All-direction spherical robot driving device

Abstract

The invention relates to an all-direction spherical robot driving device which comprises a sphere. A horizontally-placed and rotatable supporting rod is arranged in the sphere. One end of the supporting rod is arranged on an output shaft of a steering motor, and a driving device body is arranged in the middle of the supporting rod. The driving device comprises a driving motor fixed to the middle of the supporting rod. The output shaft is provided with the vertically-placed and rotatable swinging rod. The other end of the supporting rod and the driving device are respectively provided with a balance block. The steering motor is fixed to the sphere. The driving device rotates through the supporting rod. A control panel and a power source are arranged in the sphere. The driving motor and the steering motor are connected with the control panel. The swinging rod is driven to change the spatial center of gravity of the spherical robot, so that the spherical robot rotates in all directions. The all-direction spherical robot driving device is simple in structure and convenient to use.

Description

technical field [0001] The invention relates to the field of electromechanical technology, in particular to an omnidirectional spherical robot driving device. Background technique [0002] A fluid-driven spherical robot is disclosed in the prior art 201210076968.3, which includes a spherical shell, an annular sealed container, an axial flow device, an internal drive rotation mechanism, and a main shaft; the spherical shell is composed of left and right hemispherical shells; the annular sealed container is located in the spherical shell Inside, the outer ring surface of the container is concentric with the spherical surface of the spherical shell. The container is filled with fluid, and the fluid volume is 1 / 2 of the container volume. Two axial flow devices are symmetrically installed inside the annular sealed container, and the axial flow device drives the liquid to flow in the annular sealed container. , so as to change the center of mass of the spherical robot, thereby rea...

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Problems solved by technology

[0002] A fluid-driven spherical robot is disclosed in the prior art 201210076968.3, which includes a spherical shell, an annular sealed container, an axial flow device, an internal drive rotation mechanism, and a main shaft; the spherical shell is composed of left and right hemispherical shells; the annular sealed container is located in the spherical shell Inside, the outer ring surface of the container is concentric with the spherical surface of the spherical shell. The container is filled with fluid, and the fluid volume is 1 / 2 of the container volume. Two axial flow devices are symmetrically installed inside the annular sealed container, and the axial flow device drives the liquid to flow in the annular sealed container. , so as to change the center of mass of the spherical robot, thereby realizing the forward and backward of the spherical robot; due to the sudden change of the direction of motion of the liquid in the flow process, a strong inertia will be generated, causing the spherical robot to fail to change direction in time, easy to collide, and reduce the service life. To this end, we have developed an all-round spherical robot drive device, which changes the center of gravity in the space of the spherical robot through the swing rod, so that the spherical robot can rotate in all directions, and has a simple structure and is easy to use

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