CN205345105U - All -round spherical robot mechanism of drive in friction formula - Google Patents
All -round spherical robot mechanism of drive in friction formula Download PDFInfo
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- CN205345105U CN205345105U CN201620109635.XU CN201620109635U CN205345105U CN 205345105 U CN205345105 U CN 205345105U CN 201620109635 U CN201620109635 U CN 201620109635U CN 205345105 U CN205345105 U CN 205345105U
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- spherical shell
- driving wheel
- wheel
- buphthalmos
- rotary driving
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Abstract
The utility model discloses an all -round spherical running gear of drive in the friction formula, in endocentric, support drive assembly between the outer spherical shell, it includes rotary driving wheel and buphthalmos supporting wheel to support drive assembly, including the rotary driving wheel installation that three and ectosphere shell joint touched on the lower semisphere casing of spherical shell, the central point of each rotary driving wheel puts respectively on three quardrature -axiss of drawing forth corresponding to the ab intra spherical shell centre of sphere, the axis of each rotary driving wheel is submitted under the interior spherical shell centre of sphere, be equipped with the step motor of drive rotary driving wheel and the incremental encoder who detects the rotary driving wheel, on the episphere casing of spherical shell, the axis of each buphthalmos supporting wheel is in respectively on the extension line that corresponds the rotary driving wheel quardrature -axis of locating including the buphthalmos supporting wheel installation that three and ectosphere shell joint touched. The utility model discloses a three not equidirectional velocity vector can synthesize the velocity vector for arbitrary orientation in the space to realize the all -round motion walking of outer spherical shell.
Description
Technical field
This utility model relates to mobile robot technology, is specially in a kind of friction-type and drives omni-bearing spherical robot mechanism.
Background technology
Mobile apparatus people can be divided into wheeled, crawler type, lower limb formula, snakelike formula, saltatory and combined type by move mode.Wherein, caterpillar type robot soft ground adhesion property and by performance good, it is adaptable to stair climbing and obstacle detouring；Legged mobile robot can adapt to the landform of complexity；Snakelike formula and hop robot are typically in the aspects such as complex environment, special environment and mobility and have the superiority of its uniqueness.
There is very big advantage in described robot in respective application, its common being disadvantageous in that cannot be carried out turning to freely and omnibearing movement flexibly, when cooperating with people, it is impossible to traffic direction is made a change by the action quickly following people, thus limiting the application scenario of man-machine collaboration.
On this basis, state, the inside and outside ball shape robot that have developed further, described ball shape robot has mobility and a bearing capacity of wheeled robot, and combines legged mobile robot and adapt to the advantage of different terrain environments, simple in construction, brisk flexibly.
The all parts of described ball shape robot are all encapsulated in a spherical shell, and existing type of drive has single wheel drive, and dolly drives, and universal wheel drives, and motor stator reversion drives and balance weight body driving etc.；These type of drive have their own characteristics each, it is possible to achieve the cast of spheroid and omnidirectional rolling, but in these schemes, all parts in spherical shell roll together along with spheroid, it is impossible to carrying platform is stablized in the function device instrument offer one for system.
Utility model content
For the deficiencies in the prior art, technical problem to be solved in the utility model is to propose a kind of to provide stabilized platform to carry driving omni-bearing spherical robot mechanism in the friction-type of instrument and equipment for system.
Can solve the problem that and in the friction-type of above-mentioned technical problem, drive omni-bearing spherical robot mechanism, in its technical scheme includes being arranged concentrically, outer spherical shell and in being located at, support between outer spherical shell drives assembly, described support drives assembly to include rotating driving wheel and buphthalmos support wheel, three driving wheels that rotate touched with ectosphere shell joint are arranged on the lower semisphere housing of interior spherical shell by the driving wheel carrier that rotates being correspondingly arranged, each center rotating driving wheel corresponds respectively on three quadrature-axis that the interior spherical shell centre of sphere is drawn, each axis rotating driving wheel intersects at the underface of the interior spherical shell centre of sphere, described rotation drives wheel carrier to be provided with the incremental encoder driving the motor rotating driving wheel rotation and detection to rotate driving wheel rotating speed；Three buphthalmos touched with ectosphere shell joint support wheel and are arranged on the episphere housing of interior spherical shell by the buphthalmos support wheel carrier being correspondingly arranged, and each buphthalmos supports the axis of wheel and is respectively on the extended line of quadrature-axis residing for corresponding rotation driving wheel.
In said structure, the outer spherical shell of wheel face friction-driven by rotating driving wheel realizes omnibearing movable, three installation sites rotating driving wheel are completely orthogonal with the line of the centre of sphere, and the respective rotating shaft center congruence meets at a bit, mounting arrangement by this symmetry, simplify the mathematical model of control system, reduce the difficulty in control.
Each buphthalmos supports a kind of structure of wheel carrier and includes support bar, gripper shoe and holddown spring, described support bar supports wheel with corresponding buphthalmos and is coaxially installed on interior spherical shell, described buphthalmos supports wheel and is installed in gripper shoe, described gripper shoe is arranged on support bar by hole, location, bottom, and described spring compression is arranged on the support bar between gripper shoe and interior spherical shell.
For making mechanism structure compact, on described interior spherical shell, correspondence offers the opening dodging each rotation driving wheel, and spherical shell in the part wheel body of rotation driving wheel can be made to enter, when rotating driving wheel size and being constant, it is possible to reduce the distance between inside and outside spherical shell.
The beneficial effects of the utility model:
1, the barycenter of omni-bearing spherical robot mechanism is driven to be positioned at the lower half of synthesis in this utility model friction-type, the design of this barycenter biasing can make interior spherical shell only produce the swing that angle is only small under gravity, so that keep substantially motionless when interior spherical shell spherical shell outside rolls.
2, the structure of three of the present utility model completes the same with size, and the uniform symmetry of installation site, greatly reduces the control difficulty of system motion.
3, three rotation driving wheels of the present utility model can produce three different velocities through the driving of motor, and the velocity of these three different directions can synthesize the velocity of any direction in space, thus realizing the omnibearing motion of outer spherical shell.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of a kind of embodiment of this utility model.
Fig. 2 is the upward view of Fig. 1 embodiment.
Fig. 3 is the top view of Fig. 1 embodiment.
Figure number identifies: 1, interior spherical shell；2, outer spherical shell；3, driving wheel is rotated；4, buphthalmos supports wheel；5, driving wheel carrier is rotated；6, gripper shoe；7, motor；8, incremental encoder；9, spring；10, opening.
Detailed description of the invention
Below in conjunction with accompanying drawing illustrated embodiment, the technical solution of the utility model is described further.
This utility model includes interior spherical shell 1 and outer spherical shell 2, and described interior spherical shell 1 drives assembly to be concentrically mounted in outer spherical shell 2 by supporting, as shown in Figure 1, Figure 2, Figure 3 shows.
Described support drives assembly to include three rotation driving wheels 3 and three buphthalmos support wheels 4.
Rotation driving wheel 3 circumference uniform distribution that three contact with outer spherical shell 2 is located between lower hemisphere shell and the lower hemisphere shell of outer spherical shell 2 of interior spherical shell 1, three rotate the place-centric of driving wheel 3 with the line of interior spherical shell 1 centre of sphere is three axle quadrature-axis, intersecting at a bit under three centre of gyration alignments rotating driving wheel 3, this junction point is in the underface of interior spherical shell 1 centre of sphere；Each driving wheel 3 that rotates drives wheel carrier 5 to be installed on interior spherical shell 1 by the rotation being correspondingly arranged, corresponding to rotating driving wheel 3 one end wheel shaft in rotating installation motor 7 on driving wheel carrier 5, the output shaft of described motor 7 connects this axle head, corresponding to rotating driving wheel 3 other end wheel shaft in rotating installation incremental encoder 8 on driving wheel carrier 5, the output shaft of described incremental encoder 8 connects described axle head；On interior spherical shell 1, opening 10 is offered so that each a part of wheel body rotating driving wheel 3 enters in interior spherical shell 1, as shown in Figure 1, Figure 2, Figure 3 shows corresponding to each rotation driving wheel 3.
Three buphthalmos support wheel 4 circumference uniform distributions in the upper hemispherical shell of interior spherical shell 1, all contact with the upper hemispherical shell of outer spherical shell 2, the position axis of three buphthalmos support wheels 4 is respectively on the extended line of three place-centric respective axes rotating driving wheels 3, described buphthalmos supports wheel 4 and is arranged on interior spherical shell 1 by buphthalmos support wheel carrier, described buphthalmos supports wheel carrier and includes support bar, gripper shoe 6 and holddown spring 9, described support bar supports wheel 4 with corresponding buphthalmos and is coaxially mounted on interior spherical shell 1, buphthalmos supports wheel 4 and is arranged in gripper shoe 6, described gripper shoe 6 is installed on support bar by the hole, location of bottom, described spring 9 compresses on the support bar being arranged between interior spherical shell 1 and gripper shoe 6, such as Fig. 1, Fig. 2, shown in Fig. 3.
The method of operation of the present utility model:
Three rotate the driving wheel 3 velocity driving three different directions of generation through motor 7, the velocity of these three different directions can synthesize the velocity of any direction in space, thus realizing the omnibearing movable walking of outer spherical shell 2, in the process, interior spherical shell 1 only has at vertical direction and swings by a small margin, will not produce turnover.
Claims (3)
1. in friction-type, drive omni-bearing spherical robot mechanism, it is characterized in that: in including being arranged concentrically, outer spherical shell (1, 2) and in being located at, outer spherical shell (1, 2) support between drives assembly, described support drives assembly to include rotating driving wheel (3) and buphthalmos support wheel (4), three rotation driving wheels (3) contacted with outer spherical shell (2) drive wheel carrier (5) to be arranged on the lower semisphere housing of interior spherical shell (1) by the rotation being correspondingly arranged, the center respectively rotating driving wheel (3) corresponds respectively on three quadrature-axis that interior spherical shell (1) centre of sphere is drawn, the axis respectively rotating driving wheel (3) intersects at the underface of interior spherical shell (1) centre of sphere, described rotation drives wheel carrier (5) be provided with the motor (7) driving rotation driving wheel (3) to rotate and detect the incremental encoder (8) rotating driving wheel (3) rotating speed；The buphthalmos that three contact with outer spherical shell (2) supports wheel (4) and is arranged on the episphere housing of interior spherical shell (1) by the buphthalmos support wheel carrier being correspondingly arranged, and each buphthalmos supports the axis of wheel (4) and is respectively on the extended line of quadrature-axis residing for corresponding rotation driving wheel (3).
2. in friction-type according to claim 1, drive omni-bearing spherical robot mechanism, it is characterized in that: each buphthalmos supports wheel carrier and includes support bar, gripper shoe (6) and holddown spring (9), described support bar supports wheel (4) with corresponding buphthalmos and is coaxially installed on interior spherical shell (1), described buphthalmos supports wheel (4) and is installed in gripper shoe (6), described gripper shoe (6) is arranged on support bar by hole, location, bottom, and described spring (9) compresses on the support bar being arranged between gripper shoe (6) and interior spherical shell (1).
3. in friction-type according to claim 1 and 2, drive omni-bearing spherical robot mechanism, it is characterised in that: the upper correspondence of described interior spherical shell (1) offers the opening (10) dodging each rotation driving wheel (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620109635.XU CN205345105U (en) | 2016-02-03 | 2016-02-03 | All -round spherical robot mechanism of drive in friction formula |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620109635.XU CN205345105U (en) | 2016-02-03 | 2016-02-03 | All -round spherical robot mechanism of drive in friction formula |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205345105U true CN205345105U (en) | 2016-06-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620109635.XU Withdrawn - After Issue CN205345105U (en) | 2016-02-03 | 2016-02-03 | All -round spherical robot mechanism of drive in friction formula |
Country Status (1)
| Country | Link |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105730538A (en) * | 2016-02-03 | 2016-07-06 | 桂林电子科技大学 | Friction type internal drive universal spherical robot mechanism |
| CN106023732A (en) * | 2016-07-25 | 2016-10-12 | 桂林电子科技大学 | Space rotary transformation device |
| CN107128382A (en) * | 2017-03-21 | 2017-09-05 | 坎德拉（深圳）科技创新有限公司 | Ball shape robot |
| CN107617193A (en) * | 2017-10-17 | 2018-01-23 | 桂林电子科技大学 | Can omnibearing movable the wheeled anti-seasickness training mechanism of ball |
| CN107639647A (en) * | 2017-10-30 | 2018-01-30 | 桂林电子科技大学 | The wrist joint of robot mechanism of omnidirectional's wheel drive |
| CN107697180A (en) * | 2017-10-26 | 2018-02-16 | 桂林电子科技大学 | Spherical omnidirectional's wheel mechanism based on Artificial Potential Field |
| CN109702708A (en) * | 2019-01-18 | 2019-05-03 | 北京邮电大学 | Spherical robot mechanism and traveling method based on gyroscopic procession effect |
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2016
- 2016-02-03 CN CN201620109635.XU patent/CN205345105U/en not_active Withdrawn - After Issue
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106023732A (en) * | 2016-07-25 | 2016-10-12 | 桂林电子科技大学 | Space rotary transformation device |
| CN106023732B (en) * | 2016-07-25 | 2018-07-17 | 桂林电子科技大学 | Space Rotating converting means |
| CN107128382A (en) * | 2017-03-21 | 2017-09-05 | 坎德拉（深圳）科技创新有限公司 | Ball shape robot |
| CN107128382B (en) * | 2017-03-21 | 2019-06-04 | 坎德拉（深圳）科技创新有限公司 | Ball shape robot |
| CN107617193A (en) * | 2017-10-17 | 2018-01-23 | 桂林电子科技大学 | Can omnibearing movable the wheeled anti-seasickness training mechanism of ball |
| CN107617193B (en) * | 2017-10-17 | 2020-04-24 | 桂林电子科技大学 | Ball wheel type anti-dizziness training mechanism capable of moving in all directions |
| CN107697180A (en) * | 2017-10-26 | 2018-02-16 | 桂林电子科技大学 | Spherical omnidirectional's wheel mechanism based on Artificial Potential Field |
| CN107697180B (en) * | 2017-10-26 | 2023-10-17 | 桂林电子科技大学 | Spherical omnidirectional wheel mechanism based on artificial potential field |
| CN107639647A (en) * | 2017-10-30 | 2018-01-30 | 桂林电子科技大学 | The wrist joint of robot mechanism of omnidirectional's wheel drive |
| CN109702708A (en) * | 2019-01-18 | 2019-05-03 | 北京邮电大学 | Spherical robot mechanism and traveling method based on gyroscopic procession effect |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160629 Effective date of abandoning: 20171013 |
|
| AV01 | Patent right actively abandoned |