CN113086040A - Open-close type reconfigurable spherical robot - Google Patents
Open-close type reconfigurable spherical robot Download PDFInfo
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- CN113086040A CN113086040A CN202110533771.7A CN202110533771A CN113086040A CN 113086040 A CN113086040 A CN 113086040A CN 202110533771 A CN202110533771 A CN 202110533771A CN 113086040 A CN113086040 A CN 113086040A
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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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Abstract
The invention discloses an open-close type reconfigurable spherical robot which mainly comprises a left hemispherical shell, a right hemispherical shell, a heavy swinging mechanism, a driving mechanism, a telescopic mechanism, a butt joint mechanism and the like. The left and right hemispherical shells are closed to roll the single body; the left and right hemispherical shells can perform single differential motion by being opened through the telescopic mechanism, and the connection and configuration transformation among a plurality of robots can be realized through a pair of movable butt joint mechanisms and a pair of fixed butt joint mechanisms. The invention provides an openable butt-jointed spherical robot which comprises: when the spherical shell is closed, the left and right driving motors output at the same speed, and the heavy pendulum driving motor adjusts the heavy pendulum to swing left and right so as to control the turning of the spherical unit; when the spherical shell is opened, the straight movement and the turning movement of the spherical unit are controlled by controlling the same-speed and differential output of the left and right driving motors. The single spherical unit has the capability of independent movement, and when a plurality of spherical units or robots with the same docking mechanism exist, the plurality of robots can be assembled into different configurations to meet the task requirements. The open-close type reconfigurable spherical robot can be mutually switched between a closed state and an open state, and in the open state, the butt joint and configuration change of a plurality of spherical units can be completed through the combination of the butt joint mechanism, so that the reconfigurable spherical robot not only has flexible movement and change capability, but also enhances the external operation and multi-spherical unit cooperation capability of the spherical robot.
Description
Field of application
The invention relates to a spherical robot, in particular to an open-close type reconfigurable spherical robot.
Background
The spherical robot has a different motion form from that of the foot type robot and the wheel type robot which are well known, and rolling is the main motion form. In addition, the unique shape of the steering wheel makes the steering wheel have a steering radius close to zero when steering movement is executed, so that the limit of a detection environment can be overcome, and the steering operation at any angle can be smoothly completed. The spherical shell seals important electronic elements such as a driving part and a sensor in the shell, so that certain dustproof and waterproof effects are achieved, and internal components are protected from being damaged by an external detection environment to a certain extent. Compared with the traditional wheeled or legged robot, the spherical robot has the advantages of good encapsulation performance, balance and high movement efficiency, and has remarkable advantages and wide application prospects in the fields of dangerous and narrow environment operation and the like.
The opening-closing type spherical robot has the characteristics of a closed spherical robot, and the left spherical shell and the right spherical shell can be opened in occasions where the robot needs to be opened, so that the contact area between the robot and the ground is increased, and the robot can be controlled to move in a complex scene more conveniently; meanwhile, the internal device can be exposed, and the application range of the internal device can be expanded.
Through the designed pair of movable butt joint mechanisms and the pair of fixed butt joint mechanisms, the external operation capacity of the openable spherical robot can be enhanced, and configuration reconstruction among a plurality of spherical robots is realized.
Disclosure of Invention
The invention provides an open-close type reconfigurable spherical robot, which is convenient for the motion control and the cooperation of a plurality of spherical units of the spherical robot and can be used for scenes such as entertainment, detection, disaster rescue and the like.
To achieve the above object, the present invention proposes the following solutions:
the invention provides an open-close type reconfigurable spherical robot which mainly comprises a left hemispherical shell, a right hemispherical shell, a driving motor of the left hemispherical shell, a heavy swing mechanism, a driving motor of the heavy swing mechanism, a pair of movable butt joint mechanisms, a pair of fixed butt joint mechanisms, a telescopic mechanism and the like. The main structure comprises a high-power brushless direct current motor, an internal frame, a synchronous belt, a gear chain and a heavy pendulum mechanism, wherein ball shell motion driving motors on two sides and the heavy pendulum driving motors on two sides are fixedly connected with the internal frame respectively, the ball shell motion driving motors on two sides are mainly used for driving the spherical units to roll, and meanwhile, the centers of the spherical units are reduced and the postures of the spherical units are adjusted through the heavy pendulum mechanism.
Under the telescopic mechanism, main driving motors are respectively arranged on two sides of the inner frame and drive shafts in the telescopic mechanism to rotate through synchronous belts, so that spherical shells are driven to rotate, differential motion of the two spherical shells can be realized through spline shafts and linear guide rails, and deformation processes of the spherical robot from closing to opening and from opening to closing in a motion state can be realized; a pendulum mechanism is arranged below the long-arm platform, the pendulum mechanism comprises a connecting rod, a pendulum, a spherical unit power supply, a disk-shaped driving motor and the like, and the steering and the stability of the spherical unit are controlled by adjusting the pendulum angle of the pendulum; with the heavy pendulum and the power integration, can concentrate on the focus of spherical robot in being close to the lower hemisphere on ground, be favorable to strengthening spherical unit's stability.
The telescopic structure comprises a spline shaft connected with the spherical shell motion driving motor through a synchronous belt and a spline sleeve sleeved on the spline shaft, the spline sleeve is externally connected onto the sleeve, and the sleeve is fixedly connected with the platform in the long axis direction of the internal frame through a linear guide rail.
The butt joint mechanism comprises a pair of movable butt joint mechanisms and a pair of fixed butt joint mechanisms which are respectively arranged in the short axis direction and the long axis direction of the internal frame, and the two butt joint mechanisms are divided into a male port and a female port and are used for butt joint and configuration transformation of the multi-spherical unit.
The invention has the advantages that: the invention relates to an open-close type reconfigurable spherical robot, which can close and open a spherical shell in a required scene through a designed telescopic mechanism, thereby improving the control performance and adaptability of the spherical robot; the designed docking mechanism can be used for carrying out external operation, the docking and configuration transformation of a plurality of spherical units are completed, and the external operation capability of the spherical robot is improved. The reconfigurable spherical robot capable of being opened and closed provided by the invention has the flexible movement capability of a single spherical unit and also has the capability of being expanded and operated externally, so that the application field of the spherical robot is expanded.
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 a schematic view of the overall structure of a spherical robot in an open state
FIG. 2 is a schematic view of the internal frame structure of the spherical robot
FIG. 3 is an exploded view of the internal frame of the spherical robot
FIG. 4 is an exploded view of the movable docking mechanism of the spherical robot
FIG. 5 is an exploded view of the spherical robot pendulum mechanism
FIG. 6 is an exploded view of the spherical robot telescoping mechanism
Detailed Description
The invention will be explained in further detail below with reference to the figures and specific embodiments:
referring to fig. 1, 2 and 3, the main components of the spherical robot are symmetrically assembled in the major axis direction and the minor axis direction, and mainly comprise a spherical shell 1, a binocular camera and support component 2, a spherical shell motion driving component 3, a telescopic mechanism 4, a fixed docking mechanism 5, a movable docking mechanism component 6, an interface module 7, a pendulum component 8, a pendulum direction adjusting driving mechanism 10, a baffle 9, a frame 11, and the like.
Referring to fig. 1, 2, 3 and 6, the spherical shell 1 is made of high-toughness resin, and the opening of the spherical shell is fixedly connected with the hub support. The interior of the spherical shell is provided with a frame 11 for mounting internal devices. The internal frame is divided into a long axis direction and a short axis direction, the long axis direction is fixedly connected with a fixed butt joint mechanism 5 through a telescopic structure 4, the fixed butt joint mechanism is fixed on the spherical shell 1, a spherical shell motion driving assembly 3 is installed below the long axis direction, and the spherical shell motion driving assembly 3 is connected with a spline shaft 403 in the telescopic structure 4 in the frame 11; the short axis direction of the internal frame extends out of the movable butt joint mechanism assembly 6 and the interface module 7; the pendulum assembly 8 and the pendulum direction adjustment drive mechanism 10 are mounted inside the frame 11.
Referring to fig. 3, 5 and 6, the long axis direction of the robot moves, the spherical shell movement driving component 3 drives the spline shaft 403 on the telescopic mechanism 4 to rotate through the synchronous belt, the spline shaft 403 drives the spline shaft sleeve 406 sleeved on the spline shaft 403 to rotate, and then the fixed docking mechanism 5 and the spherical shell 1 fixedly connected with the spline shaft 406 are driven to rotate; when the spherical shell is closed, the two motors output at the same speed, and the direction of the robot is controlled by the heavy pendulum component 8 and the heavy pendulum direction-adjusting driving mechanism 10; when the spherical shell is opened, the two spherical shells can move at the same speed or at different speeds by controlling the speed of the driving motor in the control unit 3, and the spherical robot can have steering capacity. Inside heavily putting subassembly 8 and heavily putting accent to actuating mechanism 10 installation frame 11, disc motor 801 and drive assembly 802 link firmly, drive pendulum rod 803 swing through the hold-in range belt pulley and the hold-in range in 802, the pendulum rod links firmly on heavily putting 804, and spherical robot's power supply system installs in 804, can act as partial heavy pendulum quality, reduces spherical robot focus, also can provide energy supply for the system simultaneously.
As shown in fig. 2, 3 and 4, in the present embodiment, the spherical robot unit includes 4 docking mechanisms, which are divided into two pairs, wherein one pair is installed with the minor axis direction of the spherical robot, and is a movable docking mechanism assembly 6 and an interface module 7; the fixed docking mechanism 5 is installed in the long axis direction of the spherical robot. The movable docking mechanism assembly 6 of the spherical robot is installed on the frame 11 through the long arm structures 601 and 602, one ends 601 and 602 are provided with ball bearings, the docking mechanism driving assembly 605 is fixedly connected with the shaft 603, 603 is installed on the ball bearings of 601 and 602, and the shaft 603 is connected with the movable docking mechanism interface module 604. The driving assembly 605 rotates around the moving shaft 603 through a gear, so as to drive the interface module 604 to rotate, and the interface module 604 can rotate, so that the movable docking mechanism has two degrees of freedom. Under the condition of docking, the next unit spherical robot which is docked can be driven to move, and the interface design scheme can provide a basis for the subsequent multi-spherical unit docking based on the platform.
As shown in fig. 3 and 6, the opening and closing of the spherical shell are mainly performed by the spherical shell motion driving assembly 3 and the telescoping mechanism 4. The telescopic mechanism driving component 401 is fixedly connected with the support 404, the spherical shell movement driving component 3 is fixedly connected with a spline shaft 403 on the telescopic mechanism 4 through a synchronous belt pulley, a spline shaft sleeve 406 sleeved on the spline shaft 403 is connected with the inside of a sleeve 407, and the sleeve 407 is connected with the telescopic mechanism support 404 through linear guide rail modules 402 and 405 fixedly connected to the outside of the sleeve 407. When the spherical shell motion driving component 3 drives the spline shaft 403 to rotate, the driving component 401 on the telescopic mechanism 4 drives the sleeve 407 to move on the support 404 through the gear and the rack, so as to drive the spline shaft sleeve 406 to move on the spline shaft 403, and after stretching for a certain distance, the driving component 401 stops working and self-locks, so that the spherical robot is switched from a closed state to an open state and from the open state to the closed state in the motion process.
Finally, it should be noted that the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit, 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 various materials and devices can be used as required to implement the present invention, and modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present application.
Claims (3)
1. An open-close type reconfigurable spherical robot is characterized by mainly comprising left and right hemispherical shells and driving motors thereof, a heavy swing mechanism and a driving motor thereof, a pair of movable butt joint mechanisms and driving motors thereof, a pair of fixed butt joint mechanisms and a telescopic mechanism. The spherical robot is externally composed of a left hemispherical shell and a right hemispherical shell, a main body frame is integrated in the spherical shells, opening surfaces of the left hemispherical shell and the right hemispherical shell are fixedly connected with a hub type supporting structure respectively, and the tops of the left hemispherical shell and the right hemispherical shell are fixedly connected with a pair of fixed butt joint mechanisms respectively; two ends of the telescopic mechanism are respectively connected with the long axis direction of the internal frame and the fixed butt joint mechanism; the inner frame is connected with a fixed docking mechanism through a telescopic mechanism, and the fixed docking mechanism is respectively connected with the left spherical shell and the right spherical shell. During the movement, the internal frame is kept stable, a pair of movable butt-joint mechanisms are connected to a long arm platform extending out of the short axis direction of the internal frame, and the movement of the butt-joint mechanisms is realized through a gear train transmission control assembly arranged on the long arm platform.
2. The reconfigurable spherical robot in an open-close type according to claim 1, wherein the telescoping mechanism is mainly composed of a linear guide rail, a spline shaft, a shaft sleeve, a gear rack and a driving motor, and the telescoping mechanism is fixed on both sides of the long axis direction of the inner frame through bolts and nuts and is connected with a pair of fixed butt joint mechanisms on the left and right hemispherical shells. In the closing and opening processes of the spherical shell, the movement range of the spherical shell is limited by self-locking of the driving motor and mechanical limit of the mechanism.
3. The reconfigurable spherical robot in an open-close type according to claim 1, wherein a pair of movable docking mechanism male and female interfaces are respectively installed in the short axis direction of the internal frame, the docking mechanism is movable through a driving motor and a gear train transmission control assembly on the long arm platform, and the movable docking mechanism can rotate as required, so that docking and mutual cooperation with other spherical units are realized.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110533771.7A CN113086040A (en) | 2021-05-14 | 2021-05-14 | Open-close type reconfigurable spherical robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110533771.7A CN113086040A (en) | 2021-05-14 | 2021-05-14 | Open-close type reconfigurable spherical robot |
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| CN113086040A true CN113086040A (en) | 2021-07-09 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115026855A (en) * | 2022-08-15 | 2022-09-09 | 南京航空航天大学 | Throwing robot with omnidirectional impact resistance |
| CN115535105A (en) * | 2022-09-27 | 2022-12-30 | 西南科技大学 | Deformable spherical robot |
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| KR101507565B1 (en) * | 2014-02-10 | 2015-04-07 | 안동대학교 산학협력단 | Spherical mobile robot |
| RU2015107469A (en) * | 2014-08-29 | 2016-09-27 | Государственное научное учреждение "Объединенный институт проблем информатики Национальной академии наук Беларуси" | ROBOT BALL |
| CN106272472A (en) * | 2016-09-22 | 2017-01-04 | 重庆邮电大学 | A kind of structure changes spherical both arms search and rescue robot |
| CN106393128A (en) * | 2016-09-22 | 2017-02-15 | 重庆邮电大学 | Deformable and reconfigurable spherical rescue robot |
| CN108730676A (en) * | 2018-03-23 | 2018-11-02 | 昆明理工大学 | A kind of ball shape robot for pipe detection |
| CN111216141A (en) * | 2020-02-03 | 2020-06-02 | 北京邮电大学 | But butt joint reconsitution spherical robot |
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2021
- 2021-05-14 CN CN202110533771.7A patent/CN113086040A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101559794A (en) * | 2009-06-02 | 2009-10-21 | 北京邮电大学 | Crawler type spherical robot |
| CN103387016A (en) * | 2013-08-01 | 2013-11-13 | 哈尔滨工程大学 | Hemisphere differential telescopic spherical robot |
| KR101507565B1 (en) * | 2014-02-10 | 2015-04-07 | 안동대학교 산학협력단 | Spherical mobile robot |
| RU2015107469A (en) * | 2014-08-29 | 2016-09-27 | Государственное научное учреждение "Объединенный институт проблем информатики Национальной академии наук Беларуси" | ROBOT BALL |
| CN106272472A (en) * | 2016-09-22 | 2017-01-04 | 重庆邮电大学 | A kind of structure changes spherical both arms search and rescue robot |
| CN106393128A (en) * | 2016-09-22 | 2017-02-15 | 重庆邮电大学 | Deformable and reconfigurable spherical rescue robot |
| CN108730676A (en) * | 2018-03-23 | 2018-11-02 | 昆明理工大学 | A kind of ball shape robot for pipe detection |
| CN111216141A (en) * | 2020-02-03 | 2020-06-02 | 北京邮电大学 | But butt joint reconsitution spherical robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115026855A (en) * | 2022-08-15 | 2022-09-09 | 南京航空航天大学 | Throwing robot with omnidirectional impact resistance |
| CN115535105A (en) * | 2022-09-27 | 2022-12-30 | 西南科技大学 | Deformable spherical robot |
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Application publication date: 20210709 |