360 results about "Spherical robot" patented technology

The invention discloses a visual locating system of spherical robot and a visual locating method thereof. The visual locating system is composed of a binocular visual system, a one-dimensional gyroscope, a spherical robot body, a core control system and a wireless communication module. The locating system carries out locating through cooperation of a camera and the gyroscope, and a locating algorithm is realized on line in the core control system. Data for locating are subjected to remote transmission through the wireless communication module. And a use can realize remote real time monitoring of a robot position. The locating method comprises: conducting real-time acquisition of left and right image sequences by a binocular camera, calculating the posture and location changes of the spherical robot by a binocular visual mileage calculation method, compensating a feature locating error caused by an unstable spherical robot platform through the gyroscope, and finally performing state updating by a Kalman filtering method. The whole process iterates continuously so as to realize real time calculation of the posture and location of a robot.

The invention discloses an electromagnetically-driven spherical robot. The electromagnetically-driven spherical robot is characterized in that the spherical robot comprises a spherical case, and magnets uniformly and annularly arranged at the vertical middle positions on the inner wall of the spherical case, wherein adjacent magnets have opposite pole directions; a main shaft is transversely arranged in the spherical case in a rotary manner, and is fixedly connected with a bracket; at least one group of electromagnetic coils are disposed on the bracket; and each electromagnetic coil group includes two pairs of electromagnetic coils arranged symmetrically relative to the main shaft. The magnetic core of the electromagnetic coils can be controlled to attract and repel the magnets on the inner wall of the spherical case by controlling the polarity of the two electromagnetic coils to change alternately, so that the bracket can be driven to rotate around the main shaft; therefore, the spherical robot can move forwards and backwards based on the electromagnetic stepping principle. Compared with the conventional spherical robot, the electromagnetically-driven spherical robot has the advantages of simple and reliable structure, stable and flexible movement, and high controllability. Meanwhile, the driving manner of the spherical robot is simplified greatly in comparison with the existing spherical robot, thereby improving the utilization rate of the inner space of the spherical robot. Spherical robots with different dimensions can be manufactured according to different purposes, thereby enhancing the bearing capacity of the spherical robot, and facilitating the generation of serial products.

The invention discloses a motion control system and a motion control method for a spherical robot with visual feedback. The motion control system comprises a binocular visual system, a gyroscope, a spherical robot body, an embedded-type controller and a wireless communication module. The motion control system is positioned through cooperation between a visual camera and the gyroscope and measures self motion parameter information of the robot in real time, and the self motion parameter information is used as feedback to be input into a controller. After conducting calculations, the controller issues a control order to a motor on the spherical robot so as to achieve tracking of a targeted path. Meanwhile, the controller can also monitor state information of the robot remotely and give an operation order. The motion control method sets up an inner ring control strategy by adopting a state feedback algorithm, sets up an outer ring control strategy by adopting a curvature tracking algorithm and conducts control through combining an inner ring and an outer ring. The left and right image sequence can be collected in real time through the binocular visual system. By means of adoption of a binocular visual range algorithm, postures and changes of position of the spherical robot can be figured out. By mean of the gyroscope, errors caused by an unstable platform are complemented, and obtained results are used as feedback to be brought into a control algorithm.

The invention discloses a simple and feasible calibration method for the relative attitude of a binocular stereo camera and an inertial measurement unit on the basis of the absolute gravity direction. The method comprises the steps that a gravity direction vector serves as a reference vector, expressions of the gravity direction vector under a camera coordinate system and under an IMU coordinate system are solved respectively to obtain the expressions of the same vector under the two different coordinate systems, and then the attitude change relationship between the two coordinate systems can be solved; finally, precision verification is performed through reprojection errors, and application of the calibration method in a visual odometer is supplied. Experiments show that the relative attitude between the camera and the IMU can be accurately solved through the method. The method can be used for assisting in vision positioning of mobile robots and spherical robots.

The invention discloses a spherical robot with an in-situ rotation function carried with a control moment gyro. The robot is mainly composed of a homogeneous spherical shell, an advance driving mechanism, a steering mechanism, a control moment gyro mechanism, a heavy pendulum and the like. The steering mechanism is composed of two steering motors, a steering gear mechanism, a toothed belt wheel mechanism and the like. In-situ steering of the sphere is achieved through the cooperation of output torques of the two motors. Meanwhile, the robot is carried with the control moment gyro mechanism, and the control moment gyro mechanism is mainly composed of a flywheel, a flywheel rotation motor, a flywheel fixing frame, a frame rotation steering engine, the toothed belt wheel mechanism and the like; extra precession moment is provided through the precession effect of a gyro rotor which rotates at a high speed, so that the operation speed of the robot is higher, and the climbing and obstacle crossing capacity is improved. The spherical robot can steer in-situ and is high in operation speed, the movement rapidity and flexibility of the spherical robot are greatly improved, and the spherical robot has great application prospects.

The invention discloses a spherical robot with vision and arms on two sides. The spherical robot comprises a spherical shell, two lateral arms, a lifting photographing device, a movement driving system and a support stabilizing mechanism, wherein, the spherical shell consists of a lifting top spherical crown, a left spherical crown, a right spherical crown, a unlifting bottom spherical crown and a middle spherical shell. The lower part of the top spherical crown is provided with the photographing device which can lift and rotate by 360 degrees in a plane; the left spherical crown and the right spherical crown on two sides of the spherical robot are respectively provided with one or a plurality of 3-DOF (degree of freedom) mechanical arms which can respectively extend out of the shell; and the bottom spherical crown is provided with a mechanism which can make a sphere stand stably. The spherical robot is a mobile robot provided with a vision sensor and can carry out complex operations and have the flexible kinetic characteristics.

The invention relates to a variable structure spherical robot capable of crossing an obstacle. The robot comprises a balancing weight horizontal shifting module, a rolling movement driving module, a flywheel driving module and a flywheel braking module. The two basic movement modes of pure rolling and obstacle crossing can be achieved. In the mode of pure rolling, the variable structure spherical robot is similar to a traditional spherical robot driven by center-of-gravity shift, and the variable structure spherical robot has the advantage of being high in movement efficiency. In the mode of obstacle crossing, the variable structure spherical robot can automatically achieve acceleration energy storage for a flywheel set only by increasing driving torque of a power shaft, and when the rotating speed of flywheels reaches the preset threshold value, claw feet hidden on the two sides of a spherical shell can be triggered to be unfolded. Meanwhile, the movement of the spherical shell is blocked, and the flywheels are braked, so that stored energy instantly breaks out and drives the claw feet to rotate to achieve obstacle crossing, and the movement mode of pure rolling is recovered after the energy is completely released. The variable structure spherical robot has the advantages of being compact in structure, easy to control, high in obstacle crossing ability, reliable in system and the like, and the terrain adaptability and practicability of the spherical robot are improved.

The invention discloses a spherical robot device with both inner drive and outer drive. The device mainly consists of a spherical shell and an internal work component, wherein, the spherical shell is made of an air-cell spherical shell (1); the internal work component comprises a centre shaft guide screw (2), a guide rod (3), a counterweight component (A), an end connection component (B) and a solar component (C); the centre shaft guide screw (2) and the guide rod (3) are fixed in the air-cell spherical shell (1) through the end connection component (B); the counterweight component (A) is sheathed on the centre shaft guide screw (2) and the guide rod (3); the solar component (C) is fixed on the end connection component (B); the counterweight component (A) controls self to move along the centre shaft guide screw (2) through energy collected by the solar component (C) so as to drive the air-cell spherical shell (1) to roll. The device gives the leading role to wind drive and supplementary role to inner drive, can independently select drive mode, has the advantages of small energy consumption and low cost, and can be used in space detection, investigation and military field.

The invention relates to the technical field of robots and discloses a spherical robot and a control method. The spherical robot comprises a spherical shell body, a spherical shell body driving mechanism and a camera assembly. The spherical shell body driving mechanism is installed in the spherical shell body so as to drive the spherical shell body to rotate around the sphere center of the spherical shell body. The spherical robot further comprises a head shell body, the camera assembly is installed in the head shell body, and the head shell body is located on the outer side of the spherical shell body, capable of sliding along the outer surface of the spherical shell body and provided with a first magnetic component. The spherical shell body driving mechanism is provided with a second magnetic component, and the first magnetic component is in magnetic connection with the second magnetic component. Moreover, the gravity center of a module formed by the spherical shell body driving mechanism, the head shell body and the camera assembly is lower than the sphere center of the spherical shell body in the vertical direction. The cameral assembly of the spherical robot is arranged outside the spherical shell body, capable of moving along with the spherical shell body and rotating relative to the spherical shell body, simple in structure, flexible and reliable in movement and good in image recording effect.

The invention provides an environmental survey spherical robot which comprises a moving mechanism, a control device and the like which are contained in a spherical shell, and realizes motion of the whole robot through centre-of-gravity shift principle. The moving mechanism mainly comprises a hollow shaft, a two-wheel type linear drive mechanism, a weight turning drive mechanism, etc. The two-wheel type linear drive mechanism mainly comprises two drive motors, two driving wheels and the like, and realizes linear motion of the spherical robot through centre-of-gravity shift. The weight turning drive mechanism comprises a drive motor and an actuating mechanism, and realizes turning motion of the environmental survey spherical robot through combining the deviating angle of the weight and the linear motion with the centre-of-gravity shift principle. The combination of linear motion and turning motion can realize the motion of the environmental survey spherical robot in arbitrary direction. In the environmental survey spherical robot, the hollow shaft which is relatively stationary to the spherical shell is arranged inside, and a stable platform is provided for mounting a sensor, a controller and the liker. The environmental survey spherical robot combines the linear motion mechanism with the turning mechanism, has the advantages of simple motion mode, flexible motion, strong maneuverability, and can be used for various tasks, such as hypertoxic gas inspection, field environmental observation, planet survey and the like.

The invention discloses an amphibious spherical robot which includes a spherical shell; a water spray propulsion device, a sink and float device and a drive mechanism are arranged in the spherical shell. The water spray propulsion device includes a propulsion pump; one ends of a suction pipe and a water spray tube are connected on the propulsion pump; the other ends of the suction pipe and the water spray tube are connected on a water suction opening and a water spray opening arranged on the spherical shell; a remote-control mechanism for controlling the water spray amount is arranged on the spherical shell. The sink and float device includes a water storage tank arranged in the spherical shell which is connected with one end of a water inlet and outlet tube; the other end of the water inlet and outlet tube is connected with a special water inlet and a special water outlet arranged on the spherical shell; the drive mechanism is fixed on the inner wall of the spherical shell to drive the spherical shell to rotate. The invention creatively proposes that the water spray propulsion device is additionally arranged in the spherical robot, thus leading the spherical robot to be capable of flexibly moving in the water.

The invention discloses a spherical robot of omnidirectional movement, which relates to the technical field of spherical robot. A walking driving device comprises a horizontal circle (5) and a semicircle frame (6) vertically and fixedly connected with a lower side of the horizontal circle, wherein, the horizontal circle forms a revolute joint with a sphere shell via a minor axle (3) and a bearing; a bottom of the semicircle frame is fixedly connected with a straight line walking device comprising a walking motor (7), a main wheel (8) and a counterweight; the main wheel is driven by the walking motor and rolls along an inner side of the sphere shell so as to push the sphere to move along a straight line by shuttling the sphere gravity; a top of the semicircle frame is provided with a steering control mechanism comprising a direction change motor (11), a horizontal rod (13) and a mass block (14); the horizontal rod and the mass block rotate around a geometric center line of the semicircle frame under the driving force of the steering motor, thus causing the sphere to rotate in an opposite direction and changing the moving direction of the sphere. The invention has the advantages of novel structure, simple control and good stability; besides, and has the ability of omnidirectional movement, pivot steering and accessory parts carrying.

The invention discloses a spherical robot with binocular stereoscopic vision. The spherical robot with the binocular stereoscopic vision comprises a visual camera support structure, a straight line and turning driving mechanism, a novel spherical shell and balance weights. The spherical shell is a whole formed by three portions, the spherical crowns of a left spherical shell and a right spherical shell are cut to form a through hole, a long shaft which cannot rotate with the spherical shell is arranged, the installation of a visual camera sensor is convenient, a visual camera can stretch out of the spherical shell through the through hole of the spherical shell, and the limitation of the spherical shell is avoided. A movement mechanism is provided to enable the spherical robot with the binocular stereoscopic vision to have the capacity of being flexible in turning.

The invention discloses a novel spherical robot capable of being carried with two different visual cameras; and the novel spherical robot mainly consists of such parts as a homogeneous spherical shell, a camera mounting structure, an internal driving mechanism, a visual module and a weight. The homogeneous spherical shell is formed to a complete sphere by connecting two half spherical shells through a connecting piece; spherical crown parts at two sides are cut off; and two flange plates are mounted. The camera mounting frame is fixed at the two ends of a hollow empty pipe, extending outside the spherical shell, through a camera connecting block, and a camera is mounted on the mounting frame, so that the shielding of the spherical shell to the viewing field of the camera is prevented. The novel spherical robot is novel and compact in structure and lower in total mass; and two visual cameras can be carried outside the spherical shell, and cannot move along with the rolling of the robot, so that stable visual image information can be obtained, the control problem of the spherical robot is preferably solved, and the exploration task of external environment is realized.

The invention belongs to the field of electromechanical technique, and relates to a spherical moving robot, and in particular relates to a fluid driving spherical robot which comprises a spherical shell, an annular seal container, axial flow devices, an inner driving rotating mechanism and a main shaft. The fluid driving spherical robot is characterized in that the spherical shell consists of two hemispherical shells including a left hemispherical shell and a right hemispherical shell; the annular seal container is positioned in the spherical surface; the outer annular surface of the container is concentric with the spherical surface of the spherical shell; the container is filled with fluid; the volume of the fluid is half of the volume of the container; two axial flow devices are symmetrically installed in the annular seal container; the axial flow devices drive a liquid to flow in the annular seal container, thus the mass center of the spherical robot is changed, thus the spherical robot can move forwards and backwards; the inner driving rotating mechanism positioned in the spherical shell mainly comprises an inner driving bracket, a motor, a motor support, a flywheel shaft, a flywheel, an electricity supply power supply and a controller; the main shaft is fixedly connected with the inner driving bracket through the motor support; the fly wheel is installed on the inner driving bracket through a bearing; the motor shaft is connected with the fly wheel through a coupling; and the motor drives the lower part of the motor to rotate together with the flywheel shaft vertical to the main shaft and the fly wheel, and the spherical robot takes a turn under the driving of the fluid on the basis of an angular momentum conservation principle.

The invention provides a hemispheric differential spherical robot. The spherical robot comprises an outer spherical shell formed by a left hemispheric shell and a right hemispheric shell; a main frame is arranged in the spherical shell; a left support seat and a right support seat are respectively fixed on the inner side at the top of the left hemispherical shell and the right hemispherical shell; the support seats are connected with the connection positions of two corresponding rectangular frameworks by a support frame; one end of the support frame is fixedly connected with the main frame and the other end thereof is connected with the support seats in a slide way; an electric motor support plate is arranged at the connection position between the support frame and the main frame and used for fixing an electric motor with long axis; the electric motor with long axis is connected with the support seats by a bearing which is arranged in the support frame in a penetrating way; and the main frame is internally provided with at least one heavy pendulum which is arranged on a vertical plane and fixed with the main frame through the frame of the heavy pendulum. The hemispheric differential spherical robot divides the spherical shell into two mutually independent hemispheric shells for respective driving and controlling, thus having more flexible and accurate controllability of motion orientation.

The invention discloses a crawler type spherical robot, which comprises a spherical shell, a frame arranged in the spherical shell, a rolling drive device arranged on the frame, a mechanical arm arranged on the frame, spherical shell opening-closing devices and a crawler travelling device, wherein the spherical shell consists of a left semi-spherical shell and a right semi-spherical shell; the spherical shell opening-closing devices are both arranged between the frame and the left semi-spherical shell and the right semi-spherical shell; the robot also comprises a driving motor arranged on the frame, and the driving motor is connected with the left semi-spherical shell and the right semi-spherical shell by a transmission mechanism, so that the left semi-spherical shell and the right semi-spherical shell can move relative to the frame so as to realize the opening and closing of the spherical shell; and the frame is provided with the driving motor which is connected with the crawler travelling device by the transmission mechanism, so that the crawler travelling device can move to be extended or retracted from the opened spherical shell. The crawler type spherical robot combines the characteristics of the crawler type robot and the spherical robot, better acquires external environmental information, realizes intelligence on the basis of the external environmental information, and further widens the application range of the spherical mobile robot.

The invention aims to provide a hemisphere differential telescopic spherical robot. The hemisphere differential telescopic spherical robot comprises outer hemisphere shells, a driving part and a telescopic mechanism, wherein the driving part is of a double motor driving structure; left and right hemispheres are driven by a motor respectively; the movement functions such as advancing, retreating and pivot turning of the robot are realized by applying a hemisphere differential principle; a threaded transmission principle of a lead screw is applied by the telescopic mechanism of the robot to realize stretch of the two outer hemispheres; a double-cross four telescopic rod structural design is adopted by the telescopic mechanism of the robot. The double-cross four telescopic rod structural design is adopted by the telescopic mechanism, so that the maximum load capable of being born by the robot is increased during running of the robot, and the stability and the reliability of the internal structure during rolling advance of the robot are improved. The telescopic spherical robot has wide application, and corresponding technical application requirements for carrying out field tasks can be met by arranging different sensors.

The invention discloses a long journey continuing wind power driven type spherical robot in the polar region. The robot comprises a double-layer flexible airbag spherical shell, a plurality of pull cords, a solar film, an interior rigid spherical shell, four supporting pipes and spring damping devices, wherein an interior spherical shell and an exterior spherical shell of the double-layer flexible airbag spherical shell are connected through the evenly distributed pull cords, and an independent air cavity is formed in the double-layer flexible airbag spherical shell; the interior rigid spherical shell is located in the center of a sphere and connected with the interior flexible spherical shell through all the supporting pipes, and a control system and a power module are arranged in the interior rigid spherical shell; the solar film is installed on the inner spherical wall of the double-layer flexible airbag spherical shell and connected with the power module in the rigid spherical shell; the supporting pipes are hollow, and each supporting pipe is connected with the corresponding spring damping device. The robot is driven through wind power in a passive mode, energy is provided through solar energy, and the robot has good environment adaptability and long journey continuing characteristic and can be widely applied to detection in unknown environments such as the polar region and the like.

The invention discloses a bouncing omnidirectional rolling spherical robot provided with a stable platform. The spherical robot comprises a mechanical suspension mechanism, a braking mechanism and a jump mechanism. A plurality of sensors are added onto the internal suspension mechanism, so that the functions of the robot in multiple fields can be realized. A mechanical suspension bracket device is added into a transparent ball shell and is matched with a direct current (DC) rotary magnetic pole type brake motor, a turning motor and a piece of electromagnet, so that the plane and bounce motion of the robot can be completed.

The invention discloses a spherical robot having a bionic walking function. The spherical robot comprises a spherical shell module, a rolling driving module, a foot module, a supporting module and a foot balance module. The spherical robot disclosed by the invention has two basic movement modes of spherical rolling movement and foot type walking movement, so that the spherical robot has high movement efficiency of spherical rolling and good terrain adaptability of foot type walking, and can also enable the two movement modes to supplement each other, and the obstacle surmounting performance of the spherical rolling and the movement efficiency of the foot type walking are improved.

The invention provides a tridrive spherical robot. The tridrive spherical robot comprises that: two transmission shafts are symmetrically arranged in a spherical shell through a sphere center; one end of each transmission shaft is fixedly connected with the inner wall of the spherical shell; a frame in a differential transmission mechanism is rotationally and fixedly arranged on a shaft end part adjacent to the two transmission shafts; two bevel gears are rotationally and fixedly arranged on the transmission shafts respectively and are connected with a motor respectively through the transmission mechanism; a counter weight connecting shaft is arranged on a frame body and is vertical to the two transmission shafts through the sphere center; a bevel gear is integrally and fixedly arranged on the counter weight connecting shaft, is positioned between the two bevel gears and is meshed with the two bevel gears; two oscillating bars are integrally and fixedly connected with and sleeved on the counter weight connecting shaft respectively; the oscillating bars are connected with counter weights; and the sleeved oscillating bar is connected with a counter weight motor through the transmission mechanism. The tridrive spherical robot adopts the differential transmission mechanism, so that the structure of the tridrive spherical robot is greatly simplified, the transmission mechanism is more compact, and transmission is performed flexibly and reliably.

An omnibearing spherical robot features that its internal moving mechanism is supported by its spherical casing via at least three single-wheel rolling units and can move relatively to said spherical casing, another single-wheel rolling unit used to make said moving mechanism in rolling contact with said spherical casing is driven by a motor for pushing the spherical casing to do linear movement and by another motor for changing the rolling direction to do omnibeary movement.

The invention discloses an environment-detecting spherical robot with a plurality of modes of motion, which is driven by wind power. The invention relates to the mechanical technical field, the purpose of the invention is to employ the robot to self-select the motion modes of rolling, floating and the like according to different terrain environments under wind actions, and the robot has the advantages of low energy-consumption and low cost. The robot mainly comprises a semicircular baffle plate device, a diaphragm cloth device, an outer layer air sac, an inner layer air sac and an inner core sphere system. The inner core sphere system is composed of an inner core sphere body, a hydrogen / helium reaction or liquid hydrogen / helium storage device, an air-feeding and air-bleeding device, an electropneumatic valve, a core control board, a power, a sensor group, a wireless transceiver module and the like, the core sphere system is used to detect environmental information and to be in wireless communication with the outside world, further, the core sphere system is used to control and realize the air-feeding and air-bleeding, and to enable the robot to be provided with two motion modes of pure rolling and floating. The environment-detecting spherical robot can be used to detect the ground environment such as Polar Regions and deserts and the environment of planetary surface, and the environment-detecting spherical robot also can be used in the field of investigation, entertainment, military affairs and the like.

The invention discloses a Mecanum-wheel-driven type spherical mobile robot. The robot comprises a rigid spherical shell, four automotive pneumatic rods serving as struts, a rack, two Mecanum wheels, hub motors inside the Mecanum wheels, a power supply module, a wireless charging device of the power supply module, and a main control module. The two Mecanum wheels provide two perpendicular driving forces by being symmetrically fixed on the rack and being orthogonally arranged; one ends of the four struts are fixedly connected with the rack and the other ends of the four struts are in contact with the inner surface of the spherical shell; moreover, the four pneumatic rods are uniformly distributed in the same plane vertical to the plane where the wheels are positioned and a six-point stable supporting structure is formed by the four pneumatic rods and the two wheels. The control module, a battery and the other devices are all fixed on the rack and the integral internal structure is simplified to the greatest extent. According to the invention, the internal structure of the spherical robot is simplified and energy loss of contact drive is reduced.

The invention discloses a universal rolling spherical robot and relates to the field of the spherical robot. A short axis motor and a short axis are positioned at the center line of a spherical shell and both ends of an inner frame are used as rotational supports; a long axis passes through the center line of the spherical shell and is vertically crossed with the center line of the spherical shell, on which the short axis is positioned, at the sphere center; the inside of the spherical shell is used as a rotational support pair of the long axis; a driven gear on the long axis is meshed with a long axis driving gear connected with a long axis motor; an axis of an azimuth motor passes through the sphere center; inertial wheels are connected with the azimuth motor; the symmetric line of the inertial wheels passes through the axis of the azimuth motor; the short axis and the long axis rotate to cause overturning of the inertial wheels, so that the linear motion of the spherical robot is realized; and the inertial wheels are driven to rotate by the azimuth motor, so that the steering control of the spherical robot is realized. Three freedom degrees of the universal rolling spherical robot are mutually independent; the omnibearing movement of the spherical robot is realized; the universal rolling of the spherical surface of the spherical robot is realized; the control mode is simple; the gravity centers of the inertial wheels are easy to regulate; and a frame-shaped structure of the inner frame can be used for controlling the arrangement of parts such as a circuit board, a power supply and the like.

The invention discloses a three-drive spherical robot which comprises a circle spherical shell and a drive motor; wherein, a track is arranged on the inner surface of the spherical shell; an annular rack is arranged on the inner surface of the track; a walking bracket is connected with the track by a road wheel engaged with the rack; a walking bracket guide wheel is arranged on the walking bracket as well; the walking bracket is provided with a track motor and comprises a spherical frame as well; one end of the spherical frame is connected with the walking bracket by a bearing and the other end is connected with a rotating bracket by a long axis motor; a short-axis motor is axially arranged at the spherical frame; a heavy pendulum is axially arranged at the short-axis motor; the rotating bracket is connected with the track by the guide wheel arranged at the walking bracket. The three-drive spherical robot not only moves flexibly, but also realizes motion redundancy; under the situation that one of a track axis motor drive or a short axis motor drive goes wrong, the rest two drives can still be used for realizing omnidirectional rolling, namely realizing the system fault tolerance by a configuration design.

The invention provides a deformable and reconfigurable spherical rescue robot. The deformable and reconfigurable spherical rescue robot mainly comprises a sphere and wheel interconversion mechanism, a butt joint and reconfiguration mechanism and a gravity center adjustment mechanism. Through a deformation mechanism and the butt joint and reconfiguration mechanism, interconversion of a sphere form, a double-wheel form and a multiple-wheel form can be realized, and the robot can move flexibly in each form; in the sphere form, electronic components of the robot are all packaged inside a spherical shell, the self protection ability is good, and erosion of dust and harmful gas can be effectively prevented on a rescue site; and two robots in the double-wheel form can be reconfigured to form a robot of the multiple-wheel form in a butt joint mode, and therefore the driving force and the stability of the robot can be improved, the obstacle crossing ability of the spherical robot on the rescue site can be improved, and the ability of the spherical robot to adapt different terrains can be improved.

The invention discloses a spherical-hexapod shape shifting robot comprising outer supporting mechanisms, a rotating mechanism and robot leg parts. Each outer supporting mechanism comprises a base plate, a U-shaped frame, a steering engine and a spherical segment. The rotating mechanism comprises a steering disc, a driving mechanism and rotating pieces. The rotating pieces are distributed along the circumferential direction of the driving mechanism and connected with the driving mechanism. The driving mechanism drives the rotating pieces to stretch or retract. Each robot leg part comprises a steering engine, a connecting frame and a foot. The outer supporting mechanisms are fixedly connected with the rotating mechanism. The robot leg parts are distributed along the circumferential direction of the rotating mechanism and fixedly connected with the rotating pieces. The rotating mechanism and the robot leg parts are used for forming a hexapod robot body. The rotating mechanism and the outer supporting mechanism are used for forming a spherical robot body. By means of the outer supporting mechanisms with the spherical segments, the rotating mechanism which can stretch to be in a segment shape and retract to be in a disc shape and robot leg part structures provided with the steering engines and the feet and arranged on the rotating mechanism, the hybrid robot capable of shifting into the spherical robot body and the hexapod robot body is formed.

The invention discloses a five-drive spherical robot using a mixed synchronous belt. The spherical robot comprises a spherical case and a track frame, wherein the spherical case is fixed on the outer surface of the track frame, and an annular rigid belt formed by the mixed synchronous belt is fixed in the track frame. Two ends of a center shaft are connected through a coupling center shaft motor and an electromagnetic clutch brake respectively and installed in an inner frame. A counter weight swing arm is connected with the center shaft and a counter weight box. Four pairs of T-shaped support arms are connected with a center outer frame and press wheel shafts, press wheels are sleeved on the press wheel shafts in a sliding mode and pressed on tracks of the track frame. Belt wheel shafts are installed in the middle of junctions of the T-shaped support arms, and synchronous belt wheels are mounted on the belt wheel shafts and meshed with the mixed synchronous belt. The four synchronous belt wheels move along the fixed rigid mixed synchronous belt to enable the counter weight position to change under the drive of circumferential motors and to enable the gravity center position of the spherical robot to change under the drive of a center shaft motor, and the spherical case is driven to roll along the ground. Motion control of the spherical robot is achieved through control of five motors.