Fluid driving spherical robot

Abstract

The invention belongs to the field of electromechanical technique, and relates to a spherical moving robot, and in particular relates to a fluid driving spherical robot which comprises a spherical shell, an annular seal container, axial flow devices, an inner driving rotating mechanism and a main shaft. The fluid driving spherical robot is characterized in that the spherical shell consists of two hemispherical shells including a left hemispherical shell and a right hemispherical shell; the annular seal container is positioned in the spherical surface; the outer annular surface of the container is concentric with the spherical surface of the spherical shell; the container is filled with fluid; the volume of the fluid is half of the volume of the container; two axial flow devices are symmetrically installed in the annular seal container; the axial flow devices drive a liquid to flow in the annular seal container, thus the mass center of the spherical robot is changed, thus the spherical robot can move forwards and backwards; the inner driving rotating mechanism positioned in the spherical shell mainly comprises an inner driving bracket, a motor, a motor support, a flywheel shaft, a flywheel, an electricity supply power supply and a controller; the main shaft is fixedly connected with the inner driving bracket through the motor support; the fly wheel is installed on the inner driving bracket through a bearing; the motor shaft is connected with the fly wheel through a coupling; and the motor drives the lower part of the motor to rotate together with the flywheel shaft vertical to the main shaft and the fly wheel, and the spherical robot takes a turn under the driving of the fluid on the basis of an angular momentum conservation principle.

Description

technical field [0001] The invention belongs to the field of electromechanical technology, and relates to a spherical robot with omnidirectional motion, which can be applied to the fields of detection, search and rescue, military affairs, transportation, entertainment and the like. Background technique [0002] A spherical robot is a robot with a spherical shell that walks in a rolling manner. Compared with wheeled robots, there is no problem of "overturning"; compared with walking or crawling robots, it has the characteristics of fast movement speed and strong carrying capacity . In addition, the spherical robot is flexible and has a small turning radius; in addition, the spherical robot is novel in shape, flexible in action, and has a small turning radius; the spherical structure has a strong self-recovery ability, and the spherical shell also enables the robot to easily roll over rough terrain. terrain. At the same time, since the resistance of ball rolling point contac...

AI Technical Summary

Problems solved by technology

[0005] Although there have been many successful designs of spherical robots at home and abroad, and their driving mechanisms are 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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