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Spherical robot having walking function

A spherical robot and robot technology, applied in the field of robotics, can solve the problems that the spherical ball foot mechanism does not have the walking function, the lower hemispherical shell is difficult to maintain a complete spherical surface, and the closed protection of the robot body is reduced. Improve applicability and scroll stability

Inactive Publication Date: 2017-09-22
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Invention patent CN103538644A discloses a robot with rolling motion and footed walking functions. This robot also combines the advantages of rolling and walking modes, but the lower hemispherical shell used for rolling is also used for walking. During the process, it is difficult for the lower hemispherical shell to maintain a complete spherical surface, and the rolling efficiency is affected; during the walking process, the opened hemispherical shell reduces the closed protection of the robot body.
Invention patent CN104002887A discloses a fast-turning robot, including 8 pairs of spherical ball foot mechanisms on both sides and a pendulum mechanism in the middle. The rapid steering of the robot can be realized through the spherical ball foot mechanisms on both sides, but the spherical ball foot mechanism does not have Walking function, difficult to adapt to more complex terrain

Method used

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Experimental program
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Effect test

Embodiment 1

[0033] Such as figure 1 , figure 2 , image 3 , Figure 4As shown, the robot described in the present invention includes a spherical shell module 1 , a rolling drive module 2 , a foot module 3 , a support module 4 , and a foot balance module 5 . The spherical shell module is divided into a first spherical shell module part 11 , a spherical shell module second part 121 , 122 , and a spherical shell module third part 131 , 132 , 133 , 134 . The rolling drive module 2 is connected to the support plates 412 , 422 of the support module through the flanges 212 , 213 . The support module 4 includes a left support 41 and a right support 42. The left support 41 and the right support 42 are respectively installed on the left and right sides of the first part 11 of the spherical shell module to play the role of robot structure support. The foot module 3 includes a left foot 31 and a right foot 32, which are respectively mounted on the two ends of the main shaft 21 of the rolling dri...

Embodiment 2

[0041] Such as Figure 9 As shown, when the robot encounters a higher step and cannot rely on pure spherical rolling to climb over, the rolling drive module 2 adjusts the center of gravity of the robot to lean forward, the first part 11 of the spherical shell module is against the edge of the step, and the foot subunit 32 , 33 extend from the spherical shell modules 121, 122, the ends of the foot subunits 32, 33 contact the ground, the contact points of the two foot subunits with the ground and the contact points of the first part 11 of the spherical shell module and the steps form Three supporting points, the foot subunits 32, 33 lift the center of gravity of the robot under the drive of the steering gear. During the lifting process, the ends of the foot subunits remain stationary with the ground, and the foot bases 351 and 352 are kept parallel to the ground under the action of the foot balance module 5 . During the rolling process, the rolling drive module 2 adjusts the ce...

Embodiment 3

[0043] Such as Figure 10 As shown, in the process of climbing a long and steep slope, the robot's footed walking motion mode can be used to climb the slope. When the robot moves to the bottom of the slope, the four groups of foot module subunits 31, 32, 33, 34 of the foot module 3 stretch out from the second part 121, 122 of the spherical shell module, and the end of the foot touches the ground to lift the robot. From the start, the first part 11 of the spherical shell module is separated from the ground, and the four groups of foot module subunits 31, 32, 33, 34 cooperate with each other and act in a certain order to realize the walking function of the robot. During the walking process of the robot, the rolling drive module 2 continuously adjusts the center of gravity of the robot to keep the robot stable during the walking process. The foot balance module 5 keeps the foot bases 351, 352 parallel to the ground. When the four groups of foot module subunits 31 , 32 , 33 , 34...

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Abstract

The invention discloses a spherical robot having a bionic walking function. The spherical robot comprises a spherical shell module, a rolling driving module, a foot module, a supporting module and a foot balance module. The spherical robot disclosed by the invention has two basic movement modes of spherical rolling movement and foot type walking movement, so that the spherical robot has high movement efficiency of spherical rolling and good terrain adaptability of foot type walking, and can also enable the two movement modes to supplement each other, and the obstacle surmounting performance of the spherical rolling and the movement efficiency of the foot type walking are improved.

Description

technical field [0001] The invention relates to a deformable ground mobile robot. More specifically, the present invention relates to a transforming robot with spherical rolling and quadrupedal walking functions. It belongs to the field of robotics. technical background [0002] With the continuous development of robot technology, people have put forward higher requirements for the high-efficiency movement and terrain adaptability of mobile robots. Traditional mobile robots are difficult to meet this more complex demand. Robots with hybrid drives have good development prospects. . [0003] It has become a feasible design idea to integrate a variety of traditional motion mechanisms to achieve multiple motion modes. Among them, the robot combining spherical rolling and legged walking has the characteristics of high motion efficiency of spherical robot and good terrain adaptability of legged robot. Spherical robots and legged walking robots are quite different in structure,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02B62D57/032
CPCB62D57/02B62D57/032
Inventor 贾文川黄钟书孙翊马书根汪志威魏力杨将
Owner SHANGHAI UNIV
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