Amphibious reconnaissance spherical robot eccentrically driven by heavy pendulums

Abstract

The invention discloses an amphibious reconnaissance spherical robot eccentrically driven by heavy pendulums. The robot comprises two semi-sealed spherical shells, a middle sealing cover is arranged in the middle inside the sealing spherical shell, the two semi-sealed spherical shells are connected through a middle sealing cover, the sealing spherical shell is fixed on the end sealing cover through a spherical shell fixing screw ring, the end sealing covers are arranged in bilateral symmetry, side spherical shells are arranged on two sides of the outer part of the end sealing cover, a side driving inner gear is arranged on the end sealing cover, the side driving inner gear is meshed with the robot driving gear, the driving motor drives the side part to drive the inner gear to rotate, heavypendulums are arranged on the two sides of the middle sealing cover, C620 electronic speed regulators are arranged on the side faces of the heavy pendulums, the C620 electronic speed regulators are used for driving a motor to drive and regulate the speed, the heavy pendulums are supported and fixed to a hollow shaft, and a stability augmentation flywheel is fixed to a shaft shoulder in the middleof the hollow shaft. The amphibious robot has the advantages of heavy pendulum eccentric driving, flywheel self-stabilization, amphibiousness and all-terrain barrier-free stable movement.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an amphibious reconnaissance spherical robot driven eccentrically by a heavy swing. Background technique [0002] In the context of modern war informatization, it is of great significance to quickly grasp battlefield information for combat commanders to make correct strategic decisions. In the actual battlefield environment, especially in the complex amphibious combat environment, it is difficult for ordinary reconnaissance robots to adapt to the complex amphibious environment. The spherical robot has good sealing performance by sealing the motion actuators, sensors, controllers, etc. in the spherical shell, and can perform reconnaissance tasks in environments such as beaches, mud, swamps, rivers, lakes, and oceans. The use of amphibious spherical robots instead of humans for battlefield reconnaissance will greatly reduce the combat risks of active forces, and at the same time re...

AI Technical Summary

Problems solved by technology

[0003] The spherical robot advances in a rolling manner, and the spherical shell is in line contact with the ground, so the motion stability is not good. At the same time, the climbing ability and obstacle surmounting ability of the spherical robot are limited, making it difficult for the spherical robot to operate on all terrains in complex amphibious battlefield environments. Accessible movement

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