Sphere robot

Abstract

The invention provides a sphere robot. The sphere robot comprises a spherical shell and a driving assembly arranged in the spherical shell. The driving assembly comprises a supporting platform, a plurality of driving wheels installed at the supporting platform, a driving motor and a control torque gyro system. The multiple driving wheels are distributed at the edge of the supporting platform and make contact with the inner wall of the spherical shell. The driving motor drives the driving wheels to rotate, so that friction force is produced between the driving wheels and the spherical shell to drive the sphere robot to walk. When the spherical shell is affected by disturbance torque, the deflection of the control torque gyro system is controlled to increase precession torque so that the disturbance torque can be overcome and the stability of the sphere robot can be improved. According to the sphere robot, the ability of obstacle crossing and climbing of the sphere robot is improved, the movement stability can be improved, and automatic posture adjustment is realized when the sphere robot encounters obstacles.

Description

technical field [0001] The invention relates to the field of robots, in particular to a spherical robot. Background technique [0002] A spherical robot refers to a robot that uses the rolling of a sphere to achieve movement. It can move in all directions, has a single point of contact with the ground, has small frictional resistance, high energy utilization efficiency, and has the characteristics of a tumbler, which can avoid the dumping failure that is easy to occur in conventional robots. stable phenomenon. The important parts of the robot are all contained inside the sphere, which is well protected by the sphere shell and is not easy to fail due to damage. Taking appropriate sealing measures can make the shell of the spherical robot have waterproof ability, and then it can be used under relatively bad weather conditions, and has all-weather adaptability. [0003] Spherical robots often have low motion stability due to the limited rolling walking mode, and the ability t...

AI Technical Summary

Problems solved by technology

[0003] Spherical robots often have low motion stability due to the limited rolling walking mode, and the ability to overcome obstacles and climb slopes is not strong, which makes spherical robots widely used in people's living areas (such as obstacles such as slopes or stairs greater than 30 degrees) or The application of some uneven ground is greatly limited

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