CN210551263U

CN210551263U - Rolling robot with outer swing arm

Info

Publication number: CN210551263U
Application number: CN201921372121.3U
Authority: CN
Inventors: 王酉; 李光; 林吉君; 张子昂
Original assignee: Luoteng Hangzhou Technology Co ltd
Current assignee: Luoteng Hangzhou Technology Co ltd
Priority date: 2019-08-22
Filing date: 2019-08-22
Publication date: 2020-05-19
Anticipated expiration: 2029-08-22

Abstract

The utility model relates to a roll robot of swing arm outside of band, the drive moment that the built-in swing piece of current roll robot produced is less, drives power not enough, and control accuracy receives the problem of influence. The device comprises a housing capable of rolling, wherein a main shaft horizontally arranged is erected between the left side wall and the right side wall of the housing, the main shaft can rotate relative to the housing, an auxiliary shaft horizontally arranged and perpendicular to the main shaft is arranged in the center of the main shaft, the auxiliary shaft can rotate and can rotate along with the main shaft, the two ends of the auxiliary shaft are suspended in the air, inner swing blocks are fixedly hung below the two ends of the auxiliary shaft, and outer swing arms arranged outside the housing are fixed at the two ends of the main shaft. The outer swing arm is arranged outside the shell, so that the overall driving torque is improved, the control response speed of the robot is improved, and the control precision is more stable; the detection device is hung on the outer swing arm, so that the assembly and disassembly are more convenient, and the detection angle and the detection range are larger; the detection device is arranged in the middle of the left and right directions on the outer swing arm in a centralized manner, so that the walking and turning stability is facilitated.

Description

Rolling robot with outer swing arm

Technical Field

The utility model belongs to the intelligent robot field relates to a pendulum-type's roll robot, in particular to roll robot of swing arm outside the area.

Background

The robot is an intelligent device which simulates human beings to complete various instructions through manual or automatic control. The robot can replace a human body to carry out various complex and fine operations, and can also replace the human body to enter a complex and dangerous environment to carry out exploration operation, thereby ensuring the safety of personnel. The existing robot is a fixed robot which is fixedly arranged and operates in a certain area range, and the existing robot is also movable, and the robot can walk and move through mechanical legs, tracks, rollers and other structures. The mobile robot can replace human beings to enter complex and dangerous scenes, such as spaces and fire fields which poison gas, and the like, and collects signals to guide rescue.

The rolling robot is a kind of mobile robot, and the housing of the spherical robot can be any shape suitable for rolling, such as a sphere, an ellipsoid, a drum, a polyhedron with a large number of faces, etc., which travels by means of rolling of the housing itself. If the applicant submits a chinese patent, application number 2018112678220, in 2018, month 10, and day 29, entitled panoramic information collection rolling robot, a horizontally arranged main shaft is erected between the left and right side walls of a housing, the housing is a revolving body using the main shaft as an axis, an auxiliary shaft horizontally arranged and perpendicular to the main shaft is arranged at the center of the main shaft, two ends of the auxiliary shaft are suspended, swing blocks are hung below two ends of the auxiliary shaft, cameras are respectively arranged at two ends of the main shaft, front and back images at two sides of the housing are obtained through the housing to be spliced, and panoramic information of the surrounding environment is obtained during the moving process of the robot. The robot is realized by swinging the swinging block arranged in the shell, the driving moment generated by the built-in swinging block is small, the driving force is insufficient, and the control precision is influenced; the built-in camera receives shell structure restriction, and visual angle is limited, and the position setting requires highly.

Disclosure of Invention

The utility model aims to provide a rolling robot of swing arm is provided outward to the built-in swing of current rolling robot piece production drive moment less, drive power not enough, and control accuracy receives the problem of influence. The device also solves the problems that the built-in camera is limited by the shell structure, the visual angle is limited, and the position setting requirement is high.

The utility model provides a technical scheme that its technical problem adopted is: the utility model provides a roll robot of swing arm outside in band, includes the casing that can roll, its characterized in that: a horizontally arranged main shaft is erected between the left side wall and the right side wall of the shell and can rotate relative to the shell, an auxiliary shaft which is horizontally arranged and is perpendicular to the main shaft is arranged in the center of the main shaft, the auxiliary shaft can rotate and can rotate along with the main shaft, two ends of the auxiliary shaft are suspended in the air, an inner swing block is fixedly hung below two ends of the auxiliary shaft, and outer swing arms arranged outside the shell are fixed at two ends of the main shaft. In the device, the inner swing block and the outer swing arm can swing back and forth along with the main shaft, the gravity center positions of the inner swing block and the outer swing arm are changed, so that the gravity center positions of the inner swing block and the outer swing arm swing forward, the shell walks forward, and on the contrary, the gravity center positions of the inner swing block and the outer swing arm swing backward, and the shell walks backward; when the two sides of the center line of the shell are cambered surfaces, the inner swinging block can swing left and right along with the auxiliary shaft, so that the gravity center of the inner swinging block deviates to one side, the shell inclines to one side while walking back and forth, and the turning is finished by utilizing the cambered surfaces of the shell. In the conventional scheme, the swinging block serving as a driving piece is only an inner swinging block, and the detection device is arranged on a main shaft or a shell and becomes a load. The interior swing piece receives the restriction of casing inner space, and arm of force length is limited, leads to drive moment to be limited, and the dead weight of casing dead weight and other mechanisms in the casing all belongs to the load moreover, compares the moment of interior swing piece, and load specific gravity is big, and the response speed of robot receives the influence great, and control accuracy also can receive certain influence. In this scheme, as the swing piece of driving piece including interior swing piece, outer swing arm and set up the detection device in outer swing arm, set up the detection device annex on outer swing arm and the outer swing arm in the casing outside, the arm of force length of outer swing arm has broken through the restriction of casing inner space, can be farther from the centre of sphere of casing, can promote holistic drive moment, makes the robot control response speed promote, and the control accuracy is more stable. In addition, the existence of the outer swing arm enables the robot to have an external suspension space, detection devices such as a camera, a camera and a radar can be connected to the outer swing arm in a hanging mode, dismounting is more convenient, the external detection device is not limited by blocking of the shell, a larger detection angle and a larger detection range are provided, the detection device can be used as a driving piece instead of a load, the mass proportion of the driving piece of the rolling robot capable of swinging is improved, and control performance is improved. The detection device arranged in the shell needs to be arranged close to two ends of the main shaft so as to obtain a better detection angle, or is embedded on the shell and rotates along with the shell, and the installation modes lead the weight of the shell to be dispersed towards two sides, are not beneficial to the stability of the transverse gravity center and have poor walking and turning control stability; the detection device can be arranged in the middle of the left and right directions in a centralized manner on the outer swing arm of the device, so that the center of gravity of the robot is concentrated in the middle, and the walking and turning stability is facilitated. When the walking robot walks, the swing angle of the outer swing arm is small and basically stable, a relatively stable carrying platform can be obtained by the detection device on the outer swing arm, and the obtained information is stable.

Preferably, the outer swing arm is an integral structure connected with two ends of the main shaft, or a split structure arranged at two ends of the main shaft in a split mode. The outer swing arms at the two ends of the main shaft can be in a split structure or an integrated structure, and the balance of the gravity centers of the outer swing arms at the two sides can be ensured.

Preferably, one or more outer swing arms can be arranged, and the gravity centers of the outer swing arms are positioned on the middle vertical line of the shell.

Preferably, the outer swing arm is a semi-annular or semi-square frame connected with two ends of the main shaft, a holder is arranged in the middle of the outer swing arm, and a detection device is arranged on the holder.

Preferably, the detection device is one or more of a camera, a camera and a radar.

Preferably, a holder motor for controlling the holder to rotate is arranged on one side of the holder.

Preferably, the main shaft is provided with a main shaft driving device, and a secondary shaft driving device is arranged at the intersection of the main shaft and the secondary shaft.

Preferably, the main shaft driving device comprises a main shaft driving motor, the main shaft driving motor is fixed on the main shaft in an offset manner, the axis of the main shaft driving motor is parallel to the axis of the main shaft, the main shaft driving motor and the main shaft are respectively provided with a main shaft driving gear which is meshed with each other, the output end of the main shaft driving motor is provided with a speed reducer, the auxiliary shaft driving device comprises an auxiliary shaft driving motor which is arranged on the main shaft, the auxiliary shaft driving motor and the auxiliary shaft are respectively provided with an auxiliary shaft driving gear which is meshed with each other, and the output. When the spindle driving motor is started, a moment which is offset relative to the spindle is generated, so that the spindle rotates.

Preferably, the housing is of a bilateral symmetry structure, and the middle of the circumference of the housing surrounding the main shaft is a circular main raceway moving in the front-back direction. The main raceway can be made of high-strength wear-resistant material.

Preferably, the shell is spherical, ellipsoidal, horizontally arranged cylindrical or drum-shaped. The spherical, ellipsoidal or drum-shaped shell is in arc transition on both sides of the main raceway, so that the shell is convenient to turn, and the cylindrical shell is suitable for extreme conditions mainly involving front and back motions. The shell can also be a polyhedron structure which is fitted into a spherical shape, an ellipsoid shape, a cylindrical shape and a drum shape, the rolling effect can be achieved as long as the number of faces is enough, such as a 30-face body, and the change is regarded as equivalent replacement of the spherical shape, the ellipsoid shape, the cylindrical shape and the drum shape.

The utility model arranges the outer swing arm outside the shell, the arm of force length of the outer swing arm breaks through the limit of the inner space of the shell, the whole driving moment can be promoted, the control response speed of the robot is promoted, and the control precision is more stable; the robot has an external suspension space due to the existence of the outer swing arm, and detection devices such as a camera, a camera and a radar can be hung on the outer swing arm, so that the robot is more convenient to disassemble and assemble, and the externally-hung detection device is not limited by the blocking of the shell and has a larger detection angle and detection range; the detection device can be arranged in the middle of the left and right directions in a centralized manner on the outer swing arm, so that the center of gravity of the robot is concentrated in the middle, and the walking and turning stability is facilitated.

Drawings

Fig. 1 is a schematic view of the spherical shell structure of the present invention.

Fig. 2 is a schematic view of an ellipsoidal housing structure of the present invention.

Fig. 3 is a schematic view of the cylindrical housing of the present invention.

Fig. 4 is a schematic view of the drum-shaped shell structure of the present invention.

Fig. 5 is a schematic view of the structure of the spherical shell in the front view in the static state.

Fig. 6 is a schematic top view of the spherical shell of the present invention in a resting state.

Fig. 7 is a front view structural diagram of the turning state inside the spherical shell of the present invention.

Fig. 8 is a schematic side view of the advancing state of the spherical shell according to the present invention.

In the figure: 1. the device comprises a shell, 2, a main shaft, 3, an auxiliary shaft, 4, an inner swing block, 5, a main shaft driving device, 6, an auxiliary shaft driving device, 7, an outer swing arm, 8, an industrial camera, 9, a laser radar, 10 and a tripod head motor.

Detailed Description

The present invention will be further described with reference to the following specific embodiments and accompanying drawings.

Example (b): a rolling robot with an outer swing arm, as shown in fig. 5-8. The device comprises a rollable shell 1, wherein the shell is of a revolving body structure surrounding a horizontal main shaft, and can be spherical as shown in figure 1, ellipsoidal as shown in figure 2, cylindrical as shown in figure 3, drum-shaped as shown in figure 4 and the like. A main shaft 2 which is horizontally arranged is erected between the left side wall and the right side wall of the shell 1, the main shaft can rotate relative to the shell, and two ends of the main shaft are rotatably connected with the shell through bearings. The shell is of a bilateral symmetry structure, and the middle part of the circumference of the shell surrounding the main shaft is a circular main raceway moving in the front-back direction.

As shown in fig. 5 and 7, the center of the main shaft 2 is provided with a secondary shaft 3 which is horizontally arranged and is perpendicular to the main shaft, the secondary shaft can rotate and rotate along with the main shaft, two ends of the secondary shaft are suspended, an inner swing block 3 is fixedly suspended below two ends of the secondary shaft, and the inner swing block and the secondary shaft cannot rotate relatively. The main shaft 2 is provided with a main shaft driving device 5, and a secondary shaft driving device 6 is arranged at the intersection of the main shaft 2 and the secondary shaft 3. The main shaft driving device comprises a main shaft driving motor, the main shaft driving motor is fixedly hung below a main shaft, the axis of the main shaft driving motor is parallel to the axis of the main shaft, main shaft driving gears which are meshed with each other are arranged on the main shaft driving motor and the main shaft respectively to form a main shaft driving gear set for transmitting torque, a speed reducer is arranged at the output end of the main shaft driving motor, the auxiliary shaft driving device comprises an auxiliary shaft driving motor arranged on the main shaft, auxiliary shaft driving gears which are meshed with each other are arranged on the auxiliary shaft driving motor and the auxiliary shaft respectively to form an auxiliary shaft driving gear set for transmitting the rotation torque of the auxiliary shaft, and the speed reducer is.

As shown in fig. 6 and 8, the two ends of the main shaft are fixed with outer swing arms 7 arranged outside the shell 1. The gravity center position of the outer swing arm 7 is positioned on the center line of the shell, and the outer swing arm 7 can be arranged in a split mode, is opposite left and right and is symmetrical to each other. In this embodiment, the outer swing arm 7 is a semi-ring integrated device connected to two ends of the main shaft, the outer swing arm can also be a semi-frame connected to two ends of the main shaft, the semi-frame structure is identical to the semi-ring function, and those skilled in the art can easily analogize, and do not expand here, and should be regarded as equivalent replacement. The middle part of outer swing arm is equipped with the cloud platform, be provided with detection device on the cloud platform. Detection device includes industrial camera 8, laser radar 9, and the cloud platform still includes cloud platform motor 10, and when outer swing arm swung, the cloud platform motor can rotate thereupon, adjusts

industrial camera

8, 9 angles of laser radar, keeps best angle, the better information of acquireing of setting up.

And a control system is also arranged in the shell and comprises a dynamic state sensor and a PID controller, wherein the dynamic state sensor is used for detecting the real-time dynamic state of the robot and the driving system, and the sensor comprises a GPS, at least one gyroscope, at least one acceleration sensor and a coded disc. The GPS, the gyroscope, the acceleration sensor and the PID controller can be arranged at the intersection of the main shaft and the auxiliary shaft, and the coded disc is arranged on the output shaft of the motor. And their respective detection data are transmitted by wire or wirelessly to the control unit or an external remote computer for further processing.

Specifically, the control system includes a three-axis gyroscope, a three-axis acceleration sensor and a three-axis magnetometer, so-called a nine-axis sensor, and code disks corresponding to the number of motors. Thus, the control system is able to detect any change in dynamic state, such as sudden changes in direction, speed, altitude, etc.

As shown in fig. 7 and 8, when the rolling robot needs to advance or retreat, the main shaft driving device drives the main shaft to rotate, the auxiliary shaft is arranged in the middle of the main shaft, and the two ends of the auxiliary shaft are suspended, so that the auxiliary shaft is driven by the main shaft to rotate around the main shaft by an angle, the inner swing block is driven to swing forwards or backwards, and the outer swing arm also swings forwards or backwards along with the main shaft, so that the integral mass center moves forwards or backwards, and the rolling robot is driven to advance or retreat. When the rolling robot needs to turn, the main shaft continuously rotates to keep the rolling robot to stably advance or retreat, and meanwhile, the auxiliary shaft driving device drives the auxiliary shaft to rotate around the axis of the auxiliary shaft to drive the inner swinging block to swing towards the left side or the right side, so that the integral mass center is deviated towards one side, the rolling robot is inclined towards one side, and the turning is realized.

Claims

1. The utility model provides a roll robot of swing arm outside in band, includes the casing that can roll, its characterized in that: a horizontally arranged main shaft is erected between the left side wall and the right side wall of the shell and can rotate relative to the shell, an auxiliary shaft which is horizontally arranged and is perpendicular to the main shaft is arranged in the center of the main shaft, the auxiliary shaft can rotate and can rotate along with the main shaft, two ends of the auxiliary shaft are suspended in the air, an inner swing block is fixedly hung below two ends of the auxiliary shaft, and outer swing arms arranged outside the shell are fixed at two ends of the main shaft.

2. The rolling robot with an outer swing arm according to claim 1, characterized in that: the outer swing arm is an integrated structure connected with the two ends of the main shaft or a split structure arranged at the two ends of the main shaft in a split mode.

3. A rolling robot with an outer swing arm according to claim 1 or 2, characterized in that: one or more outer swing arms can be arranged, and the gravity center of each outer swing arm is positioned on the middle vertical line of the shell.

4. A rolling robot with an outer swing arm according to claim 1 or 2, characterized in that: the outer swing arm is a semi-annular or semi-square frame connected with two ends of the main shaft, a holder is arranged in the middle of the outer swing arm, and a detection device is arranged on the holder.

5. A rolling robot with an outer swing arm according to claim 4, characterized in that: the detection device is one or more of a camera, a camera and a radar.

6. A rolling robot with an outer swing arm according to claim 4, characterized in that: and a holder motor for controlling the holder to rotate is arranged on one side of the holder.

7. A rolling robot with an outer swing arm according to claim 1 or 2, characterized in that: the main shaft is provided with a main shaft driving device, and an auxiliary shaft driving device is arranged at the intersection of the main shaft and the auxiliary shaft.

8. The rolling robot with outer swing arm of claim 7, characterized in that: the spindle driving device comprises a spindle driving motor, the spindle driving motor is fixed on a spindle in an offset mode, the axis of the spindle driving motor is parallel to that of the spindle, spindle driving gears which are meshed with each other are arranged on the spindle driving motor and the spindle respectively, a speed reducer is arranged at the output end of the spindle driving motor, the auxiliary shaft driving device comprises an auxiliary shaft driving motor arranged on the spindle, auxiliary shaft driving gears which are meshed with each other are arranged on the auxiliary shaft driving motor and the auxiliary shaft respectively, and the speed reducer is arranged at the output end of the auxiliary shaft driving motor.

9. A rolling robot with an outer swing arm according to claim 1 or 2, characterized in that: the shell is of a bilateral symmetry structure, and the middle of the circumference of the shell surrounding the main shaft is a circular main raceway moving in the front-back direction.

10. A rolling robot with an outer swing arm according to claim 1 or 2, characterized in that: the shell is spherical, ellipsoidal, horizontal cylindrical or drum-shaped.