Active simple pendulum spherical robot

A spherical robot, active technology, applied in the field of robotics, can solve the problems of robot movement deviating from the predetermined trajectory, insufficient safety control of the driving swing angle, and out-of-control robot movement. Effect

Active Publication Date: 2014-02-19
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] After consulting the existing domestic and foreign literature, it is found that in order to reduce the weight of the spherical robot, the inner frame structure is mostly used inside the existing robot, but this structure is one of the main force-bearing parts. During the movement of the robot, the deformation of the inner frame is large, and the robot movement seriously deviates Predetermined trajectory, uncontrollable movement
For the driving pendulum, once the pendulum angle is too large, due to inertia, the torque generated by the gravity of the eccentric mass block will be greater than the torque that the driving motor can provide, causing the robot to move out of control
However, at present, there are deficiencies in the safe control of the driving swing angle of the spherical robot.

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] refer to Figure 1 to Figure 6 , the active pendulum spherical robot comprises a spherical shell and a pendulum (5). The spherical shell is a spherical shell composed of a front hemispherical shell (2) and a rear hemispherical shell (3) screwed together; in the inner cavity of the spherical shell, a front fixing strip (1) and a The single pendulum (5) is installed on the rear fixing bar (4); the single pendulum (5) is coaxially installed with a long-axis motor (9) and a short-axis motor (34) in an inner frame (6) , the long-axis motor (9) is directly connected to drive the front half-shell spherical shell to rotate around the central axis Y of the inner frame (6), and the short-axis motor (34) drives a driving pendulum (18) through a transmission mechanism to rotate around the axis Y The X-axis rotation of the robot realizes the all-round stable walking of the spherical robot.

Embodiment 2

[0032] This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0033] The inner frame (6) is a symmetrically distributed U-shaped weight-reducing positioning groove, and the U-shaped groove is installed with the narrow frame expansion bracket (10, 15), wide frame expansion bracket (8, 16), short shaft Motor support (11) and torque bearing plate (19, 24); the middle part of the inner frame (6) rotates and installs a short shaft ( 28).

[0034] 3. According to the active single pendulum spherical robot according to claim 2, the short axis (28) and a pan-tilt bracket (12) are connected through a key (26-B) and key (26-C) is fixedly connected, the minor axis (28) coincides with the center line of the pan-tilt bracket (12), and rotates coaxially and synchronously, and the detection and data acquisition equipment is fixed on the pan-tilt bracket (12).

[0035] The short-axis motor unit (14) is installed in the evenly distributed U-...

Embodiment 3

[0040] Such as figure 1 As shown, the active pendulum spherical robot includes a spherical shell and a pendulum (5), and the pendulum (5) is installed in the spherical shell; the pendulum (5) includes: an inner frame (6), a narrow, Wide frame expansion brackets (8, 10, 15, 16), front and rear housing pendulum joints (7, 17), torque bearing plates (19, 24), short-axis motor support (11), drive pendulum (18), The pan / tilt bracket (12), the short-axis motor unit (14), the short-axis motor unit positioning adjustment device (23, 25) and the limit shaft (20, 22); the inner frame (6) is connected to a front shell through a bearing The swing joint (7) and the rear shell swing joint (17), the front shell swing joint (7) and the rear shell swing joint (17) pass through the front fixing strip (1) and the rear fixing strip (4 ) is fixedly connected to the spherical shell, so that the simple pendulum (5) can rotate around the long axis Y of the inner frame (6) relative to the spheric...

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Abstract

The invention discloses an active simple pendulum spherical robot. The active simple pendulum spherical robot comprises a spherical shell and a simple pendulum. The spherical shell is formed by matching a front hemispherical shell body with a rear hemispherical shell body in a screwed mode through screws. In an inner cavity of the spherical shell, the simple pendulum is installed through a front fixing strip and a rear fixing strip. According to the simple pendulum, a long-axis motor and a short-axis motor are coaxially installed in an inside casing, wherein the long-axis motor is directly connected with the front hemispherical shell body and drives the front hemispherical shell body to rotate around the central axis Y of the inner casing, the short-axis motor drives a driving pendulum to rotate around an X axis perpendicular to the central axis Y through a transmission mechanism, and therefore the spherical robot can walk stably in an all-dimensional mode. The active simple pendulum spherical robot is compact in structure, high in rigidity, and smooth and steady in movement.

Description

technical field [0001] The invention relates to a robot, in particular to an active single pendulum spherical robot. Background technique [0002] The spherical robot is a mobile robot that walks in a rolling manner. Its driving principle is mainly to break the static balance of the sphere through the movement of the internal drive device. The movement is flexible, and it can realize turning in place and walking in all directions. [0003] After reviewing the existing domestic and foreign literature, it is found that most of the existing spherical robots use the eccentric mass drive mode, and the steering and walking are realized under the drive of the machine's eccentric moment and inertial moment. However, the current spherical robot is driven by the offset center of gravity of the double pendulum, which cannot guarantee that the double eccentric masses will swing synchronously under the drive of the same motor, resulting in large fluctuations in the driving torque of the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02
Inventor 谢少荣冯凯姚骏峰邹旭东祝川
Owner SHANGHAI UNIV
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