Distortion spherical robot for self-adaptive steering and climbing

A spherical robot and self-adaptive technology, applied in the field of robotics, can solve the problems of small climbing force and unstable turning of spherical robots, and achieve the effect of flexibly circumventing obstacles, turning smoothly, and preventing deviation from the desired path.

Active Publication Date: 2019-04-26
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a deformed spherical robot with adaptive steering and climbing to solve the technical problems of small climbing force and unstable turning of the spherical robot.

Method used

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  • Distortion spherical robot for self-adaptive steering and climbing
  • Distortion spherical robot for self-adaptive steering and climbing
  • Distortion spherical robot for self-adaptive steering and climbing

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Embodiment Construction

[0027] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0028] to combine Figure 1 to Figure 4 As shown, a deformed spherical robot with adaptive steering and climbing includes a left spherical shell 1, a middle spherical shell 2, and a right spherical shell 3, and a left spherical shell 1, a middle spherical shell 2, and a right spherical shell 3 Spliced ​​together to form a complete spherical shell, the middle spherical shell 2 is equipped with a driving device, the driving device includes a motor 11, a central shaft 9 and a hollow shaft 15, the hollow shaft 15 is sleeved on the central shaft 9 and connected to it in rotation, the central shaft 9 is nested in the hollow shaft 15 through two rolling bearings (first bearing 7, second bearing 8). The motor 11 is installed on the central shaft 9 and drives the hollow shaft 15 to rotate around the central shaft 9. The output shaft of the mo...

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Abstract

The invention discloses a distortion spherical robot for self-adaptive steering and climbing. The distortion spherical robot comprises a left spherical shell, a middle spherical shell and a right spherical shell; the left spherical shell, the middle spherical shell and the right spherical shell are jointly spliced into a complete spherical outer shell; a driving device is mounted in the middle spherical shell and comprises a motor, a central axis and a hollow axis; the hollow axis is sleeved on the central axis and is rotatably connected with the central axis; the middle spherical shell is connected with the hollow axis through rotating support arms; the middle spherical shell is configured in a structure rotating about the central axis; the motor is mounted on the central axis and drivesthe hollow axis to rotate about the central axis; the left spherical shell and the right spherical shell are respectively mounted on two ends of the central axis; the middle spherical shell is a deformable shell group consisting of four arc-shaped spherical shells; each of the arc-shaped spherical shells is hinged with the hollow axis by one rotating support arm; a steering gear is mounted betweenthe rotating support arm and the hollow axis. With the distortion spherical robot for self-adaptive steering and climbing, the technical problems of small climbing force and unstable turning of the spherical robot can be solved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a deformed spherical robot capable of adaptive steering and climbing. Background technique [0002] A spherical robot is an independent moving body with a spherical or approximately spherical structure as its shell. In terms of motion, it is dominated by rolling motion. The turning direction of the spherical robot in the prior art is not stable, it is easy to collide, and the service life is reduced. For this reason, we have developed a deformed spherical robot that adapts to steering and climbing. Through the deformation of the middle spherical shell, the robot can climb smoothly. Through The left spherical shell protrudes to the left or the right spherical shell protrudes to the right to make the robot turn left or right smoothly, and the length of the extension can be adjusted to adjust the turning radius of the robot. Contents of the invention [0003] The purpose of the p...

Claims

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Application Information

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IPC IPC(8): B62D57/02
CPCB62D57/02
Inventor 陈继清黄仁智莫荣现刘旭强虎徐关文蒙艳玫
Owner GUANGXI UNIV
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