Sphere supporting structure based on omni-directional wheels and spherical three-axis spacecraft experiment platform

Abstract

The invention discloses a sphere supporting structure based on omnidirectional wheels and a spherical three-axis spacecraft experiment platform, solves the problem that an existing supporting structure cannot enable a sphere to freely rotate at a fixed position, and belongs to the field of spaceflight science popularization equipment. The invention discloses a sphere supporting structure which comprises three supporting legs. The three supporting legs are distributed in a circumferential mode, and the central angle between every two adjacent supporting legs is 120 degrees. An omnidirectional wheel is arranged on each supporting leg; and the sphere structure is placed on the omnidirectional wheels of the three supporting legs. The invention also provides a sphere structure, in particular to a spherical three-axis spacecraft experimental platform, which comprises a spherical shell, a skeleton structure, a control system and three flywheel actuators, and the skeleton structure is a cubic external sphere; the skeleton structure is fixed on the inner wall of the spherical shell; the control system and the flywheel actuators are located in the skeleton structure, and the three flywheel actuators are arranged at the center positions, corresponding to the fork-shaped elements, of three faces of the same vertex. The control systems are distributed at the center positions, corresponding to the fork-shaped elements, of the other three faces.

Description

Technical Field

[0001] The invention relates to a spherical support structure based on omnidirectional wheels, belonging to the field of aerospace popular science equipment. Background Art

[0002] An omnidirectional wheel is a specially designed wheel. Compared with traditional wheels, an omnidirectional wheel usually consists of multiple spokes, each of which is equipped with a small wheel or ball. The rotation of these small wheels or balls can enable the omnidirectional wheel to generate movement in any direction. The design of the omnidirectional wheel allows robots or vehicles to translate, rotate, or even move diagonally in a narrow space without the need for complex turning operations.

[0003] Omnidirectional wheels are widely used in industrial automation, indoor navigation, service robots, medical equipment, and special transportation equipment. Their advantage is that they can achieve highly flexible motion control and are suitable for scenarios that require frequent changes in direction or movement in limited spaces.

[0004] With the development of science and technology and the need for popular science, people need a mechanism that can fix a sphere in one position and allow the sphere to rotate freely in a fixed position to meet the needs of popular science, education and physical experiments of attitude control systems. Summary of the invention

[0005] In view of the problem that the existing supporting structure cannot enable the sphere to rotate freely at a fixed position, the present invention provides a sphere supporting structure based on an omnidirectional wheel.

[0006] The spherical support structure based on an omnidirectional wheel of the present invention comprises three support legs; the three support legs are distributed in a circle, and the central angle between two adjacent support legs is 120°;

[0007] Each supporting leg is provided with an omnidirectional wheel; the spherical structure is placed on the omnidirectional wheels of the three supporting legs.

[0008] Preferably, the support structure comprises a base plate, and three support legs are fixed on the base plate in a circumferential distribution.

[0009] The present invention also provides a spherical three-axis spacecraft experimental platform, comprising a spherical structure and a spherical support structure as claimed in claim 1, the spherical structure comprising a spherical shell, a skeleton structure, a control system, three flywheel actuators and the skeleton structure comprising six fork-shaped elements and eight disc-shaped elements;

[0010] The eight disc-shaped elements are respectively located at the eight vertices of the cube, the six fork-shaped elements are respectively located in the six faces of the cube, each fork-shaped element has four fork heads, and each disc-shaped element is fixedly connected to four adjacent fork heads to form the skeleton structure, which is the circumscribed sphere of the cube;

[0011] The skeleton structure is fixed on the inner wall of the spherical shell;

[0012] The control system is located inside the skeleton structure, the center positions of the six fork-shaped elements are used to fix the load, and the three flywheel actuators are arranged at the center positions of the fork-shaped elements corresponding to the three faces at the same vertex; the control system is distributed at the center positions of the fork-shaped elements corresponding to the other three faces.

[0013] Preferably, the control system includes a battery, a drive module and a main control board, which are respectively arranged at the center position of a fork-shaped element of a surface, the battery supplies power to the drive module, the main control board and three flywheel actuators, the main control board is used to control the drive module, and the drive module is used to drive the three flywheel actuators.

[0014] Preferably, the driving module comprises three driving plates for driving three flywheel actuators respectively.

[0015] Preferably, three drive plates are stacked in a tower-like manner and installed at the center of the corresponding fork-shaped elements.

[0016] Preferably, each flywheel actuator comprises a brushless motor, a reaction flywheel and a magnetic encoder;

[0017] The brushless motor drives the reaction flywheel to rotate and generates a reaction torque. The magnetic encoder collects the speed information of the brushless motor and sends it to the drive board.

[0018] Preferably, the spherical shell is made of acrylic material.

[0019] Preferably, the skeleton structure is manufactured by 3D printing.

[0020] Preferably, the experimental platform further comprises a balancing block, which is fixed on the inner wall of the acrylic spherical shell so that the position error between the center of gravity of the experimental platform and the center of the circumscribed sphere is within a set range.

[0021] The beneficial effect of the present invention is that the present invention can place a spherical device on the support structure and allow it to rotate freely during the display process. For example, a spherical simulator for spacecraft attitude control can be placed on the support structure to complete an attitude control experiment at a fixed position on the desktop. For another example, a globe model is placed on the support structure. Unlike a traditional globe that can only rotate around a fixed axis, the new globe formed can rotate freely in all directions on the support structure. The present invention has low cost, small footprint, and a wide range of applications; it also has a strong sense of science fiction, is convenient for popular science display, and enhances user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural model diagram of a single supporting leg;

[0023] Figure 2 It is the structural model diagram of the overall support frame;

[0024] Figure 3 It is a schematic diagram of the model of the effect of the support frame supporting the sphere;

[0025] Figure 4 It is a three-dimensional structural diagram of the skeleton structure of the present invention;

[0026] Figure 5 It is an oblique diagonal view of the skeleton structure of the present invention;

[0027] Figure 6 is a front view of the skeleton structure of the present invention;

[0028] Figure 7 It is an exploded view of the skeleton structure of the present invention. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0031] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0032] like Figures 1 to 3 As shown, the spherical support structure based on the omnidirectional wheel of this embodiment includes three support legs; the three support legs are distributed in a circle, and the central angle between two adjacent support legs is 120°;

[0033] Each supporting leg is provided with an omnidirectional wheel; the spherical structure is placed on the omnidirectional wheels of the three supporting legs.

[0034] The omnidirectional wheels distributed at 120 degrees support the spherical structure together, so that the spherical structure can be fixed at a designated position on the table. The suspended omnidirectional wheels support the spherical structure. Since small wheels or balls are installed on the spokes of the omnidirectional wheels, the spherical structure will not be constrained by static friction when it rotates arbitrarily on the fixed omnidirectional wheels.

[0035] The support structure of this embodiment includes a bottom plate, and three support legs are fixed on the bottom plate in a circumferential distribution. The bottom plate plays a fixing role, making the support structure more stable.

[0036] The spherical three-axis spacecraft experimental platform of this embodiment includes a spherical structure and a spherical support structure. The spherical structure includes a spherical shell, a skeleton structure, a control system and three flywheel actuators 4, 5, 6. Figure 7 As shown, the skeleton structure includes six fork-like elements and eight disc-like elements;

[0037] The eight disc-shaped elements are respectively located at the eight vertices of the cube, the six fork-shaped elements are respectively located in the six faces of the cube, each fork-shaped element has four fork heads, and each disc-shaped element is connected to four adjacent fork heads through bolts and nuts to form the skeleton structure, which is the circumscribed sphere of the cube;

[0038] The skeleton structure of this embodiment is as follows Figure 7 As shown, the skeleton structure is made by 3D printing and installed close to the inner wall of the acrylic spherical shell;

[0039] The control system is located inside the skeleton structure, the center position of the six fork-shaped elements is used to fix the load, and the three flywheel actuators 4, 5, and 6 are arranged at the center position of the fork-shaped elements corresponding to the three faces at the same vertex; the control system is distributed at the center position of the fork-shaped elements corresponding to the other three faces.

[0040] In this embodiment, the control system and the flywheel actuator are fixed on the skeleton structure. The spherical structure is placed on the support structure, and the control system drives three flywheel actuators 4, 5, 6 to control the attitude rotation of the desktop-level spherical three-axis spacecraft experimental platform through reaction torque.

[0041] This embodiment is a low-cost desktop-level spherical three-axis stabilized spacecraft experimental platform, so as to complete the attitude control physical experiment of the three-axis stabilized spacecraft in a more popular scenario.

[0042] In this embodiment, the control system includes a battery 1, a drive module and a main control board 3, which are respectively arranged at the center position of a fork-shaped element on a surface. The battery 1 supplies power to the drive module, the main control board 3 and three flywheel actuators 4, 5, 6. The main control board 3 is used to control the drive module, and the drive module is used to drive the three flywheel actuators 4, 5, 6. The skeleton structure of this embodiment has 6 positions where loads can be fixed, corresponding to the positions of the six faces of the cube. The experimental platform fixes three flywheel actuators 4, 5, 6 on three orthogonal faces, and fixes the control system on the other three faces. The spatial position relationship of the six fixed loads is as shown in the figure. Figure 5 , Figure 6 shown.

[0043] The control system of this embodiment includes a battery 1, a drive board module and a main control board 3; wherein the drive module includes three drive boards 2, each drive board 2 drives a flywheel actuator, and the three drive boards 2 are installed in a tower stack at the center position of the corresponding fork-shaped element.

[0044] The drive board 2 of this embodiment is responsible for collecting the motion instructions of the main control board 3 and completing the drive and speed control of the flywheel actuator;

[0045] In this embodiment, the main control board 3 is responsible for completing functions such as wireless communication, command analysis, and attitude control; a complementary filtering method is used to perform attitude calculation to obtain real-time attitude information, and a PID algorithm is used to control the attitude of the spherical experimental platform.

[0046] Each flywheel actuator 6 includes a brushless motor, a reaction flywheel and a magnetic encoder. The brushless motor drives the reaction flywheel to rotate, generating a reaction torque, thereby performing posture control. The magnetic encoder collects motor speed information and assists the drive board 2 in completing motor speed control.

[0047] The experimental platform of this embodiment also includes a balance block, which is fixed on the inner wall of the acrylic spherical shell so that the position error between the center of gravity of the experimental platform and the center of the circumscribed sphere is within a set range to maintain a better control effect.

[0048] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be used in other described embodiments.

Claims

1. A spherical support structure based on an omnidirectional wheel, characterized in that: It includes three supporting legs; the three supporting legs are distributed in a circle, and the central angle between two adjacent supporting legs is 120°; Each supporting leg is provided with an omnidirectional wheel; the spherical structure is placed on the omnidirectional wheels of the three supporting legs.

2. The spherical support structure based on omnidirectional wheels according to claim 1, characterized in that: The support structure comprises a bottom plate, and three support legs are fixed on the bottom plate in a circumferentially distributed manner.

3. Spherical three-axis spacecraft experimental platform, characterized in that: The experimental platform comprises a spherical structure and a spherical support structure as claimed in claim 1, the spherical structure comprising a spherical shell, a skeleton structure, a control system, three flywheel actuators and the skeleton structure comprising six fork-shaped elements and eight disc-shaped elements; The eight disc-shaped elements are respectively located at the eight vertices of the cube, the six fork-shaped elements are respectively located in the six faces of the cube, each fork-shaped element has four fork heads, and each disc-shaped element is fixedly connected to four adjacent fork heads to form the skeleton structure, which is the circumscribed sphere of the cube; The skeleton structure is fixed on the inner wall of the spherical shell; The control system is located inside the skeleton structure, the center positions of the six fork-shaped elements are used to fix the load, and the three flywheel actuators are arranged at the center positions of the fork-shaped elements corresponding to the three faces at the same vertex; the control system is distributed at the center positions of the fork-shaped elements corresponding to the other three faces.

4. The spherical three-axis spacecraft experimental platform according to claim 3, characterized in that: The control system includes a battery, a drive module and a main control board which are respectively arranged at the center position of a fork-shaped element of a surface. The battery supplies power to the drive module, the main control board and three flywheel actuators. The main control board is used to control the drive module, and the drive module is used to drive the three flywheel actuators.

5. The desktop-level spherical three-axis spacecraft experimental platform according to claim 3 is characterized in that: The driving module includes three driving plates, which are used to drive three flywheel actuators respectively.

6. The spherical three-axis spacecraft experimental platform according to claim 5, characterized in that: The three drive plates are mounted in a tower-like stack at the center of the corresponding fork-shaped elements.

7. The spherical three-axis spacecraft experimental platform according to claim 3, characterized in that: Each flywheel actuator includes a brushless motor, a reaction flywheel, and a magnetic encoder; The brushless motor drives the reaction flywheel to rotate and generates a reaction torque. The magnetic encoder collects the speed information of the brushless motor and sends it to the drive board.

8. The spherical three-axis spacecraft experimental platform according to claim 3, characterized in that: The spherical shell is made of acrylic material.

9. The spherical three-axis spacecraft experimental platform according to claim 3, characterized in that: The skeleton structure is manufactured by 3D printing.

10. The spherical three-axis spacecraft experimental platform according to claim 3, characterized in that: The experimental platform also includes a balancing block, which is fixed on the inner wall of the acrylic spherical shell so that the position error between the center of gravity of the experimental platform and the center of the circumscribed sphere is within a set range.

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