A spherical walking platform

A platform and spherical technology, applied in the field of spherical robots, can solve the problems of insufficient driving swing angle safety control, robot movement deviating from a predetermined trajectory, and robot movement out of control, achieving broad practicability and fun, good sealing, and wide application range. Effect

CN104960588BInactive Publication Date: 2017-05-24王学贵
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2017-05-24
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a spherical walking platform. The spherical walking platform comprises a spherical shell and connecting shafts arranged in the spherical shell along the diameter direction of the spherical shell. The spherical shell is formed by butt joint of two semi-spherical shells. The connecting shafts are symmetrically arranged on the semi-spherical shells. One ends of connecting shafts stretch out of the spherical shell and the other ends of connecting shafts are connected with a revolving platform. The middle portion of the revolving platform is provided with a groove equipped with a driving motor. The connecting shafts are in movable sleeve joint with gear motors. An eccentric platform is arranged between the gear motors. The gear motors are provided with gear shafts. The connecting shafts are provided with gears connected with the semi-spherical shells. The gears are engaged with gear motor gears connected with the gear shafts. The spherical walking platform has following beneficial effects: by adoption of a differential torque principle, a walking function is fulfilled by changing the centre-of-gravity of the spherical shell so that space utilization rate of the spherical shell is high and the spherical walking platform is stable and reliable and moves stably.
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Description

technical field

[0001] The invention relates to a spherical robot, more specifically, to a spherical walking platform. Background technique

[0002] The spherical robot is a mobile robot that walks in a rolling manner. Its driving principle is mainly to break the static balance of the sphere through the movement of the internal drive device. The movement is flexible, and it can realize turning in place and walking in all directions.

[0003] Most of the existing spherical robots are driven by an eccentric mass block, and the steering and walking are realized under the drive of the machine's eccentric moment and inertial moment. However, most of the current spherical robots are driven by the offset of the center of gravity of the double pendulum, which cannot guarantee that the double eccentric masses will swing synchronously under the drive of the same motor, resulting in large fluctuations in the driving torque of the robot, unable to provide a stable driving force, and mak...

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Embodiment Construction

[0024] Below in conjunction with accompanying drawing, the present invention will be further described:

[0025] Such as figure 1 with figure 2 As shown, a spherical walking platform includes a spherical shell, the spherical shell is formed by butting the right hemispherical shell 1 and the left hemispherical shell 2, figure 1 In the present invention, only the right hemispherical shell of the spherical walking platform of the present invention is cut open so as to show its internal structure. Two connecting shafts 3 are symmetrically arranged on the right hemispherical shell 1 and the left hemispherical shell 2 in the diameter direction, and one end of the connecting shaft 3 is respectively The right hemispherical shell 1 and the left hemispherical shell 2 are protruded, and the connecting shaft 3 protruding from the spherical shell is provided with a fastener 4, and the right hemispherical shell 1 and the left hemispherical shell 2 can be separated for internal maintenance...