CN110341822A - Internal driving system of spherical robot - Google Patents
Internal driving system of spherical robot Download PDFInfo
- Publication number
- CN110341822A CN110341822A CN201910695366.8A CN201910695366A CN110341822A CN 110341822 A CN110341822 A CN 110341822A CN 201910695366 A CN201910695366 A CN 201910695366A CN 110341822 A CN110341822 A CN 110341822A
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- spherical shell
- support wheel
- interior
- wheel
- driving
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- 238000005096 rolling process Methods 0.000 claims abstract description 40
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- UQMRAFJOBWOFNS-UHFFFAOYSA-N butyl 2-(2,4-dichlorophenoxy)acetate Chemical compound CCCCOC(=O)COC1=CC=C(Cl)C=C1Cl UQMRAFJOBWOFNS-UHFFFAOYSA-N 0.000 description 9
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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
Abstract
The invention discloses an internal driving system of a spherical robot, which comprises: an inner spherical shell; the outer spherical shell is coated on the outer surface of the inner spherical shell and is arranged in a rotating way relative to the inner spherical shell; the inner driving module is fixedly arranged on the inner surface of the inner spherical shell, at least two driving wheels are arranged on the inner driving module, and the driving wheels partially penetrate through the inner spherical shell and then abut against the inner surface of the outer spherical shell; and the rolling support wheel part penetrates through the inner spherical shell and then abuts against the inner surface of the outer spherical shell, an elastic part is arranged between the rolling support wheel and the inner driving module, and the elastic part provides elastic force to enable the driving wheel and the rolling support wheel to keep abutting against the inner surface of the outer spherical shell. The driving wheel in the driving system can constantly keep good contact with the inner surface of the outer spherical shell, and after the outer spherical shell jolts when encountering uneven ground, the driving wheel is separated from the inner surface of the outer spherical shell, so that the spherical robot can rapidly obtain power response, and the motion precision of the spherical robot is ensured.
Description
Technical field
The present invention relates to ball shape robot technical field, in particular to a kind of ball shape robot internal drive system.
Background technique
Movable spherical robot refers to internal drive system such as movement executing mechanism, sensor, power device, control system
System etc. is placed in spherical shell, by interior driving and to roll the mobile robot for being main walking manner.
Movable spherical robot structure is simple, and not needing complicated kinematic pair or movable joint can be moved.It is transporting
On flowing mode, based on rolling movement, the steering more flexible compared to other motion modes energy can adjust rapidly operation shape
State has good dynamic and static balancing, and direction of motion controllability is good, the quick self-recovery of energy once movement is forgotten oneself, can
Continuous work is carried out, sport efficiency is high, energy loss is small.Internal drive is simple simultaneously, by its internal drive
Control can be realized movement, thus control system is simple many compared to traditional robot.
Ball shape robot is mostly completely enclosed type, and spherical housing can protect interior arrangement, compact-sized, occupancy very well
Space is small.Ball shape robot overall dimensions are smaller, to enhance the adaptive capacity to environment of ball shape robot, allow in nothing
It is run under the mal-conditions such as people, sand and dust, humidity, corrosivity, no matter coarse or smooth landform can smoothly roll walking.?
Ground of flexible relative such as sand ground, snowfield etc. influences its flexibility little.
Movable spherical robot breaks the static balancing of sphere by the movement of internal drive, and movement is flexible, can be with
Realize pivot stud and omnidirection walking, it can the operation in narrow space.Its driving principle of existing movable spherical robot is
Two-wheel rotation changes centre-of-gravity, and wheel rotation and wall friction in spherical shell, internal drive mass centre changing force sphere to move,
Frictional force between wheel and spherical shell inner wall is provided by the normal pressure that the self weight of robot interior driving unit generates.
But the internal drive of the movable spherical robot and spherical shell inner wall will appear slipping phenomenon, especially work as machine
Device people encounters out-of-flatness ground, and kinematic driving unit can be bounced due to effect of inertia, driving wheel, driving wheel just no longer with spherical shell
Interior contact, and then lead to dynamic failure, motion control accuracy is lost.
Summary of the invention
The purpose of the present invention is to provide a kind of ball shape robot internal drive systems, to solve to mention in above-mentioned background technique
Out the problem of.
A kind of used technical solution to solve above-mentioned technical problem: ball shape robot internal drive system, comprising:
Interior spherical shell；
Outer spherical shell, the outer spherical shell are coated on interior spherical shell outer surface, and the ectosphere shell phase, which rotates interior spherical shell, to be arranged；
Interior drive module is fixedly installed on the inner surface of interior spherical shell, at least two driving of setting in the interior drive module
Wheel, the driving wheel abut after partially passing through interior spherical shell with the inner surface of the outer spherical shell；And
Rolling support wheel, the rolling support wheel abut after partially passing through interior spherical shell with the inner surface of the outer spherical shell, institute
State and be provided with elastic component between rolling support wheel and interior drive module, the elastic component provide elastic force make the driving wheel and
The rolling support wheel holding is abutted with the inner surface of outer spherical shell.
Further, first support is provided in the interior drive module, the rolling support wheel is rotatably installed in second
On bracket, the elastic component is arranged between first support and second support.
Further, the elastic component be compressed spring, the both ends of the compressed spring respectively with first support and second
Bracket abuts.
Further, the quantity of the driving wheel is two and is respectively arranged at the two sides of the interior drive module, described
Rolling support wheel is located among the top of two driving wheels, the rotation centerline of the driving wheel and the rolling support wheel
Rotation centerline be parallel to each other.
It further, further include front support wheel, the front support wheel is rotatably dispose in the interior drive module, before described
Support wheel abuts after partially passing through interior spherical shell with the inner surface of the outer spherical shell.
Further, the rotation centerline of the rotation centerline of the front support wheel and the rolling support wheel is mutually flat
Row.
Further, two driving wheels, rolling support wheel and front support wheel are located at the four sides for being inscribed in interior spherical shell
Four apexes of body.
The utility model has the advantages that making driving wheel that can keep the interior table with outer spherical shell the moment by increasing rolling support wheel and elastic component
Face well contacts, and is not in that outer spherical shell encounters after uneven ground generation jolts, driving wheel contacts point with the inner surface of outer spherical shell
From phenomenon, and then guarantee that ball shape robot can obtain rapidly dynamic response, it is ensured that the kinematic accuracy of ball shape robot.
Detailed description of the invention
The present invention is described further with reference to the accompanying drawings and examples:
Fig. 1 is the structural schematic diagram of internal drive；
Fig. 2 is the relative position schematic diagram of driving wheel, rolling support wheel and front support wheel in interior spherical shell；
Fig. 3 is the perspective view of ball shape robot；
Fig. 4 is the assembly structure diagram of rolling support wheel and compressed spring；
Specific embodiment
Referring to figs. 1 to Fig. 4, the embodiment of the present invention provides a kind of ball shape robot internal drive system, the internal drive system
System is made of interior spherical shell 40, outer spherical shell 50, interior drive module 10, rolling support wheel 20 and front support wheel 30 etc..
Wherein, outer spherical shell 50 is coated on interior 40 outer surface of spherical shell, and outer spherical shell 50 can realize any side relative to interior spherical shell 40
To rotation.Interior drive module 10 is fixedly mounted on the inner surface of interior spherical shell 40, and there are two drive for setting in interior drive module 10
Driving wheel 11, driving wheel 11 are realized rotate and reverse under the drive of the motor.On interior spherical shell 40 on the corresponding position of driving wheel 11
It is provided with grooving, driving wheel 11 abuts after partially passing through grooving with the inner surface of outer spherical shell 50.
Meanwhile rolling support wheel 20 is installed in interior drive module 10 or is installed on the inner surface of interior spherical shell 40, it is interior
Be again provided with grooving on spherical shell 40 on the corresponding position of rolling support wheel 20, rolling support wheel 20 partially pass through after grooving with
The inner surface of outer spherical shell 50 abuts.Elastic component is provided between rolling support wheel 20 and interior drive module 10.Elastic component is in pressure
Contracting state can provide elastic force.
Inner surface under the effect of driving wheel 11 and rolling support wheel 20 elastic force provided by elastic component with outer spherical shell 50
It keeps abutting.11 positive and negative rotation of motor driven driving wheel, the external spherical shell 50 of driving wheel 11 provides frictional force, and then drives outer spherical shell 50
Rotation, realizes the movement of ball shape robot.By increasing rolling support wheel 20 and elastic component, make driving wheel 11 can keep at the moment with
The inner surface of outer spherical shell 50 well contacts, and is not in that outer spherical shell 50 encounters after uneven ground generation jolts, driving wheel 11 and outer
The inner surface of spherical shell 50 separate phenomenon, and then guarantees that ball shape robot can obtain rapidly dynamic response, it is ensured that spherical machine
The kinematic accuracy of device people.
In the present embodiment, the quantity of driving wheel 11 can also be three or multiple, need to only guarantee all driving wheels 11
Rotation centerline is parallel to each other.The quantity of driving wheel 11 is two in the present embodiment, and driving wheel 11 is mounted on interior driving mould
The two sides of block 10, rolling support wheel 20 are mounted among the top of two driving wheels 11, the rotation centerline of driving wheel 11 and rolling
The rotation centerline of dynamic support wheel 20 is parallel to each other.Meanwhile it also being installed in interior drive module 10 or on the inner surface of interior spherical shell 40
There is front support wheel 30, front support wheel 30 drive module 10 can rotate in, in the corresponding position of front support wheel 30 on interior spherical shell 40
It sets and is again provided with grooving, front support wheel 30 abuts after partially passing through grooving with the inner surface of outer spherical shell 50.
In the rotation of the rotation centerline of 20 axis of rolling support wheel and the rotation centerline of front support wheel 30 and driving wheel 11
Heart line is parallel to each other, and (advances, retreats) when ball shape robot proper motion, the rotation of rolling support wheel 20, front support wheel 30
Direction is identical as the direction of rotation of driving wheel 11, and no cross component force hinders, and resistance is small, so that moving more smooth, energy
Utilization rate is high.
In the present embodiment, first support 12 can be fixedly installed in interior drive module 10；20 centre bit of rolling support wheel
It sets and bearing is installed, passing through in bearing has pin shaft, and rolling support wheel 20 is rotatably installed in second support 21 by pin shaft；Elasticity
Part is mounted between first support 12 and second support 21, and on the one hand pass through first support 12 is transferred to interior drive for elastic force to elastic component
On dynamic model block 10, and then realizes and elastic force is applied to driving wheel 11；On the other hand elastic force is transferred to by rolling by second support 21
On support wheel 20, so that rolling support wheel 20 and outer 50 inner surface of spherical shell are in close contact.
Preferably, elastic component be compressed spring 60, the both ends of compressed spring 60 respectively with first support 12 and second
Frame 21 abuts, and links into an integrated entity with first support 12 and second support 21.Meanwhile the elastic component can also be elastic slice etc. other
The elastomer of elastic force can be equally provided.
Referring again to Fig. 2, two driving wheels 11, rolling support wheel 20 and the front support wheel 30 of the internal drive system divide
Tetrahedral four apexes of interior spherical shell 40 Wei Yu be inscribed in.The inner surface of four apexes and outer spherical shell 50 closely connects
Touching, four contact points form a space tetrahedron, and in compressed spring 60 built in the tetrahedron, generate tension, make tetrahedron
Four vertex moment well contact with outer 50 inner surface of spherical shell.
Embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned embodiment party
Formula within the scope of knowledge possessed by those of ordinary skill in the art can also be before not departing from present inventive concept
Put that various changes can be made.
Claims (7)
1. a kind of ball shape robot internal drive system characterized by comprising
Interior spherical shell；
Outer spherical shell, the outer spherical shell are coated on the outer surface of interior spherical shell, and the ectosphere shell phase, which rotates interior spherical shell, to be arranged；
Interior drive module is fixedly installed on the inner surface of interior spherical shell, at least two driving wheels, institute is arranged in the interior drive module
It states after driving wheel partially passes through interior spherical shell and is abutted with the inner surface of the outer spherical shell；And
Rolling support wheel, the rolling support wheel abut after partially passing through interior spherical shell with the inner surface of the outer spherical shell, the rolling
It is provided with elastic component between dynamic support wheel and interior drive module, the elastic component provides elastic force and makes the driving wheel and described
The holding of rolling support wheel is abutted with the inner surface of outer spherical shell.
2. ball shape robot internal drive system according to claim 1, it is characterised in that: set in the interior drive module
It is equipped with first support, the rolling support wheel is rotatably installed in second support, and elastic component setting is in first support and the
Between two brackets.
3. ball shape robot internal drive system according to claim 2, it is characterised in that: the elastic component is compression bullet
The both ends of spring, the compressed spring are abutted with first support and second support respectively.
4. ball shape robot internal drive system according to claim 1, it is characterised in that: the quantity of the driving wheel is
Two and the two sides of the interior drive module are respectively arranged at, the rolling support wheel is located in the top of two driving wheels
Between, the rotation centerline of the driving wheel and the rotation centerline of the rolling support wheel are parallel to each other.
5. ball shape robot internal drive system according to claim 4, it is characterised in that: further include front support wheel, institute
Front support wheel is stated to be rotatably dispose in the interior drive module, the front support wheel partially pass through after interior spherical shell with the outer spherical shell
Inner surface abut.
6. ball shape robot internal drive system according to claim 5, it is characterised in that: the rotation of the front support wheel
The rotation centerline of center line and the rolling support wheel is parallel to each other.
7. ball shape robot internal drive system according to claim 6, it is characterised in that: two driving wheels roll branch
Support wheel and front support wheel are located at tetrahedral four apexes for being inscribed in interior spherical shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910695366.8A CN110341822A (en) | 2019-07-30 | 2019-07-30 | Internal driving system of spherical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910695366.8A CN110341822A (en) | 2019-07-30 | 2019-07-30 | Internal driving system of spherical robot |
Publications (1)
| Publication Number | Publication Date |
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| CN110341822A true CN110341822A (en) | 2019-10-18 |
Family
ID=68179176
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910695366.8A Pending CN110341822A (en) | 2019-07-30 | 2019-07-30 | Internal driving system of spherical robot |
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| Country | Link |
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| CN (1) | CN110341822A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111376663A (en) * | 2020-04-02 | 2020-07-07 | 青岛海研电子有限公司 | Amphibious spherical robot |
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Address after: 518063 t2-a-a, South Zone of high tech Industrial Park, Yuehai street, Nanshan District, Shenzhen, Guangdong Applicant after: Shenzhen Mingming robot Co.,Ltd. Address before: 518000 B310, key laboratory platform building, Shenzhen Virtual University Park, No. 1, Yuexing Second Road, Yuehai street, Nanshan District, Shenzhen, Guangdong Province Applicant before: Shenzhen langshuohaizhi Technology Co.,Ltd. |