Spherical robot with in-situ rotation function carried with control moment gyro

Abstract

The invention discloses a spherical robot with an in-situ rotation function carried with a control moment gyro. The robot is mainly composed of a homogeneous spherical shell, an advance driving mechanism, a steering mechanism, a control moment gyro mechanism, a heavy pendulum and the like. The steering mechanism is composed of two steering motors, a steering gear mechanism, a toothed belt wheel mechanism and the like. In-situ steering of the sphere is achieved through the cooperation of output torques of the two motors. Meanwhile, the robot is carried with the control moment gyro mechanism, and the control moment gyro mechanism is mainly composed of a flywheel, a flywheel rotation motor, a flywheel fixing frame, a frame rotation steering engine, the toothed belt wheel mechanism and the like; extra precession moment is provided through the precession effect of a gyro rotor which rotates at a high speed, so that the operation speed of the robot is higher, and the climbing and obstacle crossing capacity is improved. The spherical robot can steer in-situ and is high in operation speed, the movement rapidity and flexibility of the spherical robot are greatly improved, and the spherical robot has great application prospects.

Description

Technical field: [0001] The invention relates to a spherical robot equipped with a control moment gyro and capable of in-situ rotation. Due to the precession effect of the gyro, it has a large extra precessive moment, so the robot's running speed and ability to climb slopes and overcome obstacles It has been greatly improved, and is suitable for some occasions where the terrain is relatively rough, and the spherical robot is required to have a large speed or the ability to climb and overcome obstacles, and it involves the development of new robot technology. Background technique: [0002] A spherical robot refers to a type of mobile robot in which motion mechanisms, sensors, controllers, etc. are built into a spherical shell, and the spherical shell is used as a rolling walking device. Compared with traditional wheeled and tracked mobile robots, spherical robots have the following advantages: ① Flexible movement, able to pass through tortuous passages with an aperture slight...

AI Technical Summary

Problems solved by technology

[0003] Limited by the fully enclosed spherical shell and the special rolling walking mode, the existing spherical robots often have low motion stability, low motion speed, and weak obstacle climbing ability, and cannot rotate on the spot. The corresponding turning radius It is also relatively large. For a more rugged or narrow and twisted environment, it cannot effectively move forward and turn

Images