Variable structure spherical robot capable of crossing obstacle

Abstract

The invention relates to a variable structure spherical robot capable of crossing an obstacle. The robot comprises a balancing weight horizontal shifting module, a rolling movement driving module, a flywheel driving module and a flywheel braking module. The two basic movement modes of pure rolling and obstacle crossing can be achieved. In the mode of pure rolling, the variable structure spherical robot is similar to a traditional spherical robot driven by center-of-gravity shift, and the variable structure spherical robot has the advantage of being high in movement efficiency. In the mode of obstacle crossing, the variable structure spherical robot can automatically achieve acceleration energy storage for a flywheel set only by increasing driving torque of a power shaft, and when the rotating speed of flywheels reaches the preset threshold value, claw feet hidden on the two sides of a spherical shell can be triggered to be unfolded. Meanwhile, the movement of the spherical shell is blocked, and the flywheels are braked, so that stored energy instantly breaks out and drives the claw feet to rotate to achieve obstacle crossing, and the movement mode of pure rolling is recovered after the energy is completely released. The variable structure spherical robot has the advantages of being compact in structure, easy to control, high in obstacle crossing ability, reliable in system and the like, and the terrain adaptability and practicability of the spherical robot are improved.

Description

technical field [0001] The invention relates to a spherical robot. More specifically, the present invention relates to a structure-changing spherical robot capable of moving over complex terrains and able to overcome obstacles. Background technique [0002] The spherical robot is named for its generally spherical external structure shape, and it is a new type of mobile robot form. Different from traditional wheeled and footed robots, the main characteristic advantage of spherical robots is that the basic movement is realized by rolling the spherical shell, it is easy to realize omnidirectional movement on flat terrain, and it has high movement efficiency and movement speed; movement During the process, when the robot collides or falls from a high place, the closed spherical shell can also effectively protect the internal equipment of the robot. [0003] While the spherical structure has the above-mentioned technical advantages, the application environment of the spherical ...

AI Technical Summary

Problems solved by technology

Typically, for the commonly used spherical robot driving methods such as relying on the offset of the center of gravity to obtain the driving torque of gravity, the driving torque is usually small, so that the robot encounters more obstacles or more terrain undulations in the uneven terrain environment. prone to losing mobility and getting stuck in a certain position

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