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: 2008-04-30
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 stabili

Method used

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  • Multiple sporting state spherical robot
  • Multiple sporting state spherical robot
  • Multiple sporting state spherical robot

Examples

Experimental program
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Example Embodiment

[0054] As shown in Figures 1 to 3, 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 can be closed or unfolded, so that the robot is in two motion states of spherical state and two-wheel state respectively.

[0055] As shown in Fig. 4 and Fig. 5, the spiral telescopic mechanism 2 of the multi-kinetic spherical robot of the present invention includes a fixed bracket 22, a drive assembly and two groups of telescopic assemblies, the drive assembly is installed in the middle of the fixed bracket 22, and the two groups of telescopic assemblies are respectively Installed on both ends of the fixed bracket 22. 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 driv...

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PUM

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Abstract

The invention discloses a multiple-motion spherical robot, which comprises two hemi-spherical casings and a screw extender for unfolding or folding the two hemi-spherical casings, wherein the screw extender comprises a fixed support, a driving element and two extender groups, the driving element is mounted at the middle of the fixed support, the two extender groups are respectively mounted at two ends of the fixed support, one end of each extender group is connected with the driving element while another end is provided with a driving motor for rotating the hemi-spherical casing. The invention has three motion states as spherical state, two-wheel state, and jump state, with easy carriage, transmission and arrangement, to move on complex landforms.

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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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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