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Spherical robot driven by double eccentric mass blocks

A spherical robot and eccentric drive technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of poor power performance of robot drive units, inability to make full use of motor drive capabilities, and failure to provide, etc., to achieve flexible turning, simple structure, and improved power performance Effect

Active Publication Date: 2011-08-17
HARBIN INST OF TECH
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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 solve the problem that the existing eccentric mass driving method adopts two motors to control one eccentric mass, which cannot make full use of the driving capacity of the motor, resulting in poor dynamic performance of the robot drive unit and unable to provide sufficient eccentric force and inertia Force problem, and then provide a spherical robot driven by double eccentric masses

Method used

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  • Spherical robot driven by double eccentric mass blocks
  • Spherical robot driven by double eccentric mass blocks
  • Spherical robot driven by double eccentric mass blocks

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specific Embodiment approach 1

[0009] Specific implementation mode one: combine Figure 1-Figure 4 Describe this embodiment, which includes a spherical housing 1, a sensor module 3, a system controller 5, and a plurality of onboard power supplies 6, and the spherical robot driven by double eccentric masses also includes a support mechanism 2 and two eccentric drive units 4. The support mechanism 2 includes two star brackets 2-2, a support plate 2-4, two support brackets 2-1 and a plurality of connecting rods 2-3, the two star brackets 2-2 are arranged oppositely, and the two The centers of the two star-shaped brackets 2-2 are on the same straight line, and the two star-shaped brackets 2-2 are connected by a plurality of connecting rods 2-3, and each star-shaped bracket 2-2 is provided with a The support bracket 2-1, and the star bracket 2-2 is fixedly connected with the support bracket 2-1, the support plate 2-4 is arranged between the star bracket 2-2, and is connected with the connecting rod 2-3, and mult...

specific Embodiment approach 2

[0012] Specific implementation mode two: combination figure 1 To describe this embodiment, the number of on-board power sources 6 in this embodiment is 3-5. Such setting effectively satisfies the energy required by the robot in the working state. Other compositions and connections are the same as in the first embodiment.

specific Embodiment approach 3

[0013] Specific implementation mode three: combination figure 1 and Figure 4 The present embodiment will be described. The spherical housing 1 of the present embodiment is an ellipsoidal housing. With such a setting, the ellipsoid shell is easy for the operator to observe the current posture of the robot (observing the ground surface through the camera), and limits the lateral rolling of the robot within a certain angle range. Other compositions and connections are the same as those in Embodiment 1 or Embodiment 2.

[0014] The ellipsoid shell of this embodiment, when the robot collides or falls from a height, such a shape is easy for the operator to observe the current posture of the robot; the ellipsoid shell also limits the lateral roll of the robot in a certain angle range, It will not roll sideways when running on slopes.

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Abstract

The invention discloses a spherical robot driven by double eccentric mass blocks and relates to a spherical robot. The invention aims at solving the problems that as an existing eccentric mass block driving way is that two motors are adopted to control one eccentric mass block, and the drive capacity of the motors can not be sufficiently used; therefore, the power performance of a robot drive unit is poorer, and eccentric force and inertia force can not be provided. In the spherical robot driven by the double eccentric mass blocks, a plurality of airborne power supplies are fixedly arranged on a support disc; a sensor module is fixedly arranged on a support bracket; a system controller is fixedly arranged on another support bracket; direct current servo motors are symmetrically arranged at two sides of the support disc; the direct current servo motors are fixedly arranged in motor sleeves; the motor sleeves are fixedly connected with a star-shape bracket; the eccentric mass blocks are connected with motor shafts of the direct current servo motors through flanges and connecting sheets; the eccentric mass blocks and the motor sleeves realize the rotation between the eccentric mass blocks and the motor sleeves through rolling bearings. The spherical robot driven by the double eccentric mass blocks is suitable for space exploration and unknown environment investigation.

Description

technical field [0001] The invention relates to a spherical robot, in particular to a spherical robot driven by double eccentric masses. Background technique [0002] With the advancement of science and technology, robots are playing an important role in more and more fields instead of humans. With the continuous expansion of human activities, the working environment faced by robots is getting worse and worse. For example, in tasks such as interstellar exploration and unknown environment investigation, robots have to face humid and dusty environments, rough roads and various Therefore, common wheeled and footed mobile robots are difficult to use in such special environments. [0003] In recent years, a new type of mobile robot - spherical robot has attracted more and more attention of researchers. The spherical robot has a spherical or nearly spherical shell, and other mechanisms and devices are encapsulated in the spherical shell, which prevents the external environment f...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J13/00B25J19/00
Inventor 赵勃李满天王鹏飞郭伟
Owner HARBIN INST OF TECH
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