CN207534823U - A kind of spherical shape security robot - Google Patents
A kind of spherical shape security robot Download PDFInfo
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- CN207534823U CN207534823U CN201721463905.8U CN201721463905U CN207534823U CN 207534823 U CN207534823 U CN 207534823U CN 201721463905 U CN201721463905 U CN 201721463905U CN 207534823 U CN207534823 U CN 207534823U
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Abstract
The utility model discloses a kind of spherical security robots, spheroid support, master controller and power supply, spheroid support includes several hollow cavity volumes and the hollow pipe for hollow cavity volume to be connected into spheroid support, several hollow cavity volumes of rotatable bead are placed with inside hollow pipe and include upper and lower two cavitys, electromagnet is provided in upper cavity, lower chamber is used to accommodate bead, moving conduit of the cavity that lower chamber is communicated with hollow pipe formation as bead, master controller is used to control power supply to the logical of electromagnet, power-off opportunity, it is driven using magnet, driving direction can be controlled arbitrarily, it can be rotated to any direction.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of spherical shape security robot.
Background technology
Robot is just gradually substituting the mankind in the modern life and is playing the effect to become more and more important.In recent years, with machine
The rapid development of people's technology, the expansion of application range and the degree of automation further improve, and people put forward the function of robot
Higher requirement is gone out, in particular for various with more rational robot optimization structure and robot intelligent in various degree
Device.At the same time, the working environment that robot faces is also more and more severe, as space exploration, polar region exploration, military surveillance with
And counterterrorist activity etc..Often very complicated in these application field mesorelief environment, there are miscellaneous barrier or irrigation canals and ditches, have
When also dangerous property, this requires robot have very strong mobility and flexibility.Traditional security protection relies on manpower, expense
Greatly, and there are certain careless omissions.The security protection of many enterprises and family remains in infrared monitoring and video monitoring stage, Er Qiecun
In power failure, so traditional security protection can be subject to many limitations.And the existing robotically-driven mode of spherical structure is relatively simple,
Eccentricity is generated mainly by gravity to provide power, this structural disadvantages are cannot arbitrarily to adjust the angle of robot advance, and
Structure bulky.
Invention content
To solve the above-mentioned problems, the utility model provides a kind of spherical security robot, and the utility model design is closed
Reason by setting electromagnet and being the hollow pipe that electromagnet and small iron ball and rolling for small iron ball provide path, makes small
Iron ball can be moved along pipeline, flowed in hollow cavity volume, deviated ball centre, sphere be driven to turn since gravity generates power
Dynamic, spherical turning radius very little can easily realize that turning radius is turned close to zero original place spin.
In order to achieve the above objectives, a kind of spherical security robot described in the utility model includes spheroid support, master controller
And power supply, spheroid support includes several hollow cavity volumes and the hollow pipe for hollow cavity volume to be connected into spheroid support, empty
Several rotatable small iron balls are placed with inside heart pipeline.Hollow cavity volume includes upper and lower two cavitys, is provided in upper cavity
Electromagnet, for lower chamber for accommodating bead, lower chamber forms moving conduit of the cavity communicated as small iron ball with hollow pipe,
Master controller is used to control switching electric opportunity of the power supply to electromagnet.
Further, further include the Three Degree Of Freedom holder being arranged in spheroid support, Three Degree Of Freedom holder include pitch axis,
Azimuth axis and the axis of rolling, pitch axis include the output shaft company of cavity and the rotation axis across cavity, rotation axis one end and motor
It connects, the other end is connect by pitching axle bed with hollow cavity volume, and cavity passes through azimuth axis and semi-spherical support unicom, semi-spherical support
In be provided with the axis of rolling, semi-spherical support is stretched out in axis of rolling one end, and the one end for stretching out semi-spherical support is fixed with camera frame and connected
It connects, azimuth-drive motor is provided in cavity, the output shaft of azimuth-drive motor is vertical with rotation axis, and azimuth-drive motor is used to drive hemisphere branch
Frame carries out circular motion, and the rolling motor both perpendicular to pitch axis and azimuth axis is provided in semi-spherical support.
Further, azimuth-drive motor is connect with orientation control drive module, and motor connect with pitching drive control module, rolls
Rotating motor is connect with rolling drive control module, orientation control drive module, pitching drive control module and rolling drive control
Module is connect with main controller.
Further, position sensor on Three Degree Of Freedom holder and velocity sensor are further included and positioned at sky
Magnetometric sensor in heart cavity volume, above-mentioned all sensors are connect with master controller by conducting wire.
Further, the power supply is lithium-ions battery.
Further, be both provided with lithium-ions battery in each hollow cavity volume, every piece of lithium-ions battery with and and its
Electromagnet positioned at same hollow cavity volume connects, and all lithium-ions batteries are connect by conducting wire with master controller.
Further, lithium-ions battery is arranged in the cavity of pitch axis, the input terminal of lithium-ions battery and master control
Device connection processed, sets the output terminal of quantity identical from electromagnet quantity to be respectively connected to different electromagnet.
Further, spheroid support includes 26 hollow cavity volumes, has 8 to contain 3 hollow pipes in 26 hollow cavity volumes
Connector, 18 contain 4 hollow pipe connectors, and it is Oblique 45 Degree direction to be arranged on containing 3 hollow pipe connectors, and 9
A to be uniformly arranged on the maximum annulus of spheroid support containing 4 hollow pipe connectors, in addition 9 contain 4 hollow pipes
What connector was formed is uniformly arranged on the annulus of another radius maximum of spheroid support, and above-mentioned two annulus is mutually perpendicular to.
Compared with prior art, the utility model at least has technique effect beneficial below, and the utility model uses magnetic
Iron drives, and action is flexible, and almost without dead angle, turning radius very little can easily realize original place of the turning radius close to zero
Spin turning；Its spherical structure can freely be rotated to any direction realizes omnidirectional rolling walking, so to spherical machine
All positions are all stable for people.
Further, further include the Three Degree Of Freedom holder being arranged in spheroid support, Three Degree Of Freedom holder include pitch axis,
Azimuth axis and the axis of rolling, pitch axis include the output shaft company of cavity and the rotation axis across cavity, rotation axis one end and motor
It connects, the other end is connect by pitching axle bed with hollow cavity volume, and cavity passes through azimuth axis and semi-spherical support unicom, semi-spherical support
In be provided with the axis of rolling, semi-spherical support is stretched out in axis of rolling one end, and the one end for stretching out semi-spherical support is fixed with camera frame and connected
It connects, azimuth-drive motor is provided in cavity, the output shaft of azimuth-drive motor is vertical with rotation axis, and azimuth-drive motor is used to drive hemisphere branch
Frame carries out circular motion, and the rolling motor both perpendicular to pitch axis and azimuth axis is provided in semi-spherical support, which fills
Divide using inner space, Three Degree Of Freedom holder is installed inside housings, holder is inside and outside can to install various detection sensings
Device or photographic device, Three Degree Of Freedom holder can ensure that the position of sensor is always the direction of setting, can offset in this way
Other interfere the influence to sensor.
Further, azimuth-drive motor is connect with orientation control drive module, and motor connect with pitching drive control module, rolls
Rotating motor is connect with rolling drive control module, orientation control drive module, pitching drive control module and rolling drive control
Module is connect with main controller, and three free tripod head three degree of freedom are carried out automatically controlling by controller, easy to operate.
Further, position sensor on Three Degree Of Freedom holder and velocity sensor are further included and positioned at sky
Magnetometric sensor in heart cavity volume, above-mentioned all sensors are connect with master controller by conducting wire.Master controller receives
The signal of these sensors, and analyzed signal to control the power-up sequence of electromagnet and the opportunity of power-off, electromagnet by
Master controller by control accumulator to, power off, by the cooperation between sensor and controller, can realize target detection, mesh
Mark tracking and the function of visual servo.Since all parts of ball shape robot are all encapsulated in a spheroid support,
Internal part can obtain the reliably protecting of spherical shell.
Further, spheroid support includes 26 hollow cavity volumes, has 8 to contain 3 hollow pipes in 26 hollow cavity volumes
Connector, 18 contain 4 hollow pipe connectors, and it is Oblique 45 Degree direction to be arranged on containing 3 hollow pipe connectors, and 9
A to be uniformly arranged on the maximum annulus of spheroid support containing 4 hollow pipe connectors, in addition 9 contain 4 hollow pipes
What connector was formed is uniformly arranged on the annulus of another radius maximum of spheroid support, and above-mentioned two annulus is mutually perpendicular to.
360 degree of directions can be covered.
Further, power supply is lithium-ions battery, cost-effective, and it is extensive to adapt to environment.
Description of the drawings
Fig. 1 is the outline structural diagram of spherical security robot；
Fig. 2 is contains 4 hollow pipe connector structure diagrams；
Fig. 3 is contains 3 hollow pipe connector structure schematic diagrames；
Fig. 4 is the cradle head structure schematic diagram of spherical security robot；
In attached drawing：1-hollow cavity volume, 2-azimuth axis, 3-motor, 4-rubber bush, 5-hollow pipe, 6-pitching
Axle bed, 7-pitch axis, 71-cavity, 8-axis of rolling, 9-camera frame, 10-semi-spherical support.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and detailed description.
Referring to figs. 1 to Fig. 4, the utility model includes the spheroid support and Three Degree Of Freedom holder of tubular scaffold composition, sphere
Stent includes several nodes and the pipeline of connecting node, and structure is to be connected into hollow pipe 5 for node with hollow cavity volume 1
Spheroid support, hollow cavity volume 1 are arranged on spheroid support surface, are connected between hollow pipe 5 by rubber bush 4, hollow cavity volume 1
For cylinder, each hollow cavity volume 1 is divided to for upper and lower two cavitys, and for upper cavity for housing electromagnet, lower chamber is small for accommodating
Small iron ball, centre are not communicated with, and lower chamber forms moving conduit of the cavity communicated as bead, hollow cavity volume 1 with hollow pipe 5
And hollow pipe 5, using non-magnetic material, all joints are connected by hollow pipe 5, are placed with inside hollow pipe 5
Several rotatable beads, bead can be made of iron, cobalt and nickel etc. by the metal that magnet attracts, preferably iron material.
With reference to Fig. 2, include 1 hollow cavity volume 1 and 4 and the sky of hollow 1 unicom of cavity volume containing 4 hollow pipe connectors
5,4 hollow pipes 5 of heart pipeline are located at the sustained height position of hollow cavity volume 1 and are evenly distributed on the periphery of hollow cavity volume 1.
With reference to Fig. 3, include 1 hollow cavity volume 1 and 3 and the sky of hollow 1 unicom of cavity volume containing 3 hollow pipe connectors
5,3 hollow pipes 5 of heart pipeline are located at the sustained height position of hollow cavity volume 1 and are evenly distributed on the periphery of hollow cavity volume 1.
With reference to Fig. 4, Three Degree Of Freedom holder includes pitch axis 7, azimuth axis 2 and the axis of rolling 8, pitch axis 7 and spheroid support
One diameter coincides, and pitch axis 7 includes rotation axis and a cavity 71, and rotation axis passes through cavity 71, rotation axis one end and electricity
The output axis connection of machine 3, the other end are connect by pitching axle bed 6 with hollow cavity volume, and 71 top of cavity is provided with azimuth axis 2, side
Position axis 2 is cylinder, is connected with semi-spherical support 10 on azimuth axis 2, and semi-spherical support 10 is by azimuth axis 2 and cavity unicom, partly
The axis of rolling 8 is provided in spheroid support 10, semi-spherical support 10 is stretched out in 8 one end of the axis of rolling, and stretches out the one of semi-spherical support 10
End is fixedly connected with camera frame 9, camera is provided in camera frame 9, camera is connect with main controller.Motor 3 controls pitch axis 7
It rotates, azimuth-drive motor is additionally provided in cavity, the output shaft of azimuth-drive motor is vertical with rotation axis, and azimuth-drive motor is used to drive hemisphere
Body support frame 10 carries out circular motion, and the plane that the movement locus of semi-spherical support 10 is formed is parallel with pitch axis 7.Semi-spherical support
The rolling motor both perpendicular to pitch axis 7 and azimuth axis 2 is provided in 10, for controlling the rolling of camera frame 9, camera frame 9
The plane parallel that is formed of the movement locus plane and azimuth axis 2 and the pitch axis 7 that are formed, motor 3, azimuth-drive motor and rolling
Motor is brshless DC motor, and the driving point of Three Degree Of Freedom includes brshless DC motor and corresponding control module, accordingly
Control module is respectively the orientation control drive module being located in cavity, the pitching drive on the motor cabinet that connects with hollow cavity volume 1
Dynamic control module, the rolling drive control module in the small spherical shell body to connect with 2 top of azimuth axis.Control system includes master control
Device and sensor processed, sensor include a position sensor, a velocity sensor and magnetometric sensor, magnetometric sensor
Quantity is consistent with the quantity of node, above-mentioned all sensors, orientation control module, pitch control module and rolling control module
It is connect with master controller by conducting wire.Position sensor and velocity sensor are respectively positioned on Three Degree Of Freedom holder, magnetic force sensing
Device is located in hollow cavity volume, and master controller is located in the cavity of pitch axis 7, and master controller receives the signal of these sensors,
And signal is analyzed to control the power-up sequence of electromagnet and the opportunity of power-off, electromagnet is stored by master controller by controlling
Battery is given, is powered off, and by the cooperation between sensor and controller, can realize target detection, target following and visual servo
Function.Since all parts of ball shape robot are all encapsulated in a spherical shell, internal part can obtain spherical shell
Reliably protecting.
Accumulator is any one in the following manner with the connection mode of master controller and electromagnet：
A kind of mode is：Accumulator, the i.e. quantity of accumulator and the quantity of electromagnet are both provided in each hollow cavity volume 1
Unanimously, every piece of accumulator is located at the electromagnet of same hollow cavity volume 1 with and with it and connect, and all accumulators pass through conducting wire and master
Controller connects.
Another way is：Only there are one accumulator, which is arranged in the cavity of pitch axis 7, accumulator it is defeated
Enter end to connect with master controller, the output terminal of quantity identical from electromagnet quantity is set to be respectively connected to different electromagnet.
Preferably, the number of nodes of spheroid support is 26, and spheroid support includes several 5,26 hollow cavity volumes of hollow pipe
1st, 26 electromagnet, several small iron balls and several sleeves.There are 8 to be connected containing 3 hollow pipes in 26 hollow cavity volumes 1
Mouthful, 18 contain 4 hollow pipe connectors, and it is Oblique 45 Degree direction to be arranged on containing 3 hollow pipe connectors, and 9 contain
There are 4 hollow pipe connectors to be uniformly arranged on the maximum annulus of spheroid support, in addition 9 connect containing 4 hollow pipes
Mouth is uniformly arranged on the annulus of another radius maximum of spheroid support, and two above annulus is mutually perpendicular to, and can cover 360
Spend direction.
There are one spherical or spherical shells for spherical security robot tool, are walked with roll mode, the sphere main support
The tubular conduit being connected by 26 nodes forms, this 26 nodes are respectively positioned at the horizontal symmetrical plane of housing, vertical right
Claiming plane and 45 ° of directions, the line between the node and the centre of sphere in 45 ° of directions and the angle of horizontal symmetrical plane are 45 °,
Each node is made to ensure to contact with ground simultaneously there are three node in rotation, considers control and the optimization of weight selection 26
A node is respectively provided in each node there are one control electromagnet, the power-up sequence of electromagnet is controlled by control, carrys out control machine
The direction of motion of device people and opportunity are placed with several rotatable beads inside each section of hollow pipe 5, these small iron balls can
To be moved along pipeline, flow in hollow cavity volume 1, make spheroid support off-centring, sphere is driven to turn since gravity generates power
It is dynamic.The hoofing part of ball shape robot is the position by controlling magnet that can roll itself center of gravity of the absorption change of small iron ball to inside
It puts the torque of generation and combines extraneous frictional force and generate rolling movement.
For the shape of ball shape robot, spherical structure can maximize its internal volume, can also provide best
Power to resist internal over pressure or insufficient pressure, this characteristic is also very favorable for the application of underwater or space.It is most
The characteristics of big is that motion mode is special, and spherical shell will enable robot obtain maximum stability after unstability, and with wheel
The wheeled robot that son rolls walking is compared, and there is no the problem of " overturning ", and can realize rolling in a plurality of directions；With step
Row or climbing robot are compared, and have the characteristics that movement velocity is fast, bearing capacity is strong, and are had and driven only by gravity, only
The movement for controlling the power-up sequence of each magnet that can realize ball shape robot is needed, it is simple excellent with driving less, controlling
Gesture.In addition, ball shape robot modern design is unique, action is flexible, and almost without dead angle, turning radius very little can be easily
Realize that turning radius is turned close to zero original place spin；Its spherical structure can freely be realized comprehensive to any direction rotation
Walking is rolled, so position all for ball shape robot is all stable；Circumstances not known is performed in ball shape robot to visit
It surveys etc. during tasks, when colliding with barrier or other motions, spherical structure has that stronger self is extensive
Reactivation power, spherical shell also allow the robot to roll across coarse landform easily.Simultaneously as the resistance of balls tumble point contact
Power is opposite to be slided or the resistance of motion of the line of wheeled devices contact is much smaller, thus ball shape robot also have sport efficiency it is high,
The advantages of energy expenditure is small.
Claims (9)
1. a kind of spherical shape security robot, which is characterized in that including spheroid support, master controller and power supply, spheroid support includes
Several hollow cavity volumes (1) and the hollow pipe (5) for hollow cavity volume (1) to be connected into spheroid support, hollow pipe (5) are interior
Portion is placed with several rotatable beads, and bead can be attracted by electromagnet, and hollow cavity volume (1) includes upper and lower two cavitys,
Electromagnet is provided in upper cavity, for lower chamber for accommodating bead, lower chamber forms the cavity conduct communicated with hollow pipe (5)
The moving conduit of bead.
2. a kind of spherical security robot according to claim 1, which is characterized in that further include to control power supply to electricity
The master controller on the switching of magnet electric opportunity and the Three Degree Of Freedom holder being arranged in spheroid support, Three Degree Of Freedom holder packet
Pitch axis (7), azimuth axis (2) and the axis of rolling (8) are included, pitch axis (7) includes cavity (71) and the rotation across cavity (71)
Axis, rotation axis one end and the output axis connection of motor (3), the other end are connect by pitching axle bed (6) with hollow cavity volume (1), empty
Chamber (71) is provided with the axis of rolling (8) by azimuth axis (2) and semi-spherical support (10) unicom in semi-spherical support (10), rolls
Semi-spherical support (10) is stretched out in axis (8) one end, and the one end for stretching out semi-spherical support (10) is fixedly connected with camera frame (9), empty
Azimuth-drive motor is provided in chamber (71), the output shaft of azimuth-drive motor is vertical with rotation axis, and azimuth-drive motor is used to drive hemisphere branch
Frame (10) carries out circular motion, and the rolling both perpendicular to pitch axis (7) and azimuth axis (2) is provided in semi-spherical support (10)
Motor.
3. a kind of spherical security robot according to claim 2, which is characterized in that azimuth-drive motor and orientation drive module
Connection, motor (3) is connect with pitching drive control module, rolling motor is connect with rolling drive control module, and orientation control is driven
Dynamic model block, pitching drive control module and rolling drive control module are connect with main controller.
4. a kind of spherical security robot according to claim 2, which is characterized in that further include positioned at Three Degree Of Freedom holder
On position sensor and velocity sensor and the magnetometric sensor in hollow cavity volume (1), above-mentioned all sensors
It is connect with master controller by conducting wire.
5. a kind of spherical security robot according to claim 2, which is characterized in that the power supply is lithium ion electric power storage
Pond.
6. a kind of spherical security robot according to claim 5, which is characterized in that be all provided in each hollow cavity volume (1)
Lithium-ions battery is equipped with, every piece of lithium-ions battery is located at the electromagnet of same hollow cavity volume (1) with and with it and connect, and owns
Lithium-ions battery connect by conducting wire with master controller.
7. a kind of spherical security robot according to claim 5, which is characterized in that lithium-ions battery is arranged on pitching
In the cavity (71) of axis (7), the input terminal of lithium-ions battery is connect with master controller, sets quantity identical with electromagnet quantity
Output terminal be respectively connected to different electromagnet.
8. a kind of spherical security robot according to claim 1, which is characterized in that spheroid support includes 26 hollow appearances
Chamber (1) has 8 in 26 hollow cavity volumes (1) containing 3 hollow pipe connectors, and 18 contain 4 hollow pipe connectors,
It is Oblique 45 Degree direction to be arranged on containing 3 hollow pipe connectors, and 9 are uniformly arranged on containing 4 hollow pipe connectors
On the maximum annulus of spheroid support, in addition 9 are uniformly arranged on the another of spheroid support containing what 4 hollow pipe connectors were formed
On the annulus of one radius maximum, above-mentioned two annulus is mutually perpendicular to.
9. a kind of spherical security robot according to claim 1, which is characterized in that motor (3), azimuth-drive motor and rolling
Motor is brshless DC motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721463905.8U CN207534823U (en) | 2017-11-06 | 2017-11-06 | A kind of spherical shape security robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721463905.8U CN207534823U (en) | 2017-11-06 | 2017-11-06 | A kind of spherical shape security robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207534823U true CN207534823U (en) | 2018-06-26 |
Family
ID=62612410
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721463905.8U Expired - Fee Related CN207534823U (en) | 2017-11-06 | 2017-11-06 | A kind of spherical shape security robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN207534823U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107891416A (en) * | 2017-11-06 | 2018-04-10 | 长安大学 | A kind of electromagnetic drive type ball shape robot and its control method |
| CN113733059A (en) * | 2021-09-26 | 2021-12-03 | 桂林理工大学 | Parallel metamorphic spherical robot with less degrees of freedom |
| CN114987639A (en) * | 2022-04-28 | 2022-09-02 | 上海工程技术大学 | Multi-configuration reversible rolling mechanism |
-
2017
- 2017-11-06 CN CN201721463905.8U patent/CN207534823U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107891416A (en) * | 2017-11-06 | 2018-04-10 | 长安大学 | A kind of electromagnetic drive type ball shape robot and its control method |
| CN107891416B (en) * | 2017-11-06 | 2023-12-12 | 长安大学 | Electromagnetic driving type spherical robot and control method thereof |
| CN113733059A (en) * | 2021-09-26 | 2021-12-03 | 桂林理工大学 | Parallel metamorphic spherical robot with less degrees of freedom |
| CN113733059B (en) * | 2021-09-26 | 2023-06-23 | 桂林理工大学 | Less-degree-of-freedom parallel metamorphic spherical robot |
| CN114987639A (en) * | 2022-04-28 | 2022-09-02 | 上海工程技术大学 | Multi-configuration reversible rolling mechanism |
| CN114987639B (en) * | 2022-04-28 | 2024-01-26 | 上海工程技术大学 | Multi-configuration reversible rolling mechanism |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180626 Termination date: 20181106 |