Spherical shell unwinding mechanism of spherical robot

A technology of spherical robot and unfolding mechanism, which is applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of inability to maintain static stability and the inability of spherical robots to operate externally, and achieve the effect of high transmission efficiency

Inactive Publication Date: 2008-11-26
BEIJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a stable support mechanism with a spherical shell that can be expanded, which can overcome the problems that the existing spherical robots cannot be operated externally and cannot maintain static stability

Method used

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  • Spherical shell unwinding mechanism of spherical robot
  • Spherical shell unwinding mechanism of spherical robot
  • Spherical shell unwinding mechanism of spherical robot

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Embodiment Construction

[0025] As shown in Figures 1 to 3, the basic component of the spherical shell deployment mechanism of the spherical robot of the present invention includes a set of open or closeable spherical shell petals 3 and a corresponding combined leaf 6, an upper support base 2, a lower support base 10, a Set of reinforcing ribs 1 and motor mounting chassis 5. There is also a set of driving devices that drive the opening or closing of each spherical shell, including a set of DC brushless motors 9, a set of lead screws 7, a set of nuts 8, and a set of transmission connecting rods 4 and so on.

[0026] The set of spherical shell flaps 3 that can be opened or closed should be evenly and symmetrically distributed. When closed, they can be combined with the outer walls of the upper support seat and the lower support seat to form a whole ball. The lower end of each spherical shell valve 3 can pass through the hinge 6 and The lower support base 10 is hinged. A group of spherical shell lobes are pr...

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PUM

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Abstract

The invention discloses a spherical shell unfolding mechanism of a spherical robot, which comprises an upper support, a lower support and a group of reinforcing ribs; the reinforcing ribs are used for supporting and connecting the upper support and the lower support, a group of spherical shell lamellas which can open and close can surround a full sphere together with external walls of the upper support and the lower support when being closed; the lower ends of the spherical shell lamellas are fixed on the lower support; a drive device that drives all spherical shell lamellas to open or close is positioned on the lower support. The drive device that drives all the spherical shell lamellas to open or close is a leading screw drive unit driven by a DC brushless motor; the leading screw drive unit comprises leading screws and leading screw nuts that can carry out screw transmission together with the leading screws, the other end of a connecting rod which is fixedly connected with the spherical shell lamellas is connected with the leading screw nuts of the leading screw drive unit at the corresponding end thereof. The spherical shell unfolding mechanism of the invention can solve the problems that the existing spherical robots can not carry out operation outwards and can not keep steady stability, etc.

Description

Technical field [0001] The invention relates to a stabilizing mechanism of a robot, in particular to a spherical shell deployment mechanism of a spherical robot. Background technique [0002] Spherical walking robots and spherical mobile robots are a special research field that has recently emerged and developed rapidly at home and abroad in recent years. At present, several spherical robots with different structures have been developed at home and abroad. The spherical robot is in point contact with the ground, and its movement and steering are flexible and convenient. It has the characteristics of omni-directional motion and zero turning radius, and has a strong ability to adapt to the road. It is expected to become an ideal transportation tool for robots to walk on rough and uneven ground in the future. However, in the specific application process, the spherical robot has considerable limitations. [0003] At present, traditional multi-legged robots or robots with mechanical a...

Claims

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Application Information

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IPC IPC(8): B25J11/00
Inventor 孙汉旭贾庆轩张延恒李红义刘大亮
Owner BEIJING UNIV OF POSTS & TELECOMM
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