Double-power four-wheel-drive five-omnidirectional-wheel heavy-load spherical robot

Abstract

The invention relates to a four-wheel-drive spherical robot with five omnidirectional wheels. The robot mainly comprises a spherical shell, a rack, a walking drive, a steering drive, a spring, a support, four driving omnidirectional wheels, a chassis and the like. Eccentric mass of parts in the spherical shell and pre-pressure of the spring jointly act on the inner surface of the spherical shell,the provided friction force enables the eccentric mass to deviate from the sphere center, and therefore eccentric torque is generated to enable the spherical shell to roll. The four omnidirectional wheels are supported below the chassis in pairs in an orthogonal mode, large bearing capacity can be provided, the front omnidirectional wheel and the rear omnidirectional wheel are driven by one walking motor, the left omnidirectional wheel and the right omnidirectional wheel are driven by one steering motor, and the supporting omnidirectional wheel located at the top can prevent the chassis from overturning.

Description

technical field [0001] The invention relates to the technical field of sports spherical robots, in particular to a heavy-duty spherical robot with dual power, four-wheel drive and five omnidirectional wheels. Background technique [0002] Spherical robots have good airtightness, can adapt to complex and harsh working environments, and have a large volume. Therefore, exploring new structures and driving spherical robots has great application prospects. [0003] The existing patent application 201410147444.8 proposes a mecanum wheel-driven spherical robot. The main disadvantages of this mechanism are: 1) the rollers of the mecanum wheel are arranged at 45° to the driving direction, and the mecanum wheel will cause 45° in the forward process. Uncertain rolling in the direction makes it difficult to accurately control its trajectory; 2) The frame supporting the mecanum wheel lacks an elastic structure, making it difficult to ensure that the mecanum wheel maintains contact and fr...

AI Technical Summary

Problems solved by technology

[0003] The existing patent application 201410147444.8 proposes a mecanum wheel-driven spherical robot. The main disadvantages of this mechanism are: 1) the rollers of the mecanum wheel are arranged at 45° to the driving direction, and the mecanum wheel will cause 45° in the forward process. Uncertain rolling in the direction makes it difficult to accurately control its trajectory; 2) The frame supporting the mecanum wheel lacks an elastic structure, making it difficult to ensure that the mecanum wheel maintains contact and friction with the inner surface of the spherical shell; 3) the inside of the sphere The contact friction between the pneumatic rod and the inner surface of the spherical shell will hinder the driving ability of the mecanum wheel

[0004] The existing patent application 201510194055.5 proposes a full-step walking spherical robot, which uses 4 motors to drive 4 omnidirectional wheels respectively. The problems of this mechanism are: 1) It is difficult for two motors in the same direction to keep in sync, which causes motion interference. Increase the complexity of the control strategy; 2) The top of the mechanism adopts spherical universal wheels, all of which are eccentrically designed, and the contact point with the spherical shell is not on the vertical line of the force, and the load-bearing capacity is poor. The wheel must move eccentrically around the main shaft to reach a straight direction before it can run in the changed direction, which is not only laborious but also inaccurate.

[0005] The existing patent application 201710513040 proposes a spherical robot driven by orthogonal double omnidirectional wheels. This structure adopts two upper and lower omnidirectional wheels in an orthogonal arrangement, and the pressure is concentrated on both ends of the diameter, which will cause local deformation of the spherical shell and affect the movement effect.

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