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Multiple sporting state spherical robot

A spherical robot, dynamic technology, applied in the field of mobile robots, can solve the problems of poor climbing and obstacle crossing performance, poor obstacle crossing ability, large robot volume, etc., to achieve good stability and flexibility, good anti-hitting ability, protection The effect of the core part

Inactive Publication Date: 2009-08-26
NAT UNIV OF DEFENSE TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the robot has disadvantages such as large size, poor obstacle-surmounting ability, and unsatisfactory performance in motion direction control and attitude control.
In the prototype test, the robot can achieve the expected linear motion relatively well, but there are large deviations from the expected other motions, and the stability of the spherical robot is not ideal
[0005] The spherical robot and two-wheeled robot currently developed have the advantages of self-stabilization and self-balancing, but because they mainly use eccentricity to provide driving torque, their climbing and obstacle performance are poor, and they cannot adapt to complex terrain environments.

Method used

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  • Multiple sporting state spherical robot
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Embodiment Construction

[0054] Such as Figure 1 to Figure 3 As shown, the multi-kinetic spherical robot of the present invention includes two hemispherical shells 1 and a spiral telescopic mechanism 2 that drives the two hemispherical shells 1 to expand or close. Driven by the spiral telescopic mechanism 2, the two hemispherical shells 1. It can be closed or unfolded, so that the robot is in two motion states of ball state and two-wheel state.

[0055] Such as Figure 4 with Figure 5 As shown, the spiral telescopic mechanism 2 of the multi-motion spherical robot of the present invention includes a fixed bracket 22, a drive assembly and two sets of telescopic assemblies, the drive assembly is installed in the middle of the fixed bracket 22, and the two sets of telescopic assemblies are respectively installed on the fixed bracket 22 both ends. The fixed bracket 22 is provided with a sliding slot 222 , and the middle part of the fixed bracket 22 is provided with a gear receiving portion 221 . The ...

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Abstract

The invention discloses a multi-kinetic spherical robot, which comprises two hemispherical shells and a spiral expansion mechanism that drives the two hemispherical shells to expand or close. The spiral expansion mechanism includes a fixed bracket, a drive assembly and two sets of expansion assemblies. , the driving assembly is installed in the middle of the fixed bracket, and two sets of telescopic assemblies are respectively installed at both ends of the fixed bracket. motor. The multi-motion spherical robot has three motion forms of ball state, two-wheel state and bouncing, is easy to carry, transport and release, and can move in various complex terrain environments.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to a multi-kinematic spherical robot. Background technique [0002] Because of its remarkable advantages such as compactness, lightness, portability, flexible movement, and various functions, spherical robots can meet the needs of various fields such as explosion-proof, anti-terrorism, and rescue. This type of robot technology has been researched and some research results have been obtained. [0003] In 1996, the automation technology laboratory of Helsinki University of Technology in Finland designed a spherical robot for the first time, consisting of a spherical shell and a rolling single-wheel mechanism inside the ball, driven by an internal motor combined with eccentric force. Due to the limitation of single-wheel drive, this structure cannot realize the full range of motion of the system. [0004] In recent years, with the needs of my country's economic development and the countr...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/028B62K1/00
Inventor 尚建忠罗自荣丛楠安向京潘中银张士刚
Owner NAT UNIV OF DEFENSE TECH
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