Electromagnetic driving type spherical robot

Abstract

Disclosed is an electromagnetic driving type spherical robot. The electromagnetic driving type spherical robot includes an outer expansion ball, wherein an inner driving ball is mounted inside the outer expansion ball, multiple stretching sleeves are mounted between the inner driving ball and the outer expansion ball, first springs are arranged on the stretching sleeves, a printed circuit board (PCB) is mounted inside the inner driving ball, screws are mounted at four comers of the PCB, second springs are arranged on the screws, and an electromagnetic driving mechanism is mounted on the inner driving ball. According to the present invention, the robot can move in degrees orientations on a ferromagnetic material, and has flexible steering performance and a strong capability of adapting to an environment.

Description

l ELECTROMAGNETIC DRIVINGTYPE SPHERICALROBOT TECHNICALFIELD

[01] The present invention relates to the technical eld of robots, and in particular to an electromagnetic driving type spherical robot. BACKGROUNDART

[02] Robots are one of the greatest inventions of humans in the 20th century, and mobile robots are an important branch in the robots, which mean that the robots are not xed and can move in a large range. Spherical robots travel in a rolling manner, which belong to mobile robots which are spherical or sphere-like, and moving power of which is provided by an internal driving device and external friction force.

[03] All driving devices, power sources, various sensors, etc. of the spherical robots are all arranged inside spherical housings, such that internal components of the spherical robots can obtain protection with the maximum reliability provided by the sealed housings. With regard to shapes of the spherical robots, spherical structures can maximize internal volume thereof and can resist internal overpressure or insufcient pressure, which is very useful for underwater or space application. Unique shapes of the spherical robots enable the spherical robots to have unique advantages in steering, can steer more exibly compared with other motion manners, have a small turning radius, and can easily realize zero-angle turning. The spherical structures can freely rotate in any direction, such that all positions of the spherical robots are stable, and when the spherical robots perform tasks such as unknown environment detection, and collisions with obstacles or other movement mechanisms occur, the spherical structures have a strong self-recovery capability. In addition, due to the fact that rolling resistance of spheres is much smaller than moving resistance of sliding or wheel type devices, spherical machines have the advantages of high movement efciency and low energy consumption.

[04] When an existing spherical robot is applied to operation in a complex environment such as an industrial pipeline, a housing and a box body, a mechanical movement manner is single, and a movement state of the spherical robot cannot be changed according to the environment. SUMMARY

[05] An objective of the present invention is to provide an electromagnetic driving type spherical robot so as to solve the problem that the mechanical movement manner is single in the prior art.

[06] To achieve the above objective, the present invention employs the following technical solution:

[07] An electromagnetic driving type spherical robot is designed and includes an outer expansion ball. An inner driving ball is mounted inside the outer expansion ball, a plurality of stretching sleeves are xedly mounted between an outer side wall of the inner driving ball and an inner side wall of the outer expansion ball, the stretching sleeves are uniformly distributed on the outer side wall of the inner driving ball, and rst springs are arranged on the stretching sleeves in a sleeving manner. A printed circuit board (PCB) is mounted inside the inner driving ball, screws are mounted at four corners of thePCB in a threaded manner, and thePCB is xed to an inner wall of the inner driving ball by means of the screws. Second springs are arranged on the screws in a sleeving manner, an electromagnetic driving mechanism is mounted on the outer wall of the inner driving ball, and an outer wall of the electromagnetic driving mechanism (9) is made of a exible material.

[08] Preferably, the electromagnetic driving mechanism includes eight electromagnet xing blocks, the eight electromagnet xing blocks are evenly xed on the outer side wall ofthe inner driving ball, and electromagnets are xedly mounted on the eight electromagnet xing blocks. The electromagnets penetrate a side wall of the outer expansion ball, top faces of the electromagnets match an arc face of the outer expansion ball, and a plurality of clamping grooves matching the electromagnets are provided in the outer expansion ball. Permanent magnets are xedly mounted between every two adjacent electromagnets.

[09] Preferably, included angles between every two adjacent electromagnets and the permanent magnets are 72°, and an angle between adjacent single electromagnet and permanent magnet is 36°.

[10] Preferably, when one of the eight electromagnets reaches the lowest position, the eight electromagnet at the lowest position is powered off, and other electromagnets adjacent thereto are powered on, such that movement on a ferromagnetic material may be achieved.

[11] Preferably, the PCB includes a single-chip microcomputer, a pulse width modulation (PWM) controller in signal connection with the single-chip microcomputer, a communication module, an eight-path triode amplication module, a key reset module, a USB power supply and downloading module, a serial port downloading module, a 5 Vto-3.3 V module, a gyroscope driving module and a Bluetooth module. An output end of the communication module is in signal connection with a nine-axis motion processing sensor, and an output end of the eight-path triode amplication module is electrically connected to a relay. The relay is electrically connected to coils ofthe electromagnets, and the Bluetooth module is in signal connection with the relay.

[12] Preferably, an energy device supplying power to the electromagnets is of a switching power supply, and power supply is achieved by means of a universal serial bus (USB) and a downloading program. The Bluetooth module performs switching control on the single electromagnet, a related program is written into a mobile phone, operation control is performed by using the mobile phone, and the internal nine-axis motion processing sensor is used for controlling an attitude angle, and identifying a position relationship between a sphere and an operator.

[13] Preferably, the PCB further includes a plurality of patch capacitors, a patch resistor, a patch diode, a patch triode, a pin header, aUSB female socket, a socket and a direct-insertion four-corner key, and the patch capacitors, the patch resistor, the patch diode, the patch triode, the pin header, the USB female socket, the socket and the direct-insertion four-corner key are connected by means of circuits to form an eight-path triode amplication circuit, a single-chip microcomputer core circuit, a key reset circuit, a 5 Vto-3.3 V circuit, a gyroscope driving circuit, a USB power supply and downloading circuit, a serial port downloading circuit and a Bluetooth interface circuit.

[14] The electromagnetic driving type spherical robot provided by the present invention has the benecial effects that compared with other spherical robots, the problem that the mechanical movement manner is single is solved, operation of the spherical robot in a complex environment such as a pipeline, a housing and a box body is well optimized, and by utilizing the structural sealing characteristic of the spherical robot, a processing capability ofthe robot on external environment information may be greatly enhanced in combination with various sensors for use. By utilizing an electromagnetic driving principle, the robot may move in a 360° orientation on a ferromagnetic material, and has exible steering performance and a strong capability of adapting to an environment. The robot may achieve an experimental objective of omni-directional operation in the pipeline, the housing and the box body. BRIEFDESCRIPTIONOFTHEDRAWINGS

[15] FIG. 1 is a schematic structural diagram of an electromagnetic driving type spherical robot provided by the present invention,

[16] FIG. 2 is a cutaway view of an electromagnetic driving type spherical robot provided by the present invention,

[17] FIG. 3 is a schematic structural diagram of an electromagnetic driving mechanism of an electromagnetic driving type spherical robot provided by the present invention, and

[18] FIG. 4 is a system chart of an electromagnetic driving type spherical robot provided by the present invention.

[19] In the gures: outer expansion ball 1, clamping groove 11, inner driving ball 3, stretching sleeve 4, rst spring 5, printed circuit board (PCB) 6, screw 7, second spring 8, electromagnetic driving mechanism 9, electromagnet xing block 91, electromagnet 92, and permanent magnet 93. DETAILED DESCRIPTIONOFTHEEMBODIMENTS

[20] The technical solution in the examples of the present invention will be clearly and completely described below with reference to the accompanying drawings in the examples of the present invention. Apparently, the described examples are merely some examples rather than all examples ofthe present invention.

[21] Example 1:

[22] With reference to FIGs. 1-3, an electromagnetic driving type spherical robot includes an outer expansion ball 1. The spherical robot may operate in a complex environment such as a pipeline, a housing and a box body. By utilizing the structural sealing characteristic of the spherical robot, a processing capability of the robot on external environment information is greatly enhanced in combination with various sensors for use, such as a temperature sensor, an infrared sensor, a humidity sensor, etc. Furthermore, by means of cooperation and interaction of a plurality of electromagnetic driving type spherical robots, operation in more complex environments may be achieved, and an outer wall is made of a exible material to prevent a collision.

[23] An inner driving ball 3 is mounted inside the outer expansion ball 1, a plurality of stretching sleeves 4 are xedly mounted between an outer side wall of the inner driving ball 3 and an inner side wall of the outer expansion ball 1, and the stretching sleeves 4 are uniformly distributed on the outer side wall ofthe inner driving ball 3. First springs 5 are arranged on the stretching sleeves 4 in a sleeving manner, and the rst springs 5 may play a good buffering role. A printed circuit board (PCB) 6 is mounted inside the inner driving ball 3, screws 7 are mounted at four corners of the PCB 6 in a threaded manner, and the PCB 6 is xed to an inner wall of the inner driving ball 3 by means ofthe screws 7. Second springs 8 are arranged on the screws 7 in a sleeving manner, and an electromagnetic driving mechanism 9 is mounted on the outer wall ofthe inner driving ball 3.

[24] The electromagnetic driving mechanism 9 includes eight electromagnet xing blocks 91, the eight electromagnet xing blocks 91 are evenly xed on the outer side wall of the inner driving ball 3, and electromagnets 92 are xedly mounted on the eight electromagnet xing blocks 91. The electromagnets 92 penetrate a side wall of the outer expansion ball 1, top faces of the electromagnets 92 match an arc face of the outer expansion ball 1, and a plurality of clamping grooves 11 matching the electromagnets 92 are provided in the outer expansion ball 1. Permanent magnets 93 are xedly mounted between every two adjacent electromagnets 92. Included angles between every two adjacent electromagnets 92 and the permanent magnets 93 are 72°, and an angle between adjacent single electromagnet 92 and permanent magnet 93 is 36°. When one of the eight electromagnets 92 reaches the lowest position, the eight electromagnet at the lowest position is powered off, and other electromagnets adjacent thereto are powered on, such that movement on a ferromagnetic material may be achieved. One permanent magnet 93 is arranged between two adjacent electromagnets 92, and the permanent magnets 93 may ensure stability and reliability of the robot in the moving process, such that omni-directional movement of the electromagnetic driving type spherical robot on a ferromagnetic material may be achieved. By utilizing electromagnetic driving, the robot may move in a 360° orientation on the ferromagnetic material, and has exible steering performance and a strong capability of adapting to an environment, and therefore, the omni-directional movement on the ferromagnetic material may be achieved.

[25] Example 2:

[26] With reference to FIGs. 1-4, as another preferable example of the present invention, difference from example 1 is as follows: the PCB 6 includes a single-chip microcomputer, a pulse width modulation (PWM) controller in signal connection with the single-chip microcomputer, a communication module, an eight-path triode amplication module, a key reset module, a USB power supply and downloading module, a serial port downloading module, a 5 Vto-3.3 V module, a gyroscope driving module and a Bluetooth module. An output end of the communication module is in signal connection with a nine-axis motion processing sensor, and an output end of the eight-path triode amplication module is electrically connected to a relay. The relay is electrically connected to coils ofthe electromagnets 92, and the Bluetooth module is in signal connection with the relay. An energy device supplying power to the electromagnets is of a switching power supply, and power supply is achieved by means of a universal serial bus (USB) and a downloading program. The Bluetooth module performs switching control on the single electromagnet 92, a related program is written into a mobile phone, operation control is performed by using the mobile phone, and the internal nine-axis motion processing sensor is used for controlling an attitude angle, and identifying a position relationship between a sphere and an operator.

[27] Example 3:

[28] With reference to FIGs. 1-4, as another preferable example of the present invention, difference from example 1 and example 2 is as follows: the PCB 6 further includes a plurality ofpatch capacitors, a patch resistor, a patch diode, a patch triode, a pin header, a USB female socket, a socket and a direct-insertion four-corner key, and the patch capacitors, the patch resistor, the patch diode, the patch triode, the pin header, the USB female socket, the socket and the direct-insertion four-corner key are connected by means of circuits to form an eight-path triode amplication circuit, a single-chip microcomputer core circuit, a key reset circuit, a 5 Vto-3.3 V circuit, a gyroscope driving circuit, a USB power supply and downloading circuit, a serial port downloading circuit and a Bluetooth interface circuit. By means of cooperation between various circuits, control over the electromagnetic driving type spherical robot is achieved.

[29] Different types of sensors may be mounted on thePCB 6, such that different requirements for different functions on the spherical robot may be satised. In industry, tasks may be executed in narrow spaces such as ditches and pipelines. Components of the spherical robot are sealed inside a housing, it may be guaranteed that an interior of the sphere is not affected by dust, moisture and other severe environments. In the aspect of military use, the robot may be carried on a device to perform extreme environment anti-terrorist and investigation tasks. Electromagnetic force is used, such t the effects ofbeing environment-friendly and free of pollution are achieved, and a nsiderable application prospect is achieved. ] What are described above are merely preferred particular embodiments ofthe sent invention, but a protection scope ofthe present invention is not limited thereto. uivalent substitutions or changes that are made by any ofthose skilled in the art and iliar with the technical eld within the technical scope disclosed by the present ention on the basis of the technical solution and concepts of the present invention ould be covered within the protection scope ofthe present invention. _ 9 _

Claims

1. Spherical robot of the electromagnetically driven type, which has an outer expansion ball (1) includes an inner drive ball (3) mounted within the outer expansion ball (1), to which a plurality of expansion sleeves (4) are fixedly mounted are between an outer side wall of the inner drive ball (3) and a inner wall of the outer expansion ball (1), with the expansion sleeves (4) evenly spaced are distributed on the outer wall of the inner drive ball (3), with first springs (5) are arranged on the stretch sleeves (4) in an enveloping manner, whereby a printed circuit board (PCB) (6) is fitted inside the inner drive ball (3), with screws (7) fitted at four corners of the PCB (6) in a threaded manner, the PCB (6) being attached to a inner wall of the inner drive ball (3) by means of the screws (7), wherein second springs (8) are arranged on the screws (7) in an enveloping manner, in which an electromagnetic drive mechanism (9) is mounted on the outer wall of the inner drive ball (3) and wherein an outer wall of the electromagnetic drive mechanism (9) is made of flexible material.

2. Spherical robot of the electromagnetic drive type according to Claim 1, wherein the electromagnetic drive mechanism (9) comprises electromagnet mounting blocks (91), the eight Electromagnet mounting blocks (91) are evenly secured to the outer wall of the inner drive ball (3), with the electromagnets (92) are fixedly mounted on the eight electromagnet mounting blocks (91), whereby the electromagnets (92) penetrate a side wall of the outer expansion ball (1), whereby the top faces of the electromagnets (92) match an arc plane of the outer expansion ball (1), having a plurality of clamping grooves (11) which match the electromagnets (92) provided in the outer expansion ball (1) and wherein permanent magnets (93) are fixedly mounted between any two adjacent electromagnets (92).

3. Spherical robot of electromagnetic drive type according to Claim 2, wherein the angles recorded between any two adjacent _ 10 _ electromagnets (92) and the permanent magnets (93) are 72° and an angle between a adjacent single electromagnet (92) and a permanent magnet (93) is 36°.

4. Spherical robot of electromagnetic drive type according to Claim 3, wherein when any of the eight electromagnets (92) reaches the lowest position reached, the eighth electromagnet at the lowest position is switched off and where other electromagnets adjacent to this one are turned on so that movement on a ferromagnetic material can be realized.

5. Spherical robot of electromagnetic drive type according to Claim 1, wherein the PCB (6) is a single-chip microcomputer, a pulse width modulation (PWM) control in signal connection to the single-chip microcomputer, a communications module, a eight-pad triode amplification module, a key reset module, a USB power supply and download module, a serial port download module, a 5V to 3.3V module, a gyroscope drive module and a Bluetooth module includes, wherein an output end of the communication module is in signal connection with a nine-axis motion processing sensor, wherein an output end of the eight-path triode amplifier module is electrically connected to a relay, where the relay is electrically connected to coils of the electromagnets (92) and where the Bluetooth module is in signal connection with the relay.

6. Spherical robot of electromagnetic drive type according to claim 1, wherein an energy device supplies power to the electromagnets, a switching power supply is, in which the power supply is achieved using a universal serial bus (USB) and a download program, where the Bluetooth module performs switching control on the single electromagnet (92), where a related program is written within a mobile phone, where control is performed by using of the mobile phone and the internal nine-axis motion processing sensor used to control an attitude angle and identify a positional relationship between a sphere and an operator. _ 11 _ 7. Spherical robot of the electromagnetic drive type according to Claim 6, wherein the PCB (6) further comprises a plurality of patch capacitors, a patch resistor, a patch diode, a patch triode, a pin header, a USB female socket, a socket and a direct insertion square key and wherein the patch capacitors, the patch resistor, the patch diode, the patch triode, the pin header, the USB female socket, the socket and the direct insertion square key are connected by means of circuits to a eight-path triode amplification circuit, a single-chip microcomputer core circuit, a key reset circuit, a 5V to 3.3V circuit, a gyroscope drive circuit, a USB power supply and download circuit, a serial-open download circuit and a To form a Bluetooth interface circuit. 1 / 3 FIG.1