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Extensible spherical robot mechanism

A spherical robot and telescopic mechanism technology, applied in the field of robotics, can solve the problem that the size of the spherical robot cannot change with the change of the environment

Inactive Publication Date: 2013-09-25
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to overcome the shortcoming that the size of the shape of the existing spherical robot cannot change with the change of the environment, and propose a scalable spherical robot mechanism

Method used

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Embodiment Construction

[0015] The present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0016] Such as figure 1 with figure 2 As shown, a telescopic spherical robot mechanism includes an outer ball frame, a ball-induced telescoping mechanism, and a rolling mechanism. The outer ball frame is characterized in that the outer ball frame is composed of a connecting block 14 and a connecting rod 15 connected by a hinge 16 to constitute 3 Two mutually perpendicular circular frames are used as the main frame and the parallelogram mechanism of six square frames; the ball-induced telescoping mechanism includes a left fixing plate 7 and a right fixing plate 8. The left fixing plate 7 and the right fixing plate 8 are fixed on The connecting block 14; the ball-induced telescopic mechanism and the rolling mechanism are connected by the central shaft 5.

[0017] Such as image 3 As shown, the ball-actuating telescopic mechanism also includes a left teles...

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Abstract

The invention discloses an extensible spherical robot mechanism comprising an outer spherical frame, a sphere extension mechanism and a rolling mechanism. Connecting blocks and connecting rods are connected through hinges to form the outer spherical frame so as to form a parallelogram mechanism composed of three mutually perpendicular round frames as main frames and six square frames; the sphere extension mechanism comprises a left fixed plate and a right fixed plate which are fixed on the connecting blocks; the sphere extension mechanism is connected with the rolling mechanism through a center shaft. The extensible spherical robot mechanism can work in more complicated environments, when movement spaces are broad, the size of the extensible spherical robot mechanism can be enlarged, the large extensible spherical robot mechanism is high in speed and good in mobility performance, and when in narrow spaces, the extensible spherical robot mechanism can be downsized so as to pass the narrow spaces.

Description

Technical field [0001] The invention relates to a telescopic spherical robot mechanism, which belongs to the technical field of robots. technical background [0002] Spherical robot refers to a general term for a system in which motion actuators, sensors, controllers, and energy devices are installed in a spherical shell, and a robot that realizes spherical motion through internal drive. Because this type of robot has good dynamic and static balance, and has good sealing properties, it can travel in harsh, unmanned, sandy, humid, and corrosive environments, and has amphibious functions. It can be applied to planetary exploration, environmental monitoring, national defense equipment, entertainment and other fields. At present, spherical robots can exhibit good movement characteristics, but in some applications, they may need to pass through some narrow spaces. Because the size of the spherical robot cannot be changed, it cannot pass through these narrow spaces. Summary of the in...

Claims

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Application Information

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IPC IPC(8): B25J11/00B62D57/02
Inventor 柯显信尚宇峰卢孔笔刘杨
Owner SHANGHAI UNIV
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