Inner driving spherical robot
A spherical robot and internal drive technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of spherical robots with complex structure, complex motion trajectory, and difficult control, and achieve the effect of simple structure, flexible movement, and good stability
Inactive Publication Date: 2012-09-12
ZHONGBEI UNIV
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Problems solved by technology
[0008] The present invention mainly solves the problems of complex structure, complex motion track and difficult control in existing spherical robots
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[0014] The inner drive spherical robot is made up of the first spherical shell 1 and the walking driving device inside it. Its walking driving device includes a driving spherical housing 2 and a frame 3 fixedly connected to the driving spherical housing 2; the frame 3 is symmetrically fixed with six bearings 7 around its central axis along its diameter direction, and the shaft 8 is along the diameter direction of the driving ball. The bearing 7 and the frame 3 form a rotating pair; the frame 3 is fixedly connected with six electromagnets 4, and the electromagnet 4 is provided with an electromagnet base 5, and the conductive slip ring on the electromagnet base 5 is in contact with the brush 6 Connect, after energizing any one of the electromagnets 4, it will generate an attractive force with the magnetic material inside the first spherical shell 1. Under the action of the attractive force, the electromagnet 4 will be adsorbed to the inner surface of the first spherical shell 1, ...
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The invention discloses an inner driving spherical robot comprising a first spherical shell (1), a linear travelling mechanism and a steering control mechanism, wherein the linear travelling mechanism and the steering control mechanism are arranged in the first spherical shell (1); the linear travelling mechanism comprises a driving spherical shell (2), a rack (3), electromagnet (4), a bearing (7) and a shaft (8); the steering control mechanism comprises an electromagnet base (5), an electric brush (6), a bevel gear (9), a bevel gear (10), an electromotor substrate (11), a steering motor (12) and a coupler (13); after electrified, the electromagnet (4) generates attractive force with magnetic material on the inner side of the first spherical shell so as to change the center of mass of the spherical robot, and magnetic material rolls along the inner side of the first spherical shell under the driving of gravity to push a sphere to move linearly; the rack is provided with the steering control mechanism along the direction of the geometric center line of the rack; and the shaft (8) rotates along the axle center thereof under the driving of the steering motor (12) to drive the electromagnet to rotate to change the travelling direction of the linear travelling mechanism. The invention has the advantages of simple structure, flexible motion and the like and is convenient for miniaturization design.
Description
Technical field: [0001] The invention belongs to the technical field of mechatronics, and in particular relates to an internally driven spherical robot. Background technique: [0002] The spherical robot is a new type of intelligent robot with a spherical shell and rolling motion as the main movement mode. Because the spherical robot has a closed shell and a special form of motion, compared with wheeled or track-based and humanoid robots, it has the greatest stability after instability, can achieve omnidirectional rolling, and can turn more flexibly And many other advantages, and its good internal sealing makes the spherical robot very popular in the fields of alien planet exploration and radiation corrosion environment exploration. [0003] The spherical robot "Spherical Mobile Robot" developed by Aarne Halme, T.Sehonberg, Y.Wang et al. in 1996 (see "Motion control of a spherical mobile robot", 4th IEEE International Workshop on Advanced Motion Control AMC'96, 1996: 259 -...
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IPC IPC(8): B25J11/00
Inventor 毛豆郑智贞秦慧斌郝银龙贝超郭志杰张家志
Owner ZHONGBEI UNIV