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Three-drive spherical robot

A spherical robot, three-drive technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problems of redundancy, no system fault tolerance, spherical robot does not have motion, etc., achieve flexible movement, realize system fault tolerance, and realize motion redundancy Effect

Inactive Publication Date: 2009-10-28
BEIJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, these spherical robots do not have the characteristics of motion redundancy, and have not realized system fault tolerance in mechanism

Method used

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Embodiment Construction

[0022] Such as figure 1 , 2 , 3 and 4 show a three-drive spherical robot, including a spherical shell and a drive motor. The spherical shell 1 is composed of two equal-sized hemispherical shells; the inner surface of the spherical shell 1 is provided with a track 2, the outer surface of the track 2 is a closed spherical strip 21, and the center of the inner surface is provided with a ring rack 22, and the ring rack 22 is two The sides are respectively provided with annular recesses 23; a walking support 3 is connected with the track 2 through the walking wheels 31 meshed with the annular rack 22, and the walking support 3 is also provided with a walking support guide wheel 32, and the walking support 3 Track motor 33 is housed on the support 3; Also comprise a rectangular ball frame 4, its one end links to each other with walking support 3 by bearing, and the other end links to each other with a rotating support 6 by long-axis motor 5, and described ball frame 4 can be connec...

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Abstract

The invention discloses a three-drive spherical robot, which includes a full circular spherical shell and a driving motor, wherein, the inner surface of the spherical shell is provided with a track, and the inner surface of the track is provided with a ring rack; The walking wheels meshed with the racks are connected to the track, and there are also guide wheels for the walking support; the track motor is installed on the walking support; it also includes a ball frame, one end of which is connected with the walking support through a bearing, and the other end is passed through The long-axis motor is connected with a rotating bracket; the shaft of a short-axis motor is arranged on the ball frame, and the upper shaft of the short-axis motor is provided with a heavy pendulum; the rotating bracket is connected with the track through a guide wheel provided on it. The invention not only moves flexibly, but also realizes redundant movement; when one of the orbital axis motor drive and the short axis motor drive fails, the remaining two drives can still realize omnidirectional rolling, that is, through the configuration design, the System fault tolerance.

Description

technical field [0001] The invention relates to a spherical robot, in particular to a flexible motion redundant three-drive spherical robot. Background technique [0002] At present, mobile robots are more and more widely used in space exploration, military exploration, civil fire protection, anti-terrorism and disaster relief, and field operations. Spherical mobile robot is a new structural form of mobile robot that has only appeared in the past ten years at home and abroad. It is a type of mobile robot system that includes both the drive mechanism and the control system in a spherical shell and uses the spherical shell as a walking device. Compared with traditional mobile robots such as wheeled, legged and tracked, the spherical mobile robot is a mobile robot with novel structure, flexible movement and high movement efficiency. 1) The movement is the most flexible. Omni-directional drive can be achieved with zero turning radius. 2) Anti-dumping. The walking mechanism i...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/00
Inventor 孙汉旭贾庆轩曹红玉李红义张延恒
Owner BEIJING UNIV OF POSTS & TELECOMM
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