CN205345104U - Spherical robot with double pendulum hammer - Google Patents
Spherical robot with double pendulum hammer Download PDFInfo
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- CN205345104U CN205345104U CN201521030430.4U CN201521030430U CN205345104U CN 205345104 U CN205345104 U CN 205345104U CN 201521030430 U CN201521030430 U CN 201521030430U CN 205345104 U CN205345104 U CN 205345104U
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- pendulum
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Abstract
The utility model discloses a spherical robot with double pendulum hammer. The spherical shell dress becomes the sphere in spherical inner shell appearance and slides, installs mutually perpendicular's first fixed axle and second fixed axle in the spherical inner shell, and first fixed axle is mainly become by two sections major structures that lie in second fixed axle both sides respectively, and two sections axles are coaxial, and the axis point of intersect of first fixed axle and second fixed axle lies in the spherical inner shell centre of sphere, the output shaft of pendulum motor is connected to fixed axle one end, and the other end is connected to spherical inner shell wall hole through the pendulum bearing in, pendulum fixed connection is to the fixed axle in the middle part of. The utility model discloses a spherical robot rolls to arbitrary direction, convenient easy going, and stability is high.
Description
Technical field
This utility model relates to a kind of ball shape robot, especially relates to a kind of ball shape robot with double pendulum hammer.
Background technology
Ball shape robot is a kind of mobile apparatus people with roll mode walking.Existing ball shape robot can be divided into spherical or almost spherical and butterfly two kinds profile.Even if the main development target robot of ball shape robot can easily and flexibly along arbitrary directional rolling.
At present, the modes such as the type of drive of ball shape robot mainly has rotor to drive, car drives, moving mass block drives, the driving of deformation formula, gyroscope driving and eccentric massblock driving.
Wherein, existing gyroscope type of drive adopts simple pendulum hammer, its spatial rotational needing to realize pendulum, and technical difficulty is big, and stability is low.
Utility model content
In order to solve Problems existing in background technology, the purpose of this utility model is in that to provide a kind of ball shape robot with double pendulum hammer.
The technical solution adopted in the utility model is:
This utility model includes spherical housing, spherical inner shell, upper pendulum, lower pendulum, motor, two bearings and two fixing axles, spherical housing is contained in outside spherical inner shell and forms sphere slides, spherical inner shell is provided with the orthogonal first fixing axle and the second fixing axle, first fixing axle is mainly made up of the two sections of axles laying respectively at the second fixing axle both sides, two sections of axles are coaxial, and the crossing point of axes of the first fixing axle and the second fixing axle is positioned at the spherical inner shell centre of sphere；One end of first fixing axle connects the output shaft of lower pendulum motor, and the other end of the first fixing axle is connected in spherical inner shell cinclides by lower pendulum bearing, and lower pendulum is fixedly attached in the middle part of the first fixing axle；One end of second fixing axle connects the output shaft of upper pendulum motor, and the other end of the second fixing axle is connected in spherical inner shell cinclides by upper pendulum bearing, and upper pendulum is fixedly attached in the middle part of the second fixing axle.
Described upper and lower pendulum motor controls upper and lower pendulum and swings in mutually perpendicular two faces, spherical housing and ground contact points can be produced the mutually perpendicular moment of both direction, and under the effect of resultant moment, described ball shape robot realizes to arbitrary directional rolling.
The lower non-gravity end of pendulum is connected to the axial end of first fixing two sections of axles of axle near the centre of sphere, and the non-gravity end of upper pendulum is connected to the second fixing axle axle center near the centre of sphere.
The resultant moment of described upper pendulum and lower pendulum is to be calculated by below equation to obtain:
In formula, M1、M2Respectively upper and lower pendulum is to the spherical moment with ground contact points；
Above-mentioned upper moment of pendulum is to be calculated by below equation to obtain:
M1=G1L1sinθ
In formula, G1、L1Respectively going up the gravity of pendulum and the distance of its center of gravity to fixing point, θ is the angle of upper pendulum deviation vertical direction；
Above-mentioned lower moment of pendulum is to be calculated by below equation to obtain:
M2=G2L2sinφ
In formula, G2、L2Respectively descending the gravity of pendulum and the distance of its center of gravity to fixing point, Φ is the angle of lower pendulum deviation vertical direction.
Described ball shape robot is applied to pipeline detection and detects in the act.
Being provided with a motor fixing the axle head being connected with each pendulum, the axle other end loads in the bearing being fixed on spherical inner shell.Described pendulum is under the effect of motor, it is possible to achieve rotate around the front and back of axle, and upper and lower pendulum swings at mutually perpendicular two face first halves and lower half respectively.
When pendulum deviates vertical direction, spherical housing is produced a moment with ground contact points by plumb-bob gravity, and under the effect of this moment, ball shape robot is overall to be rolled towards pendulum offset direction.
Upper and lower two pendulums swing in mutually perpendicular two faces, and spherical housing and ground contact points can be produced the mutually perpendicular moment of both direction, and under the effect of resultant moment, ball shape robot realizes rolling.Simultaneously, it is possible to by adjusting the angle that upper and lower pendulum turns over, thus adjusting corresponding moment size, direction and the size of resultant moment can be adjusted further, ball shape robot may finally be realized to arbitrary directional rolling.
This utility model has the beneficial effect that
1, ball shape robot is driven by two pendulums, and the pendulum so swung in mutually perpendicular two faces only need to be performed its pivoting in respective plane, namely does plane motion, and easily realization, cost is low and stability is high.
2, by adjusting the angle that turn over of upper and lower pendulum, thus adjusting corresponding moment size, can adjust direction and the size of resultant moment further, ball shape robot may finally be realized to arbitrary directional rolling.
Accompanying drawing explanation
Fig. 1 is front view of the present utility model.
Fig. 2 is the side view of Fig. 1.
Fig. 3 is the structural representation of pendulum on ball shape robot yoz face.
Fig. 4 is the structural representation of pendulum under ball shape robot xoz face.
Fig. 5 is the vectogram of ball shape robot xoy face resultant moment.
Wherein: 1, upper pendulum, 2, lower pendulum motor, 3, spherical housing, 4, lower pendulum bearing, the 5, first fixing axle, 6, spherical inner shell, 7, upper pendulum motor, the 8, second fixing axle, 9, lower pendulum, 10, lower pendulum bearing.
Detailed description of the invention
Below in conjunction with accompanying drawing and example, this utility model is further described.
As depicted in figs. 1 and 2, this utility model includes spherical housing 3, spherical inner shell 6, upper pendulum 1, lower pendulum 9, motor, two bearings and two fixing axles, spherical housing 3 is contained in the outer sphere that formed of spherical inner shell 6 and slides, spherical inner shell 6 is provided with the orthogonal first fixing axle 5 and the second fixing axle 8, first fixing axle 5 is main to be made up of the two sections of axles laying respectively at the second fixing axle 8 both sides, two sections of axles are coaxial, and the crossing point of axes of the first fixing axle 5 and the second fixing axle 8 is positioned at spherical inner shell 6 centre of sphere.
One end of first fixing axle 5 connects the output shaft of lower pendulum motor 2, the other end of the first fixing axle 5 is connected in spherical inner shell 6 cinclides by lower pendulum bearing 4, lower pendulum 9 is fixedly attached in the middle part of the first fixing axle 5, and the lower non-gravity end of pendulum 9 is connected to the axial end of first fixing 5 two sections of axles of axle near the centre of sphere.
One end of second fixing axle 8 connects the output shaft of upper pendulum motor 7, and the other end of the second fixing axle 8 is connected in spherical inner shell 6 cinclides by upper pendulum bearing 10, and upper pendulum 1 is fixedly attached in the middle part of the second fixing axle 8.The upper non-gravity end of pendulum 1 is connected to the second fixing axle 8 axle center near the centre of sphere.
Upper and lower pendulum motor controls upper and lower pendulum and swings in mutually perpendicular two faces, and spherical housing 3 and ground contact points can be produced the mutually perpendicular moment of both direction, and under the effect of resultant moment, described ball shape robot realizes to arbitrary directional rolling.
As it is shown on figure 3, upper moment of pendulum is to be calculated by below equation (1) to obtain:
M1=G1L1sinθ(1)
In formula (1), G1、L1Respectively going up the gravity of pendulum and the distance of its center of gravity to fixing point, θ is the angle of upper pendulum deviation vertical direction.
As shown in Figure 4, lower moment of pendulum is to be calculated by below equation (2) to obtain:
M2=G2L2sinφ(2)
In formula (2), G2、L2Respectively descending the gravity of pendulum and the distance of its center of gravity to fixing point, Φ is the angle of lower pendulum deviation vertical direction.
As it is shown on figure 3, resultant moment is to be calculated by below equation (3) to obtain:
In formula (3), M1、M2Respectively upper and lower pendulum is to the spherical moment with ground contact points.
Parameter in formula (1), (2): the gravity of upper pendulum and the distance G of its center of gravity to fixing point1And L1, the gravity of lower pendulum and its center of gravity be to the distance G of fixing point2And L2, the upper pendulum deviation angle, θ of vertical direction and lower pendulum deviation vertical direction angle, φ concrete as shown in Figure 1；Coordinate system yoz, xoz and xoy are respectively as shown in Fig. 3, Fig. 4, Fig. 5.
The present embodiment is as follows:
Embodiment 1:
In present case, this ball shape robot with double pendulum hammer is applied to pipeline detection.
In present case, pipeline detection requires that ball shape robot can realize no-radius and turn.Being placed in the pipeline needing detection by this ball shape robot with double pendulum hammer disclosed in this patent, during original state, lower pendulum is vertically sagging, and upper pendulum is under the control of motor, in vertical straight up.At this moment, robot is static.
When needs ball shape robot moves towards certain direction, have only to adjust, by upper and lower pendulum motor, the angle and direction that upper and lower pendulum turns in corresponding flat, as shown in Figure 3 and Figure 4, and then adjust the moment size and Orientation that spherical housing is produced by upper and lower pendulum with ground contact points, such that it is able to realize the control to resultant couple size and Orientation, as shown in Figure 5.Fig. 5 is merely given as the resultant couple direction situation at first quartile.By the angle and direction that upper and lower pendulum turns in corresponding flat, it is possible to achieve resultant couple direction is towards any direction around initial point 360 degree.
When needs ball shape robot is turned, have only to change the angle and direction that upper and lower pendulum turns in corresponding flat, as shown in Figure 3 and Figure 4, and then change the moment size and Orientation that spherical housing is produced by upper and lower pendulum with ground contact points, such that it is able to realize the change to resultant couple size and Orientation, as shown in Figure 5.The change of this direct of travel just can complete in original place, and namely no-radius is turned.
By this ball shape robot with double pendulum hammer, it is possible to carrying out in pipeline detecting more in every possible way.Its turning requisite space is little, it is possible to achieve no-radius is turned, and easily realizes, and cost is low, good stability.
It needs to be noted: this no-radius is turned and just embodied superiority of the present utility model.
Embodiment 2:
In present case, this ball shape robot with double pendulum hammer is applied to investigation.
In present case, investigation requires ball shape robot small and motion is flexible, it is possible to adapt to multiple landform.The corresponding accessory size of this ball shape robot with double pendulum hammer disclosed in this patent is reduced, small requirement can be met.
Being placed in the landform to investigate, during original state, lower pendulum is vertically sagging, and upper pendulum is under the control of motor, in vertical straight up.At this moment, robot is static.
When needs ball shape robot moves towards certain direction, have only to adjust, by upper and lower pendulum motor, the angle and direction that upper and lower pendulum turns in corresponding flat, as shown in Figure 3 and Figure 4, and then adjust the moment size and Orientation that spherical housing is produced by upper and lower pendulum with ground contact points, such that it is able to realize the control to resultant couple size and Orientation, as shown in Figure 5.Fig. 5 is merely given as the resultant couple direction situation at first quartile.By the angle and direction that upper and lower pendulum turns in corresponding flat, it is possible to achieve resultant couple direction is towards any direction around initial point 360 degree.
When needs ball shape robot is turned, have only to change the angle and direction that upper and lower pendulum turns in corresponding flat, as shown in Figure 3 and Figure 4, and then change the moment size and Orientation that spherical housing is produced by upper and lower pendulum with ground contact points, such that it is able to realize the change to resultant couple size and Orientation, as shown in Figure 5.
By this ball shape robot with double pendulum hammer, it is possible to carry out investigating more in every possible way to the landform to investigate.Its going direction changing realizes flexibly and easily, and by the change to resultant couple size, it is also possible to realize the change to gait of march.Motion is flexibly, it is possible to adapt to multiple landform.
It needs to be noted: the motility of this motion is just embodying superiority of the present utility model.
Visible this utility model ball shape robot can to arbitrary directional rolling, and technique effect highlights, and the angle turned over by adjusting upper and lower pendulum realizes the adjustment of the direction of motion, and convenient and easy, cost is low, and stability is high.
Claims (4)
1. a ball shape robot with double pendulum hammer, it is characterized in that: include spherical housing (3), spherical inner shell (6), upper pendulum (1), lower pendulum (9), motor, two bearings and two fixing axles, spherical housing (3) is contained in spherical inner shell (6) and forms outward sphere slip, spherical inner shell (6) is provided with the orthogonal first fixing axle (5) and the second fixing axle (8), first fixing axle (5) is main to be made up of the two sections of axles laying respectively at the second fixing axle (8) both sides, two sections of axles are coaxial, the crossing point of axes of the first fixing axle (5) and the second fixing axle (8) is positioned at spherical inner shell (6) centre of sphere；
One end of first fixing axle (5) connects the output shaft of lower pendulum motor (2), the other end of the first fixing axle (5) is connected in spherical inner shell (6) cinclides by lower pendulum bearing (4), and lower pendulum (9) is fixedly attached to the first fixing axle (5) middle part；
One end of second fixing axle (8) connects the output shaft of upper pendulum motor (7), the other end of the second fixing axle (8) is connected in spherical inner shell (6) cinclides by upper pendulum bearing (10), and upper pendulum (1) is fixedly attached to the second fixing axle (8) middle part.
2. a kind of ball shape robot with double pendulum hammer according to claim 1, it is characterized in that: described upper and lower pendulum motor controls upper and lower pendulum and swings in mutually perpendicular two faces, spherical housing (3) and ground contact points can be produced the mutually perpendicular moment of both direction, and under the effect of resultant moment, described ball shape robot realizes to arbitrary directional rolling.
3. a kind of ball shape robot with double pendulum hammer according to claim 1, it is characterized in that: lower pendulum (9) non-gravity end is connected to the axial end of first fixing (5) two sections of axles of axle near the centre of sphere, upper pendulum (1) non-gravity end is connected to the second fixing axle (8) axle center near the centre of sphere.
4. a kind of ball shape robot with double pendulum hammer according to claim 1, it is characterised in that:
The resultant moment of described upper pendulum (1) and lower pendulum (9) is to be calculated by below equation (3) to obtain:
In formula (3), M1、M2Respectively upper and lower pendulum is to the spherical moment with ground contact points；
Above-mentioned upper pendulum (1) moment M1It is calculated by below equation (1) to obtain:
M1=G1L1sinθ(1)
In formula (1), G1、L1Respectively going up the gravity of pendulum and the distance of its center of gravity to fixing point, θ is the angle of upper pendulum deviation vertical direction；
Above-mentioned lower pendulum (9) moment M2It is calculated by below equation (2) to obtain:
M2=G2L2sinφ(2)
In formula (2), G2、L2Respectively descending the gravity of pendulum and the distance of its center of gravity to fixing point, Φ is the angle of lower pendulum deviation vertical direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521030430.4U CN205345104U (en) | 2015-12-11 | 2015-12-11 | Spherical robot with double pendulum hammer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521030430.4U CN205345104U (en) | 2015-12-11 | 2015-12-11 | Spherical robot with double pendulum hammer |
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| Publication Number | Publication Date |
|---|---|
| CN205345104U true CN205345104U (en) | 2016-06-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521030430.4U Withdrawn - After Issue CN205345104U (en) | 2015-12-11 | 2015-12-11 | Spherical robot with double pendulum hammer |
Country Status (1)
| Country | Link |
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| CN (1) | CN205345104U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105438300A (en) * | 2015-12-11 | 2016-03-30 | 浙江大学 | Spherical robot with double pendulum bobs and application thereof |
| 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 |
-
2015
- 2015-12-11 CN CN201521030430.4U patent/CN205345104U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105438300A (en) * | 2015-12-11 | 2016-03-30 | 浙江大学 | Spherical robot with double pendulum bobs and application thereof |
| CN105438300B (en) * | 2015-12-11 | 2017-12-15 | 浙江大学 | Ball shape robot and its application with double pendulum hammer |
| 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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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160629 Effective date of abandoning: 20171215 |
|
| AV01 | Patent right actively abandoned |