A spherical robot and its driving method
The technology of a spherical robot and its driving method is applied in the fields of motor vehicles, transportation and packaging, etc. It can solve problems such as difficult operations, and achieve the effects of high ejection accuracy, increased limit length, and enhanced terrain adaptability
Active Publication Date: 2021-08-31
HANGZHOU DIANZI UNIV
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Problems solved by technology
[0002] With the continuous improvement of the field of robot technology, branches of robot technology such as spherical robots have been differentiated. The traditional spherical robot refers to a type of robot whose drive system is located inside the spherical shell and realizes the movement of the sphere through internal drive. However, the spherical robot with internal drive Difficult to operate in complex environments
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[0035] The present invention will be further described below in conjunction with accompanying drawing.
[0036] Such as figure 1 , 2 As shown in and 3, a spherical robot includes a spherical shell 1, a bouncing system 2 and a mechanical arm module 3. The spherical shell 1 is provided with six mounting grooves 1-1 (facing forward, rear, left, right, up, and down) evenly distributed on the outer surface of the spherical shell 1 . The orientations of any two adjacent installation grooves form an included angle of 90°. The central positions of the six mounting grooves 1-1 are all provided with a rope threading hole 1-2 connected to the inner cavity of the spherical shell 1 for passing a string. Eight positions with different orientations on the outer surface of the spherical shell 1 are provided with mechanical arm installation holes 1 - 3 connected to the inner cavity of the spherical shell 1 . Any one of the mounting holes 1-3 of the mechanical arm is located at the center o...
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The invention discloses a spherical robot and a driving method thereof. The invention relates to a spherical robot, which comprises a spherical shell, a bouncing system and a mechanical arm module. A plurality of installation grooves and a plurality of mechanical arm installation holes are opened on the spherical shell. A bouncing system is installed in each installation slot; a robot arm module is installed in each installation hole of the robot arm. Each manipulator module can extend out of the spherical shell, thereby changing the position of the center of gravity of the entire spherical robot. The springboards in each bounce system can all be ejected to push the spherical robot to bounce. The invention changes the center of gravity of the spherical robot by means of stretching the mechanical arm, provides a rolling driving method of the spherical robot, and is more suitable for motion exploration in complex environments. Simultaneously, the present invention is capable of bouncing, which further enhances the terrain adaptability, and the bouncing direction can be changed arbitrarily by adjusting the lengths of the four supporting mechanical arms, and the bouncing accuracy is high.
Description
technical field [0001] The invention belongs to the technical field of spherical robots, and in particular relates to a spherical robot and a driving method. Background technique [0002] With the continuous improvement of the field of robot technology, branches of robot technology such as spherical robots have been differentiated. The traditional spherical robot refers to a type of robot whose drive system is located inside the spherical shell and realizes the movement of the sphere through internal drive. However, the spherical robot with internal drive Difficult to achieve operation in complex environments. Contents of the invention [0003] In order to find a new driving method for a spherical robot, the invention proposes a spherical robot and a driving method. [0004] The invention relates to a spherical robot, which comprises a spherical shell, a bouncing system and a mechanical arm module. A plurality of installation grooves and a plurality of mechanical arm ins...
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IPC IPC(8): B62D57/02
CPCB62D57/02
Inventor 许明李诚辉倪敬
Owner HANGZHOU DIANZI UNIV