阅读说明：本技术 一种球形机器人 (Spherical robot ) 是由 朱立红 张金龙 李鑫 陈宇轩 仲佳俊 曹宇 张晓庆 张超 于 2021-03-23 设计创作，主要内容包括：本发明涉及一种球形机器人,包括球形外壳以及设于球形外壳内的驱动机构,所述球形外壳的外部设有球形保护外壳,所述球形外壳和球形保护外壳之间连接有若干个第一弹簧,所述球形外壳的外表面连接有第二固定环,所述球形保护外壳的内表面连接有第一固定环,所述第一固定环和第二固定环连接,所述球形外壳和球形保护外壳之间设有缓冲气囊；所述驱动机构包括动力输出机构、控制模块和信号传输模块,动力输出机构产生的偏心力矩使球形外壳滚动和转向。该球形机器人,采用了双球壳体结构,通过缓冲气囊和弹簧减震达到减震的效果,有效地抑制形变,具有良好的环境适应性和长续航性,同时其内部的驱动机构采用对称设计,在移动过程中更加的稳定。(The invention relates to a spherical robot, which comprises a spherical shell and a driving mechanism arranged in the spherical shell, wherein a spherical protective shell is arranged outside the spherical shell, a plurality of first springs are connected between the spherical shell and the spherical protective shell, a second fixing ring is connected to the outer surface of the spherical shell, a first fixing ring is connected to the inner surface of the spherical protective shell, the first fixing ring is connected with the second fixing ring, and a buffering air bag is arranged between the spherical shell and the spherical protective shell; the driving mechanism comprises a power output mechanism, a control module and a signal transmission module, and the eccentric moment generated by the power output mechanism enables the spherical shell to roll and turn. This spherical robot has adopted two spherical shell structures, reaches absorbing effect through buffering gasbag and spring shock attenuation, suppresses deformation effectively, has good environmental suitability and long duration, and its inside actuating mechanism adopts the symmetric design simultaneously, removes more stability of in-process.)

1. The utility model provides a spherical robot, includes spherical shell (1) and locates the actuating mechanism in spherical shell (1), its characterized in that: the novel air-conditioning device is characterized in that a spherical protective shell (2) is arranged outside the spherical shell (1), a plurality of first springs (5) are connected between the spherical shell (1) and the spherical protective shell (2), a second fixing ring (4) is connected to the outer surface of the spherical shell (1), a first fixing ring (3) is connected to the inner surface of the spherical protective shell (2), the first fixing ring (3) is connected with the second fixing ring (4), and a buffering air bag is arranged between the spherical shell (1) and the spherical protective shell (2);

the driving mechanism comprises a power output mechanism, a control module and a signal transmission module, wherein the eccentric torque generated by the power output mechanism enables the spherical shell (1) to roll and turn, the control module controls the power output of the power output mechanism, and the signal transmission module is used for controlling the signal connection between the control module and an external control end.

2. The spherical robot according to claim 1, wherein: the power output mechanism comprises a motor bin (6), a battery bin (8) connected to the lower end of the motor bin (6) and a top support (7) connected to the upper end of the motor bin (6), and a plurality of second springs (9) are connected between the motor bin (6) and the top support (7).

3. The spherical robot according to claim 2, wherein: be equipped with driving motor (601) of a plurality of symmetric distribution in motor storehouse (6), driving motor (601) output shaft end is connected with action wheel (602), action wheel (602) are located the outside in motor storehouse (6), and the internal surface contact of action wheel (602) and spherical shell (1).

4. The spherical robot according to claim 2, wherein: the top support (7) is provided with a plurality of high-speed bearings (701) which are symmetrically distributed, a driven wheel shaft (702) is arranged in each high-speed bearing (701), a driven wheel (703) is connected to the middle of each driven wheel shaft (702), and each driven wheel (703) is in contact with the inner surface of the spherical shell (1).

5. The spherical robot according to claim 2, wherein: the battery charging system is characterized in that a battery is arranged in the battery bin (8), the driving motor (601) and the control module are electrically connected with the battery, a wireless charging module is arranged in the battery bin (8), and the wireless charging module is electrically connected with the battery.

6. The spherical robot according to claim 2, wherein: the lower extreme of top support (7) is connected with the balancing weight, and the balancing weight is located between a plurality of first spring (5).

7. The spherical robot according to claim 1, wherein: the control module comprises a single chip microcomputer system board, a six-axis sensor module, a motor driving module, an encoder module and a GPS module, wherein the six-axis sensor module, the motor driving module, the encoder module and the GPS module are all connected with the single chip microcomputer system board.

8. The spherical robot according to claim 1, wherein: the signal transmission module comprises a Bluetooth module, and the Bluetooth module is connected with the single chip microcomputer system board.

9. The spherical robot according to claim 1, wherein: the one end of a plurality of first spring (5) is connected with evagination formula circular arc connecting piece, and the other end of first spring (5) is connected with indent formula circular arc connecting piece, and evagination formula circular arc connecting piece and the internal surface connection of spherical protecting sheathing (2), indent formula circular arc connecting piece and the surface connection of spherical shell (1).

Technical Field

The invention belongs to the field of robots, and particularly relates to a spherical robot with high stability.

Background

The term "robot" originally originated in 1920 czech theater karel kepek science fiction drama universal robot by rocamu, until 1962 united states control corporation developed the first practical industrial robot unified, from which the robot began to replace human labor with heavy physical labor.

Robots are classified according to mobility and may be classified into fixed robots and mobile robots. Among them, mobile robots have gained widespread attention from countries in the world as one of the most active fields of scientific and technological development at present. Mobile robots are mainly classified into wheel/crawler type mobile robots and legged type robots according to the moving manner. Wheeled/tracked robot has the advantage that bearing capacity is big, translation rate is fast, but its motion stability and the adaptability to the environment are relatively poor: the legged robot has good cross-country performance, but has the defects of more freedom degrees of a motion mechanism and complex control. Therefore, the mobile robot with high walking speed and good cross-country performance is designed, can move quickly like a wheel type robot, can adapt to rugged environments like a leg-foot type robot, and is obviously a field with great research value. Under the background, a novel mobile robot-spherical robot is produced.

The spherical robot is a robot which realizes walking by rolling a spherical shell. The ball is a natural high-quality rolling body in the nature, and has the greatest characteristic that the ball can roll in all directions, and the spherical shell enables the robot to have self-stability after instability; compared with a wheel type/crawler type robot which runs by rolling with wheels, the robot has good obstacle crossing performance and does not have the problem of overturning; compared with a walking or crawling legged robot, the robot has the characteristics of high moving speed, less driving and simple control; meanwhile, the motion resistance of the ball body contacting with the ground point is much smaller than that of the wheel type device in line contact when the ball body rolls, so that the spherical robot also has the advantages of high motion efficiency and low energy consumption.

Due to the unique advantages, the spherical robot becomes a brand new research field and has wide research space and application prospect. For example, in the aspect of life entertainment, the shape of the toy has no edges and corners, and the toy can be used for entertainment education of children; in the aspect of industrial application, the steering and sealing performance is good, and the steering and sealing device can be used for pipeline detection, underwater experiments and the like; in the aspects of national defense and space exploration, the self-protection and environment adaptation capability of the system is strong, and the system can be used for security inspection, task execution and the like. In addition, in the aspect of theoretical research, the spherical robot is an under-actuated, nonlinear and incomplete system, so that an effective experimental platform for checking the theoretical correctness of the spherical robot can be provided for researchers working on mechanics and control theories.

However, most of spherical robots in the market at present adopt a single-layer shell design, have small body size and narrow application field, and once the shell is deformed or damaged, the problems of route deviation, electric device damage and the like easily occur due to the operation obstacle of a driving mechanism and a control mechanism inside the shell.

Disclosure of Invention

The present invention is directed to solve the above problems and to provide a spherical robot with a simple structure and a reasonable design.

The invention realizes the purpose through the following technical scheme:

a spherical robot comprises a spherical shell and a driving mechanism arranged in the spherical shell, wherein a spherical protective shell is arranged outside the spherical shell, a plurality of first springs are connected between the spherical shell and the spherical protective shell, a second fixing ring is connected to the outer surface of the spherical shell, a first fixing ring is connected to the inner surface of the spherical protective shell, the first fixing ring is connected with the second fixing ring, and a buffering air bag is arranged between the spherical shell and the spherical protective shell;

the driving mechanism comprises a power output mechanism, a control module and a signal transmission module, wherein the eccentric torque generated by the power output mechanism enables the spherical shell to roll and turn, the control module controls the power output of the power output mechanism, and the signal transmission module is used for signal connection between the control module and an external control end.

As a further optimization scheme of the invention, the power output mechanism comprises a motor bin, a battery bin connected to the lower end of the motor bin and a top support connected to the upper end of the motor bin, wherein a plurality of second springs are connected between the motor bin and the top support.

As a further optimization scheme of the invention, a plurality of symmetrically distributed driving motors are arranged in the motor cabin, the output shaft ends of the driving motors are connected with driving wheels, the driving wheels are positioned outside the motor cabin and are in contact with the inner surface of the spherical shell.

According to a further optimized scheme of the invention, a plurality of high-speed bearings which are symmetrically distributed are arranged on the top support, driven wheels are arranged in the high-speed bearings, driven wheels are connected to the middle positions of the driven wheels, and the driven wheels are in contact with the inner surface of the spherical shell.

As a further optimization scheme of the invention, a battery is arranged in the battery bin, the driving motor and the control module are electrically connected with the battery, and a wireless charging module is arranged in the battery bin and electrically connected with the battery.

As a further optimization scheme of the invention, the lower end of the top support is connected with a balancing weight which is positioned among the first springs.

As a further optimization scheme of the invention, the control module comprises a single chip microcomputer system board, a six-axis sensor module, a motor driving module, an encoder module and a GPS module, wherein the six-axis sensor module, the motor driving module, the encoder module and the GPS module are all connected with the single chip microcomputer system board.

As a further optimized scheme of the invention, the signal transmission module comprises a Bluetooth module, and the Bluetooth module is connected with the single chip microcomputer system board.

According to a further optimization scheme of the invention, one end of each of the first springs is connected with an outward convex arc connecting piece, the other end of each first spring is connected with an inward concave arc connecting piece, the outward convex arc connecting pieces are connected with the inner surface of the spherical protective shell, and the inward concave arc connecting pieces are connected with the outer surface of the spherical shell.

The invention has the beneficial effects that:

1) the double-ball shell structure is adopted, the damping effect is achieved through the damping of the buffering air bag and the spring, the deformation is effectively inhibited, and the double-ball shell structure has good environmental adaptability and long endurance;

2) the driving mechanism in the spherical shell is designed by adopting a symmetrical and compact internal structure, is more stable in the moving process, can reduce the contact between the interior of the spherical shell and the outside by adopting a wireless charging technology, and can ensure the stability of the sphere;

3) the invention has simple structure, high stability, reasonable design and convenient realization.

Drawings

FIG. 1 is a mating view of a spherical shell and a spherical protective shell of the present invention;

FIG. 2 is a schematic cross-sectional view of the present invention;

FIG. 3 is a schematic view of the drive mechanism of the present invention;

FIG. 4 is a schematic illustration of a rolling friction couple of the present invention;

fig. 5 is a force diagram of the spherical shell of the present invention.

In the figure: 1. a spherical shell; 2. a spherical protective housing; 3. a first retaining ring; 4. a second retaining ring; 5. a first spring; 6. a motor compartment; 601. a drive motor; 602. a driving wheel; 7. a top support; 701. a high speed bearing; 702. a driven axle; 703. a driven wheel; 8. a battery compartment; 9. a second spring.

Detailed Description

The present application will now be described in further detail with reference to the drawings, it should be noted that the following detailed description is given for illustrative purposes only and is not to be construed as limiting the scope of the present application, as those skilled in the art will be able to make numerous insubstantial modifications and adaptations to the present application based on the above disclosure.

Example 1

As shown in fig. 1-3, a spherical robot comprises a spherical shell 1 and a driving mechanism arranged in the spherical shell 1, wherein a spherical protective shell 2 is arranged outside the spherical shell 1, a plurality of first springs 5 are connected between the spherical shell 1 and the spherical protective shell 2, a second fixing ring 4 is connected to the outer surface of the spherical shell 1, a first fixing ring 3 is connected to the inner surface of the spherical protective shell 2, the first fixing ring 3 is connected with the second fixing ring 4, and a buffer airbag is arranged between the spherical shell 1 and the spherical protective shell 2;

spherical shell 1 and spherical protective housing 2 have adopted the high transparent organic glass ya keli material, and it can play the effect of protection internal mechanism, can make the robot rely on the frictional force on spherical shell and ground to order about it and go forward again, can make the transmission of radio wave not receive the influence of material simultaneously to can directly carry out audio-visual observation to the operation of its internal mechanism, reach better result of use. The material of the buffer air bag is thermoplastic polyurethane, the elasticity of the thermoplastic polyurethane meets the material TPU, the buffer air bag has elasticity and deformability, and the buffer air bag is closed and transparent, so that the buffer protection effect is achieved.

Spherical shell 1 and spherical protecting sheathing 2 all adopt two hemisphere shells symmetry concatenation to form, on spherical robot's spherical shell assembly, with two hemisphere shell longitudinal symmetry installation, respectively get a plurality of holes in the spherical shell left and right sides for be connected with corresponding solid fixed ring. It is to be noted that rubidium magnets are provided on both the first fixing ring 3 and the second fixing ring 4 for making the attraction force between the fixing rings stronger.

The driving mechanism comprises a power output mechanism, a control module and a signal transmission module, wherein the eccentric torque generated by the power output mechanism enables the spherical shell 1 to roll and turn, the control module controls the power output of the power output mechanism, and the signal transmission module is used for signal connection between the control module and an external control end.

The power output mechanism comprises a motor bin 6, a battery bin 8 connected to the lower end of the motor bin 6 and a top support 7 connected to the upper end of the motor bin 6, and a plurality of second springs 9 are connected between the motor bin 6 and the top support 7. The second spring 9 acts as a buffer and applies a reverse acting force, so that both the driving wheel 602 and the driven wheel 702 can be in full contact with the inner surface of the spherical shell 1, and the driving motor 601 can apply a certain friction force to the spherical shell 1 when driving the driving wheel 602 to rotate, thereby driving the spherical shell 1 and the spherical protective shell 2 to roll.

A plurality of driving motors 601 which are symmetrically distributed are arranged in the motor bin 6, the output shaft ends of the driving motors 601 are connected with driving wheels 602, the driving wheels 602 are positioned outside the motor bin 6, and the driving wheels 602 are in contact with the inner surface of the spherical shell 1.

The top support 7 is provided with a plurality of high-speed bearings 701 which are symmetrically distributed, a driven wheel shaft 702 is arranged in the high-speed bearings 701, a driven wheel 703 is connected to the middle of the driven wheel shaft 702, and the driven wheel 703 is in contact with the inner surface of the spherical shell 1.

Be equipped with the battery in the battery compartment 8, driving motor 601, control module all are connected with the battery electricity, are equipped with wireless charging module in the battery compartment 8, and wireless charging module is connected with the battery electricity. The wireless charging module is used for charging the battery, can charge the battery conveniently and does not need a connection port.

The lower extreme of top support 7 is connected with the balancing weight, and the balancing weight is located between a plurality of first spring 5. The stability of the movement of the ball body can be enhanced, so that the ball body is more stable in the rolling process.

The control module comprises a single chip microcomputer system board, a six-axis sensor module, a motor driving module, an encoder module and a GPS module, and the six-axis sensor module, the motor driving module, the encoder module and the GPS module are all connected with the single chip microcomputer system board. The model of the single chip microcomputer system board is STM32F103RCT6, the model of the six-axis sensor module is MPU-6050, the model of the motor driving module is L298N, and the model of the GPS module is NEO-6M.

The signal transmission module comprises a Bluetooth module, the Bluetooth module is connected with the single chip microcomputer system board, and the type of the Bluetooth module is HC-05. The Bluetooth module is used for being in signal connection with an external control end, and the rolling speed and the rolling direction of the ball body can be controlled through Bluetooth.

One end of a plurality of first springs 5 is connected with an outward convex arc connecting piece, the other end of the first springs 5 is connected with an inward concave arc connecting piece, the outward convex arc connecting piece is connected with the inner surface of the spherical protective shell 2, and the inward concave arc connecting piece is connected with the outer surface of the spherical shell 1. First spring 5 even distribution can effectually play the effect of antidetonation decompression between two-layer casing, and can prevent that shell deformation from causing great influence to the spheroid roll.

As shown in fig. 4, in the rolling friction problem, a couple that hinders the rolling of the object due to the deformation of the contact portion is called a rolling friction couple. As shown in fig. 4(a), when the ball is subjected to a small horizontal force Ft, the ball tends to roll; due to the contact deformation, the constraint reaction force of the sphere and the contact surface will be unevenly distributed, as shown in fig. 4(b), combining the distributed forces into F_nAnd F, as shown in FIG. 4(c), when F_nA slight distance s from AC as the main force F_tWhen increasing, F_nThe distance s from AC is increased, and the rolling friction couple moment sF_nBalancing the couple (F) which produces the rolling tendency_tF). When the main power F_tWhen the rolling friction moment is increased to a certain value, the ball body is in a critical balance state of not rolling, s reaches a maximum value, and the rolling friction moment reaches a maximum value, which is called as a maximum rolling friction moment couple and is expressed by Mmax. If force F_tAnd then the ball body will roll. Will force F_nF is translated to point A as shown in FIG. 4(d), F_nThe translation of (A) generates an additional moment of couple sF_nI.e. rolling friction couple M_fMaximum value Mmax and normal force F of rolling friction moment couple_nIn direct proportion, namely:

Mmax＝s·Fn

in the formula: and s is the rolling friction coefficient and has a length dimension, and the rolling friction damping s of the spherical shell and the ground is assumed to be 2 mm.

As shown in fig. 5, a mechanical model for driving the spherical robot to move on a plane is used, and the motor parameters are estimated based on the model. First, the physical meanings of the main parameters will be described. M is the overall mass of the spherical robot system, M is the overall mass of the omni-wheel system, and T, T1 and T2 represent driving moments respectively.

Maximum rolling friction resistance couple moment that spherical robot received:

M_max＝S·Fn＝2×3×9.8×10^-3＝0.059N·m

driving moment of driving wheel required for driving ball to roll:

T₁≥mg(R-r)sinθ＝M_max

the resistance moment of the driving wheel rolling along the inner surface of the spherical shell is as follows:

T₂＝μmg cosθ

and (3) combining the relevant structural parameters of the spherical robot to obtain the driving torque of the motor:

T≥T₂＝0.25N·m

assuming that the maximum rolling speed V of the spherical robot is 1M/s, the output power of the driving motor is:

P＝Tn/9550≈4.9W

considering the factors of the overall quality of the spherical robot, the efficiency loss of the motor and the like in the actual situation, the direct current motor with the output power of 7W is selected. Two parameters of torque and rotating speed need to be considered in motor selection, and rated torque T of motor₀Not less than T/i, rated speed n of motor₀The speed reduction ratio of the speed reducer is larger than or equal to nxi, the parameter i is the speed reduction ratio of the speed reducer, n is the movement rotating speed of the enterprise robot, the direct current motor with the model number of L298N is selected according to requirements, the actual output torque of the direct current motor is 8.1kg cm, the requirements are met, the rated rotating speed of the direct current motor is 1500rpm, the actual rotating speed of the spherical robot is 50rpm which is larger than 30rpm, therefore, the requirements of the rotating speed are met, the motor can drive the driving wheel 602 and apply friction driving force to the spherical shell, and the spherical shell can roll stably.

To sum up, spherical robot in this application is in the operation process, more stable.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.