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Spherical robot with double pendulum bobs and application thereof

A spherical robot and spherical technology, applied in the direction of motor vehicles, transportation and packaging, can solve the problems of low stability and high technical difficulty, and achieve the effects of high stability, low cost and easy realization.

Inactive Publication Date: 2016-03-30
ZHEJIANG UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Among them, the existing gyroscope driving method uses a single pendulum, which needs to realize the spatial rotation of the pendulum, which is technically difficult and has low stability.

Method used

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  • Spherical robot with double pendulum bobs and application thereof
  • Spherical robot with double pendulum bobs and application thereof
  • Spherical robot with double pendulum bobs and application thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0049] In this case, this spherical robot with double pendulum is applied to pipeline detection.

[0050] In this case, pipeline inspection requires a spherical robot capable of zero-radius turns. The spherical robot with double pendulums disclosed in this patent is placed in the pipeline to be detected. In the initial state, the lower pendulum hangs vertically, and the upper pendulum is vertically upright under the control of the motor. At this time, the robot is stationary.

[0051] When the spherical robot needs to move in a certain direction, it is only necessary to adjust the angle and direction of the upper and lower pendulums in the corresponding plane through the upper and lower pendulum motors, such as image 3 with Figure 4As shown, and then adjust the magnitude and direction of the torque produced by the upper and lower pendulums on the contact point between the spherical shell and the ground, so as to realize the control of the magnitude and direction of the tot...

Embodiment 2

[0056] In this case, this spherical robot with double pendulums is used for reconnaissance.

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Abstract

The invention discloses a spherical robot with double pendulum bobs and an application thereof. A spherical shell is installed outside a spherical inner shell so as to form spherical sliding, a first fixed shaft and a second fixed shaft which are mutually perpendicular are installed in the spherical inner shell, the first fixed shaft is mainly formed by two coaxial shafts which are respectively positioned on both sides of the second fixed shaft, the crossing point of axes of the first fixed shaft and the second fixed shaft is positioned in the center of a sphere of the spherical inner shell, one end of the first fixed shaft and one end of the second fixed shaft are connected to output shafts of pendulum bob motors, the other ends of the first fixed shaft and the second fixed shaft are connected to wall holes of the spherical inner shell by virtue of pendulum bob bearings, and the pendulum bobs are fixedly connected to the middle parts of the fixed shafts. The spherical robot can roll in any direction and has the advantages of convenience, easiness in implementation and high stability.

Description

technical field [0001] The invention relates to a spherical robot, in particular to a spherical robot with double pendulums and an application thereof. Background technique [0002] A spherical robot is a mobile robot that walks in a rolling manner. Existing spherical robot can be divided into two kinds of spherical or approximate spherical and butterfly shape from appearance. The main development goal of the spherical robot is that the robot can roll along any direction conveniently and flexibly. [0003] At present, the driving methods of spherical robots mainly include rotating body driving, car driving, moving mass driving, deformation driving, gyroscope driving and eccentric mass driving. [0004] Among them, the existing gyroscope driving method adopts a single pendulum, which needs to realize the spatial rotation of the pendulum, which is technically difficult and has low stability. Contents of the invention [0005] In order to solve the problems in the backgrou...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02
CPCB62D57/024
Inventor 张勇强陈李果汪久根张靖
Owner ZHEJIANG UNIV
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