rigid housing, and supply unit, control device and TRT are placed in inside.
The installation direction of the wind blade 3 of first wind blade 2 and second is on the contrary, in the presence of the wind-force of polar region, and
One wind blade 2 drives whole ball shape robot to move, and the rotation direction of the second wind blade 3 is with the first wind blade 2 on the contrary, band
Dynamic TRT work so that supply unit is collected and stores electric energy.
The wind blade 4 of second wind blade 3 and the 3rd rotates up in orthogonal wind respectively, can be in difference
Ensure TRT normal work in the case of wind direction to obtain electric energy.
The inside of support tube 5 is equipped with spring vibration damper, can when striking barrier in robot kinematics
Slow down impact, avoid the device in interior spherical shell 6 from being destroyed.
The course of work of the present invention is as follows：
As shown in Figures 2 to 4, ball shape robot carries out passive matrix by the sufficient wind energy in polar region, realizes forward travel, has
Very high freedom and flexibility.Internal rigid spherical shell 6 is located at the centre of sphere, grasps the posture information of ball shape robot, collection in real time
The climate parameter of polar region different places.The second wind blade 3 and the 3rd wind blade 4 connect the generating inside interior spherical shell 6 simultaneously
Device, the acquisition and storage of the energy are carried out, realize the detection operations of robot head's continuation of the journey long range.During robot motion, pass through
The effect of support tube 5 equipped with spring vibration damper, can reach the effect of bumper and absorbing shock, increases the service life of robot, makes
Robot preferably adapts to polar region adverse circumstances.Because polar region environment is special, it is difficult to avoided some barriers or traverse furrow meeting
So that ball shape robot is blocked and can not moved, in this case, the second wind blade 3 and the 3rd wind blade 4 can fit
Answer different wind directions so that TRT works on, to ensure constantly to detect polar region environmental information, and in related work
Personnel solve the problems, such as that ball shape robot before card, can be ensured constantly to send geographical location information to staff, with
Just staff is found.
Claims (6)
1. a kind of polar region length continuation of the journey wind drive formula ball shape robot, including outer spherical shell（1）, the first wind blade（2）, the second wind
Power blade（3）, the 3rd wind blade（4）, support tube（5）With interior spherical shell（6）, it is characterised in that the interior spherical shell（6）If by
Dry root support tube（5）With outer spherical shell（1）It is fixedly connected, constitutes the rigid structure of ball shape robot；One group of first wind blade
（2）It is fixed on interior spherical shell（6）On, two group of second wind blade（3）It is symmetrically installed on interior spherical shell（6）Rear and front end, two groups
3rd wind blade（4）It is symmetrically installed on two group of second wind blade（3）Rear and front end.
2. length continuation of the journey wind drive formula ball shape robot in polar region according to claim 1, it is characterised in that the outer spherical shell
（1）For similar football alkene structure, connected using some pipes with connector.
3. length continuation of the journey wind drive formula ball shape robot in polar region according to claim 1, it is characterised in that the interior spherical shell
（6）For Elliptical Rigid housing, supply unit, control device and TRT are placed in inside.
4. length continuation of the journey wind drive formula ball shape robot in polar region according to claim 1, it is characterised in that first wind
Power blade（2）With the second wind blade（3）Installation direction on the contrary, in the presence of the wind-force of polar region, the first wind blade（2）Band
Dynamic whole ball shape robot motion, the second wind blade（3）Rotation direction and the first wind blade（2）On the contrary, drive the dress that generates electricity
Put work so that supply unit is collected and stores electric energy.
5. length continuation of the journey wind drive formula ball shape robot in polar region according to claim 1, it is characterised in that second wind
Power blade（3）With the 3rd wind blade（4）Rotate up, can be protected in the case of different wind directions in orthogonal wind respectively
TRT normal work is demonstrate,proved to obtain electric energy.
6. length continuation of the journey wind drive formula ball shape robot in polar region according to claim 1, it is characterised in that the support tube
（5）Inside is equipped with spring vibration damper, when striking barrier in robot kinematics, can slow down impact, avoids interior
Spherical shell（6）In device destroyed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711087635.XA CN107878588B (en) | 2017-11-08 | 2017-11-08 | Wind-driven spherical robot with long endurance in polar region |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711087635.XA CN107878588B (en) | 2017-11-08 | 2017-11-08 | Wind-driven spherical robot with long endurance in polar region |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107878588A true CN107878588A (en) | 2018-04-06 |
| CN107878588B CN107878588B (en) | 2020-04-03 |
Family
ID=61779239
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711087635.XA Expired - Fee Related CN107878588B (en) | 2017-11-08 | 2017-11-08 | Wind-driven spherical robot with long endurance in polar region |
Country Status (1)
| Country | Link |
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| CN (1) | CN107878588B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE883291A (en) * | 1980-05-14 | 1980-11-14 | Dedonder Andre C | AUTOMOTIVE WHEEL SYSTEM |
| CN103587601A (en) * | 2013-11-12 | 2014-02-19 | 上海大学 | Long journey continuing wind power driven type spherical robot in polar region |
| CN203698464U (en) * | 2014-01-22 | 2014-07-09 | 中国人民解放军国防科学技术大学 | Ball-like type detection robot with characteristic of tumbler |
| CN103921860A (en) * | 2014-04-21 | 2014-07-16 | 北京航空航天大学 | Ellipsoidal robot |
-
2017
- 2017-11-08 CN CN201711087635.XA patent/CN107878588B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE883291A (en) * | 1980-05-14 | 1980-11-14 | Dedonder Andre C | AUTOMOTIVE WHEEL SYSTEM |
| CN103587601A (en) * | 2013-11-12 | 2014-02-19 | 上海大学 | Long journey continuing wind power driven type spherical robot in polar region |
| CN203698464U (en) * | 2014-01-22 | 2014-07-09 | 中国人民解放军国防科学技术大学 | Ball-like type detection robot with characteristic of tumbler |
| CN103921860A (en) * | 2014-04-21 | 2014-07-16 | 北京航空航天大学 | Ellipsoidal robot |
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| Publication number | Publication date |
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| CN107878588B (en) | 2020-04-03 |
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Granted publication date: 20200403 |