CN108583708B - Spherical robot - Google Patents
Spherical robot Download PDFInfo
- Publication number
- CN108583708B CN108583708B CN201810324495.1A CN201810324495A CN108583708B CN 108583708 B CN108583708 B CN 108583708B CN 201810324495 A CN201810324495 A CN 201810324495A CN 108583708 B CN108583708 B CN 108583708B
- Authority
- CN
- China
- Prior art keywords
- layer plate
- driving
- wheel
- driving mechanism
- driven
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 79
- 238000007789 sealing Methods 0.000 claims description 20
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 10
- 239000004917 carbon fiber Substances 0.000 claims description 10
- 230000005484 gravity Effects 0.000 claims description 10
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 10
- 230000003014 reinforcing effect Effects 0.000 claims description 5
- 239000011120 plywood Substances 0.000 claims description 4
- 230000002787 reinforcement Effects 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 3
- 239000003292 glue Substances 0.000 claims description 2
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 230000009194 climbing Effects 0.000 abstract description 6
- 238000005096 rolling process Methods 0.000 description 3
- 239000000565 sealant Substances 0.000 description 3
- 239000004677 Nylon Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229920001778 nylon Polymers 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a spherical robot, which comprises a spherical shell and a driving device arranged in the spherical shell, wherein the driving device comprises a driving mechanism and a driven mechanism, wherein the driving mechanism provides driving force; the driving mechanism comprises a driving wheel, a motor for driving the driving wheel and a motor frame; the driven mechanism comprises a first layer plate and a second layer plate, an elastic piece is arranged between the first layer plate and the second layer plate, a driven wheel is arranged on the first layer plate, and a driving mechanism is arranged below the second layer plate; the driving wheel and the driven wheel are both contacted with the spherical shell. The invention has the advantages of better climbing capability and better stability.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a spherical robot.
Background
The spherical robot is a robot which is in a sphere shape, a driving system is positioned in a spherical shell or a sphere, and rolling motion is realized through an internal driving mode.
The spherical robot is often not highly stable due to the movement mode of the rolling ball. Meanwhile, as the movement is realized by means of the mass center offset in the sphere, the ability of the sphere to cross obstacles is not strong, and the climbing ability is weak. In order to provide the spherical robot with better climbing capability and stability, the driving device inside the spherical robot needs to be designed.
Disclosure of Invention
The invention aims to provide a spherical robot with better climbing capability and better stability.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a spherical robot comprises a spherical shell and a driving device arranged in the spherical shell, wherein the driving device comprises a driving mechanism and a driven mechanism, wherein the driving mechanism provides driving force; the driving mechanism comprises a driving wheel, a motor for driving the driving wheel and a motor frame; the driven mechanism comprises a first layer plate and a second layer plate, an elastic piece is arranged between the first layer plate and the second layer plate, a driven wheel is arranged on the first layer plate, and a driving mechanism is arranged below the second layer plate; the driving wheel and the driven wheel are both contacted with the spherical shell.
Further, the driving mechanism and the driven mechanism are stacked up and down, and when the ball body is in a static state, the gravity centers of the driving mechanism and the driven mechanism are located on the same straight line passing through the center of the ball.
Furthermore, the driving mechanism also comprises a battery, a motor gear and a wheel shaft gear, the battery is arranged at two ends of the motor frame, the motor gear is fixed at two ends of the motor, the wheel shaft is installed on each driving wheel, the wheel shaft is fixed with the wheel shaft gear, the motor gear is meshed with the wheel shaft gear to drive the driving mechanism to travel, and the weight of the driving mechanism is larger than that of the driven mechanism. The motor frame and the motor in the driving mechanism are used as the balance weight piece, so that the weight of the driving mechanism is increased, the gravity center is deviated to the driving mechanism, when the ball body moves, the driving mechanism is used as the driving mechanism, and the gravity center is positioned on the driving mechanism, so that the integral mass center of the driving device moves forwards.
Further, the first layer plate and the second layer plate are hollow circular plates, and the diameter of the first layer plate is set to meet the requirement that the driven wheel is in contact with the inner surface of the spherical shell. The hollow circular plate can reduce the weight of the driven mechanism and make the center of gravity of the driving device more biased to the driving mechanism.
Further, the second layer plate is provided with an outer layer plate and an inner layer plate, the inner layer plate is positioned in the center of the second layer plate, the outer layer plate surrounds the inner layer plate, and the outer layer plate and the inner layer plate are connected through a reinforcing piece; the reinforcement is equipped with four connecting rods, and equidistant range between connecting rod and the connecting rod. When the ball rolls, the driven wheel in the driven mechanism applies external force to the second laminate, and the strength of the driven mechanism is ensured by the arrangement of the reinforcing piece.
Further, be equipped with the carbon fiber pipe between second plywood and the motor frame, carbon fiber pipe one end is passed through the upper bracket and is fixed with the second plywood, and the carbon fiber pipe other end is fixed with the motor frame through the undersetting.
Furthermore, follow driving wheel includes six universal wheels, six universal wheel evenly distributed in first floor upper end edge. The universal wheels may be made of a material having a relatively high strength, such as nylon.
Further, the peripheral edge part of the first layer plate is provided with a driven wheel mounting seat, and the driven wheel is fixed with the first layer plate through the driven wheel mounting seat.
Furthermore, the joint of the spherical shell is provided with a sealing part, and the sealing part comprises a sealing ring and sealing glue. The joint of the spherical shell is sealed by a sealing ring, and then the sealing ring is coated with sealant for sealing again after sealing.
Further, the outer surface of the spherical shell and the wheel are both coated with rubber. The rubber increases the contact between the outer surface of the spherical shell and the ground and the friction between the wheels and the inner surface of the spherical shell, so that the sliding of the outer part of the sphere and the sliding of the driving device in the spherical shell are prevented.
The working process of the invention is as follows: the motor passes through the gear and drives the action wheel rotation, and action wheel and spherical shell inner wall do not skid, and driving mechanism will be at the inside displacement forward for the spherical shell of spherical shell, because the drive arrangement focus mainly concentrates on driving mechanism, consequently is equivalent to the whole focus of spherical robot and moves forward, and owing to the effect of gravity moment this moment, the spheroid will roll forward.
Compared with the prior art, the invention has the advantages that:
1. be equipped with the elastic component between follower and the driving mechanism, the elastic component is through applying the pretightning force to follower and driving mechanism, makes spherical robot not skid between driving mechanism and the spherical shell inside when climbing the slope, improves spherical robot's climbing ability.
2. The whole mass center of the spherical robot is positioned on the driving mechanism, and the position of the driving mechanism is low, so that the stability of the spherical robot is higher in the rolling process.
3. The center of the second laminate is provided with an inner laminate and an outer laminate which are connected through a connecting piece, so that the weight of the driven mechanism is reduced, and the strength of the driven mechanism is ensured.
4. The outer surfaces of the spherical shell and the wheels are coated with rubber, so that the friction force between the sphere and the ground and between the driving wheel and the inner surface of the spherical shell is increased, the sphere can roll better, and the slipping is avoided.
Drawings
FIG. 1 is a schematic view of the structure of the present invention.
Fig. 2 is a right side view of fig. 1.
Fig. 3 is an exploded view of the active mechanism.
The labels in the figure are: the anti-skid device comprises a spherical shell 1, a driving device 2, a driving mechanism 21, a driven mechanism 22, a driving wheel 211, a motor 212, a motor frame 213, a first layer plate 221, a second layer plate 222, an elastic piece 223, a driven wheel 224, a battery 214, a motor gear 215, a wheel shaft gear 216, a wheel shaft 217, an outer layer plate 2211, an inner layer plate 2212, a reinforcing piece 2213, an upper support 2251, a lower support 2252, a driven wheel mounting seat 2241, a carbon fiber tube 225, a sealing part 11 and an anti-skid layer 12.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
As shown in fig. 1 and 2, a spherical robot comprises a spherical shell 1 and a driving device 2 placed inside the spherical shell, wherein the driving device comprises a driving mechanism 21 for providing driving force and a driven mechanism 22; the driving mechanism 21 includes a driving wheel 211, a motor 212 driving the driving wheel 211, and a motor frame 213; the driven mechanism 22 comprises a first layer 221 and a second layer 222, an elastic member 223 is arranged between the first layer 221 and the second layer 222, a driven wheel 224 is arranged on the first layer 221, and a driving mechanism 21 is arranged below the second layer 222; the driving pulley 211 and the driven pulley 224 are both in contact with the ball housing 1. The elastic member 223 may be a spring.
The driving mechanism 21 and the driven mechanism 22 are stacked up and down, and when the sphere is in a static state, the centers of gravity of the driving mechanism 21 and the driven mechanism 22 are located on the same straight line passing through the center of the sphere.
As shown in fig. 3, the driving mechanism 21 further includes a battery 214, a motor gear 215 and a wheel shaft gear 216, the battery 214 is disposed at two ends of the motor frame 213, the motor gear 215 is fixed at two ends of the motor 212, a wheel shaft 217 is installed on each driving wheel 211, the wheel shaft 217 is fixed to the wheel shaft gear 216, the motor gear 215 and the wheel shaft gear 216 are engaged to drive the driving mechanism 21 to move, and the weight of the driving mechanism 21 is greater than that of the driven mechanism 22. The motor frame 213 and the motor 212 in the driving mechanism 21 are used as a weight to increase the weight of the driving mechanism 21 and bias the center of gravity toward the driving mechanism 21, and when the ball moves, the driving mechanism 21 is used as a driving mechanism, and the center of gravity is located on the driving mechanism 21, so that the center of mass of the whole driving device 2 moves forward.
As shown in fig. 1, the first layer 221 and the second layer 222 are hollow circular plates, and the diameter of the first layer 221 is set to allow the driven wheel 224 to contact the inner surface of the spherical shell 1. The hollow circular plate is provided to reduce the weight of the driven mechanism 22 and to bias the center of gravity of the driving device 2 toward the driving mechanism 21.
As shown in fig. 1, the second laminate 222 is provided with an outer laminate 2211 and an inner laminate 2212, the inner laminate 2212 is located at the center of the second laminate 222, the outer laminate 2211 surrounds the inner laminate 2212, and the outer laminate 2211 and the inner laminate 2212 are connected through a reinforcement 2213; the reinforcement 2213 is provided with four connecting rods, which are arranged at equal intervals. When the ball rolls, the driven wheel 224 in the driven mechanism 22 applies an external force to the second layer 221, and the strength of the driven mechanism 22 is ensured by the reinforcing member 2213.
As shown in fig. 1, a carbon fiber tube 225 is disposed between the second layer plate 222 and the motor frame 213, one end of the carbon fiber tube 225 is fixed to the second layer plate 222 by an upper support 2251, and the other end of the carbon fiber tube 225 is fixed to the motor frame 213 by a lower support 2252.
As shown in fig. 1, the driven wheel 224 includes six universal wheels, which are uniformly distributed at the upper end edge of the first deck 221 at the same interval. The universal wheels may be made of a material having a relatively high strength, such as nylon.
As shown in fig. 2, the circumferential edge of the first layer 221 is provided with a driven wheel mounting seat 2241, and the driven wheel 224 is fixed to the first layer 221 by the driven wheel mounting seat 2241.
As shown in fig. 2, a sealing portion 11 is provided at the joint of the spherical shell, and the sealing portion 11 includes a sealing ring and a sealant. The joint of the spherical shell is sealed by a sealing ring, and then the sealing ring is coated with sealant for sealing again after sealing.
As shown in fig. 3, the outer surface of the spherical shell 1 and the wheel are coated with an anti-slip layer 12. The anti-slip layer 12 can be rubber 12, and the anti-slip layer 12 increases the friction between the outer surface of the spherical shell and the ground and the contact between the driving wheel 211 and the inner surface of the spherical shell 1, so as to prevent the sliding of the outer part of the spherical body and the sliding of the driving device in the spherical shell.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the spirit of the present invention, and these modifications and decorations should also be regarded as being within the scope of the present invention.
Claims (8)
1. A spherical robot, its characterized in that: the driving device comprises a driving mechanism and a driven mechanism, wherein the driving mechanism provides driving force; the driving mechanism comprises a driving wheel, a motor for driving the driving wheel and a motor frame; the driven mechanism comprises a first layer plate and a second layer plate, an elastic piece is arranged between the first layer plate and the second layer plate, a driven wheel is arranged on the first layer plate, and a driving mechanism is arranged below the second layer plate; the driving wheel and the driven wheel are both contacted with the spherical shell, the first layer plate and the second layer plate are both hollow circular plates, the diameter of the first layer plate is set to meet the requirement that the driven wheel is contacted with the inner surface of the spherical shell, the second layer plate is provided with an outer layer plate and an inner layer plate, the inner layer plate is positioned in the center of the second layer plate, the outer layer plate surrounds the inner layer plate, and the outer layer plate and the inner layer plate are connected through a reinforcing piece; the reinforcement is equipped with four connecting rods, and equidistant range between connecting rod and the connecting rod.
2. The spherical robot of claim 1, wherein: the driving mechanism and the driven mechanism are stacked up and down, and when the ball body is in a static state, the gravity centers of the driving mechanism and the driven mechanism are positioned on the same straight line passing through the center of the ball.
3. The spherical robot of claim 2, wherein: the driving mechanism further comprises a battery, a motor gear and a wheel shaft gear, the battery is arranged at two ends of the motor frame, the motor gear is fixed at two ends of the motor, a wheel shaft is mounted on each driving wheel, the wheel shaft is fixed with the wheel shaft gear, the motor gear is meshed with the wheel shaft gear to drive the driving mechanism to travel, and the weight of the driving mechanism is larger than that of the driven mechanism.
4. The spherical robot of claim 1, wherein: be equipped with the carbon fiber pipe between second plywood and the motor frame, carbon fiber pipe one end is fixed with the second plywood through the upper bracket, and the carbon fiber pipe other end is fixed with the motor frame through the undersetting.
5. The spherical robot of claim 1, wherein: the driven wheel comprises six universal wheels, and the six universal wheels are uniformly distributed at the upper end edge of the first layer plate.
6. The spherical robot of claim 5, wherein: the peripheral edge part of the first layer plate is provided with a driven wheel mounting seat, and the driven wheel is fixed with the first layer plate through the driven wheel mounting seat.
7. The spherical robot of claim 1, wherein: the spherical shell joint is provided with a sealing part, and the sealing part comprises a sealing ring and a sealing glue.
8. The spherical robot of claim 1, wherein: the outer surface of the spherical shell and the wheel are both coated with rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810324495.1A CN108583708B (en) | 2018-04-12 | 2018-04-12 | Spherical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810324495.1A CN108583708B (en) | 2018-04-12 | 2018-04-12 | Spherical robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108583708A CN108583708A (en) | 2018-09-28 |
| CN108583708B true CN108583708B (en) | 2020-03-24 |
Family
ID=63622163
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810324495.1A Active CN108583708B (en) | 2018-04-12 | 2018-04-12 | Spherical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108583708B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110341822A (en) * | 2019-07-30 | 2019-10-18 | 深圳市琅硕海智科技有限公司 | Internal driving system of spherical robot |
| CN111376663B (en) * | 2020-04-02 | 2021-10-22 | 青岛海研电子有限公司 | Amphibious spherical robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3794130B2 (en) * | 1997-10-15 | 2006-07-05 | ソニー株式会社 | Spherical shell moving device |
| JP4105580B2 (en) * | 2003-04-10 | 2008-06-25 | 正豊 松田 | Ball actuator |
| CN100404212C (en) * | 2006-03-15 | 2008-07-23 | 北京邮电大学 | Spherical walking robot with telescopic arm |
| CN203172751U (en) * | 2013-04-18 | 2013-09-04 | 沈阳工业大学 | Spherical robot with stabilization platform |
| CN106515891A (en) * | 2016-12-07 | 2017-03-22 | 北京工业大学 | Friction drive type throwing spherical robot |
-
2018
- 2018-04-12 CN CN201810324495.1A patent/CN108583708B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108583708A (en) | 2018-09-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108583708B (en) | Spherical robot | |
| CN103402793B (en) | tire inflation system | |
| CN104875807B (en) | A kind of running gear for climbing robot | |
| US9428231B2 (en) | Climbing vehicle with suspension mechanism | |
| US10351190B2 (en) | Three-wheeled vehicle having non-axial drive | |
| US11958552B2 (en) | Bionic robot for all terrains | |
| CN110173607B (en) | Multi-joint omnidirectional movement pipeline robot | |
| CN112319168B (en) | Suspension device, mobile chassis and robot | |
| CN102673673A (en) | Novel universal rolling magnet-wheel device for magnetic adsorption climbing robot | |
| CN107416069B (en) | Omnidirectional driving device for robot | |
| CN111896554B (en) | A ordinary pressure storage tank wall climbing robot for miniature appearance detection in surface | |
| CN109808787B (en) | Robot jumping moving mechanism and asteroid detection robot | |
| CN109131619B (en) | Wall climbing robot | |
| CN210566982U (en) | Multi-joint omnidirectional movement pipeline robot | |
| CN202225931U (en) | Four-bar linkage deformation caterpillar obstacle-climbing car | |
| CN207773298U (en) | A kind of climbing robot | |
| CN113173214B (en) | Vacuum adsorption movement device and obstacle-crossing climbing robot constructed by same | |
| CN211032801U (en) | Internal friction type omnidirectional moving spherical robot | |
| Suzuki et al. | New types child units of anchor climber: swarm type wall climbing robot system | |
| CN110481687B (en) | Wheeled ball type balance vehicle | |
| CN210414519U (en) | Standing ball type robot | |
| CN110834682A (en) | Internal friction type omnidirectional moving spherical robot | |
| CN202389132U (en) | Control arm lining | |
| CN113370882A (en) | Mobile robot assembly and mobile robot multi-machine cooperation carrying system | |
| CN208453082U (en) | A kind of robot base apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |