CN201220700Y - High mobility spherical detecting robot - Google Patents
High mobility spherical detecting robot Download PDFInfo
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- CN201220700Y CN201220700Y CNU2008201111228U CN200820111122U CN201220700Y CN 201220700 Y CN201220700 Y CN 201220700Y CN U2008201111228 U CNU2008201111228 U CN U2008201111228U CN 200820111122 U CN200820111122 U CN 200820111122U CN 201220700 Y CN201220700 Y CN 201220700Y
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Abstract
A high-mobility spherical exploration robot comprises a motion mechanism and a control device which are included in a spherical casing, and the motion of the entire robot is realized through the principles of gravity centre shift and conservation of angular momentum. The motion mechanism mainly comprises a support frame, a coupling flange, a linear driving mechanism, a pivot steering driving mechanism, an extension mechanism and the like. The linear driving mechanism mainly comprises a driving motor, a gear transmission unit, an executive component and the like; the shift of the gravity centre is utilized to realize the rectilinear motion of the spherical robot; the pivot steering driving mechanism comprises a driving motor and an actuating mechanism; the conservation of angular momentum principle is utilized to realize pivot steering motion; and the motion of the robot in any direction can be achieved by the combination of the linear and the steering motion; the extension mechanism comprises a driving motor, a screw mechanism and the like, and is used to realize that the camera at two ends extends from and retracts to the spherical casing. The spherical robot provides a stable platform for camera installation and realizes pivot steering, thereby achieving the advantages of flexible motion and high flexibility, and can be used for various planetary exploration missions.
Description
Affiliated technical field
The present invention relates to a kind of spherical detecting robot system that can be used for environment detection, celestial body detecting and lack the patrol of human intervention environment.
Background technology
Ball shape robot is a kind of general name that kinematic mechanism and control device etc. is included in a system in the spherical shell.Since this robotlike have good dynamically and static balancing, therefore can be because of colliding or falling and produce instability status.Simultaneously,, therefore have good leak tightness, can in sand and dust, humidity, corrosive harsh environment, work because its electromechanics, sensing and function unit all are included among this spherical shell.A.Halme, T.Schonberg and Y.Wang, Motion Control of aSpherical Mobile Robot, 4th IEEE International Workshop on AdvancedMotion Control AMC ' 96, Mie University, Japan 1996. introduced a kind of ball shape robot of AarneHalme design-calculated of Finland and applied for patent, and this ball shape robot has adopted a wheel that rolls in spherical shell to drive the motion of whole ball shape robot; Antonino Bicchi, AndreaBalluch, etc.Introducing the " SPHERICLE ": an experimental testbed forresearch and teaching in nonholonomy.In:Proceedings of the 1997 IEEEInt.Conf.on Robotics and Automation, Albuquerque, New Mexico, April1997:2620-2625. introduced the different ball shape robot of a kind of structure of the inventions such as Antonio bicchi of Italian University of Pisa, this ball shape robot mainly is to place a dolly in spherical shell, realizes the motion of robot by the control to dolly; Michaud F.and Theberge-Turmel.Mobile robotic tpys and autism.In Dautenhahn, K., Bod.A SociallyIntelligent Agents Creating Relationships with Computers and Robots.Kluwer Academic, 2002. introduced the ball shape robot of a toy purposes of Canadian Francois Michaud and Serge Caron development, they realize turning to of robot by the weight that adjustment is suspended on the main shaft; Chinese invention patent application number 01118269.X, improved ball shape robot omnibearing traveling gear discloses the patent of an omni-bearing spherical robot of professor Sun Hanxu of Beijing University of Post ﹠ Telecommunication application, and it is the motion that realizes ball shape robot by an omnibearing movable mechanism in the ball.Applicant and coagent had also once applied for the patent of a ball shape robot, and it is directly to drive spherical shell by motor to come forward-reverse, realizes the turning of ball shape robot by swinging a weight.
A main purposes of ball shape robot is to survey or to observe, but foregoing invention or design-calculated ball shape robot are only pursued the alerting ability of motion, and has ignored the problem that installs additional of equipment such as sensor in the concrete application.Because ball shape robot can only adopt remote control or autonomous mode to move, under this dual mode, if allow robot remote or have in the environment that blocks and move, all need the auxiliary of sensor, as vision sensor, the beeper can allow ball shape robot reasonably move according to the needs of task under the guide of visual information, and ball shape robot also can be done some autokinetic movements under the guiding of visual information simultaneously.If can't provide a stable erecting stage for sensors such as visions, sensor can rotate along with ball shape robot, what at this moment sensor provided is not certain useful environmental information of determining direction, but near the information the unsettled robot, these information can't provide rational guidance for the motion of robot.In order need on ball shape robot, to provide a not installation site of random device people rotation for ball shape robot provides the rational and effective sensory information for sensor.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, a kind of platform that does not rotate, is convenient to install and use sensor with spherical shell not only can be provided, for system's control provides stable image, and the sensor spherical shell that can stretch out and withdraw is surveyed different working environments to be applicable to.In addition, ball shape robot can finish neatly advance, retreat, turn left, motor function such as right-hand rotation, climbing and obstacle detouring, to make it have no-radius pivot stud function simultaneously, so that it can be surveyed at narrow and small working space.
Technical solution of the present invention is: high mobility spherical detecting robot, comprise spherical shell, and it is characterized in that: two terminal pads are fixed on spherical shell inside, and the straight-line motion drive motor is done straight-line motion by gear mesh direct drive spherical shell; Antifriction-bearing box by spherical axis direction is housed respectively on two terminal pads, the door shape bracing frame of a handstand links to each other with terminal pad by antifriction-bearing box, this bracing frame does not rotate with spherical shell in motion process, keep level with ground, its bottom is connected with pouring weight by thrust ball bearing, and the gyroscopic movement drive motor can drive a pouring weight shape bracing frame that stands upside down relatively and rotate; Screw mechanism also is housed on the bracing frame, connects firmly with the camera pipe link respectively on left-handed nut on it and the right handed unt, two cameras are housed respectively on the camera pipe link, thus stretching out and withdraw by control telescoping mechanism drive motor control camera.
In the present invention, the straight-line motion employing centre-of gravity shift principle that robot advances and retreats, the positive and negative gyroscopic movement in the original place of robot adopts conservation of angular momentum principle.Straight-line motion driver element and spherical shell are connected, and driver element is good with contacting of spherical shell, and be weak relatively to the requirement of spherical shell.Gyroscopic movement is realized by the rotation of pouring weight, turns so can realize no-radius, has improved kinematic dexterity.Among the present invention, sensors such as the artificial camera of high mobility spherical machine provide a stable erecting stage, and camera is contained on the telescoping mechanism, mechanism stretch out as required or the spherical shell of withdrawing in, thereby camera is carried out actv. protection.
The present invention's beneficial effect compared with prior art:
1, this high mobility spherical robot utilizes centre-of gravity shift to realize that it advances and retreats straight-line motion, and simple in structure, motion flexibly, controllability is good; Utilize the conservation of angular momentum to realize that its original place no-radius turns, make ball shape robot manoevreability height; This high mobility spherical robot each side has a telescopic camera support axis, and ground maintenance level relatively in the process of ball shape robot motion is for sensors such as pick up camera provide a metastable erecting stage; This ball shape robot also has the remotely controlling exercise function, can be by the operator according to feedback image remote control spherical robot motion, all mechanisms of this robot, device all are sealed in spherical shell inside, can stop external environment condition that internal components is damaged, so can finish such as multiple-tasks such as field exploitation, the removal of mines, hypertoxic gas detection, site environment observation and celestial body detectings.
2, the present invention's patent content different from the past mainly shows: this high mobility spherical robot has unique internal motion mechanism, utilize centre-of gravity shift to realize straight-line motion respectively, utilize the conservation of angular momentum to realize that the original place no-radius turns to, utilize screw mechanism to realize the fore and aft motion of two cameras, make this ball shape robot motion flexibly, mobility strong.Pivot stud mechanism can realize 360 degree scanning probes to surrounding environment, and the telescoping mechanism of camera can stretch out camera, the camera of withdrawing when not required when needed, has not only protected camera but also can improve the ability of ball shape robot by narrow environment.In addition, the camera support at these high mobility spherical robot two ends not random device people rotates, and ground keeps level relatively, can provide a metastable erecting stage for sensor etc.Guaranteed on the physical construction that ball shape robot has rigidity and quality of fit preferably, thereby reduced because the kinematic error that mechanically deform or drive gap cause.So this ball shape robot can be worked under complex environment, the reliability height.
Description of drawings
Fig. 1 is an integral structure scheme drawing of the present invention;
Fig. 2,3,4 is an internal motion mechanism structure scheme drawing of the present invention.
The specific embodiment
Shown in preceding figure, embodiment of the present invention is: spherical shell 19 inner bilateral symmetry are equipped with two terminal pads 3 that are connected with spherical shell, antifriction-bearing box 5 by spherical axis direction is housed respectively on two terminal pads 3, the door shape bracing frame 1 of a handstand links to each other with terminal pad by antifriction-bearing box 5, this bracing frame does not rotate with spherical shell 19 in motion process, keeps level with ground; Door shape bracing frame 1 one sides are equipped with drive motor 4, by axle drive shaft cog 11 with motor cog 2 the engagement transmitting movements, driving terminal pad 3 rotates, thereby driving spherical shell 19 rotates, the high mobility spherical robot is promptly done straight-line motion, and forward and reverse rotation of drive motor 4 can realize that ball shape robot does straight-line motion forward or backward; A little upright portal trestle 23 is equipped with in door shape bracing frame 1 bottom of standing upside down, drive motor 12 projecting shafts are connected this small rack 23 tops down, one pouring weight 20 is connected bracing frame 1 bottom by adapter shaft 21 and thrust ball bearing 22, the output shaft of drive motor 12 and adapter shaft 21 are connected by key, can drive pouring weight 20 relative handstand portal trestles 1 rotates, according to the principle of angular momentum, the original place that the high mobility spherical robot is promptly done with pouring weight 20 switched in opposite rotatablely moves.Above-mentioned straight line and turn to two kinds of motions to combine just can to realize the omnidirectional moving of this high mobility spherical detecting robot.Portal trestle 1 top of standing upside down, screw mechanism is housed, there is polished rod 15 in this mechanism, left-handed nut 18, the right handed unt 14, screw rod 16, wherein screw rod 16 centers are connected with gear 17 by key, screw rod 16 both sides link to each other with portal trestle 1 by antifriction-bearing box 13,17 engagements that cog of drive motor 6 projecting shaft driven gears 10 and screw rod 16, thereby driving screw rod 16 rotates, thereby driving left-handed nut 18 and right handed unt 14 does dorsad or moves in opposite directions along screw rod 16, be connected with camera adapter plate 8 and spherical shell end cap 7 by camera pipe link 9 respectively on left-handed nut 18 and the right handed unt 14, a camera is housed respectively on two camera adapter plates 8, thus stretching out and withdraw by controlling and driving motor 6 control cameras.
Claims (4)
1, high mobility spherical detecting robot, comprise spherical shell (19), it is characterized in that: two terminal pads (3) fixed symmetrical is connected the inside of spherical shell (19), and the two ends of a bracing frame (1) that rotates with spherical shell (19) do not link to each other with terminal pad (3) by antifriction-bearing box (5) respectively; The drive motor of straight-line motion mechanism (4) is installed on the bracing frame (1), and the rotation of motor (4) is passed to terminal pad (3) by a pair of gear (2,11) with motion, and then drives spherical shell (19) rotation, realizes the straight-line motion of ball shape robot; The drive motor of pivot stud kinematic mechanism (12) is fixed on the bracing frame (1) by motor supporting seat (23), motor (12) output shaft connects pouring weight (20) and drives its high speed revolution by adapter shaft (21), thrust ball bearing (22) and bolt (25), thereby makes spherical shell (19) carry out the original place backward rotation; The motor of camera telescoping mechanism (6) is by gear (10,17) driving band movable wire thick sticks (16) rotation, and the left and right sides of leading screw (16) is respectively dextrorotation and minus thread, when leading screw (16) rotates, two nuts (14,18) can carry out dorsad or move toward one another along polished rod (15) on it, two camera pipe links (9) are fixedly mounted on respectively on the nut (14,18), motion by nut drives motion together, realizes that the camera support (8) of the ball shape robot left and right sides stretches out and the spherical shell of withdrawing (19).
2, high mobility spherical detecting robot according to claim 1, it is characterized in that: described straight line driving mechanism is by being installed in drive motor (4) on the bracing frame (1), bracing frame (1) is connected with hollow shaft (26), and be supported on the terminal pad (3) by bearing (5), gear (11) is connected with hollow shaft (26), the gear (2) that is connected on motor (4) output shaft by with gear (11) engaged transmission, driving hollow shaft (26) rotates, thereby drive bracing frame (1) and on all parts rotate around the line of centers of hollow shaft (26), consequent centre-of gravity shift is rolled spherical shell (19), thereby realizes the straight-line motion of robot.
3, high mobility spherical detecting robot according to claim 1 is characterized in that: described pivot stud kinematic mechanism, can realize that the original place no-radius of ball shape robot turns to; By drive motor (12) is fixed on the little bracing frame (23), pouring weight (20) is supported on the bracing frame (1) by tie bolt (25), adapter shaft (21), thrust ball bearing (22), the output shaft of motor (12) drives pouring weight (20) high speed revolution by adapter shaft (21), and ball shape robot carries out the original place backward rotation under the effect of the conservation of angular momentum.
4, high mobility spherical detecting robot according to claim 1, it is characterized in that: robot interior has the screw mechanism of spherical shell (19) that can stretch out and withdraw, leading screw (16) is supported on the bracing frame (1) by roller bearing (13), its both sides are respectively dextrorotation and minus thread, and two nuts (14) are installed, (18), two nuts (14,18) be separately installed with camera pipe link (9) and feed rod (15) on, pipe link (9) is connected with camera support (8) and spherical shell end cap (7), camera sensor is installed on the support (8), motor (6) is by gear (10,17) transmission drives leading screw (16) rotation, thereby drive left and right sides nut (14,18) along feed rod (15) straight-line motion, carry out dorsad or move toward one another thereby drive camera support (8) and spherical shell end cap (7), realize the flexible of camera and spherical shell end cap (7); Screw mechanism is fixed on the bracing frame (1), and bracing frame in the ball shape robot motion process (1) and upper-part do not rotate with spherical shell, take so camera can be maintained fixed angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201111228U CN201220700Y (en) | 2008-04-21 | 2008-04-21 | High mobility spherical detecting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201111228U CN201220700Y (en) | 2008-04-21 | 2008-04-21 | High mobility spherical detecting robot |
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| CN201220700Y true CN201220700Y (en) | 2009-04-15 |
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| CNU2008201111228U Expired - Fee Related CN201220700Y (en) | 2008-04-21 | 2008-04-21 | High mobility spherical detecting robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102310952A (en) * | 2011-06-30 | 2012-01-11 | 邱世军 | Serial connection type lunar vehicle |
| CN103080465A (en) * | 2010-07-12 | 2013-05-01 | 史密斯运输股份有限公司 | Method and apparatus for a well employing the use of an activation ball |
| CN103135549A (en) * | 2012-12-21 | 2013-06-05 | 北京邮电大学 | Motion control system and motion control method for spherical robot with visual feedback |
| CN103231746A (en) * | 2013-04-25 | 2013-08-07 | 浙江大学 | Spherical impeller robot |
| CN103442206A (en) * | 2013-08-16 | 2013-12-11 | 广州杰赛科技股份有限公司 | Environment detection device and environment detection system |
| CN104029742A (en) * | 2013-07-01 | 2014-09-10 | 李喆 | Novel spherical robot and control method thereof |
| CN107150357A (en) * | 2017-03-21 | 2017-09-12 | 坎德拉（深圳）科技创新有限公司 | A kind of spherical shell and ball shape robot |
| CN107226144A (en) * | 2017-05-26 | 2017-10-03 | 江苏大学 | A kind of mechanical gyroscope structure ball shape robot |
| CN108201416A (en) * | 2016-12-16 | 2018-06-26 | 德国福维克控股公司 | The cleaning equipment that can advance automatically |
| CN110077481A (en) * | 2019-04-01 | 2019-08-02 | 林佳琳 | A kind of gravity robot of magnetic-field interference |
| CN110979498A (en) * | 2019-11-19 | 2020-04-10 | 贵州电网有限责任公司 | Spherical robot device driven by centroid shift trolley |
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2008
- 2008-04-21 CN CNU2008201111228U patent/CN201220700Y/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9404330B2 (en) | 2010-07-12 | 2016-08-02 | Schlumberger Technology Corporation | Method and apparatus for a well employing the use of an activation ball |
| CN103080465A (en) * | 2010-07-12 | 2013-05-01 | 史密斯运输股份有限公司 | Method and apparatus for a well employing the use of an activation ball |
| CN102310952A (en) * | 2011-06-30 | 2012-01-11 | 邱世军 | Serial connection type lunar vehicle |
| CN102310952B (en) * | 2011-06-30 | 2016-04-13 | 邱世军 | Serial connection type lunar vehicle |
| CN103135549A (en) * | 2012-12-21 | 2013-06-05 | 北京邮电大学 | Motion control system and motion control method for spherical robot with visual feedback |
| CN103231746A (en) * | 2013-04-25 | 2013-08-07 | 浙江大学 | Spherical impeller robot |
| CN103231746B (en) * | 2013-04-25 | 2015-08-19 | 浙江大学 | A kind of Spherical impeller robot |
| CN104029742A (en) * | 2013-07-01 | 2014-09-10 | 李喆 | Novel spherical robot and control method thereof |
| CN104029742B (en) * | 2013-07-01 | 2016-06-22 | 李喆 | A kind of omnidirectional rolling spherical robot |
| CN103442206A (en) * | 2013-08-16 | 2013-12-11 | 广州杰赛科技股份有限公司 | Environment detection device and environment detection system |
| CN108201416A (en) * | 2016-12-16 | 2018-06-26 | 德国福维克控股公司 | The cleaning equipment that can advance automatically |
| CN108201416B (en) * | 2016-12-16 | 2021-06-15 | 德国福维克控股公司 | Cleaning equipment capable of automatically advancing |
| CN107150357A (en) * | 2017-03-21 | 2017-09-12 | 坎德拉（深圳）科技创新有限公司 | A kind of spherical shell and ball shape robot |
| CN107150357B (en) * | 2017-03-21 | 2020-04-14 | 坎德拉（深圳）科技创新有限公司 | Spherical shell and spherical robot |
| CN107226144A (en) * | 2017-05-26 | 2017-10-03 | 江苏大学 | A kind of mechanical gyroscope structure ball shape robot |
| CN107226144B (en) * | 2017-05-26 | 2019-04-30 | 江苏大学 | A kind of mechanical gyroscope structure ball shape robot |
| CN110077481A (en) * | 2019-04-01 | 2019-08-02 | 林佳琳 | A kind of gravity robot of magnetic-field interference |
| CN110077481B (en) * | 2019-04-01 | 2020-11-17 | 诺伯特智能装备（山东）有限公司 | Gravity robot capable of preventing magnetic field interference |
| CN110979498A (en) * | 2019-11-19 | 2020-04-10 | 贵州电网有限责任公司 | Spherical robot device driven by centroid shift trolley |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090415 Termination date: 20110421 |