Omnibearing movable spherical robot
A spherical robot, all-round technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of the stability of the movement, the complex structure of the spherical robot, etc., and achieve the effect of simple structure, convenient installation, and simple motion mechanism
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[0013] like figure 1 , figure 2 As shown, one embodiment of the present invention is: there is a motion mechanism 7 supported on the spherical shell by three small wheels 2 inside the spherical shell 1, and the three small wheels 2 can be connected to the disc 3 through a bracket, and the movement Mechanism 7 consists of two motors 5, 6 and five wheels, three small wheels 2 for support, a large wheel 4 for driving the spherical shell and a wheel 9 connected with motor 6; two motors one One is used to drive the large wheel 4 which is in contact with the bottom of the spherical shell, and the other is used to drive the wheel 9 and cause the part of the wheel 4 to turn relative to the disc. The small wheel 2 is installed on the disc 3 supporting the motion mechanism 7 at 120 degrees. Under the gravity of the internal battery pack and the control system 8 of the motion mechanism 7, the big wheel 4 is in rolling contact with the spherical shell 1. Driven, the big wheel 4 can rot...
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