Hemispheric differential spherical robot

Abstract

The invention provides a hemispheric differential spherical robot. The spherical robot comprises an outer spherical shell formed by a left hemispheric shell and a right hemispheric shell; a main frame is arranged in the spherical shell; a left support seat and a right support seat are respectively fixed on the inner side at the top of the left hemispherical shell and the right hemispherical shell; the support seats are connected with the connection positions of two corresponding rectangular frameworks by a support frame; one end of the support frame is fixedly connected with the main frame and the other end thereof is connected with the support seats in a slide way; an electric motor support plate is arranged at the connection position between the support frame and the main frame and used for fixing an electric motor with long axis; the electric motor with long axis is connected with the support seats by a bearing which is arranged in the support frame in a penetrating way; and the main frame is internally provided with at least one heavy pendulum which is arranged on a vertical plane and fixed with the main frame through the frame of the heavy pendulum. The hemispheric differential spherical robot divides the spherical shell into two mutually independent hemispheric shells for respective driving and controlling, thus having more flexible and accurate controllability of motion orientation.

Description

technical field [0001] The invention relates to a spherical robot, in particular to a spherical robot which is divided into left and right hemispheres for differential drive so as to have omni-directional rolling capability, and belongs to the technical field of intelligent robots. Background technique [0002] In the current space exploration, military, industry and home services, mobile robots are more and more widely used. The spherical robot is a kind of mobile robot. The contact between the spherical robot and the ground point belongs to rolling friction, the resistance is small, the movement and steering are flexible and convenient, and it has the characteristics of omnidirectional movement and zero turning radius. Now various smart home appliances are gradually entering ordinary families. Among them, the spherical robot has a novel shape and a special way of movement. It is not afraid of falling over, will not catch other things, and can turn flexibly. It is suitable ...

AI Technical Summary

Problems solved by technology

[0003] The precise control and intelligence of the spherical robot requires the installation of a large number of sensors, but the existing spherical robot is a fully enclosed structure, and the installation of sensors and the acquisition of external information are greatly restricted.

Moreover, it is very difficult for the existing spherical robot to flexibly and accurately control the direction of advancement and track the target under the condition of dual-axis coupling.

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