CN203172751U - Spherical robot with stabilization platform - Google Patents
Spherical robot with stabilization platform Download PDFInfo
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- CN203172751U CN203172751U CN 201320197239 CN201320197239U CN203172751U CN 203172751 U CN203172751 U CN 203172751U CN 201320197239 CN201320197239 CN 201320197239 CN 201320197239 U CN201320197239 U CN 201320197239U CN 203172751 U CN203172751 U CN 203172751U
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- stable platform
- spherical robot
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Abstract
The utility model discloses a spherical robot with a stabilization platform. Due to a good air-tight structure, the spherical robot with a stabilization platform has excellent features such as waterproofing and dustproofing and meanwhile can effectively avoid bad situations such as turnover and poor visual angles of a general robot in complicated environment. The inside of the spherical robot with the stabilization platform is provided with a unique suspension platform; every support is provided with a corresponding damping device, so that the center of gravity of the spherical robot can be always kept in the middle and lower part of the sphere during motion processes to keep stability and balance; the spherical robot is driven by two motors to achieve full movement; and the outside of the spherical robot is made of acrylic thermal plastic materials, thereby having an excellent transparency and guaranteeing internal structure protection and optimal picture processing effects.
Description
Technical field
The utility model belongs to the robot field, relates generally to a kind of ball shape robot with stable platform, particularly relates to a kind of comprehensive roller ball anthropomorphic robot with stable platform.
Background technology
From the development of external robot, 1996, people such as Finland Spherical Mobile RobotAarne Halme developed the first billiard ball shape kinematic mechanism.This motion principle is the balance of breaking spheroid by the motion of internal drive unit IDU; 1997, Italian Antonio Bicchi released the ball shape robot " Sphericle " of design voluntarily.A dolly is placed on the inside of spheroid, and each wheel of dolly respectively is equipped with a drive motor, supports with the resilient mounting wheel in the front and back of wheel; 2000, Shourov Bhattacharya and Sunilk Agrawal proposed spherical rolling robot.Its shell adopts aluminum alloy materials, is made up of upper and lower two hemispherical Shells.All include receptor, motor device, rotor and storage battery in each hemispherical Shell inside, battery is installed on the rotor axis of electric.Its drive system is made of two mutually perpendicular rotors; 2002, Iranian Amir Homayoun Javadi A. and Puyan Mojabi developed a kind of omni-bearing spherical kinematic robot.Robot is carried out the autonomous type power supply, a logic control system part is installed in the spheroid internal plate, and a part connects by radio on being installed on the spheroid external control template, August assembles in line with centrosymmetric principle, so that the barycenter of spheroid and the centre of form overlap; From 1995-2002, people such as A.Bicchi have successively produced nearly ten kinds of ball shape robots, adopt material transparent on the shell of state-of-the art ball shape robot, two hemispherical Shells partly connect at midship mounting, the barycenter of inner driver element be positioned at the spheroid centre of form under.The various motor functions of robot realize by the work of two motors; 2005, people such as the Sugiyama Y of Japanese Ritsumeikan University and Irai S developed variable form ball shape robot.By the deformation quantity of many memorial alloys in the size control spheroid that changes voltage, thereby contact surface between rubbery outer cover and the ground is constantly changed and roll.Still be in the motion principle Qualify Phase at present, need the towing cable operation.Robot interior does not have the space to carry other assembly; 2006, the Satoshi Maekawa of people such as the Toshiaki Otani of Japan Kobe university and national intelligence communication research institute developed and a kind ofly keeps attitude and adjust the ball shape robot of sense of motion by gyro.The robot drive part mainly is made up of gyro, universal-joint and ball etc.Control the stability of motion that attitude has strengthened robot with gyro, can control the angle of turn of robot more accurately, but robot does not have the pivot stud ability, and gyro to remain rotation at a high speed in the motion process, has increased energy consumption.
At home, BJ University of Aeronautics ﹠ Astronautics's robot research is designed a kind of novel moon craft kinematic mechanism-ball-type smart motion unit (SphericalSmart Moving Unit), this unit is with in the integrated housing that is sealed in a sphere of mechanism, motor, actuator and controller.The mode of its employing internal drive is controlled the motion of spheroid, relies on gyro power to obtain its dynamic stability; The ball shape robot Beijing University of Post ﹠ Telecommunication of Beijing University of Post ﹠ Telecommunication's development has developed a kind of ball shape robot.This ball shape robot drives two groups of gear drives respectively by two motors, thereby drives corresponding clump weight to the direction deflection of expectation, changing its center-of-gravity position, thereby produces the rolling that drive torque is realized robot; " spherical locomotory apparatus " Harbin Institute of Technology's aerospace and the research institute of space mechanism of Harbin Institute of Technology's development were just studied ball shape robot as far back as 2002, had manufactured and designed the device of a kind of " spherical locomotory apparatus " by name.This locomotory apparatus is that two motors of axis conllinear are controlled, and realizes locomotorial driving respectively and turns to two kinds of mode of motion.
The design plan of market ball shape robot has two kinds at present.A kind of is to adopt the anchor shaft type of drive, and drive motor is connected with shell, reaches the purpose of driving.Though this mode can reach very high kinematic velocity, its serious shortcoming on direction rotation and control platform stable does not meet practical application.Second kind has been adopted concentrically ringed mode, and stabilised platform is separated with the power system of robot, though this method has had comparatively stable inside panel to be used for sensor installation, all there are certain deficiency in its impregnability and alerting ability.
Summary of the invention
Goal of the invention
The utility model proposes a kind of ball shape robot with stable platform, improve the practicality of ball shape robot, overcome the traditional spheroidal robot and manoevreability, stability, the deficiency that combines such as firm can be able to not be satisfied the demand in multiple field.
Technical scheme
A kind of ball shape robot with stable platform comprises stable platform and actuating device; It is characterized in that: stable platform is by stent support, and shock absorber is equipped with in the support upper end, and multi-directional ball is equipped with in the shock absorber upper end, and acquisition platform is positioned on the stable platform; Actuating device comprises recoil spring, drives steering module, drive motor and steer motor, recoil spring connects the driving steering module, drive motor links to each other with transmission shaft, transmission shaft connects the driving steering module, steer motor connects acquisition platform and drives steering module by steering inner articulated shaft, drives steering module and is provided with wheel.
Be provided with camera at acquisition platform.
Acquisition platform is driven by drive motor and makes its rotation and rolling.
Driving steering module can 360 ° of rotation and can advance and retreat.
Stable platform is suspended in the spheroid of ball shape robot by several stent support.
Advantage and effect
Advantage of the present utility model and good effect are as follows:
The utility model has carried out a series of research to ball shape robot; adopted unique physical construction; six stent support floating platforms are arranged; and each support has its shock absorption device; center of gravity is positioned at spherical middle and lower part all the time in its motion process; it turns to and moves to use two electric machine control; and employing acrylic thermoplastic material; it is a kind of colourless pmma material with splendid diaphaneity; chemical inertness and weather resisting property; very strong to the natural environment comformability; even under solar radiation, wind and weather can not make its performance change yet for a long time, can well use outdoor; whole device is with its maneuverability; platform stable; it is convenient to place; characteristics such as self is firm are organically in conjunction with together; utilize shock absorption device to play a very good protection, effectively overcome the traditional spheroidal robot in motion control; the deficiency of platform stable aspect has improved stability and the aseismicity of spheroid inside panel; make its miniaturization simultaneously, for its motion and use have brought very big convenience.
Because the good closed structure of ball shape robot; make it possess outstanding characteristics such as water proof and dust proof; simultaneously; in complex environment; ball shape robot can also effectively avoid conventional robot to overturn; situations such as the visual angle is not good; there is its unique floating platform in portion within it; and each support has its shock absorption device; center of gravity is positioned at spherical middle and lower part all the time in its motion process, be keep stable and balance, use two motor-driven; make its moving and motion entirely; the outside acrylic thermoplastic material that adopts has splendid diaphaneity, has guaranteed the optimum efficiency that protection inner structure and image are handled.
Description of drawings
Fig. 1 is the utility model structural representation.
Description of reference numerals:
1, stable platform, 2, support, 3, shock absorber, 4, multi-directional ball, 5, acquisition platform, 6, actuating device, 7, spring buffer, 8, steering inner articulated shaft, 9, drive steering module, 10, wheel, 11, the centre of sphere, 12, sphere inner wall, 13, drive motor, 14, steer motor, 15, transmission shaft, 16, center of gravity, 17, camera.
The specific embodiment:
Below in conjunction with accompanying drawing the utility model is described further:
The utility model is a kind of ball shape robot with stable platform, as shown in fig. 1, comprises stable platform 1 and actuating device 6; It is characterized in that: stable platform 1 is supported by support 2, and shock absorber 3 is equipped with in support 2 upper ends, and multi-directional ball 4 is equipped with in shock absorber 3 upper ends, can omnibearingly rotate, and plays a very good protection.Acquisition platform 5 is positioned on the stable platform 1; Actuating device 6 comprises recoil spring 7, drives steering module 9, drive motor 13 and steer motor 14, recoil spring 7 connects driving steering module 9, drive motor 13 links to each other with transmission shaft 15, transmission shaft 15 connects driving steering module 9, steer motor 14 connects acquisition platform 5 and drives steering module 9 by steering inner articulated shaft 8, drives steering module 9 and is provided with wheel 10.
Be provided with camera 17 at acquisition platform 5.
Driving steering module 9 can 360 ° of rotation and can advance and retreat.
In the spheroid of ball shape robot, support 2 is at least 6 to stable platform 1 usually by several support 2 support suspensions.
The utility model has designed the solution that a kind of new ball shape robot moves.Can improve the practicality of ball shape robot by this scheme, overcome the traditional spheroidal robot and manoevreability, stability, the deficiency that combines such as firm can be able to not be satisfied the demand in multiple field.Its mode of operation: described structural focus 16 is in the spheroid middle and lower part, and because support 2 is connected with cardan wheel 4 with sphere inner wall 12, makes whole stable platform 1 be free to slide to level when static state.In the motion process, when wheel rolled forward, inner wheel 10 produced friction with sphere inner wall 12, whole stable platform 1 recedes, and center of gravity 16 positions change, because the effect of gravity, stable platform 1 has the trend that is tending towards level, and robot is rolled towards the direction that wheel 10 rotates.When turning to, change wheel 10 rotation directions by steer motor 14, the mode when then robot repeats straight-line motion reaches the purpose that the balls tumble direction changes.In the motion process, the camera 17 of robot is identical with sense of motion all the time.
Embodiment:
A kind of ball shape robot with stable platform comprises stable platform parallel to the ground under the quiescence 1 and actuating device 6; The stable operation platform comprises stable platform 1, support 2, wherein, support 2 vertically is installed on the stable platform 1, stable platform 1 top and bottom are totally six supports 2, wherein three supports on every 2 are mutually 60 ° with the line of the centre of sphere 11, and support 2 upper end bendings are with the line in-line of itself and the centre of sphere 11, in the whole spheroid, per two such lines are mutually 120 °.Each cantilever tip is equipped with shock absorber 3 and multi-directional ball 4, makes that multi-directional ball 4 contacts with sphere inner wall 12 under the stabilized conditions.Robot is driven by drive motor 13, steer motor 14.Drive motor 13 links to each other with transmission shaft 15, by the series of gears transmission, wheels of robot 10 is rotated, and control is advanced and retreated.Steer motor 14 links to each other with steering inner articulated shaft 8, by transmission top acquisition platform 5 and driving steering module 9 is rotated synchronously.Driving steering module 9 use spring buffers 7, guarantee the stable of robot motion, remain its camera 17 forward work.
The stable operation platform comprises mechanical suspension structure, free motion structure, buffer structure.Wherein mechanical suspension structure is realized by support 2, and the free motion structure realizes that by cardan wheel 4 buffer structure is a series of straight line shock absorber 3.
The utility model adopts the acrylic thermoplastic material, is a kind of colourless pmma material with splendid diaphaneity, and chemical inertness and weather resisting property are very strong to the natural environment comformability.
Claims (5)
1. the ball shape robot with stable platform comprises stable platform (1) and actuating device (6); It is characterized in that: stable platform (1) is supported by support (2), and shock absorber (3) is equipped with in support (2) upper end, and multi-directional ball (4) is equipped with in shock absorber (3) upper end, and acquisition platform (5) is positioned on the stable platform (1); Actuating device (6) comprises recoil spring (7), drives steering module (9), drive motor (13) and steer motor (14), recoil spring (7) connects driving steering module (9), drive motor (13) links to each other with transmission shaft (15), transmission shaft (15) connects driving steering module (9), steer motor (14) connects acquisition platform (5) and drives steering module (9) by steering inner articulated shaft (8), drives steering module (9) and is provided with wheel (10).
2. the ball shape robot with stable platform according to claim 1 is characterized in that: be provided with camera (17) at acquisition platform (5).
3. the ball shape robot with stable platform according to claim 1 is characterized in that: acquisition platform (5) is driven by drive motor (13) and makes its rotation and rolling.
4. the ball shape robot with stable platform according to claim 1 is characterized in that: driving steering module (9) can 360 ° of rotation and can advance and retreat.
5. according to claim 1,2,3 or 4 described ball shape robots with stable platform, it is characterized in that: stable platform (1) by several supports (2) support suspension in the spheroid of ball shape robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320197239 CN203172751U (en) | 2013-04-18 | 2013-04-18 | Spherical robot with stabilization platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320197239 CN203172751U (en) | 2013-04-18 | 2013-04-18 | Spherical robot with stabilization platform |
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| CN203172751U true CN203172751U (en) | 2013-09-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201320197239 Expired - Fee Related CN203172751U (en) | 2013-04-18 | 2013-04-18 | Spherical robot with stabilization platform |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103587602A (en) * | 2013-11-13 | 2014-02-19 | 上海大学 | Active simple pendulum spherical robot |
| CN103640638A (en) * | 2013-12-05 | 2014-03-19 | 广西科技大学 | Remote-control spherical vehicle device |
| CN103921860A (en) * | 2014-04-21 | 2014-07-16 | 北京航空航天大学 | Ellipsoidal robot |
| CN105388458A (en) * | 2015-11-19 | 2016-03-09 | 广州杰赛科技股份有限公司 | Spherical sensor and detecting system |
| CN105416428A (en) * | 2015-11-03 | 2016-03-23 | 北京邮电大学 | Spherical robot with in-situ rotation function carried with control moment gyro |
| CN105480316A (en) * | 2016-01-11 | 2016-04-13 | 佛山市南海区广工大数控装备协同创新研究院 | Spherical robot capable of realizing omnidirectional movement |
| CN105730538A (en) * | 2016-02-03 | 2016-07-06 | 桂林电子科技大学 | Friction type internal drive universal spherical robot mechanism |
| CN106494523A (en) * | 2016-10-12 | 2017-03-15 | 浙江大学 | Dual Drive spherical detecting robot |
| CN107685344A (en) * | 2017-09-14 | 2018-02-13 | 深圳思瓦科技有限公司 | A kind of ball shape robot and its buffer unit |
| CN108583708A (en) * | 2018-04-12 | 2018-09-28 | 浙江大学 | A kind of ball shape robot |
-
2013
- 2013-04-18 CN CN 201320197239 patent/CN203172751U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103587602A (en) * | 2013-11-13 | 2014-02-19 | 上海大学 | Active simple pendulum spherical robot |
| CN103587602B (en) * | 2013-11-13 | 2015-10-07 | 上海大学 | Active simple pendulum spherical robot |
| CN103640638A (en) * | 2013-12-05 | 2014-03-19 | 广西科技大学 | Remote-control spherical vehicle device |
| CN103921860A (en) * | 2014-04-21 | 2014-07-16 | 北京航空航天大学 | Ellipsoidal robot |
| CN105416428A (en) * | 2015-11-03 | 2016-03-23 | 北京邮电大学 | Spherical robot with in-situ rotation function carried with control moment gyro |
| CN105388458A (en) * | 2015-11-19 | 2016-03-09 | 广州杰赛科技股份有限公司 | Spherical sensor and detecting system |
| CN105480316A (en) * | 2016-01-11 | 2016-04-13 | 佛山市南海区广工大数控装备协同创新研究院 | Spherical robot capable of realizing omnidirectional movement |
| CN105480316B (en) * | 2016-01-11 | 2017-11-07 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of all-around mobile ball shape robot |
| CN105730538A (en) * | 2016-02-03 | 2016-07-06 | 桂林电子科技大学 | Friction type internal drive universal spherical robot mechanism |
| CN105730538B (en) * | 2016-02-03 | 2017-10-13 | 桂林电子科技大学 | Driving omni-bearing spherical robot mechanism in frictional |
| CN106494523A (en) * | 2016-10-12 | 2017-03-15 | 浙江大学 | Dual Drive spherical detecting robot |
| CN107685344A (en) * | 2017-09-14 | 2018-02-13 | 深圳思瓦科技有限公司 | A kind of ball shape robot and its buffer unit |
| CN108583708A (en) * | 2018-04-12 | 2018-09-28 | 浙江大学 | A kind of ball shape robot |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130904 Termination date: 20170418 |
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| CF01 | Termination of patent right due to non-payment of annual fee |