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An Electromagnetic Internally Driven Spherical Robot

A spherical robot, driven technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problems of difficult control, complex motion trajectory, complex driving mechanism, etc., to reduce energy consumption, strong controllability, stable and flexible movement Effect

Active Publication Date: 2016-02-17
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problems of complex driving mechanism, complex motion track and difficult control of the existing spherical robot, and propose an electromagnetic internally driven spherical robot with simple structure, reliable mechanism, flexible movement and strong controllability

Method used

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  • An Electromagnetic Internally Driven Spherical Robot
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  • An Electromagnetic Internally Driven Spherical Robot

Examples

Experimental program
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Effect test

Embodiment 1

[0024] see figure 1 , the electromagnetic internally driven spherical robot includes an external elastic spherical shell (1), an internal rigid spherical shell (2), six connecting support rods (3), an iron ball (4) and four electromagnet devices ( 5), characterized in that: the outer elastic spherical shell (1) and the inner rigid spherical shell (2) are connected by two hemispherical shells; the connecting support rod (3) is used to connect the outer elastic ball The shell (1) and the inner rigid spherical shell (2); the iron ball (4) is freely placed in the inner rigid spherical shell (2); the electromagnet device (5) is fixedly installed on the outer elastic spherical shell ( 1) On the inner surface, the center of mass of the robot is changed by controlling the electromagnet device (5) to attract the iron ball (4), and the movement of the robot is realized under the drive of gravity.

Embodiment 2

[0026] This embodiment is basically the same as Embodiment 1, and the special features are as follows: the outer elastic spherical shell (1) is made of soft material, which is thermoplastic elastomer TPE, which has the characteristics of high elasticity, high strength, and high resilience. And it has excellent colorability, soft touch and beautiful appearance.

[0027] The internal rigid spherical shell (2) is made of PLA material, which has high strength and high rigidity.

[0028] The surface of the internal rigid spherical shell (2) is coated with a magnetically conductive material to enhance the attraction of the electromagnet device to the internal iron ball.

Embodiment 3

[0030] This embodiment is basically the same as Embodiment 1, and the special features are as follows: see Figure 1~Figure 3 , the electromagnetic internally driven spherical robot includes an external elastic spherical shell (1), an internal rigid spherical shell (2), six connecting support rods (3), an iron ball (4) and four electromagnet devices ( 5).

[0031] There are four electromagnet devices (5), which are evenly distributed in space in the shape of a methane molecular structure. The electromagnet devices (5) evenly distributed on the surface of the outer elastic spherical shell (1) are used to place the inner rigid spherical shell (2) The iron ball (4) in ) produces an attractive force to change the center of mass of the robot, and drives the robot to move according to the principle of conservation of angular momentum. By changing the order and time of energizing the electromagnet device (5), the robot can move flexibly, even jumping sports.

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Abstract

The invention discloses an electromagnetism internal-driving-type spherical robot. The electromagnetism internal-driving-type spherical robot comprises an external elastic spherical shell, an internal rigid spherical shell, six connecting supporting rods, an iron ball and four electromagnet devices. The electromagnetism internal-driving-type spherical robot is characterized in that the external elastic spherical shell and the internal rigid spherical shell are respectively formed by connecting two hemispherical shells, the connecting supporting rods are used for connecting the external elastic spherical shell with the internal rigid spherical shell, the iron ball is freely placed in the internal rigid spherical shell, the electromagnet devices are fixedly installed on the inner surface of the external elastic spherical shell, the mass center of the robot is changed by controlling the electromagnet devices to attract the iron ball, and the robot can move under the drive of the gravity. Compared with a traditional spherical robot, the electromagnetism internal-driving-type spherical robot is simple and reliable in structure, stable and flexible in movement and high in controllability. Meanwhile, compared with the existing spherical robot, the driving mode of the electromagnetism internal-driving-type spherical robot is greatly simplified, the small-scale design is facilitated, serialization is easy to form, and the electromagnetism internal-driving-type spherical robot has the wide application prospect.

Description

technical field [0001] The invention belongs to the technical field of mechatronics, and relates to a mobile spherical robot. Specifically, it relates to an electromagnetic internally driven spherical robot driven by the principle of electromagnetic adsorption and conservation of angular momentum, which is convenient for miniaturization design and serialization, and has the advantages of Broad application prospects. Background technique [0002] The spherical robot is a new type of walking robot with a spherical shell that walks in a rolling manner. It has the characteristics of fast movement speed, good off-road performance, and relatively simple control. The spherical robot is a breakthrough in the way of robot movement. Its biggest feature is the special way of movement. The spherical shell will enable the robot to obtain the greatest stability after instability. Compared with the wheeled robot that walks on wheels, there is no " Its spherical structure can freely rotate...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02
Inventor 罗均邹旭东姚骏峰祝川冯凯
Owner SHANGHAI UNIV
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