CN106767774A - Ball shape robot ectosphere exercise test device - Google Patents

Abstract

The invention discloses a test device for outer ball movement of a spherical robot, which comprises three support detection mechanisms, each support detection mechanism includes an omnidirectional wheel, and the omnidirectional wheel is installed on a support frame through a wheel frame, and is connected with each omnidirectional wheel Incremental sensors are coaxially installed respectively. The axes of the three omnidirectional wheels are perpendicular to each other and the extension lines of the three axes intersect obliquely downward at one point; the three omnidirectional wheels form a rolling support for the bottom of the outer ball of the spherical robot. The invention solves the problem that the outer ball of the spherical robot is inconvenient to directly measure, and can provide detection parameters for the movement of the outer ball of the spherical robot of different sizes, thereby better debugging the spherical robot, and improving the accuracy and sensitivity of the spherical robot in actual work. .

Description

Spherical robot outer ball motion test device

technical field

The invention relates to robot detection technology, in particular to a spherical robot outer ball motion testing device.

Background technique

The spherical robot has the characteristics of small size, lightness and flexibility, and is a rolling robot mechanism that can walk freely in all directions. This kind of robot usually has a fully enclosed spherical shell, and its key components such as the driving mechanism and sensors are completely isolated from the outside world. It is suitable for operating in relatively harsh environments and is widely used in military, ocean and alien detection and other fields.

The spherical robot relies on the rolling of the spherical shell to realize omni-directional walking. Therefore, the rotation of the spherical shell is closely related to the trajectory of the spherical robot. At present, the measurement and control components such as the gyroscope and encoder of the spherical robot are usually installed on the bracket inside the spherical shell, so that the motion parameters such as the attitude and speed of the spherical robot can be easily measured; but for the outer spherical shell, its kinematic parameters are usually It cannot be directly measured by the sensor, but needs to be obtained through indirect calculation through the dynamic coupling relationship with the bracket and the driving mechanism. Therefore, it is of great theoretical significance and practical value to establish and verify the relationship between the motion of the outer spherical shell of the spherical robot and the motion of the drive mechanism. This limits the development of spherical robot research.

Contents of the invention

Aiming at the deficiencies of the prior art, the technical problem to be solved by the present invention is to propose a spherical robot outer ball motion testing device for testing the outer ball motion state of the spherical robot.

The spherical robot outer ball motion testing device capable of solving the above-mentioned technical problems has a technical solution including three support detection mechanisms, each support detection mechanism includes an omnidirectional wheel, and the omnidirectional wheel is installed on the support frame through a wheel frame, and is connected with each The omnidirectional wheels are respectively coaxially equipped with incremental sensors, the axes of the three omnidirectional wheels are perpendicular to each other and the extension lines of the three axes intersect at one point obliquely downward; the three omnidirectional wheels form an The rolling support (which can realize the omnidirectional rotation of the outer ball of the spherical robot) establishes a coordinate system related to the coordinate system of the spherical robot to facilitate subsequent calculations.

A structure of the support frame includes a support rod and a support seat, the wheel frame is installed on the top of the support rod, the bottom of the support rod is installed on the support seat, and the three support directions of the three support rods intersect at one point .

In order to adapt to the support detection of the bottom of the outer ball of spherical robots of different sizes, the support rod adopts a threaded rod with adjustable length, and the three support seats are arranged around the circular base and are respectively installed and locked to the base by corresponding radial sliding pairs. superior.

The wheel frame is preferably a U-shaped frame.

Beneficial effects of the present invention:

1. The spherical robot outer ball motion testing device of the present invention establishes the connection between the omnidirectional wheel motion and the spherical robot outer ball motion by establishing a space Cartesian coordinate system, which can facilitate the measurement of the motion status of the spherical robot outer ball, and the detected data feedback Out of the state of the controlled system and then adjust the control parameters to better control the movement of the outer ball.

2. In the structure of the present invention, through the radial adjustment and height adjustment of the support frame, it can be applied to the testing work of the outer balls of spherical robots of different sizes.

Description of drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

FIG. 2 is a schematic structural diagram of the support detection mechanism in the embodiment shown in FIG. 1 .

Drawing number identification: 1, omnidirectional wheel; 1-1, support wheel; 1-2, short roller; 2, wheel frame; 3, incremental sensor; 4, spherical robot; 5, support rod; 6, support seat ; 7, base; 8, radial sliding pair.

detailed description:

The technical solutions of the present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings.

The spherical robot outer ball motion testing device of the present invention comprises three support detection mechanisms supported on the bottom of the spherical robot 4 outer ball, and the three support detection mechanisms are evenly distributed around the circular base 7 below the spherical robot 4, as shown in Figure 1 .

Each supporting detection mechanism comprises an omnidirectional wheel 1, an incremental sensor 3, a wheel frame 2 (U-shaped frame), a support rod 5 and a support seat 6, and the support seat 6 passes through a position-adjustable radial sliding pair 8 (slide rail and chute) is installed on the base 7 and locked, the support rod 5 (a threaded rod with adjustable length) is placed obliquely above the base 7, and the bottom of the support rod 5 is installed on the support seat 6, The wheel frame 2 is installed on the top of the support rod 5, the omnidirectional wheel 1 is installed in the wheel frame 2 through a rotating assembly (rotating shaft and bearing), and the incremental sensor 3 is connected to the omnidirectional wheel outside the wheel frame 2. 1 Coaxial installation, as shown in Figure 1 and Figure 2.

The radial adjustment positions of the support base 6 are the same, the angles and lengths of the support rods 5 are adjusted the same, and the three support directions of the three support rods 5 intersect obliquely upwards at one point, thereby placing the omnidirectional wheel 1 on the circumference above the base 7. Evenly distributed, the axes of the three omnidirectional wheels 1 are perpendicular to each other and the extension lines of the three axes of the three omnidirectional wheels 1 intersect obliquely downward at a point, and the intersection point is on the center line of the base 7, as shown in Figure 1 shown.

The structure of the omnidirectional wheel 1 includes two coaxial support wheels 1-1 of the same size, and the circumference of the wheel surface of each support wheel 1-1 is evenly distributed with short rollers 1-2 that can rotate laterally. The bottom of the outer ball of 4 is supported by short rollers 1-2 on three omnidirectional wheels 1 (six support wheels 1-1), and the freely rotatable support wheels 1-1 and short rollers 1-2 can realize spherical robot 4 The omnidirectional rotation of the outer ball is as shown in Figure 2.

The mode of operation of the present invention is:

1. According to the diameter of the outer ball of the spherical robot 4, adjust the height of the three omnidirectional wheels 1 and the diameter of their circumference.

2. The spherical robot 4 is placed on three omnidirectional wheels 1, and the bottom of the outer ball of the spherical robot 4 is located on the short roller 1-2 of the omnidirectional wheel 1.

3, start the spherical robot 4, the outer ball of the spherical robot 4 rotates in all directions and simultaneously drives each omnidirectional wheel 1 to rotate, and the motion parameters (rotation direction, rotation angle and rotational speed) of the outer ball are determined by the Incremental sensor 3 collects, thereby detects the state of spherical robot 4 external ball motions.

Claims (4)

1. spherical robot outer ball motion testing device, it is characterized in that: comprise three support detection mechanisms, each support detection mechanism comprises omnidirectional wheel (1), and described omnidirectional wheel (1) is installed on by wheel frame (2) On the support frame, incremental sensors (3) are installed coaxially with each omnidirectional wheel (1), the axes of the three omnidirectional wheels (1) are orthogonal to each other and the extension lines of the three axes intersect obliquely downward One point; three omnidirectional wheels (1) form a rolling support to the bottom of the spherical robot (4) outer ball. 2. spherical robot outer ball motion testing device according to claim 1, is characterized in that: described support frame comprises support rod (5) and support seat (6), and described wheel frame (2) is installed on support rod ( 5) Top, the bottom of the support rods (5) is installed on the support seat (6), and the three support directions of the three support rods (5) intersect at one point obliquely upward. 3. The spherical robot outer ball motion testing device according to claim 2, characterized in that: the support rod (5) is a threaded rod with adjustable length, and three support seats (6) surround the circular base (7) They are installed and locked on the base (7) through corresponding radial sliding pairs (8). 4. The spherical robot outer ball motion testing device according to any one of claims 1-3, characterized in that: the wheel frame (2) is a U-shaped frame.