Omnidirectional moving spherical robot
A spherical robot and motion technology, applied in manipulators, manufacturing tools, etc., can solve the problems of difficulty in charging and maintenance, increased control difficulty, and low practicability, so as to improve water surface walking ability and impact resistance, and is conducive to concentration Unified control and fast system response
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[0026] Such as figure 1 , figure 2 As shown, embodiment 1 of the present invention is: omnidirectional motion spherical robot, is made up of spherical shell 1 and the walking driving device inside thereof. Its walking driving device includes a horizontal ring 5 and a semicircular frame 6 vertically fixed on the lower side of the horizontal ring 5; the horizontal ring 5 is symmetrically fixed to a pair of short shafts 3 along the outer side of the horizontal ring 5, and the short shaft 3 is along the diameter direction of the sphere. The bearing 4 and the spherical shell 1 form a revolving pair; the bottom of the semicircular frame 6 is fixedly connected with a linear traveling mechanism, which includes a traveling motor 7, a main wheel 8 and a counterweight 9, and the main wheel 8 is driven by the traveling motor 7 along the spherical shell. 1 Rolling on the inner side, the center of gravity of the ball is moved forward and backward to push the ball to move in a straight lin...
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