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Five-drive spherical robot using mixed synchronous belt

A spherical robot and synchronous belt technology, applied in motor vehicles, transportation and packaging, etc., can solve problems such as large torque, complex structure, difficult to drive, etc.

Inactive Publication Date: 2013-08-07
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Among them, the structure of the spherical robot with counterweight is simple, and it has been studied the most. Generally, it is controlled by two motors to realize the driving and steering of the spherical robot. , a motor is difficult to drive, and the structure is complex

Method used

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  • Five-drive spherical robot using mixed synchronous belt
  • Five-drive spherical robot using mixed synchronous belt
  • Five-drive spherical robot using mixed synchronous belt

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0027] see Figure 1~Figure 11 , a spherical robot driven by a hybrid synchronous belt, comprising a spherical shell 8 and a track frame 6, the spherical shell is fixed on the threaded hole 602 on the outer surface of the track frame with threads, and the inner surface of the track frame 6 has two tracks 603, two tracks A circular rigid belt composed of a hybrid synchronous belt 9 is fixed between them, and the holes 601 and 901 are fixedly connected. The hole 2105 in the central outer frame 21 is fixedly connected with the hole 1702 of the central inner frame 17 by bolts. A pair of bearing housings 18 are installed on both sides of the central inner frame 17 and are fixed through holes 1701. A central shaft 20 is fitted between the two bearing housings, and the central shaft 20 is axially fixed. One end of the two ends of the shaft is connected to the central axis motor 7 through a coupling 19, and the other end is connected to the electromagnetic clutch brake 12 through a c...

Embodiment 2

[0029] The technical solution of this embodiment is basically the same as that of Embodiment 1, especially in that:

[0030] In this example, participating in figure 1 , Image 6 with Figure 9 , the hybrid synchronous belt 9 is made up of a metal belt layer 902 and a noise-proof layer 903, the metal belt layer has high strength and high flexibility, and the noise-proof layer is coated with anti-noise and anti-friction plastics on the metal surface to reduce vibration during movement. The hybrid synchronous belt is fixed on the threaded hole 601 of the track frame 6 through the hole 901 to form an annular synchronous belt, and the synchronous belt pulley 4 moves on the hybrid synchronous belt 9 .

Embodiment 3

[0032] The technical solution of this embodiment is basically the same as that of Embodiment 1, especially in that:

[0033] In this example, see figure 1 with Image 6 , the T-shaped support arm 5 is a thin metal plate, and the structural diagram is as follows Image 6As shown, the hole 501 and the hole 2103 of the center outer frame 21 are fixed with bolts, and the two holes 503 at the other end are fixed with the pinch roller shaft 2, and the track pinch wheel 1 is installed on the pinch wheel shaft 2, and the flange 505 is used to fix the bearing seat . The circumferential motor 3 is fixed on the flange 504, and the 3 shafts of the circumferential motor are connected to the shaft of the synchronous pulley through a coupling, thereby driving the synchronous pulley to rotate. A pair of T-shaped support arms fixes the battery box 11 on the flange 504 on the other support arm, and the battery box is installed with a battery to provide power to the motor and to balance the w...

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Abstract

The invention discloses a five-drive spherical robot using a mixed synchronous belt. The spherical robot comprises a spherical case and a track frame, wherein the spherical case is fixed on the outer surface of the track frame, and an annular rigid belt formed by the mixed synchronous belt is fixed in the track frame. Two ends of a center shaft are connected through a coupling center shaft motor and an electromagnetic clutch brake respectively and installed in an inner frame. A counter weight swing arm is connected with the center shaft and a counter weight box. Four pairs of T-shaped support arms are connected with a center outer frame and press wheel shafts, press wheels are sleeved on the press wheel shafts in a sliding mode and pressed on tracks of the track frame. Belt wheel shafts are installed in the middle of junctions of the T-shaped support arms, and synchronous belt wheels are mounted on the belt wheel shafts and meshed with the mixed synchronous belt. The four synchronous belt wheels move along the fixed rigid mixed synchronous belt to enable the counter weight position to change under the drive of circumferential motors and to enable the gravity center position of the spherical robot to change under the drive of a center shaft motor, and the spherical case is driven to roll along the ground. Motion control of the spherical robot is achieved through control of five motors.

Description

technical field [0001] The invention relates to a spherical robot, in particular to a spherical robot which adopts a hybrid synchronous belt five-driver. Background technique [0002] A spherical robot is a mobile robot with a fully enclosed spherical shell. The ball shell of the spherical robot is in contact with the ground, and its contact mode is point contact. Any point of the ball can be in contact with the ground and move accordingly. Compared with traditional robots, it is flexible to move and turn, and there is no problem of overturning, and it can move in all directions. Compared with traditional robots, spherical robots have many advantages in terms of structure, performance and application. In terms of system structure, spherical robots have a very simple body structure, consisting only of spherical shells and internal driving devices, basically without complex motion or motion nodes. All the devices and moving components of the spherical robot are installed ins...

Claims

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Application Information

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IPC IPC(8): B62D57/00
Inventor 翟宇毅张宇锋罗均万镭姚骏峰邹旭东祝川
Owner SHANGHAI UNIV
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