CN201176217Y - Omnidirectional mobile spherical robot - Google Patents
Omnidirectional mobile spherical robot Download PDFInfo
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- CN201176217Y CN201176217Y CNU200820032723XU CN200820032723U CN201176217Y CN 201176217 Y CN201176217 Y CN 201176217Y CN U200820032723X U CNU200820032723X U CN U200820032723XU CN 200820032723 U CN200820032723 U CN 200820032723U CN 201176217 Y CN201176217 Y CN 201176217Y
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Abstract
The utility model relates to an all-direction mobility ball-shaped robot, which relates to the technical field of ball-shaped robots, wherein a running-driving device comprises a horizontal circular ring (5) and a semi-circle frame (6) which is vertically and fixedly connected on the lower side of the horizontal circular ring, and the horizontal circular ring forms a revolute joint with a bearing and a spherical shell through a short shaft (3), the lower portion of the semi-circle frame is fixedly connected with a straight line running mechanism, and the straight line running mechanism is formed by a walking motor (7), a main wheel (8) and a balancing weight (9), wherein the main wheel rolls along the inner side of the spherical shell under being driven by the walking motor, a ball body is pushed to do rectilinear motion through front and back moving the gravity center of the ball body, the upper portion of the semi-circle frame is equipped with a steering control mechanism, and the steering control mechanism is formed by a steering motor (11), a horizontal arm (13) and a mass block (4), wherein the horizontal arm and the mass block rotate around the geometric center line of the semi-circle frame under being driven by the steering motor, and the spherical shell is led to be reversely rotated, thereby changing the direction of motion of the ball body. The utility model has the advantages of novel structure, simple control and excellent stability, which has the capacity of all-direction mobility, steering in situ and loading accessories.
Description
Technical field
The present invention relates to a kind of omnidirectional moving spherical robot, belong to electromechanical integration technology area, be specifically related to a kind of ball shape robot, can be used for fields such as environment detection, military investigation, Extraterrestrial adventure, home entertaining.
Background technology
Ball shape robot is a kind of rolling walking robot of new structure, has characteristics such as kinematic velocity is fast, off-road capability good, control is simple relatively, becomes one of the focus in domestic and international Research on Intelligent Robots field gradually.First real ball shape robot be people such as Finland Halme at design-calculated in 1996 (referring to " Motion ControlofA Spherical Mobile robot ", Proceedings of AMC ' 96-MIE, IEEE, 1996:259-264), they are provided with a drive wheel in spherical shell, it rolls in spherical shell by motor-driven, realize the straight-line motion of robot by the center of gravity that changes spheroid, but shortcoming is to change sense of motion.After this, constantly occur various new spherical robot device both at home and abroad, several ball shape robot schemes wherein have much representativeness.
Roball a kind of ball shape robot scheme that to be people such as Francois Michaud propose in calendar year 2001 is (referring to " Autonomous Spherical Mobile Robot for Child Development Studies ", IEEETransactions on Systems, Man, and Cybernetics, 35 (4): 1-10; The close domestic patent No. is 01241360.7 utility model " ball shape robot "), it hangs weight on the main shaft of crossing the centre of sphere, seesaw as straight line by the motor-driven spherical shell that is installed on the main shaft, vert about spheroid to realize that robot turns to by driving to be offset about weight to make.The control of this scheme is simple, but can not static pivot stud, and two motors must overcome the rotor inertia of spherical shell and weight respectively, thereby the power-handling capability of electric machine assembly is had relatively high expectations; Simultaneously, in the time of outside main shaft stretches out spherical shell, must consider the problem of contacting to earth that banked turn is possible.
Application number is 200510011953.9 " omnibearing movable spherical robot ", a kinematic mechanism that is not connected with spherical shell is arranged in spherical shell inside, it rolls in spherical shell by the single wheel tourelle, promote the spheroid moving linearly, by change the relative supporting mechanism of single wheel tourelle towards the omnibearing movable of realizing robot.This scenario-frame is succinct, and is easy for installation, but the rolling touch of single wheel tourelle and spherical shell guarantees by the deadweight of kinematic mechanism, thereby the resistance to shock deficiency; Simultaneously, because the randomness of balls tumble does not have fixed interface on the spherical shell, can not externally carry associate member, thereby must open spherical shell when charging and safeguarding, the leak tightness of spheroid is affected.
The patent No. is 02128933.6 " improved all-direction moving unit for spherical robot ", and an annulus is arranged in spherical shell, and two short supporting axles are stretched out at two, has a motor to drive annulus by gear mesh on the annulus and does relative rolling with spherical shell; Place a major axis on the direction vertical with minor axis in the annulus, the major axis center is provided with clump weight, and another motor drives the relative rolling around major axis of spherical shell and clump weight do by gear mesh on the annulus.This scenario-frame is complicated, center of gravity is higher, can not be difficult to externally carry associate member at the at a point pivot stud, and charging waits work to have difficulty with maintenance.
It seems that totally existing ball shape robot scheme is each has something to recommend him, but mostly exist the deficiency that complex structure, Project Realization are difficult, practicality is lower.Particularly, the divertical motion of some device and forward movement coupling make that the state of spheroid internal drive mechanism is uncertain, have strengthened the control difficulty; Seldom can limit the use of robot in narrow and tortuous space at the at a point pivot stud, and the ground-surface relatively pivot stud mode of shell if unsighted; No external stability interface or can not carry annex outside spherical shell causes debugging in the actual use, charging and difficult in maintenance, has limited effective use of various environment detection sensors and manipulator simultaneously.
Summary of the invention
The objective of the invention is: propose that a kind of novel structure, control are simple, good stability, practical, have good anti-vibration and a shock resistance, and can omnidirectional moving and at the at a point pivot stud, can outside spherical shell, carry the ball shape robot organization plan of annex, overcome the deficiency of existing scheme.
Technical solution of the present invention is: omnidirectional moving spherical robot, form by spherical shell and in-to-in travel driving unit thereof.This travel driving unit comprises horizontal circular ring and the vertical semicircle frame that is fixed on the horizontal circular ring downside; Horizontal circular ring is along its diametric(al) outside symmetry a pair of minor axis that is connected, minor axis along the sphere diameter direction through bearing and spherical shell formation revolute pair; The below of the semicircle frame straight line moving mechanism that is connected, this mechanism is made up of movable motor, main wheel and counterweight, and main wheel is side roll in movable motor drives the lower edge spherical shell, promotes the spheroid straight-line motion by moving forward and backward the spheroid center of gravity; The top of semicircle frame is equipped with and turns to control mechanism, this mechanism is made up of steer motor, horizon bar and the mass that is connected the horizon bar two ends, horizon bar and the mass geometric center lines around the semicircle frame under the driving of steer motor is rotated, thereby causes that the spherical shell backward rotation changes the sense of motion of spheroid.
The advantage of this scheme is:
1) driver train is succinct, and center of gravity is in the below of spheroid, and good stability, system response time are fast;
2) two motors drive the straight-line motion and the divertical motion of spheroid respectively, and the mode decoupling zero can realize walking of ball shape robot omnidirectional and at a point pivot stud;
3) straight line moving mechanism if constitute the slip-off preventing constraint, can effectively improve the motion vibration resistance of ball shape robot if be provided with the pressure regulator of regulating main wheel and spherical shell contact force between mass and the horizontal circular ring;
4) vertically be fixed on semicircle frame upside bottom when steer motor, the described control mechanism that turns to comprises that also one one end links to each other with motor shaft, the vertical rotating shaft that is connected with horizon bar of the other end.This moment, all electric components did not all have relative motion, thereby mutual line winding can not occur, need not to help centralized and unified control by electric slip ring;
5) if horizontal circular ring is set to hollow minor axis and stretches out spherical shell along a pair of minor axis that its diametric(al) outside symmetry is connected, then can carry annex (being used to load camera, various attitude or environmental sensor, antenna, battery, charging inlet, counterweight etc.), thereby improve the practical value of ball shape robot;
6) when the qi of chong channel ascending adversely leakproofing material in spherical shell outer wrap lightweight, it is big that the spherical shell external diameter becomes, and can improve ball shape robot water surface locomotor activity and shock resistance;
7) be that benchmark can be provided with working face with the horizontal circular ring.
Description of drawings
Fig. 1 is the integral structure schematic top plan view of embodiments of the invention 1.
Fig. 2 is the front-view schematic diagram of embodiment 1.
Fig. 3 is the integral structure schematic top plan view of embodiments of the invention 2.
Fig. 4 is the front-view schematic diagram of embodiment 2.
Fig. 5 is the integral structure schematic top plan view of embodiments of the invention 3.
Fig. 6 is the front-view schematic diagram of embodiment 3.
Token name claims among the figure: 1, spherical shell, 2, pedestal, 3, minor axis, 4, bearing, 5, horizontal circular ring, 6, the semicircle frame, 7, movable motor, 8, main wheel, 9, counterweight, 10, annex, 11, steer motor, 12, coupler, 13, horizon bar, 14, mass, 15, steamboat, 16, rotating shaft, 17, quality dish or the quality loop of spoke is arranged, 18, pressure regulator.
The specific embodiment
As shown in Figure 1 and Figure 2, embodiments of the invention 1 are: omnidirectional moving spherical robot, form by spherical shell 1 and in-to-in travel driving unit thereof.Its travel driving unit comprises horizontal circular ring 5 and the vertical semicircle frame 6 that is fixed on horizontal circular ring 5 downsides; Horizontal circular ring 5 is along its diametric(al) outside symmetry a pair of minor axis 3 that is connected, and minor axis 3 forms revolute pair along the sphere diameter direction through bearing 4 and spherical shell 1; The below of the semicircle frame 6 straight line moving mechanism that is connected, this mechanism is made up of movable motor 7, main wheel 8 and counterweight 9, and main wheel 8 drives side roll in the spherical shells 1 of lower edge at movable motor 7, by moving forward and backward spheroid center of gravity promotion spheroid straight-line motion; The top of semicircle frame 6 is equipped with and turns to control mechanism, and this mechanism forms through drive coupling 12 is connected the other end and the horizon bar 13 vertical rotating shafts that are connected 16 and is connected horizon bar 13 two ends with motor shaft mass 14 by vertically being fixed on bottom steer motor 11 of semicircle frame 6 upsides, an end; Wherein, horizon bar 13 rotates with mass 14 geometric center lines around semicircle frame 6 under the driving of steer motor 11, thereby causes that spherical shell 1 backward rotation changes the sense of motion of spheroid.
As shown in Figure 3, Figure 4, embodiments of the invention 2 are: straight line moving turns to control mechanism to be connected the other end with motor shaft through drive coupling 12 and to form with the vertical rotating shaft that is connected 16 of spoke of quality loop 17 with the quality loop 17 by spoke, an end of mass 14 fabricate blocks by vertically being fixed on semicircle frame 6 upsides steer motor 11, substitution level bar 13 bottom with embodiment 1.
As Fig. 5, shown in Figure 6, embodiments of the invention 3 are: straight line moving is with embodiment 1, turn to the mass 14 that control mechanism contains steamboat 15 by horizon bar 13 and two ends thereof to form, steer motor 11 is installed on mass 14 inside, moves along horizontal circular ring 5 in order to drive steamboat 15; Wherein, horizon bar 13 is provided with the pressure regulator 18 of regulating steamboat 15 and fillistered joint touch.
About various embodiment of the present invention, also have following explanation:
1) counterweight 9 can be battery, circuit card etc.
2) the in-house pressure regulator that is provided with of straight line moving has suitable contact force to guarantee main wheel 8 when rolling in spherical shell 1.
3) mass 14 or quality dish or the quality loop 17 of spoke is arranged and horizontal circular ring 5 between constitute the slip-off preventing constraint.
4) between main wheel 8 and the spherical shell 1, being wheeled between mass 14 and the horizontal circular ring 5 contacts or toothed engagement; And in embodiment 1 and 2, also can be moving contact between mass 14 or quality dish or quality loop 17 and the horizontal circular ring 5 or contain the rolling touch of ball.
5) turn to the fabricate block of horizon bar in the control mechanism 13 and mass 14, perhaps quality dish or the quality loop 17 of spoke is arranged, its mass distribution is around the geometric center lines center of semicircle frame 6 symmetry.
6) two minor axises 3 can be hollow and stretch out spherical shell, to be connected or hang is carried annex 10 (being used to load camera, sensor, antenna, battery, counterweight, expansion interface etc.).
7) the qi of chong channel ascending adversely leakproofing material of lightweight can be wrapped up in spherical shell 1 outside, and the spherical shell external diameter is increased, thereby improves ball shape robot water surface locomotor activity and shock resistance.
When 8) this ball shape robot was worked, in-to-in horizontal circular ring 5 tilted less, can it for benchmark working face be set, and is used for placing instrument and equipment.
Claims (9)
1, a kind of omnidirectional moving spherical robot is made up of spherical shell (1) and in-to-in travel driving unit thereof, it is characterized in that: travel driving unit comprises horizontal circular ring (5) and the vertical semicircle frame (6) that is fixed on horizontal circular ring (5) downside; Described horizontal circular ring (5) is along its diametric(al) outside symmetry a pair of minor axis (3) that is connected, and minor axis (3) forms revolute pair along the sphere diameter direction through bearing (4) and spherical shell (1); The below of described semicircle frame (6) the straight line moving mechanism that is connected, this mechanism is made up of movable motor (7), main wheel (8) and counterweight (9), main wheel (8) is side roll in movable motor (7) drives lower edge spherical shell (1), promotes the spheroid straight-line motion by moving forward and backward the spheroid center of gravity; The top of described semicircle frame (6) is equipped with and turns to control mechanism, this mechanism is made up of steer motor (11), horizon bar (13) and the mass (14) that is connected horizon bar (13) two ends, horizon bar (13) rotates with mass (14) geometric center lines around semicircle frame (6) under the driving of steer motor (11), causes spherical shell (1) thereby the sense of motion of backward rotation change spheroid.
2, omnidirectional moving spherical robot according to claim 1 is characterized in that: the pressure regulator of regulating main wheel (8) and spherical shell (1) contact force is contained in described straight line moving mechanism.
3, omnidirectional moving spherical robot according to claim 1 is characterized in that: described horizontal circular ring (5) is provided with the groove that prevents that mass (14) from deviating from.
4, according to described omnidirectional moving spherical robot of claim 1-3, it is characterized in that: described steer motor (11) vertically is fixed on semicircle frame (6) upside bottom, the described control mechanism that turns to comprises that also one one end links to each other with motor shaft, the other end and the vertical rotating shaft that is connected of horizon bar (13) (16).
5, omnidirectional moving spherical robot according to claim 4 is characterized in that: the fabricate block of described horizon bar (13) and mass (14), and for the quality dish or the quality loop (17) of spoke is arranged.
6, according to the described arbitrary omnidirectional moving spherical robot of claim 1-3, it is characterized in that: described steer motor (11) is installed on the inside of mass (14), in order to drive steamboat (15); And horizon bar (13) is provided with the pressure regulator (18) of regulating steamboat (15) and horizontal circular ring (5) contact force.
7, omnidirectional moving spherical robot according to claim 1 is characterized in that: described minor axis (3) is hollow and stretches out spherical shell (1) to carry annex (10).
8, omnidirectional moving spherical robot according to claim 1 is characterized in that: the qi of chong channel ascending adversely leakproofing material or the damping material of described spherical shell (1) outer wrap lightweight.
9, omnidirectional moving spherical robot according to claim 1 is characterized in that: with described horizontal circular ring (5) is that benchmark is provided with working face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200820032723XU CN201176217Y (en) | 2008-02-28 | 2008-02-28 | Omnidirectional mobile spherical robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CNU200820032723XU CN201176217Y (en) | 2008-02-28 | 2008-02-28 | Omnidirectional mobile spherical robot |
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| CN201176217Y true CN201176217Y (en) | 2009-01-07 |
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| CNU200820032723XU Expired - Fee Related CN201176217Y (en) | 2008-02-28 | 2008-02-28 | Omnidirectional mobile spherical robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101229832B (en) * | 2008-02-28 | 2010-06-02 | 南京航空航天大学 | Omnidirectional moving spherical robot |
| CN101947780A (en) * | 2010-10-13 | 2011-01-19 | 金纯� | Micro intelligent actuator |
| CN102058982A (en) * | 2010-10-28 | 2011-05-18 | 北京交通大学 | Single-power rolling polygonal mechanism |
| CN102398265A (en) * | 2010-09-17 | 2012-04-04 | 俞建峰 | Universal rolling spherical robot |
| RU2456047C1 (en) * | 2011-06-14 | 2012-07-20 | Николай Петрович Дядченко | Ring roller for skating |
| CN103144783A (en) * | 2012-09-11 | 2013-06-12 | 上海大学 | Polar roaming spherical robot |
| CN104385259A (en) * | 2014-11-14 | 2015-03-04 | 福建省泉州市第七中学 | Traveling robot for complicated road conditions |
| CN107953940A (en) * | 2017-11-13 | 2018-04-24 | 浙江仑迈智能科技有限公司 | A kind of storage Omni-mobile platform with center of gravity monitoring function |
| CN108040913A (en) * | 2017-12-04 | 2018-05-18 | 郑州游爱网络技术有限公司 | A kind of dial type electric pet toy ball |
| CN108298001A (en) * | 2018-03-23 | 2018-07-20 | 中山华粹智能装备有限公司 | A kind of self-balancing single wheel motion |
| CN108781247A (en) * | 2016-02-22 | 2018-11-09 | 凯特切普恩股份有限公司 | Self-propelling instrument |
| CN110877644A (en) * | 2019-11-19 | 2020-03-13 | 贵州电网有限责任公司 | All-directional movement spherical robot structure driven by linear motor principle |
-
2008
- 2008-02-28 CN CNU200820032723XU patent/CN201176217Y/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101229832B (en) * | 2008-02-28 | 2010-06-02 | 南京航空航天大学 | Omnidirectional moving spherical robot |
| CN102398265A (en) * | 2010-09-17 | 2012-04-04 | 俞建峰 | Universal rolling spherical robot |
| CN101947780A (en) * | 2010-10-13 | 2011-01-19 | 金纯� | Micro intelligent actuator |
| CN102058982A (en) * | 2010-10-28 | 2011-05-18 | 北京交通大学 | Single-power rolling polygonal mechanism |
| CN102058982B (en) * | 2010-10-28 | 2013-04-10 | 北京交通大学 | Single-power rolling polygonal mechanism |
| RU2456047C1 (en) * | 2011-06-14 | 2012-07-20 | Николай Петрович Дядченко | Ring roller for skating |
| CN103144783B (en) * | 2012-09-11 | 2015-05-27 | 上海大学 | Polar roaming spherical robot |
| CN103144783A (en) * | 2012-09-11 | 2013-06-12 | 上海大学 | Polar roaming spherical robot |
| CN104385259A (en) * | 2014-11-14 | 2015-03-04 | 福建省泉州市第七中学 | Traveling robot for complicated road conditions |
| CN104385259B (en) * | 2014-11-14 | 2016-08-24 | 福建省泉州市第七中学 | Complex road condition walking robot |
| CN108781247A (en) * | 2016-02-22 | 2018-11-09 | 凯特切普恩股份有限公司 | Self-propelling instrument |
| CN107953940A (en) * | 2017-11-13 | 2018-04-24 | 浙江仑迈智能科技有限公司 | A kind of storage Omni-mobile platform with center of gravity monitoring function |
| CN108040913A (en) * | 2017-12-04 | 2018-05-18 | 郑州游爱网络技术有限公司 | A kind of dial type electric pet toy ball |
| CN108040913B (en) * | 2017-12-04 | 2020-11-17 | 安徽方玺宠物用品有限公司 | Poking type electric pet toy ball |
| CN108298001A (en) * | 2018-03-23 | 2018-07-20 | 中山华粹智能装备有限公司 | A kind of self-balancing single wheel motion |
| CN108298001B (en) * | 2018-03-23 | 2024-01-09 | 中山华粹智能装备有限公司 | Self-balancing single-wheel movement mechanism |
| CN110877644A (en) * | 2019-11-19 | 2020-03-13 | 贵州电网有限责任公司 | All-directional movement spherical robot structure driven by linear motor principle |
| CN110877644B (en) * | 2019-11-19 | 2024-04-02 | 贵州电网有限责任公司 | Omnidirectional movement spherical robot structure driven by linear motor principle |
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Granted publication date: 20090107 Termination date: 20110228 |