CN210455011U - Internal driving system of spherical robot - Google Patents
Internal driving system of spherical robot Download PDFInfo
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- CN210455011U CN210455011U CN201921240806.2U CN201921240806U CN210455011U CN 210455011 U CN210455011 U CN 210455011U CN 201921240806 U CN201921240806 U CN 201921240806U CN 210455011 U CN210455011 U CN 210455011U
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- 238000005096 rolling process Methods 0.000 claims abstract description 39
- 230000006835 compression Effects 0.000 claims description 8
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- UQMRAFJOBWOFNS-UHFFFAOYSA-N butyl 2-(2,4-dichlorophenoxy)acetate Chemical compound CCCCOC(=O)COC1=CC=C(Cl)C=C1Cl UQMRAFJOBWOFNS-UHFFFAOYSA-N 0.000 description 10
- 230000005484 gravity Effects 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
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- 238000010586 diagram Methods 0.000 description 1
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Abstract
The utility model discloses an inside actuating system of spherical robot, include: an inner spherical shell; the outer spherical shell is coated on the outer surface of the inner spherical shell and is arranged in a rotating way relative to the inner spherical shell; the inner driving module is fixedly arranged on the inner surface of the inner spherical shell, at least two driving wheels are arranged on the inner driving module, and the driving wheels partially penetrate through the inner spherical shell and then abut against the inner surface of the outer spherical shell; and the rolling support wheel part penetrates through the inner spherical shell and then abuts against the inner surface of the outer spherical shell, an elastic part is arranged between the rolling support wheel and the inner driving module, and the elastic part provides elastic force to enable the driving wheel and the rolling support wheel to keep abutting against the inner surface of the outer spherical shell. The driving wheel in the driving system can constantly keep good contact with the inner surface of the outer spherical shell, and after the outer spherical shell jolts when encountering uneven ground, the driving wheel is separated from the inner surface of the outer spherical shell, so that the spherical robot can rapidly obtain power response, and the motion precision of the spherical robot is ensured.
Description
Technical Field
The utility model relates to a spherical robot technical field, in particular to inside actuating system of spherical robot.
Background
The spherical mobile robot is a mobile robot which is provided with an internal driving system such as a motion executing mechanism, a sensor, a power device, a control system and the like in a spherical shell, is driven internally and mainly walks in a rolling manner.
The spherical mobile robot has a simple structure and can move without a complex kinematic pair or a kinematic joint. In the motion mode, rolling motion is taken as the main motion, compared with other motion modes, the steering device can steer more flexibly, the running state can be adjusted rapidly, the dynamic and static balance is good, the motion direction controllability is good, once the motion is out of state, the self-recovery can be realized rapidly, the continuous work can be carried out, the motion efficiency is high, and the energy loss is small. Meanwhile, the internal driving device is simple, and the movement can be realized by controlling the internal driving device, so that the control system is much simpler compared with the traditional robot.
Most of spherical robots are completely closed, the spherical shell can well protect internal devices, the structure is compact, and the occupied space is small. The whole size of the spherical robot is small, so that the environmental adaptability of the spherical robot is enhanced, the spherical robot can operate under the severe conditions of no people, sand and dust, moisture, corrosivity and the like, and the spherical robot can smoothly roll and walk no matter on rough or smooth terrain. The flexibility of the floor is not greatly influenced on the relatively soft ground such as sand, snow and the like.
The spherical mobile robot breaks the static balance of a sphere through the movement of the internal driving device, moves flexibly, can realize pivot steering and omnidirectional walking, and can work in a narrow space. The driving principle of the existing spherical mobile robot is that the center of gravity is changed by double-wheel rotation, the wheel rotates to rub with the inner wall of the spherical shell, the center of gravity of the internal driving device is changed to force the sphere to move, and the friction force between the wheel and the inner wall of the spherical shell is provided by positive pressure generated by the self-weight of the internal driving unit of the robot.
However, the internal driving device of the spherical mobile robot and the inner wall of the spherical shell can slip, and particularly when the robot encounters uneven ground, the movement driving unit can bounce due to the inertia effect of the driving wheel, the driving wheel is not in contact with the inside of the spherical shell any more, so that power failure is caused, and the movement control precision is lost.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an inside actuating system of spherical robot to solve the problem that proposes among the above-mentioned background art.
The technical scheme adopted for solving the technical problems is as follows: an internal driving system of a spherical robot, comprising:
an inner spherical shell;
the outer spherical shell is coated on the outer surface of the inner spherical shell and is arranged in a rotating way relative to the inner spherical shell;
the inner driving module is fixedly arranged on the inner surface of the inner spherical shell, at least two driving wheels are arranged on the inner driving module, and the driving wheels partially penetrate through the inner spherical shell and then abut against the inner surface of the outer spherical shell; and the number of the first and second groups,
the rolling support wheel part passes through the inner spherical shell and then abuts against the inner surface of the outer spherical shell, an elastic part is arranged between the rolling support wheel and the inner driving module, and the elastic part provides elastic force to enable the driving wheel and the rolling support wheel to keep abutting against the inner surface of the outer spherical shell.
Furthermore, a first support is arranged on the inner driving module, the rolling supporting wheel is rotatably arranged on a second support, and the elastic piece is arranged between the first support and the second support.
Further, the elastic part is a compression spring, and two ends of the compression spring are respectively abutted to the first support and the second support.
Furthermore, the number of the driving wheels is two, the two driving wheels are respectively arranged at two sides of the inner driving module, the rolling supporting wheel is positioned in the middle of the upper part of the two driving wheels, and the rotating center line of the driving wheels is parallel to the rotating center line of the rolling supporting wheel.
Furthermore, the front support wheel is rotatably arranged on the inner driving module, and the front support wheel part penetrates through the inner spherical shell and then abuts against the inner surface of the outer spherical shell.
Further, the rotation center line of the front support wheel and the rotation center line of the rolling support wheel are parallel to each other.
Further, the two driving wheels, the rolling support wheel and the front support wheel are respectively positioned at four vertexes of a tetrahedron inscribed in the inner spherical shell.
Has the advantages that: through increasing roll supporting wheel and elastic component, make the drive wheel can keep constantly with the internal surface good contact of outer spherical shell, the outer spherical shell can not appear and meet uneven ground and produce the back of jolting, the internal surface contact separation phenomenon of drive wheel and outer spherical shell, and then guarantee that spherical robot can obtain the power response rapidly, has ensured spherical robot's motion precision.
Drawings
The invention is further described with reference to the following figures and examples:
FIG. 1 is a schematic view of an internal drive mechanism;
FIG. 2 is a schematic diagram of the relative positions of the driving wheel, the rolling support wheel and the front support wheel in the inner spherical shell;
FIG. 3 is a perspective view of a spherical robot;
FIG. 4 is a schematic view of an assembly structure of the rolling support wheel and the compression spring;
Detailed Description
Referring to fig. 1 to 4, an embodiment of the present invention provides an internal driving system for a spherical robot, which comprises an inner spherical shell 40, an outer spherical shell 50, an inner driving module 10, a rolling supporting wheel 20, a front supporting wheel 30, etc.
The outer spherical shell 50 covers the outer surface of the inner spherical shell 40, and the outer spherical shell 50 can rotate in any direction relative to the inner spherical shell 40. The inner driving module 10 is fixedly installed on the inner surface of the inner spherical shell 40, two driving wheels 11 are arranged on the inner driving module 10, and the driving wheels 11 realize forward rotation and reverse rotation under the driving of the motor. The inner spherical shell 40 is provided with a notch at a position corresponding to the driving wheel 11, and the driving wheel 11 partially passes through the notch and abuts against the inner surface of the outer spherical shell 50.
Meanwhile, the rolling support wheel 20 is mounted on the inner driving module 10 or on the inner surface of the inner spherical shell 40, a slot is also formed on the inner spherical shell 40 at a position corresponding to the rolling support wheel 20, and the rolling support wheel 20 partially passes through the slot and then abuts against the inner surface of the outer spherical shell 50. An elastic member is disposed between the rolling support wheel 20 and the inner driving module 10. The elastic member is in a compressed state and can provide elastic force.
The driving wheel 11 and the rolling support wheel 20 are held in abutment with the inner surface of the outer spherical shell 50 by the elastic force provided by the elastic member. The motor drives the driving wheel 11 to rotate positively and negatively, the driving wheel 11 provides friction force for the outer spherical shell 50, and then the outer spherical shell 50 is driven to rotate, so that the spherical robot moves. Through increasing rolling supporting wheel 20 and elastic component, make drive wheel 11 can keep constantly with outer spherical shell 50 the internal surface good contact, the outer spherical shell 50 can not appear meetting uneven ground and produce the back of jolting, drive wheel 11 and outer spherical shell 50's internal surface contact separation phenomenon, and then guarantee that spherical robot can obtain the power response rapidly, has ensured spherical robot's motion precision.
In this embodiment, the number of the driving wheels 11 may be three or more, and it is only necessary to ensure that the rotation center lines of all the driving wheels 11 are parallel to each other. In this embodiment, the number of the driving wheels 11 is two, the driving wheels 11 are installed at both sides of the inner driving module 10, the rolling support wheel 20 is installed at the upper middle of the two driving wheels 11, and the rotation center line of the driving wheels 11 and the rotation center line of the rolling support wheel 20 are parallel to each other. Meanwhile, the front support wheel 30 is further mounted on the inner drive module 10 or the inner surface of the inner spherical shell 40, the front support wheel 30 can rotate relative to the inner drive module 10, a slot is also formed in the inner spherical shell 40 at a position corresponding to the front support wheel 30, and part of the front support wheel 30 passes through the slot and then abuts against the inner surface of the outer spherical shell 50.
The rotation center line of the shaft of the rolling support wheel 20 is parallel to the rotation center line of the front support wheel 30 and the rotation center line of the driving wheel 11, when the spherical robot normally moves (moves forwards and backwards), the rotation directions of the rolling support wheel 20 and the front support wheel 30 are the same as the rotation direction of the driving wheel 11, no lateral component force obstruction exists, the resistance is small, the movement is smoother, and the energy utilization rate is high.
In this embodiment, the first bracket 12 may be fixedly mounted on the inner driving module 10; a bearing is arranged at the center of the rolling support wheel 20, a pin shaft penetrates through the bearing, and the rolling support wheel 20 is rotatably arranged on the second bracket 21 through the pin shaft; the elastic element is arranged between the first bracket 12 and the second bracket 21, on one hand, the elastic element transmits the elastic force to the inner driving module 10 through the first bracket 12, and further, the elastic force is applied to the driving wheel 11; on the other hand, the elastic force is transmitted to the rolling support wheel 20 through the second bracket 21, so that the rolling support wheel 20 is in close contact with the inner surface of the outer spherical shell 50.
Preferably, the elastic member is a compression spring 60, and both ends of the compression spring 60 are respectively abutted against the first bracket 12 and the second bracket 21 and integrally connected to the first bracket 12 and the second bracket 21. Meanwhile, the elastic piece can also be a spring plate or other elastic bodies which can provide elastic force.
Referring again to fig. 2, the two driving wheels 11, the rolling support wheels 20 and the front support wheels 30 of the internal driving system are respectively located at four vertices of a tetrahedron inscribed in the inner spherical shell 40. The four vertices are in close contact with the inner surface of the outer spherical shell 50, the four contact points form a spatial tetrahedron, and the compression spring 60 is arranged in the tetrahedron to generate tension, so that the four vertices of the tetrahedron are in good contact with the inner surface of the outer spherical shell 50 at all times.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the gist of the present invention within the scope of knowledge possessed by those skilled in the art.
Claims (7)
1. An internal driving system of a spherical robot, comprising:
an inner spherical shell;
the outer spherical shell is wrapped on the outer surface of the inner spherical shell and is arranged in a rotating mode relative to the inner spherical shell;
the inner driving module is fixedly arranged on the inner surface of the inner spherical shell, at least two driving wheels are arranged on the inner driving module, and the driving wheels partially penetrate through the inner spherical shell and then abut against the inner surface of the outer spherical shell; and the number of the first and second groups,
the rolling support wheel part passes through the inner spherical shell and then abuts against the inner surface of the outer spherical shell, an elastic part is arranged between the rolling support wheel and the inner driving module, and the elastic part provides elastic force to enable the driving wheel and the rolling support wheel to keep abutting against the inner surface of the outer spherical shell.
2. The internal driving system of a spherical robot according to claim 1, characterized in that: the inner driving module is provided with a first support, the rolling supporting wheel is rotatably installed on a second support, and the elastic piece is arranged between the first support and the second support.
3. The internal driving system of a spherical robot according to claim 2, characterized in that: the elastic piece is a compression spring, and two ends of the compression spring are respectively abutted to the first support and the second support.
4. The internal driving system of a spherical robot according to claim 1, characterized in that: the number of the driving wheels is two, the two driving wheels are respectively arranged at two sides of the inner driving module, the rolling supporting wheels are positioned in the middle of the upper parts of the two driving wheels, and the rotating center lines of the driving wheels are parallel to the rotating center line of the rolling supporting wheels.
5. The internal driving system of a spherical robot according to claim 4, characterized in that: the front supporting wheel is rotatably arranged on the inner driving module, and the front supporting wheel part penetrates through the inner spherical shell and then abuts against the inner surface of the outer spherical shell.
6. The internal driving system of a spherical robot according to claim 5, wherein: the rotation center line of the front supporting wheel is parallel to the rotation center line of the rolling supporting wheel.
7. The internal driving system of a spherical robot according to claim 6, wherein: the two driving wheels, the rolling supporting wheel and the front supporting wheel are respectively positioned at four vertexes of a tetrahedron inscribed in the inner spherical shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921240806.2U CN210455011U (en) | 2019-07-30 | 2019-07-30 | Internal driving system of spherical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921240806.2U CN210455011U (en) | 2019-07-30 | 2019-07-30 | Internal driving system of spherical robot |
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| CN210455011U true CN210455011U (en) | 2020-05-05 |
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| CN201921240806.2U Active CN210455011U (en) | 2019-07-30 | 2019-07-30 | Internal driving system of spherical robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110341822A (en) * | 2019-07-30 | 2019-10-18 | 深圳市琅硕海智科技有限公司 | Internal driving system of spherical robot |
| CN112319642A (en) * | 2020-10-20 | 2021-02-05 | 杭州电子科技大学 | Novel spherical robot and driving method thereof |
| CN112896352A (en) * | 2021-03-23 | 2021-06-04 | 合肥工业大学 | Spherical robot |
-
2019
- 2019-07-30 CN CN201921240806.2U patent/CN210455011U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110341822A (en) * | 2019-07-30 | 2019-10-18 | 深圳市琅硕海智科技有限公司 | Internal driving system of spherical robot |
| CN112319642A (en) * | 2020-10-20 | 2021-02-05 | 杭州电子科技大学 | Novel spherical robot and driving method thereof |
| CN112896352A (en) * | 2021-03-23 | 2021-06-04 | 合肥工业大学 | Spherical robot |
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Address after: 518063 t2-a-a, South Zone of high tech Industrial Park, Yuehai street, Nanshan District, Shenzhen, Guangdong Patentee after: Shenzhen Mingming robot Co.,Ltd. Address before: 518000 B310, key laboratory platform building, Shenzhen Virtual University Park, No. 1, Yuexing Second Road, Yuehai street, Nanshan District, Shenzhen, Guangdong Province Patentee before: Shenzhen langshuohaizhi Technology Co.,Ltd. |