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Internal driving method of three-wheel turning body of spherical robot

A spherical robot and internal drive technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of inflexible movement, low movement efficiency, and large monitoring capability limitations, and achieve the effect of flexible movement, light weight, and small limitations

Active Publication Date: 2017-05-10
SOUTHWEAT UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is: to provide a three-wheeled rotating body driving method for a spherical robot, which solves the problems of inconvenient movement, low movement efficiency, and the large limitation of monitoring ability by environmental facilities in the prior art

Method used

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  • Internal driving method of three-wheel turning body of spherical robot
  • Internal driving method of three-wheel turning body of spherical robot
  • Internal driving method of three-wheel turning body of spherical robot

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Embodiment

[0032] Such as Figure 1-3 As shown, a three-wheel rotating internal driving method of a spherical robot, the spherical robot includes a spherical housing 3, and a detector bracket 4, a detector 2, Circuit module 5, support plate 6, battery compartment 7 and driving device; described detector support 4 is provided with bull's-eye wheel, and described bull's-eye wheel faces upwards and slides contact with spherical housing 3 inner walls, and described battery compartment 7 has two One and symmetrically fixed on both ends of the lower side of the support plate 6, the center of gravity of the two battery compartments 7 combined with the support plate 6 is located directly below the spherical center of the spherical shell 3.

[0033] There are three driving devices and they are distributed on the same horizontal plane. The connecting lines of the three driving devices on the same horizontal plane form an equilateral triangle. The mecanum wheel 8 and the drive motor 1 fixed on the...

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Abstract

The invention discloses an internal driving method of a three-wheel turning body of a spherical robot. The spherical robot comprises a spherical shell, a detector support, a detector, a circuit module, a supporting plate, a battery compartment and an actuating device, wherein the detector support is provided with a bull-eye wheel, and the actuating device comprises a Mecanum wheel and a drive motor. The internal driving method comprises the first step of obtaining a target parameter, the second step of controlling the orientation of the spherical robot, the third step of controlling three wheels to stop running after the orientation of the spherical robot faces a target position, the fourth step of controlling a number two wheel and a number three wheel to conduct uniform velocity and inverted running, the fifth step of controlling the three wheels to stop running after the circuit module receives a signal that the spherical robot arrives at the target position, and at this time, the spherical robot precisely arrives at the target position. According to the internal driving method of the three-wheel turning body of the spherical robot, the problems that in the prior art, the movement is not flexible and convenient, the movement efficiency is low, and the monitoring capacity is greatly limited by environmental facilities are solved.

Description

technical field [0001] The invention relates to a driving method in a three-wheel rotating body of a spherical robot. Background technique [0002] The development of my country's nuclear power has gone through the stages of "initial" and "moderate development", and has now shifted to "active development". Nuclear and radiation safety supervision is the foundation and premise of nuclear safety. Several major nuclear accidents in history have had a major impact on the development of nuclear power, and nuclear power safety has become the focus of global attention. Therefore, strict monitoring and maintenance of nuclear facilities must be carried out, aging and faulty equipment shall be found and replaced in time, and decontamination and disassembly of abandoned nuclear installations shall be carried out to ensure the normal and safe operation of nuclear power plants. These operations need to be carried out in a radioactive environment. If the staff directly enter the nuclear ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00
CPCB25J11/00
Inventor 李怀良庹先国陆景石睿石繁荣刘勇沈统
Owner SOUTHWEAT UNIV OF SCI & TECH
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