An omnidirectional mobile spherical robot drive mechanism capable of surmounting obstacles and impact resistance

Abstract

The invention discloses an omnidirectional moving spherical robot drive mechanism capable of overcoming obstacles and impact resistance, comprising two heavy pendulum assemblies and a set of flywheel assemblies, wherein the heavy pendulum assemblies and the flywheel assemblies are symmetrically arranged on the rotating main shaft of the main shaft structure, The outermost sides of the two sides of the rotating main shaft are provided with spring shock absorbers, and the spring shock absorbers are connected with the casing. The present invention enables the spherical robot based on this driving structure to have better environmental adaptability and movement performance.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to an omnidirectional moving spherical robot driving mechanism that can overcome obstacles and resist impact. Background technique [0002] The spherical mobile robot is a fully enclosed robot with a spherical shell, which realizes the movement through the principles of mass center offset and momentum conservation. The spherical robot has good sealing performance, excellent motion performance, and good dynamic and static balance, so it has great advantages and wide application potential in military reconnaissance, detection in dangerous and harsh environments. [0003] Spherical robots are generally composed of spherical shells and internal control systems, power systems, motion execution devices, and sensors. In recent years, the drive structures of spherical robots can be mainly divided into three categories: eccentric torque drive structures based on omnidirectional w...

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Problems solved by technology

[0004] The eccentric heavy pendulum driving structure of the spherical robot can be divided into two types: single pendulum and double pendulum. The single pendulum structure and the series double pendulum structure can realize the swing of two degrees of freedom in space, which has good flexibility, but the balance performance is poor and the control structure is complicated; The parallel double pendulum driving structure can provide greater driving torque, but it is also difficult to maintain balance during movement, especially when turning; and on rough roads, traditional spherical robots have poor impact resistance, and the internal drive mechanism will be subject to periodic shocks. Oscillation, or even failure of the driving ability; in addition, the obstacle-surmounting ability of the spherical robot based on the eccentric heavy pendulum drive structure is closely related to the swing angle that the heavy pendulum can achieve, which puts forward higher requirements for the mechanical design of the robot

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