Dual-swing omni-directional moving spherical robot

A spherical robot, all-round technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problems of restricting the popularization and application of spherical robots, difficult control, and difficult engineering realization, so as to improve the use value, expand the scope of application, and facilitate The effect of control

Inactive Publication Date: 2012-07-25
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] On the whole, most of the existing spherical robot solutions have the disadvantages of complex structure, difficult engineering realization, and low practicability; the control is difficult
The above problems limit the popularization and application of spherical robots to a large extent

Method used

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  • Dual-swing omni-directional moving spherical robot
  • Dual-swing omni-directional moving spherical robot
  • Dual-swing omni-directional moving spherical robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0039] Such as figure 1 As shown, a double-swing omni-directional motion spherical robot includes a spherical shell 1 and a walking transmission mechanism located inside the spherical shell 1; the walking transmission mechanism includes a semi-circular ring 2 and a mass trolley 3 driven by an internal motor, so The opening of the semi-circular ring 2 is upward, and the semi-circular ring 2 remains vertical; the inner surface of the semi-circular ring 2 is provided with gear teeth 21, and the quality trolley 3 is provided with a driving gear 31, which is connected to the driving gear 31. The gear teeth 21 provided on the inner surface of the semi-circular ring 2 are mated together; the quality trolley 3 is provided with a Bluetooth receiving control device 32 for driving and controlling the rotation of the driving gear 31 provided on the quality trolley 3 .

[0040] The two ends of the semi-circular ring 2 are provided with two supporting short shafts 22, 23 protruding outwards...

Embodiment 2

[0050] Such as figure 2 As shown, the difference between this embodiment and Embodiment 1 is that: the outer surface of the semi-circular ring 2 is provided with gear teeth 21, the quality trolley 3 is provided with a driving gear 31, and the driving gear 31 is provided with a preventive gear. The fixer 34 that the mass trolley 3 falls off from the semicircular ring, one end 341 of the fixer 34 is rotatably installed on the drive gear 31; the other end 342 is sleeved on the semicircular ring 2 through a bearing, and is connected with the The inner side of the semicircular ring 2 constitutes a rolling pair; the driving gear 31 and the gear teeth 21 on the outer surface of the semicircular ring 2 are mated together; and the two ends of the semicircular ring 2 are provided with The limiting block 24 of dolly 3 strokes.

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Abstract

The invention discloses a dual-swing omni-directional moving spherical robot, which comprises a spherical shell and a traveling transmission mechanism positioned inside the spherical shell. The traveling transmission mechanism comprises a semi-circular ring and a mass trolley arranged on the semi-circular ring, two short support shafts extending outwards are arranged at two ends of the semi-circular ring along the diameter direction of the semi-circular ring respectively and are borne on two bases on the inner sides of the spherical shell through bearings respectively, the two bases pass through an axis of the spherical shell, a traveling motor is fixedly arranged on one base of one side of the spherical shell, a gear A is arranged on a motor shaft of the traveling motor, a gear B which is matched with the gear A arranged on the motor shaft of the traveling motor is fixedly arranged on one short support shaft, the gear A is meshed with the gear B to drive the gear B to rotate, and a counterweight block is arranged on the other short support shaft. The dual-swing omni-directional moving spherical robot is novel in structure, simple in control, high in stability and high in shock and impact resistance and is capable of omni-directionally moving.

Description

technical field [0001] The invention relates to a double-swing omni-directional motion spherical robot suitable for operation in wet, dusty, rugged, complicated and narrow spaces. Background technique [0002] A spherical robot is a new type of robot with a spherical shell. It refers to a general term for a system that installs motion actuators, sensor controllers, and energy devices in a spherical shell. Its movement mode is mainly rolling. It can not only walk as fast as a wheeled robot, but also move in complex terrain like a legged robot. Is a good sports carrier. [0003] Divided according to the characteristics, there are two main types: one type is driven by an internal independent mobile device to move the spherical shell. For example: the first truly spherical robot developed by Halme et al. (see HameA, Schonbeng T, Yan W. Motion control of a spherical mobile robot[A]. 4H IEEE International Workshop on Advanced Motion Control[C], Japan, 1996), the movement princ...

Claims

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Application Information

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IPC IPC(8): B62D57/02
Inventor 刘伟张鹏方哲田野丛赫张效奎王建
Owner BEIJING JIAOTONG UNIV
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