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Fast steering spherical robot

A spherical robot, fast technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve problems such as motion instability, achieve the effects of simplifying motion control, reducing weight, and increasing the specific gravity of the pendulum

Inactive Publication Date: 2014-08-27
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the motion instability of the existing spherical robot when turning at high speed, the object of the present invention is to provide a fast steering spherical robot that can overcome the rotational inertia force during high-speed travel.

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] see Figure 1~Figure 4 , the fast steering spherical robot includes a total of 8 pairs of spherical ball feet (1) on both sides, 8 pairs of ball foot linkage mechanisms (4), two ball foot drive mechanisms (21), and a central spherical wheel frame (23) And a central pendulum mechanism (22) is characterized in that: the 8 pairs of spherical ball feet (1) are respectively connected to the two ball foot drive mechanisms (21) through 8 pairs of ball foot linkage mechanisms (4). The two football foot drive mechanisms (21) are respectively installed on the two side walls of the central spherical wheel frame (23); the central pendulum mechanism (22) is fixedly installed in the central spherical wheel frame (23) ; There is a brushless motor (13) in the central pendulum mechanism (22) to drive the central pendulum mechanism to change its center of gravity, and to control the robot to move forward and backward in the normal direction of the central axis; Each steering gear (8) dr...

Embodiment 2

[0032] This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0033] The central spherical wheel frame (23) is composed of a polylactic acid spherical wheel frame (2) with an elastic spherical wheel frame (2) fixedly connected to a carbon fiber circular plate (7) on both sides, and the spherical wheel frame (2) In order to divide into 4 parts to reduce the volume of 3D printing, the spherical wheel frame (2) is connected by studs, and the carbon fiber circular plate (7) is connected to the spherical wheel frame (2) by bolts.

[0034] The ball foot driving mechanism (21) includes a steering gear (8), a carbon fiber steering wheel (9) and a steering gear frame (10), and the steering gear passes through (8) through the steering gear frame (10) ) is fixedly installed on the carbon fiber circular plate (7) on the side of the central spherical frame (23), and the output shaft of the steering gear (8) is connected with a carbon fiber steerin...

Embodiment 3

[0039] see Figure 1~Figure 4 , This fast steering spherical robot includes 8 pairs of ball feet (1) deployment mechanisms on both sides and a pendulum drive structure in the center.

[0040] 1) The football foot (1) deployment mechanism: it is composed of the football foot (1) made of polylactic acid, two pairs of carbon fiber rods (4a) and three sets of spherical hinges. The slide slots on the football foot (3 ) is connected with the carbon fiber rods (4a1, 4a2), and the rigidity is strengthened by the fixing plate (5), and the ball foot (1) is connected with the carbon fiber circular plate (7) through the nylon hinge (6);

[0041] 2) The carbon fiber steering wheel (9) is connected with the carbon fiber rods (4a1, 4a2) through hinges (4b). ) are connected, and the rudder discs (9) of different structures determine the motion planning in different situations.

[0042] 3) The steering gear (8) is fixed on both sides of the carbon fiber circular plate (7) of the central modu...

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Abstract

The invention discloses a fast steering spherical robot. The fast steering spherical robot comprises eight pairs of spherical surface spherical feet, eight pairs of spherical foot link mechanisms, two spherical foot drive mechanisms, a central spherical wheel frame and a central pendulum bob mechanism, wherein the eight pairs of spherical surface spherical feet are arranged on the two sides in total. The fast steering spherical robot is characterized in that the eight pairs of spherical surface spherical feet are movably connected with the two spherical foot drive mechanisms through the eight pairs of spherical foot link mechanisms respectively, and the two spherical foot drive mechanisms are installed on the two side walls of a central spherical wheel frame body respectively; the central pendulum bob mechanism is fixedly installed in the central spherical wheel frame body; a brushless motor is arranged in the central pendulum bob mechanism to drive the central pendulum bob mechanism to change the center of gravity of the central pendulum bob mechanism, and the robot is controlled to move front and back in the mean axis normal direction; steering engines are arranged in the two spherical foot drive mechanisms respectively, the two spherical foot drive mechanisms change opening and closing angles of the eight pairs of spherical surface spherical feet through the eight pairs of spherical foot link mechanisms, and then left inclination and right inclination of the robot on a mean axis are changed. The robot can smoothly steer in the high-speed advancing process, and is good in flexibility and universal in structure.

Description

technical field [0001] The invention relates to the field of spherical robots, in particular to a fast-turning spherical robot. Background technique [0002] As a fully enclosed robot, the spherical robot has extremely special advantages in scientific exploration. In order to explore some special harsh environments, such as sand dunes, snow, ice crevasses, etc., traditional wheeled or legged robots will face various problems. Spherical robots have gained attention due to their ability to adapt to the field. But also at present most of the internally driven spherical robots will decelerate when turning, so as to ensure that the robot does not lose control when turning, and some even turn to can only be completed after stopping. In nature, such as the armadillo or the ball millipede, although they have a spherical shape, the main form of locomotion is non-spherical. So how to break through the concept of the constant spherical state of the spherical robot, so as to achieve ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02
Inventor 罗均姚骏峰邹旭东祝川谢少荣冯凯
Owner SHANGHAI UNIV
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