CN115123414A - Hybrid drive mode spherical robot based on gyro stabilization principle - Google Patents

Abstract

The invention discloses a hybrid driving mode spherical robot based on a gyro stabilization principle, which comprises a shell, wherein a main supporting structural part is arranged in the shell, and a steering assembly is arranged on the inner side of the main supporting structural part. The invention uses the die steel momentum wheel driven by the momentum wheel motor as a gyroscope, obtains a stable platform which is static relative to an inertia system by using the fixed axis of the gyroscope, applies force to the platform to enable the robot to obtain the acceleration relative to the inertia system, thereby realizing the motion of the robot, updates the posture of the spherical robot by using the original data obtained by the six-axis gyroscope posture sensor, adjusts the spherical posture balance by using cascade PID (proportion integration differentiation), enables the spherical robot to realize the linear motion without shaking, drives the shell to move in different modes by the mutual coordination work of a metal steering engine, the die steel momentum wheel, the momentum wheel motor and the driving motor, and simultaneously realizes two steering modes of pivot steering and arc steering.

Description

A hybrid drive-mode spherical robot based on the principle of gyroscopic stabilization

technical field

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.

Background technique

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.

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.

SUMMARY OF THE INVENTION

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.

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.

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.

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.

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.

Preferably, the housing is provided with positioning holes for cooperating with a plurality of housing support structures.

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.

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.

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.

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.

Compared with the prior art, the beneficial effects of the present invention are:

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. 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. 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.

Description of drawings

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;

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;

3 is a side sectional view of a hybrid drive mode spherical robot based on the gyro stabilization principle of the present invention;

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.

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.

Detailed ways

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.

1-4, the present invention provides a technical solution: a housing 1, a main support structure 2 is installed in the housing 1, and a steering assembly 3 that can control the direction of movement of the sphere is installed on the inner side of the main support structure 2, The steering assembly 3 includes a metal steering gear 31, a momentum wheel support structure 32, a momentum wheel motor 33, and a die steel momentum wheel 34. The controller 4 is installed on the lower side of the main support structure 2, and the bottom of the main support structure 2 is installed with Two drive assemblies 5 that provide forward and backward power. The drive assembly 5 includes a drive motor 51, a motor gear 52, a housing support structure 53, and a drive ring gear 54. Mounting assemblies 6 are installed on both sides of the main support structure 2. The assembly 6 includes an optical axis 61, a switch support structure 62, a metal steering gear 31, a momentum wheel motor 33, and a drive motor 51 that are electrically connected to the controller 4;

The metal steering gear 31 is mounted on the main support structure 2 by screws, the momentum wheel supporting structure 32 is mounted on the output end of the metal steering gear 31, the momentum wheel motor 33 is mounted on the lower end of the momentum wheel supporting structure 32, the die steel momentum wheel 34 is installed on the outside of the lower end of the momentum wheel motor 33, utilizes a die steel momentum wheel 34 driven by a momentum wheel motor 33 as a gyro, and utilizes the fixed axis of the gyro to obtain a stationary stable platform relative to the inertial system;

The momentum wheel supporting structure 32 is a U-shaped structural frame, and the upper end of the main supporting structural member 2 is located inside the U-shaped structural frame;

The drive motor 51 is installed on the bottom of the main support structure 2 by bolts, the motor gear 52 is installed on the drive motor 51, the housing support structure 53 is installed on the inside of the housing 1, and the drive ring gear 54 is welded on the inside of the support member of the housing 1. , the driving ring gear 54 meshes with the motor gear 52, and the driving motor 51 used should be equipped with an encoder to detect the running state of the motor;

The housing 1 is provided with positioning holes for cooperating with several housing support structures 53, and the housing 1 and the housing support structures 53 are connected and fixed by screws through the positioning holes;

The optical axis 61 is installed on the outer end face of the main support structure 2 through the flange plate, the switch support structure 62 is installed on the optical axis 61 through the flange plate, the optical axis 61 is located on the inner side of the driving gear ring 54, and the switch support structure 62 Located on the outside of the shell 1;

A main power switch 7 and a button 8 are installed on the side of the switch support structure 62 , and the main power switch 7 and the button 8 are electrically connected to the controller 4 ;

A light ring 9 is installed on the outer side of the switch support structure 62. The light ring 9 is electrically connected to the controller 4. The light ring 9 is used to display the position. The light ring 9 has a special drive and can be programmed to display different sphere states;

The controller 4 includes a control circuit board, a six-axis gyro attitude sensor module, a communication module, a power supply module and other units. The communication module communicates with the supporting remote controller to control the movement of the spherical robot.

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 steel momentum wheel 34 driven by a momentum wheel motor 33 as a gyro, and uses the fixed axis of the gyro to obtain a relative The inertial system is a static stable platform. The motion device exerts force on the platform to make the robot obtain the acceleration relative to the inertial system, so as to realize the movement of the robot. The original data obtained by the gyroscope sensor updates the spherical robot posture, and then uses the cascade PID adjustment. The spherical posture is balanced, so that the spherical robot can achieve linear motion without shaking. The remote control controls the forward and reverse rotation of the driving motor 51, so that the gear of the driving motor 51 is forward and reversed, which makes the driving gear forward and reverse, and drives the housing support structure 53. Forward and reverse, and then realize the forward and backward of the casing 1, adjust the speed of the momentum wheel motor 33 through the remote control, and then change the speed of the mold steel momentum wheel 34, so that the spherical robot can be rotated in situ, and the metal steering gear can be adjusted through the remote control. 31, drive the momentum wheel support structure 32 to rotate vertically relative to the main support structure 2, and adjust the angle between the momentum wheel motor 33 and the die steel momentum wheel 34 relative to the main support structure 2, so that the arc of the spherical robot can be realized. It uses the raw data obtained by the six-axis gyro attitude sensor module to update the attitude of the spherical robot, and then uses the cascade PID to adjust the brightness and color of the light circle 9 to display different spherical states, which is convenient for remote viewing. It has the advantages of various movement modes and good stability.

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.

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.

Claims (9)

1. A hybrid driving mode spherical robot based on a gyro stabilization principle, comprising a housing (1), characterized in that: be provided with main supporting structure spare (2) in casing (1), the inboard of main supporting structure spare (2) is provided with turns to subassembly (3), turn to subassembly (3) including metal steering wheel (31), momentum wheel supporting structure spare (32), momentum wheel motor (33), mould steel momentum wheel (34), the downside of main supporting structure spare (2) is provided with controller (4), the bottom of main supporting structure spare (2) is provided with two drive assembly (5), drive assembly (5) are including driving motor (51), motor gear (52), casing supporting structure spare (53), drive ring gear (54), the both sides of main supporting structure spare (2) are provided with installation component (6), installation component (6) include optical axis (61), switch supporting structure spare (62), metal steering wheel (31), momentum wheel motor (33), The driving motor (51) is electrically connected with the controller (4).

2. The hybrid driving mode spherical robot based on the gyrostabilization principle of claim 1, wherein: the metal steering wheel (31) is installed at main tributary supporting structure spare (2), momentum wheel supporting structure spare (32) are installed on metal steering wheel (31), the lower extreme at momentum wheel supporting structure spare (32) is installed in momentum wheel motor (33), the lower extreme outside at momentum wheel motor (33) is installed in mould steel momentum wheel (34).

3. The hybrid driving mode spherical robot based on the gyrostabilization principle of claim 2, wherein: the momentum wheel supporting structural part (32) is a U-shaped structural frame, and the upper end part of the main supporting structural part (2) is positioned on the inner side of the U-shaped structural frame.

4. The hybrid driving mode spherical robot based on gyrostabilization principle of claim 3, wherein: the driving motor (51) is installed at the bottom of the main supporting structural part (2), the driving motor (51) is installed on the motor gear (52), the shell supporting structural part (53) is installed on the inner side of the shell (1), the driving gear ring (54) is installed on the inner side of the shell (1) supporting structural part, and the driving gear ring (54) is meshed with the motor gear (52).

5. The hybrid driving mode spherical robot based on gyrostabilization principle of claim 4, wherein: the shell (1) is provided with positioning holes matched with the plurality of shell supporting structural members (53).

6. The hybrid driving mode spherical robot based on gyrostabilization principle of claim 5, wherein: the optical axis (61) is installed at the outside terminal surface of main supporting structure spare (2), switch supporting structure spare (62) is installed on optical axis (61), optical axis (61) are located the inboard of drive ring gear (54), switch supporting structure spare (62) are located the outside of casing (1).

7. The hybrid driving mode spherical robot based on gyrostabilization principle of claim 6, wherein: the side of switch supporting structure spare (62) is installed power master switch (7), button (8), power master switch (7), button (8) and controller (4) electric connection.

8. The hybrid driving mode spherical robot based on gyrostabilization principle of claim 7, wherein: the lamp ring (9) is installed on the outer side of the switch supporting structural part (62), and the lamp ring (9) is electrically connected with the controller (4).

9. The hybrid driving mode spherical robot based on gyrostabilization principle of claim 8, wherein: the controller (4) comprises a control circuit board, a six-axis gyro attitude sensor module, a communication module, a power module and other units.

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