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Environmental detection spherical robot

A technology of spherical robots and robots, which is applied in the direction of manipulators, motor vehicles, manufacturing tools, etc., can solve the problems of inability to provide reasonable guidance and instability of robot movement, and achieve the effect of convenient control and simple movement mechanism

Inactive Publication Date: 2009-03-18
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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  • Environmental detection spherical robot
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Embodiment Construction

[0012] As shown in the previous figure, the embodiment of the present invention is: a hollow shaft 5 that does not rotate with the spherical shell 1 is installed inside the spherical shell 1, control equipment, etc. can be installed outside it, and sensors for detection can be installed inside it device, the spherical shell 1 is connected to the hollow shaft 5 through the support member 2 and the rolling bearing 4, and a linear drive mechanism is installed in front of the hollow shaft 5, and the linear drive drive mechanism is connected to the hollow shaft 5 through the connecting piece 7 and the connecting plate 8, Linear drive mechanism is made of motor 13,14 and two wheels 9,12, connects two wheels 9,12 by gear respectively at two ends of two motors 13,14, is rolling contact with spherical shell respectively. When the wheels 9 and 12 of the linear drive mechanism roll relative to the spherical shell 1, the drive mechanism can drive the hollow shaft 5 to rotate relative to th...

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Abstract

The invention provides an environmental survey spherical robot which comprises a moving mechanism, a control device and the like which are contained in a spherical shell, and realizes motion of the whole robot through centre-of-gravity shift principle. The moving mechanism mainly comprises a hollow shaft, a two-wheel type linear drive mechanism, a weight turning drive mechanism, etc. The two-wheel type linear drive mechanism mainly comprises two drive motors, two driving wheels and the like, and realizes linear motion of the spherical robot through centre-of-gravity shift. The weight turning drive mechanism comprises a drive motor and an actuating mechanism, and realizes turning motion of the environmental survey spherical robot through combining the deviating angle of the weight and the linear motion with the centre-of-gravity shift principle. The combination of linear motion and turning motion can realize the motion of the environmental survey spherical robot in arbitrary direction. In the environmental survey spherical robot, the hollow shaft which is relatively stationary to the spherical shell is arranged inside, and a stable platform is provided for mounting a sensor, a controller and the liker. The environmental survey spherical robot combines the linear motion mechanism with the turning mechanism, has the advantages of simple motion mode, flexible motion, strong maneuverability, and can be used for various tasks, such as hypertoxic gas inspection, field environmental observation, planet survey and the like.

Description

Technical field [0001] The invention relates to an environment detection spherical 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...

Claims

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Application Information

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IPC IPC(8): B25J5/00B25J11/00B25J19/04B62D57/02
Inventor 战强叔广慧蔡尧
Owner 战强
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