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Flexible Surface Spherical Mobile Robot

A mobile robot and flexible surface technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problems of dependence on wind energy, large load, poor load capacity, etc., and achieve the effect of simplifying the mechanical structure and improving freedom

Inactive Publication Date: 2015-10-28
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Wheeled and counterweight robots need multiple motors to drive, resulting in excessive load; the disadvantage of wind drive is poor load capacity and excessive reliance on wind energy

Method used

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  • Flexible Surface Spherical Mobile Robot
  • Flexible Surface Spherical Mobile Robot
  • Flexible Surface Spherical Mobile Robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0018] see figure 1 , the flexible surface spherical mobile robot includes an internal rigid ball (3), several support tubes (2), skeleton (1), air cavity bottom surface (5) and flexible surface (4), characterized in that: the internal The rigid ball (3) is connected to the bottom surface of each air cavity (5) through each supporting tube (2), and the bottom surface of the air cavity (5), the skeleton (1) and the flexible surface (4) constitute multiple independent air cavities; The internal rigid ball (3) is located at the center of the ball, with a built-in pneumatic drive source and control system; the support tube (2) forms an air circuit and has a solenoid valve, and the air circuit connects the air source and the air cavity. The support tube is hollow and each support tube Connected with the corresponding air cavity, the electromagnetic valve controls the on-off of each air circuit; when the robot needs to move, the air source inflates the corresponding air cavity from ...

Embodiment 2

[0020] This embodiment is basically the same as Embodiment 1, and the special features are as follows: the flexible surface (4) is made of soft material and has elasticity. The support tube (2), the internal rigid ball (3), the bottom surface of the air cavity (5) and the skeleton (1) constitute the rigid structure of the spherical robot. When the robot is moving, it can inflate several independent air chambers at the same time. The deformation of each flexible surface (4) can be controlled by how much it is inflated.

Embodiment 3

[0022] see Figure 1~Figure 3 , the spherical mobile robot with a flexible surface includes a skeleton (1), a support tube (2), an internal rigid ball (3), a flexible deformable surface (4), and an air cavity bottom surface (5).

[0023] The support tube (2), the internal rigid ball (3), the bottom surface of the air cavity (5) and the skeleton (1) constitute the rigid structure of the spherical robot;

[0024] The outer surface of the flexible spherical robot is composed of multiple flexible surfaces (4). The flexible surface is made of soft materials and has elasticity; the rigid skeleton (1) supports the entire flexible surface (4), and is connected with each elastic surface 4 and the bottom surface of the air cavity (5 ) constitute multiple independent air cavities;

[0025] The inner rigid ball (3) is located in the center of the ball, mainly for the air source device and the control system. The inner rigid ball (3) is connected with multiple support tubes (2) on the bot...

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Abstract

The invention discloses a flexible-surface spherical mobile robot. The flexible-surface spherical mobile robot comprises an interior rigid ball, a plurality of supporting pipes, a framework, air cavity bottom surfaces and flexible surfaces, wherein the interior rigid ball is connected with each of the air cavity bottom surfaces through each of the supporting pipes, the air cavity bottom surfaces, the framework and the flexible surfaces form a plurality of independent air cavities. The interior rigid ball is located at the center of a sphere, wherein a pneumatic driving source and a control system are placed in the interior rigid ball. The supporting pipes form air channels which are provided with electromagnetic valves, wherein the air channels are connected with an air source and the air cavities. The supporting pipes are hollow and each supporting pipe is connected with each corresponding air cavity. Each electromagnetic valve controls connection and disconnection of each air channel. When the robot needs to move, the air source aerates corresponding air cavities from the interior rigid ball through the electromagnetic valves, and the corresponding flexible surfaces deform under the action of air pressure and interact with an outside environment contacting with the corresponding flexible surfaces so as to produce propelling force. When a motion finishes, the air cavities are exhausted and the flexible surfaces recover original shapes.

Description

technical field [0001] The invention relates to a spherical mobile robot, in particular to a spherical mobile robot with a flexible surface. Background technique [0002] As a novel mobile robot, the spherical robot has the characteristics of a tumbler that will not overturn and fail compared with the traditional wheeled, crawler or footed mobile robots, and is easy to adapt to a variety of complex terrains. The research work on spherical robots has been carried out for decades. Since the first spherical robot with a circular shell developed by the Helsinki University of Technology in Finland in 1996, many scholars at home and abroad have successively proposed many different spherical robot structures. [0003] Generally speaking, the existing spherical robots have their own advantages and disadvantages according to different functions, and can basically be divided into three types: wheel drive, counterweight drive and wind drive. Wheeled and counterweight robots need to be...

Claims

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Application Information

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IPC IPC(8): B62D57/00
Inventor 彭艳刘梅罗均谢少荣唐志杰
Owner SHANGHAI UNIV
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