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Novel omnidirectional movement spherical robot

A spherical robot and motion technology, applied in the field of robotics, can solve problems such as complex walking and steering connections, high control technology requirements, and low motion efficiency

Inactive Publication Date: 2019-01-04
SOUTHWEST PETROLEUM UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although this structure can complete the in-situ steering, due to the complex connection of the internal walking and steering, the movement efficiency is low, and the control technology is relatively high.

Method used

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  • Novel omnidirectional movement spherical robot
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  • Novel omnidirectional movement spherical robot

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Embodiment Construction

[0037] The present invention will be further described below in conjunction with accompanying drawing:

[0038] Refer to attached Figure 1~5 , the present invention is a novel spherical robot with omnidirectional motion, which mainly consists of a spherical shell 1, an internal structure 2, a right rotating shaft 3, a right steering wheel 4, a driving motor 5, a driving rotating shaft 6, a driving wheel 7, a steering motor 8, Left steering wheel 9, left steering shaft 10 etc. constitute. Wherein, the driving shaft 6 and the driving wheel 7 are fixedly installed on the internal structure 2 through bearings, and are connected with the driving motor 5 through a gear rotation system. The right steering wheel 4, the right rotating shaft 3, the left steering wheel 9, the left The rotating shaft 10 is fixedly installed on the left and right sides of the internal structure 2 through bearings, the right rotating shaft 3 is connected with the steering motor 8 through a gear system, an...

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Abstract

The invention relates to a novel omnidirectional movement spherical robot. The novel omnidirectional movement spherical robot comprises a shell, an inner structure, a control device and a detection device; the shell is used for rolling and moving forwards on the ground, a driving wheel is arranged on the bottom of the inner structure, through a motor, rotation of the driving wheel can be achieved,friction force between rotation of the driving wheel and the spherical shell exits, under the effect of the friction force, the spherical shell moves, steering wheels are arranged on the two sides ofthe inner structure, and under driving of a motor, the robot can be driven to rotate; the control device and the detection device are arranged in the inner structure, the control device and the two motors are connected so as to control motion and rotation of the spherical robot, and needed electric energy is provided for the robot. The two motors act on the different positions, through torque ofthe motors, friction between the driving wheels and the shell and friction force between the steering wheels and the shell are used for achieving motion of the whole spherical robot, the robot is in aspherical shape, omnidirectional movement can be achieved, the robot can wind around the obstacle easily, and steering motion of the zero turning radius is achieved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a novel spherical robot with omnidirectional motion. Background technique [0002] Spherical robot is a special kind of mobile robot. Traditional crawler-type and wheel-type robots can no longer satisfy people's development and utilization of robots. The shell of spherical robot is spherical or spherical, and it relies on the friction of the ground to roll. Spherical machines Relying on its own special structure, it can achieve zero turning radius and no overturning. It has high moving efficiency. The spherical shell of the spherical robot contains the control system, drive motor, power source, etc. The spherical shell can be well protected. The internal system can be moved in an environment with complex conditions such as no one, humidity, and corrosion. [0003] So far, the existing spherical robots can be divided into three types according to their driving methods: direct driv...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J19/00
CPCB25J9/00B25J9/0009B25J19/00
Inventor 王威张智亮
Owner SOUTHWEST PETROLEUM UNIV
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