CN113086039B - Hemispherical differential spherical self-reconstruction robot with independently moved unit modules - Google Patents
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Abstract
The invention provides a hemispherical differential spherical self-reconfiguration robot with independently moving unit modules, which is characterized in that an external structure and a hemispherical differential driving structure which simultaneously meet the sealing of a spherical shell and the working conditions of a sensor are newly designed, so that a single spherical robot unit has robust and accurate autonomous omnidirectional movement capability. With its modularized design on the basis of single spherical robot motion, the advantage of traditional spherical robot and self-reconfigurable modular robot has been combined, make this spherical robot possess autonomic butt joint reconfiguration ability through initiative butt joint interface, passive locking interface mechanism and swing mechanism and perception system, can become new configurations such as snakelike or wheel-legged robot according to the task needs after a plurality of spherical robot module butt joints reconfiguration, thereby reinforcing the robot trafficability characteristic, the robot can carry out more complicated collaborative work task. The spherical robot is mainly suitable for complex working scenes such as disaster prevention detection, danger elimination and rescue.
Description
Field of application
The invention relates to the field of robots, in particular to a hemispherical differential spherical self-reconfiguration robot with a unit module capable of moving autonomously, which takes symmetrically distributed left and right differential hemispherical shells as a driving structure to ensure that the unit module spherical robot can realize all-directional movement, the two lateral spherical shells are connected by a main frame in the middle, the main frame and the left and right spherical shells respectively have one degree of freedom, and the middle frame not only has the functions of isolating movement and ensuring that the movements of the two spherical shells do not interfere with each other, but also has the function of supporting the whole robot. The spherical robot unit is modularly designed, and can be mutually butted to realize reconstruction.
Background
With the high importance of all countries in the world on public utilities such as national security, social security, disaster prevention and the like, the demand of disaster rescue robots characterized by fire detection, danger elimination and rescue, material transportation and the like is increasingly prominent. The spherical robot has good sealing performance, strong balance and flexible movement, can move in all directions without side turning, can effectively buffer impact force through rolling to protect an internal structure, has obvious application advantages in specific scenes, but task scenes such as disaster recovery detection, danger elimination and rescue are generally in an unstructured dynamic position environment, and the robot needing to execute tasks has more flexible movement capability and stronger adaptability.
Traditional spherical robot of single configuration hardly answers above-mentioned task challenge, domestic and foreign scholars and research institution have also carried out the innovative design in multiple structure to spherical robot, for example, application number is CN201811561329. X's a spherical robot, it opens through the spherical shell and uses two hemisphere shells to realize two-wheel drive, two hemisphere shells are open mode, support guide pulley and first when possessing the detection ability, the second drive wheel forms the multiple spot and supports and has strengthened robot motion ability and stability, but it still changes spherical robot barycenter through chassis heavy pendulum motion and realizes omnidirectional movement, and its spherical shell opens the back completely, main frame and control system platform expose completely, spherical robot inclosed protection advantage has been lost. The application number is CN 201310331622.8's spherical robot of hemisphere differential retractable, make two hemisphere shells open or closed according to the task environment through cross telescopic machanism, through first, the setting of the horizontal 180 degrees difference in second shell hemisphere casing driving motor position and the setting of worm gear reduction gear mechanism realize two-wheeled differential drive, its drive to spherical robot, the innovation and improvement have been carried out in aspects such as accurate control, single spherical robot's application scene has been expanded, but it still does not possess the reconsitution and changes the configuration ability, and do not possess the external detection ability under the sphere shell encapsulated situation in the task.
The modular self-reconfigurable robot has strong adaptability to complex environments and task constraints, can break through monomer rolling through configuration reconfiguration, and realizes multiple movement modes such as combined spoke type advancing, foot type walking, snake-shaped advancing and the like, so that the robot can advance rapidly and flexibly, cross over riprap obstacles, cross over trenches, pass through or go deep into narrow spaces such as mines. In the prior art, only spherical robots with application numbers CN201610842050.3 and CN202010078488.5 have references to reconfiguration capability, wherein the first design does not refer to autonomous docking capability, the second design robot does not have differential capability and the external probing capability of the robot is limited by the spherical shell, and there are few designs that simultaneously realize high-speed flexible maneuvering and active docking reconfiguration of the spherical robot.
Therefore, in order to better endow the spherical robot with more comprehensive task capability, a plurality of spherical robots with independent omnidirectional motion and detection capability are combined into snake-shaped robots, wheel-leg robots and other configurations in a self-reconfiguration mode to face different task scenes, so that the advantages of the two robots can be integrated, the defects can be made up, and the task can be efficiently solved.
Disclosure of Invention
The invention provides a hemispherical differential spherical self-reconstruction robot design with a unit module capable of moving autonomously, which is mainly suitable for working scenes such as disaster prevention detection, danger elimination rescue and the like, and has an external structure and a hemispherical differential driving structure which simultaneously meet the working conditions of spherical shell sealing and a sensor, wherein the left hemisphere and the right hemisphere are driven differentially, so that a single spherical robot has the capability of flexibly steering in situ, a single spherical robot unit has the capability of stable omnidirectional motion, and the flexibility is greatly enhanced.
The invention provides a hemispherical differential spherical self-reconfiguration robot design with independently moving unit modules, which combines the advantages of the traditional spherical robot and a self-reconfiguration modular robot, and enables the spherical robot to have the capability of independent docking reconfiguration through an active docking interface, a passive locking interface mechanism, a swinging mechanism and a sensing system, and a plurality of spherical robot modules can be changed into new configurations such as a snake-shaped or wheel-leg type robot and the like according to task requirements after docking reconfiguration, so that the passing performance of the robot is enhanced, and the robot can execute more complex cooperative work tasks.
In order to achieve the purpose, the invention adopts the following solutions:
the invention provides a differential driving mode for directly driving a spherical shell to serve as a driving wheel based on meshing transmission of an internal gear and an external gear, the mode is accurate in transmission, the problem of slippage of a traditional spherical robot can be solved, and the spherical robot has accurate control all-directional movement capability and high maneuverability.
The invention provides a spherical robot which comprises a spherical shell, a main frame, a hemisphere differential driving structure, a butt joint mechanism and a sensing system. The spherical shell adopts symmetrical distribution and is divided into a left hemispherical shell and a right hemispherical shell, and the left hemispherical shell and the right hemispherical shell are directly used as driving wheels of the spherical robot and are respectively driven by a motor. The main frame is used as a central support frame of the robot, a battery, a driving motor, a swinging mechanism, an interface and the like and a sensor of a sensing system are fixed on the frame, and the main frame is connected with the left and right hemispherical shells through a crossed roller bearing but does not rotate along with the left and right hemispherical shells. The unit spherical robot has one interface in six directions of rectangular spatial coordinate system, three of them are active butt-joint interfaces and the other three are passive locking interfaces, and there is a pair of active butt-joint interfaces in front of the robot, and it has swing freedom. The sensing system uses a binocular camera to sense the visual environment, realize image building and navigation, uses a GPS sensor to position, and is additionally provided with a contact sensor and the like to finish positioning, sensing and locking determination in the butt joint process and assist in finishing the butt joint process.
The differential driving structure comprises a driving motor, a motor connecting ball inner pinion and an outer gear ring, wherein the outer gear ring and the ball shell are integrated, the motor drives the pinion to rotate to generate momentum, the momentum is transmitted to the outer gear ring through gear engagement to drive the ball shell, and finally the driving ball moves forwards.
The invention provides a hemispherical differential spherical self-reconfiguration robot with autonomous movement of unit modules, which has the advantages that a single spherical robot has omnidirectional stable movement capability stronger than that of the traditional spherical robot, a main frame can be externally provided with sensors such as a camera and the like, and the single spherical robot can be reconfigured into robots of other configurations after being used as a module for butt joint, so that the functions of the spherical robot are greatly expanded, and the application field is greatly widened.
Drawings
In order to more clearly illustrate the design and method of practicing the present invention, reference will now be made to the appended drawings, which are to be used in a simplified manner.
Fig. 1 is an overall schematic diagram of a hemispherical differential spherical self-reconfigurable robot with autonomous movement of unit modules.
Fig. 2 is a perspective view of the whole structure of the hemispherical differential spherical self-reconfigurable robot with the unit modules moving autonomously.
Fig. 3 is a structure diagram of a hemispherical differential spherical self-reconfigurable robot differential drive and swing butt joint with autonomous movement of unit modules.
Fig. 4 is an exploded view of a structural design of a hemispherical differential spherical self-reconfigurable robot with autonomous movement of unit modules.
Detailed Description
For better explaining the objects, technical solutions and advantages of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that the specific embodiments described herein are only for illustrating the present invention and are not to be construed as limiting the present invention.
Referring to fig. 2, fig. 2 is a perspective view of an overall structure of a spherical robot, which includes a left hemispherical shell 1 and a corresponding outer gear ring 2, a main frame 3, an upper passive locking interface 4, a binocular camera 5, a right hemispherical shell 6, a right active docking interface 7, a lower active docking interface 8, a differential driving and swinging docking structure 9, a left passive locking interface 10, and a battery pack 11.
The spherical shells 1 and 6 are made of glass fiber reinforced plastic materials, the two spherical shells are in differential motion and substantially play the functions of the two wheels, and the spherical shells have good toughness and strength. The main frame 3 is made of aluminum alloy and has good strength and stability, and the battery pack 11 composed of two batteries with the rated voltage of 24V is fixed on the main frame. In addition, the robot is respectively provided with an interface in six directions according to a space rectangular coordinate system, namely three active docking interfaces and three passive locking interfaces, and a pair of movable docking interfaces in the right front of the moving direction of the robot can increase the swinging freedom degree of the docked modular spherical robot through a docking swinging mechanism 9. A circle of external gear ring 2 which is meshed with a gear set in a differential drive and swing butt joint structure 9 is designed in the spherical shell. In addition, the frame is provided with the binocular camera 5 and other detection sensors, and the main frame does not rotate along with the spherical shell, so that the vision of the binocular camera can be ensured to always stably face the front of the movement of the robot.
Referring to fig. 2 and fig. 3, the differential driving and swinging docking structure 9 includes two differential forward driving motors 905 and 911 and a pendulum 913, the differential forward driving motors 905 and 911 are fixed on the pendulum 913, when the spherical shell is driven to rotate, the pendulum 913 is not only a driving core for changing the center of mass of the spherical robot but also a constraint for fixing the driving motors, the stators of the differential forward driving motors 905 and 911 are constrained by the gravity generated by the pendulum 913, and the driving motors 905 and 911 are constrained by the constraint moment generated by the gravity of the pendulum after the pendulum 913 swings slightly in a floating manner. Driving motor 905 and 911 pass through gear train 910 with spherical shell external gear circle 2 and are connected, thereby differential drive spherical shell 1, 6, as two driving motor output as the same, two spherical shell syntropy rotate with the same speed, spherical robot can realize following linear motion, when two driving motor outputs are different or even opposite, two spherical shell differential rotations or opposite direction rotate, can realize spherical robot's the turn to, consequently spherical robot's motion only need can realize through control driving motor's positive and negative rotation and rotational speed output, the drive ratio is high, the robustness is high, the controllability is high.
Referring to fig. 2 and 3, the differential driving and swinging docking structure 9 includes swinging motors 909 and 912, transmission mechanisms 903 and 904, swinging rods 902 and 908, and a pair of active and passive interfaces 907 and 901 with swinging degrees of freedom, and the swinging motors 909 and 912 drive the swinging rods 902 and 908 through the transmission mechanisms 903 and 904, respectively, so as to drive the active and passive interfaces 907 and 901 to swing up and down, thereby facilitating the realization of active docking of multiple configurations of the unit spherical robot and the reconstructed robot to have freedom of movement, such as meandering and swinging of a snake-shaped configuration and crossing obstacles by stacking. The swing oscillating bars 902 and 908 keep relatively horizontal through the gravity action of the heavy pendulum 913, interface swing grooves are formed in corresponding positions of the swing oscillating bars 902 and 908, the swing structure can enable the interface to have a 120-degree swing angle through the interface swing groove, and the angle of the active swing interface 8 can be adjusted to enable the active swing interface to be aligned and butted with the passive swing interface 9 of another spherical robot before butting.
Finally, it should be noted that the above embodiments are only intended to illustrate the technical solutions of the present application and not to limit the present application, and although the present invention has been described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made to the technical solutions of the present application without departing from the spirit and scope of the technical solutions of the present application.
Claims (3)
1. The utility model provides a but cell module autonomous movement's hemisphere differential sphere is from reconsitution robot which characterized in that: an external structure and a hemispherical differential driving structure which simultaneously meet the sealing of a spherical shell and the working condition of a sensor are designed, and a differential driving mode which directly drives the spherical shell to serve as a driving wheel based on the meshing transmission of an internal gear and an external gear is adopted, so that a single spherical robot unit has stable omnidirectional movement capability; the spherical robot has the autonomous docking reconfiguration capability through an active docking interface, a passive locking interface mechanism, a swinging mechanism and a sensing system by taking a swinging drive, an orthogonal swinging rod and an interface as a docking structure, and can become a new snake-shaped or wheel-leg type robot configuration according to task requirements after a plurality of spherical robot modules are docked and reconfigured, and obstacles can also be crossed through group stacking;
the spherical robot is provided with an interface in six directions of a space rectangular coordinate system, wherein three interfaces are active butt joint interfaces, the other three interfaces are passive locking interfaces, and a pair of movable butt joint interfaces is arranged right in front of the moving direction of the robot and has swinging freedom;
the differential driving structure comprises a differential forward driving motor, a driving gear set, a heavy pendulum and a crossed roller bearing, wherein the driving gear set is meshed with an external gear ring, the external gear ring and the ball shell are integrated, the driving motor drives the driving gear set to rotate to generate momentum, the momentum is transmitted to the external gear ring through gear meshing to drive the ball shell, and finally, a ball is driven to advance;
the pendulum is a driving core for changing the mass center of the spherical robot and is also a constraint for fixing the driving motor, and the left driving motor and the right driving motor are both arranged on the pendulum and are relatively fixed;
the main frame is used as a central support frame of the robot, a battery, a driving motor, a swinging mechanism, an interface and a sensing system sensor are fixed on the frame, and the main frame is connected with the left and right hemispherical shells through a crossed roller bearing but does not rotate along with the left and right hemispherical shells;
the swing rod of the swing mechanism enables the front and back swing rod to keep relatively horizontal under the action of gravity of the pendulum, the front and back swing rod and the corresponding position are provided with an interface swing groove, the swing mechanism can enable an interface to have a 120-degree swing angle through the interface swing groove, and the angle of an active swing interface can be adjusted before butt joint to enable the interface to be aligned and butted with a passive swing interface of another spherical robot.
2. The self-reconfigurable robot with hemispheres and independently movable cell modules and differential spheres of claim 1, wherein the spherical shells are symmetrically distributed and divided into left and right hemispherical shells, the left and right hemispherical shells are directly used as driving wheels of the robot and are respectively driven by a motor to rotate relatively, the differential driving and swinging butt joint structure of the robot enables the robot to have the ability of all-directional movement and high maneuverability, and the main frame does not rotate along with the left and right hemispherical shells, so that the sensor of the sensing system can stably work.
3. The hemispherical differential spherical self-reconfigurable robot with autonomous movement of unit modules as claimed in claim 1, wherein each unit module spherical robot can be docked with six robots through six interfaces for reconfiguration, so as to ensure the configuration richness.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113696989B (en) * | 2021-08-30 | 2022-07-26 | 西安交通大学 | Omnidirectional movement spherical robot driving mechanism capable of crossing obstacles and resisting impact |
| CN114454195A (en) * | 2022-03-23 | 2022-05-10 | 河海大学 | Snake-shaped robot for rescue |
| CN114714323B (en) * | 2022-04-18 | 2024-02-06 | 中国矿业大学 | Wheeled module assembly suitable for reconfiguration modularization robot |
| CN116442204B (en) * | 2023-05-22 | 2024-02-23 | 浣江实验室 | Voxel type robot and system comprising same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201566718U (en) * | 2009-12-17 | 2010-09-01 | 华东理工大学 | Spherical robot |
| CN106393128B (en) * | 2016-09-22 | 2018-10-12 | 重庆邮电大学 | A kind of spherical rescue robot of deformable reconstruct |
| CN108730676B (en) * | 2018-03-23 | 2020-08-25 | 昆明理工大学 | Spherical robot for pipeline detection |
| CN109352637A (en) * | 2018-12-05 | 2019-02-19 | 福州大学 | Three Degree Of Freedom reconfigurable modular robot cellular construction |
| CN111216141B (en) * | 2020-02-03 | 2021-10-26 | 北京邮电大学 | But butt joint reconsitution spherical robot |
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