CN1669745A - An omnidirectional rolling spherical robotic device with a stable platform - Google Patents

Abstract

This invention discloses an omnidirectional rolling sphere Robot device with stable platform, belonging to mechanical technology field, which relates to device for controlling the over land vehicle, watercraft two-dimension walking in non-electric variable controlling-adjusting system, mainly used to solve problems of executing different experiments and testing in present robot device without relative stable platform, install equipment. The invention comprises external shell, motor, rotary table, weight, internal shell, stable platform and plat stable machine located in external and internal shell. Wherein, the inner shell and outer are located with one center, stable platform composed by ball bearing and stub is located in the inner shell, and stays state of stable translating motion. The invention can be applied in exploring, transportation, detection, entertainment and military.

Description

Omnidirectional rolling spherical robot apparatus with stabilized platform

Technical field

The invention belongs to field of mechanical technique, the control device that relates to the two dimension walking of relevant land, marine vehicle in the control of on-electric variable or the regulating system, specifically a kind of omnidirectional rolling spherical robot apparatus with stabilized platform can be used for fields such as detection, transportation, investigation, amusement, military affairs.

Background technology

Ball shape robot is a kind of novel machine people, the modern design uniqueness, and control is simple, and action does not almost have the dead angle flexibly, can realize the zero degree turning easily, no matter industrial, still all will be with a wide range of applications on civilian and military.Therefore, extremely the countries in the world scientific and technical personnel pay close attention to, and are one of the hot issues in present Research on Intelligent Robots field, and many countries have all carried out a large amount of research and experiment.

Abroad, first real ball shape robot is to be developed by Finns such as Halme in 1996, the primary structure characteristics of this robot are to have designed a driving wheel, and this driving wheel is rolled in spherical shell by motor-driven, realize the rolling of spheroid by the center of gravity that changes system.Referring to document Motion Control of ASpherical Mobile Robot ", Proceedings of AMC ' 96-MIE, 1996.The robot of Italians such as Bicchi design in 1997 has changed driving wheel into dolly, referring to document " Introducing theSphericle:an Experimental Test bed for Research and Teaching in Non-holono-my ", Proceedings of the IEEE International Conference on Robotics and Automation, 1997.Belgians such as Ferriere had been made the drive unit of robot into a kind of universal wheel again in 1998, referring to document " RollMOBS, a New Universal Wheel Concept ", Proceed-ings of the 1998 IEEE International Conference on Robotics and Automation, v.3, pp 1877-1882,1998.These three kinds of designs have all realized the motion of spheroid, but because the intrinsic limitation of drive unit, they all can't realize the omnidirectional rolling of ball shape robot.In order to solve the omnidirectional rolling problem of ball shape robot, Americans such as Bhattacharya had designed a kind of on the plane of the inner centre of sphere excessively of spherical shell in 2000, two motors are installed on the orthogonal direction, the stator and the spherical shell of each motor connect firmly, a disk is installed respectively on the motor shaft, the motor-driven disk rotates, and then drive spheroid in the plane omnidirectional rolling (referring to " Design, Experiments and Motion Planning of aSpherical Rolling Robot ", Proceedings of the 2000 IEEE InternationalConference on Robotics ﹠amp; Automation San Francisco, CA.April 2000).Iranians such as Javadi in 2002 have connected firmly four with spherical shell and have become the uniform spoke in positive tetrahedron space in spherical shell, all have on each spoke and overlap independently drive system: drive a balancing weight by a stepper motor by leading screw and move around along the spoke direction, drive the spheroid omnidirectional moving (referring to " Introducing August:A Novel Strategy for An Omni directionalSpherical Rolling Robot ", Proceedings of the 2002 IEEE InternationalConference on Robotics﹠amp by the position that changes the counterweight on the spoke; Automation San Washington, DC.MAY 2002).

At home, relevant patent of invention has: " self-controlled ball shaped robot ", application number is 99122494.9, the basic principle that the walking of this invention drives is: in spherical shell inside, a DC servo motor, position by transmission change movable mass piece produces gravitational moment and drives the forward and backward rolling of spheroid.Another DC servo motor is realized balance and turning by the position of adjusting slide block.Xiang Guan another patent of invention is " an improved all-direction moving unit for spherical robot " at home, application number is 02128933.6, the basic principle of its driving is: an annulus is arranged in spherical shell, two motors are installed on the annulus, wherein the pinion on the motor shaft of a motor be meshed with gear wheel on the supporting seat and drive it before and after rotate, pinion on another motor shaft in being installed on the annulus or being installed in by the minor axis hinge on the spreading axle is meshed with the gear wheel that installs on the interior spreading axle and drives its left-right rotation.

As mentioned above, in recent years,, realized the omnidirectional rolling of spheroid though domestic and international existing spherical robot device all adopts different type of drive respectively.But, in these devices, all exist the problem that stabilized platform is not provided in spheroid inside, cause all interior parts of spherical shell all constantly along with spheroid rolls together, can't install instruments or equipment, be used for carrying out different experiments, test and monitoring external environment condition etc.Therefore, these spherical robot device are difficult to maybe can't be applied in actual work and the life, have limited applying of they.

Summary of the invention

The objective of the invention is in order to solve the problem that existing spherical robot device exists, but a kind of spherical robot device with omnidirectional rolling of stabilized platform is provided.This stabilized platform is made translational motion all the time in spheroid is done the process of omnidirectional rolling, be in metastable state, to be implemented in various instruments or equipment is installed on the platform, carries out different experiments and test.

Technical scheme of the present invention is achieved in that

In the outer spherical shell of spherical robot device design and installation one with outside the concentric interior spherical shell of spherical shell, walking transmission mechanism and platform stabilizing mechanism have been installed between inside and outside spherical shell, in interior spherical shell, stabilized platform has been installed.Platform stable mechanism makes spherical robot device in doing the process of omnidirectional rolling, remains the stabilized platform translational motion, is in metastable state, thereby but has realized a kind of purpose of spherical robot device of the omnidirectional rolling with stabilized platform.Whole device comprises: outer spherical shell, balance weight body, disk, rotating disk, motor, interior spherical shell, stabilized platform, ball and platform stabilizing mechanism.Two motors were positioned at the plane of the centre of sphere, were vertically mounted on the medial surface of outer spherical shell mutually, and two rotating disks are installed on the axle of two motors the walking transmission mechanism of constituent apparatus respectively.Two balance weight body adopt batteries, install with two motors symmetries respectively, are fixed on the outer spherical shell, make The Balance for Rotating Ball and power to motor.Two disks are separately fixed on two balance weight body.Spherical shell in installing with one heart in the spherical shell outside is equipped with stabilized platform in interior spherical shell, between the spherical outside surface of stabilized platform and interior spherical shell ball is installed, and constitutes the sphere contact of rolling.Platform stable mechanism also is installed between inside and outside spherical shell, makes spherical robot device in doing the process of omnidirectional rolling, remain the translational motion of stabilized platform by platform stable mechanism.

Platform stable mechanism is made of ball bearing and minor axis, and it is cylinder that minor axis adopts an end, and the other end is a shape of spherical surface body.

The outer ring of ball bearing and the disk on the balance weight body and the rotating disk interference fit joint on the motor, the lateral surface interference fit joint of the cylinder end of the inner ring of ball bearing and minor axis, the Internal Spherical Surface of the spherical surface body end of minor axis forms spherical pair with the outer surface of interior spherical shell and contacts.

The present invention compared with prior art has following advantage:

1. this device provides a metastable instrument or equipment to carry platform for the first time in ball shape robot inside, and this platform is made translational motion all the time in spheroid is done the process of omnidirectional rolling, be in metastable state.On this stabilized platform, people can install such as the sensor of camera, various uses, actuator etc., external environment condition are monitored, from the motion of master program and control ball shape robot.

2. by controlling two rotating speed of motor and turning to, just can realize the omnidirectional rolling of this ball shape robot, make robot can arrive the optional position.

3. the present invention has simplified the drive unit of ball shape robot, and is simple in structure, can be made into the robot of different size size according to different purposes, can form seriation; Its manufacturing and assembling are simple, with low cost.

4. the center of gravity of this ball shape robot is positioned at the below of the spheroid centre of form all the time, thereby makes this ball shape robot staticly easily to be stabilized on the optional position.

Because the present invention has above-mentioned advantage, therefore has application value widely.Can come digital household appliances is controlled as the electronics house keeper towards family, also can be used as electronic pet for people's amusement; On commercial Application, the instrument that can be used as exploration carries platform and is used for exploration to particular surroundings such as pipeline, irrigation canals and ditches; Enterprises and institutions be can be used as After Hours security personnel and patrol work; On Military Application, available its lift-launch ferreting device carries out investigations, if carry weapon, can finish special combat mission; Aspect communications and transportation, can be used as a kind of special delivery vehicle, can on soil, sand ground, snowfield or the ice face of softness, move.

Description of drawings

Fig. 1 is that structure of the present invention is formed schematic diagram

Fig. 2 a is that unit of the present invention rotates emulation geometric locus figure

Fig. 2 b is that two-shipper constant speed of the present invention is rotated emulation geometric locus figure

Fig. 2 c is that two-shipper friction speed of the present invention rotates emulation geometric locus figure

Fig. 3 a be among the virtual prototype motion simulation result of the present invention in spherical shell along the angular speed curve map of X reference axis

Fig. 3 b be among the virtual prototype motion simulation result of the present invention in spherical shell along the angular speed curve map of Y reference axis

Fig. 3 c is the angular speed curve map of interior spherical shell Z-direction axle among the virtual prototype motion simulation result of the present invention

The specific embodiment

With reference to Fig. 1, it is that structure of the present invention is formed schematic diagram, comprises outerspherical shell 1, interior spherical shell 11, screw 5, balance weight body 14 and 18, disk 13 and 17, stabilized platform 12 and the walking transmission mechanism between inside and outside spherical shell and platform stabilizing mechanism.Walking transmission mechanism comprisesmotor 2 and motor 10, rotating disk 7 and rotating disk 9, motor adopts servomotor or torque motor, two motors were positioned on the plane of the centre of sphere, be vertically mounted on the inboard of outerspherical shell 1 mutually, as shown in the figure, be positioned at the motor 10 and themotor 2 that is positioned at vertical direction of horizontal direction, the shell of motor connects with outerspherical shell 1 with screw 5.Rotating disk 7 and rotating disk 9 by holding screw or sell 3 be separately fixed at two motors the axle on.Balance weight body 14 and 18 are being installed with two motors on about the position of centre of sphere symmetry respectively, and with screw 5 it are being connected firmly outside on thespherical shell 1, this balance weight body adopts battery, and powers to motor.On two balance weight body, install and fix disk 13 and disk 17 respectively with screw 15.Outerspherical shell 1 and interior spherical shell 11 are installed with one heart, stabilized platform 12 is installed in interior spherical shell 11, stabilized platform can be made into hemispherical or billiard table shape, installation ball 16 between the ectosphere of stabilized platform surface and interior spherical shell, make it to form sphere rolling contact, on the plane of stabilized platform various instruments or equipment can be installed.Platform stable mechanism is made of ball bearing 4 and minor axis 8, and it is cylinder that minor axis 8 adopts an end, and the other end is a shape of spherical surface body.Interference fit joint between the outer ring of ball bearing 4 and disk and the rotating disk, interference fit joint between the lateral surface of the cylinder end of the inner ring of ball bearing 4 and minor axis 8, ball bearing is located with back-up ring 6 with the hole.The Internal Spherical Surface of the spherical surface body end of minor axis 8 forms spherical pair with the outer surface of interior spherical shell and contacts.

Specific implementation process of the present invention is, ifmotor 2 does not start, observe from motor shaft end, motor 10 clockwise rotates, and the rotating disk 9 that drives on it also clockwise rotates, and the shell of motor 10 and outerspherical shell 1 rotate counterclockwise, ball shape robot rolls forward, interior spherical shell 11 does not rotate, and interior spherical shell 11 and stabilized platform 12 keep inactive state with ball shape robot translation forward with respect to the centre of sphere; If motor 10 rotates counterclockwise, the rotating disk 9 that drives on it also rotates counterclockwise, the shell of motor 10 and outerspherical shell 1 clockwise rotate, ball shape robot rolls backward, interior spherical shell 11 does not rotate, interior spherical shell 11 and stabilized platform 12 keep inactive state with ball shape robot translation backward with respect to the centre of sphere; If motor 10 does not start,motor 2 clockwise rotates, the rotating disk 7 that drives on it also clockwise rotates, the shell ofmotor 2 and outerspherical shell 1 rotate counterclockwise, ball shape robot rolls left, interior spherical shell 11 does not rotate, and interior spherical shell 11 and stabilized platform 12 keep inactive state with ball shape robot translation left with respect to the centre of sphere; Ifmotor 2 rotates counterclockwise, the rotating disk 7 that drives on it also rotates counterclockwise, the shell ofmotor 2 and outerspherical shell 1 clockwise rotate, ball shape robot rolls to the right, interior spherical shell 11 does not rotate, interior spherical shell 11 and stabilized platform 12 keep inactive state with ball shape robot translation to the right with respect to the centre of sphere.Ifmotor 2 and motor 10 rotate simultaneously, by the rotating speed ofcontrol motor 2 and motor 10, the shell ofmotor 2 and motor 10 just drives outerspherical shell 1 simultaneously and rotates, and this ball shape robot just can be done omnidirectional rolling.

Effect of the present invention can prove by simulation result:

As shown in Figure 2, it is three kinds of typical motion simulation geometric locuses of apparatus of the present invention..Wherein Fig. 2 a is that a motor is static, and another motor rotates, and ball shape robot is along the track of straight-line rolling; Fig. 2 b is that two motors rotate with identical speed, and ball shape robot rolls along circular trace; Fig. 2 c is that two motors rotate with friction speed, and ball shape robot rolls along curvilinear path.

As shown in Figure 3, it be among the virtual prototype motion simulation result of the present invention in spherical shell along the angular speed curve of three inertial coordinate axles.Wherein the interior spherical shell shown in Fig. 3 a, 3b and the 3c shows along the angular speed curve of three inertial coordinate axle x, y and z, interior spherical shell is zero along the angular velocity component of three inertial coordinate axles, spherical shell 11 does not rotate promptly, thereby make stabilized platform 12 remain inactive state, have metastable attitude to guarantee the instrument and equipment that is installed on the platform 12 with respect to the centre of sphere.

Claims (4)

Translated fromChinese

1、一种具有稳定平台的全向滚动球形机器人装置，包括外球壳、配重体、圆盘、转盘和电机，其特征在于，在外球壳(1)内安装有与其同心的内球壳(11)，在内球壳(11)中安装了稳定平台(12)，在内、外球壳之间安装了平台稳定机构，通过平台稳定机构使球形机器人装置在做全向滚动的过程中，始终保持稳定平台的平动运动。1, a kind of omnidirectional rolling spherical robot device with stable platform, comprises outer spherical shell, counterweight body, disc, rotating disk and motor, is characterized in that, in outer spherical shell (1) is installed with its concentric inner spherical shell ( 11), a stabilizing platform (12) is installed in the inner spherical shell (11), and a platform stabilizing mechanism is installed between the inner and outer spherical shells, through which the spherical robot device is in the process of omnidirectional rolling, Always maintain the translational motion of the stable platform.2、根据权利要求1所述的具有稳定平台的全向滚动球形机器人装置，其特征在于稳定平台(12)的外球面通过滚珠(16)与内球壳(11)之间构成球面滚动接触。2. The omnidirectional rolling spherical robot device with a stable platform according to claim 1, characterized in that the outer spherical surface of the stable platform (12) forms a rolling contact between the ball (16) and the inner spherical shell (11).3.根据权利要求1所述的具有稳定平台的全向滚动球形机器人装置，其特征在于平台稳定机构由滚珠轴承(4)和短轴(8)构成，短轴(8)采用一端为圆柱体，另一端为球面体的一体形状。3. The omnidirectional rolling spherical robot device with a stable platform according to claim 1, characterized in that the platform stabilization mechanism is made of ball bearings (4) and a short shaft (8), and the short shaft (8) adopts one end as a cylinder , and the other end is the integral shape of a sphere.4.根据权利要求1或3所述的具有稳定平台的全向滚动球形机器人装置，其特征在于滚珠轴承(4)的外圈与配重体上的圆盘(13)和(17)及电机上的转盘(7)和(9)过盈联接，滚珠轴承(4)的内圈与短轴(8)的圆柱体端的外侧面过盈联接，短轴(8)的球面体端的内球面与内球壳(11)的外表面形成球面副接触。4. The omnidirectional rolling spherical robot device with a stable platform according to claim 1 or 3, characterized in that the outer ring of the ball bearing (4) and the discs (13) and (17) on the counterweight body and the motor The turntable (7) and (9) interference connection, the inner ring of the ball bearing (4) and the outer surface of the cylinder end of the short shaft (8) interference connection, the inner spherical surface of the spherical body end of the short shaft (8) and the inner The outer surface of the spherical shell (11) forms a spherical pair contact.

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