Fluid Driven Spherical Robot

Abstract

The invention belongs to the field of electromechanical technology, and relates to a spherical mobile robot, in particular, to a fluid-driven spherical robot, which includes a spherical shell, an annular sealed container, an axial flow device, an internal drive rotation mechanism, and a main shaft; it is characterized in that: the spherical shell is composed of The left and right hemispherical shells are composed of two hemispherical shells; the annular sealed container is located inside the spherical shell, the outer ring surface of the container is concentric with the spherical surface of the spherical shell, and the fluid is contained inside the container, and the volume of the fluid is 1 / 2 of the volume of the container. The axial flow device drives the liquid to flow in the annular sealed container, thereby changing the center of mass of the spherical robot, thereby realizing the forward and backward of the spherical robot; the internal drive rotation mechanism located inside the spherical shell mainly includes: internal drive bracket, motor, Motor bracket, flywheel shaft, flywheel, power supply and controller, etc.; the main shaft is connected to the spherical shell through bearings, other parts of the internal drive rotation mechanism are suspended on the main shaft through the internal drive bracket, and the motor is fixed to the internal drive bracket through the motor bracket Connection, the flywheel is installed on the internal drive bracket through the bearing, the motor shaft and the flywheel are connected through the coupling, the motor drives the flywheel shaft and the flywheel whose lower part is perpendicular to the main shaft to rotate together, and realizes the steering of the fluid-driven spherical robot by using the principle of conservation of angular momentum .

Description

technical field [0001] The invention belongs to the field of electromechanical technology, and relates to a spherical robot with omnidirectional motion, which can be applied to the fields of detection, search and rescue, military affairs, transportation, entertainment and the like. Background technique [0002] A spherical robot is a robot with a spherical shell that walks in a rolling manner. Compared with wheeled robots, there is no problem of "overturning"; compared with walking or crawling robots, it has the characteristics of fast movement speed and strong carrying capacity . In addition, the spherical robot is flexible and has a small turning radius; the spherical robot has a novel and unique shape, flexible movement, and a small turning radius; the spherical structure has a strong self-recovery ability, and the spherical shell also enables the robot to easily roll over rough terrain. At the same time, since the resistance of ball rolling point contact is much smaller...

AI Technical Summary

Problems solved by technology

[0005] Although there have been many successful designs of spherical robots at home and abroad, and their driving mechanisms are 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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