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Inner driving spherical robot

A spherical robot and internal drive technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of complex motion trajectory, difficult control, complex structure of spherical robots, etc., and achieve the effect of flexible movement, simple structure, omnidirectional walking and turning at any angle

Inactive Publication Date: 2011-03-02
ZHONGBEI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The present invention mainly solves the problems of complex structure, complex motion track and difficult control in existing spherical robots

Method used

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Embodiment Construction

[0014] The internally driven spherical robot is composed of a spherical shell 1 and a walking driving device inside. The walking driving device includes a driving ball shell 2 and a frame 3 fixedly connected to the driving ball shell 2; the frame 3 is symmetrically fixed with six bearings 7 around its central axis along its diameter direction, and the shaft 8 is along the diameter direction of the driving ball The bearing 7 forms a rotating pair with the frame 3; the frame 3 is fixedly connected with six electromagnets 4, an electromagnet base 5 is arranged under the electromagnet 4, and the conductive slip ring on the electromagnet base 5 contacts the brush 6 Connected, after electrifying any of the electromagnets 4, it will generate attractive force with the magnetic material inside the spherical shell 1. Under the action of the attractive force, the electromagnet 4 will be attracted to the inner surface of the spherical shell 1, thereby changing the center of mass of the sphe...

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Abstract

The invention discloses an inner driving spherical robot comprising a spherical shell (1), a linear travelling mechanism and a steering control mechanism, wherein the linear travelling mechanism and the steering control mechanism are arranged in the spherical shell (1); the linear travelling mechanism comprises a driving spherical shell (2), a rack (3), electromagnet (4), a bearing (7) and a shaft (8); the steering control mechanism comprises an electromagnet base (5), an electric brush (6), a bevel gear (9), a bevel gear (10), an electromotor substrate (11), a steering motor (12) and a coupler (13); after electrified, the electromagnet (4) generates attractive force with magnetic material on the inner side of the spherical shell so as to change the center of mass of the spherical robot, and magnetic material rolls along the inner side of the spherical shell under the driving of gravity to push a sphere to move linearly; the rack is provided with the steering control mechanism along the direction of the geometric center line of the rack; and the shaft (8) rotates along the axle center thereof under the driving of the steering motor (12) to drive the electromagnet to rotate to change the travelling direction of the linear travelling mechanism. The invention has the advantages of simple structure, flexible motion and the like and is convenient for miniaturization design.

Description

Technical field: [0001] The invention belongs to the technical field of mechatronics, and specifically relates to an internally driven spherical robot. Background technique: [0002] The spherical robot is a new type of intelligent robot with a spherical shell and rolling motion as the main motion mode. Because the spherical robot has a closed shell and a special form of motion, compared with wheeled or orbital and humanoid robots, it has the greatest stability after instability, omnidirectional rolling, and more flexible turning. And many other advantages, its internal good airtightness makes the spherical robot popular in the fields of exploration of outer planets and radiation corrosion environment. [0003] The spherical robot "Spherical Mobile Robot" developed by Aarne Halme, T. Sehonberg, Y. Wang and others in 1996 (see "Motion control of a spherical mobile robot", 4th IEEE International Workshop on Advanced Motion Control AMC'96, 1996: 259-264), the spherical robot is the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00
Inventor 毛豆郑智贞秦慧斌郝银龙贝超郭志杰张家志
Owner ZHONGBEI UNIV
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