Spherical robot

Abstract

The invention provides a spherical robot. The spherical robot comprises a ball shell and a driving assembly, the driving assembly comprises a connecting part, a telescopic driving part and a driving arm, the connecting part is connected to the inner wall of the ball shell through a floating connecting piece, and the driving arm is provided with a driving wheel and a first motor; the driving wheel is located at the end, away from the connecting part, of the driving arm and is in contact with the ball shell, the first motor is used for driving the driving wheel to rotate, and friction force is generated between the driving wheel and the ball shell to drive the ball shell to rotate; a first connecting rod is arranged between the driving arm and the telescopic driving part, and the telescopic driving part pushes the first connecting rod to move in a reciprocating mode relative to the connecting part, and drives the driving arm to swing around the connecting part so as to adjust the rotating speed of the ball shell through the change of the position of the driving wheel relative to the connecting part. According to the spherical robot, speed regulation is achieved under the condition that the efficiency of the motor is not influenced.

Description

technical field [0001] The invention relates to the field of robots, in particular to a spherical robot capable of stepless speed change. Background technique [0002] Due to the limitation of the rolling walking mode, the spherical robot often has low motion stability. When encountering a raised obstacle on the ground, the speed is too fast, which will cause the spherical shell to collide with the raised obstacle violently, causing damage to the spherical shell, or even damage The electronic circuits and components inside the spherical shell; when encountering a depression in the ground, the slow speed will cause the spherical robot to fail to roll out of the depression. In order to improve the motion stability of the spherical robot, it is necessary to control the motion speed of the spherical robot. The existing spherical robot usually adjusts the speed through the motor, including voltage regulation, pole-changing speed regulation, frequency conversion speed regulation, ...

AI Technical Summary

Problems solved by technology

[0002] Due to the limitation of the rolling walking mode, the spherical robot often has low motion stability. When encountering a raised obstacle on the ground, the speed is too fast, which will cause the spherical shell to collide with the raised obstacle violently, causing damage to the spherical shell, or even damage The electronic circuits and components inside the spherical shell; when encountering a ground depression, the slow speed will cause the spherical robot to fail to roll out of the depression

In order to improve the motion stability of the spherical robot, it is necessary to control the motion speed of the spherical robot. The existing spherical robot usually adjusts the speed through the motor, including voltage regulation, pole-changing speed regulation, frequency conversion speed regulation, etc., but these speed regulation methods There are problems such as low motor efficiency, harmonic interference, no braking torque during normal operation, or inability to achieve stepless and smooth speed regulation during the speed regulation process.

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