CN203528626U

CN203528626U - Bouncing type spherical robot

Info

Publication number: CN203528626U
Application number: CN201320685082.9U
Authority: CN
Inventors: 薛丹; 管大伟; 孙瑞
Original assignee: Shenyang University of Technology
Current assignee: Shenyang University of Technology
Priority date: 2013-11-04
Filing date: 2013-11-04
Publication date: 2014-04-09
Anticipated expiration: 2023-11-04

Abstract

The utility model discloses a bouncing type spherical robot. A mechanical suspension support device is added in a transparent spherical casing, the gravity center is controlled to be on the lower portion of the spherical body, and plane maneuvering is finished by matching motor brake. Energy storage is achieved by matching of an electromagnet and a spring, and the robot can achieve continuous bouncing action by means of special structure design.

Description

Can flip-over type ball shape robot

Technical field

The utility model belongs to robot field, is specifically related to a kind of tiny balls anthropomorphic robot structure that is applicable to the detecting fields such as hidden scouting, environment detection.

Background technology

Along with scientific and technological development, robot in various fields especially dangerous work field progressively substitute the mankind.Because ball shape robot has good dynamic and static balance, possess good leak tightness simultaneously, can in unmanned, sand and dust, humidity, corrosive harsh environment, work, and there is amphibious function.Can be applicable to the fields such as environmental monitoring, defence equipment, amusement, with respect to conventional machines people, have unique advantage.

At present, Detecting Robot is mainly divided into wheeled and two kinds of structures of crawler type.Although wheeled and track structure is widely used in present locomotive, is better than other kind robots on maneuvering performance, still inevitably occurs in actual applications following problem: 1, volume is large; 2, easily rollover; 3, structure is fragile; 4, investigation mode is dumb.Complicated physical construction, makes wheeled, caterpillar type robot seriously limit further dwindling of robot volume under the prerequisite that guarantees manoevreability, can not fine adaptation require high investigation to disguise.Because conventional locomotive is bulky, quality is large, center of gravity is low, few rollover phenomenon that occurs.But robot is relatively little, quality is little, in complex-terrain, very easily produce rollover phenomenon.And when in the face of complex environment, wheel or crawler belt very easily damage, and make robot lose maneuverability.In addition, due to restrictions such as volume, structures, conventional machines people can only reach the predetermined area by ground maneuver, and the environment that needs investigation sometimes or even fast changing, and the problems such as investigation efficiency is low, speed slow, bad adaptability come out gradually.

Domestic ball shape robot research is still in the starting stage, combine to the perfect in shape and functions such as great majority designs is all can not be well miniature by stabilised platform, high maneuverability, volume, vertical jump in succession, the utility model is by special physical construction, simple and effective brake mode, above-mentioned advantage is combined, a kind of new thinking of development of ball shape robot is provided.

Summary of the invention

Goal of the invention

The problems such as, crawler detection robot volume wheeled for tradition is large, easily rollover, fragile, investigation mode is dumb, simultaneously for solve existing ball shape robot maneuverability not enough, mostly do not have the problems such as stable platform, the utility model designed a kind of can under complex environment, implement stable, hidden, a kind of of flexible investigation can flip-over type ball shape robot.

Technical scheme

The utility model is achieved through the following technical solutions:

Can a flip-over type ball shape robot, comprise mechanical suspension mechanism, stop mechanism and hopping mechanism, it is characterized in that:

Mechanical suspension mechanism comprises cardan wheel, support, solar panel and control platform, in sphere shell, in vertical direction, be provided with three supports, two ends of every support are equipped with respectively cardan wheel and cardan wheel are contacted with sphere shell, and the interplanar that every support and the centre of sphere form is between two at a distance of 120 °; Adjacent stent is equipped with solar panel between upper end, and forms cage structure with support; Support passes controls platform, and by spring switch, control platform is fixed on to specified altitude assignment; Induction coil is equipped with in support bottom;

Stop mechanism comprises steer motor and braking motor, and steer motor magnet coil is fixed on to be controlled on platform, and the axle of steer motor is connected with the fixing steer motor shell of steer motor magnet, and steer motor shell is connected with braking motor;

Hopping mechanism comprises metal filament, spring, electromagnet, slide block, strong magnet, spring switch and magnet coil; Wherein, strong magnet is embedded in slide block, and slide block is connected with control platform by the spring on support through support, and can on support, slide; Magnet slide block end is connected with spring switch by metal filament; Magnet coil is wrapped on electromagnet.

Control platform top and be provided with camera, camera direction is consistent with braking motor direction.

Braking motor comprises motor housing, anchor shaft, motor housing inner side is provided with permanent magnet, rubber shell is equipped with in outside, on motor housing, be connected with brush, on anchor shaft, be equipped with moving motor electromagnetic coil, braking motor magnet coil is connected with commutator with power supply respectively, and brush connects power supply commutator, bearing inner ring is connected with anchor shaft, and outer race is connected with motor housing.

Advantage and effect

The utlity model has following advantage and beneficial effect:

(1), by bouncing mechanism, can only make cardan wheel contact with ball wall, make inside panel keep at any time horizontality, assurance control platform level at any time.

(2), due to special physical construction, making volume of the present invention compare similar robot has very large advantage.

(3), special structure design and firm sphere shell make robot effectively resist the impact of external shock, keeps inner structure not to be damaged.

(4), can effectively prevent the interference such as radiation, electromagnetism wave-wave by add the mode of coating at inwall, can adapt to complex environment more, meet scouting demand under Information Condition.

(5), the energy supply system that cooperatively interacts by wireless charging and solar panel, guaranteed leakproofness and the flying power of robot simultaneously.

Accompanying drawing explanation

Fig. 1 is front view of the present utility model;

Fig. 2 is the lateral plan of Fig. 1;

Fig. 3 is hopping mechanism constructional drawing;

Fig. 4 is braking motor front view;

Fig. 5 is braking motor lateral plan.

Reference numeral is said:

1, sphere shell, 2, cardan wheel, 3, support, 4, solar power electroplax, 5, metal filament, 6, strong magnet, 7, camera, 8, spring, 9, electromagnet, 10, control platform, 11, spring switch, 12, steer motor, 13, braking motor, 14, induction coil, 15, magnet slide block, 16, magnet coil, 17, steer motor magnet coil, 18, steer motor magnet, 19, steer motor shell, 20, rubber shell, 21, permanent magnet, 22, motor housing, 23, power supply, 24, brush, 25, bearing, 26, commutator, 27, anchor shaft, 28, braking motor magnet coil.

The specific embodiment

Below in conjunction with accompanying drawing, the utility model is described further:

As Figure 1-Figure 5, the present invention is a kind of omnidirectional rolling spherical robot that stable platform can bounce that has, and comprises mechanical suspension mechanism, stop mechanism and hopping mechanism, it is characterized in that:

Mechanical suspension mechanism comprises cardan wheel 2, support 3, solar panel 4 and controls platform 10, in the interior vertical direction of sphere shell 1, be provided with three supports 3, two ends of every support are equipped with respectively cardan wheel 2 and cardan wheel 2 are contacted with sphere shell 1, and the interplanar that every support and the centre of sphere form is between two at a distance of 120 °; Solar panel 4 is housed between adjacent stent 3 upper ends and forms cage structure with support 3; Support 3 passes controls platform 10, and by spring switch 11, control platform 10 is fixed on to specified altitude assignment; Induction coil 14 is equipped with in support 3 bottoms.

Stop mechanism comprises steer motor 12 and braking motor 13, the steer motor magnet coil 17 of steer motor 12 is fixed on to be controlled on platform 10, the axle of steer motor 12 is connected with the fixing steer motor shell 19 of steer motor magnet 18, and steer motor shell 19 is connected with braking motor 13, can make like this camera 7 directions consistent with braking motor 13 directions.

The power of robot is that the DC rotation magnetic pole type braking motor 13 of particular design comprises motor housing 22, anchor shaft 27.Motor housing 22 inner sides are provided with permanent magnet 21, and outside is equipped with rubber shell 20 and is contacted with sphere inner wall, are connected with brush 24 on motor housing 22.On anchor shaft 27, be equipped with moving motor electromagnetic coil 28, braking motor magnet coil 28 is connected with commutator 26 with power supply 23 respectively.Brush 24 connects power supply commutator 26.The interior ring of bearing 25 is connected with anchor shaft 27, and bearing 25 outer shrouds are connected with motor housing 22.Motor uses direct supply, completes magnetic pole rotation, reaches the object of braking.During machine operation, by power supply 23, three groups of braking motor magnet coils 28 are switched on simultaneously, each coil end is accessed respectively to commutator 26.After energising, brush is connected one group of coil and is produced magnetic field, and motor housing 22 is rotated with together with brush 24 on being connected to shell, and when rotating while surpassing certain angle, brush 24 is connected next group coil, makes motor continue to keep rotary state.

Hopping mechanism comprises metal filament 5, spring 8, electromagnet 9, slide block 15, strong magnet 6, spring switch 11 and magnet coil 16; Wherein, electromagnet 9 is fixed on support 3, controls platform 10 fixing by spring switch 11, and strong magnet 6 is embedded in slide block 15, slide block 15 through support 3 by the spring 8 on support with control platform 10 and be connected, and can on support 3, slide; Magnet slide block 15 ends are connected with spring switch 11 by metal filament 5; Magnet coil 16 is wrapped on electromagnet 9.During magnet coil 16 energising, magnet slide block 15 is subject to repulsive force effect upward sliding, spring 8 accumulation of energys; When it slides into predetermined altitude, traction metal filament 5 is opened jump switch 11, and the elastic potential energy of spring 8 is converted into the kinetic energy that system makes progress, and robot completes spring-like movement; During magnet coil 16 power-off, gravitate, controls platform 10 and falls after rise, and spring switch 11 retightens control platform 10, and robot returns to the state before spring.

In order to keep leakproofness and the flying power of whole robot, the present invention adopts wireless charging and solar power hybrid power supply mode, by bottom magnetic induction coil 14 with the solar power electroplax 4 at top as energy source.

Robot adopts totally-enclosed transparent ball shell, when providing firm safeguard function to robot, a good visual angle is provided also to inner camera.Its inner mechanical suspension structure mainly consisting of 6 cardan wheels 2, support 3, control platform 10 of installing, can make inner control platform 10 all the time in horizontality.Control platform 10 tops and be provided with camera 7, camera 7 directions are consistent with braking motor 13 directions.

Claims

One kind can flip-over type ball shape robot, comprise mechanical suspension mechanism, stop mechanism and hopping mechanism, it is characterized in that: mechanical suspension mechanism comprises cardan wheel (2), support (3), solar panel (4) and controls platform (10), in sphere shell (1), in vertical direction, be provided with three supports (3), two ends of every support are equipped with respectively cardan wheel (2) and cardan wheel (2) are contacted with sphere shell (1), and the interplanar that every support and the centre of sphere form is between two at a distance of 120 °; Adjacent stent (3) is equipped with solar panel (4) between upper end, and forms cage structure with support (3); Support (3) passes controls platform (10), and by spring switch (11), control platform is fixed on to specified altitude assignment; Induction coil (14) is equipped with in support (3) bottom; Stop mechanism comprises steer motor (12) and braking motor (13), steer motor magnet coil (17) is fixed on to be controlled on platform (10), the axle of steer motor (12) is connected with the fixing steer motor shell (19) of steer motor magnet (18), and steer motor shell (19) is connected with braking motor (13); Hopping mechanism comprises metal filament (5), spring (8), electromagnet (9), slide block (15), strong magnet (6), spring switch (11) and magnet coil (16); Wherein, strong magnet (6) is embedded in slide block (15), and slide block (15) is connected with control platform (10) by the spring (8) on support through support (3), and can be in the upper slip of support (3); Magnet slide block (15) end is connected with spring switch (11) by metal filament (5); Magnet coil (16) is wrapped on electromagnet (9).
2. according to claim 1 can flip-over type ball shape robot, it is characterized in that: control platform (10) top and be provided with camera (7), camera (7) direction is consistent with braking motor (13) direction.
3. according to claim 1 can flip-over type ball shape robot, it is characterized in that: braking motor (13) comprises motor housing (22), anchor shaft (27), motor housing (22) inner side is provided with permanent magnet (21), rubber shell (20) is equipped with in outside, on motor housing (22), be connected with brush (24), on anchor shaft (27), be equipped with moving motor electromagnetic coil (28), braking motor magnet coil (28) is connected with commutator (26) with power supply (23) respectively, brush (24) connects power supply commutator (26), in bearing (25), ring is connected with anchor shaft (27), bearing (25) outer shroud is connected with motor housing (22).