A spherical walking platform

Abstract

The invention discloses a spherical walking platform. The spherical walking platform comprises a spherical shell and connecting shafts arranged in the spherical shell along the diameter direction of the spherical shell. The spherical shell is formed by butt joint of two semi-spherical shells. The connecting shafts are symmetrically arranged on the semi-spherical shells. One ends of connecting shafts stretch out of the spherical shell and the other ends of connecting shafts are connected with a revolving platform. The middle portion of the revolving platform is provided with a groove equipped with a driving motor. The connecting shafts are in movable sleeve joint with gear motors. An eccentric platform is arranged between the gear motors. The gear motors are provided with gear shafts. The connecting shafts are provided with gears connected with the semi-spherical shells. The gears are engaged with gear motor gears connected with the gear shafts. The spherical walking platform has following beneficial effects: by adoption of a differential torque principle, a walking function is fulfilled by changing the centre-of-gravity of the spherical shell so that space utilization rate of the spherical shell is high and the spherical walking platform is stable and reliable and moves stably.

Description

technical field [0001] The invention relates to a spherical robot, more specifically, to a spherical walking platform. Background technique [0002] The spherical robot is a mobile robot that walks in a rolling manner. Its driving principle is mainly to break the static balance of the sphere through the movement of the internal drive device. The movement is flexible, and it can realize turning in place and walking in all directions. [0003] Most of the existing spherical robots are driven by an eccentric mass block, and the steering and walking are realized under the drive of the machine's eccentric moment and inertial moment. However, most of the current spherical robots are driven by the offset of the center of gravity of the double pendulum, which cannot guarantee that the double eccentric masses will swing synchronously under the drive of the same motor, resulting in large fluctuations in the driving torque of the robot, unable to provide a stable driving force, and mak...

AI Technical Summary

Problems solved by technology

[0004] In order to reduce the weight of spherical robots, most existing robots use an inner frame structure, but this structure is one of the main force-bearing parts. During the movement of the robot, the deformation of the inner frame is large, and the movement of the robot seriously deviates from the predetermined trajectory, making the movement uncontrollable.

For the driving pendulum, once the pendulum angle is too large, due to the inertia and the gravity of the eccentric mass block, the torque generated will be greater than the torque that the driving motor can provide, causing the robot to move out of control

However, at present, there are deficiencies in the safe control of the driving swing angle of the spherical robot.

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