14 results about "Spherical robot" patented technology

This invention relates to a highly mobile spherical robot for lunar exploration, comprising a tread, a hub, a main frame, a steering gravity pendulum assembly, and a propulsion drive device. The tread employs a flexible mesh structure, with its two side edges fixed to the spherical hub. The steering gravity pendulum assembly achieves lateral oscillation between the gravity pendulum and the main frame via gear transmission. Two propulsion drive motors are symmetrically arranged on the main frame, transmitting torque to the hub through gears meshing with an internal gear ring. Four spokes extend from each side of the main frame, with rollers mounted at the ends of the spokes. These rollers roll in grooves on the hub, supporting the main frame and providing rotational freedom between the main frame and the hub. This spherical robot has a simple structure and is easy to control. Its flexible mesh tread structure improves the robot's ability to traverse the sandy, soft, and undulating lunar surface, and its gravity pendulum-based structure provides self-balancing characteristics, making it suitable for autonomous exploration activities in the lunar environment.

1. Name of the designed product: Spherical robot. 2. Use of the designed product: The designed product is used for spherical robot. 3. Design points of the designed product: The shape. 4. Picture or photo best indicating the design points: Fig. 1.

The application belongs to the technical field of spherical robots, and particularly relates to a tail support structure of a spherical robot. The application comprises a tail buckle, a tail support, a tail, a driving mechanism, a tail buckle rotating shaft, a tail buckle torsional spring, a tail support rotating shaft, a tail support torsional spring, a tail rotating shaft and a tail torsional spring. The tail buckle, the tail support and the tail are respectively installed on the tail buckle rotating shaft, the tail support rotating shaft and the tail rotating shaft. The tail buckle, the tail support and the tail are respectively provided with the tail buckle torsional spring, the tail support torsional spring and the tail torsional spring at the rotating connection positions of the tail buckle rotating shaft, the tail support rotating shaft and the tail rotating shaft. When the tail is in a closed state, the tail support torsional spring and the tail torsional spring are in a pre-tightening state. The driving mechanism is in engagement with the tail buckle. Under the actions of the driving mechanism, the tail buckle torsional spring, the tail support torsional spring and the tail torsional spring, the tail can be automatically opened, and can be manually closed and stored when the work is completed, which is convenient and reliable.

1. Name of the designed product: Four-spherical robot. 2. Use of the designed product: Spherical robot. 3. Design points of the designed product: Shape. 4. Picture or photo best indicating the design points: Perspective view.

The application relates to mobile robot technology and particularly relates to a multi-loop spherical robot derived from a Bricard mechanism, which is composed of a first spherical shell, a second spherical shell, a third spherical shell, a fourth spherical shell, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a first connecting base, a second connecting base, a third connecting base, a fourth connecting base, a fifth connecting base and a sixth connecting base, and a driving motor, wherein the multi-loop derived from the Bricard mechanism is combined with the spherical shell, a new configuration of a single-degree-of-freedom driving spherical robot is obtained, and the spherical robot has the motion ability of a tumbling gait, a peristalsis gait and a self-rotation gait.

1. Name of the design product: interactive educational robot (ball-shaped robot). 2. Use of the design product: education of young children, dance performance, and growth companion for teenagers. 3. Design points of the design product: structure and shape. 4. Picture or photo best indicating the design points: perspective view.

The application discloses a kind of underground pipe network health detection systems based on spherical robot.System includes spherical detection carrier, water quality sensor, fusion navigation unit and shore-based analysis platform.Carrying body is completely driven by passive movement in pipeline water flow, its inside adopts light upper heavy lower layout to keep sensor vertical downward stable detection posture in water automatically.Fusion navigation unit solves the carrier motion trajectory in real time by the data fusion of Doppler log and inertial measurement unit, and binds the space coordinates of each water quality sampling point obtained by water quality sensor with decimeter level precision natively.Shore-based analysis platform receives synchronous data, reconstructs three-dimensional trajectory and generates water quality space distribution atlas, and then automatically identifies concentration abnormal point and outputs diagnosis report.The application realizes non-invasive online detection and accurate positioning under normal operation of pipe network.

The application discloses a light-driven three-dimensional motion spherical robot and a robot cluster. The spherical robot comprises a robot main body and a topological shell assembly. The robot main body comprises a shell, a driving module, an environment field sensing module, a signal emitting module and a control module. The driving module is used for driving the robot main body to move. The environment field sensing module is used for sensing an environment field signal. The signal emitting module is used for emitting the environment field signal. The control module is connected with the driving module, the environment field sensing module and the signal emitting module respectively, so as to control the driving module and the signal emitting module according to the environment field signal sensed by the environment field sensing module. The topological shell assembly is detachably connected to the outer surface of the shell. The topological shell assembly comprises an attachment structure used for attaching the robot main body to the surface of other objects and / or interconnecting with other robots. The application enables a single robot or a robot cluster to autonomously realize ground motion, vertical surface climbing and autonomous stacking in a three-dimensional space.

The application relates to the field of intelligent balancing vehicles and robot motion control technology and discloses a self-perception omni-directional motion balance ball vehicle based on visual guidance. The equipment comprises a balance plate overall mechanism, a wire-driven magnetic attraction type spherical robot and a balance plate upper cover plate seat, realizes human-machine cooperation of "body tilting in which direction, vehicle moving in which direction and seat always balancing", and the spherical robot realizes omni-directional motion response by driving an internal mass block to tilt through three groups of driving motors and steel wire driving, and realizes the omni-directional motion response in combination with a magnetic attraction reset mechanism; the balance plate mechanism adopts three omni-directional wheels for support, fuses multi-sensor data such as vision and a gyroscope, adjusts in real time to offset the body tilting torque, keeps the seat horizontal, and improves the tilting range through magnetic attraction coupling. The application breaks through the pain points of the freedom limitation of traditional balancing equipment and the insufficient human-machine adaptation, has high balancing control precision, a simple and reliable mechanical structure, and is suitable for intelligent travel, experimental teaching and equipment research and development scenes.

This invention relates to a spherical companion robot based on self-balancing technology. The system includes: a data acquisition unit, a data processing unit, a motion control unit, and an interactive execution unit; acquiring multi-dimensional raw data of the spherical companion robot; extracting the robot's posture feature parameters; decomposing remote control commands into action sequences and parametrically parsing interactive configuration information; obtaining hierarchical encoding of motion parameters using corresponding dynamic adaptation calculations; obtaining self-balancing control parameters and controllable motion drive commands through collaborative matching; adjusting and calibrating the tilt posture to obtain the spherical companion robot's self-balancing state; performing linkage analysis of interactive commands and motion states on the self-balancing posture and controllable rolling motion; triggering peripheral action timing planning based on the analysis results; and driving built-in peripherals to execute corresponding action commands according to the timing sequence; thus realizing the self-balancing motion of the spherical companion robot.

This invention discloses a spherical robot with spring-driven jumping and adsorption climbing, mainly composed of an end-effector suction cup, a hollow fiberglass piston rod, a spring, a flexible wire, a spherical shell, a miniature camera, a dodecahedral core, a ball screw-type wire take-up and release device, an attitude sensor, and a composite pneumatic system. The wire take-up and release device uses a motor-driven winding drum to wind the flexible wire, pulling the suction cup to compress the spring and store elastic potential energy. Then, a ball screw mechanism controls gear disengagement to quickly release the flexible wire. The instantaneous rebound of the spring provides the robot with propulsion, and the various structures return to their orderly positions, achieving continuous cyclical movement. The entire robot, equipped with a composite pneumatic system, can climb smooth vertical walls under negative pressure and propel jumps with airflow. This invention features a compact structure, flexible movement, stable power, and high energy utilization, effectively improving the robot's obstacle-crossing and vertical movement capabilities, and is applicable to a wider range of scenarios.

Disclosed is an electromagnetic driving type spherical robot. The electromagnetic driving type spherical robot includes an outer expansion ball, wherein an inner driving ball is mounted inside the outer expansion ball, multiple stretching sleeves are mounted between the inner driving ball and the outer expansion ball, first springs are arranged on the stretching sleeves, a printed circuit board (PCB) is mounted inside the inner driving ball, screws are mounted at four comers of the PCB, second springs are arranged on the screws, and an electromagnetic driving mechanism is mounted on the inner driving ball. According to the present invention, the robot can move in degrees orientations on a ferromagnetic material, and has flexible steering performance and a strong capability of adapting to an environment.

The utility model relates to an amphibious spherical robot, including spherical shell, wheeled module, propeller module and foot leg module, spherical shell includes intermediate spherical shell and half spherical shell, installs center support in spherical shell, installs steering motor on center support, and steering motor connects heavy piece, be equipped with main beam and a plurality of support arms on center support, and half spherical shell is connected with support arm through spherical shell fixed support, propeller module is installed on main beam, and foot leg module is installed on support arm, wheeled module is installed on intermediate spherical shell, compared with prior art, the utility model has modularization design, combines multiple movement modes, has certain obstacle crossing ability and amphibious movement ability, adopts propeller module to make it can float on the water surface and can complete straight running and steering actions, adopts foot leg module under complex terrain conditions, satisfies obstacle crossing ability and other advantages.

The application provides a coaxial dual-rotor air-ground amphibious spherical robot based on a variable center control principle, which comprises a canard-like spherical shell mechanism for protecting internal mechanisms, providing additional lift in a flight mode and shell support in a land rolling mode, a coaxial dual-rotor driving mechanism for providing required lift in the flight mode, a gyro frame driving mechanism for providing required moment in the land rolling mode, and a variable center driving mechanism for providing required moment for attitude adjustment in the two motion modes. The application realizes amphibious motion function of the spherical robot through the cooperation of the variable center driving mechanism with the coaxial dual-rotor driving mechanism and the gyro frame driving mechanism. The application has the advantages of simple and flexible structure, variable motion mode and strong terrain passability, and can meet the demand of rescue and disaster relief, reconnaissance and detection and other work tasks in unstructured environments such as mine ruins, forest caves and the like.