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Spherical robot driven by orthogonal-position double omnidirectional wheels

A spherical robot and omni-directional wheel technology, applied in motor vehicles, transportation and packaging, etc., can solve the problems of asynchronous movement, speed and phase difference, and difficult robot trajectory, so as to achieve lower center of gravity, simple structure, and lower engineering cost effect

Inactive Publication Date: 2017-12-19
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The problem with this mechanism is that the speed and phase difference of the two motors in the same direction, or the diameter difference of the omnidirectional wheel, will cause the movement to be out of sync, which will cause difficulties in controlling the trajectory of the robot.

Method used

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  • Spherical robot driven by orthogonal-position double omnidirectional wheels
  • Spherical robot driven by orthogonal-position double omnidirectional wheels
  • Spherical robot driven by orthogonal-position double omnidirectional wheels

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0051] Such as figure 1 and 2As shown in the figure, an omni-directional spherical robot driven by orthogonal double omnidirectional wheels includes a spherical shell 1, a bracket 2, an upper omnidirectional wheel 3, a lower omnidirectional wheel 4, a walking drive 5, a control system 6 and a steering drive 8 .

[0052] The upper omni-directional wheel 3 is installed above the support 2, and the lower omni-directional wheel 4 is installed below the support 2. Further, the upper omni-directional wheel 3 and the lower omni-directional wheel 4 are arranged orthogonally at the two ends of the largest vertical diameter in the spherical shell 1 .

[0053] The bracket 2 has a certain degree of elasticity, which strengthens the pressure of the omnidirectional wheels 3 and 4 on the inner surface of the spherical shell 1, thereby obtaining sufficient frictional force to drive the spherical robot. The elasticity of the bracket 2 also contributes to shock absorption and buffering.

[...

Embodiment 2

[0058] Such as Figure 3-6 As shown, an omni-directional motion spherical robot driven by orthogonal double omnidirectional wheels includes a spherical shell 1, an upper bracket 2-1, a lower bracket 2-2, an upper omnidirectional wheel 3, a lower omnidirectional wheel 4, and a walking drive 5. Control system 6, spring 11, steering drive 8.

[0059] The two omnidirectional wheels 3 and 4 are arranged orthogonally at the two ends of the maximum vertical diameter in the spherical shell 1; the lower omnidirectional wheel 4 is installed on the lower bracket 2-2, and the upper omnidirectional wheel 3 is installed on the upper bracket 2-2. 1, the upper bracket 2-1 and the lower bracket 2-2 are supported by a spring 11, and the spring 11 strengthens the pressure of the omnidirectional wheel on the inner surface of the spherical shell 1, thereby obtaining sufficient frictional force to drive the movement of the spherical robot. The spring 11 also contributes to shock absorption and cus...

Embodiment 3

[0064] Such as Figure 7 and 8 As shown, the difference between this embodiment and Embodiment 2 is that: the lower omni-directional wheels 4 are used to realize the turning motion of the spherical robot, and at the same time, the lower omni-directional wheels 4 are used to realize the walking motion of the spherical robot.

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Abstract

The invention relates to a spherical robot driven by orthogonal-position double omnidirectional wheels. The two omnidirectional wheels driven independently are arranged at the two ends of the maximal vertical diameter in a spherical shell in an orthogonal mode, and omnidirectional movement of the spherical robot is achieved by utilizing the friction force generated by the pressure of the omnidirectional wheels and the inner surface of the spherical shell. According to the spherical robot driven by the orthogonal-position double omnidirectional wheels, the structure is simple, accurate control is easy to achieve, manufacturing of high-precision parts is not needed, and the engineering cost is reduced.

Description

technical field [0001] The invention relates to a moving spherical robot technology, in particular to an omnidirectional moving spherical robot driven by orthogonal double omnidirectional wheels. Background technique [0002] A spherical robot is a robot that integrates motion actuators, sensors, controllers, etc., and relies on spherical characteristics to move, and has good self-stability. [0003] The driving mechanism of spherical robots mainly includes two types of driving modes: eccentric torque and angular momentum conservation. The driving mode of the present invention belongs to eccentric moment driving. [0004] The existing patent application 201410147444.8 proposes a mecanum wheel-driven spherical robot, which cannot work normally and is difficult to control from the analysis of mechanism principles. The reason is: 1) the free rolling direction of the rim roller of the mecanum wheel and the driving direction are arranged at 45°, and driving the mecanum wheel wi...

Claims

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Application Information

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IPC IPC(8): B62D61/00
CPCB62D61/00
Inventor 刘伟马双龙陈月强俞江涛段伦钦王克俊徐文胜
Owner BEIJING JIAOTONG UNIV
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