Double-ring clutch type electromagnetic-drive spherical robot

Abstract

The invention relates to a double-ring clutch type electromagnetic-drive spherical robot, which comprises a left hemispherical shell, a hemispherical clutching mechanism, a right hemispherical shell, a lead screw shaft, a coupler, a speed reducer, a motor, bearing seat fixing screws, electromagnetic drive parts, magnetic steel rings, permanent magnetic steel pieces, a left bearing seat, a right bearing seat and rubber pads and the like. The left hemispherical shell and the right hemispherical shell form a spherical shell, one or more magnetic rings are arranged in each hemispherical shell, the magnetic steel rings and the spherical surface of the spherical shell are coaxial on the lead screw shaft, the permanent magnetic steel pieces are uniformly disposed on the magnetic steel rings, N-electrodes of two adjacent permanent magnetic steel pieces are opposite in direction, the electromagnetic drive parts mainly includes electromagnetic cores, electromagnetic coils, a control module, a power supply, a supporting plate, a plurality of infrared tubes and supporting wheels, the supporting plate is processed to be arc-shaped and concentric with the magnetic steel rings, and the infrared tubes are mounted on two sides of the supporting plate respectively. The spherical robot can progress and retreat according to the principle of electromagnetic stepping, is simple and reliable in structure, stable and flexible in motion and high in controllability when compared with conventional robots.

Description

technical field [0001] The invention belongs to the field of electromechanical technology, and relates to a double-ring clutch type electromagnetically driven spherical robot, which can be applied to the fields of detection, search and rescue, military affairs, transportation, entertainment and the like. Background technique [0002] Because of its unique advantages such as flexible movement, small turning radius, good self-recovery ability, strong carrying capacity, and the ability to easily roll over rough terrain, spherical robots have attracted much attention from scientific and technological personnel, and are currently one of the hot issues in the field of robotics research. It has broad research space and good application prospects. [0003] Since the researchers in the United States, Finland and other countries began to study and trial-produce spherical robots in the 1990s, people have paid more and more attention to the research on spherical robots, and spherical ro...

AI Technical Summary

Problems solved by technology

[0005] Although there have been many designs of spherical robots at home and abroad, and their driving mechanisms are also various, most of them have the disadvantages of complex structure, difficult engineering realization and low practicability.

So far, no driving method has been publicly recommended by everyone, and there is no mature theoretical system for the research on the structure and driving method of spherical robots.

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