CN115123414A - Hybrid drive mode spherical robot based on gyro stabilization principle - Google Patents
Hybrid drive mode spherical robot based on gyro stabilization principle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
- B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
- B62D37/06—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses using gyroscopes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0403—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box
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Abstract
Description
技术领域technical field
本发明涉及机器人技术领域,具体为一种基于陀螺稳定原理的混合驱动模式球形机器人。The invention relates to the technical field of robots, in particular to a spherical robot with a hybrid drive mode based on the principle of gyro stabilization.
背景技术Background technique
球形机器人是指一类驱动系统位于球壳内部,通过内驱动方式实现球体运动并将所有控制器安装在一个球形壳体内的机器人。球形机器人具有特殊的全封闭外形结构,这种特殊的外形结构可以通过外壳使得内部设备与外界高温、高气压甚至高腐蚀、高辐射环境隔绝。球形机器人可以在多种环境下运动,包括平地,缓坡和水下等。相较于传统的机器人,球形机器人与地面接触的面积更小,有利于转向和移动,可有效避免出现倾倒的情况。2001年,北京邮电大学的教授孙汉旭教授率先开始研究球形机器人,在国家重点项目支持下开发出了BYQ-1、BYQ-2以及BYQ-3球形机器人对球形机器人的控制系统进行深入研究,针对球形机器人特殊的外形结构,设计了不同种控制系统,使其能在无线控制下进行全方位运动以及避障或越障,并对其动力学模型和平面运动时的运动学模型进行了理论上的分析,并制作出样机。2006年, T.Otani等设计了一种陀螺仪驱动的球形机器人,依据角动量守恒原理实现机器人控制。在2012年Urakubo等进一步展开了对于该球的研究,提出了一系列的反馈控制规律。Spherical robot refers to a kind of robot whose drive system is located inside the spherical shell, realizes spherical motion through internal driving, and installs all controllers in a spherical shell. The spherical robot has a special fully enclosed shape structure, which can isolate the internal equipment from the external high temperature, high pressure and even high corrosion and high radiation environment through the shell. Spherical robots can move in a variety of environments, including flat ground, gentle slopes, and underwater. Compared with traditional robots, the spherical robot has a smaller contact area with the ground, which is conducive to steering and movement, and can effectively avoid the situation of tipping. In 2001, Professor Sun Hanxu of Beijing University of Posts and Telecommunications took the lead in researching spherical robots. With the support of national key projects, he developed BYQ-1, BYQ-2 and BYQ-3 spherical robots to conduct in-depth research on the control system of spherical robots. The robot has a special shape and structure, and various control systems are designed to enable it to perform omnidirectional motion and obstacle avoidance or obstacle crossing under wireless control. The dynamic model and the kinematic model of plane motion are theoretically analyzed. Analyzed and made a prototype. In 2006, T. Otani et al. designed a spherical robot driven by a gyroscope, and realized the robot control according to the principle of conservation of angular momentum. In 2012, Urakubo et al. further carried out research on the ball and proposed a series of feedback control laws.
球形外壳与减震系统相互配合可以有效减小震动从而保护内部设备,在平面上运动更为平稳,如果在其内部有图传系统,可以增强画面的质量,并且球面形状更具观赏性,可以用于展演。在生活中,球形机器人可以用于教育以及服务行业。在医学领域,球形机器人可以用于消化道检查,减轻病人的痛苦。在工业生产中,可以用于管道检测等。在军事领域,球形机器人的机动性和隐蔽性都能良好地展现出来,可以做侦察监测等工作。但是,由于球形机器人的空间动力学模型及运动学模型较为复杂,其具有非线性,耦合性和非链式等特点,使得球形机器人的运动控制问题尚未完全解决。为解决球形机器人稳定运动与灵活转向控制问题,以陀螺仪为核心元件搭建稳定平台,研究基于陀螺稳定原理的混合驱动模式球形机器人具有重要的现实意义。The spherical shell and the shock absorption system cooperate with each other, which can effectively reduce the vibration and protect the internal equipment. The movement on the plane is more stable. If there is a picture transmission system inside it, the quality of the picture can be enhanced. for show. In life, spherical robots can be used in education and service industries. In the medical field, spherical robots can be used to examine the digestive tract and relieve the pain of patients. In industrial production, it can be used for pipeline inspection, etc. In the military field, the mobility and concealment of spherical robots can be well demonstrated, and they can be used for reconnaissance and monitoring. However, due to the complex spatial dynamics model and kinematic model of spherical robots, which have the characteristics of nonlinearity, coupling and non-chain, the motion control problem of spherical robots has not been completely solved. In order to solve the problems of stable motion and flexible steering control of spherical robots, it is of great practical significance to build a stable platform with gyroscopes as the core components, and to study the hybrid drive mode spherical robots based on the principle of gyro stabilization.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于提供一种基于陀螺稳定原理的混合驱动模式球形机器人,以解决上述背景技术中提出的问题。The purpose of the present invention is to provide a hybrid driving mode spherical robot based on the principle of gyro stabilization, so as to solve the problems raised in the above background art.
为实现上述目的,本发明提供如下技术方案:一种基于陀螺稳定原理的混合驱动模式球形机器人,包括壳体,所述壳体内设置有主支撑结构件,所述主支撑结构件的内侧设置有转向组件,所述转向组件包括金属舵机、动量轮支持结构件、动量轮电机、模具钢动量轮,所述主支撑结构件的下侧设置有控制器,所述主支撑结构件的底部设置有两个驱动组件,所述驱动组件包括驱动电机、电机齿轮、壳体支撑结构件、驱动齿圈,所述主支撑结构件的两侧设置有安装组件,所述安装组件包括光轴、开关支撑结构件,所述金属舵机、动量轮电机、驱动电机与控制器电性连接。In order to achieve the above purpose, the present invention provides the following technical solutions: a hybrid drive mode spherical robot based on the gyro stabilization principle, comprising a shell, a main support structure is arranged in the shell, and an inner side of the main support structure is provided with Steering assembly, the steering assembly includes a metal steering gear, a momentum wheel supporting structure, a momentum wheel motor, and a die steel momentum wheel, the lower side of the main supporting structure is provided with a controller, and the bottom of the main supporting structure is provided with There are two drive assemblies, the drive assemblies include a drive motor, a motor gear, a housing support structure, and a drive ring gear, and two sides of the main support structure are provided with mounting assemblies, which include an optical axis, a switch The support structure, the metal steering gear, the momentum wheel motor, and the driving motor are electrically connected with the controller.
优选的,所述金属舵机安装在主支撑结构件,所述动量轮支持结构件安装在金属舵机上,所述动量轮电机安装在动量轮支持结构件的下端,所述模具钢动量轮安装在动量轮电机的下端外侧。Preferably, the metal steering gear is installed on the main support structure, the momentum wheel support structure is installed on the metal steering gear, the momentum wheel motor is installed on the lower end of the momentum wheel support structure, and the die steel momentum wheel is installed Outside the lower end of the momentum wheel motor.
优选的,所述动量轮支持结构件为U形结构架,所述主支撑结构件的上端部位于U形结构架的内侧。Preferably, the momentum wheel supporting structure is a U-shaped structural frame, and the upper end of the main supporting structural member is located inside the U-shaped structural frame.
优选的,所述驱动电机安装在主支撑结构件底部,所述电机齿轮安装驱动电机上,所述壳体支撑结构件安装在壳体内侧,所述驱动齿圈安装在壳体支撑构件的内侧,所述驱动齿圈与电机齿轮啮合。Preferably, the drive motor is mounted on the bottom of the main support structure, the motor gear is mounted on the drive motor, the housing support structure is mounted on the inner side of the housing, and the drive ring gear is mounted on the inner side of the housing support member , the drive ring gear meshes with the motor gear.
优选的,所述壳体上开设有与若干个壳体支撑结构件配合使用的定位孔。Preferably, the housing is provided with positioning holes for cooperating with a plurality of housing support structures.
优选的,所述光轴安装在主支撑结构件的外侧端面,所述开关支撑结构件安装在光轴上,所述光轴位于驱动齿圈的内侧,所述开关支撑结构件位于壳体的外侧。Preferably, the optical axis is installed on the outer end face of the main support structure, the switch support structure is installed on the optical axis, the optical axis is located inside the driving ring gear, and the switch support structure is located on the inner side of the housing. outside.
优选的,所述开关支撑结构件的侧面安装有电源总开关、按键,所述电源总开关、按键与控制器电性连接。Preferably, a main power switch and a button are installed on the side of the switch support structure, and the main power switch and the button are electrically connected to the controller.
优选的,所述开关支撑结构件的外侧安装有灯圈,所述灯圈与控制器电性连接。Preferably, a lamp ring is installed on the outer side of the switch support structure, and the lamp ring is electrically connected to the controller.
优选的,所述控制器包括控制电路板、六轴陀螺姿态传感器模块、通信模块、电源模块等单元组成。Preferably, the controller includes a control circuit board, a six-axis gyro attitude sensor module, a communication module, a power supply module and other units.
与现有技术相比,本发明的有益效果是:Compared with the prior art, the beneficial effects of the present invention are:
1、本发明通过动量轮电机驱动的模具钢动量轮作为陀螺,利用陀螺的定轴性得到一个相对惯性系静止的稳定平台,对这个平台施力使机器人获得相对于惯性系的加速度,从而实现机器人的运动,六轴陀螺姿态传感器获取的原始数据对球形机器人姿态进行更新,再用串级PID调节球形的姿态平衡,使得球形机器人可以实现不抖动的直线运动;1. The present invention uses the die steel momentum wheel driven by the momentum wheel motor as a gyro, and uses the fixed axis of the gyro to obtain a stationary stable platform relative to the inertial system, and exerting force on this platform enables the robot to obtain acceleration relative to the inertial system, thereby realizing For the movement of the robot, the original data obtained by the six-axis gyro attitude sensor updates the attitude of the spherical robot, and then uses the cascade PID to adjust the spherical attitude balance, so that the spherical robot can achieve linear motion without shaking;
2、本发明同时还通过金属舵机、模具钢动量轮、动量轮电机、驱动电机相互协调工作驱动壳体以不同的方式进行运动,通过调节模具钢动量轮的转速可以实现球形机器人原地旋转,通过改变金属舵机的角度可以实现球形机器人的弧形转弯;2. In the present invention, the metal steering gear, the die steel momentum wheel, the momentum wheel motor, and the drive motor work in coordination with each other to drive the housing to move in different ways, and the spherical robot can be rotated in situ by adjusting the rotational speed of the die steel momentum wheel. , the arc turning of the spherical robot can be realized by changing the angle of the metal steering gear;
3、本发明同时还通过控制器、灯圈、六轴陀螺姿态传感器模块的配合使用,利用六轴陀螺姿态传感器模块获取的原始数据对球形机器人姿态进行更新,再用串级PID调节灯圈灯光的亮度与颜色等状态,来显示不同的球体状态,方便进行远程查看。3. At the same time, the present invention also uses the controller, the light ring and the six-axis gyro attitude sensor module to update the spherical robot attitude by using the original data obtained by the six-axis gyro attitude sensor module, and then uses the cascade PID to adjust the light of the lamp ring. The brightness and color of the sphere can be displayed to display different sphere states, which is convenient for remote viewing.
附图说明Description of drawings
图1为本发明一种基于陀螺稳定原理的混合驱动模式球形机器人中主支撑结构件的立体结构示意图;1 is a three-dimensional schematic diagram of a main support structure in a hybrid drive mode spherical robot based on the gyro stabilization principle of the present invention;
图2为本发明一种基于陀螺稳定原理的混合驱动模式球形机器人中的立体结构示意图;FIG. 2 is a schematic diagram of a three-dimensional structure in a hybrid drive mode spherical robot based on the gyro stabilization principle of the present invention;
图3为本发明一种基于陀螺稳定原理的混合驱动模式球形机器人侧视剖视图;3 is a side sectional view of a hybrid drive mode spherical robot based on the gyro stabilization principle of the present invention;
图4为本发明一种基于陀螺稳定原理的混合驱动模式球形机器人中转向组件的立体结构示意图。4 is a schematic three-dimensional structural diagram of a steering assembly in a hybrid drive mode spherical robot based on the gyro stabilization principle of the present invention.
图中:1、壳体;2、主支撑结构件;3、转向组件;31、金属舵机;32、动量轮支持结构件;33、动量轮电机;34、模具钢动量轮;4、控制器;5、驱动组件;51、驱动电机;52、电机齿轮;53、壳体支撑结构件;54、驱动齿圈;6、安装组件;61、光轴;62、开关支撑结构件;7、电源总开关;8、按键;9、灯圈。In the figure: 1. Shell; 2. Main supporting structure; 3. Steering assembly; 31. Metal steering gear; 32. Momentum wheel supporting structure; 33. Momentum wheel motor; 34. Die steel momentum wheel; 4. Control device; 5, drive assembly; 51, drive motor; 52, motor gear; 53, housing support structure; 54, drive ring gear; 6, installation assembly; 61, optical axis; 62, switch support structure; 7, Main power switch; 8. Button; 9. Light ring.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
请参阅图1-4,本发明提供一种技术方案:壳体1,壳体1内安装有主支撑结构件2,主支撑结构件2的内侧安装有可以控制球体运动方向的转向组件 3,转向组件3包括金属舵机31、动量轮支持结构件32、动量轮电机33、模具钢动量轮34,主支撑结构件2的下侧安装有控制器4,主支撑结构件2的底部安装有两个提供前进后退动力的驱动组件5,驱动组件5包括驱动电机 51、电机齿轮52、壳体支撑结构件53、驱动齿圈54,主支撑结构件2的两侧安装有安装组件6,安装组件6包括光轴61、开关支撑结构件62,金属舵机 31、动量轮电机33、驱动电机51与控制器4电性连接;1-4, the present invention provides a technical solution: a
金属舵机31通过螺丝安装在主支撑结构件2,动量轮支持结构件32安装在金属舵机31的输出端上,动量轮电机33安装在动量轮支持结构件32的下端,模具钢动量轮34安装在动量轮电机33的下端外侧,利用一个动量轮电机33驱动的模具钢动量轮34作为陀螺,利用陀螺的定轴性得到一个相对惯性系静止的稳定平台;The
动量轮支持结构件32为U形结构架,主支撑结构件2的上端部位于U形结构架的内侧;The momentum
驱动电机51通过螺栓安装在主支撑结构件2底部,电机齿轮52安装驱动电机51上,壳体支撑结构件53安装在壳体1内侧,驱动齿圈54焊接安装在壳体1支撑构件的内侧,驱动齿圈54与电机齿轮52啮合,使用的驱动电机51应附带编码器进行检测电机的行进状态;The
壳体1上开设有与若干个壳体支撑结构件53配合使用的定位孔,壳体1 与壳体支撑结构件53通过定位孔用螺丝连接固定;The
光轴61通过法兰盘安装在主支撑结构件2的外侧端面,开关支撑结构件 62通过法兰盘安装在光轴61上,光轴61位于驱动齿圈54的内侧,开关支撑结构件62位于壳体1的外侧;The
开关支撑结构件62的侧面安装有电源总开关7、按键8,电源总开关7、按键8与控制器4电性连接;A
开关支撑结构件62的外侧安装有灯圈9,灯圈9与控制器4电性连接,灯圈9用于显示位置,灯圈9有专门的驱动并能进行编程控制显示不同的球体状态;A
控制器4包括控制电路板、六轴陀螺姿态传感器模块、通信模块、电源模块等单元组成,通信模块与配套遥控器进行通信,用来控制球形机器人运动。The
工作原理:该发明在使用时,通过与通信模块配套的遥控器进行通信,控制球形机器人运动,利用一个动量轮电机33驱动的模具钢动量轮34 作为陀螺,利用陀螺的定轴性得到一个相对惯性系静止的稳定平台,运动装置对这个平台施力使机器人获得相对于惯性系的加速度,从而实现机器人的运动,陀螺仪传感器获取的原始数据对球形机器人姿态进行更新,再用串级 PID调节球形的姿态平衡,使得球形机器人可以实现不抖动的直线运动,通过遥控器控制驱动电机51正反转,从而驱动电机51齿轮正反转,使得驱动齿轮正反转,带动壳体支撑结构件53正反转,进而实现壳体1的前进与后退,通过遥控器调节动量轮电机33转速,进而改变调节模具钢动量轮34的转速,可以实现球形机器人原地旋转,通过遥控器调节金属舵机31的角度,带动动量轮支持结构件32相对于主支撑结构件2进行垂直转动,调节动量轮电机33 与模具钢动量轮34相对于主支撑结构件2的夹角,可以实现球形机器人的弧形转弯,利用六轴陀螺姿态传感器模块获取的原始数据对球形机器人姿态进行更新,再用串级PID调节灯圈9灯光的亮度与颜色等状态,来显示不同的球体状态,方便进行远程查看,具有多种运动方式、稳定性好的优点。Working principle: When the invention is in use, it communicates with the remote controller matched with the communication module to control the movement of the spherical robot, uses the die
需要说明的是,在本文中,诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来,而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且,术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含,从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素,而且还包括没有明确列出的其他要素,或者是还包括为这种过程、方法、物品或者设备所固有的要素。It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus.
尽管已经示出和描述了本发明的实施例,对于本领域的普通技术人员而言,可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型,本发明的范围由所附权利要求及其等同物限定。Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.
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