A fluid-driven spherical rolling robot and its driving method

Abstract

The invention discloses a fluid-driven spherical rolling robot and a driving method thereof. At present, the driving modes of the spherical robot mainly include trolley driving, counterweight driving,deformation driving and wind power driving, and each driving mode has certain defects. The fluid-driven spherical rolling robot comprises a control box, a power mechanism, a spherical shell and a balance box, wherein the power mechanism comprises an annular pipe, a first gravity center adjusting block, a second gravity center adjusting block and a partition plate; an oil way module is arranged inthe control box; And the oil way module comprises an oil tank, a first reversing valve, a second reversing valve, a first on-off valve, a second on-off valve, an overflow valve and a hydraulic source. According to the invention, a fluid in the pipe is controlled to flow in a hydraulic transmission mode, so that the internal gravity center adjusting blocks are driven to move, and the mass center position of the robot is changed. Compared with a traditional spherical robot mass center changing mode, the structure is simpler and more reliable, and the movement is more stable and flexible.

Description

technical field [0001] The invention belongs to the technical field of spherical robots, and in particular relates to a fluid-driven spherical rolling robot and a driving method thereof. Background technique [0002] Spherical robot is a mobile robot with a new structure. Compared with traditional wheeled, tracked or legged mobile robots, it has many unique advantages such as flexible action, small turning radius, relatively simple control, and strong adaptability to the scene. It is one of the hot issues in the field of robotics at present, which is concerned by researchers at home and abroad. According to the driving principle, spherical robots can be divided into: torque balance, mass balance and conservation of angular momentum. Although many spherical robots have been designed at home and abroad, and their driving mechanisms are various, most of them have defects such as complex structure and low practicability. So far, there is not a kind of driving method that is ge...

AI Technical Summary

Problems solved by technology

The trolley-driven type has poor controllability and limited movement speed; the counterweight-driven type is difficult to control; the deformation-driven type cannot carry other components; the wind-driven type is overly dependent on wind power

The trolley-driven and counterweight-driven robots are active-moving robots, and the driving source cannot provide long-term battery life; the deformable robot cannot carry components

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