Spherical robot with double pendulum and its application
A spherical robot and spherical technology, which is applied in the fields of motor vehicles, transportation and packaging, can solve the problems of high technical difficulty and low stability, and achieve the effects of high stability, low cost and easy realization.
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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 and 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 tota...
Embodiment 2
[0056] In this case, this spherical robot with double pendulums is used for reconnaissance.
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