CN211167161U - Pendulum-type spherical robot and control system thereof - Google Patents
Pendulum-type spherical robot and control system thereof Download PDFInfo
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- CN211167161U CN211167161U CN201922006875.3U CN201922006875U CN211167161U CN 211167161 U CN211167161 U CN 211167161U CN 201922006875 U CN201922006875 U CN 201922006875U CN 211167161 U CN211167161 U CN 211167161U
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Abstract
The utility model discloses a pendulum-type spherical robot and control system thereof, this spherical robot include spherical shell and set up rotation unit and swing unit in the spherical shell rotate the unit and include first ring flange shaft coupling, second ring flange shaft coupling, box pivot, first step motor and second step motor, and the swing unit includes first rectilinear motor, second rectilinear motor and pendulum. The utility model discloses a spherical robot has greatly reduced the motion component, makes its motion mode nimble light more, has improved the reliability of spherical robot operation.
Description
Technical Field
The utility model belongs to the technical field of spherical robot and control, a special type robot is related to, more specifically especially, relate to a pendulum-type spherical robot and control system thereof.
Background
In recent years, mobile robots are widely used in military reconnaissance, nuclear accident emergency treatment, fire fighting fields, and other fields. At present, wheel type, crawler type and legged mobile robots which are applied more have the defects of complex structure, poor motion flexibility, high control difficulty and the like in special environments. Spherical robots have been widely researched, developed and applied by most researchers in the last two decades due to the advantages that the spherical robots have strong environmental adaptability and the spherical shells can avoid the damage of special environments to structures such as internal electronic components.
The spherical robot is named as a new type of mobile robot because it generally has a spherical external structural shape. Different from the traditional wheeled and legged robot, the spherical robot has the main characteristics that basic motion is realized through rolling of the spherical shell, omnidirectional motion under flat terrain is easy to realize, and the spherical robot has higher motion efficiency and motion speed; in the moving process, when the robot is collided or falls from a high place, the closed spherical shell can also effectively protect the internal equipment of the robot.
However, the conventional spherical robot has a complicated internal structure and low flexibility of a driving mode, and is not suitable for low-cost design and practicability. In addition, the spherical robot has the characteristics of incomplete constraint, under-actuation, non-chain type, strong coupling and the like, and has the tendency of oscillation, so that the theoretical model of the spherical robot is very complex, and the problem that the motion control of the spherical robot is difficult to solve is always solved. Pendulum and wheel driven spherical robots are the most common two types of spherical robots, wherein the wheel driven spherical robot has the advantages of simple structure and control system, but the spherical robot is out of control due to the possible occurrence of slipping inside, poor contact and the like. In recent years, research on pendulum-driven spherical robots has become a hot spot, where pendulum-driven control and structural optimization are two key issues that have to be addressed.
Disclosure of Invention
To the above-mentioned not enough among the prior art, the utility model aims at providing a can reduce the internals, the nimble light pendulum-type structure spherical robot and the control system that just can low-cost development of drive mode.
In order to achieve the above object, the utility model adopts the following technical scheme:
a pendulum spherical robot comprises a spherical shell, a rotating unit and a swinging unit, wherein the rotating unit and the swinging unit are arranged in the spherical shell;
the rotating unit comprises a first flange plate coupler, a second flange plate coupler, a box-type rotating shaft, a first stepping motor and a second stepping motor, wherein the first stepping motor and the second stepping motor are symmetrically and fixedly arranged at two ends of the box-type rotating shaft;
the swinging unit comprises a first N20 motor, a second N20 motor and a pendulum bob, the pendulum bob is arranged at the center of the box-shaped rotating shaft, and the first N20 motor and the second N20 motor are symmetrically and fixedly arranged on two sides of the box-shaped rotating shaft and are respectively in rotating connection with the pendulum bob.
Further, the first stepping motor and the second stepping motor are respectively and fixedly connected with the box-type rotating shaft through bolts.
Further, the first stepping motor is connected with the first flange plate coupler through a set screw.
Furthermore, the second stepping motor is connected with the second flange plate coupler through a set screw.
Furthermore, the first flange plate coupling and the second flange plate coupling are respectively and fixedly connected with the spherical shell through bolts.
Further, still include control panel and battery, control panel and battery are central symmetry fixed the setting and are in box pivot both sides.
Further, the control board and the battery are respectively attached to the box-shaped rotating shaft by an adhesive material.
Based on above-mentioned pendulum-type spherical robot, the utility model also provides a pendulum-type spherical robot control system, including above-mentioned pendulum-type spherical robot and integrated main control chip, the straight going motor drive chip, step motor drive chip, bluetooth module, voltage acquisition module, temperature and humidity sensor module, gyroscope, the step-down chip on pendulum-type spherical robot control panel, main control chip is connected with straight going motor drive chip, step motor drive chip, bluetooth module, voltage acquisition module, temperature and humidity sensor module, gyroscope, step-down chip and first straight going motor and second straight going motor electricity respectively, straight going motor drive chip is connected with first straight going motor and second straight going motor electricity respectively, step motor drive chip is connected with first step motor and second step-down motor electricity respectively, the battery respectively with straight going motor drive chip, The stepping motor driving chip, the voltage acquisition module and the voltage reduction chip are electrically connected.
Furthermore, the remote control device also comprises a remote control end, and the main control chip is in data communication with the remote control end through a Bluetooth module.
The utility model discloses following beneficial effect has:
(1) the utility model adopts a simpler driving mode, so that the spherical robot can move in any direction in a plane, the internal structure of the spherical robot is effectively optimized, and the driving flexibility of the spherical robot is improved;
(2) the spherical robot structure designed by the utility model not only has more flexible motion mode, but also has more convenient operation capability through configuration design;
(3) the utility model discloses a size and the quality of pendulum-type spherical robot box pivot are less, and the quality of heavily putting is great, makes it to have very superior motion ability, has reduced spherical robot's manufacturing cost, but low cost development.
Drawings
Fig. 1 is a schematic structural view of the pendulum spherical robot of the present invention;
fig. 2 is a schematic structural diagram of the pendulum spherical robot control system of the present invention.
Wherein the reference numerals are: 1. a spherical shell; 21. a first flange plate coupling; 22. a second flange plate coupling; 31. a first stepper motor; 32. a second stepping motor; 4. a battery; 5. a pendulum bob; 61. a first linear motor; 62. a second direct current motor; 7. a box-shaped rotating shaft; 8. and a control panel.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
Example 1
Referring to fig. 1, the embodiment of the present invention provides a pendulum spherical robot, a spherical housing 1, and a rotation unit and a swing unit arranged in the spherical housing 1.
The spherical shell is designed into two hemispherical structures, so that the rotating unit and the swinging unit are conveniently assembled in the spherical shell to form an integral structure.
The rotating unit comprises a first flange plate coupler 21, a second flange plate coupler 22, a box-type rotating shaft 7, a first stepping motor 31 and a second stepping motor 32; the first stepping motor 31 and the second stepping motor 32 are symmetrically and fixedly arranged at two ends of the box-shaped rotating shaft 7, and specifically, the first stepping motor 31 and the second stepping motor 32 are respectively fastened and connected with the box-shaped rotating shaft 7 through bolts, so that the balance state of the box-shaped rotating shaft 7 is realized; the first stepping motor 31 is rotatably connected with the first flange coupler 21, the second stepping motor 32 is rotatably connected with the second flange coupler 22, and specifically, the first stepping motor 31 is connected with the first flange coupler 21, and the second stepping motor 32 is connected with the second flange coupler 22 through set screws; the first flange coupling 21 and the second flange coupling 22 are further fixedly connected to the spherical shell 1, specifically, the first flange coupling 21 and the second flange coupling 22 are respectively fastened to the spherical shell 1 through bolts.
The swinging unit comprises a first rectilinear motion motor 61, a second rectilinear motion motor 62 and a pendulum bob 5, the pendulum bob 5 is arranged at the center of the box-type rotating shaft 7, and the first rectilinear motion motor 61 and the second rectilinear motion motor 62 are symmetrically and fixedly arranged on two sides of the box-type rotating shaft 7 and are respectively connected with the pendulum bob 5 in a rotating manner.
In order to make the driving force larger, the first and second rectilinear motors 61 and 62 of the present invention are both Risym model N20 motors.
It should be noted that the fixed connection relation and the rotation connection relation that relate to in above-mentioned rotation unit and the swing unit all can adopt the conventional connected mode that can realize corresponding function, to other similar replacements, the utility model discloses do not describe repeatedly.
Furthermore, the utility model discloses still including installing control panel 8 and the battery 4 on the pendulum-type spherical robot, for the weight of balanced box pivot 7, control panel 8 and battery 4 are that the central symmetry is fixed to be set up in 7 both sides of box pivot, particularly, control panel 8 and battery 4 are respectively through viscous material attached to on 7 of box pivot.
The working principle of the pendulum spherical robot will be explained in detail as follows:
the pendulum bob 5 and the box-type rotating shaft 7 are driven by two motors respectively, and the rotating directions of the first rectilinear motion motor 61 and the second rectilinear motion motor 62 for driving the pendulum bob are vertical to the rotating directions of the first stepping motor 31 and the second stepping motor 32 for driving the box-type rotating shaft 7. The first and second rectilinear motors 61 and 62 generate driving torques about a vertical axis so that the spherical robot travels in a straight line and the first and second stepping motors 31 and 32 generate tilting torques about a horizontal axis, turning the spherical robot on the shaft. When the first and second rectilinear motors 61 and 62 or the first and second stepping motors 31 and 32 rotate, the rotation of the pendulum or the square frame changes the center of gravity of the pendulum 5, generating a gravitational moment to move the spherical robot forward or backward. When the first and second rectilinear motors 61 and 62 and the first and second stepping motors 31 and 32 are simultaneously rotated, the pendulum and the shaft are tilted and generate a gravitational moment, thereby changing the moving direction of the spherical robot. Therefore, the spherical robot can move and rotate as desired under the driving of the four motors. Thus, the movement of the robot can be controlled by controlling these four motors.
Example 2
Referring to fig. 2, the present invention further provides a pendulum spherical robot control system based on the pendulum spherical robot provided in embodiment 1, comprising a pendulum spherical robot, and a main control chip, a direct-moving motor driving chip, a stepping motor driving chip, a bluetooth module, a voltage acquisition module, a temperature and humidity sensor module, a gyroscope, a voltage reduction chip integrated on the control panel of the pendulum spherical robot, wherein the main control chip is electrically connected to the direct-moving motor driving chip, the stepping motor driving chip, the bluetooth module, the voltage acquisition module, the temperature and humidity sensor module, the gyroscope, the voltage reduction chip, and a first direct-moving motor and a second direct-moving motor respectively, the direct-moving motor driving chip is electrically connected to the first direct-moving motor and the second direct-moving motor respectively, the stepping motor driving chip is electrically connected to the first step motor and the second step motor respectively, the battery is respectively and electrically connected with the straight motor driving chip, the stepping motor driving chip, the voltage acquisition module and the voltage reduction chip.
The main control chip adopts an intelligent micro-distance model STM32F103C8T6 as a main controller, when the motor is controlled, the main controller generates PWM waves, and the first straight-moving motor and the second straight-moving motor are driven to rotate by the straight-moving motor driving chip; and the main controller also generates a control signal, and drives the first stepping motor and the second stepping motor to rotate through the stepping motor driving chip.
The direct-running motor driving chip adopts a QUASON model TB6612 driving chip, and the first direct-running motor and the second direct-running motor are driven according to PWM wave signals generated by the main control chip.
The driving chip of the stepping motor adopts a TE L ESKY model U L N2003 driving chip, and the first stepping motor and the second stepping motor are driven according to a control signal generated by the main control chip.
The voltage acquisition module adopts ASM117 produced by ASM company to realize the voltage acquisition of the power supply and feed back to the ADC port of the main control chip.
The DHT11 produced by the temperature and humidity sensor module Risym company realizes the collection of temperature and humidity data of the environment where the pendulum spherical robot is located and feeds the temperature and humidity data back to the main control chip.
The gyroscope adopts an MPU6050 chip produced by TE L ESKY to realize acquisition of angular velocity and acceleration data in the motion process of the pendulum spherical robot and feed back the data to the main control chip.
The Bluetooth module adopts HC-05 to realize data communication between the main control chip and the external port.
In order to make the whole hardware circuit concentrate more, the utility model discloses with main control chip and relevant functional module integration on same control panel PCB.
The utility model discloses well spherical robot uses bluetooth communication protocol and another outside singlechip (short for remote control end) to carry out data communication. The remote control end obtains the instructions of the operator, such as forward/backward, left/right turn, and acceleration/deceleration commands, by scanning the state of the matrix keyboard. For the spherical robot body, the main control chip sends the electric quantity, the temperature, the humidity and the pose information of the spherical robot, and the encoder data to the remote control end and are displayed at the remote control end.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention, and it is to be understood that the scope of the invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations based on the teachings of the present invention without departing from the spirit of the invention, and such modifications and combinations are still within the scope of the invention.
Claims (9)
1. A pendulum spherical robot is characterized by comprising a spherical shell (1), and a rotating unit and a swinging unit which are arranged in the spherical shell (1);
the rotating unit comprises a first flange plate coupler (21), a second flange plate coupler (22), a box-type rotating shaft (7), a first stepping motor (31) and a second stepping motor (32), wherein the first stepping motor (31) and the second stepping motor (32) are symmetrically and fixedly arranged at two ends of the box-type rotating shaft (7), the first stepping motor (31) is rotatably connected with the first flange plate coupler (21), the second stepping motor (32) is rotatably connected with the second flange plate coupler (22), and the first flange plate coupler (21) and the second flange plate coupler (22) are respectively and fixedly connected with the spherical shell (1);
the swing unit comprises a first rectilinear motion motor (61), a second rectilinear motion motor (62) and a pendulum bob (5), the pendulum bob (5) is arranged at the center of the box-type rotating shaft (7), and the first rectilinear motion motor (61) and the second rectilinear motion motor (62) are symmetrically and fixedly arranged on two sides of the box-type rotating shaft (7) and are respectively connected with the pendulum bob (5) in a rotating mode.
2. The pendulum spherical robot according to claim 1, wherein the first stepping motor (31) and the second stepping motor (32) are respectively connected to the box-type rotary shaft (7) by fastening with bolts.
3. The pendulum spherical robot according to claim 1 or 2, wherein the first stepping motor (31) is connected to the first flange coupling (21) by a set screw.
4. The pendulum spherical robot according to claim 1 or 2, wherein the second stepping motor (32) is connected to the second flange coupling (22) by a set screw.
5. The pendulum spherical robot according to claim 1, wherein the first flange coupling (21) and the second flange coupling (22) are respectively fastened to the spherical housing (1) by bolts.
6. The pendulum spherical robot according to claim 1, further comprising a control board (8) and a battery (4), wherein the control board (8) and the battery (4) are fixed on both sides of the box-shaped rotating shaft (7) in a centrosymmetric manner.
7. The pendulum spherical robot according to claim 6, wherein the control board (8) and the battery (4) are attached to the box-shaped rotating shaft (7) by adhesive materials, respectively.
8. A control system of a pendulum spherical robot, comprising the pendulum spherical robot as claimed in claim 7, and a main control chip, a direct-moving motor driving chip, a stepping motor driving chip, a Bluetooth module, a voltage acquisition module, a temperature and humidity sensor module, a gyroscope, and a voltage reduction chip integrated on the control panel of the pendulum spherical robot, wherein the main control chip is electrically connected to the direct-moving motor driving chip, the stepping motor driving chip, the Bluetooth module, the voltage acquisition module, the temperature and humidity sensor module, the gyroscope, the voltage reduction chip, and the first and the second direct-moving motors, the direct-moving motor driving chip is electrically connected to the first and the second direct-moving motors, the stepping motor driving chip is electrically connected to the first and the second stepping motors, and the battery is electrically connected to the direct-moving motor driving chip, The stepping motor driving chip, the voltage acquisition module and the voltage reduction chip are electrically connected.
9. The pendulum spherical robot control system of claim 8, further comprising a remote control end, wherein the master control chip is in data communication with the remote control end via a bluetooth module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922006875.3U CN211167161U (en) | 2019-11-19 | 2019-11-19 | Pendulum-type spherical robot and control system thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922006875.3U CN211167161U (en) | 2019-11-19 | 2019-11-19 | Pendulum-type spherical robot and control system thereof |
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| CN211167161U true CN211167161U (en) | 2020-08-04 |
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| CN201922006875.3U Expired - Fee Related CN211167161U (en) | 2019-11-19 | 2019-11-19 | Pendulum-type spherical robot and control system thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113276977A (en) * | 2021-06-28 | 2021-08-20 | 西南科技大学 | Multi-freedom-degree spherical robot |
| CN114589710A (en) * | 2022-03-04 | 2022-06-07 | 珠海市一微机器人技术有限公司 | Pet robot and pet teasing control method and chip of pet robot system |
-
2019
- 2019-11-19 CN CN201922006875.3U patent/CN211167161U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113276977A (en) * | 2021-06-28 | 2021-08-20 | 西南科技大学 | Multi-freedom-degree spherical robot |
| CN114589710A (en) * | 2022-03-04 | 2022-06-07 | 珠海市一微机器人技术有限公司 | Pet robot and pet teasing control method and chip of pet robot system |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200804 Termination date: 20201119 |
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| CF01 | Termination of patent right due to non-payment of annual fee |