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Omni-directional motion spherical robot

A spherical robot, all-round technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problems of limited spherical robot motion performance, limited robot motion performance, eccentric drive torque, etc., to achieve easy engineering realization, simple structure, The effect of simple mechanism principle

Inactive Publication Date: 2015-12-09
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Due to the eccentric moment of walking and turning of some existing spherical robots, which are mainly generated by different mass blocks, the maximum eccentric moment under the existing mass cannot be generated, which limits the motion performance of spherical robots
[0004] For some other spherical robots, the walking drive is located on the diameter base at the height of the center of the sphere, and the steering drive is located in the mass trolley on the semi-circular rail. The center of mass of the walking drive and the steering drive is separated. This mechanism cannot maximize the existing mass The eccentric drive torque limits the motion performance of the robot to a certain extent

Method used

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Embodiment 1

[0031] In order to solve the above-mentioned shortcoming of the prior art, the embodiment of the present invention designs a kind of omni-directional motion spherical robot, such as Figure 1 to Figure 3 As shown, it includes spherical shell 1, arc rail 2, frame 3, rail wheel 4, omnidirectional wheel 6 and guide wheel 9; arc rail 2 is set in spherical shell 1, and both ends of arc rail 2 pass through and support coaxially On the diameter of spherical shell 1; Frame 3 is located in spherical shell 1, and the top of frame 3 is supported on arc track 2 by rail wheel 4 and guide wheel 9; Omnidirectional wheel 6 is installed in the bottom of frame 3.

Embodiment 2

[0033] In order to solve the above-mentioned shortcoming of the prior art, the embodiment of the present invention designs a kind of omni-directional motion spherical robot, such as Figure 1 to Figure 3 As shown, it includes spherical shell 1, arc rail 2, frame 3, rail wheel 4, omnidirectional wheel 6 and guide wheel 9; arc rail 2 is set in spherical shell 1, and both ends of arc rail 2 pass through and support coaxially On the diameter of spherical shell 1; Frame 3 is located in spherical shell 1, and the top of frame 3 is supported on arc track 2 by rail wheel 4 and guide wheel 9; Omnidirectional wheel 6 is installed in the bottom of frame 3. The frame 3 also includes two rail wheels 4, two guide wheels 9, a steering motor 5, a travel motor 7 and a spring 8; the rail wheels 4 are arranged in the frame 3 along the outer circumference of the arc rail 2; the guide wheels 9 Arranged in the frame 3 on the front and rear sides of the arc rail 2; the steering motor 5 is arranged o...

Embodiment 3

[0035] In order to solve the above-mentioned shortcoming of the prior art, the embodiment of the present invention designs a kind of omni-directional motion spherical robot, such as Figure 1 to Figure 3 As shown, it includes spherical shell 1, arc rail 2, frame 3, rail wheel 4, omnidirectional wheel 6 and guide wheel 9; arc rail 2 is set in spherical shell 1, and both ends of arc rail 2 pass through and support coaxially On the diameter of spherical shell 1; Frame 3 is located in spherical shell 1, and the top of frame 3 is supported on arc track 2 by rail wheel 4 and guide wheel 9; Omnidirectional wheel 6 is installed in the bottom of frame 3. The frame 3 also includes two rail wheels 4, two guide wheels 9, a steering motor 5, a travel motor 7 and a spring 8; the rail wheels 4 are arranged in the frame 3 along the outer circumference of the arc rail 2; the guide wheels 9 Arranged in the frame 3 on the front and rear sides of the arc rail 2; the steering motor 5 is arranged o...

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Abstract

The embodiment of the invention discloses an omni-directional motion spherical robot which comprises a spherical shell, an arc rail, a rack and an omni-direction wheel. The arc rail is arranged in the spherical shell. The two ends of the arc rail coaxially penetrate through and are supported on the diameter of the spherical shell. The rack is arranged in the spherical shell. The upper portion of the rack is supported on the arc rail through rail wheels and guide wheels. The omni-direction wheel is installed at the bottom of the rack. According to the technical scheme, the robot has the following advantages that the characteristic that the omni-directional wheel can roll in two directions at the same time is used to drive single eccentric mass in a sphere, and the omni-directional motion spherical robot is obtained; movable element mass is far away from the sphere center, and maneuverability and power efficiency of the spherical robot are enhanced to the largest extent; the rack is located below the arc rail so that the posture of the robot can be well recognized, and convenience is brought to intelligent control; the structure is simple, high-precision parts are not needed, and accordingly engineering cost can be reduced.

Description

technical field [0001] The invention relates to the technical field of a moving spherical robot, in particular to an omnidirectional moving spherical robot. Background technique [0002] With the continuous deepening of people's application of robots, robots are required to perform specific tasks in some harsh and complex environments. This requires the robot to have better mechanical motion performance and airtight performance to adapt to the task environment. Therefore, exploring a mobile spherical robot with a new driving principle has become an important goal pursued by new technologies. [0003] Due to the eccentric moments of walking and steering of some existing spherical robots are mainly generated by different mass blocks, the maximum eccentric moments under the existing mass cannot be generated, which limits the motion performance of spherical robots. [0004] For some other spherical robots, the walking drive is located on the diameter base at the height of the c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02
Inventor 刘伟赵锦旭王克俊李尊梁少喆刘孟珏
Owner BEIJING JIAOTONG UNIV
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