Universal rolling spherical robot

Abstract

The invention discloses a universal rolling spherical robot and relates to the field of the spherical robot. A short axis motor and a short axis are positioned at the center line of a spherical shell and both ends of an inner frame are used as rotational supports; a long axis passes through the center line of the spherical shell and is vertically crossed with the center line of the spherical shell, on which the short axis is positioned, at the sphere center; the inside of the spherical shell is used as a rotational support pair of the long axis; a driven gear on the long axis is meshed with a long axis driving gear connected with a long axis motor; an axis of an azimuth motor passes through the sphere center; inertial wheels are connected with the azimuth motor; the symmetric line of the inertial wheels passes through the axis of the azimuth motor; the short axis and the long axis rotate to cause overturning of the inertial wheels, so that the linear motion of the spherical robot is realized; and the inertial wheels are driven to rotate by the azimuth motor, so that the steering control of the spherical robot is realized. Three freedom degrees of the universal rolling spherical robot are mutually independent; the omnibearing movement of the spherical robot is realized; the universal rolling of the spherical surface of the spherical robot is realized; the control mode is simple; the gravity centers of the inertial wheels are easy to regulate; and a frame-shaped structure of the inner frame can be used for controlling the arrangement of parts such as a circuit board, a power supply and the like.

Description

technical field [0001] The invention relates to a spherical robot, in particular to a universal rolling spherical robot, which belongs to the technical field of mechatronics. Background technique [0002] A spherical robot is a spherical mobile robot, similar to a hamster ball. The essence is to change the position of the internal center of gravity to provide a driving force for movement, and at the same time, it has good direction controllability. It can operate in mud, sand, snow, and even water, and can also operate in toxic gas leakage, radiation, and biohazardous environments. It is suitable for dangerous environment detection, space development, fire disaster relief, military activities, scientific investigations, family services, and entertainment. . [0003] Compared with the wheel-shaped mobile robot, the spherical robot has its unique advantages. The spherical robot is a fully enclosed individual. Wheel-shaped mobile robots are susceptible to contamination and c...

AI Technical Summary

Problems solved by technology

When any position of the spherical surface is in contact with the external contact point, the spherical surface can realize all-round motion, but the four-drive method has problems such as high cost, difficult control, complex structure, and difficult manufacturing.

[0005] The above situation shows that there are two problems with spherical robots at present. One is that some spherical robots adopt two-drive and three-drive to realize three-degree-of-freedom spherical robots. ; Second, the three-degree-of-freedom spherical robot implemented in the form of four drives has the disadvantages of high cost and complicated control.

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