CN1098751C - Movable spherical robot - Google Patents
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- CN1098751C CN1098751C CN 01105338 CN01105338A CN1098751C CN 1098751 C CN1098751 C CN 1098751C CN 01105338 CN01105338 CN 01105338 CN 01105338 A CN01105338 A CN 01105338A CN 1098751 C CN1098751 C CN 1098751C
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Abstract
一种球形移动机器人，球壳中有互相垂直固连的中间框架和支承框架，内框通过悬轴与支承框架相连，换向电机驱动相互垂直的圆锥齿轮，使框架与球体产生相对转动，形成球体转向作用，驱动电机通过同步带轮带动内框沿同步齿形带作相对于框架的圆周运动，使球体的质心发生改变，驱动球体动作。球体内部电机采用无线遥控，实现球体任意方向的运动。本发明结构紧凑，动态地形适应性好，越障能力强，具有广阔的应用前景和市场潜力。
A spherical mobile robot, the spherical shell has an intermediate frame and a supporting frame that are vertically fixed to each other, the inner frame is connected to the supporting frame through a suspension shaft, and the reversing motor drives the mutually perpendicular bevel gears to make the frame and the sphere rotate relative to each other, forming The ball turns, the driving motor drives the inner frame along the synchronous toothed belt to make a circular motion relative to the frame through the synchronous pulley, so that the center of mass of the ball changes and drives the ball to move. The motor inside the sphere adopts wireless remote control to realize the movement of the sphere in any direction. The invention has the advantages of compact structure, good adaptability to dynamic terrain, strong obstacle surmounting ability, and broad application prospect and market potential.
Description
The present invention relates to a kind of mobile robot, relate in particular to a kind of movable spherical robot that utilizes the motion momentum to strengthen obstacle climbing ability, belong to electromechanical integration technology area.
In the prior art, designed multiple motion being applicable to complex-terrains such as mountain region or lunar environment,, joint-wheeled hybrid, joint track type etc. as leg formula, leg wheel.Yet the statics balance constrained designs is all deferred to by these mechanisms, and the input energy of system is mainly used in and overcomes static force, all intrinsic contradictions between the locomotivity of resolved vector and the landform adaptability fundamentally not.Along with the raising of movement velocity, compare with gravity when can not ignore when inertia force, system then enters dynamic state of run, and operation produces a very large impact the dynamical perturbation that is produced by landform at random to system, and the energy of input is mainly used in momentum control.Therefore, how to utilize the motion momentum to improve the major issue that locomitivity is current mobile robot's research.
Because of spheroid has good direction of motion controllability, there is not nonholonomic constraint, motion continuity is strong, and more existing in the world scholars launch the discussion to spherical travel mechanism.1998, American National Air and Space Executive Agent (NASA) jet propulsion laboratory (JPL) also once proposed a kind of robot probe's device that seems to be huge ball of design.This ball detector in light weight, the outside is hard, transparent, whippy shell, inside is filled with the air of suitable pressure, and in addition, it also has orthogonal rope, lie in respectively on the transparent outer cover of ball, make ball that light, soft, flat three kinds of forms be arranged, a control cabinet is made up of three motors, power supply (comprising solar cell) and control circuit, and control cabinet can move along three ropes by serving, to change the center of gravity of ball, make its direction motion to hope.The diameter of ball is very big, is enough to make it to overcome the very ground shape of hollow, because the function that do not move upward of this kind ball formula robot, so when it is not fragile when cliff or slope roll down.The Yangsheng Xu of robot research institute of Carnegie-Mellon University has developed that a kind of Gyrover is a sharp cincture with the stable single-wheel mobile robot Gyrover of gyroscope, and actuating mechanism is contained in the wheel, comprises three actuators.A high speed rotation motor, it drives a suspension flywheel and rotates at a high speed, so that Robotic Dynamic is stable; A canting motor, the angle of its control rotary flyweights, thus control turning to of Gyrover; A CD-ROM drive motor is controlled the acceleration that moves forward and backward by the inside wobble quality that changes Gyrover.Gyrover is a kind of novel single-wheel, gyro-stabilized robot.The behavior of Gyrover resembles stable rolling wheel based on the basic principle of gyroscopic procession.When the static and microinching of wheel, gyrostatic angular momentum guarantees the lateral stability of wheel.A kind of leaning device produces the inclination of wheel wobble shaft.Because gyroscope can be regarded the internal reference of attitude as, banking motion will cause that wheel tilts to the left or to the right, thereby cause that wheel is to the directional steering that tilts.The Torque Control that is produced by drive motors is suspended on the internal mechanism that resembles single pendulum on the wheel shaft, thereby produces the thrust of quickening or braking.
Japan scholar Atsushi Koshiyama and Kazuo Yamafuji just began taken turns the inside of forming by inverted pendulum and auxiliary rocker arm since 1985 be that the movable spherical robot of wheelbarrow structure is studied, purpose is to realize the attitude stabilization of robot, turn to control, carry out the climb and fall easy motion by rocking arm wheel and main body wheel.When if balance phenomenon takes place, this robot can keep stable state by the coordination of rocking arm and wheel.
Generation and practical application that the existing carrier of moving robot design studies of carrying out based on dynamic stability all fails to solve well effective exercise realize this critical problem.Gyrover puts undue emphasis on the pursuit dynamic stability, does not consider the self-sustaining of static stability, does not use gyro principle fully, causes energy loss very big, the control system complexity.In addition, environmental factor is not considered in its dynamic analysis.Although have motion diversity and the advantage of controlling simplification by the mobile robot that Japanese scholar developed, still lack enough operability and landform adaptability.The control of this robot system is a desirable Physical Experiment model only based on accurate kinetic model, is not suitable for being applied to mobile vehicle.Especially when practical application, lag behind because of life period between the response of system and the action of its internal soundness piece, be the function of outside landform lag time, be difficult to prediction, the controllable action speed when this has just limited it and is applied to complex-terrain can't surmount the quasistatic motion state.
The objective of the invention is to above-mentioned deficiency at prior art, provide a kind of novel ball carrier of moving robot from dynamic process stability angle design, make it to be applicable to complex-terrains such as mountain region or lunar environment, fundamentally solve the contradiction between landform adaptability and the locomotivity, can satisfy practical application request easily.
For realizing such purpose, in the technical scheme of the present invention, the central frame and the scaffold that vertically are connected are mutually arranged in the spherical shell of movable spherical robot carrier, and spherical shell links to each other with the frame fixation pedestal by the spheroid fixed pedestal with framework, and scaffold links to each other with its inner inside casing by outstanding axle.Transmission mechanism adopts two motor-driven, and wherein, reversing motor is installed in the scaffold top, drives orthogonal conical gear, and framework and spheroid are produced relative rotation, and forms the steering-effecting of spheroid integral body.Drive motors is installed in interior frame bottom, drives the synchronous pulley that meshes with synchronous cog belt, makes inside casing do moving of circumferencial direction along synchronous cog belt, and the barycenter of spheroid is changed, and drives spheroid and advances.The present invention adopts the wireless remote control mode of four-way that the motor of spheroid inside is controlled, realize the advancing of spheroid, retreat, suitable, turn to counterclockwise.
Concrete structure of the present invention is as follows:
Spherical shell selects for use fiberglass to process, and offers a lid on the spherical shell, is convenient to the internal components assembling.Framework is a modular construction, be connected by orthogonal central frame and scaffold and form, fixed pedestal is framework and spheroid coupling part, be the socket joint type structure, the front end of spheroid fixed pedestal is inserted in the frame fixation pedestal, sleeve inner supports with elastic fluid, guarantees certain assembling allowance, the vibration that brings when preventing the spheroid motion simultaneously.
Adopt two motors in the spherical mobile vehicle of the present invention, one is reversing motor, and one is drive motors.Reversing motor is installed on the scaffold of spheroid inside, adopt conical gear to make changement, utilize the characteristics of conical gear in the vertical direction transmission, by driving orthogonal conical gear engagement framework and spheroid are produced relative rotation, make the rotating shaft position of inside casing change, produce the commutation effect.Drive motors is installed among the inside casing, annular ring is arranged in the central frame, and the annular ring inwall is pasted with synchronous cog belt, and drive motors drives the synchronous pulley that meshes with synchronous cog belt through decelerator, make whole inside casing along synchronous cog belt, around the outstanding circular motion of doing with respect to framework of scaffold.
Motor-driven of the present invention adopts storage battery power supply, and control circuit adopts the cell panel power supply.Because spheroid is a hermetically-sealed construction, the wireless remote control mode is adopted in the control of spheroid.At design feature of the present invention, two motors are controlled respectively up and down, utilize two separate remote control circuit devices to handle motor, are used for controlling the spheroid travel direction.Two remote signal dash receivers are installed in the relevant position of controlling motor separately respectively, and the remote signal transmitter module then adopts hand-held control box structure.
In order to understand technical scheme of the present invention better, below describe in further detail by accompanying drawing and embodiment.
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the side view of structure of the present invention.
Among Fig. 1 Fig. 2, orthogonal central frame that is connected 5 and scaffold 4 are arranged in fiberglass spherical shell 1, spherical shell 1 is connected with frame fixation pedestal 9 by spheroid fixed pedestal 2 with central frame 5, scaffold 4.Scaffold 4 links to each other with its inner inside casing 12 by outstanding 11.Reversing motor 10 is installed in the top of scaffold 4, links to each other with a pair of orthogonal conical gear 3 by shaft coupling.Reversing motor 10 produces relative rotation with spheroid by driving conical gear 3, make the central frame 5, the scaffold 4 that are connected, forms the steering-effecting of spheroid integral body.Drive motors 13 is installed in the bottom of inside casing 12, links to each other with synchronous pulley 8 by shaft coupling, and annular ring 7 is arranged in the central frame 5, and the inwall of annular ring 7 is pasted with synchronous cog belt 6, synchronous pulley 8 and synchronous cog belt 6 engagements.Drive motors 13 drives whole inside casing 12 around outstanding axle 11 by synchronous pulley 8, and the circular motion along synchronous cog belt 6 is done with respect to framework changes the barycenter of spheroid, drives spheroid and advances.
Embodiment:
Spherical shell is selected fiberglass for use, processes external diameter 620mm, thick 10mm by hand.Because miscellaneous part will be installed in inside, and spherical shell is designed to dismantled and assembled structure, offers one 400 * 400 lid on spherical shell, is screwed.
Framework is a modular construction, and being connected by orthogonal central frame and scaffold forms, and is connected with spherical shell by fixed pedestal.
The diameter of synchronous cog belt has determined the size of all other parts, has also determined the characteristics of motion of spheroid.Present embodiment is selected cog belt girth 1100mm, wide 20mm; Pulley diameters 80mm, endoporus 20mm, wide 20mm.
The present invention adopts conical gear to make changement, and the internal part of spheroid is rotated under the driving of motor easily, realizes commutation.Present embodiment is selected modulus 1.5,30 teeth, the spur bevel gear of axial length 20mm for use.
Reversing motor is installed on the scaffold of spheroid inside, and the conical gear that drives mutual Vertical Meshing relatively rotates framework and spheroid, and the rotating shaft position of inside casing is changed, and realizes commutation.This motor is because space structure limits, and size can not be too big, and power requirement is also not high.Present embodiment is selected direct current generator (band reduction box) model: M28-832, rated voltage 24V, and power 3W, per minute 2 changes torque capacity 862N.cm.
Drive motors is installed on the inside casing, by driving synchronous pulley, drives whole inside casing and moves around outstanding axle along synchronous cog belt.Because drive motors and battery and some control device, mass etc. all are fixed on the inside casing,, begin to rotate so when inside casing moved to certain position, the barycenter of spheroid changes was enough to make spheroid overcome friction square.Present embodiment is selected the micromachine of band reduction box for use: power 7.1W, output shaft rotating speed 5r/min, torque capacity 887N.cm, rated voltage 24V.
The structure of reversing motor shaft coupling and drive motors shaft coupling is roughly the same, wherein the reversing motor shaft coupling part that is connected with motor is fixed with trip bolt, and fix by flat key with the conical gear coupling part, the drive motors shaft coupling is connected partly different with the former with synchronous pulley, adopt trip bolt to fix.
Motor-driven adopts storage battery power supply, and control circuit adopts the cell panel power supply.Adopt two electromagnetic relays that the voltage direction of motor is controlled, relay adopts JRC-19FB microminiature power relay, adopt remote control mode in the inner positive and reverse steering control that realizes motor of spheroid, in the control circuit, topmost parts are ZL-205J series coding wireless remote control assemblies, this assembly adopts the frequency electromagnetic waves transfer control signal of coded pulse modulation, and penetration power is strong and non-directional.
Adopt two motors in the spherical mobile vehicle of the present invention, reversing motor has been realized commutation function, drives Motor makes whole Internal moving mass move at synchronous cog belt by driving synchronous pulley, has changed spheroid Barycenter, reach the purpose that drives the spheroid motion. (do not have with external existing result of design in this field Opinion is the Gyrover of Yangshen Xu or the ball shape robot of Japanese scholars Atsushi Koshiyama) Three electric machine structures that adopt are compared, and the present invention adopts two motors just can satisfy the motion requirement, makes structure Compacter, shared space is littler, has significant superiority.
The present invention has the characteristics such as controllability is strong, good operability, has successfully solved now external similar moving The defective that exists in the mobile carrier structural design, control is simple, and static stability is strong, and Dynamic Terrain adaptability is good, Utilize the motion momentum to strengthen obstacle climbing ability, the effective rate of utilization height of the energy, practical potentiality are big, can be square Just upgrade to Enhanced Configuration.
The present invention is before the fields such as military affairs, celestial body exploration, special environment, science and education amusement have wide application Scape and market potential.
Claims (4)
1, a kind of movable spherical robot, comprise spherical shell and control motor, it is characterized in that orthogonal central frame that is connected (5) and scaffold (4) are arranged in the spherical shell (1), spherical shell (1) and central frame (5), scaffold (4) is by spheroid fixed pedestal (2), frame fixation pedestal (9) connects, scaffold (4) links to each other with inside casing (12) by outstanding axle (11), reversing motor (10) is installed in the top of scaffold (5), link to each other with orthogonal conical gear (3) by shaft coupling, drive motors (13) is installed in the bottom of inside casing (12), link to each other with synchronous pulley (8) by shaft coupling, annular ring (7) is arranged in the central frame (5), and synchronous pulley (8) meshes with the synchronous cog belt (6) of annular ring (7) inwall.
2, as the said movable spherical robot of claim 1, it is characterized in that spherical shell (1) is dismantled and assembled structure, on spherical shell (1), offer a lid, be screwed.
3, as the said movable spherical robot of claim 1, it is characterized in that fixed pedestal is the socket joint type structure, the front end of spheroid fixed pedestal (2) is inserted in frame fixation pedestal (9), and sleeve inner supports with elastic fluid.
4, as the said movable spherical robot of claim 1, it is characterized in that motor-driven adopts storage battery power supply, control circuit adopts the cell panel power supply, and the wireless remote control mode is adopted in spheroid control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01105338 CN1098751C (en) | 2001-02-15 | 2001-02-15 | Movable spherical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01105338 CN1098751C (en) | 2001-02-15 | 2001-02-15 | Movable spherical robot |
Publications (2)
| Publication Number | Publication Date |
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| CN1302717A CN1302717A (en) | 2001-07-11 |
| CN1098751C true CN1098751C (en) | 2003-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 01105338 Expired - Fee Related CN1098751C (en) | 2001-02-15 | 2001-02-15 | Movable spherical robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100363158C (en) * | 2006-01-25 | 2008-01-23 | 扬州大学 | Conjugate spherical center three-axis rotation device |
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| CN1212222C (en) * | 2002-08-22 | 2005-07-27 | 北京邮电大学 | Improved Omnidirectional Walking Device of Spherical Robot |
| CN100404212C (en) * | 2006-03-15 | 2008-07-23 | 北京邮电大学 | Spherical walking robot with retractable arms |
| US9429940B2 (en) | 2011-01-05 | 2016-08-30 | Sphero, Inc. | Self propelled device with magnetic coupling |
| WO2012094349A2 (en) | 2011-01-05 | 2012-07-12 | Orbotix, Inc. | Self-propelled device with actively engaged drive system |
| US9218316B2 (en) | 2011-01-05 | 2015-12-22 | Sphero, Inc. | Remotely controlling a self-propelled device in a virtualized environment |
| US9090214B2 (en) | 2011-01-05 | 2015-07-28 | Orbotix, Inc. | Magnetically coupled accessory for a self-propelled device |
| US10281915B2 (en) | 2011-01-05 | 2019-05-07 | Sphero, Inc. | Multi-purposed self-propelled device |
| KR20150012274A (en) | 2012-05-14 | 2015-02-03 | 오보틱스, 아이엔씨. | Operating a computing device by detecting rounded objects in image |
| US9827487B2 (en) | 2012-05-14 | 2017-11-28 | Sphero, Inc. | Interactive augmented reality using a self-propelled device |
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| US9829882B2 (en) | 2013-12-20 | 2017-11-28 | Sphero, Inc. | Self-propelled device with center of mass drive system |
| CN103963052B (en) * | 2014-04-02 | 2015-12-02 | 西北工业大学 | A kind of ball shape robot inner driving device |
| CN104015827B (en) * | 2014-06-10 | 2016-06-29 | 上海大学 | A kind of can the structure changes ball shape robot of obstacle detouring |
| WO2016025047A1 (en) * | 2014-08-13 | 2016-02-18 | Sphero, Inc. | Magnetically coupled accessory for a self-propelled device |
| CN105035197B (en) * | 2015-04-23 | 2018-12-07 | 河南理工大学 | Ball-shape robot based on gesture control |
| CN106741262B (en) * | 2016-12-22 | 2018-10-12 | 深圳市智能机器人研究院 | A kind of ball shape robot |
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| CN109176453B (en) * | 2018-09-12 | 2024-01-30 | 江苏省电力试验研究院有限公司 | Spherical exploration robot and exploration system based on same |
| CN111098945A (en) * | 2018-10-29 | 2020-05-05 | 逻腾（杭州）科技有限公司 | A pendulum rolling robot |
| KR102687669B1 (en) * | 2019-01-24 | 2024-07-24 | 삼성전자주식회사 | Electronic device including spherical structure |
| CN109808792B (en) * | 2019-04-02 | 2020-06-05 | 北京邮电大学 | Modular logistics sorting platform and method based on gyro precession effect |
| CN112208663A (en) * | 2020-10-19 | 2021-01-12 | 重庆华渝重工机电有限公司 | Spherical vehicle |
| CN219630600U (en) * | 2022-11-04 | 2023-09-05 | 广州灵动创想文化科技有限公司 | Gyro toy ball |
-
2001
- 2001-02-15 CN CN 01105338 patent/CN1098751C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100363158C (en) * | 2006-01-25 | 2008-01-23 | 扬州大学 | Conjugate spherical center three-axis rotation device |
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| Publication number | Publication date |
|---|---|
| CN1302717A (en) | 2001-07-11 |
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