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Active pendulum spherical robot

A spherical robot, active technology, applied in the field of robots, can solve the problems of insufficient safety control of the driving swing angle, the robot movement deviates from the predetermined trajectory, and the robot movement is out of control. Effect

Active Publication Date: 2015-10-07
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] After consulting the existing domestic and foreign literature, it is found that in order to reduce the weight of the spherical robot, the inner frame structure is mostly used inside the existing robot, but this structure is one of the main force-bearing parts. During the movement of the robot, the deformation of the inner frame is large, and the robot movement seriously deviates Predetermined trajectory, uncontrollable movement
For the driving pendulum, once the pendulum angle is too large, due to inertia, the torque generated by the gravity of the eccentric mass block will be greater than the torque that the driving motor can provide, causing the robot to move out of control
However, at present, there are deficiencies in the safe control of the driving swing angle of the spherical robot.

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] refer to Figure 1 to Figure 6 , the active pendulum spherical robot, which includes a spherical shell and a pendulum (5). The spherical shell is composed of a front hemispherical shell (2) and a rear hemispherical shell (3) by screwing together a spherical shell; in the inner cavity of the spherical shell, a front fixing strip (1) and a The single pendulum (5) is installed on the rear fixing bar (4); the single pendulum (5) is coaxially installed with a long-axis motor (9) and a short-axis motor (34) in an inner frame (6). , the long-axis motor (9) is directly connected to drive the front half-shell spherical shell to rotate around the central axis Y of the inner frame (6), and the short-axis motor (34) drives a drive pendulum (18) through the transmission mechanism to be perpendicular to the axis Y The X axis rotates to realize the spherical robot walking stably in all directions.

Embodiment 2

[0032] This embodiment is basically the same as the first embodiment, and the special features are as follows:

[0033] The inner frame (6) is a symmetrically distributed U-shaped weight-reducing positioning slot, and the narrow-frame expansion brackets (10, 15), the wide-frame expansion brackets (8, 16), and the short axis are mounted on the U-shaped slot by screws. The motor support (11) and the torque bearing plate (19, 24); the middle of the inner frame (6) is rotatably installed with a short shaft ( 28).

[0034] 3. The active pendulum spherical robot according to claim 2, wherein the short axis (28) and a pan / tilt bracket (12) pass through a key (26-B) and keys (26-C) Fixed connection, the short axis (28) coincides with the center line of the pan-tilt bracket (12), and performs coaxial synchronous rotation, and the detection and data acquisition equipment is fixed on the pan-tilt bracket (12).

[0035] The short-axis motor group (14) is installed in the evenly ...

Embodiment 3

[0040] like figure 1 As shown, the active single pendulum spherical robot comprises a spherical shell and a single pendulum (5), the single pendulum (5) is installed in the spherical shell; the single pendulum (5) includes: an inner frame (6), a narrow, Wide frame extension brackets (8, 10, 15, 16), front and rear shell pendulum couplings (7, 17), torque bearing plates (19, 24), short-axis motor support (11) drive pendulum (18), The pan / tilt bracket (12), the short-axis motor unit (14), the positioning and adjusting devices (23, 25) of the short-axis motor unit and the limit shafts (20, 22); the inner frame (6) is connected to a front shell through a bearing A swing link (7) and a rear shell swing link (17), the front shell swing link (7) and the rear shell swing link (17) pass through the front fixing strip (1) and the rear fixing strip (4) ) is fixedly connected to the spherical shell, so that the pendulum (5) can rotate relative to the spherical shell around the long a...

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Abstract

The invention discloses an active simple pendulum spherical robot. The active simple pendulum spherical robot comprises a spherical shell and a simple pendulum. The spherical shell is formed by matching a front hemispherical shell body with a rear hemispherical shell body in a screwed mode through screws. In an inner cavity of the spherical shell, the simple pendulum is installed through a front fixing strip and a rear fixing strip. According to the simple pendulum, a long-axis motor and a short-axis motor are coaxially installed in an inside casing, wherein the long-axis motor is directly connected with the front hemispherical shell body and drives the front hemispherical shell body to rotate around the central axis Y of the inner casing, the short-axis motor drives a driving pendulum to rotate around an X axis perpendicular to the central axis Y through a transmission mechanism, and therefore the spherical robot can walk stably in an all-dimensional mode. The active simple pendulum spherical robot is compact in structure, high in rigidity, and smooth and steady in movement.

Description

technical field [0001] The invention relates to a robot, in particular to an active single pendulum spherical robot. Background technique [0002] The spherical robot is a mobile robot that walks in a rolling manner. Its driving principle is mainly to break the static balance of the sphere through the movement of the internal driving device. The movement is flexible, and it can realize in-situ steering and omnidirectional walking. [0003] According to the existing domestic and foreign literatures, it is found that most of the existing spherical robots adopt the driving method of eccentric mass block, and the steering and walking are realized by the eccentric moment and inertia moment of the machine. However, the current spherical robot adopts double pendulum center of gravity offset drive, which cannot guarantee that the double eccentric mass blocks swing synchronously under the drive of the same motor, resulting in large fluctuations in the driving torque of the robot, una...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02
Inventor 谢少荣冯凯姚骏峰邹旭东祝川
Owner SHANGHAI UNIV
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