CN210414519U

CN210414519U - Standing ball type robot

Info

Publication number: CN210414519U
Application number: CN201921079290.8U
Authority: CN
Inventors: 林世远; 柯文德
Original assignee: Southern University of Science and Technology
Current assignee: Southern University of Science and Technology
Priority date: 2019-07-11
Filing date: 2019-07-11
Publication date: 2020-04-28
Anticipated expiration: 2029-07-11

Abstract

The utility model discloses a standing ball type robot, which comprises an aluminum frame, a balance mechanism, a first layer plate, a second layer plate, a third layer plate, a chassis, a driving mechanism, a driving ball and a limiting mechanism, wherein the aluminum frame is arranged in a cuboid shape, the balance mechanism is fixedly arranged at the top of the aluminum frame, the first layer plate, the second layer plate and the third layer plate are fixedly arranged in the aluminum frame, the first layer plate, the second layer plate and the third layer plate are in consistent specification and are arranged at equal intervals, the chassis is arranged at one end of the aluminum frame far away from the balance mechanism, the three driving mechanisms are in consistent specification and are distributed at equal intervals with the center of the upper end face of the chassis, the standing ball robot researched by the text is a robot which is similar to a plane inverted pendulum and moves by driving the rotation of the supporting ball at the bottom, only has one contact point with the ground, can move in any direction and turns or rotates in place by any radius, and the whole fuselage is long, and the trafficability characteristic in narrow space is better, is fit for using in indoor environment.

Description

Standing ball type robot

Technical Field

The utility model belongs to the technical field of the robot, specifically be a ball formula robot stands.

Background

The mainstream mobile robots can be classified into: wheeled, tracked, foot-type and compound, different driving modes all have their applicable environment and occasion. The wheel type is suitable for a flat road surface and can move at high speed; the crawler type is suitable for soft and rugged road surfaces and can span short and small obstacles; the foot type application range is the widest, but the moving speed is slow, and the balance is easy to lose; the composite type is a combination body in various modes, and the pavement adaptability is strong but the structure is more complex.

There are mainly two types of mobile robots, wheeled and legged, for office scenarios and human interaction. Wheeled robot simple structure easily realizes, but the chassis is usually very big, and the narrow and small region trafficability nature between the office cassette is very poor, needs the ground spacious and keeps clean and tidy. The foot type robot has good trafficability, and people can reach places where people can walk, but the technology is still not mature at the present stage, the moving speed is low, the load capacity is low, and a standing ball type robot needs to be designed.

The utility model has the following contents:

the utility model aims at providing a ball formula of standing robot in order to solve above-mentioned problem, solved the problem mentioned in the background art.

In order to solve the above problem, the utility model provides a technical scheme:

a standing ball type robot comprises an aluminum frame, a balance mechanism, a first layer plate, a second layer plate, a third layer plate, a chassis, a driving mechanism, a driving ball and a limiting mechanism, the aluminum frame is arranged in a cuboid shape, the top of the aluminum frame is fixedly provided with a balance mechanism, a first layer plate, a second layer plate and a third layer plate are fixedly arranged in the aluminum frame, the first layer plate, the second layer plate and the third layer plate have the same specification and are arranged at equal distance from each other, a chassis is arranged at one end of the aluminum frame far away from the balance mechanism, three driving mechanisms are fixedly arranged on the periphery of the chassis, the three driving mechanisms have consistent specifications and are distributed in a circumferential manner at equal intervals with respect to the center of the upper end face of the chassis, the aluminum frame is characterized in that one end, far away from the aluminum frame, of the chassis is provided with a driving ball, the lower end face of the chassis is fixedly provided with three limiting mechanisms, and the three limiting mechanisms are consistent in specification and are distributed in a circumferential mode with a distance from each other relative to the center of the lower end face of the chassis.

Preferably, the balance mechanism comprises a fixing piece, two disc motors, a coupler, a flywheel and a counterweight piece, wherein the fixing piece is fixedly installed at the upper end of the aluminum frame, the two disc motors are arranged below the fixing piece and are distributed at 90 degrees, the two disc motors are fixedly installed at the output ends of the disc motors, the coupler and the two outer rings of the coupler are fixedly installed with the flywheel, the counterweight piece is fixedly installed at the lower end of the fixing piece, the counterweight piece is provided with two counterweight pieces, and the counterweight pieces are distributed with the two disc motors respectively.

Preferably, a first driver is arranged right above the first floor plate, and a first vibration reduction frame is fixedly installed between the first driver and the first floor plate.

Preferably, a controller is fixedly installed at the center of the upper end surface of the second layer plate.

Preferably, a second driver is fixedly mounted on the lower end face of the third layer plate, and a gyroscope is fixedly mounted on the upper end face of the third layer plate.

Preferably, four mounting rods are vertically arranged between the chassis and the aluminum frame, a negative is arranged right above the chassis, the upper end face of the negative and the aluminum frame are fixedly mounted at one ends, far away from the chassis, of the four mounting rods, batteries are fixedly mounted at the lower end face of the negative, the mounting rods are consistent in specification and distributed in a rectangular array mode, a second vibration damping frame is fixedly mounted between one end, close to the chassis, of the four mounting rods) and the chassis, and four corners, far away from one end, far away from the chassis, of the four mounting rods and the lower end face of the negative are fixedly mounted.

Preferably, the three driving mechanisms comprise direct current motors, motor connecting pieces and omnidirectional wheels, the direct current motors are consistent in specification and are distributed in a circumferential manner at equal intervals around the circle center of the upper end face of the chassis, the three direct current motors and the chassis are inclined at an angle of 60 degrees, the motor connecting pieces are fixedly sleeved on the end portions, close to the output ends, of the three direct current motors, one ends, far away from the direct current motors, of the three motor connecting pieces are fixedly installed on the chassis, the output ends of the three direct current motors are fixedly connected with the omnidirectional wheels, the three omnidirectional wheels are consistent in specification, and the outer ring walls are arranged in a tangent manner with the upper spherical surface of the driving ball.

Preferably, it is three stop gear all includes spacing arc pole, and is three the locating part is all installed in the lower tip embedding of spacing arc pole centripetal one side, and is three the locating part centripetal one side all is embedded with a universal ball, and is three the sphere of universal ball all is tangent with drive ball lower part sphere.

The utility model has the advantages that: the utility model relates to a ball formula of standing robot, the ball machine robot of standing that this paper studied is a similar plane handstand pendulum, carries out the robot that removes through the support ball rotation of drive bottom, and only one contact point with ground can remove by the arbitrary direction to arbitrary radius turn or original place rotation, and whole fuselage is elongated, and trafficability characteristic in narrow space is better, is fit for using at indoor environment.

Description of the drawings:

for ease of illustration, the invention is described in detail by the following detailed description and accompanying drawings.

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural view of a limiting mechanism of the present invention;

fig. 3 is a schematic view of a limiting member structure of the present invention;

fig. 4 is a schematic structural diagram of the control module of the present invention.

In the figure: 1. an aluminum frame; 2. a balancing mechanism; 3. a first laminate; 4. a second laminate; 5. a third laminate; 6. A chassis; 7. a drive mechanism; 8. a drive ball; 9. a limiting mechanism; 21. a fixing sheet; 22. a disc motor; 23. a coupling; 24. a flywheel; 25. a weight plate; 31. a first vibration damping mount; 32. a first driver; 41. A controller; 51. a second driver; 52. a gyroscope; 61. mounting a rod; 62. a negative film; 63. a battery; 64. a second vibration damping mount; 71. a direct current motor; 72. connecting a motor sheet; 73. an omni wheel; 91. a limiting arc-shaped rod; 92. a limiting member; 93. a universal ball.

The specific implementation mode is as follows:

as shown in fig. 1 to 4, the following technical solutions are adopted in the present embodiment:

a standing ball type robot comprises an aluminum frame 1, a balance mechanism 2, a first layer plate 3, a second layer plate 4, a third layer plate 5, a chassis 6, driving mechanisms 7, driving balls 8 and limiting mechanisms 9, wherein the aluminum frame 1 is arranged in a cuboid shape, the balance mechanism 2 is fixedly mounted at the top of the aluminum frame 1, the first layer plate 3, the second layer plate 4 and the third layer plate 5 are fixedly mounted in the aluminum frame 1, the first layer plate 3, the second layer plate 4 and the third layer plate 5 are in the same specification and are arranged at equal intervals, the chassis 6 is arranged at one end of the aluminum frame 1 far away from the balance mechanism 2, the three driving mechanisms 7 are fixedly mounted at the periphery of the chassis 6, the three driving mechanisms 7 are in the same specification and are distributed at equal intervals in a circumferential manner relative to the center of the upper end face of the chassis 6, the driving balls 8 are arranged at one end of the chassis 6 far away from the aluminum frame 1, the three limiting mechanisms 9 are fixedly mounted at the, the three limiting mechanisms 9 are consistent in specification and are distributed in a circumferential manner at a distance from each other relative to the center of the lower end face of the chassis 6.

Wherein, balance mechanism 2 includes stationary blade 21, disc motor 22, shaft coupling 23, flywheel 24 and counterweight plate 25, stationary blade 21 fixed mounting is in 1 upper end of aluminium frame, stationary blade 21 below is provided with two disc motor 22, two disc motor 22 is 90 degrees distributions, two the equal fixed mounting of disc motor 22 output has shaft coupling 23, two the equal fixed mounting of output outer ring of shaft coupling 23 has flywheel 24, stationary blade 21 lower extreme fixed mounting has counterweight plate 25, counterweight plate 25 is provided with two, and two counterweight plate 25 respectively with two disc motor 22 relative distributions.

A first driver 32 is arranged right above the first layer plate 3, and a first vibration damping frame 31 is fixedly installed between the first driver 32 and the first layer plate 3.

Wherein, a controller 41 is fixedly arranged at the center of the upper end surface of the second layer plate 4.

A second driver 51 is fixedly mounted on the lower end surface of the third plate 5, and a gyroscope 52 is fixedly mounted on the upper end surface of the third plate 5.

Wherein, be provided with four installation poles 61 between chassis 6 and the aluminium frame 1 perpendicularly, be provided with film 62 directly over the chassis 6, film 62 up end and 1 lower extreme fixed mounting of aluminium frame, film 62 fixed mounting keeps away from 6 one end on chassis at four installation poles 61, end fixed mounting has battery 63, four under film 62 end fixed mounting the installation pole 61 specification is unanimous and is the rectangular array distribution each other, four fixed mounting has second damping frame 64, four between installation pole 61 is close to 6 one end on chassis and chassis 6 four corner fixed mounting of chassis 6 one end and film 62 lower extreme face are kept away from to installation pole 61.

The three driving mechanisms 7 respectively comprise direct current motors 71, motor connecting pieces 72 and omnidirectional wheels 73, the direct current motors 71 are in the same specification and are distributed in a circumferential manner at equal intervals relative to the circle center of the upper end face of the chassis 6, the three direct current motors 71 and the chassis 6 are in 60-degree inclination angles, the motor connecting pieces 72 are fixedly sleeved on the end portions, close to the output ends, of the three direct current motors 71, one ends, far away from the direct current motors 71, of the three motor connecting pieces 72 are fixedly installed on the chassis 6, the output ends of the three direct current motors 71 are respectively and fixedly connected with the omnidirectional wheels 73, the three omnidirectional wheels 73 are in the same specification, and the outer ring walls are respectively arranged in a tangent manner with the upper spherical surface of the.

Wherein, it is three stop gear 9 all includes spacing arc pole 91, and is three spacing arc pole 91 all imbeds to install locating part 92 to the lower tip of centripetal one side, and is three locating part 92 centripetal one side all is embedded with a universal ball 93, and is three the sphere of universal ball 93 all is tangent with 8 lower part spheres of drive ball.

The utility model discloses a user state does: the chassis 6 is made of a whole aluminum plate through cutting and punching, the chassis is connected with a main body part of a machine body by 4 aluminum profiles, a motor connecting plate 72 is made of an aluminum block through cutting, the aluminum block is fixed on the chassis 6 through bolts, a direct current motor 71 fixing ring is sleeved in the motor connecting plate 72, an output shaft of the direct current motor 71 is directly connected with a coupler of an omnidirectional wheel 73, the omnidirectional wheel 73 and a driving ball 8 have 3 contact points, the weight of the whole robot is borne, a first vibration damping frame 31 and a second vibration damping frame 64 are IMU vibration damping frames, the design of the vibration damping frames refers to a vibration damping frame for unmanned aerial vehicle flight control, 2 aluminum plates are connected through rubber vibration damping balls, the distance between the joints of 4 lower aluminum plates is 60mm, the distance between the joints of upper aluminum plates is 54mm, so that the rubber vibration damping balls are in a stretching state, the phenomenon that the inclination angle is abnormal due to left-right shaking is avoided, each small wheel can rotate freely, so that the driving ball 8 at the bottom can rotate around any axis under control, including autorotation around a vertical axis, in order to increase friction force, each small wheel is subjected to sand blasting treatment, the aluminum frame 1 takes 2020 aluminum profile as a supporting framework, the aluminum profile is low in price, light in weight and capable of meeting the requirements of structural strength, each surface of the aluminum profile is provided with a chute, a laminate can be installed at any height, the height of the center of gravity of the robot is convenient to adjust, other equipment is convenient to install after the laminate is installed, the laminate is made of aluminum sheets through cutting and punching, certain hollowing treatment is carried out to reduce the weight, equipment such as a driver and a controller 41 is installed on the laminate through screws, because of the existence of the disc motor 22 and the flywheel 24, the center of gravity of the body deviates from a central axis, the decoupling design controller is not beneficial, and a balancing weight, the center of gravity is on the central axis of the fuselage as much as possible, and the counterweight method is to add a counterweight plate 25 to make the center of gravity return to the central axis. The hollow metal ball pouring manufacture is used for the driving ball 8, the power is supplied by the 24V battery 63, the main control board is provided with low voltage of 9V by the voltage reduction module, the IMU sensor takes 5V power supply from the main control board, the driver is directly supplied with power by the battery 63, the IMU sensor and the main control board are communicated through a serial port, the driver and the main control board are communicated through a CAN bus and a CANopen protocol, the main control board collects sensor and driver feedback information post-processing generation instruction sending, the driver moves the driving motor at a specified speed after receiving the instruction, the bottom direct current motor 71 drives the omnidirectional wheel 73 to control the movement of the driving ball 8, and the disc motor 22 drives the flywheel 24 to assist balance.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a ball formula robot stands, its characterized in that includes aluminium frame (1), balance mechanism (2), first plywood (3), second plywood (4), third plywood (5), chassis (6), actuating mechanism (7), drive ball (8) and stop gear (9), aluminium frame (1) is the cuboid form setting, aluminium frame (1) top fixed mounting has balance mechanism (2), fixed mounting has first plywood (3), second plywood (4) and third plywood (5) in aluminium frame (1), first plywood (3), second plywood (4) and third plywood (5) specification are unanimous and equidistance setting each other, balance mechanism (2) one end is kept away from in aluminium frame (1) is provided with chassis (6), chassis (6) fixed mounting all around has three actuating mechanism (7), three actuating mechanism (7) specification is unanimous and is the circle of equidistance about chassis (6) up end center each other actuating mechanism (7) specification is unanimous and is the equidistance between each other The aluminum frame is characterized in that the aluminum frame is circumferentially distributed, one end, far away from the aluminum frame (1), of the chassis (6) is provided with a driving ball (8), the lower end face of the chassis (6) is fixedly provided with three limiting mechanisms (9), the specifications of the three limiting mechanisms (9) are consistent, and the three limiting mechanisms are circumferentially distributed at intervals relative to the center of the lower end face of the chassis (6).

2. A standing ball robot as claimed in claim 1, wherein: balance mechanism (2) are including stationary blade (21), disc motor (22), shaft coupling (23), flywheel (24) and counterweight plate (25), stationary blade (21) fixed mounting is in aluminium frame (1) upper end, stationary blade (21) below is provided with two disc motor (22), two disc motor (22) are 90 degrees and distribute, two the equal fixed mounting of disc motor (22) output has shaft coupling (23), two the equal fixed mounting of output outer loop of shaft coupling (23) has flywheel (24), stationary blade (21) lower extreme fixed mounting has counterweight plate (25), counterweight plate (25) are provided with two, and two counterweight plate (25) respectively with two disc motor (22) relative distribution.

3. A standing ball robot as claimed in claim 1, wherein: a first driver (32) is arranged right above the first layer plate (3), and a first vibration reduction frame (31) is fixedly installed between the first driver (32) and the first layer plate (3).

4. A standing ball robot as claimed in claim 1, wherein: and a controller (41) is fixedly arranged at the center of the upper end surface of the second laminate (4).

5. A standing ball robot as claimed in claim 1, wherein: and a second driver (51) is fixedly mounted on the lower end face of the third layer plate (5), and a gyroscope (52) is fixedly mounted on the upper end face of the third layer plate (5).

6. A standing ball robot as claimed in claim 1, wherein: be provided with four installation pole (61) between chassis (6) and aluminium frame (1) perpendicularly, be provided with film (62) directly over chassis (6), film (62) up end and aluminium frame (1) lower extreme fixed mounting, chassis (6) one end is kept away from in film (62) fixed mounting at four installation pole (61), terminal surface fixed mounting has battery (63), four under film (62) installation pole (61) specification is unanimous and is the rectangular array distribution each other, four fixed mounting has second damping frame (64), four between installation pole (61) is close to chassis (6) one end and chassis (6) between fixed mounting, four installation pole (61) keep away from chassis (6) one end and film (62) lower terminal surface four corner fixed mounting.

7. A standing ball robot as claimed in claim 1, wherein: the three driving mechanisms (7) respectively comprise a direct current motor (71), a motor connecting piece (72) and an omnidirectional wheel (73), the direct current motors (71) are consistent in specification and are distributed in a circumferential manner equidistantly relative to the circle center of the upper end face of the chassis (6), the direct current motors (71) and the chassis (6) are respectively in a 60-degree inclination angle, the direct current motors (71) are respectively fixedly sleeved with the motor connecting pieces (72) close to the output end portion, the motor connecting pieces (72) are three, one ends, far away from the direct current motors (71), of the motor connecting pieces (72) are respectively fixedly installed on the chassis (6), the output ends of the direct current motors (71) are respectively and fixedly connected with the omnidirectional wheel (73), and the omnidirectional wheels (73) are consistent in specification and outer ring walls of the omnidirectional wheels (73) are respectively arranged.

8. A standing ball robot as claimed in claim 1, wherein: it is three stop gear (9) all include spacing arc pole (91), and are three spacing arc pole (91) all imbeds to install locating part (92), three to the lower tip of centripetal one side locating part (92) all embedded universal ball (93), three to centripetal one side the sphere of universal ball (93) all is tangent with drive ball (8) lower part sphere.