CN209037698U - One kind three drives mono-pendulum type spherical rolling robot - Google Patents
One kind three drives mono-pendulum type spherical rolling robot Download PDFInfo
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- CN209037698U CN209037698U CN201821902309.XU CN201821902309U CN209037698U CN 209037698 U CN209037698 U CN 209037698U CN 201821902309 U CN201821902309 U CN 201821902309U CN 209037698 U CN209037698 U CN 209037698U
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Abstract
The utility model relates to mobile robot technology fields, provide one kind three and drive mono-pendulum type spherical rolling robot, comprising: spherical shell and the circular orbit being arranged in spherical shell, rotating unit and swing unit；The circular orbit is fixedly connected with spherical shell inner surface by interference fit, and the circular orbit inner surface is toothed around；The rotating unit includes: turning support, box shaft, orbit motor, guide type shoe, tooth sector and rail wheel；The swing unit includes: short axle motor, long spindle motor, drive bevel gear, driven wheel of differential, swing rod, pendulum shaft and single pendulum.The utility model three drives the motion mode of mono-pendulum type spherical rolling robot more flexible, improves the fault-tolerant ability and reliability of operation of robot.
Description
Technical field
The utility model relates to mobile robot technology fields, more particularly to one kind three to drive mono-pendulum type spherical rolling machine
People.
Background technique
People may need to seek some narrow, rugged hole environment in life, as size is smaller
Pipeline etc..In the environment of these mankind are difficult to enter, it is often necessary to be worked using mobile robot.Mobile robot
Staff can be replaced to enter the pipeline environment of environmental hazard and complexity, execute the tasks such as search and detection, mobile robot
Detection efficient can be effectively improved.
Spherical rolling robot is one kind of mobile robot, is a kind of by the installation of driving mechanism, sensor and controller
In an intracorporal system of spherical shell.Spherical rolling robot can realize omnibearing movable, and with ground single-contact, resistance
Small, capacity usage ratio is high, and the energy of carrying is long using the time；Meanwhile bearing capacity with higher, certain altitude can be crossed
Obstacle, the slope for climbing up certain angle.
Currently, pendulum-type driving spherical rolling robot mostly uses Dual-motors Driving mode, once certain motor breaks down,
Robot will be unable to work, influence its normal use, and fault-tolerant ability is poor, and operational reliability is poor；Meanwhile rolling speed and turn
It is poor to ability, cause the kinematic dexterity of robot poor.
Utility model content
The utility model mainly solves that existing spherical rolling robot kinematic dexterity is poor, system operation reliability is poor
Etc. technical problems, propose that one kind three drives mono-pendulum type spherical rolling robot, movement and motion mode are more flexible, and lead to
It crosses configuration design and improves system survivability, improve robot system reliability of operation.
The utility model provides one kind three and drives mono-pendulum type spherical rolling robot, comprising: spherical shell (3) and setting are in ball
Circular orbit (9), rotating unit and swing unit in shell (3)；
The circular orbit (9) is fixedly connected with spherical shell (3) inner surface by interference fit, in the circular orbit (9)
Surface is toothed around；
The rotating unit includes: turning support (1), box shaft (10), orbit motor (2), guide type shoe (7), turns
To gear (12) and rail wheel (14)；Wherein, described box shaft (10) one end and turning support (1) rotation connection, the other end
It is rotatablely connected with guide type shoe (7)；Tooth sector (12) are set on the turning support (1), the tooth sector (12) and ring
The gear teeth of shape track (9) are meshed, and turning support (1) side is equipped with orbit motor (2), the output shaft of orbit motor (2)
It is connected with tooth sector (12)；Rail wheel (14), the track are respectively equipped on the turning support (1) and guide type shoe (7)
(14) are taken turns to roll in circular orbit (9) two sides rim section；
The swing unit include: short axle motor (4), long spindle motor (8), drive bevel gear (5), driven wheel of differential (6),
Swing rod (13), pendulum shaft (15) and single pendulum (11)；Wherein, the short axle motor (4), long spindle motor (8) are separately positioned on box
In shaft (10), the output shaft of the long spindle motor (8) is connect with guide type shoe (7) by flat key；The short axle motor (4)
Output shaft is connected with drive bevel gear (5) by flat key, and the drive bevel gear (5) is engaged with driven wheel of differential (6)；It is described from
Dynamic bevel gear (6) is connect with pendulum shaft (15), and pendulum shaft (15) is connect with swing rod (13), swing rod (13) bottom end and single pendulum
(11) it connects.
Further, the box shaft (10) is connect by bearing and bearing block with turning support (1).
Further, the output shaft with tooth sector (12) of the orbit motor (2) are connected by flat key.
Further, the driven wheel of differential (6) is connect by flat key with pendulum shaft (15), pendulum shaft (15) and swing rod
(13) it is fastenedly connected by jackscrew, swing rod (13) bottom end is connect with single pendulum (11) by screw threads for fastening.
A kind of three drivings mono-pendulum type spherical rolling robot provided by the utility model is spherical with existing pendulum-type double drive
Rolling robot is compared, and the utility model uses three driving methods, and not only motion mode is more flexible, and is set by configuration
Meter makes system have fault-tolerant ability.When one of orbit motor and short axle motor break down, remaining two driving motor is used
It still is able to realize the omnidirectional rolling of robot, significantly improves robot system reliability of operation.Meanwhile the utility model
Spherical rolling robot box shaft size and quality it is smaller, and the length for the quality and swing rod put again is larger.With double pendulum
Formula is put structure again and is compared, and the space utilization rate that spherical crown shape mono-pendulum type puts structure again is more preferable, therefore the three driving balls of the utility model
The heavy pendulum mass of shape rolling robot is higher with respect to the accounting of overall quality, and the length of swing rod is bigger, is capable of providing bigger inclined
Mental and physical efforts square and moment of inertia make robot have higher rolling speed and more flexible steering capability.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that the utility model three drives mono-pendulum type spherical rolling robot；
Fig. 2 is the schematic diagram of internal structure one that the utility model three drives mono-pendulum type spherical rolling robot；
Fig. 3 is the schematic diagram of internal structure two that the utility model three drives mono-pendulum type spherical rolling robot.
Detailed description of the invention: 1, turning support；2, orbit motor；3, spherical shell；4, short axle motor；5, drive bevel gear；6, driven
Bevel gear；7, guide type shoe；8, long spindle motor；9, circular orbit；10, box shaft；11, single pendulum；12, tooth sector；13, it puts
Bar；14, rail wheel；15, pendulum shaft.
Specific embodiment
The technical issues of to solve the utility model, the technical solution of use and the technical effect that reaches are clearer,
The utility model is described in further detail with reference to the accompanying drawings and examples.It is understood that described herein
Specific embodiment is used only for explaining the utility model, rather than the restriction to the utility model.It also should be noted that being
Convenient for description, part relevant to the utility model is illustrated only rather than full content in attached drawing.
Fig. 1 is the structural schematic diagram that the utility model three drives mono-pendulum type spherical rolling robot.Fig. 2 is the utility model
The schematic diagram of internal structure one of three driving mono-pendulum type spherical rolling robots.Fig. 3 is that the utility model three drives mono-pendulum type spherical
The schematic diagram of internal structure two of rolling robot.As shown in Figure 1 to Figure 3, three drivings single pendulum provided by the embodiment of the utility model
Formula spherical rolling robot, comprising: spherical shell 3 and the circular orbit 9, rotating unit and the swing unit that are arranged in spherical shell 3.
The circular orbit 9 is fixedly connected with 3 inner surface of spherical shell by interference fit, and 9 inner surface of circular orbit is set
There are the gear teeth.When setting, keep 9 face of circular orbit vertical with 3 equatorial plane of spherical shell.
The rotating unit includes: turning support 1, box shaft 10, orbit motor 2, guide type shoe 7, tooth sector 12
With rail wheel 14；Wherein, described 10 one end of box shaft is rotatablely connected by bearing and bearing block and turning support 1, the other end
It is rotatablely connected by the output shaft and guide type shoe 7 of the long spindle motor 8 of swing unit, the output shaft of long spindle motor 8 passes through flat key
It is connect with guide type shoe 7；Tooth sector 12, the gear teeth of the tooth sector 12 and circular orbit 9 are set on the turning support 1
It is meshed, 1 side of turning support is equipped with orbit motor 2, and output shaft and the tooth sector 12 of orbit motor 2 pass through flat key phase
Even；Rail wheel 14 is respectively equipped on the turning support 1 and guide type shoe 7, the rail wheel 14 is in (9) two side wheel of circular orbit
Edge point rolls.
The swing unit include: short axle motor 4, long spindle motor 8, drive bevel gear 5, driven wheel of differential 6, swing rod 13,
Pendulum shaft 15 and single pendulum 11；Wherein, the short axle motor 4, long spindle motor 8 are separately positioned in box shaft 10, the long axis
The output shaft of motor 8 is connect by flat key with guide type shoe 7；The output shaft of the short axle motor 4 is connected with actively by flat key
Bevel gear 5, the drive bevel gear 5 are engaged with driven wheel of differential 6；The driven wheel of differential 6 is connected by flat key and pendulum shaft 15
It connects, pendulum shaft 15 is fastenedly connected with swing rod 13 by jackscrew, and 13 bottom end of swing rod is connect with single pendulum 11 by screw threads for fastening.Its
In, the shaft of short axle motor 4 and long spindle motor 8 is respectively short axle and long axis.In the present embodiment, drive bevel gear 5 can be changed
Ratio with driven wheel of differential 6 adjusts driving moment to adjust transmission ratio.
The working principle of the driving mono-pendulum type spherical rolling robot of the utility model three: orbit motor 2 can drive box
Shaft 10 and single pendulum 11 relative to spherical shell 3 around by the centre of sphere and the axis rotation vertical with orbital plane, thus before changing robot
Into direction, the pivot stud control of robot is realized.Long spindle motor 8 can drive box shaft 10 to turn with respect to spherical shell 3 around long axis
It is dynamic, to drive single pendulum 11 to swing forward or backward indirectly, move forward or back robot.Short axle motor 4 passes through initiative taper
Gear 5 and driven wheel of differential 6 drive single pendulum 11 to rotate relative to box shaft 10 around short axle, swing single pendulum to the left or to the right, from
And turn to robot to the left or to the right in the rolling.
The spherical rolling robot of the present embodiment use three driving methods, the robot not only move it is more flexible, and
And System Fault Tolerance is realized by configuration design.If one of orbit motor 2 and short axle motor 4 break down, remaining is used
Two driving motors still are able to realize the omnidirectional rolling of robot.I.e. when long spindle motor 8 is electric with short axle motor 4 or track respectively
When machine 2 is used cooperatively, two different double drive modes are may be implemented in robot system.In both different double drive modes
Under, which can omnidirectional rolling on the ground.In addition, when double drives using long spindle motor 8+ short axle motor 4
When dynamic model formula, the effect of long spindle motor 8 and short axle motor 4 be can be interchanged, i.e., short axle motor 4 drives robot to move forward or back,
Long spindle motor 8 realizes left and right turn when robot rolls.But since the rotary inertia of the whole opposite short axle of robot wants larger,
Bigger driving moment is needed when therefore driving robot to move forward or back using short axle motor 4, the present embodiment makes active conical tooth
Wheel 5 is pinion gear, and driven wheel of differential 6 is gear wheel, improves driving moment by gear drive.
Compared with existing pendulum-type double drive spherical rolling robot, spherical rolling robot provided by the utility model is not
Only movement and motion mode are more flexible, and so that system is had fault-tolerant ability by configuration design.When orbit motor and short axle
When one of motor breaks down, it still is able to realize the omnidirectional rolling of robot using remaining two driving motor, significantly improves
Robot system reliability of operation.Meanwhile the size and quality of the ball shape robot box shaft of the utility model are smaller,
And the length for the quality and swing rod put again is larger.Compared with double pendulum type puts structure again, spherical crown shape mono-pendulum type puts the space of structure again
Utilization rate is more preferable, therefore the heavy pendulum mass of the three-drive spherical robot of the utility model is higher with respect to the accounting of overall quality,
The length of swing rod is bigger, is capable of providing bigger eccentric moment and moment of inertia, make robot have higher rolling speed and
More flexible steering capability.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is modified the technical solutions described in the foregoing embodiments, or to some or all of the technical features
It is equivalently replaced, the scope of the technical solutions of the embodiments of the utility model that it does not separate the essence of the corresponding technical solution.
Claims (4)
1. one kind three drives mono-pendulum type spherical rolling robot characterized by comprising spherical shell (3) and setting are in spherical shell (3)
Circular orbit (9), rotating unit and swing unit；
The circular orbit (9) is fixedly connected with spherical shell (3) inner surface by interference fit, circular orbit (9) inner surface
It is toothed around；
The rotating unit includes: turning support (1), box shaft (10), orbit motor (2), guide type shoe (7), turns to tooth
Take turns (12) and rail wheel (14)；Wherein, it described box shaft (10) one end and turning support (1) rotation connection, the other end and leads
It is rotatablely connected to support (7)；Tooth sector (12) are set on the turning support (1), the tooth sector (12) and circular rails
The gear teeth in road (9) are meshed, turning support (1) side be equipped with orbit motor (2), the output shaft of orbit motor (2) with turn
It is connected to gear (12)；Rail wheel (14), the rail wheel are respectively equipped on the turning support (1) and guide type shoe (7)
(14) it is rolled in circular orbit (9) two sides rim section；
The swing unit includes: short axle motor (4), long spindle motor (8), drive bevel gear (5), driven wheel of differential (6), swing rod
(13), pendulum shaft (15) and single pendulum (11)；Wherein, the short axle motor (4), long spindle motor (8) are separately positioned on box shaft
(10) in, the output shaft of the long spindle motor (8) is connect with guide type shoe (7) by flat key；The output of the short axle motor (4)
Axis is connected with drive bevel gear (5) by flat key, and the drive bevel gear (5) is engaged with driven wheel of differential (6)；It is described from mantle
Gear (6) is connect with pendulum shaft (15), and pendulum shaft (15) is connect with swing rod (13), and swing rod (13) bottom end and single pendulum (11) are even
It connects.
2. three drivings mono-pendulum type spherical rolling robot according to claim 1, which is characterized in that the box shaft
(10) it is connect by bearing and bearing block with turning support (1).
3. three drivings mono-pendulum type spherical rolling robot according to claim 1, which is characterized in that the orbit motor
(2) output shaft is connected with tooth sector (12) by flat key.
4. three drivings mono-pendulum type spherical rolling robot according to claim 1, which is characterized in that the driven wheel of differential
(6) it is connect by flat key with pendulum shaft (15), pendulum shaft (15) is fastenedly connected with swing rod (13) by jackscrew, the swing rod (13)
Bottom end is connect with single pendulum (11) by screw threads for fastening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821902309.XU CN209037698U (en) | 2018-11-19 | 2018-11-19 | One kind three drives mono-pendulum type spherical rolling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821902309.XU CN209037698U (en) | 2018-11-19 | 2018-11-19 | One kind three drives mono-pendulum type spherical rolling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209037698U true CN209037698U (en) | 2019-06-28 |
Family
ID=67042650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821902309.XU Expired - Fee Related CN209037698U (en) | 2018-11-19 | 2018-11-19 | One kind three drives mono-pendulum type spherical rolling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209037698U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110481664A (en) * | 2019-08-28 | 2019-11-22 | 李文博 | It is a kind of spherical with robot |
| CN110552996A (en) * | 2019-09-11 | 2019-12-10 | 上海电气风电集团股份有限公司 | guide rail type mass damper |
-
2018
- 2018-11-19 CN CN201821902309.XU patent/CN209037698U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110481664A (en) * | 2019-08-28 | 2019-11-22 | 李文博 | It is a kind of spherical with robot |
| CN110552996A (en) * | 2019-09-11 | 2019-12-10 | 上海电气风电集团股份有限公司 | guide rail type mass damper |
| CN110552996B (en) * | 2019-09-11 | 2021-01-05 | 上海电气风电集团股份有限公司 | Guide rail type mass damper |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20190628 Termination date: 20211119 |