CN112319642B - Spherical robot and driving method thereof - Google Patents
Spherical robot and driving method thereof Download PDFInfo
- Publication number
- CN112319642B CN112319642B CN202011125883.0A CN202011125883A CN112319642B CN 112319642 B CN112319642 B CN 112319642B CN 202011125883 A CN202011125883 A CN 202011125883A CN 112319642 B CN112319642 B CN 112319642B
- Authority
- CN
- China
- Prior art keywords
- block chain
- mechanical arm
- hinge block
- spherical shell
- spherical
- 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
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)
- Toys (AREA)
Abstract
The invention discloses a spherical robot and a driving method thereof. The invention relates to a spherical robot which comprises a spherical shell, a bouncing system and a mechanical arm module. A plurality of mounting grooves and a plurality of mechanical arm mounting holes are formed in the spherical shell. Each mounting groove is internally provided with a bouncing system; and each mechanical arm mounting hole is internally provided with a mechanical arm module. Each mechanical arm module can stretch out the spherical shell, so that the gravity center position of the whole spherical robot is changed. The springboard in each bouncing system can be popped out to push the spherical robot to bounce. The invention changes the gravity center of the spherical robot by using the telescopic mode of the mechanical arm, provides a driving method for rolling the spherical robot, and is more suitable for motion exploration in complex environment. Meanwhile, the invention can bounce, further enhance the terrain adaptability, and the bounce direction can be changed at will by adjusting the lengths of the four supported mechanical arms, so that the ejection precision is high.
Description
Technical Field
The invention belongs to the technical field of spherical robots, and particularly relates to a spherical robot and a driving method.
Background
With the continuous perfection of the technical field of robots, the technical branches of robots such as spherical robots are differentiated, the traditional spherical robot is a robot with a driving system in a spherical shell and capable of moving a sphere in an internal driving mode, and the internal driving spherical robot is difficult to operate in a complex environment.
Disclosure of Invention
The invention provides a spherical robot and a driving method thereof, aiming at finding a new driving method of the spherical robot.
The invention relates to a spherical robot which comprises a spherical shell, a bouncing system and a mechanical arm module. A plurality of mounting grooves and a plurality of mechanical arm mounting holes are formed in the spherical shell. Each mounting groove is internally provided with a bouncing system; and each mechanical arm mounting hole is internally provided with a mechanical arm module. Each mechanical arm module can stretch out the spherical shell, so that the gravity center position of the whole spherical robot is changed. The springboard in each bouncing system can be popped out to push the spherical robot to bounce.
Preferably, the number of the mounting grooves is six, and the mounting grooves are uniformly distributed on the outer surface of the spherical shell; the total number of the mechanical arm mounting holes is eight, and the mechanical arm mounting holes are uniformly distributed on the outer surface of the spherical shell. Any one mechanical arm mounting hole is located at the center of every two adjacent three mounting grooves which are arranged in a regular triangle.
Preferably, the robot arm module comprises a robot arm base, a first toothed hinge block chain, a second toothed hinge block chain, a tail end block, a driving motor and a driving gear. The mechanical arm base comprises a mounting disc (3-1-1) and a limiting baffle (3-1-7). The mounting disc (3-1-1) is fixed with the inner wall of the spherical shell; the limiting baffle (3-1-7) is fixed with the mounting disc (3-1-1). The central position of the limit baffle (3-1-7) is provided with a hinge conversion port (3-1-9); the hinge conversion port (3-1-9) is square, and the width of the hinge conversion port is equal to the sum of the thicknesses of the first toothed hinge block chain and the second toothed hinge block chain. The edges of two sides of the inner side surface of the mounting disc (3-1-1) are provided with hinged seats (3-1-11); the inner ends of the first tooth-shaped hinge block chain and the second tooth-shaped hinge block chain are respectively hinged with two hinge seats (3-1-11) on the mounting disc (3-1-1), and the edges of two sides of the end surface of the inner end of the tail end block are respectively hinged. The first tooth-shaped hinge block chain and the second tooth-shaped hinge block chain both pass through hinge conversion ports (3-1-9) on the limiting baffle plates (3-1-7); a plurality of transmission teeth are arranged on the same side edge of the first toothed hinge block chain and the second toothed hinge block chain, and the first toothed hinge block chain and the second toothed hinge block chain are spliced together to form a rigid rack. The driving gear is supported on one side of the box body close to the first tooth-shaped hinge block chain and the second tooth-shaped hinge block chain. The driving gear is meshed with a rack formed after the first toothed hinge block chain and the second toothed hinge block chain are spliced. The drive gear is driven by a drive motor.
Preferably, the mechanical arm base further comprises an elastic reset assembly. The elastic reset component comprises four sliding rods (3-1-4), four damping springs (3-1-3) and two sliding carriages. Four sliding rods (3-1-4) which are arranged in a square shape are fixed at the edge of the outer side surface of the mounting plate; the outer end of each sliding rod (3-1-4) is fixed with a stop block (3-1-5). The sliding frame comprises a connecting rotating shaft (3-1-10) and two sliding blocks (3-1-6). Two ends of the connecting rotating shaft (3-1-10) are respectively and rotatably connected with the two sliding blocks (3-1-6). The four sliding blocks (3-1-6) and the four sliding rods (3-1-4) in the two sliding carriages form sliding pairs respectively. Damping springs (3-1-3) are sleeved on the four sliding rods (3-1-4); two ends of the damping spring (3-1-3) respectively abut against the mounting disc (3-1-1) and the corresponding sliding block (3-1-6). The two connecting rotating shafts (3-1-10) are parallel to each other and are respectively positioned at two sides of the mounting disc (3-1-1). Two connecting rotating shafts (3-1-10) are positioned between the two hinged seats (3-1-11). The first tooth-shaped hinge block chain and the second tooth-shaped hinge block chain respectively bypass the two connecting rotating shafts (3-1-10).
Preferably, the first tooth-shaped hinge block chain comprises a semi-hinge block and a plurality of first hinge blocks which are sequentially hinged. The half hinge block is positioned at the outer end of the first tooth-shaped hinge block chain, and the length of the half hinge block is half of that of the first hinge block. The inner side surface of the half hinge block is provided with a rectangular groove; the medial surface of first articulated piece is provided with two rectangle recesses of arranging along self length direction. The rectangular groove is coated with a magnetic material. The second toothed hinge block chain comprises a plurality of second hinge blocks which are sequentially hinged. The inner side surface of the second hinge block is provided with two rectangular bulges which are arranged along the length direction of the second hinge block; the outer side surface of the rectangular protrusion is coated with a magnetic material; when the first toothed hinge block chain and the second toothed hinge block chain are spliced together, each rectangular protrusion is clamped into the corresponding rectangular groove. The first articulated block and the second articulated block are equal in length.
Preferably, the top of the side surface of the hinge conversion port (3-1-9) is provided with a circular arc chamfer.
Preferably, the bounce system comprises a bounce board, a bounce drive spring and a bounce drive assembly. The inner ends of the plurality of bouncing drive springs are fixed with the corresponding mounting grooves on the spherical shell, and the outer ends of the bouncing drive springs are fixed with the inner side surface of the bouncing plate. The springboard is popped up under the driving of the elasticity of the springing driving spring and retracts under the driving of the springing driving component.
Preferably, the center position of each mounting groove is provided with a stringing hole communicated with the inner cavity of the spherical shell. The bounce driving component is arranged in the inner cavity of the spherical shell and comprises a string, a roll shaft, a pull-back motor and a motor base. The roll shaft is supported on the motor base; the roll shaft is driven to rotate by a pull-back motor. One end of the string is fixed on the roll shaft in a winding way, and the other end of the string passes through the corresponding rope threading hole on the spherical shell and then is fixed with the springboard.
Preferably, the bouncing drive assembly further comprises a rotation stopping motor and a clamp. The clamp and the rotation-stopping motor are both arranged on the motor base; two clamp arms capable of deforming on the clamp are arranged at intervals to form a clamp opening. The roll shaft passes through a clamping opening of the clamp; and a locking screw is arranged at the outer end of the clamping opening of the clamp. The locking screw and the two clamping arms form a screw pair with opposite rotation directions; the locking screw is driven to rotate by a rotation stopping motor.
The driving method of the spherical robot includes a rolling driving method and a bouncing driving method.
The rolling driving method is specifically as follows:
step one, one or more mechanical arm modules which are close to the target direction and located above the geometric center of the spherical shell are extended out to drive the spherical shell to roll towards the target direction.
And step two, when the extended mechanical arm module moves to the position below the geometric center of the spherical shell, retracting the extended mechanical arm module, and extending one or more mechanical arm modules which are newly close to the target direction and are positioned above the geometric center of the spherical shell, so that the spherical shell continuously rolls towards the target direction, and the operation is repeated in a circulating manner.
The bounce driving method specifically comprises the following steps:
step one, all the mechanical arm modules positioned below the gravity center of the spherical shell extend out in equal length, so that the spherical shell is separated from the ground.
And step two, retracting all or part of one or more mechanical arm modules close to the target direction to enable the spherical shell to incline towards the target direction.
And step three, pushing out the bounce board in the downward bouncing system to drive the spherical robot to bounce towards the target direction.
And step four, after the spherical robot is ejected, retracting the ejected springboard.
The invention has the beneficial effects that:
1. the invention changes the gravity center of the spherical robot by using the telescopic mode of the mechanical arm, provides a driving method for rolling the spherical robot, and is more suitable for motion exploration in complex environment.
2. The mechanical arm realizes the conversion of the flexible arm and the rigid arm by combining the hinge blocks, and the limit length of the mechanical arm is increased.
3. The invention can bounce and further enhance the terrain adaptability, and the bounce direction can be changed at will by adjusting the lengths of the four supporting mechanical arms, so that the ejection precision is high.
Drawings
FIG. 1 is an isometric schematic view of the overall structure of the present invention;
FIG. 2 is a schematic top view of the overall structure of the present invention;
FIG. 3 is a schematic view of a spherical shell in the present invention;
FIG. 4 is a schematic diagram of a robot arm module of the present invention;
FIG. 5 is a schematic view of a robot arm base in the present invention;
FIG. 6 is a schematic drive diagram of a robot arm module of the present invention;
FIG. 7 is a schematic diagram of the bounce system of the present invention;
FIG. 8 is a schematic view of a motor base in the present invention;
FIG. 9 is a schematic diagram of the present invention for establishing a rectangular relative spatial coordinate system.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, 2 and 3, a spherical robot includes a spherical shell 1, a bounce system 2 and a robot arm module 3. Six mounting grooves 1-1 (respectively towards the front, the back, the left, the right, the upper and the lower) which are uniformly distributed on the outer surface of the spherical shell 1 are arranged on the spherical shell 1. The orientation of any two adjacent mounting grooves is at an included angle of 90 degrees. The center positions of the six mounting grooves 1-1 are respectively provided with a rope threading hole 1-2 communicated with the inner cavity of the spherical shell 1 for passing a string. Eight mechanical arm mounting holes 1-3 communicated with the inner cavity of the spherical shell 1 are formed in the positions of the outer surface of the spherical shell 1 in different orientation directions. Any one mechanical arm mounting hole 1-3 is positioned at the center of three mounting grooves 1-1 which are adjacent in pairs and arranged in a regular triangle. The six bouncing systems 2 are respectively arranged at six mounting grooves 1-1 on the spherical shell 1; the eight mechanical arm modules 3 are respectively arranged in eight mechanical arm mounting holes 1-3 on the spherical shell 1.
As shown in fig. 4, 5 and 6, the robot arm module 3 includes a robot arm base 3-1, a first toothed hinge block chain, a second toothed hinge block chain, a terminal block 3-4, a driving motor 3-6, a transmission gear 3-7 and a driving gear 3-8. The mechanical arm base 3-1 comprises a mounting disc 3-1-1, a box body 3-1-2, a damping spring 3-1-3, a limiting baffle 3-1-7 and an elastic reset assembly. The mounting plate 3-1-1 is fixed with the inner wall of the spherical shell 1; the limiting baffle 3-1-7 and the inner side surface of the mounting disc 3-1-1 are arranged at intervals and fixed through a plurality of connecting columns. The center position of the mounting disc 3-1-1 is provided with a abdicating through hole 3-1-8; the central position of the limiting baffle 3-1-7 is provided with a hinge conversion port 3-1-9; the hinge conversion port 3-1-9 is square, and the width of the hinge conversion port is equal to the sum of the thicknesses of the first toothed hinge block chain and the second toothed hinge block chain. The top of the side surface of the hinge conversion port 3-1-9 is provided with an arc chamfer. The elastic reset component comprises four slide bars 3-1-4 and two sliding frames. Four sliding rods 3-1-4 which are arranged in a square shape are fixed at the edge of the outer side surface of the mounting plate; the outer end of each sliding rod 3-1-4 is fixed with a stop block 3-1-5. The sliding frame comprises a connecting rotating shaft 3-1-10 and two sliding blocks 3-1-6. Two ends of the connecting rotating shaft 3-1-10 are respectively and rotatably connected with the two sliding blocks 3-1-6. The four sliding blocks 3-1-6 and the four sliding rods 3-1-4 in the two sliding carriages form sliding pairs respectively. Damping springs 3-1-3 are sleeved on the four sliding rods 3-1-4; two ends of the damping spring 3-1-3 respectively abut against the mounting disc 3-1-1 and the corresponding slide block 3-1-6. The two connecting rotating shafts 3-1-10 are parallel to each other, are respectively positioned at two sides of the mounting disc 3-1-1 and are respectively used for providing auxiliary elastic force for resetting the first toothed hinge block chain and the second toothed hinge block chain; the connecting rotating shaft 3-1-10 can rotate while sliding up and down, and resistance to the first toothed hinge block chain and the second toothed hinge block chain is reduced.
The edges of two sides of the inner side surface of the mounting disc 3-1-1 are provided with hinge seats 3-1-11; the two connecting rotating shafts 3-1-10 are positioned between the two hinged seats 3-1-11. The two articulated seats 3-1-11 are symmetrical with respect to the plane of symmetry of the two connecting spindles 3-1-10. The inner ends of the first tooth-shaped hinge block chain and the second tooth-shaped hinge block chain are respectively hinged with two hinge seats 3-1-11 on the mounting disc 3-1-1, and the edges of two sides of the end surface of the inner end of the tail end block 3-4 are respectively hinged. The first tooth-shaped hinge block chain and the second tooth-shaped hinge block chain both pass through a hinge conversion port 3-1-9 on the limiting baffle 3-1-7 and a yielding through hole 3-1-8 on the mounting disc 3-1-1; the first toothed hinge block chain and the second toothed hinge block chain respectively bypass the two connecting rotating shafts 3-1-10, so that the two connecting rotating shafts 3-1-10 respectively abut against the first toothed hinge block chain and the second toothed hinge block chain to generate a resetting force. The first toothed hinge block chain and the second toothed hinge block chain are spliced together after passing through the hinge conversion port 3-1-9 to form a rigid rod type structure, so that the extension amount of the tail end block 3-4 is controlled by controlling the degree of the first toothed hinge block chain and the second toothed hinge block chain passing through the hinge conversion port 3-1-9. In the initial state, the end block 3-4 is located in the mechanical arm mounting hole 1-3. A plurality of transmission teeth are formed in the same side edge of the first toothed hinge block chain and the second toothed hinge block chain, and after the first toothed hinge block chain and the second toothed hinge block chain are spliced together, the transmission teeth are aligned and can be meshed with the same gear. The gear shaft is supported on one side of the box body close to the first toothed hinge block chain and the second toothed hinge block chain. The driving gears 3-8 are fixed with the gear shaft and meshed with racks formed after the first tooth-shaped hinge block chain and the second tooth-shaped hinge block chain are spliced.
The box body 3-1-2 is fixed between the limiting baffle 3-1-7 and the mounting disc 3-1-1 and is positioned at one side of the hinge conversion port 3-1-9. The driving motor 3-6 is arranged in the box body 3-1-2; the two transmission gears 3-7 are respectively fixed with the output shafts of the driving motors 3-6 and the gear shafts 3-9; the two transmission gears 3-7 are meshed, so that the driving motor 3-6 can drive the driving gear 3-8 to rotate, and the first tooth-shaped hinge block chain and the second tooth-shaped hinge block chain are driven to move.
The first tooth-shaped hinge block chain comprises a half hinge block 3-5 and a plurality of first hinge blocks 3-2 which are sequentially hinged. The half hinge block 3-5 is positioned at the outer end of the first tooth-shaped hinge block chain, and the length of the half hinge block is half of that of the first hinge block 3-2. The inner side surface of the half hinge block 3-5 is provided with a rectangular groove; the inner side surface of the first hinging block 3-2 is provided with two rectangular grooves which are arranged along the length direction of the hinging block. The rectangular groove is coated with a magnetic material. The second toothed hinge block chain comprises a plurality of second hinge blocks 3-3 which are sequentially hinged. The inner side surface of the second hinging block 3-3 is provided with two rectangular bulges which are arranged along the length direction of the second hinging block; the outer side surface of the rectangular protrusion is coated with a magnetic material; when the first toothed hinge block chain and the second toothed hinge block chain are spliced together, each rectangular protrusion is clamped into the corresponding rectangular groove. The first and second articulated blocks 3-2 and 3-3 are equal in length. Due to the existence of the half hinge blocks 3-5, the first hinge block 3-2 and the second hinge block 3-3 are in staggered fit, the alignment of hinge shafts on the first toothed hinge block chain and the second toothed hinge block chain is avoided, and the rigidity of a rack formed after the first toothed hinge block chain and the second toothed hinge block chain are spliced is enhanced.
As shown in fig. 7 and 8, the bouncing system 2 includes a bouncing plate 2-1, a bouncing drive spring 2-2, and a bouncing drive assembly. The inner ends of the bounce driving springs 2-2 are fixed with the corresponding mounting grooves 1-1 on the spherical shell 1, and the outer ends of the bounce driving springs are fixed with the inner side surface of the bounce board 2-1. The shape of the outer side surface of the springboard 2-1 corresponds to the shape of the outer side surface of the spherical shell 1, so that the springboard 2-1 can be matched with the spherical shell 1 to form a complete sphere in a retraction state. The bounce driving component is arranged in the inner cavity of the spherical shell 1 and comprises a string, a roll shaft 2-3, a pull-back motor 2-5, a rotation stopping motor 2-4, a clamp 2-7 and a motor base 2-6. The motor bases 2-6 are fixed with the inner wall of the spherical shell 1. The roll shaft 2-3 is supported on the motor base 2-6; the clamp 2-7, the pull-back motor 2-5 and the rotation-stopping motor 2-4 are all arranged on the motor base 2-6; two deformable clamping arms on the clamps 2-7 are arranged at intervals to form clamping openings. The roller shaft 2-3 passes through the clamping opening of the clamp 2-7 and is fixed with the output shaft of the pull-back motor 2-5. The outer end of the clamping opening of the clamp 2-7 is provided with a locking screw rod. The locking screw and the two clamping arms form a screw pair with opposite rotation directions; the tightness of the clamps 2-7 can be realized by rotating the locking screw; an output shaft of the rotation stopping motor 2-4 is fixed with one end of the locking screw rod, so that the electric control roll shaft 2-3 is switched between a locking state and a movable state. One end of the thin rope is wound and fixed on the roller shaft 2-3, and the other end of the thin rope passes through the corresponding rope penetrating hole 1-2 on the spherical shell and then is fixed with the springboard 2-1.
As a preferable technical scheme, the bounce board 2-1 is arc-shaped, the curvature of the outer side of the bounce board is equal to that of the outer side of the spherical shell 1, the size of the bounce board is slightly smaller than that of the installation groove 1-1 on the spherical shell 1, three bounce driving springs 2-2 are installed on the inner side of the bounce board 2-1, the bounce driving springs 2-2 are uniformly distributed around the thin rope, and the contours of the bounce board 2-1 and the installation groove 1-1 are concentric.
The telescopic method and the principle of the mechanical arm are as follows:
when the driving motor drives the driving gear 3-8 to rotate in the positive direction, the first toothed hinge block chain and the second toothed hinge block chain move outwards, the sliding block slides due to the compression of the connecting rotating shaft 3-1-10, the damping spring is compressed, and the mechanical arm extends.
When the driving motor drives the driving gears 3-8 to rotate reversely, the first toothed hinge block chain and the second toothed hinge block chain move inwards, under the action of elastic force provided by the damping spring and tensile force provided by the hinge conversion port on the mounting disc, the combined first hinge block and the second hinge block can be separated, and the mechanical arm is shortened.
The rolling principle of the spherical robot is as follows:
according to the inherent stability characteristic of the ball, the gravity center of the ball tends to the lowest position all the time, the ball rolls accordingly, the gravity center position of the ball is continuously changed in a mode that the mechanical arm close to the advancing direction stretches out, the gravity center of the ball is always inclined to the rolling direction, and the ball can roll controllably.
As shown in fig. 9, a relative spatial rectangular coordinate system is established prior to driving. The origin of coordinates relative to the rectangular space coordinate system is kept at the center of the circle of the spherical shell 1, the X axis and the Y axis are kept horizontally, and the Z axis is kept vertically; in an initial state, an X axis, a Y axis and a Z axis respectively penetrate through the central axes of the three adjacent mounting grooves 1-1 relative to a space rectangular coordinate system; according to the positions of the eight mechanical arm modules 3 in the rectangular coordinate system of the relative space, the eight mechanical arm modules 3 are divided into a first divinatory symbol limit mechanical arm, a second divinatory symbol limit mechanical arm, a third divinatory symbol limit mechanical arm, a fourth divinatory symbol limit mechanical arm, a fifth divinatory symbol limit mechanical arm, a sixth divinatory symbol limit mechanical arm, a seventh divinatory symbol limit mechanical arm and an eighth divinatory symbol limit mechanical arm. In rolling, the divinatory names of the eight robot arm modules 3 change with the divinatory names.
The driving method of the spherical robot is as follows:
step one, determining the moving direction of the robot, determining whether the robot needs to bounce according to the moving destination, and planning a route.
And step two, rolling along the planned route according to a rolling method, if the jumping is needed, rolling to a jumping position, reversely rotating a rotation stopping motor at the bottom position to release the springboard, and jumping according to the jumping method.
The rolling driving method is specifically as follows:
step one, the four mechanical arm modules 3 positioned below the gravity center of the spherical shell 1 extend out in equal length, so that the tail end blocks 3-4 of the four mechanical arm modules 3 are in contact with the ground, and the spherical shell 1 is separated from the ground. At this time, the fifth, sixth, seventh and eighth octagon arms are in an extended state, and the first, second, third and fourth octagon arms are in a retracted state.
Step two, when the spherical robot needs to roll towards the positive direction of the X axis, the operation is carried out according to the following process: firstly, extending a first divinatory diagram mechanical arm and a fourth divinatory diagram mechanical arm to enable the gravity center of the spherical robot to shift towards the positive direction of an X axis; then, the fifth, sixth, seventh and eighth octal arms retract, so that the spherical shell 1 loses stable support and the spherical shell 1 rolls in the positive direction of the X axis. After the original first and fourth octagon mechanical arms respectively enter the fifth and eighth octagon along with rolling and become new fifth and eighth octagon mechanical arms respectively, the new first and fourth octagon mechanical arms extend out, the new fifth and eighth octagon mechanical arms retract, and continuous rolling can be realized by repeating the steps.
Similarly, when the spherical robot needs to roll towards the X-axis negative direction, firstly, the second and third trigram mechanical arms extend out; then, the fifth, sixth, seventh and eight diagrams mechanical arms retract, and the spherical shell 1 rolls towards the negative direction of the X axis. When the original second and third divinatory limits mechanical arms respectively enter the sixth and seventh divinatory limits along with rolling and become new sixth and seventh divinatory limits mechanical arms respectively, the new second and third divinatory limits mechanical arms extend out, the new sixth and seventh divinatory limits mechanical arms retract, and the cycle is repeated.
Similarly, when the spherical robot needs to roll in the positive Y-axis direction, firstly, the first and second Trigram mechanical arms extend out; then, the fifth, sixth, seventh and eight diagrams mechanical arms retract, and the spherical shell 1 rolls towards the negative direction of the X axis. When the original first and second divinatory limits mechanical arms respectively enter the fifth and sixth divinatory limits along with rolling and become new fifth and sixth divinatory limits mechanical arms respectively, the new first and second divinatory limits mechanical arms extend out, the new fifth and sixth divinatory limits mechanical arms retract, and the cycle is repeated.
Similarly, when the spherical robot needs to roll towards the Y-axis negative direction, firstly, the third and the fourth trigram mechanical arms extend out; then, the fifth, sixth, seventh and eight diagrams mechanical arms retract, and the spherical shell 1 rolls towards the negative direction of the X axis. When the original third and fourth divinatory symbols respectively enter the seventh and eight divinatory symbols along with rolling and become new seventh and eight divinatory symbols respectively, the new third and fourth divinatory symbols extend out, the new seventh and eight divinatory symbols retract, and the cycle is repeated.
Similarly, when the spherical robot needs to roll towards the middle of the positive direction of the X, Y axes, firstly, the first trigram mechanical arm stretches out; then, the fifth, sixth, seventh and eight diagrams mechanical arms retract, and the spherical shell 1 rolls. When the original first divinatory mechanical arm enters the fifth divinatory as the original first divinatory mechanical arm rolls, the original first divinatory mechanical arm respectively becomes a new fifth divinatory mechanical arm, the new first divinatory mechanical arm extends out, the new fifth divinatory mechanical arm retracts, and the operation is repeated in a cycle.
Similarly, when the spherical robot needs to roll towards the middle direction of the X-axis negative direction and the Y-axis positive direction, firstly, the second Gua Limit mechanical arm stretches out; then, the fifth, sixth, seventh and eight diagrams mechanical arms retract, and the spherical shell 1 rolls. When the original second divinatory mechanical arm enters the sixth divinatory as the original second divinatory mechanical arm rolls, the new second divinatory mechanical arm extends out, the new sixth divinatory mechanical arm retracts, and the operation is repeated in a cycle.
Similarly, when the spherical robot needs to roll towards the middle direction of the negative direction of the X, Y shaft, firstly, the third trigram mechanical arm stretches out; then, the fifth, sixth, seventh and eight diagrams mechanical arms retract, and the spherical shell 1 rolls. When the original third divinatory mechanical arm enters the seventh divinatory limit along with rolling and becomes a new seventh divinatory limit mechanical arm respectively, the new third divinatory limit mechanical arm extends out, the new seventh divinatory limit mechanical arm retracts, and the operation is repeated in a cycle.
Similarly, when the spherical robot needs to roll towards the middle direction of the positive direction of the X axis and the negative direction of the Y axis, firstly, the fourth divinatory digital mechanical arm stretches out; then, the fifth, sixth, seventh and eight diagrams mechanical arms retract, and the spherical shell 1 rolls. When the original fourth octagon mechanical arm enters the eighth octagon along with rolling and becomes a new eighth octagon mechanical arm respectively, the new fourth octagon mechanical arm extends out, the new eighth octagon mechanical arm retracts, and the operation is repeated in a cycle.
The bounce driving method specifically comprises the following steps:
step one, the four mechanical arm modules 3 positioned below the gravity center of the spherical shell 1 extend out in equal length, so that the tail end blocks 3-4 of the four mechanical arm modules 3 are in contact with the ground, and the spherical shell 1 is separated from the ground.
And step two, retracting all or part of the two mechanical arm modules 3 close to the target direction to enable the spherical shell 1 to incline in the target direction. The extent of retraction of the two robot modules 3 determines the direction and angle of bounce.
And step three, the pull-back motor 2-5 in the downward bouncing system 2 is not self-locked, and the rotation-stopping motor 2-4 rotates reversely, so that the clamp 2-7 loosens the roller shaft 2-3, the bouncing plate 2-1 is popped out under the pushing of the bouncing driving spring 2-2 to be pushed outwards, and the spherical robot is driven to bounce towards the target direction.
And step four, after the spherical robot is popped up, the pull-back motor 2-5 rotates forwards, and the string pulls the springboard 2-1 to reset. And then, the motor 2-4 is stopped to rotate forwards, so that the clamp 2-7 locks the roll shaft 2-3 again.
Claims (9)
1. A spherical robot, comprising a spherical shell (1); the method is characterized in that: the bouncing machine also comprises a mechanical arm module (3) and a bouncing system (2); the spherical shell (1) is provided with a plurality of mounting grooves (1-1) and a plurality of mechanical arm mounting holes (1-3); each mounting groove (1-1) is internally provided with a bouncing system (2); a mechanical arm module (3) is arranged in each mechanical arm mounting hole (1-3); each mechanical arm module (3) can extend out of the spherical shell (1), so that the gravity center position of the whole spherical robot is changed; the springboard (2-1) in each bouncing system (2) can be popped up to push the spherical robot to bounce;
the mechanical arm module (3) comprises a mechanical arm base (3-1), a first tooth-shaped hinge block chain, a second tooth-shaped hinge block chain, a tail end block (3-4), a driving motor (3-6) and a driving gear (3-8); the mechanical arm base (3-1) comprises a mounting disc (3-1-1) and a limiting baffle (3-1-7); the mounting disc (3-1-1) is fixed with the inner wall of the spherical shell (1); the limiting baffle (3-1-7) is fixed with the mounting disc (3-1-1); the central position of the limit baffle (3-1-7) is provided with a hinge conversion port (3-1-9); the hinge conversion port (3-1-9) is square, and the width of the hinge conversion port is equal to the sum of the thicknesses of the first toothed hinge block chain and the second toothed hinge block chain; the edges of two sides of the inner side surface of the mounting disc (3-1-1) are provided with hinged seats (3-1-11); the inner ends of the first tooth-shaped hinge block chain and the second tooth-shaped hinge block chain are respectively hinged with two hinge seats (3-1-11) on the mounting disc (3-1-1); the outer ends of the first tooth-shaped hinge block chain and the second tooth-shaped hinge block chain are respectively hinged with two side edges of the inner end surface of the tail end block (3-4); the first tooth-shaped hinge block chain and the second tooth-shaped hinge block chain both pass through hinge conversion ports (3-1-9) on the limiting baffle plates (3-1-7); a plurality of transmission teeth are arranged on the same side edge of the first toothed hinge block chain and the second toothed hinge block chain, and the first toothed hinge block chain and the second toothed hinge block chain are spliced together to form a rigid rack; the driving gear (3-8) is supported at one side of the box body close to the first tooth-shaped hinge block chain and the second tooth-shaped hinge block chain; the driving gear (3-8) is meshed with a rack formed after the first toothed hinge block chain and the second toothed hinge block chain are spliced; the driving gears (3-8) are driven by driving motors (3-6).
2. The spherical robot according to claim 1, wherein: the number of the mounting grooves (1-1) is six, and the mounting grooves are uniformly distributed on the outer surface of the spherical shell (1); the total number of the mechanical arm mounting holes (1-3) is eight, and the mechanical arm mounting holes are uniformly distributed on the outer surface of the spherical shell (1); any one mechanical arm mounting hole (1-3) is positioned at the center of three mounting grooves (1-1) which are adjacent in pairs and arranged in a regular triangle.
3. The spherical robot according to claim 1, wherein: the mechanical arm base (3-1) also comprises an elastic reset component; the elastic reset component comprises four sliding rods (3-1-4), four damping springs (3-1-3) and two sliding frames; four sliding rods (3-1-4) which are arranged in a square shape are fixed at the edge of the outer side surface of the mounting plate; the outer end of each sliding rod (3-1-4) is fixed with a stop block (3-1-5); the sliding frame comprises a connecting rotating shaft (3-1-10) and two sliding blocks (3-1-6); two ends of the connecting rotating shaft (3-1-10) are respectively and rotatably connected with the two sliding blocks (3-1-6); a total of four sliding blocks (3-1-6) and four sliding rods (3-1-4) in the two sliding carriages form sliding pairs respectively; damping springs (3-1-3) are sleeved on the four sliding rods (3-1-4); two ends of the damping spring (3-1-3) respectively abut against the mounting disc (3-1-1) and the corresponding sliding block (3-1-6); the two connecting rotating shafts (3-1-10) are parallel to each other and are respectively positioned at two sides of the mounting disc (3-1-1); the two connecting rotating shafts (3-1-10) are positioned between the two hinged seats (3-1-11); the first tooth-shaped hinge block chain bypasses one connecting rotating shaft (3-1-10), and the second tooth-shaped hinge block chain bypasses the other connecting rotating shaft (3-1-10).
4. The spherical robot according to claim 1, wherein: the first tooth-shaped hinge block chain comprises a half hinge block (3-5) and a plurality of first hinge blocks (3-2) which are sequentially hinged; the half hinge block (3-5) is positioned at the outer end of the first tooth-shaped hinge block chain, and the length of the half hinge block is half of that of the first hinge block (3-2); the inner side surface of the half hinge block (3-5) is provided with a rectangular groove; the inner side surface of the first hinging block (3-2) is provided with two rectangular grooves which are arranged along the length direction of the hinging block; the rectangular groove is coated with a magnetic material; the second toothed hinge block chain comprises a plurality of second hinge blocks (3-3) which are sequentially hinged; the inner side surface of the second hinging block (3-3) is provided with two rectangular bulges which are arranged along the length direction of the second hinging block; the outer side surface of the rectangular protrusion is coated with a magnetic material; when the first toothed hinge block chain and the second toothed hinge block chain are spliced together, each rectangular protrusion is clamped into the corresponding rectangular groove; the first articulated block (3-2) and the second articulated block (3-3) are equal in length.
5. The spherical robot according to claim 1, wherein: the top of the side surface of the hinge conversion port (3-1-9) is provided with an arc chamfer.
6. The spherical robot according to claim 1, wherein: the bouncing system (2) comprises a bouncing plate (2-1), a bouncing driving spring (2-2) and a bouncing driving component; the inner ends of the bounce driving springs (2-2) are fixed with the corresponding mounting grooves (1-1) on the spherical shell (1), and the outer ends of the bounce driving springs are fixed with the inner side surface of the bounce plate (2-1); the bounce board (2-1) is ejected under the driving of the elasticity of the bounce driving spring (2-2) and retracts under the driving of the bounce driving component.
7. The spherical robot according to claim 6, wherein: the center of each mounting groove (1-1) is provided with a stringing hole (1-2) communicated with the inner cavity of the spherical shell (1); the bounce driving component is arranged in the inner cavity of the spherical shell (1) and comprises a string, a roll shaft (2-3), a pull-back motor (2-5) and a motor base (2-6); the roll shaft (2-3) is supported on the motor base (2-6); the roll shaft (2-3) is driven to rotate by a pull-back motor (2-5); one end of the thin rope is wound and fixed on the roll shaft (2-3), and the other end of the thin rope passes through the corresponding rope penetrating hole (1-2) on the spherical shell and then is fixed with the springboard (2-1).
8. The spherical robot according to claim 6, wherein: the bouncing driving component also comprises a rotation stopping motor (2-4) and a clamp (2-7); the clamp (2-7) and the rotation-stopping motor (2-4) are both arranged on the motor base (2-6); two deformable clamping arms on the clamps (2-7) are arranged at intervals to form clamping openings; the roll shaft (2-3) passes through the clamping opening of the clamp (2-7); the outer end of the clamp opening of the clamp (2-7) is provided with a locking screw rod; the locking screw and the two clamping arms form a screw pair with opposite rotation directions; the locking screw is driven to rotate by a rotation stopping motor (2-4).
9. The spherical robot driving method according to claim 1, wherein: including a roll driving method and a bounce driving method;
the rolling driving method is specifically as follows:
step one, extending one or more mechanical arm modules (3) which are close to a target direction and are positioned above the geometric center of a spherical shell (1) out to drive the spherical shell (1) to roll towards the target direction;
step two, when the extended mechanical arm module (3) moves to the position below the geometric center of the spherical shell (1), retracting the extended mechanical arm module (3), and extending one or more mechanical arm modules (3) which are close to the target direction and are positioned above the geometric center of the spherical shell (1) so that the spherical shell (1) continuously rolls towards the target direction, and the operation is repeated in a circulating manner;
the bounce driving method specifically comprises the following steps:
step one, extending all mechanical arm modules (3) below the gravity center of the spherical shell (1) in equal length to separate the spherical shell (1) from the ground;
step two, one or more mechanical arm modules (3) close to the target direction are completely or partially retracted, so that the spherical shell (1) is inclined towards the target direction;
step three, pushing out a bounce board (2-1) in the downward bouncing system (2) to drive the spherical robot to bounce towards a target direction;
and step four, after the spherical robot is ejected, retracting the ejected springboard (2-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011125883.0A CN112319642B (en) | 2020-10-20 | 2020-10-20 | Spherical robot and driving method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011125883.0A CN112319642B (en) | 2020-10-20 | 2020-10-20 | Spherical robot and driving method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112319642A CN112319642A (en) | 2021-02-05 |
| CN112319642B true CN112319642B (en) | 2021-08-31 |
Family
ID=74311168
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011125883.0A Active CN112319642B (en) | 2020-10-20 | 2020-10-20 | Spherical robot and driving method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112319642B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201825146U (en) * | 2010-05-31 | 2011-05-11 | 燕山大学 | Bounce spherical robot equipped with stabilized bench |
| WO2014116037A1 (en) * | 2013-01-23 | 2014-07-31 | Jin Jang Min | Spherical moving object and driving method therefor |
| CN104802871A (en) * | 2015-04-14 | 2015-07-29 | 中煤科工集团西安研究院有限公司 | Spherical structural detector robot |
| CN205044843U (en) * | 2015-08-28 | 2016-02-24 | 榆林学院 | Can sufficient formula spherical robot of motion |
| CN108583718A (en) * | 2018-04-28 | 2018-09-28 | 燕山大学 | Eight Zu Bian born of the same parents robot of Magic cube type |
| CN111319694A (en) * | 2020-04-20 | 2020-06-23 | 中国空间技术研究院 | Spherical robot of multi-mode motion |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7165637B2 (en) * | 2004-11-04 | 2007-01-23 | The Boeing Company | Robotic all terrain surveyor |
| CN103407512B (en) * | 2013-08-18 | 2016-04-27 | 北京工业大学 | Polymorphic spherical jumping robot |
| CN105599817B (en) * | 2016-03-02 | 2018-06-05 | 东南大学 | A kind of ball shape robot for possessing skip capability |
| CN210455011U (en) * | 2019-07-30 | 2020-05-05 | 深圳市琅硕海智科技有限公司 | Internal driving system of spherical robot |
-
2020
- 2020-10-20 CN CN202011125883.0A patent/CN112319642B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201825146U (en) * | 2010-05-31 | 2011-05-11 | 燕山大学 | Bounce spherical robot equipped with stabilized bench |
| WO2014116037A1 (en) * | 2013-01-23 | 2014-07-31 | Jin Jang Min | Spherical moving object and driving method therefor |
| CN104802871A (en) * | 2015-04-14 | 2015-07-29 | 中煤科工集团西安研究院有限公司 | Spherical structural detector robot |
| CN205044843U (en) * | 2015-08-28 | 2016-02-24 | 榆林学院 | Can sufficient formula spherical robot of motion |
| CN108583718A (en) * | 2018-04-28 | 2018-09-28 | 燕山大学 | Eight Zu Bian born of the same parents robot of Magic cube type |
| CN111319694A (en) * | 2020-04-20 | 2020-06-23 | 中国空间技术研究院 | Spherical robot of multi-mode motion |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112319642A (en) | 2021-02-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| RU2598633C1 (en) | Automatic packing line for c-and u-shaped profiles | |
| CN110671423B (en) | Three-section folding hinge for flexible screen and mobile device thereof | |
| CN108656086B (en) | Variable working space redundancy drive 4UPU-R parallel mechanism | |
| EP3235609A1 (en) | Robot arm mechanism | |
| CN112319642B (en) | Spherical robot and driving method thereof | |
| TW202321131A (en) | Transfer robot | |
| CN107139163B (en) | Parallel mechanism type transfer robot | |
| CN113319832A (en) | Three-translation parallel mechanism with symmetrical branches | |
| CN107901026B (en) | Two-rotation one-movement three-freedom-degree parallel mechanism based on less-input array output | |
| CN208326657U (en) | Sheet material automatically processing device | |
| CN210001160U (en) | novel three-axis cantilever loading and unloading device | |
| CN104118488A (en) | Rolling robot capable of automatically moving | |
| CN210414528U (en) | Two-rotational-freedom parallel robot | |
| CN211693201U (en) | Three-section type folding hinge for flexible screen and mobile device thereof | |
| CN108126860B (en) | Green system of applying paint with a brush of gardens | |
| CN109909988B (en) | Multistable rigidity-variable robot structure | |
| CN218698813U (en) | Six-degree-of-freedom parallel platform assembling device | |
| CN208738210U (en) | A kind of wafer device for loading and semiconductor processing equipment | |
| CN116690545B (en) | Triaxial steering regulation and control mechanical arm and robot | |
| CN219426345U (en) | Four-axis section bar machining center | |
| CN211045458U (en) | Battery string arranging device and battery pack welding equipment | |
| KR102642736B1 (en) | pickup system of semiconductor package | |
| CN110925293B (en) | Novel ball pair mechanism | |
| CN210102957U (en) | Crawler-type stacking robot | |
| CN219751189U (en) | Device for spraying aluminum shells alternately up and down |
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 |