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Mecanum wheel-driven spherical mobile robot

A mobile robot, driven technology, applied in motor vehicles, transportation and packaging, etc., can solve the problems of inaccurate and effective control, large energy loss of spherical robots, etc., to optimize the internal structure of the sphere, simplify the charging process, and reduce energy. the effect of the loss

Inactive Publication Date: 2016-10-26
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This is because the motion principle of the spherical robot is the same as that of the hamster ball when the hamster runs in the spherical shell to push the ball, but this type of spherical robot consumes a lot of energy, and at the same time, due to the mutual sliding of the wheels and the spherical shell so that the control is not precise enough and effective

Method used

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  • Mecanum wheel-driven spherical mobile robot
  • Mecanum wheel-driven spherical mobile robot
  • Mecanum wheel-driven spherical mobile robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0023] see figure 1 , the Mecanum wheel-driven active spherical robot includes: a rigid spherical shell (3), which is assembled from left and right hemispheres; 4 support rods (2); a built-in fixed frame (4); Two mecanum wheels and the hub motors inside; one main controller (6), one power supply (1). It is characterized in that the two hemispherical spherical shells (3) are finally assembled after all the components inside are installed, and all the components inside the sphere are installed on the fixed frame (4) through the frame. Guarantee the positioning relationship between each other. The two mecanum wheels and the hub motors inside them are respectively installed on both ends of the fixed frame (4) and arranged symmetrically, and the positive movement direction of the first mecanum wheel and the second mecanum wheel conforms to the vertical and orthogonal Relationship. The main controller (6) and the power supply (1) are respectively installed on the lower part of th...

Embodiment 2

[0025] This embodiment is basically the same as Embodiment 1, and the special features are as follows: the four support rods (2) are improved by commercial gas springs, and the damping effect of the gas springs can reduce the contact between the rack and the ball during the movement. The hard collision between the surfaces of the spherical shell acts as a cushioning effect. And because the contact between the wheel and the spherical shell is also a soft contact, the buffering effect between the support point and the frame also makes the mutual force between the spherical shell and the internal frame more balanced. The 4 contact points between the 4 support rods (2) and the inner surface of the spherical shell (3) and the contact points between the two mecanum wheels and the spherical shell (3) constitute a geometrically spherical 6-point contact stable structure, increasing stability of the entire robot system.

Embodiment 3

[0027] This embodiment is basically the same as Embodiment 1, and the special features are as follows: the hub motor and the mecanum wheel are integrated into one structure, the inside of the mecanum wheel is a hub motor, and the hub motor combines power, transmission and braking The devices are all integrated into the hub without redundant external mechanical structure, and the wheel surface outside the hub is a mecanum wheel structure. This hub motor technology that combines the mecanum wheel and the motor simplifies the internal operation of the sphere. Mechanical structure. The power supply uses a large-capacity lithium battery, and the power supply uses a wireless charging module as its charging device. The wireless charging receiving end and the battery are closely connected together. When charging the power supply, only the sending end and the receiving end need to be connected. The battery can be charged by just attaching the end, saving the trouble of replacing the ba...

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Abstract

The invention discloses a mecanum wheel-driven spherical mobile robot. The robot consists of a rigid spherical shell, 4 vehicle aerodynamic rods as support rods, a frame, 2 mecanum wheels and internal hub motors, a power module and its wireless charging device, and a main control module. The two mecanum wheels are symmetrically fixed on the frame and arranged orthogonally to provide two vertical and orthogonal driving forces, and one end of the four support rods is fixedly connected to the frame and the other end is connected to the spherical shell. The surfaces are in contact, and the four pneumatic rods are evenly distributed in the same plane perpendicular to the plane where the wheels are located, forming a 6-point stable support structure together with the two wheels. Devices such as the control module and battery are all fixed on the frame to simplify the entire internal mechanism as much as possible. The invention simplifies the internal structure of the spherical robot and reduces the energy consumption of contact driving.

Description

technical field [0001] The invention relates to the field of active fully autonomous spherical robots, in particular to a mecanum wheel-driven spherical mobile robot. Background technique [0002] Spherical robots have the characteristics of complete isolation between internal robot parts and the external environment, and have extremely special advantages in scientific exploration. Compared with traditional wheeled, tracked or footed mobile robots, spherical robots have better field adaptability, and are not easy to overturn and fail. When exploring some special harsh environments, such as sand dunes, snow, ice crevices, etc., traditional Wheeled or legged robots will encounter obstacles and difficulties in traveling, and spherical robots can solve these problems by using their structural characteristics. [0003] The research work on modern spherical robots began in the 1990s. Since the first spherical robot was produced in 1996 by Halme and others at the Helsinki Universi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02
Inventor 谢少荣祝川姚骏峰邹旭东冯凯
Owner SHANGHAI UNIV
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