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High mobility spherical detecting robot

A spherical robot and robot technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problems of instability and inability to provide reasonable guidance for robot movement, and achieve the effects of simple structure, improved ability to pass through narrow environments, and flexible movement

Inactive Publication Date: 2008-10-08
战强
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If a stable installation platform cannot be provided for sensors such as vision, the sensor will rotate with the spherical robot. At this time, the sensor does not provide useful environmental information in a certain direction, but information near the unstable robot. The robot's motion provides reasonable guidance

Method used

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Embodiment Construction

[0012] As shown in the previous figure, the embodiment of the present invention is: two connecting discs 3 fixedly connected to the spherical shell are installed symmetrically on both sides inside the spherical shell 19, and the two connecting discs 3 are respectively equipped with rolling bearings 5 ​​passing through the direction of the spherical axis. An inverted door-shaped support frame 1 is connected with the connection plate through rolling bearings 5, and the support frame does not rotate with the spherical shell 19 during the movement, and is kept level with the ground; one side of the door-shaped support frame 1 is equipped with a drive motor 4, which is driven by the drive shaft The upper gear 11 meshes with the upper gear 2 of the motor to transmit motion, drives the connecting plate 3 to rotate, thereby drives the spherical shell 19 to rotate, and the high-mobility spherical robot makes a linear motion, and the forward and reverse rotation of the drive motor 4 can r...

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Abstract

The invention relates to a high-maneuvering spherical detection robot, which encloses a movement mechanism and a control device, etc., into a spherical shell and realizes the movement of the whole robot through the barycenter offset and the angular momentum conservation principle. The movement mechanism mainly comprises a support frame, a connection disk, a straight-line drive mechanism, a pivot steering drive mechanism, a telescoping mechanism, etc. The straight-line drive mechanism mainly comprises a drive motor, a gear transmission unit, an executive part, etc., which takes advantage of the barycenter offset to realize the straight-line movement of the spherical robot. The pivot steering drive mechanism comprises a drive motor and an executive mechanism, which takes advantage of the angular momentum conservation principle to realize the pivot steering movement of the spherical robot. The combination of straight-line and steering movements can realize the movement of the high-maneuvering spherical detection robot in any orientation. The telescoping mechanism comprises a drive motor, a screw mechanism, etc., which are used for realize the purpose that cameras at both ends protrude out of and retract into a sphere shell. The spherical robot not only provides a steady platform for installing cameras, but also realizes the pivot steering with flexible movement and strong maneuverability, and the spherical robot can be used for a plurality of tasks such as high toxic gas detection, field environment observation, and planetary exploration, etc.

Description

Technical field [0001] The invention relates to a spherical detection robot system which can be used for environment detection, star detection and environmental patrol without human intervention. Background technique [0002] A spherical robot is a general term for a system that includes motion mechanisms and control devices in a spherical shell. Since this type of robot has good dynamic and static balance, it will not be unstable due to collision or fall. At the same time, because its electromechanical, sensing and control components are included in this spherical shell, it has good sealing performance and can work in sandy, humid and corrosive harsh environments. A.Halme, T.Schonberg and Y.Wang, Motion Control of aSpherical Mobile Robot, 4th IEEE International Workshop on AdvancedMotion Control AMC'96, Mie University, Japan 1996. Introduced a spherical robot designed by AarneHalme of Finland and applied for patent, the spherical robot uses a wheel rolling in the spherica...

Claims

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Application Information

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IPC IPC(8): B62D57/00
Inventor 战强刘美苓蔡尧叔广慧
Owner 战强
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