Double-fluid-ring drive omnibearing spherical robot

Abstract

The invention relates to a double-fluid-ring drive omnibearing spherical robot, which comprises a spherical shell, at least one annular sealing container, at least one axial flow device, a hemispherical clutching mechanism and a lead screw shaft. The double-fluid drive omnibearing spherical robot is characterized in that the spherical shell consists of a left hemispherical shell and a right hemispherical shell, the annular sealing containers are arranged in each hemispherical shell, the outer annular surfaces and spherical shell surfaces of the annular sealing containers are coaxial with the lead screw, fluid is filled into the annular sealing containers, fluid volume is one second of the volume of each annular sealing container, the axial flow devices are mounted inside the annular sealing containers and drive fluid to flow in the annular sealing containers, and accordingly center of mass of each hemisphere of the spherical robot is changed. The hemispherical clutching mechanism in the hemispherical shell mainly comprises a left clutching part, a center clutching part, a right clutching part, a steering engine part and the like. By controlling the centers of mass and the direction of the left hemisphere and the right hemisphere, omnibearing rolling of the spherical robot can be realized.

Description

technical field [0001] The invention belongs to the field of electromechanical technology, and relates to an omnidirectional spherical robot driven by a double-fluid ring, which can be applied to the fields of detection, search and rescue, military affairs, transportation, entertainment and the like. Background technique [0002] Because of its unique advantages such as flexible movement, small turning radius, good self-recovery ability, strong carrying capacity, and the ability to easily roll over rough terrain, spherical robots have attracted much attention from scientific and technological personnel, and are currently one of the hot issues in the field of robotics research. It has broad research space and good application prospects. [0003] Since the researchers in the United States, Finland and other countries began to study and trial-produce spherical robots in the 1990s, people have paid more and more attention to the research on spherical robots, and spherical robots...

AI Technical Summary

Problems solved by technology

[0005] Although there have been many designs of spherical robots at home and abroad, and their driving mechanisms are also various, most of them have the disadvantages of complex structure, difficult engineering realization and low practicability.

So far, no driving method has been publicly recommended by everyone, and there is no mature theoretical system for the research on the structure and driving method of spherical robots.

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