Spherical robot having visual sensation and arms on both sides

Abstract

The invention discloses a spherical robot with vision and arms on two sides. The spherical robot comprises a spherical shell, two lateral arms, a lifting photographing device, a movement driving system and a support stabilizing mechanism, wherein, the spherical shell consists of a lifting top spherical crown, a left spherical crown, a right spherical crown, a unlifting bottom spherical crown and a middle spherical shell. The lower part of the top spherical crown is provided with the photographing device which can lift and rotate by 360 degrees in a plane; the left spherical crown and the right spherical crown on two sides of the spherical robot are respectively provided with one or a plurality of 3-DOF (degree of freedom) mechanical arms which can respectively extend out of the shell; and the bottom spherical crown is provided with a mechanism which can make a sphere stand stably. The spherical robot is a mobile robot provided with a vision sensor and can carry out complex operations and have the flexible kinetic characteristics.

Description

technical field [0001] The present invention relates to a spherical robot with improved structure. Specifically, a spherical walking robot with vision and double arms is designed. The robot can be used as a special vehicle and can be used to complete some Specific tasks; belonging to the field of robotics. Background technique [0002] Spherical walking robot (hereinafter referred to as: spherical robot) is a special research field newly emerging and developing rapidly at home and abroad in recent years. At present, several spherical robots with different structures have been developed at home and abroad. The applicant also applied to the China Patent Office in 2001, 2002 and 2004 for invention patents of several spherical robots with different structures (patent number ZL0118289.X, patent number ZL02128933.6, application number 200410096567.X, application number 200410096568.X). These spherical robots are in point contact with the ground - they belong to pure rolling fri...

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Problems solved by technology

[0005] In view of this, the object of the present invention is to provide a spherical walking robot with retractable arms, so that it can overcome the lack of limbs of traditional spherical robots in the prior art, can not perform various operations and robots with many legs or manipulators The various deficiencies of limited movement flexibility make the present invention a kind of mobile robot that can not only engage in complex operations, but also has clever and flexible movement characteristics.

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