Polymorphic spherical hopping robot

Abstract

The invention discloses a polymorphic spherical hopping robot which belongs to the field of robots. The polymorphic spherical hopping robot is characterized by comprising two parts, namely a mechanical body and a control system, wherein the mechanical body comprises two cylinder fixed frames and a movable frame, an inner side plate of the movable frame drives the whole movable frame to move to the center or two ends under the driving of a screw rod so as to control the unfolding and closing of hemispherical shells on two sides, when being unfolded, the spherical shells can be used for supporting the whole robot to run in a two-wheeled state, and when being completely closed, the spherical shells are in a spherical state and can be used for completely wrapping an internal mechanism of the robot; the control system comprises two parts, namely an upper computer and a lower computer, wherein the upper computer is used for realizing the motion and bounce control of the robot and a state display function, and the lower computer comprises a master control module, a spherical shell control module, a motion control module, a bounce control module, a data acquisition module, a gesture detection module and a data transmission module. The polymorphic spherical hopping robot has the advantages of simple structure, multiple motion states, strong adaptability, good controllability and the like.

Description

Technical field: [0001] The invention relates to a polymorphic spherical jumping robot, which belongs to the technical field of robots. Background technique: [0002] With the continuous development of robot technology, the application of robots has expanded to post-disaster rescue, interstellar detection, military reconnaissance and anti-terrorism and other fields. Correspondingly, the requirements for robots are getting higher and higher. [0003] Spherical robots are widely used in many fields due to their high flexibility and strong impact resistance. At present, most spherical robots are driven by the internal drive, that is, the gravity torque. In terms of the specific implementation form, the gravity torque is generally trying to make the center of gravity of the robot deviate from the geometric center of the sphere, which determines that this kind of spherical robot can only use the rolling movement mode, so its The ability to climb and overcome obstacles is insuff...

AI Technical Summary

Problems solved by technology

[0013] In order to solve the shortcomings of spherical robots with single motion mode and state, weak motion ability, poor adaptability and flexibility, the present invention provides a polymorphic spherical jumping robot whose spherical shell can be expanded into a two-wheel state. The polymorphic spherical jumping robot has It has the advantages of simple structure, multi-movement dynamics, strong adaptability and good controllability

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