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 spherical robots without motion, redundancy, and no system fault tolerance, so as to achieve motion redundancy, flexible motion, and system fault tolerance Effect

Inactive Publication Date: 2008-12-10
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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  • Three-drive spherical robot

Examples

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Embodiment Construction

[0022] As shown in Figures 1, 2, 3 and 4, a three-drive spherical robot includes 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 bracket 6 by long-axis motor 5, and described ball frame 4 can be connected w...

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Abstract

The invention discloses a three-drive spherical robot which comprises a circle spherical shell and a drive motor; wherein, a track is arranged on the inner surface of the spherical shell; an annular rack is arranged on the inner surface of the track; a walking bracket is connected with the track by a road wheel engaged with the rack; a walking bracket guide wheel is arranged on the walking bracket as well; the walking bracket is provided with a track motor and comprises a spherical frame as well; one end of the spherical frame is connected with the walking bracket by a bearing and the other end is connected with a rotating bracket by a long axis motor; a short-axis motor is axially arranged at the spherical frame; a heavy pendulum is axially arranged at the short-axis motor; the rotating bracket is connected with the track by the guide wheel arranged at the walking bracket. The three-drive spherical robot not only moves flexibly, but also realizes motion redundancy; under the situation that one of a track axis motor drive or a short axis motor drive goes wrong, the rest two drives can still be used for realizing omnidirectional rolling, namely realizing the system fault tolerance by a configuration design.

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 Applications(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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