CN110979500B - Fluid-driven spherical rolling robot and driving method thereof - Google Patents
Fluid-driven spherical rolling robot and driving method thereof Download PDFInfo
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- CN110979500B CN110979500B CN201911182398.4A CN201911182398A CN110979500B CN 110979500 B CN110979500 B CN 110979500B CN 201911182398 A CN201911182398 A CN 201911182398A CN 110979500 B CN110979500 B CN 110979500B
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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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
Abstract
The invention discloses a fluid-driven spherical rolling robot and a driving method thereof. The existing driving modes of the spherical robot mainly comprise trolley driving, counterweight driving, deformation driving and wind driving, and have certain defects. The invention relates to a fluid-driven spherical rolling robot, which comprises a control box, a power mechanism, a spherical shell and a balance box. The power mechanism comprises a ring-shaped pipe, a first gravity center adjusting block, a second gravity center adjusting block and a partition plate. An oil circuit module is arranged in the control box. The oil circuit module comprises an oil tank, a first reversing valve, a second reversing valve, a first on-off valve, a second on-off valve, an overflow valve and a hydraulic source. The invention controls the liquid flow in the pipe by using a hydraulic transmission mode, thereby driving the internal gravity center adjusting block to move and changing the position of the robot mass center.
Description
Technical Field
The invention belongs to the technical field of spherical robots, and particularly relates to a fluid-driven spherical rolling robot and a driving method thereof.
Background
The spherical robot is a mobile robot with a novel structure, has the unique advantages of flexible action, small turning radius, relatively simple control, strong field adaptability and the like compared with the traditional wheeled, rail-type or foot-type mobile robot, is deeply concerned by researchers at home and abroad, and is one of the hot problems in the technical field of the current robots. Spherical robots can be divided according to the driving principle into: moment balance, mass balance and conservation of angular momentum. Although many spherical robots have been designed at home and abroad, the driving mechanisms of the spherical robots are diversified, most of the spherical robots have the defects of complex structure, low practicability and the like. So far, no driving mode is widely popularized, and no mature theoretical system exists in the research on the spherical robot and the driving mode.
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 robot cannot carry the components.
Disclosure of Invention
The invention aims to provide a fluid-driven spherical rolling robot and a driving method thereof.
The invention relates to a fluid-driven spherical rolling robot, which comprises a control box, a power mechanism, a spherical shell and a balance box. The power mechanism comprises a ring-shaped pipe, a first gravity center adjusting block, a second gravity center adjusting block and a partition plate. The annular tube is fixed in the spherical shell. Two clapboards are fixed in the annular tube. The two clapboards divide the inner cavity of the annular pipe into a first semi-annular cavity and a second semi-annular cavity which are not communicated with each other. The inner side of the annular tube is provided with a first fluid port, a second fluid port, a third fluid port and a fourth fluid port. The first fluid port and the second fluid port are respectively communicated with two ends of the first semi-ring cavity. The third fluid port and the fourth fluid port are respectively communicated with two ends of the second semi-ring cavity. The first gravity center adjusting block and the second gravity center adjusting block are respectively arranged in the first semi-ring cavity and the second semi-ring cavity. Two balance boxes are arranged on two sides of the spherical shell in a centering way. The lateral parts of the two balance boxes are provided with propellers.
The control box is fixed in the spherical shell. An oil circuit module is arranged in the control box. The oil circuit module comprises an oil tank, a first reversing valve, a second reversing valve, a first on-off valve, a second on-off valve, an overflow valve and a hydraulic source. The oil inlet of the hydraulic source is communicated with the oil tank. An oil inlet of the overflow valve is communicated with an oil outlet of the hydraulic source, and an overflow port is communicated with the oil tank. An oil inlet of the first reversing valve is communicated with an oil outlet of a hydraulic source, an oil return port is communicated with one working oil port of the first on-off valve, the first working oil port is communicated with a first fluid port on the annular pipe, and a second working oil port is communicated with a second fluid port on the annular pipe. An oil inlet of the second reversing valve is connected with a hydraulic source, an oil return port is communicated with a first working oil port of the second on-off valve, the first working oil port is communicated with a third fluid port on the annular pipe, and the second working oil port is connected with a fourth fluid port on the annular pipe; and the other working oil ports of the first on-off valve and the second on-off valve are communicated with the oil tank. The annular pipe and the oil tank are filled with hydraulic oil. A gyroscope is also arranged in the control box. The gravity center of the combination of the control box, the spherical shell and the balance box is superposed with the spherical center of the spherical shell.
Preferably, the propeller comprises a motor and a propeller. The motors are fixed in the corresponding balance boxes. The propeller is fixed with the output shaft of the motor. The axis of the propeller is perpendicular to the central axis of the balance box and perpendicular to the central axis of the annular tube.
Preferably, the outer side edge of the annular tube is in contact with the inner side wall of the spherical shell. The annular pipe is made of ABS plastic. The first semi-ring cavity and the second semi-ring cavity are equal in length.
Preferably, the spherical center of the spherical shell coincides with the geometric center of the annular tube. The sphere center of the spherical shell is positioned on the central axis of the two balance boxes. The connecting line of the two balance boxes is vertical to the connecting line of the two clapboards.
Preferably, the first gravity center adjusting block and the second gravity center adjusting block are spherical, and the diameter of the first gravity center adjusting block and the diameter of the second gravity center adjusting block are equal to the inner diameter of the annular pipe.
Preferably, an air bag is provided on the outer side of each of the two balancing tanks. The air bag is internally provided with an ignition device and a material capable of reacting to generate gas.
Preferably, the first on-off valve and the second on-off valve are electromagnetic valves with the model number of 2P 025-06-08. The first reversing valve and the second reversing valve adopt three-position four-way electromagnetic reversing valves with the models of 4V 210-08. The first reversing valve and the second reversing valve are arranged at a first working position, the oil inlet is communicated with the second working oil port, and the oil return port is communicated with the first working oil port; under the second working position, the oil inlet, the oil return port, the first working oil port and the second working oil port are all cut off; and under the third working position, the oil inlet is communicated with the first working oil port, and the oil return port is communicated with the second working oil port.
Preferably, a control module is further installed in the control box. The control module comprises a controller, a Bluetooth module, a magnetic isolation chip and an electromagnetic valve driving chip. The controlled interface of the electromagnetic valve driving chip is connected with the controller through the magnetic isolation chip. And control interfaces of the first reversing valve, the second reversing valve, the first on-off valve and the second on-off valve are respectively connected with four driving output interfaces of the electromagnetic valve driving chip. The control interfaces of the two motors are connected with the controller. And signal output interfaces of the gyroscope are connected with the controller. The controller adopts a singlechip. The communication interface of the Bluetooth module is connected with the communication interface of the controller. The Bluetooth module is in wireless communication with the upper computer.
Preferably, the bluetooth module adopts a bluetooth wireless communication module with the model of SI 4432. The magnetic isolation chip adopts a digital isolator with the model number ADUM 1402. The model number of the electromagnetic valve driving chip is L9352B 0. The gyroscope adopts a gyroscope attitude sensing chip with the model of MPU 6050; the controller adopts a single chip microcomputer with the model number of STM32F103ZET 6.
The driving method of the fluid-driven spherical robot includes a front-back driving method and a deflection driving method.
The linear forward driving method is specifically as follows:
the first gravity center adjusting block is driven to move to the middle position of the first semi-annular cavity, and the second gravity center adjusting block moves to the middle position of the second semi-annular cavity.
And step two, detecting the spatial pose of the annular tube by the gyroscope. If the included angle between the central axis of the annular pipe and the horizontal plane is more than 80 degrees, the first gravity center adjusting block and the second gravity center adjusting block are driven to move towards the higher partition plate of the two partition plates 7, so that the gravity center of the fluid-driven spherical robot is higher than the sphere center of the spherical shell, and the spherical shell rotates under the action of gravity; and (5) after the included angle between the central axis of the annular pipe and the horizontal plane is less than 80 degrees, entering the third step.
And if the included angle between the central axis of the annular pipe and the horizontal plane is less than or equal to 80 degrees, directly entering the third step.
And step three, switching the first reversing valve and the second reversing valve to enable the gravity center of the fluid-driven spherical robot to be transferred to one side, close to the advancing direction, of the sphere center of the spherical shell. At this time, the spherical shell rolls in the forward direction by gravity.
When the gyroscope detects that the included angle between the central axis of the annular tube and the horizontal plane is larger than 85 degrees, the first gravity center adjusting block and the second gravity center adjusting block are driven to move to the higher partition plate of the two partition plates, so that the gravity center of the fluid-driven spherical robot is higher than the spherical center of the spherical shell; the spherical shell continues to roll forwards under the action of inertia, so that the first gravity center adjusting block and the second gravity center adjusting block cross the highest point, and the spherical shell continues to roll forwards under the action of gravity.
And step five, continuously repeating the step four.
The deflection driving method is as follows:
step one, driving the first gravity center adjusting block and the second gravity center adjusting block to move to two sides of the same partition plate respectively. The spherical shell rotates to the state that the central axis of the annular pipe is horizontal under the action of gravity. At this point, the orientation of both propellers is horizontal.
And step two, if the two propellers face the advancing direction and need to rotate left, the two propellers positioned on the left side of the advancing direction are started to push the spherical robot to deflect left.
If the two propellers face the advancing direction and need to turn right, the two propellers on the right side of the advancing direction are started to push the spherical robot to deflect right.
If the two propellers are back to the advancing direction and need to turn left, the two propellers on the right side of the advancing direction are started to push the spherical robot to deflect left.
If the two propellers are back to the advancing direction and need to turn right, the two propellers positioned on the left side of the advancing direction are started to push the spherical robot to deflect right.
The invention has the beneficial effects that:
1. the invention controls the liquid flow in the pipe by using a hydraulic transmission mode, thereby driving the internal gravity center adjusting block to move and changing the position of the robot mass center.
2. The invention applies the double-fluid ring to cling to the inner wall of the spherical shell, so that the utilization rate of the inner space of the spherical robot is high, and the load capacity is improved.
3. The two-fluid ring drive applied by the invention can adjust the flow velocity of the fluid, can realize the front and back rolling by synchronous drive, can realize the turning of the spherical robot by differential drive, and realizes the omnidirectional rolling of the spherical robot.
4. The invention realizes the forward and backward movement through gravity, and other electronic elements and hydraulic elements except the two propellers for steering are completely isolated from the outside, thereby having good sealing performance and strong pressure resistance and being capable of being used for seabed detection.
Drawings
FIG. 1 is a first overall structural schematic of the present invention;
FIG. 2 is a second overall structural schematic of the present invention;
FIG. 3 is a schematic view of the power mechanism according to the present invention;
fig. 4 is an oil circuit diagram of the oil circuit module of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, 2 and 3, a fluid-driven spherical rolling robot includes a control box 1, a power mechanism 2, a spherical housing and a balancing box 3. The power mechanism 2 comprises a ring-shaped pipe, a first gravity center adjusting block 5, a second gravity center adjusting block 6 and a clapboard 7. The annular tube is fixed in the spherical shell in an adhering way. The outer edge of the annular tube is in contact with the inner side wall of the spherical shell. The spherical center of the spherical shell coincides with the geometric center of the annular tube. The material of the annular pipe is ABS plastics (namely acrylonitrile-butadiene-styrene). Two clapboards 7 are fixed in the annular tube. The two clapboards 7 are arranged on two sides of the central axis of the annular pipe in a centering way, and the inner cavity of the annular pipe is divided into a first semi-annular cavity 8 and a second semi-annular cavity 9 which are not communicated with each other. The first half ring cavity 8 and the second half ring cavity 9 are equal in length. The inside of the annular tube is provided with a first fluid port 8-1, a second fluid port 8-2, a third fluid port 9-1 and a fourth fluid port 9-2. The first fluid port 8-1 and the second fluid port 8-2 are respectively communicated with two ends of the first semi-ring cavity 8. The third fluid port 9-1 and the fourth fluid port 9-2 are respectively communicated with the two ends of the second semi-annular cavity 9
The first gravity center adjusting block 5 and the second gravity center adjusting block 6 are respectively arranged in the first semi-ring cavity 8 and the second semi-ring cavity 9. The first gravity center adjusting block 5 and the second gravity center adjusting block 6 are spherical, and the diameter of the first gravity center adjusting block is equal to the inner diameter of the annular pipe. The first center of gravity adjusting block 5 can be driven to move within the first half ring chamber 8 by injecting liquid into the first fluid port 8-1 or the second fluid port 8-2. The second centering block 6 can be driven to move within the second half ring cavity 9 by injecting a liquid into the third fluid port 9-1 or the fourth fluid port 9-2.
Two balance boxes 3 are arranged on two sides of the spherical shell in a centering mode and play a role in balancing the robot. The spherical center of the spherical shell is located on the central axis of the two balancing boxes 3. The spherical shell is formed by bonding two hemispherical shells. The spherical shell is made of engineering plastics and has excellent stability, good heat resistance, chemical resistance and high strength. The connecting line of the two balance boxes 3 is vertical to the connecting line of the two clapboards.
The side portions of both the two balancing tanks are provided with thrusters 4. The thruster 4 is used to effect a deflection of the robot direction. The propeller 4 includes a motor and a propeller. The motors are fixed in the corresponding balance boxes. The propeller is fixed with the output shaft of the motor. The axis of the propeller is perpendicular to the central axis of the balancing tank 3 and to the central axis of the ring tube.
As shown in fig. 1 and 4, the control box 1 is fixed in the spherical housing by bolts. An oil circuit module and a control module are installed in the control box 1. The oil circuit module comprises an oil tank, a first reversing valve 10, a second reversing valve 11, a first on-off valve 12, a second on-off valve 13, an overflow valve 14 and a hydraulic source 15. The first on-off valve 12 and the second on-off valve 13 are electromagnetic valves with the model number of 2P 025-06-08. The first reversing valve 10 and the second reversing valve 11 adopt three-position four-way electromagnetic reversing valves with the models of 4V 210-08. The first reversing valve 10 and the second reversing valve 11 are arranged at a first working position, the oil inlet is communicated with the second working oil port, and the oil return port is communicated with the first working oil port; under the second working position (middle position), the oil inlet, the oil return port, the first working oil port and the second working oil port are all cut off; and under the third working position, the oil inlet is communicated with the first working oil port, and the oil return port is communicated with the second working oil port. An oil inlet of the hydraulic source 15 is communicated with an oil tank. An oil inlet of the overflow valve 14 is communicated with an oil outlet of the hydraulic source 15, and an overflow port is communicated with an oil tank. An oil inlet of the first reversing valve 10 is communicated with an oil outlet of a hydraulic source 15, an oil return port is communicated with one working oil port of the first on-off valve 12, the first working oil port is communicated with a first fluid port 8-1 on the annular pipe, and a second working oil port is communicated with a second fluid port 8-2 on the annular pipe. An oil inlet of the second reversing valve 11 is connected with a hydraulic source 15, an oil return port is communicated with a first working oil port of the second on-off valve 13, the first working oil port is communicated with a third fluid port 9-1 on the annular pipe, and the second working oil port is connected with a fourth fluid port 9-2 on the annular pipe; the other working oil ports of the first on-off valve 12 and the second on-off valve 13 are both communicated with the oil tank. The annular pipe and the oil tank are filled with hydraulic oil.
The control module comprises a controller, a Bluetooth module, a magnetic isolation chip, an electromagnetic valve driving chip and a gyroscope. The Bluetooth module adopts a Bluetooth wireless communication module with the model number of SI 4432. The magnetic isolation chip adopts a digital isolator with the model number ADUM 1402. The model number of the electromagnetic valve driving chip is L9352B 0. The gyroscope adopts a gyroscope attitude sensing chip with the model of MPU6050, and is responsible for detecting the rolling angle and the angular speed of the spherical robot and feeding the rolling angle and the angular speed back to the computer for control; the controller adopts a single chip microcomputer with the model number of STM32F103ZET 6. The controlled interface of the electromagnetic valve driving chip is connected with the controller through the magnetic isolation chip. The control interfaces of the first reversing valve 10, the second reversing valve 11, the first on-off valve 12 and the second on-off valve 13 are respectively connected with the four driving output interfaces of the electromagnetic valve driving chip. The control interfaces of the two motors are connected with the controller. And signal output interfaces of the gyroscope are connected with the controller. The controller adopts a singlechip. The communication interface of the Bluetooth module is connected with the communication interface of the controller. The Bluetooth module is in wireless communication with the upper computer. Since STM32F103 supplies 3.3V power and L9352B supplies 5V power, level conversion between the two is required through a magnetic isolation chip.
The gravity center of the combination of the control box 1, the spherical shell and the balance box 3 is coincident with the spherical center of the spherical shell. The power mechanism 2 can adjust the center of gravity position of the fluid-driven spherical robot by changing the positions of the first center of gravity adjusting block 5 and the second center of gravity adjusting block 6.
As a preferable scheme, air bags are arranged on the outer sides of the two balance boxes 3. The air bag is filled with an ignition device and powder which can react to generate gas after ignition; when the invention is used for submarine detection, after the detection is finished, the floating recovery of the fluid-driven spherical robot can be realized by expanding the air bag.
The driving method of the fluid-driven spherical robot includes a front-back driving method and a deflection driving method.
The linear forward driving method is specifically as follows:
step one, a hydraulic source 15 is opened, and a first reversing valve 10, a second reversing valve 11, a first on-off valve 12 and a second on-off valve 13 are switched, so that the first gravity center adjusting block 5 moves to the center position of the first semi-annular cavity 8, and the second gravity center adjusting block 6 moves to the center position of the second semi-annular cavity 9. At this time, the center of gravity of the fluid-driven spherical robot coincides with the center of sphere of the spherical housing. Then, the first direction valve and the second direction valve are switched to the second operating position, and the first on-off valve 12 and the second on-off valve 13 are closed.
And step two, detecting the spatial pose of the annular tube by the gyroscope. If the included angle between the central axis of the annular pipe and the horizontal plane is more than 80 degrees (namely one partition plate 7 is close to the position right above the other partition plate 7), switching a first reversing valve 10, a second reversing valve 11, a first on-off valve 12 and a second on-off valve 13 to drive a first gravity center adjusting block 5 and a second gravity center adjusting block 6 to move towards the higher partition plate of the two partition plates 7, so that the gravity center of the fluid-driven spherical robot is higher than the sphere center of the spherical shell, and the spherical shell rotates under the action of gravity; if the spherical shell does not rotate at the moment, starting the two propellers to destroy the balance of the fluid-driven spherical robot; turning off the two propellers after the rotation is started; and (5) after the included angle between the central axis of the annular pipe and the horizontal plane is less than 80 degrees, entering the third step.
And if the included angle between the central axis of the annular pipe and the horizontal plane is less than or equal to 80 degrees, directly entering the third step.
And step three, switching the first reversing valve 10 and the second reversing valve 11 to enable the gravity center of the fluid-driven spherical robot to be transferred to one side, close to the advancing direction, of the sphere center of the spherical shell. At this time, the spherical shell rolls in the forward direction by gravity.
When the gyroscope detects that the included angle between the central axis of the annular tube and the horizontal plane is larger than 85 degrees, the first reversing valve 10 and the second reversing valve 11 are switched to drive the first gravity center adjusting block 5 and the second gravity center adjusting block 6 to move to the higher partition plate 7 of the two partition plates 7, so that the gravity center of the fluid-driven spherical robot is higher than the spherical center of the spherical shell; the spherical shell continues to roll forwards under the action of inertia, so that the first gravity center adjusting block 5 and the second gravity center adjusting block 6 cross the highest point, and the fluid spherical shell continues to roll forwards under the action of gravity.
And step five, continuously repeating the step four, so that the first gravity center adjusting block 5 and the second gravity center adjusting block 6 are switched to be in sequential positions after the spherical shell rotates by 180 degrees every time, and the spherical shell continuously rolls forwards.
The deflection driving method is as follows:
step one, a hydraulic source 15 is opened, and a first reversing valve 10, a second reversing valve 11, a first on-off valve 12 and a second on-off valve 13 are switched, so that a first gravity center adjusting block 5 and a second gravity center adjusting block 6 respectively move to two sides of the same partition plate 7. At this time, the center of gravity of the fluid-driven spherical robot is located between the partition 7 and the spherical center of the spherical housing, and the spherical housing is rotated by gravity to a state where the central axis of the toroidal tube is horizontal. At this time, the orientations of the two propellers 4 are both horizontal.
And step two, if the two propellers 4 face the advancing direction and need to turn left, the two propellers 4 positioned on the left side of the advancing direction are started to push the spherical robot to deflect left.
If both propellers 4 are facing the forward direction and need to turn right, the two propellers 4 located on the right side of the forward direction are started to push the spherical robot to deflect right.
If the two propellers 4 are both back to the advancing direction and need to turn left, the two propellers 4 on the right side of the advancing direction are started to push the spherical robot to deflect left.
If both propellers 4 are facing away from the direction of advance and require a right turn, the two propellers 4 located on the left side of the direction of advance are activated, pushing the spherical robot to deflect to the right.
Claims (10)
1. A fluid-driven spherical rolling robot comprises a control box, a power mechanism, a spherical shell and a balance box; the method is characterized in that: the power mechanism comprises an annular pipe, a first gravity center adjusting block, a second gravity center adjusting block and a partition plate; the annular tube is fixed in the spherical shell; two partition plates are fixed in the annular tube; the two clapboards divide the inner cavity of the annular pipe into a first semi-annular cavity and a second semi-annular cavity which are not communicated with each other; a first fluid port, a second fluid port, a third fluid port and a fourth fluid port are arranged on the inner side of the annular pipe; the first fluid port and the second fluid port are respectively communicated with two ends of the first semi-ring cavity; the third fluid port and the fourth fluid port are respectively communicated with two ends of the second semi-ring cavity; the first gravity center adjusting block and the second gravity center adjusting block are respectively arranged in the first semi-ring cavity and the second semi-ring cavity; the two balance boxes are arranged on two sides of the spherical shell in a centering way; the side parts of the two balance boxes are provided with propellers;
the control box is fixed in the spherical shell; an oil circuit module is arranged in the control box; the oil circuit module comprises an oil tank, a first reversing valve, a second reversing valve, a first on-off valve, a second on-off valve, an overflow valve and a hydraulic source; an oil inlet of the hydraulic source is communicated with an oil tank; an oil inlet of the overflow valve is communicated with an oil outlet of the hydraulic source, and an overflow port is communicated with an oil tank; an oil inlet of the first reversing valve is communicated with an oil outlet of a hydraulic source, an oil return port is communicated with one working oil port of the first on-off valve, the first working oil port is communicated with a first fluid port on the annular pipe, and a second working oil port is communicated with a second fluid port on the annular pipe; an oil inlet of the second reversing valve is connected with a hydraulic source, an oil return port is communicated with a first working oil port of the second on-off valve, the first working oil port is communicated with a third fluid port on the annular pipe, and the second working oil port is connected with a fourth fluid port on the annular pipe; the other working oil ports of the first on-off valve and the second on-off valve are communicated with an oil tank; the annular pipe and the oil tank are filled with hydraulic oil; a gyroscope is also arranged in the control box; the gravity center of the combination of the control box, the spherical shell and the balance box is superposed with the spherical center of the spherical shell.
2. A fluid-driven spherical rolling robot according to claim 1, wherein: the propeller comprises a motor and a propeller; the motors are fixed in the corresponding balance boxes; the propeller is fixed with an output shaft of the motor; the axis of the propeller is perpendicular to the central axis of the balance box and perpendicular to the central axis of the annular tube.
3. A fluid-driven spherical rolling robot according to claim 1, wherein: the outer edge of the annular pipe is in contact with the inner side wall of the spherical shell; the annular pipe is made of ABS plastic; the first semi-ring cavity and the second semi-ring cavity are equal in length.
4. A fluid-driven spherical rolling robot according to claim 1, wherein: the spherical center of the spherical shell is superposed with the geometric center of the annular pipe; the center of the spherical shell is positioned on the central axis of the two balance boxes; the connecting line of the two balance boxes is vertical to the connecting line of the two clapboards.
5. A fluid-driven spherical rolling robot according to claim 1, wherein: the first gravity center adjusting block and the second gravity center adjusting block are spherical, and the diameters of the first gravity center adjusting block and the second gravity center adjusting block are equal to the inner diameter of the annular pipe.
6. A fluid-driven spherical rolling robot according to claim 1, wherein: air bags are arranged on the outer sides of the two balance boxes; the air bag is internally provided with an ignition device and a material capable of reacting to generate gas.
7. A fluid-driven spherical rolling robot according to claim 1, wherein: the first on-off valve and the second on-off valve are electromagnetic valves with the model number of 2P 025-06-08; the first reversing valve and the second reversing valve adopt three-position four-way type electromagnetic reversing valves with the model number of 4V 210-08; the first reversing valve and the second reversing valve are arranged at a first working position, the oil inlet is communicated with the second working oil port, and the oil return port is communicated with the first working oil port; under the second working position, the oil inlet, the oil return port, the first working oil port and the second working oil port are all cut off; and under the third working position, the oil inlet is communicated with the first working oil port, and the oil return port is communicated with the second working oil port.
8. A fluid-driven spherical rolling robot according to claim 1, wherein: a control module is also arranged in the control box; the control module comprises a controller, a Bluetooth module, a magnetic isolation chip and an electromagnetic valve driving chip; the controlled interface of the electromagnetic valve driving chip is connected with the controller through the magnetic isolation chip; the control interfaces of the first reversing valve, the second reversing valve, the first on-off valve and the second on-off valve are respectively connected with the four driving output interfaces of the electromagnetic valve driving chip; the control interfaces of the two motors are connected with the controller; the signal output interfaces of the gyroscopes are connected with the controller; the controller adopts a singlechip; the communication interface of the Bluetooth module is connected with the communication interface of the controller; the Bluetooth module is in wireless communication with the upper computer.
9. A fluid-driven spherical rolling robot according to claim 8, wherein: the Bluetooth module adopts a Bluetooth wireless communication module with the model number of SI 4432; the magnetic isolation chip adopts a digital isolator with the model number of ADUM 1402; the model of the electromagnetic valve driving chip is L9352B 0; the gyroscope adopts a gyroscope attitude sensing chip with the model of MPU 6050; the controller adopts a single chip microcomputer with the model number of STM32F103ZET 6.
10. A method of driving a fluid-driven spherical rolling robot according to claim 1, wherein: comprises a front-back driving method and a deflection driving method;
the linear forward driving method is specifically as follows:
the method comprises the following steps that firstly, a first gravity center adjusting block is driven to move to the middle position of a first semi-annular cavity, and a second gravity center adjusting block is driven to move to the middle position of a second semi-annular cavity;
secondly, detecting the spatial pose of the annular tube by a gyroscope; if the included angle between the central axis of the annular pipe and the horizontal plane is more than 80 degrees, the first gravity center adjusting block and the second gravity center adjusting block are driven to move towards the higher partition plate of the two partition plates 7, so that the gravity center of the fluid-driven spherical robot is higher than the sphere center of the spherical shell, and the spherical shell rotates under the action of gravity; after the included angle between the central axis of the annular pipe and the horizontal plane is less than 80 degrees, entering the third step;
if the included angle between the central axis of the annular pipe and the horizontal plane is less than or equal to 80 degrees, directly entering the third step;
step three, switching the first reversing valve and the second reversing valve to enable the gravity center of the fluid-driven spherical robot to be transferred to one side, close to the advancing direction, of the sphere center of the spherical shell; at the moment, the spherical shell rolls towards the advancing direction under the action of gravity;
when the gyroscope detects that the included angle between the central axis of the annular tube and the horizontal plane is larger than 85 degrees, the first gravity center adjusting block and the second gravity center adjusting block are driven to move to the higher partition plate of the two partition plates, so that the gravity center of the fluid-driven spherical robot is higher than the spherical center of the spherical shell; the spherical shell continuously rolls forwards under the action of inertia, so that the first gravity center adjusting block and the second gravity center adjusting block cross the highest point, and the spherical shell continuously rolls forwards under the action of gravity;
step five, continuously repeating the step four;
the deflection driving method is as follows:
step one, driving a first gravity center adjusting block and a second gravity center adjusting block to respectively move to two sides of the same partition plate; the spherical shell rotates to the state that the central axis of the annular pipe is horizontal under the action of gravity; at the moment, the directions of the two propellers are horizontal;
step two, if the two propellers face the advancing direction and need to turn left, the two propellers positioned on the left side of the advancing direction are started to push the spherical robot to deflect left;
if the two propellers face the advancing direction and need to turn right, the two propellers positioned on the right side of the advancing direction are started to push the spherical robot to deflect right;
if the two propellers are back to the advancing direction and need to turn left, the two propellers on the right side of the advancing direction are started to push the spherical robot to deflect left;
if the two propellers are back to the advancing direction and need to turn right, the two propellers positioned on the left side of the advancing direction are started to push the spherical robot to deflect right.
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| CN201911182398.4A CN110979500B (en) | 2019-11-27 | 2019-11-27 | Fluid-driven spherical rolling robot and driving method thereof |
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| CN110979500A CN110979500A (en) | 2020-04-10 |
| CN110979500B true CN110979500B (en) | 2020-11-06 |
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| JP3794130B2 (en) * | 1997-10-15 | 2006-07-05 | ソニー株式会社 | Spherical shell moving device |
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| CN102602466A (en) * | 2011-03-24 | 2012-07-25 | 泰山学院 | Double-fluid-ring drive omnibearing spherical robot |
| CN102642573B (en) * | 2011-03-24 | 2016-08-24 | 泰山学院 | Fluid drives ball shape robot |
| CN103895726A (en) * | 2014-03-14 | 2014-07-02 | 上海大学 | Novel full-symmetric spherical robot |
| CN104925156A (en) * | 2015-05-20 | 2015-09-23 | 苏州市职业大学 | All-direction spherical robot driving device |
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