Novel full-symmetric spherical robot

Abstract

The invention discloses a novel full-symmetric spherical robot. The robot comprises an outer rigid spherical shell, two bearing discs, two servo motors, two linear motors and two balance weight swing arms, wherein the two ends of the outer rigid spherical shell are open and fixedly connected with the two bearing discs through set screws, the two servo motors and the two linear motors are symmetrically installed on the shell in the maximum diameter direction of the shell through the two bearing discs, the two balance weight swing arms are fixedly connected with output shafts of the linear motors respectively, the positions of the two balance weight swing arms are changed through the two linear motors, and the two servo motors are connected with the two linear motors in a matched mode respectively, drive the two linear motors to rotate and drive the balance weight swing arms to rotate at the same time so as to achieve rectilinear motion of the robot. The robot is simple in structure, high in stability and easy to assemble; symmetric design is adopted in the robot; only a small space inside the spherical shell is occupied, and therefore other additional functions of the robot can be easily achieved; the robot has good environment adaptability and function expansibility and can be used for spying, entertainment, military affairs and other fields.

Description

Technical field [0001] The invention belongs to the field of special robots, and relates to a robot, in particular to a new type of fully symmetrical spherical robot, which can be used in the fields of investigation, entertainment, military and the like, and has good environmental adaptability and functional expansion. Background technique [0002] With the expansion of the field of human activities and the deepening of the exploration process, the common wheeled, legged, and crawler mobile robots have been difficult to use in some harsh environments. If a mobile carrier similar to a tumbler can be designed, it can maintain the balance and stability of the system in harsh environments, and there is no instability, even if it collides with static or dynamic obstacles, it can be used for a short period of time. After self-adjustment, the robot returns to a stable state, so it walks in a rolling mode, and a spherical or spherical-like robot that relies on the internal driving device...

AI Technical Summary

Problems solved by technology

Scholars such as Aarne Halme proposed in the document "Motion Control of a Spherical Mobile Robot" published in 1996 a spherical robot supported by a single wheel rolling at the bottom of the spherical shell to drive the motion of the spherical shell, and generates torque through its rolling on the surface of the spherical shell The principle of motion is simple, but the driving form of this type of trolley is a non-holonomic system, and the motion of the spherical shell is also a non-holonomic system, which makes the controllability of the robot very poor; Professor Sun Hanxu from Beijing University of Posts and Telecommunications In the document "Design and Principle Analysis of a Spherical Robot" published in 2004, it is proposed that the position of the center of gravity is changed by driving the counterweight around two mutually perpendicular axes to generate eccentric torque to drive the spherical shell to move. The heavy drive form requires multiple motors to drive, the mechanism is complex, the stability is poor, and the control method of the predetermined trajectory is also very difficult to find; Chinese invention patent ZL201010615231.5 discloses "an electromagnetically driven spherical robot". The polarity change of the coil realizes the attraction and repulsion between the electromagnetic coil and the magnet on the inner wall of the spherical shell, drives the spindle to rotate, and makes the robot move. However, this electromagnetic drive form requires very precise mechanism coordination and is relatively expensive.

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