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A spherical robot capable of moving with legs and its working method

A spherical robot and working method technology, applied in the field of robotics, can solve the problems of inability to adapt to unstructured environments, single movement mode of spherical robots, and inability of robots to be popularized and applied, so as to improve environmental adaptability and work efficiency, and be easy to achieve deformation, Simple and reasonable structure

Active Publication Date: 2017-07-07
YULIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

But at present, the spherical robot has a single movement mode and cannot adapt to the unstructured environment, making this kind of robot unable to be widely used

Method used

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  • A spherical robot capable of moving with legs and its working method
  • A spherical robot capable of moving with legs and its working method
  • A spherical robot capable of moving with legs and its working method

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Experimental program
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Embodiment Construction

[0024] The present invention will be further described below in conjunction with the drawings.

[0025] See Figure 1 to Figure 5 , A spherical robot capable of foot-moving, including a spherical body composed of eight eighth spheres 1. The spherical body has a hollow structure. One eighth sphere 1 is provided with a groove, and the groove is provided The leg structure that can be folded in the groove and the first steering gear 2 have the same groove direction on each one-eighth sphere 1;

[0026] The leg structure includes a number of swinging devices connected end to end. The mechanical swinging device includes a second U-shaped connector 11. Two rudder discs 3 are provided on the U-shaped connector. The two rudder discs 3 are driven to rotate by a third steering gear 8. The three steering gear 8 is connected to the second U-shaped connecting piece 11 of the adjacent mechanical swinging device through the L-shaped structural member 7, and the third steering gear 8 at the end of...

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Abstract

The invention discloses a leg-movable spherical robot and its working method, which can be controlled by the first steering gear, the second steering gear and the third steering gear, so that the leg structure can be shrunk in the groove on the one-eighth spherical body Inside, it is deformed into a spherical shape, and the rolling motion method is adopted to increase the speed of movement; when the road surface is uneven or there are obstacles, the first steering gear, the second steering gear and the third steering gear control the leg structure to stretch out and deform into a multi-legged structure , using foot movement, flexible and stable, the invention can carry out spherical and foot deformation, choose different movement methods according to different environments, improve environmental adaptability and work efficiency, the whole structure is simple and reasonable, easy to realize deformation, and can be widely used in production and living situations.

Description

[0001] 【Technical Field】 [0002] The invention belongs to the field of robots, and specifically relates to a spherical robot capable of foot movement and a working method thereof. [0003] 【Background technique】 [0004] 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 driving device of the sphere and the external friction force of the sphere to move. Compared with other types of robots, the spherical robot has good stability and strong anti-interference ability. However, at present, the spherical robot has a single motion mode and cannot adapt to a non-structural environment, making this robot unable to be widely promoted and applied. Therefore, in the field of robotics, a technical problem that needs to be solved urgently is to be able to design a spherical robot with multiple motion modes. [0005] [Content of the invention] [0006] The purpose of the present invention is to overcome th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02B62D57/032
Inventor 王雄杨旭博高海艳张菁王丽
Owner YULIN UNIV