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An omnidirectional rolling spherical robot

A spherical robot and spherical technology, applied in the direction of motor vehicles, transportation and packaging, etc., to achieve the effect of simple and reliable control and guaranteed stability

Active Publication Date: 2016-06-22
李喆 +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the general need for improvement in the following areas: omnidirectional rolling, reliable control, stability of the carrying platform, and abnormal attitude adjustment, these solutions cannot well meet the needs of practical applications.

Method used

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  • An omnidirectional rolling spherical robot
  • An omnidirectional rolling spherical robot
  • An omnidirectional rolling spherical robot

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Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0021] 1. Drive system structure

[0022] Such as figure 1 and figure 2 As shown, the spherical car shell one (1) and the spherical car shell two (8) are buckled into a spherical shape and each has a central column structure passing through the center of the sphere, and the central column axes of the two are collinear; the spherical car shell one (1) central column Go up solid connection transmission bevel gear one (4), the solid connection transmission bevel gear two (9) on the spherical car shell two (8) center columns.

[0023] Such as image 3 As shown, the first bogie (2), the second bogie (7), and the steering shaft (11) are locked to each other, the axis of the steering shaft (11), that is, the X axis, passes through the centers of the two bogies, and the whole formed by the three passes through the rolling The needle bearings are empty sleeves on the center columns of the spherical car shell one (1) and the spherical car shell two (8), and can freely rotate around ...

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Abstract

The invention discloses an omnidirectional rolling spherical robot and relates to the technical field of spherical robots. The drive shaft and the rotation shaft are perpendicular to each other and are located in the horizontal plane. By controlling the two-axis power source drive motor and steering motor, actions such as forward and backward, zero-radius turning at any angle, and any abnormal posture adjustment can be realized. It not only has omnidirectional rolling, There is no dead angle of movement, and it also has the advantages of simple and reliable control. In addition, the unique design of the structure of the present invention can also ensure the good stability of the carrying platform. It can build in cameras, sensors and other equipment to realize movement in unfamiliar environments and planet detection, etc. .

Description

technical field [0001] The invention relates to an omnidirectional rolling spherical robot. Background technique [0002] Spherical robot is a new type of rolling walking robot, which has the characteristics of fast movement speed, good off-road performance, and relatively simple control. It has gradually become one of the hotspots in the field of intelligent robot research at home and abroad. [0003] The existing spherical robot solutions can be roughly divided into the following three categories according to the driving mode: roller drive, variable center of mass drive, and multi-degree-of-freedom drive. However, due to the general need for improvement in the following areas: omnidirectional rolling, reliable control, stability of the carrying platform, and abnormal attitude adjustment, these solutions cannot well meet the needs of practical applications. The inventor has conducted in-depth research on these problems and proposed improvements, and this case results from ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02
Inventor 李喆于好雨李佳音
Owner 李喆