CN102602468B - Dual-swing omni-directional moving spherical robot - Google Patents
Dual-swing omni-directional moving spherical robot Download PDFInfo
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- CN102602468B CN102602468B CN201210090630.3A CN201210090630A CN102602468B CN 102602468 B CN102602468 B CN 102602468B CN 201210090630 A CN201210090630 A CN 201210090630A CN 102602468 B CN102602468 B CN 102602468B
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- semicircular ring
- gear
- spherical shell
- short supporting
- motor
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Abstract
The invention discloses a dual-swing omni-directional moving spherical robot, which comprises a spherical shell and a traveling transmission mechanism positioned inside the spherical shell. The traveling transmission mechanism comprises a semi-circular ring and a mass trolley arranged on the semi-circular ring, two short support shafts extending outwards are arranged at two ends of the semi-circular ring along the diameter direction of the semi-circular ring respectively and are borne on two bases on the inner sides of the spherical shell through bearings respectively, the two bases pass through an axis of the spherical shell, a traveling motor is fixedly arranged on one base of one side of the spherical shell, a gear A is arranged on a motor shaft of the traveling motor, a gear B which is matched with the gear A arranged on the motor shaft of the traveling motor is fixedly arranged on one short support shaft, the gear A is meshed with the gear B to drive the gear B to rotate, and a counterweight block is arranged on the other short support shaft. The dual-swing omni-directional moving spherical robot is novel in structure, simple in control, high in stability and high in shock and impact resistance and is capable of omni-directionally moving.
Description
Technical field
The present invention relates to a kind of double pendulum width omnibearing movable spherical robot being applicable to humidity, many dirt and rugged complexity and narrow space operation.
Background technology
Ball shape robot (spherical robot) is a kind of novel shell is spherical robot, refers to that movement executing mechanism, sensing controler, energy source device are arranged on the general name of the system in a spherical shell by a class.Its mode of motion is to roll.It can quick walking as wheeled robot, can move in complex-terrain more again as legged type robot.It is a good motion carrier.
Divide by feature, mainly contain two classes: a class is moved to drive spherical shell by the mobile device of internal independence.Such as: the First of the development such as Halme has the ball shape robot of real meaning (see HameA, Schonbeng T, Yan W.Motion control of a spherical mobile robot [A]. 4H IEEE International Workshop on Advanced Motion Control [C], Japan, 1996), the motion principle of this mechanism is by internal drive cells D U(inside drive unit) motion change the center of gravity of system, realize the rolling of spheroid, the people such as Ferriere with wheel drive spherical shell (see Ferriere L, Raucent B, Campion G Design of omnimobile robotwheels [A] .Proceedings of the 1996 IEEE International Conference on Robotics and Automation [C], Monnesota, 1996), driving design is become a dolly by Bicchi, achieve the motion of ball shape robot (see BicchiA, BallucchiA, PrattichizzoD, etal Introducing the shherical an experimental testbed for resrarch and teaching in nonholonmy [A] .Proceedings of the 1997 IEEE International Conference on Robot and Automation [C], NewMexico, 1997).
Another kind of is by changing the center of gravity of system, produces eccentric moment and drives spherical shell motion.A kind of counterweight is moved along spoke and is changed the ball shape robot of center-of-gravity position (see Bhattacharya S by Mukherjee, Agrawal S K Design, experiments and motion planning of a spherical rolling robat [A] .Proceedings of the 2000 IEEE International Conference on Robotics and Automation [C], SanFranci sco, 2000); Spherical shell has been connected firmly 4 strut rod becoming tetrahedron distribution by Javadi, the motion of drive system is carried out (see JavadiA by changing balance position in strut rod, Mojabi P.Introducing august a novel stategy for an ommidirectioncal spherical rolling roboe [A] .Proceedings of the 2002 IEEE Internationcal Conference on Robotics and Automat ion [C]. WashingtonDC, 2002).In addition, a lot of scholar is also had to do a lot of research in the design of driver train, Analysis for kinematics and control policy etc.At home, BJ University of Aeronautics & Astronautics, Beijing University of Post & Telecommunication, Harbin Institute of Technology, Xian Electronics Science and Technology University and Shanghai Communications University etc., devise the ball shape robot of some novel structures, and carry out seeing theoretical and hardware implementing work.
Chinese Patent Application No. is " omnibearing movable spherical robot " of 200510011953.9, a kinematic mechanism be not connected with spherical shell inside is had in spherical shell inside, it is rolled in spherical shell by single wheel tourelle, promote spheroid moving linearly, by change single wheel tourelle relative support mechanism towards the omnibearing movable realizing robot.
The Chinese patent patent No. is " all-direction moving unit for spherical robot of improvement " of 02128933.6, useful annulus in spherical shell, and two pivot shafts are stretched out at two, annulus has a motor drive annulus to do relative rolling with spherical shell by gears meshing; A major axis is placed in direction vertical with minor axis in annulus, and major axis center is provided with clump weight, the relative rolling that on annulus, another motor is done around major axis by gears meshing driving spherical shell and clump weight.
Come in general, existing ball shape robot scheme also exists complex structure, Project Realization is more difficult, practicality is lower deficiency mostly; Control difficulty is large.The problems referred to above limit to a great extent sees applying of ball shape robot.
Summary of the invention
The object of the invention is to the defect improving prior art, and a kind of double pendulum width omnibearing movable spherical robot is provided.This ball shape robot novel structure, control simple, good stability, there is good anti-vibration and shock resistance, and can omnibearing movable, overcome the deficiency of existing scheme.
For achieving the above object, the present invention adopts following technical proposals:
A kind of double pendulum width omnibearing movable spherical robot, comprises spherical shell and the walking transmission mechanism being positioned at spherical shell inside; Described walking transmission mechanism comprises semicircular ring and has the quality dolly of motor internal driving, and described quality dolly is arranged in described semicircular ring;
The both ends of described semicircular ring are prolonged semicircular ring diametric(al) and are provided with two short supporting axles stretched out laterally, these two short supporting axles respectively by loading ability of bearing inside spherical shell by two pedestals of spherical shell centre of sphere axis; A pedestal of spherical shell side is installed with movable motor, and the motor shaft of this movable motor is provided with gear A;
A short supporting axle in described two short supporting axles is installed with the gear B matched with set gear A on described movable motor motor shaft, and described gear A and gear B mesh together also driven gear B rotates; Place corresponding with described movable motor installation site center of gravity on another root short supporting axle in described two short supporting axles is installed with clump weight.
Further, described semicircular ring medial surface is provided with the gear teeth, and described quality dolly is provided with driven wheel, and this driven wheel and the gear teeth set by described semicircular ring medial surface mesh together matchingly.
Further, described driven wheel is provided with the fixer preventing quality dolly from coming off from semicircular ring, and one end of this fixer is installed in rotation on driven wheel; The other end is located in described semicircular ring by bearing carrier ring, and forms rolling pair with described semicircular ring lateral surface.
Further, described movable motor is provided with the Bluetooth receptions control setup rotated for movable motor motor shaft described in drived control; Described quality dolly is provided with the Bluetooth receptions control setup that set driven wheel rotates on quality dolly described in drived control.
Further, the opening upwards of described semicircular ring, and this semicircular ring keeps vertical state.
Further, at least one short supporting axle in described two short supporting axles extends to outside spherical shell through pedestal, and the extension of this short supporting axle extended to outside spherical shell is provided with lift-launch annex; Described lift-launch annex comprises camera, sensor and/or manipulator.
The present invention also can adopt following another kind of technical scheme:
A kind of double pendulum width omnibearing movable spherical robot, comprises spherical shell and the walking transmission mechanism being positioned at spherical shell inside; Described walking transmission mechanism comprises semicircular ring and has the quality dolly of motor internal driving, and described quality dolly is arranged in described semicircular ring;
The both ends of described semicircular ring are prolonged semicircular ring diametric(al) and are provided with two short supporting axles stretched out laterally, these two short supporting axles respectively by loading ability of bearing inside spherical shell by two pedestals of spherical shell centre of sphere axis; A pedestal of spherical shell side is installed with movable motor, and the motor shaft of this movable motor is provided with gear A;
A short supporting axle in described two short supporting axles is installed with the gear B matched with set gear A on described movable motor motor shaft, and described gear A and gear B mesh together also driven gear B rotates; Place corresponding with described movable motor installation site center of gravity on another root short supporting axle in described two short supporting axles is installed with clump weight.
Further, described semicircular ring lateral surface is provided with the gear teeth, and described quality dolly is provided with driven wheel, and described driven wheel is provided with the fixer preventing quality dolly from coming off from semicircular ring, and one end of this fixer is installed in rotation on driven wheel; The other end is located in described semicircular ring by bearing carrier ring, and forms rolling pair with described semicircular ring medial surface; The gear teeth of described driven wheel and semicircular ring lateral surface mesh together matchingly.
Further, the both ends of described semicircular ring are provided with the confinement block for limiting quality dolly stroke.
Further, described movable motor is provided with the Bluetooth receptions control setup rotated for movable motor motor shaft described in drived control; Described quality dolly is provided with the Bluetooth receptions control setup that set driven wheel rotates on quality dolly described in drived control.
Further, the opening upwards of described semicircular ring, and this semicircular ring keeps vertical state.
Further, at least one short supporting axle in described two short supporting axles extends to outside spherical shell through pedestal, and the extension of this short supporting axle extended to outside spherical shell is provided with lift-launch annex; Described lift-launch annex comprises camera, sensor and/or manipulator.
The present invention, compared with existing product, has following actively useful effect:
1, structure is simple, is easy to " the double pendulum width " realized at advance and left and right directions and realizes omnibearing movable
2, the arc end part of semicircular ring is positioned on the downside of spheroid all the time, improves the system stability of whole spheroid, is convenient to the realization of other attitudes.
3, two groups of motors (quality car interior motor, movable motor) control the skew of spheroid center of gravity respectively, and mode achieves mode decoupling zero.
4, by blue tooth wireless technology Mass Control car interior motor and movable motor, be easy to control, make at compact conformation and the ball interior of narrow space there will not be wire intertwist phenomenon.
5, set on short supporting axle lateral extension lift-launch annex can connect manipulator, camera, sensor, improves its value of service, and extends its field of application.
6, the driven wheel on quality dolly and form anticreep by bearing element between semicircular ring and retrain, and respectively inter-agencyly do not have interference.
7, the driven wheel on quality dolly and the tooth mesh in semicircular ring, prolong by quality dolly the center of gravity that semicircular ring walking changes spheroid, export certain torque, accurate control turns to.
Accompanying drawing explanation
Fig. 1 is the integral structure schematic diagram of first embodiment of the invention.
Fig. 2 is the integral structure schematic diagram of second embodiment of the invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described.
Embodiment 1:
As shown in Figure 1, a kind of double pendulum width omnibearing movable spherical robot, comprises spherical shell 1 and the walking transmission mechanism being positioned at spherical shell 1 inside; Described walking transmission mechanism comprises semicircular ring 2 and has the quality dolly 3 of motor internal driving, the opening upwards of described semicircular ring 2, and this semicircular ring 2 keeps vertical state; This semicircular ring 2 medial surface is provided with the gear teeth 21, and described quality dolly 3 is provided with driven wheel 31, and this driven wheel 31 meshes together matchingly with the gear teeth 21 set by described semicircular ring 2 medial surface; Described quality dolly 3 is provided with the Bluetooth receptions control setup 32 rotated for driven wheel 31 set on quality dolly 3 described in drived control.
The both ends of described semicircular ring 2 are prolonged semicircular ring diametric(al) and are provided with two short supporting axles 22,23 stretched out laterally, and these two short supporting axles 22,23 are carried on two pedestals 5 by spherical shell 1 centre of sphere axis inside spherical shell 1 respectively by bearing 4; A pedestal 5 of spherical shell 1 side is installed with movable motor 6, and the motor shaft of this movable motor 6 is provided with gear A 7; Described movable motor 6 is provided with the Bluetooth receptions control setup 61 rotated for movable motor described in drived control 6 motor shaft.
A short supporting axle 22 in described two short supporting axles 22,23 is installed with the gear B 8 matched with set gear A 7 on described movable motor 6 motor shaft, and described gear A 7 meshes together with gear B 8, described movable motor 6 motor shaft rotates, rotated by gear A 7 driven gear B8 set on motor shaft, thus semicircular ring 2 is rotated; Place corresponding with described movable motor 6 installation site center of gravity on another root short supporting axle 23 in described two short supporting axles 22,23 is installed with clump weight 9.
Described driven wheel 31 is provided with the fixer 33 preventing quality dolly 3 from coming off from semicircular ring 2, and one end 331 of this fixer 33 is installed in rotation on driven wheel 31; The other end 332 is located in described semicircular ring 2 by bearing carrier ring, and forms rolling pair with described semicircular ring 2 lateral surface.
Described two short supporting axles 22,23 are each passed through pedestal 5 and extend to outside spherical shell 1, and this extension 221,231 extending to the short supporting axle outside spherical shell is provided with and carries annex 10; Described lift-launch annex 10 comprises camera, sensor and/or manipulator.
Whole walking transmission mechanism is sealed in this ball shape robot inside by the spherical shell 1 of this ball shape robot, be fixed together along diametric two short supporting axles 22,23 of semicircular ring 2 and semicircular ring 2 both ends that are in vertical state, short supporting axle 22,23 is crossed the centre of sphere and is also formed revolute pair through bearing 4 and spherical shell 1; A short supporting axle 22 in short supporting axle 22,23 is installed with the gear B 8 matched with set gear A 7 on described movable motor 6 motor shaft, form straight walking mechanism, movable motor 6 is fixed on pedestal 5.
When movable motor 6 arbor rotation driven gear A7 rotates counterclockwise, because gear A 7 engages with gear B 8, gear B 8 rotates clockwise, and semicircular ring 2 swing makes the center of gravity of this ball shape robot move forward, thus promotes ball shape robot straight forward movement.
When movable motor 6 arbor rotation driven gear A7 rotates clockwise, because gear A 7 engages with gear B 8, gear B 8 rotates counterclockwise, and moves after semicircular ring 2 swing makes the center of gravity of this ball shape robot, thus promotes ball shape robot straight-line motion backward.
Semicircular ring 2 is provided with quality dolly 3, quality dolly 3 is moved to the left or right along semicircular ring 2 by driven wheel 31 under the driving of motor internal, the center of gravity of this ball shape robot is offset to the left or to the right thus realizes the left and right course changing control of integral spherical robot.
Itself both served the effect of counterweight at spherical shell 1 internal soundness dolly 3, this ball shape robot steadily of centre of gravity can have been made.
Embodiment 2:
As shown in Figure 2, the difference of the present embodiment and embodiment 1 is: described semicircular ring 2 lateral surface is provided with the gear teeth 21, described quality dolly 3 is provided with driven wheel 31, described driven wheel 31 is provided with the fixer 34 preventing quality dolly 3 from coming off from semicircular ring, and one end 341 of this fixer 34 is installed in rotation on driven wheel 31; The other end 342 is located in described semicircular ring 2 by bearing carrier ring, and forms rolling pair with described semicircular ring 2 medial surface; Described driven wheel 31 meshes together matchingly with the gear teeth 21 of semicircular ring 2 lateral surface; And the both ends of described semicircular ring 2 are provided with the confinement block 24 for limiting quality dolly 3 stroke.
The word in description orientation adopted herein " on ", D score, "left", "right" etc. are all convenience in order to illustrate based on the orientation in accompanying drawing shown in drawing, in actual device, these orientation may be different due to the disposing way of device.
In sum, embodiment of the present invention only provides a kind of embodiment of the best, technology contents of the present invention and technical characterstic disclose as above, but the personage being familiar with the technology still may do the various replacement and the modification that do not deviate from creation spirit of the present invention based on disclosed content; Therefore, protection scope of the present invention is not limited to the technology contents that embodiment discloses, therefore all equivalence changes done according to shape of the present invention, structure and principle, be all encompassed in protection scope of the present invention.
Claims (1)
1. a double pendulum width omnibearing movable spherical robot, comprises spherical shell and the walking transmission mechanism being positioned at spherical shell inside; It is characterized in that: described walking transmission mechanism comprises semicircular ring and has the quality dolly of motor internal driving, and described quality dolly is arranged in described semicircular ring;
The both ends of described semicircular ring are prolonged semicircular ring diametric(al) and are provided with two short supporting axles stretched out laterally, these two short supporting axles respectively by loading ability of bearing inside spherical shell by two pedestals of spherical shell centre of sphere axis; A pedestal of spherical shell side is installed with movable motor, and the motor shaft of this movable motor is provided with gear A;
A short supporting axle in described two short supporting axles is installed with the gear B matched with set gear A on described movable motor motor shaft, and described gear A and gear B mesh together also driven gear B rotates; Place corresponding with described movable motor installation site center of gravity on another root short supporting axle in described two short supporting axles is installed with clump weight;
Described semicircular ring lateral surface is provided with the gear teeth, and described quality dolly is provided with driven wheel, and described driven wheel is provided with the fixer preventing quality dolly from coming off from semicircular ring, and one end of this fixer is installed in rotation on driven wheel; The other end is located in described semicircular ring by bearing carrier ring, and forms rolling pair with described semicircular ring medial surface; The gear teeth of described driven wheel and semicircular ring lateral surface mesh together matchingly;
The both ends of described semicircular ring are provided with the confinement block for limiting quality dolly stroke;
Described movable motor is provided with the Bluetooth receptions control setup rotated for movable motor motor shaft described in drived control; Described quality dolly is provided with the Bluetooth receptions control setup that set driven wheel rotates on quality dolly described in drived control;
The opening upwards of described semicircular ring, and this semicircular ring keeps vertical state;
At least one short supporting axle in described two short supporting axles extends to outside spherical shell through pedestal, and the extension of this short supporting axle extended to outside spherical shell is provided with lift-launch annex; Described lift-launch annex comprises camera, sensor and/or manipulator.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210090630.3A CN102602468B (en) | 2012-03-30 | 2012-03-30 | Dual-swing omni-directional moving spherical robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210090630.3A CN102602468B (en) | 2012-03-30 | 2012-03-30 | Dual-swing omni-directional moving spherical robot |
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| CN102602468A CN102602468A (en) | 2012-07-25 |
| CN102602468B true CN102602468B (en) | 2015-02-25 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105128967B (en) * | 2015-08-28 | 2017-09-22 | 北京交通大学 | A kind of omnibearing movable spherical robot |
| CN105564523B (en) * | 2015-10-16 | 2017-11-03 | 福州环亚众志计算机有限公司 | Complicated landform exploring robot |
| CN107128381B (en) * | 2017-03-21 | 2019-06-25 | 坎德拉（深圳）科技创新有限公司 | A kind of ball shape robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2475519Y (en) * | 2001-04-23 | 2002-02-06 | 哈尔滨航天风华科技股份有限公司 | Spherical robot |
| CN101229833A (en) * | 2008-02-28 | 2008-07-30 | 南京航空航天大学 | Structure-simplified omnidirectional moving spherical robot |
| CN201189913Y (en) * | 2008-02-28 | 2009-02-04 | 南京航空航天大学 | Omnidirectional motion simplification mechanism of spherical robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FI960103A0 (en) * | 1996-01-09 | 1996-01-09 | Torsten Schoenberg | Roerlig robot |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2475519Y (en) * | 2001-04-23 | 2002-02-06 | 哈尔滨航天风华科技股份有限公司 | Spherical robot |
| CN101229833A (en) * | 2008-02-28 | 2008-07-30 | 南京航空航天大学 | Structure-simplified omnidirectional moving spherical robot |
| CN201189913Y (en) * | 2008-02-28 | 2009-02-04 | 南京航空航天大学 | Omnidirectional motion simplification mechanism of spherical robot |
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