CN107878588B - Wind-driven spherical robot with long endurance in polar region - Google Patents
Wind-driven spherical robot with long endurance in polar region Download PDFInfo
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- CN107878588B CN107878588B CN201711087635.XA CN201711087635A CN107878588B CN 107878588 B CN107878588 B CN 107878588B CN 201711087635 A CN201711087635 A CN 201711087635A CN 107878588 B CN107878588 B CN 107878588B
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- wind
- spherical shell
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- robot
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- 238000010248 power generation Methods 0.000 claims abstract description 16
- 230000009471 action Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract description 10
- 238000013016 damping Methods 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 4
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 239000008358 core component Substances 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 150000001336 alkenes Chemical class 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 239000000306 component Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000010409 thin film Substances 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 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
- 230000007246 mechanism Effects 0.000 description 1
- JRZJOMJEPLMPRA-UHFFFAOYSA-N olefin Natural products CCCCCCCC=C JRZJOMJEPLMPRA-UHFFFAOYSA-N 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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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
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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
- 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 long-endurance wind-driven spherical robot in polar region, which comprises an outer spherical shell, a first wind-driven blade, a second wind-driven blade, a third wind-driven blade, supporting tubes and an inner spherical shell, wherein the inner spherical shell is fixedly connected with the outer spherical shell through a plurality of supporting tubes to form a rigid structure of the spherical robot; a group of first wind power blades are fixed on the inner spherical shell, two groups of second wind power blades are symmetrically arranged at the front end and the rear end of the inner spherical shell, and two groups of third wind power blades are symmetrically arranged at the front end and the rear end of the two groups of second wind power blades. The robot is driven passively by wind power, and the inner spherical shell and the outer spherical shell are connected by adopting a supporting tube with a damping device, so that the effects of damping and protecting core components can be achieved; the wind power generation provides energy, has good environmental adaptability and long endurance, and can be widely applied to detection in unknown environments such as polar regions and the like.
Description
Technical Field
The invention relates to a wind driven spherical robot with long endurance of polar regions, which can be applied to the polar region environment for long endurance detection.
Background
The polar region environment is a low-temperature, low-illumination and strong-wind environment, and has abundant resources such as oil gas, iron ore and the like, so that the method has great strategic significance on polar region detection. In order to explore the polar environment, the application of the intelligent robot is receiving wide attention. How to realize the detection work of long endurance of the robot in the polar environment is a research problem, and the key points are the acquisition mode of the robot energy, the environmental adaptability and other indexes.
Among them, the spherical robot, as a rolling type robot, has characteristics of high motion efficiency and small energy loss as compared with a conventional wheeled, rail-type or foot-type mobile robot. Since the first spherical robot was developed by the university of helsinki technology in finland and the wandering corporation in 1996, the spherical robot became a big hotspot in the research field of robots at home and abroad gradually. In foreign countries, the italian pizza university, the irancais university, the michigan state university, the japan museum university, the japan dividend university, and the like have successively studied spherical robots, and spherical robots of different driving forms have been developed. In China, colleges and universities such as Beijing postal and electronic university, Harbin industry university, Sigan electronic technology university, Shanghai traffic university, Shanghai university and the like have also achieved certain achievements in the research aspect of spherical robots.
The research of the spherical robot at home and abroad is integrated, and the driving modes of the spherical robot at present mainly comprise trolley driving, counterweight driving, deformation driving and wind driving. The driving controllability of the trolley is poor, and the movement speed is limited; the counterweight driving type control difficulty is large; the deformation driving type can not carry other components; wind driven is overly dependent on wind. The trolley driving type and the counterweight driving type are active motion type robots, and the driving source cannot provide long-time endurance; the deformation type robot cannot carry components, so the spherical robots are not suitable for detecting polar environment; the wind driven spherical robot can fully utilize wind power to move in a polar region with sufficient wind power, and in order to obtain more detection data, the long endurance of a power supply becomes an important measurement index. Chinese invention patent ZL200810017895.4 discloses a wind-driven environment detection spherical robot with multiple movement modes, which is completely driven by wind power, realizes free surging and uncontrollable movement, and needs an additional power supply for power supply of an internal system, thus being incapable of realizing the polar region operation requirement of long-endurance long distance. Chinese patent ZL201310558991.0 discloses a wind-driven spherical robot with long endurance in polar regions, which acquires and stores energy through a solar thin film on the surface of an inner spherical shell, but the air bag type spherical shell has high sealing requirement, and the spherical solar thin film has low photoelectric conversion efficiency, so that the polar region detection work with long endurance cannot be really realized.
Disclosure of Invention
The invention aims to solve the problems and provides a polar region long-endurance wind-driven spherical robot which can realize polar region detection with long endurance long distance in a polar region low-temperature strong wind environment.
In order to achieve the above object, the idea of the present invention is:
the invention adopts a spherical mechanism, and can be well adapted to polar environment for detection. The robot is driven passively by utilizing polar renewable energy source wind energy, and the long-endurance long-distance work is realized by utilizing the wind power generation device. The football alkene-like structure is adopted to form an open outer spherical shell, so that the protection and cushioning effects are realized, and the problem that a larger closed outer spherical shell is difficult to process can be effectively solved by adopting the football alkene-like structure; the adopted control system and power supply module are arranged in an internal rigid oval spherical shell and connected with an outer spherical shell by six supporting tubes; the adopted support pipes are hollow, and each support pipe is provided with a corresponding spring damping device, so that the control system and the power generation device can be better adapted to the severe environment of the polar region.
According to the invention concept, the invention adopts the following technical scheme:
a polar region long endurance wind-driven spherical robot comprises an outer spherical shell, a first wind-driven blade, a second wind-driven blade, a third wind-driven blade, supporting tubes and an inner spherical shell, wherein the inner spherical shell is fixedly connected with the outer spherical shell through a plurality of supporting tubes to form a rigid structure of the spherical robot; a group of first wind power blades are fixed on the inner spherical shell, two groups of second wind power blades are symmetrically arranged at the front end and the rear end of the inner spherical shell, and two groups of third wind power blades are symmetrically arranged at the front end and the rear end of the two groups of second wind power blades.
The outer spherical shell is of a football-like structure and is connected with the connector by a plurality of round pipes.
The inner spherical shell is an oval rigid shell, and a power supply device, a control device and a power generation device are arranged in the inner spherical shell.
The installation directions of the first wind power blade and the second wind power blade are opposite, the first wind power blade drives the whole spherical robot to move under the action of polar wind force, and the rotation direction of the second wind power blade is opposite to that of the first wind power blade and drives the power generation device to work, so that the power supply device collects and stores electric energy.
The second wind blade and the third wind blade rotate in the wind directions which are perpendicular to each other respectively, and the power generation device can be guaranteed to normally work to obtain electric energy under the condition of different wind directions.
The spring damping device is arranged in the supporting tube, so that when the robot collides with a barrier in the movement process, the impact can be reduced, and the device in the inner spherical shell is prevented from being damaged.
The robot is driven passively by wind power, the football-like olefin type spherical shell has a simpler structure, parts are convenient to disassemble and assemble and easy to carry, the appearance is attractive, the structural characteristics are good, and the robot can play a certain role in buffering and protecting when being acted by external force; and the inner spherical shell and the outer spherical shell are connected by adopting a supporting pipe with a damping device, so that the effects of damping and protecting core components can be achieved. If the robot is blocked by the barrier and cannot move in the special environment of the polar region, the operation of the wind power generation device can still be ensured, and related personnel can be ensured to return to the geographical position uninterruptedly before finding the robot.
Compared with the prior art, the invention has the following prominent substantive characteristics and remarkable advantages:
the wind power generator is simple in structure, large in size, capable of using wind energy as driving energy efficiently, convenient to install and flexible in movement, and the space size of the wind power generator can be a ball with the diameter of 1.5 m; when the robot moves and meets the action of the external environment, the robot can be adjusted by a self structural device to effectively adapt to the complex terrains of the polar region; the wind power generation device is used for recycling energy, and the requirement of field polar operation with long endurance and long distance is met.
Drawings
Fig. 1 is a schematic overall perspective view of the present invention.
Fig. 2 is a schematic view of the movement of the present invention on flat ground.
Fig. 3 is a schematic diagram of the movement of the present invention when it encounters an obstacle.
FIG. 4 is a schematic view of the power plant rotation when the invention falls into the lateral trench.
Detailed Description
The preferred embodiments of the present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, a polar region long-endurance wind-driven spherical robot comprises an outer spherical shell 1, a first wind blade 2, a second wind blade 3, a third wind blade 4, a support tube 5 and an inner spherical shell 6, wherein the inner spherical shell 6 is fixedly connected with the outer spherical shell 1 through a plurality of support tubes 5 to form a rigid structure of the spherical robot; a group of first wind power blades 2 are fixed on an inner spherical shell 6, two groups of second wind power blades 3 are symmetrically arranged at the front end and the rear end of the inner spherical shell 6, and two groups of third wind power blades 4 are symmetrically arranged at the front end and the rear end of the two groups of second wind power blades 3.
Outer spherical shell 1 is similar football alkene structure, adopts a plurality of pipes and connector to connect.
The inner spherical shell 6 is an oval rigid shell, and a power supply device, a control device and a power generation device are arranged in the inner spherical shell.
The installation directions of the first wind power blade 2 and the second wind power blade 3 are opposite, under the action of polar wind force, the first wind power blade 2 drives the whole spherical robot to move, and the rotation direction of the second wind power blade 3 is opposite to that of the first wind power blade 2, so that the power generation device is driven to work, and the power supply device collects and stores electric energy.
The second wind blade 3 and the third wind blade 4 rotate in the wind directions perpendicular to each other, so that the power generation device can be ensured to normally work to obtain electric energy under the condition of different wind directions.
The spring damping device is arranged in the supporting tube 5, so that when the robot collides with an obstacle in the movement process, the impact can be reduced, and the device in the inner spherical shell 6 is prevented from being damaged.
The working process of the invention is as follows:
as shown in fig. 2 to 4, the spherical robot is passively driven by extremely sufficient wind energy to realize forward motion, and has high freedom and flexibility. The internal rigid spherical shell 6 is positioned in the center of the sphere, so that the pose information of the spherical robot can be mastered in real time, and the climate parameters of different polar regions can be acquired. Meanwhile, the second wind power blade 3 and the third wind power blade 4 are connected with a power generation device inside the inner spherical shell 6 to acquire and store energy, so that the long-endurance long-distance detection work of the robot is realized. When the robot moves, the effect of buffering and damping can be achieved through the supporting tube 5 provided with the spring damping device, the service life of the robot is prolonged, and the robot can better adapt to the extremely severe environment. Because the polar region environment is special, be difficult to avoid having some barriers or cross ditch can make spherical robot block and can not move, under this condition, second wind-force blade 3 and third wind-force blade 4 can adapt to different wind directions, make power generation facility continue to work, in order to guarantee constantly to survey polar region environmental information, and before relevant staff solved the problem that spherical robot was blocked, can guarantee constantly to send geographical position information to the staff moreover, so that the staff seeks.
Claims (6)
1. A polar region long endurance wind-driven spherical robot comprises an outer spherical shell (1), a first wind-driven blade (2), a second wind-driven blade (3), a third wind-driven blade (4), supporting tubes (5) and an inner spherical shell (6), wherein the inner spherical shell (6) is fixedly connected with the outer spherical shell (1) through a plurality of supporting tubes (5) to form a rigid structure of the spherical robot; the wind power generator is characterized in that a group of first wind power blades (2) are fixed on an inner spherical shell (6), two groups of second wind power blades (3) are symmetrically arranged at the front end and the rear end of the inner spherical shell (6), and two groups of third wind power blades (4) are symmetrically arranged at the front end and the rear end of the two groups of second wind power blades (3).
2. The polar region long endurance wind driven spherical robot according to claim 1, wherein the outer spherical shell (1) is of a football-like structure and is connected with a connector by a plurality of round tubes.
3. The polar region long endurance wind-driven spherical robot according to claim 1, wherein the inner spherical shell (6) is an elliptical rigid shell, and a power supply device, a control device and a power generation device are placed inside.
4. The polar region long-endurance wind-driven spherical robot is characterized in that the first wind blade (2) and the second wind blade (3) are installed in opposite directions, under the action of polar region wind force, the first wind blade (2) drives the whole spherical robot to move, and the second wind blade (3) rotates in an opposite direction to the first wind blade (2) and drives the power generation device to work, so that the power supply device collects and stores electric energy.
5. The polar region long endurance wind-driven spherical robot according to claim 1, wherein the second wind blade (3) and the third wind blade (4) rotate in mutually perpendicular wind directions, respectively, to ensure the normal operation of the power generation device to obtain electric energy under different wind directions.
6. The polar region long-endurance wind-driven spherical robot according to claim 1, wherein the supporting tube (5) is internally provided with a spring shock-absorbing device which can reduce impact and prevent the device in the inner spherical shell (6) from being damaged when the robot strikes an obstacle during movement.
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 |
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| 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 CN107878588A (en) | 2018-04-06 |
| CN107878588B true CN107878588B (en) | 2020-04-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711087635.XA Expired - Fee Related CN107878588B (en) | 2017-11-08 | 2017-11-08 | Wind-driven spherical robot with long endurance in polar region |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE883291A (en) * | 1980-05-14 | 1980-11-14 | Dedonder Andre C | AUTOMOTIVE WHEEL SYSTEM |
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- 2017-11-08 CN CN201711087635.XA patent/CN107878588B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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| CN107878588A (en) | 2018-04-06 |
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