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Novel spherical robot and control method thereof

A technology of spherical robot and control method, which is applied in the direction of motor vehicles, transportation and packaging, etc., to achieve the effect of ensuring stability and simple and reliable control

Active Publication Date: 2014-09-10
李喆 +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the general need for improvement in the following areas: omnidirectional rolling, reliable control, stability of the carrying platform, and abnormal attitude adjustment, these solutions cannot well meet the needs of practical applications.

Method used

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  • Novel spherical robot and control method thereof
  • Novel spherical robot and control method thereof
  • Novel spherical robot and control method thereof

Examples

Experimental program
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Effect test

Embodiment Construction

[0018] 1. Drive system structure

[0019] Such as figure 1 As shown, two spherical car shells 1, 8 are buckled into a spherical shape, and the steering motor 16, the driving motor 17, the carrying accessories 14, and the control circuit 15 are assembled on the carrying platform and the counterweight 13, and the carrying platform and the counterweight are empty sleeves on the steering wheel. On the shaft 11, it can freely rotate around the steering shaft 11 but cannot slide axially. The steering bevel gear 12 is sleeved on the steering shaft 11 and can slide. The power can be transmitted to the steering shaft 11 through the steering bevel 12. The output gear of the driving motor 17 meshes with the bevel gear fixedly connected to the center of the transmission wheel 3. The transmission wheels 3 and 6 are buckled into a whole and are vacantly sleeved on the steering shaft 11. 1. 4. Transmission bevel gear 2. 9 engagement transmission power. The two bogies 2, 7 and the steering...

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PUM

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Abstract

The invention discloses a novel spherical robot and a control method thereof, and relates to the technical field of the spherical robot. A driving shaft and a rotating shaft are perpendicular to each other and both are located in the horizontal plane. Actions such as going forward and back, no-radius any angle turning and any abnormal posture adjusting can be realized by virtue of a power source driving motor and a steering motor which are used for controlling the two shafts. The novel spherical robot has the characteristics of omnidirectional rolling and no movement dead angle, and also has the advantage of simple and reliable control; in addition, the unique design of the structure of the novel spherical robot is also capable of guaranteeing excellent stability of a carrying platform; devices such as a camera and a sensor can be built in the novel spherical robot so as to realize movement in an unfamiliar environment, planet exploration and the like.

Description

technical field [0001] The invention relates to a spherical robot and its motion trajectory control. Background technique [0002] Spherical robot is a new type of rolling walking robot, which has the characteristics of fast movement speed, good off-road performance, and relatively simple control. It has gradually become one of the hotspots in the field of intelligent robot research at home and abroad. [0003] The existing spherical robot solutions can be roughly divided into the following three categories according to the driving mode: roller drive, variable center of mass drive, and multi-degree-of-freedom drive. However, due to the general need for improvement in the following areas: omnidirectional rolling, reliable control, stability of the carrying platform, and abnormal attitude adjustment, these solutions cannot well meet the needs of practical applications. The inventor has conducted in-depth research on these problems and proposed improvements, and this case resu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02
Inventor 李喆于好雨
Owner 李喆
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