CN104626902A - Multi-degree-of-freedom amphibious spherical robot - Google Patents
Multi-degree-of-freedom amphibious spherical robot Download PDFInfo
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- CN104626902A CN104626902A CN201510054920.6A CN201510054920A CN104626902A CN 104626902 A CN104626902 A CN 104626902A CN 201510054920 A CN201510054920 A CN 201510054920A CN 104626902 A CN104626902 A CN 104626902A
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Abstract
The invention relates to a robot, in particular to a multi-degree-of-freedom amphibious spherical robot. The multi-degree-of-freedom amphibious spherical robot comprises a spherical shell, four mechanical legs and a control driving system. According to the technical scheme, the spherical shell comprises a semispherical upper cover, two quarter spherical shell bodies and a round partition plate; the four mechanical legs are symmetrically installed on the bottom face of the round partition plate at 90-degree intervals; the control driving system is installed in the semispherical upper cover and is sealed through a waterproof inner shell. According to the multi-degree-of-freedom amphibious spherical robot, land propelling, underwater propelling and the spherical appearance structure are effectively combined, and the underwater robot is made to have the high maneuvering capability in the land, water and transition environments.
Description
Technical field
The present invention relates to a kind of robot, be specifically related to a kind of amphibious ball shape robot.
Background technology
Along with ocean exploitation activity is more and more frequent and go deep into, also more and more higher to the demand of marine survey technology and equipment.Lift-launch multiple sensors and instrument and equipment realize the autonomous underwater vehicle/robot of long-time automatic job under water, there is the plurality of advantages such as operating cost is low, action radius wide, feature richness, become one of the important equipment carrying out seafari, environment measuring, scientific research, at exploration Deep Sea Minerals, found that the fields such as new species have broad prospects and significant application value.
There is following problem in existing autonomous underwater vehicle/robot and ball shape robot:
(1) existing autonomous underwater vehicle/robot many employings streamline structure and screw propeller advance, its one-way movement speed is higher, but because build and Turning radius are comparatively large, cannot realize narrow complex environment under water (as in coral reef, pipeline, rock crack etc.) under flexible motion and precise operation.Meanwhile, its huge profile and and power system when operation, larger disturbance is caused to environment, be not suitable for the application of highly concealed type and bioaffinity, as investigation, biological specimen collection, environmental monitoring etc.
(2) existing ball shape robot type of drive many employings roller on land, make use of the advantage of globosity to a certain extent, there is very high anti-pourability and operating efficiency, owing to adding rotor, its profile is general larger, require high to environment landform, be not suitable for the structural environment of non-structure environment and some characteristic.
(3) existing ball shape robot under water more adopts screw propeller propelling, and the shortcoming of this propulsion mode is that screw propeller is exposed to outside robot body, and easily damage, also easy turbulization, efficiency is low, large to aquatic organism environmental disruption.And realize underwater propeller propelling only, and cannot work under the nearly water environment such as shallow water, marsh, beach, its active job scope and limited viability.
Summary of the invention
The object of the invention is: for overcoming the deficiencies in the prior art, the amphibious ball shape robot of a kind of multiple degree of freedom is proposed, land is advanced, underwater propulsion and the effective compound of spherical contour structures, make it possess in land, water and the high maneuverability of transitional environment simultaneously.
Technical scheme of the present invention is: the amphibious ball shape robot of multiple degree of freedom, and it comprises spherical shell, four pedipulators and control-driven system;
Spherical shell comprises: semisphere upper cover, two 1/4th spherical shells and circular bulkheads; The bottom open end that circular bulkheads is arranged on semisphere upper cover is closed, two Servo-controllers of uncapping are provided with in the enclosure space of semisphere upper cover, the swing arm of two Servo-controllers of uncapping is connected with two 1/4th spherical shells respectively, when spherical shell lower part is opened, outside four pedipulators are exposed to; When spherical shell lower part is closed, form the spherical shell closed; / 4th spherical shells are provided with water injector;
Article four, pedipulator is with the bottom surface being arranged on circular bulkheads of 90 ° of interval symmetries; Each pedipulator comprises: waterproof Servo-controller A, horizontal stand, vertical support frame, waterproof Servo-controller B and direct current water spray motor; Rotating shaft one end of waterproof Servo-controller A is fixedly connected with horizontal stand, and the other end is installed on the bottom surface of circular bulkheads by bearing; Horizontal stand is fixedly connected with vertical support frame; Waterproof Servo-controller B is arranged on vertical support frame by its rotating shaft, and is fixedly connected with direct current motor of spraying water; When spherical shell lower part closes, start direct current water spray motor and the water injector of current from 1/4th spherical shells is sprayed;
Control-driven system is arranged in semisphere upper cover, and realizes sealing by waterproof inner shell.Beneficial effect:
(1) the present invention effectively realizes four-degree-of-freedom in water and to cruise and amphibious walking movement.On the one hand, the advantage that effectively succession globosity dynamic stabilization, motion are flexibly, environmental perturbation is little, disguised and bioaffinity is high.On the other hand, by the water spray motion vector synthesis of multiple pedipulator water spray motor, realize the multiple degree of freedom flexible motion of robot zero radius of rotation under water.In addition, the propulsive mechanism of robot can according to the difference of media environment and task feature, carry out active or the change of passive Potamogeton crispus, response is made to the ambient medium changed and task feature, carrying capacity and the propulsion coefficient of amphibious robot can be improved greatly, thus improve its comformability in amphibious environment, significantly expand its field of application and activity space.
(2) the present invention adopts airtight episphere and can form globosity by folding lower semisphere, and the pedipulator adopting band direct current water spray motor is moving cell, can realize under water, diving, beach, motion under the multiple environment such as land and operation.
(3) the present invention can realize amphibious walking/two kinds of mode of motioies of creeping, and by adjustment gait, meets different walking/speed of creeping, stability, the adaptive demand of landform; Under water under vector waterjet propulsion pattern, flexible motion and the no-radius that can realize four-degree-of-freedom turn to.
(4) can be used as Female Robot in the present invention, deliver the bionic micro child robot of the design such as some employing memorial alloys, high molecular polymer, form primary and secondary system, realize the fine manipulation under narrow environment under water.
Accompanying drawing explanation
Structural representation when Fig. 1 is lower part of the present invention unlatching;
Fig. 2 is the structural representation of lower part of the present invention when closing;
Fig. 3 is the structural representation of spherical shell in the present invention;
Fig. 4 is the structural representation of pedipulator in the present invention;
Fig. 5 carries the carrying platform of bionic micro child robot and the structural representation of lockout mechanism in the present invention;
Fig. 6 is an orbit period of single pedipulator in the present invention;
Gait dutycycle when Fig. 7 is Four-feet creeping of the present invention;
Fig. 8 is direct current water spray motor internal flow field analysis figure in pedipulator of the present invention;
Fig. 9 is the pedipulator state of kinematic motion schematic diagram of the present invention in water when level, catenary motion;
Figure 10 is that the present invention keeps straight in water, divertical motion time pedipulator state of kinematic motion schematic diagram;
Wherein, uncap Servo-controller, 1-5 seal ring, 1-6 lockout mechanism, 1-7 carrying platform, 1-8 of 1-1 semisphere upper cover, 1-2 1/4th spherical shell, 1-3 circular bulkheads, 1-4 carries bionic micro child robot, 2-1 waterproof Servo-controller A, 2-2 horizontal stand, 2-3 vertical support frame, 2-4 waterproof Servo-controller B, 2-5 direct current water spray motor, 3-control-driven system.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.
See accompanying drawing 1,2, the amphibious ball shape robot of multiple degree of freedom, it comprises spherical shell, four pedipulators and control-driven system 3;
See accompanying drawing 3, spherical shell comprises: semisphere upper cover 1-1, two 1/4th spherical shell 1-2 and circular bulkheads 1-3; Circular bulkheads 1-3 is arranged on the bottom of semisphere upper cover 1-1, and sealed by seal ring 1-5, two Servo-controller 1-4 that uncap are provided with in semisphere upper cover 1-1, the swing arm of two Servo-controller 1-4 that uncap is connected with two 1/4th spherical shell 1-2 respectively, to realize the unlatching of spherical shell lower part with closed; / 4th spherical shell 1-2 are provided with water injector;
See accompanying drawing 4, four pedipulators are the bottom surface being arranged on circular bulkheads 1-3 of interval symmetry with 90 °; Each pedipulator includes: waterproof Servo-controller A2-1, horizontal stand 2-2, vertical support frame 2-3, waterproof Servo-controller B2-4 and direct current water spray motor 2-5; The rotating shaft of waterproof Servo-controller A2-1 is fixedly connected with horizontal stand 2-2 on the one hand, is installed on the bottom surface of circular bulkheads 1-3 on the other hand by bearing; Horizontal stand 2-2 is fixedly connected with vertical support frame 2-3; Waterproof Servo-controller B2-4 mono-aspect is arranged on vertical support frame 2-3 by its rotating shaft, and the motor 2-5 that sprays water with direct current is on the other hand fixedly connected with; When spherical shell lower part closes, the current of direct current water spray motor 2-5 spray from the water injector of 1/4th spherical shell 1-2;
Control-driven system 3 is arranged in semisphere upper cover 1-1, and realizes sealing by waterproof inner shell.
See accompanying drawing 6,7, by land, shoal, under the environment such as the bottom, the present invention can open two 1/4th spherical shell 1-2, utilizes its 4 pedipulators, with the jet pipe of direct current water spray motor 2-5 for supporting, carries out walking flexibly/creep.In creeping, the course of action of 4 legs is the same, just has different phase differences.Fig. 6 lists the course of action of 1 leg in a walking period, comprises and lifts leg, and to forward swing, fall leg, and the backward rear pendulum of kiss the earth etc., its gait dutycycle (namely
) higher (being greater than 0.75), the pedipulator kiss the earth time is longer, and (synchronization has 3 legs and earth surface at least, black stripe in Fig. 7 is the time of a certain pedipulator kiss the earth, white ribbon is a certain pedipulator unsettled time), robot crawling is more stable, speed of creeping then can be thereupon lower, is applicable to rugged terrain environment; Its gait dutycycle lower (being less than 0.75), the time of pedipulator kiss the earth is shorter (in crawling process part moment only two legs and earth surface), robot crawling speed is faster, but its stability is poorer, is applicable to smooth terrain environment.According to different walkings/speed of creeping, gait stability, landform comformability demand, program in control system is by adjusting the anglec of rotation and the speed of horizontal/vertical water-proof servo motor, realize the control to gait dutycycle, finally complete the flexible adjustment to its gait.
Four-feet creeping gait is as shown in the table:
See accompanying drawing 8,9,10, environment under water, / 4th spherical shell 1-2 of closed lower semisphere in the present invention, the globosity formed, utilize 4 the direct current water spray motor 2-5 be fixed on 4 pedipulators 2, regulate direction of propulsion by waterproof Servo-controller A2-1, waterproof Servo-controller B2-4, synthesis thrust vectoring, to realize the flexible motion of four degree of freedom.When the vector of 4 direct currents water spray motor 2-5 vertical direction makes a concerted effort up/down, sinking/floatings that can realize robot is moved.The horizontal orientation motion of robot can be realized when the vector of 4 direct current water spray motor 2-5 horizontal directions is made a concerted effort symmetrical; When the vector of 4 direct currents water spray motor 2-5 horizontal directions is made a concerted effort asymmetric, being formed with vertical direction is the moment of torsion of axle, and the no-radius realizing robot horizontally rotates.
See accompanying drawing 5, carrying platform 1-7 and lockout mechanism 1-6 is also provided with by the bottom surface at circular bulkheads 1-3, the present invention can be made as the Female Robot carrying bionic micro child robot 1-8, carrying platform and lockout mechanism 1-6 carry bionic micro child robot 1-8 (as bionical walkingstick robot, bionical jellyfish robot or Bionic inchworm robot), by radio communication, form primary and secondary robot system with the amphibious ball shape robot of multiple degree of freedom.During work, invent the target area of to be carried by child robot toward seabed or river bed, then discharge bionic micro child robot 1-8, and provide power supply and control signal for child robot, after completing child robot operation, Female Robot can control it and complete reclaimer operation.
In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (3)
1. the amphibious ball shape robot of multiple degree of freedom, comprises spherical shell, four pedipulators and control-driven system (3), it is characterized in that:
Described spherical shell comprises: semisphere upper cover (1-1), two 1/4th spherical shells (1-2) and circular bulkheads (1-3); The bottom open end that described circular bulkheads (1-3) is arranged on described semisphere upper cover (1-1) is closed, two Servo-controllers of uncapping (1-4) are provided with in the enclosure space of described semisphere upper cover (1-1), uncap described in two Servo-controller (1-4) swing arm respectively 1/4th spherical shells (1-2) described with two be connected, when described spherical shell lower part is opened, outside described four pedipulators are exposed to; When described spherical shell lower part is closed, form the spherical shell closed; Described 1/4th spherical shells (1-2) are provided with water injector;
Described four pedipulators are with the bottom surface being arranged on described circular bulkheads (1-3) of 90 ° of interval symmetries; Each described pedipulator comprises: waterproof Servo-controller A (2-1), horizontal stand (2-2), vertical support frame (2-3), waterproof Servo-controller B (2-4) and direct current water spray motor (2-5); Rotating shaft one end of described waterproof Servo-controller A (2-1) is fixedly connected with described horizontal stand (2-2), and the other end is installed on the bottom surface of described circular bulkheads (1-3) by bearing; Described horizontal stand (2-2) is fixedly connected with described vertical support frame (2-3); Described waterproof Servo-controller B (2-4) is arranged on described vertical support frame (2-3) by its rotating shaft, and is fixedly connected with described direct current motor (2-5) of spraying water; When described spherical shell lower part closes, start described direct current water spray motor (2-5) and the water injector of current from described 1/4th spherical shells (1-2) is sprayed;
Described control-driven system (3) is arranged in described semisphere upper cover (1-1), and realizes sealing by waterproof inner shell.
2. the amphibious ball shape robot of multiple degree of freedom as claimed in claim 1, it is characterized in that, the bottom surface of described circular bulkheads (1-3) is also provided with carrying platform (1-7) and lockout mechanism (1-6).
3. the amphibious ball shape robot of multiple degree of freedom as claimed in claim 2, it is characterized in that, at described carrying platform and lockout mechanism (1-6) upper lift-launch bionic micro child robot (1-8), by radio communication, form primary and secondary robot system with the amphibious ball shape robot of described multiple degree of freedom.
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| CN201510054920.6A CN104626902A (en) | 2015-02-03 | 2015-02-03 | Multi-degree-of-freedom amphibious spherical robot |
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| CN201510054920.6A CN104626902A (en) | 2015-02-03 | 2015-02-03 | Multi-degree-of-freedom amphibious spherical robot |
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Cited By (11)
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| CN105857433A (en) * | 2016-04-21 | 2016-08-17 | 奇弩（北京）科技有限公司 | Symmetrically-structured multi-legged robot capable of orientating rapidly |
| CN106020178A (en) * | 2016-08-01 | 2016-10-12 | 天津理工大学 | Autonomous spherical amphibious multi-robot communication system and working method thereof |
| CN107697244A (en) * | 2017-11-07 | 2018-02-16 | 哈尔滨工程大学 | The spherical underwater robot promoted based on vector |
| CN108146167A (en) * | 2017-11-24 | 2018-06-12 | 北京理工大学 | A kind of wheel leg type composite driving mechanism for amphibious ball shape robot |
| CN109018277A (en) * | 2018-08-02 | 2018-12-18 | 哈尔滨工程大学 | A kind of dish-shaped underwater robot promoted based on vector |
| CN109093628A (en) * | 2018-08-07 | 2018-12-28 | 国网辽宁省电力有限公司葫芦岛供电公司 | Liquid container crusing robot |
| CN110395331A (en) * | 2019-08-30 | 2019-11-01 | 哈尔滨工程大学 | A kind of quadruped robot foot that can actively switch form |
| CN110576953A (en) * | 2019-09-23 | 2019-12-17 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Primary-secondary type large-diameter long diversion tunnel underwater detection robot system |
| CN111376663A (en) * | 2020-04-02 | 2020-07-07 | 青岛海研电子有限公司 | Amphibious spherical robot |
| CN112847395A (en) * | 2021-01-05 | 2021-05-28 | 西北工业大学 | High-maneuverability amphibious spherical robot |
| CN113510679A (en) * | 2021-04-19 | 2021-10-19 | 北京信息职业技术学院 | Wheeled robot |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105857433B (en) * | 2016-04-21 | 2018-03-20 | 奇弩（北京）科技有限公司 | Can slewing symmetrical structure multi-foot robot |
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| CN106020178A (en) * | 2016-08-01 | 2016-10-12 | 天津理工大学 | Autonomous spherical amphibious multi-robot communication system and working method thereof |
| CN106020178B (en) * | 2016-08-01 | 2023-04-18 | 天津理工大学 | Autonomous spherical amphibious multi-robot communication system and working method thereof |
| CN107697244A (en) * | 2017-11-07 | 2018-02-16 | 哈尔滨工程大学 | The spherical underwater robot promoted based on vector |
| CN108146167A (en) * | 2017-11-24 | 2018-06-12 | 北京理工大学 | A kind of wheel leg type composite driving mechanism for amphibious ball shape robot |
| CN108146167B (en) * | 2017-11-24 | 2023-11-10 | 北京理工大学 | Wheel leg type composite driving mechanism for amphibious spherical robot |
| CN109018277A (en) * | 2018-08-02 | 2018-12-18 | 哈尔滨工程大学 | A kind of dish-shaped underwater robot promoted based on vector |
| CN109093628A (en) * | 2018-08-07 | 2018-12-28 | 国网辽宁省电力有限公司葫芦岛供电公司 | Liquid container crusing robot |
| CN110395331B (en) * | 2019-08-30 | 2021-07-16 | 哈尔滨工程大学 | Four-footed robot foot capable of actively switching forms |
| CN110395331A (en) * | 2019-08-30 | 2019-11-01 | 哈尔滨工程大学 | A kind of quadruped robot foot that can actively switch form |
| CN110576953A (en) * | 2019-09-23 | 2019-12-17 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Primary-secondary type large-diameter long diversion tunnel underwater detection robot system |
| CN111376663A (en) * | 2020-04-02 | 2020-07-07 | 青岛海研电子有限公司 | Amphibious spherical robot |
| CN112847395B (en) * | 2021-01-05 | 2023-02-24 | 西北工业大学 | High-maneuverability amphibious spherical robot |
| CN112847395A (en) * | 2021-01-05 | 2021-05-28 | 西北工业大学 | High-maneuverability amphibious spherical robot |
| CN113510679A (en) * | 2021-04-19 | 2021-10-19 | 北京信息职业技术学院 | Wheeled robot |
| CN113510679B (en) * | 2021-04-19 | 2022-09-27 | 北京信息职业技术学院 | Wheeled robot |
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Application publication date: 20150520 |