Spherical robot capable of conducting foot type movement and working method of robot

A spherical robot and motion technology, applied in the field of robotics, can solve the problems that robots cannot be popularized and applied, the spherical robot has a single motion mode, and cannot adapt to non-structural environments, so as to improve environmental adaptability and work efficiency, and it is easy to realize deformation and structure. Simple and reasonable effect

CN105035199AActive Publication Date: 2015-11-11YULIN UNIV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2015-11-11

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Abstract

The invention discloses a spherical robot capable of conducing foot type movement and a working method of the robot. The robot can be controlled through first steering engines, second steering engines and third steering engines so that leg structures can retract into grooves in one-eighth spherical bodies to transformed into a spherical shape, a rolling movement mode is adopted, and the movement speed is increased. When the road surface is not smooth or obstacles exist, the first steering engines, the second steering engines and the third steering engines control the leg structures to stretch out to be transformed into a multi-foot structure, a foot type movement mode is adopted, and flexibility and stability are achieved. The spherical robot can conduct spherical transformation and foot type transformation, different movement modes are selected according to different environments, the environment adaptability and the working efficiency are improved, the overall structure is simple and reasonable, transformation is easy to achieve, and the spherical robot can be widely applied to production and living occasions.
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Description

Technical field

[0001] The invention belongs to the field of robots, and in particular relates to a leg-movable spherical robot and a working method thereof.

Background technique

[0002] Today, robots have been widely used in production and life. In the robot series, the spherical robot is a special robot that uses the internal drive device of the sphere and the external friction force of the sphere to move. Compared with other types of robots, spherical robots have good stability and strong anti-interference ability. But at present, the spherical robot has a single movement mode and cannot adapt to the unstructured environment, so that this kind of robot cannot be widely applied. Therefore, in the field of robot technology, a technical problem that needs to be solved urgently at present is to be able to design a kind of multi-motion mode spherical robot.

Content of invention

[0003] The object of the present invention is to overcome the above-mentioned shortcom...

Examples

Embodiment Construction

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] see Figure 1 to Figure 5 , a spherical robot capable of foot movement, including a spherical body composed of eight one-eighth spheres 1, the spherical body is a hollow structure, one-eighth sphere 1 is provided with a groove, and the groove is provided with The leg structure that can be folded in the groove is the same as the first steering gear 2, and the direction of the groove on each eighth sphere 1 is the same;

[0021] The leg structure includes a number of end-to-end oscillating devices, the mechanical oscillating device includes a second U-shaped connector 11, and the U-shaped connector is provided with two rudder plates 3, and the two rudder plates 3 are driven to rotate by the third steering gear 8. The third steering gear 8 is connected to the second U-shaped connector 11 of the adjacent mechanical swing device through the L-shaped structural membe...