CN206281494U - Ball shape robot ectosphere exercise test device - Google Patents
Ball shape robot ectosphere exercise test device Download PDFInfo
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- CN206281494U CN206281494U CN201621419401.1U CN201621419401U CN206281494U CN 206281494 U CN206281494 U CN 206281494U CN 201621419401 U CN201621419401 U CN 201621419401U CN 206281494 U CN206281494 U CN 206281494U
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- ball shape
- support
- ectosphere
- shape robot
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Abstract
The utility model discloses a kind of ball shape robot ectosphere exercise test device, including three support testing agencies, each support testing agency includes omni-directional wheel, the omni-directional wheel is arranged on support frame by wheel carrier, incremental transducer is coaxially installed with respectively with each omni-directional wheel, and the oblique lower section of the extended line of axis pairwise orthogonal and three axis of three omni-directional wheels intersects at a point；Three omni-directional wheels form the rolling support to ball shape robot ectosphere bottom.The utility model solves the inconvenient problem measured directly of ball shape robot ectosphere, detection parameter can be provided for the motion of different size of ball shape robot ectosphere, so as to preferably debug ball shape robot, the degree of accuracy and sensitivity of ball shape robot operation in real work are improved.
Description
Technical field
The utility model is related to robot detection technique, specially a kind of ball shape robot ectosphere exercise test device.
Background technology
The features such as ball shape robot has compact, light and flexible, be it is a kind of can be with the comprehensive rolling freely walked
Robot mechanism.This robot generally has totally enclosed spheroidal shell, the critical component such as its drive mechanism and sensor
It is isolated from the outside completely, it is adaptable to the operation in more rugged environment, is widely used in military, ocean and extraterrestrial detection
Deng field.
Ball shape robot relies on the scrolling realization omnibearing ambulation of ball shell, therefore, spherical shell is rotated and ball shape robot
Movement locus it is closely related.At present, the observing and controlling part such as the gyroscope of ball shape robot, encoder is normally mounted in spherical shell
On the support in portion, the kinematic parameters such as attitude, the speed of ball shape robot so can be easily measured；But for outer spherical shell, its
Kinematics parameters generally cannot be measured directly with sensor, but be needed by itself and support and the dynamics coupling of drive mechanism
Conjunction relation calculate indirectly and can just obtained.Therefore, set up and verify that the outer spherical shell motion of ball shape robot is moved with drive mechanism
Relation there is important theory significance and real value, but from terms of current technology equipment, even filled without special test
Putting can complete above-mentioned work, and this limits the development of ball shape robot research to a certain extent.
Utility model content
In view of the shortcomings of the prior art, technical problem to be solved in the utility model is to propose a kind of spherical machine of test
The ball shape robot ectosphere exercise test device of device people's ectosphere motion state.
The ball shape robot ectosphere exercise test device of above-mentioned technical problem is can solve the problem that, its technical scheme includes three branch
Support testing agency, each support testing agency includes omni-directional wheel, and the omni-directional wheel is arranged on support frame by wheel carrier, complete with each
Incremental transducer is coaxially installed with respectively to taking turns, and the extended line of three axis pairwise orthogonals of omni-directional wheel and three axis is oblique
Lower section intersects at a point；Three omni-directional wheels are formed and (are capable of achieving ball shape robot to the rolling support of ball shape robot ectosphere bottom
Ectosphere can all-direction rotation), with this set up one with the associated coordinate system of ball shape robot coordinate system, be easy to follow-up meter
Calculate.
A kind of structure of support frame as described above includes support bar and support base, and the wheel carrier is installed on support bar top, described
Support bar bottom is installed on support base, and three the three of support bar support oblique tops in direction intersect at a point.
To adapt to the support detection to different size ball shape robot ectosphere bottom, the support bar uses adjustable length
Threaded rod, and three support bases are set around cup dolly and by corresponding radially slide secondary installation locking in base respectively
On.
The wheel carrier preferably U-shaped frame.
The beneficial effects of the utility model：
1st, the utility model ball shape robot ectosphere exercise test device is by setting up rectangular coordinate system in space, it is established that
Omni-directional wheel motion and contacting that ball shape robot ectosphere is moved, can be convenient for measuring the moving situation of ball shape robot ectosphere, pass through
The data feedback of detection goes out the state of controlled system and then adjusts control parameter, preferably the motion of control ectosphere.
2nd, in structure of the present utility model, adjusted by the radiai adjustment and height of support frame, be applicable to different chis
The test job of very little ball shape robot ectosphere.
Brief description of the drawings
Fig. 1 is a kind of structural representation of implementation method of the utility model.
Fig. 2 is the structural representation of support testing agency in Fig. 1 implementation methods.
Figure number is identified：1st, omni-directional wheel；1-1, support wheel；1-2, short roller；2nd, wheel carrier；3rd, incremental transducer；4th, spherical machine
Device people；5th, support bar；6th, support base；7th, base；8th, pair is radially slided.
Specific embodiment：
Illustrated embodiment is described further to the technical solution of the utility model below in conjunction with the accompanying drawings.
The utility model ball shape robot ectosphere exercise test device, including it is supported on the ectosphere bottom of ball shape robot 4
Three support testing agencies, cup dolly 7 of three support testing agencies around the lower section of ball shape robot 4 is uniformly arranged, such as Fig. 1
It is shown.
Each support testing agency includes omni-directional wheel 1, incremental transducer 3, wheel carrier 2 (U-shaped frame), support bar 5 and support base
6, the support base 6 is installed on base 7 simultaneously by secondary 8 (fit structures of slide rail and chute) that radially slide of adjustable position
Locking, the support bar 5 (using the threaded rod of adjustable length) is tilting to the top of base 7, and the bottom of support bar 5 is installed on branch
On support seat 6, the wheel carrier 2 is installed on the top of support bar 5, and the omni-directional wheel 1 is installed by runner assembly (rotating shaft and bearing)
In in wheel carrier 2, the incremental transducer 3 is co-axially mounted in outside wheel carrier 2 with omni-directional wheel 1, as shown in Figure 1 and Figure 2.
The radiai adjustment position of support base 6 is identical, and the diagonal brace angle of each support bar 5 is identical with length adjustment, three supports
Three support oblique tops in direction of bar 5 intersect at a point, so as to omni-directional wheel 1 be set in the top circumference uniform distribution of base 7, three
The oblique lower section of extended line of the axis pairwise orthogonal of omni-directional wheel 1 and three the three of omni-directional wheel 1 axis intersects at a point, and this intersects
On center line of the point in base 7, as shown in Figure 1.
The structure of the omni-directional wheel 1 includes two coaxial support wheel 1-1 of the same size, the wheel face of each support wheel 1-1
On be evenly distributed in can lateral rotation short roller 1-2, the ectosphere bottom of ball shape robot 4 is by three omni-directional wheels 1 (six support wheels
Short roller 1-2 supports on 1-1), support wheel 1-1 and short roller 1-2 free to rotate can realize the full side of the ectosphere of ball shape robot 4
Position rotates, as shown in Figure 2.
Mode of operation of the present utility model is：
1st, the ectosphere diameter according to ball shape robot 4, regulate three omni-directional wheels 1 height and residing circumference it is straight
Footpath size.
2nd, ball shape robot 4 is positioned on three omni-directional wheels 1, the ectosphere bottom of ball shape robot 4 is seated in omni-directional wheel 1
Short roller 1-2 on.
3rd, ball shape robot 4 is started, the ectosphere all-direction rotation of ball shape robot 4 simultaneously drives each omni-directional wheel 1 to rotate simultaneously,
The kinematic parameter (rotation direction, rotational angle and velocity of rotation) of ectosphere is respectively by the incremental transducer 3 on correspondence omni-directional wheel 1
Collection, so as to detect the state of the ectosphere of ball shape robot 4 motion.
Claims (4)
1. ball shape robot ectosphere exercise test device, it is characterised in that：Including three support testing agencies, detection machine is respectively supported
Structure includes omni-directional wheel (1), the omni-directional wheel (1) by wheel carrier (2) on support frame, it is same respectively with each omni-directional wheel (1)
Axle is provided with incremental transducer (3), the oblique lower section of the extended line of axis pairwise orthogonal and three axis of three omni-directional wheels (1)
Intersect at a point；Rolling support of three omni-directional wheel (1) formation to ball shape robot (4) ectosphere bottom.
2. ball shape robot ectosphere exercise test device according to claim 1, it is characterised in that：Support frame as described above includes
Support bar (5) and support base (6), the wheel carrier (2) are installed on support bar (5) top, and support bar (5) bottom is installed on branch
In support seat (6), three support oblique tops in direction of three support bars (5) intersect at a point.
3. ball shape robot ectosphere exercise test device according to claim 2, it is characterised in that：The support bar (5)
It is the threaded rod of adjustable length, three support bases (6) set around cup dolly (7) and pass through corresponding radially sliding respectively
Secondary (8) installation locking is on base (7).
4. the ball shape robot ectosphere exercise test device according to any one in claims 1 to 3, it is characterised in that：
The wheel carrier (2) is U-shaped frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621419401.1U CN206281494U (en) | 2016-12-22 | 2016-12-22 | Ball shape robot ectosphere exercise test device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621419401.1U CN206281494U (en) | 2016-12-22 | 2016-12-22 | Ball shape robot ectosphere exercise test device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206281494U true CN206281494U (en) | 2017-06-27 |
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ID=59074170
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621419401.1U Active CN206281494U (en) | 2016-12-22 | 2016-12-22 | Ball shape robot ectosphere exercise test device |
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| CN (1) | CN206281494U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106767774A (en) * | 2016-12-22 | 2017-05-31 | 桂林电子科技大学 | Ball shape robot ectosphere exercise test device |
-
2016
- 2016-12-22 CN CN201621419401.1U patent/CN206281494U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106767774A (en) * | 2016-12-22 | 2017-05-31 | 桂林电子科技大学 | Ball shape robot ectosphere exercise test device |
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