CN101982304A - Inner driving spherical robot - Google Patents

Abstract

The invention discloses an internally driven spherical robot, which comprises a spherical shell (1) and a linear walking mechanism and a steering control mechanism arranged in the spherical shell (1). The linear walking mechanism includes a driving spherical shell (2), a frame ( 3), electromagnet (4), bearing (7), shaft (8), steering control mechanism includes electromagnet base (5), electric brush (6), bevel gear (9), bevel gear (10), motor Base (11), steering motor (12), coupling (13); after electromagnet (4) is energized, it will generate attraction force with the magnetic material inside the spherical shell to change the center of mass of the spherical robot, and drive along the spherical shell The inner side rolls to push the ball to move in a straight line. The frame is equipped with a steering control mechanism along its geometric centerline. The shaft (8) rotates around its axis under the drive of the steering motor (12), driving the electromagnet to rotate to change the walking of the linear travel mechanism. direction. The invention has the advantages of simple structure, flexible movement, convenient miniaturization design and the like.

Description

Internally Driven Spherical Robot

Technical field:

The invention belongs to the technical field of mechatronics, and in particular relates to an internally driven spherical robot.

Background technique:

The spherical robot is a new type of intelligent robot with a spherical shell and rolling motion as the main movement mode. Because the spherical robot has a closed shell and a special form of motion, compared with wheeled or track-based and humanoid robots, it has the greatest stability after instability, can achieve omnidirectional rolling, and can turn more flexibly And many other advantages, and its good internal sealing makes the spherical robot very popular in the fields of alien planet exploration and radiation corrosion environment exploration.

The spherical robot "Spherical Mobile Robot" developed by Aarne Halme, T.Sehonberg, Y.Wang et al. in 1996 (see "Motion control of a spherical mobile robot", 4th IEEE International Workshop on Advanced Motion Control AMC'96, 1996: 259-264), the spherical robot is the first spherical robot with a true spherical motion mechanism, the driving unit of the spherical robot is a driving wheel fixedly connected with the motor, the driving unit is changed by rolling in the spherical shell The center of gravity of the sphere thus enables simple linear motion.

Amir Homayoun Javadi A. and Puyan Mojabi developed the omnidirectional spherical moving robot "August" in 2002 (see "Introducing august: a novel strategy for an omni directional spherical rolling robot", Proc IEEE Int Conference on Robotics and Automation, 2002: 3527-3533), the drive system of the spherical robot is composed of four spokes, and each spoke carries a mass block, which can move up and down, and forms different centers of mass with different positions of the mass block. Change the motion state of the sphere.

The omnidirectional motion spherical robot with application number 200510011953.9 has a motion mechanism inside the spherical shell that is not fixedly connected with the spherical shell. The motion mechanism rolls in the spherical shell under the drive of the motor through a single-wheel rolling device to push the entire spherical shell The linear motion of the robot, and the other one-wheel rolling device is driven by another motor to rotate relative to the support mechanism to realize the omni-directional motion of the robot.

The application number is 200810020279.4 The omnidirectional motion spherical robot, the main wheel is driven by the walking motor to roll along the inner side of the spherical shell, and the center of gravity of the ball is moved forward and backward to push the ball to move in a straight line; the horizontal rod and the mass block are driven by the steering motor. The rotation of the geometric centerline of the spherical shell causes the reverse rotation of the spherical shell to change the direction of motion of the sphere.

Generally speaking, the existing spherical robots all have shortcomings such as complex motion trajectory and complex calculation, and are difficult to control in practical applications. The structures are relatively complicated, and it is difficult to popularize and apply in practice and it is difficult to carry out miniaturization design.

Invention content:

The invention mainly solves the problems that existing spherical robots have complicated structures, complicated motion tracks and difficult control.

The present invention is realized through the following technical solutions:

An internally driven spherical robot includes a spherical shell 1 and a walking drive device arranged in the spherical shell 1. The walking drive device includes a linear walking mechanism and a steering control mechanism. The linear walking mechanism includes a driving spherical shell 2, a frame 3, an electromagnetic Iron 4, bearing 7, shaft 8, steering control mechanism includes electromagnet base 5, electric brush 6, bevel gear 9, bevel gear 10, motor base 11, steering motor 12, coupling 13; The frame 3 is fixedly connected to the drive ball shell 2, and the frame 3 is fixedly connected with six bearings 7 symmetrically around its central axis along its diameter direction. The shaft 8 forms a rotating pair with the frame 3 through the bearing 7 along the diameter direction of the drive ball. Six electromagnets 4 are fixedly connected to the frame 3, and an electromagnet base 5 is arranged under the electromagnet 4. The conductive slip ring on the electromagnet base 5 is connected with the brush 6, and the frame 3 is installed along the direction of its geometric center line. The steering control mechanism is provided with a motor base 11 on the steering control mechanism, and a steering motor 12 is provided on the motor base 11. The steering motor 12 is connected with the bevel gear 10 and the bevel gear 9 through a coupling 13. The bevel gear 10 and the bevel gear 9 is connected with shaft 8 . Electromagnet 4 is six, is 60 degree distributions. The frame 3 is equipped with a counterweight 14 along its geometric centerline. The inside of the spherical shell 1 is coated with magnetic material.

Compared with the prior art, the present invention has the following beneficial effects: the internal structure of the present invention is simple, and the traveling drive device is separated from the spherical shell. The electromagnet on the shaft is connected with the control circuit by a conductive slip ring, so there will be no wire winding. The movement of the driving device is flexible, the systems are independent of each other, and the stability is good, which can realize omnidirectional walking and high-precision steering at any angle.

Description of drawings:

Fig. 1 is a structural representation of the present invention,

Fig. 2 is a left side view of Fig. 1 .

Detailed ways:

The inner drive spherical robot is made up of a spherical shell 1 and an internal walking drive device thereof. Its walking driving device includes a driving spherical housing 2 and a frame 3 fixedly connected to the driving spherical housing 2; the frame 3 is symmetrically fixed with six bearings 7 around its central axis along its diameter direction, and the shaft 8 is along the diameter direction of the driving ball. The bearing 7 and the frame 3 form a rotating pair; the frame 3 is fixedly connected with six electromagnets 4, and the electromagnet 4 is provided with an electromagnet base 5, and the conductive slip ring on the electromagnet base 5 is in contact with the brush 6 connection, after energizing any one of the electromagnets 4, it will generate an attractive force with the magnetic material inside the spherical shell 1. Under the action of the attractive force, the electromagnet 4 will be adsorbed to the inner surface of the spherical shell 1, thereby changing the center of mass of the spherical robot as a whole. Driven by gravity, the driving ball will roll along the inner side of the spherical shell 1 so that the overall center of gravity of the spherical robot is at the lowest point. After reaching the lowest point, the adjacent electromagnet will be energized. Driven by gravity, the driving ball will continue to roll forward to make the center of gravity Located at the lowest point, the process is circulated to realize the linear motion of the sphere; the frame 3 is equipped with a steering control mechanism along the direction of its geometric centerline, the steering control mechanism is provided with a motor base 11, and the motor base 11 is provided with a steering motor 12, and the steering The motor 12 is connected with the bevel gear 10 and the bevel gear 9 through the coupling 13, and the bevel gear 10 and the bevel gear 9 are connected with the shaft 8. Driven by the steering motor 12, the six shafts 8 rotate around their respective axes through the transmission of the bevel gear 10 and the bevel gear 9, and drive the electromagnet 4 to rotate to change the walking direction of the linear traveling mechanism, thereby changing the moving direction of the sphere. Wherein the electromagnet 4 is distributed at 60 degrees. The frame 3 is equipped with a counterweight 14 along its geometric centerline. The inside of the spherical shell 1 is coated with magnetic material.

Claims (4)

1. drive ball anthropomorphic robot in a kind comprises spherical shell (1) and is located at travel driving unit in the spherical shell (1) that travel driving unit comprises straight line moving mechanism and turns to controlling organization, straight line moving mechanism comprises drive ball spherical shell (2), frame (3), electromagnet (4), bearing (7), axle (8) turns to controlling organization to comprise electromagnet pedestal (5), brush (6), bevel gear (9), bevel gear (10), motor pedestal (11), steer motor (12), shaft coupling (13); It is characterized in that: the frame in the straight line moving mechanism (3) is fixed on drive ball spherical shell (2), frame (3) along its diametric(al) around its central shaft symmetry six bearings (7) that are connected, axle (8) forms revolute pair along the drive ball diametric(al) through bearing (7) and frame (3), six electromagnet (4) are connected on the frame (3), electromagnet (4) has electromagnet pedestal (5), conducting slip ring on the electromagnet pedestal (5) is connected with brush (6) contact, frame (3) is installed along its geometric center lines direction and is turned to controlling organization, turn to controlling organization to be provided with motor pedestal (11), motor pedestal (11) is provided with steer motor (12), steer motor (12) is by shaft coupling (13) and bevel gear (10), bevel gear (9) connects, bevel gear (10), bevel gear (9) is connected with axle (8).

2. drive ball anthropomorphic robot in according to claim 1, it is characterized in that: electromagnet (4) is six, is 60 degree and distributes.

3. drive ball anthropomorphic robot in according to claim 1 is characterized in that: described frame (3) is installed counterweight (14) along its geometric center lines.

4. drive ball anthropomorphic robot in according to claim 1, it is characterized in that: described spherical shell (1) inside is coated with magnetic material.

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