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Ellipsoidal robot

A robot and ellipsoid technology, applied in the field of ellipsoid robots, can solve the problems of unstable operation, insufficient control, occupying the inner space of the spherical shell, etc., and achieve the effects of expanding the range of motion, saving limited space, and simple and easy control.

Inactive Publication Date: 2014-07-16
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, many spherical robots do not have stable platforms inside and outside, and can only achieve flexible movements, but have no practical application significance, and are difficult to adapt to amphibious operations.
At the same time, the current steering of the spherical robot is mainly by moving the counterweight, which is not simple enough to control and takes up a lot of space inside the spherical shell.
In addition, the spherical robot is in point contact with the ground, and the operation is unstable.

Method used

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Embodiment Construction

[0011] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

[0012] Embodiment: The central shafts I and II are connected to the central shaft connector, bearings are provided between the central shafts I and II and the central shaft connector, and the central shaft connector is provided with a loading platform, and the central shaft and the loading platform are relatively stable It does not rotate with the rotation of the shell. The platform is equipped with system power supply, drive board, remote control module, sensors and other equipment, and the two ends of the central axis are equipped with camera equipment. The quick disassembly and assembly paddles are installed on the end cover by screws, and can be quickly disassembled and adjusted when needed, so that the ellipsoid robot has a wider range of adaptation. The rotation speed and the steering of the two driving motors are controlled to control t...

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Abstract

The invention provides an ellipsoidal robot. The movement of the ellipsoidal robot is controlled through gravitational torque and friction torque. The ellipsoidal robot mainly comprises a semi-ellipsoidal case I, a semi-ellipsoidal case II, a center shaft I, a center shaft II, a center shaft connector, a center shaft carrying platform, two driving motors, two driving wheels, two motor installation parts, two motor fastening parts, two shaft end covers, two cameras, camera fixing parts, two paddles and a bearing. When the two motors are the same in rotation speed and direction, the two driving wheels climb along the inner walls of the cases synchronously and drive the ellipsoidal robot to move forward or backward. When the two driving motors are different in speed or opposite in direction, the friction force on the cases from the driving wheels forms the friction torque and drives the ellipsoidal robot to turn. When the two paddles are installed, the ellipsoidal robot can be operated in water. The ellipsoidal robot is provided with the stable platform, the internal space of the semi-ellipsoidal cases is large so that many devices can be carried, and differential steering is adopted, so that control is simple and stable.

Description

technical field [0001] The invention relates to the field of spherical robots, in particular to an ellipsoidal robot. Background technique [0002] A spherical robot is a general term for a system that includes motion mechanisms and control devices in a spherical or ellipsoidal shell. This type of robot has good balance and sealing, can turn flexibly, and has high movement efficiency, and can realize functions such as planetary exploration, environmental monitoring, and national defense equipment. However, many spherical robots do not have stable platforms inside and outside, and can only achieve flexible movements, but have no practical application significance, and are difficult to adapt to amphibious operations. At the same time, the steering of the spherical robot is mainly by moving the counterweight, which is not simple enough to control and takes up a lot of space inside the spherical shell. In addition, the spherical robot is in point contact with the ground, and t...

Claims

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Application Information

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IPC IPC(8): B62D57/02
Inventor 苏峰韩斌张运
Owner BEIHANG UNIV
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