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Spherical detection robot

A robot and spherical technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problem of not being able to provide reasonable guidance for robot movement, and achieve the effects of convenient control, easy installation, and simple motion mechanism

Inactive Publication Date: 2005-11-30
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If sensors such as vision are installed on a spherical robot that moves in all directions, the sensor will rotate with the spherical robot. At this time, the sensor does not provide useful environmental information with a fixed sensing direction, but information near the circumference of the rotating robot. Unable to provide reasonable guidance for the movement of the robot

Method used

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Embodiment Construction

[0012] Such as figure 1 , figure 2 As shown, the embodiment of the present invention is: a main shaft 2 that does not rotate with the spherical case is installed inside the spherical case 1, the main shaft 2 is a hollow body, and a control device 10, etc. can be installed outside it, and can be installed inside it for detecting Sensors and other devices, the spherical shell 1 and the main shaft 2 are connected through the support part 3 and the rolling bearing 4, and the movement mechanism 8 is suspended under the main shaft 2, and the movement mechanism 8 is connected with the main shaft 2 through the connecting part 5, and the connecting part 5 has a Long groove can allow kinematic mechanism 8 to adjust the position in the direction perpendicular to the ground, and kinematic mechanism 8 is made of two motors 6, two cover pulleys (or chain wheel, gear) 9 and two wheels 7, in two motors 6 The two ends of the two wheels are respectively connected to the two wheels 7 by the pu...

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Abstract

Spherical detection robot. Set chief axis inside not rotating with spherical shell, rolling bearing connects shell with axis; suspense motion mechanism on bottom of axis; set two wheels on motion mechanism ends presses on spherical shell for gravity action. The advantage of this invention is to supply the not rotating chief axis with video camera and sensor assembled for detection; besides, the motion mechanism simplifies entire structure; it has two functions of autonomous and promotes motion, can move in strange environment according to feedback image to complete detection mission for deadly gas, field environment and planet exploration.

Description

Technical field [0001] The invention relates to a spherical detection robot system which can be used in the fields of environment detection, star detection and toys. Background technique [0002] Spherical robot or spherical mechanism refers to a general term for a system that installs motion actuators, sensors, and controllers in a spherical housing. Since this type of robot has good dynamic and static balance, it will not be unstable due to collisions. At the same time, since its electromechanical, sensing components and control components are all included in this ball, it has good sealing performance and can drive in sandy, humid and corrosive harsh environments. A.Halme, T.Schonberg and Y.Wang, MotionControl of a Spherical Mobile Robot, 4th IEEE International Workshop on Advanced Motion Control AMC'96, Mie University, Japan 1996. Introduced a spherical robot designed by Aarne Halme of Finland and applied for it patented, the spherical robot uses a wheel rolling in the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00
Inventor 战强
Owner BEIHANG UNIV
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