84 results about "Spherical robot" patented technology

The utility model provides a deformable robot, and relates to the technical field of probe vehicles, a plurality of telescopic devices are inserted on a spherical mechanical shell to form a sea urchin-shaped robot, a driving device is arranged on the mechanical shell, and the driving device drives the telescopic devices to move so as to drive the telescopic devices to telescopically move relative to the mechanical shell. The effect that the outer contour changes into the given track body contour is achieved, that is, the effect of rolling along the given track is achieved through deformation of the outer contour, and the technical problems that in the prior art, an existing spherical robot cannot move along the given track, and the control difficulty is large are solved.

A robot may have a sphere-like outer shell defining an inner cavity. An axle unit includes an axle connected at its opposed ends to the outer shell, in the inner cavity, and a transmission to transmit a torque to the axle. A pendulum drive unit is operatively connected to the axle unit and supported in the outer shell by the axle, the pendulum drive unit having actuators to produce torque, the actuators operatively connected to the transmission of the axle unit. The axle unit and the pendulum drive unit concurrently define a cylindrical joint by which the pendulum drive unit is movable in rotation and translation relative to the axle to tilt and drive the sphere-like outer shell via the actuators.

The invention relates to the technical field of mobile robots, in particular to a bimodal spherical mobile robot based on a connecting rod folding and unfolding mechanism, which comprises a first spherical shell module, a second spherical shell module and a driving module, the first spherical shell module comprises a first connecting shell, a second connecting shell, a third connecting shell, a fourth connecting shell, a fifth connecting shell, a sixth connecting 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 and a circular shell; the second spherical shell module comprises a first connecting shell, a second connecting shell, a third connecting shell, a fourth connecting shell, a fifth connecting shell, a sixth connecting 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 and a circular shell; the control module comprises a first gear motor, a second gear motor, an electric push rod, a double-shaft steering engine, a first sleeve, a second sleeve, a first bearing connecting piece, a second bearing connecting piece, a first bearing, a second bearing, a steering engine connecting piece and a weight. By changing the spherical and folding structures of the mechanism structure, optimization and improvement of the moving stability, the narrow terrain passing efficiency and the environment adaptability of the robot are synchronously achieved.

The invention discloses an automatic obstacle crossing driving system and a spherical robot. The automatic obstacle crossing driving system comprises a middle ring module, a driving module and an execution module. The driving module is connected with the middle ring module; the execution module comprises a rotating assembly, an obstacle crossing assembly, an elastic assembly and a wheel ring, the rotating assembly is connected with the output end of the driving module, the obstacle crossing assembly is connected with the rotating assembly, the wheel ring is rotationally connected with the driving module, the elastic assembly is connected with the wheel ring, and the free end of the elastic assembly abuts against the obstacle crossing assembly; in the obstacle crossing mode, the wheel ring is clamped, the rotating assembly rotates to drive the obstacle crossing assembly to extrude the elastic assembly, and the elastic assembly drives the obstacle crossing assembly to stretch out of the wheel ring. According to the mechanical linkage obstacle crossing structure, real-time intervention of a processor is not needed, response delay caused by calculation and communication in a traditional system is eliminated, it is ensured that obstacle crossing operation can be completed in the first time when an obstacle is encountered, and the working efficiency and reliability of the system are improved.

The present invention discloses an active deployment spherical robot based on ratchets and pawls, belonging to the field of spherical robots; it includes a frame, two hemispherical ball wheel mechanisms, and a deployment drive mechanism; the deployment drive mechanism includes a main shaft, a lateral deployment drive mechanism, and a rotation drive mechanism; each ball wheel mechanism includes an inner end ball wheel assembly, a three-blade impeller deformation mechanism, and an outer end ball wheel assembly. The lateral deployment drive mechanism drives the main shaft to move outward, causing the three-blade impeller deformation mechanism to deploy radially, and then the rotation drive mechanism drives the three-blade impeller deformation mechanism to rotate circumferentially through the inner end ball wheel assembly, enabling the entire robot to move forward. By setting the three-blade impeller deformation mechanism and the lateral deployment drive mechanism, the deployment and deformation of the hemispherical wheels of the spherical robot can be achieved, and the obstacle-crossing ability of the spherical robot can be improved by expanding the radius of the ball wheels; this solution has the advantages of few driving components, low energy consumption, small volume, simple structure, and strong obstacle-crossing ability.

The utility model provides a self-rolling reconnaissance ball for city street battle, which belongs to the technical field of spherical robots and comprises a ball body provided with a containing cavity and a reconnaissance hole; the bracket is rotatably connected with the ball body and is positioned in the accommodating cavity; the camera is connected with the bracket; the driving assembly comprises a gear ring, a gear and a first motor, the gear ring is connected with the support, the gear is connected with the first motor and meshed with the gear ring, and the first motor is connected with the support; and the power supply element is connected with the bracket. The beneficial effects of the utility model are that the first motor drives the gear to rotate and drives the sphere to move relative to the support through the gear ring, so that flexible movement is realized, and the camera can shoot clear pictures; the self-rolling investigation ball for the city street battle can autonomously move in a complex city street battle environment and carry out reconnaissance.

The application belongs to the technical field of robots, and particularly relates to a freely steering magnetic driving spherical robot, which changes the distribution of magnetic fluid in the shell by controlling the discharge of electromagnets, so that the spherical robot generates centroid deviation and then displacement to realize the rolling of the robot, and can also generate jumping of the robot by the impact of the impact block attracted by the electromagnets; the spherical structure enables the robot to freely move in various directions and is not limited by the environment, solves the problems of movement and operation in the complex environment that cannot be adapted by traditional spherical robots, can perform various tasks in the environment that cannot be reached or is dangerous, can reduce the risk exposure of human beings, and improves the efficiency and reliability of tasks.

The invention discloses a rolling sucker robot in the technical field of wall-climbing robots, which comprises a spherical shell, a rolling support structure is arranged in the spherical shell, the rolling support structure is connected with an eccentric driving mechanism through a connecting structure, the eccentric driving mechanism is provided with an eccentric swing mechanism in a matched manner, and the swing mechanism is provided with an adsorption mechanism in a matched manner. And the adsorption mechanism and the eccentric driving mechanism are matched with a control module. The strength of the spherical shell is increased through the rolling supporting structure, and the eccentric driving mechanism drives the eccentric swing mechanism to act, so that the gravity center of the whole system is changed, the spherical shell rolls on the ground, and autonomous movement of the robot in any direction is achieved; and meanwhile, the adsorption mechanism can enable the spherical shell to generate effective adsorption force on the corresponding position of the rolling wall surface of the spherical shell, so that stable adsorption on the wall surface is realized. The requirements of the two aspects of motion performance and site requirements can be met, and flexible motion of the spherical robot on a complex site is achieved.

The invention discloses a detection robot with a composite motion mode. The detection robot comprises a spherical body, a six-foot crawling mechanism, a swing arm and a driving mechanism. The six-foot crawling mechanism is arranged at the bottom of the spherical body, and the six-foot crawling mechanism has a crawling state of extending out of the spherical body and a storage state of deforming into the outer cambered surface of the bottom of the spherical body; the two swing arms are respectively arranged on two opposite sides of the spherical body in a swinging manner; the driving mechanism is arranged in the spherical body, and when the detection robot becomes spherical, the driving mechanism is used for controlling the two swing arms to swing and make contact with the ground so as to drive the detection robot to roll; according to the scheme, the advantages of a spherical robot and the advantages of a hexapod robot are combined, and the robot can move by changing modals according to different environments and requirements so as to adapt to different application scenes.

This invention relates to a modular spherical robot, comprising a spherical shell, a frame disposed within the shell, and a self-reconfiguration mechanism mounted on the frame. The self-reconfiguration mechanism includes an even number of circumferentially distributed first magnetic attractors, with adjacent first magnetic attractors having opposite outward polarities. The self-reconfiguration mechanism also includes a second driving mechanism for driving the multiple first magnetic attractors to rotate synchronously by α degrees, where α is the included angle between two adjacent first magnetic attractors. The outward-facing side of each first magnetic attractor forms a magnetically controlled area within the spherical shell. The self-reconfiguration mechanism also includes several second magnetic attractors, the number of which does not exceed the number of first magnetic attractors. Each second magnetic attractor is located within a magnetically controlled area and is hinged to the frame. Each second magnetic attractor can rotate around its hinge axis, changing its outward polarity. This invention provides second magnetic attractors within the spherical shell, and the polarity of the second magnetic attractors facing outwards from the shell can be changed, facilitating the connection and separation of the spherical robot.

The invention belongs to the technical field of robots, and particularly relates to a deformable spherical robot and a moving method thereof. Comprising a main machine frame and variable wheel set devices arranged on the two sides of the main machine frame, each variable wheel set device has a two-wheel closed form and a four-wheel unfolded form, each variable wheel set device structurally comprises an inner wheel and an outer wheel which are eccentrically designed with the main machine frame, and the inner wheels and the outer wheels are fixed to the main machine frame through corresponding suspension devices; in the closed state, the circle centers of the inner wheel, the outer wheel and the main rack are located on the same axis. In the unfolded state, the inner wheel, the outer wheel and the circle center of the main rack form a triangular structure. The deformable spherical robot aims to keep stable and efficient movement on various terrains such as flat road surfaces, pits and protrusions through the flexible form conversion and wheel swinging strategy of the deformable spherical robot, and the adaptive capacity under different terrain conditions is remarkably enhanced.

The present invention discloses an amphibious spherical robot with adjustable rotor angle. The amphibious spherical robot includes a housing, a frame, and a rotor assembly. The housing is provided with an annular groove; the frame is disposed within the inner cavity of the housing; the rotor assembly is disposed within the frame and has a folding configuration and a flight configuration. The rotor assembly includes a folding arm, a tilting arm, and a rotor. One end of the folding arm is rotatably connected to the frame, and the tilting arm is connected between the rotor and the folding arm. In the flight configuration, the tilting arm and the rotor extend outside the housing through the annular groove to drive the robot in flight. The tilting arm is rotatable relative to the folding arm to adjust the rotation direction of the rotor. The amphibious spherical robot with adjustable rotor angle according to the present invention has the advantages of good maneuverability and high flight maneuverability.

The spherical robot comprises a spherical shell, a side end cover and a driving mechanism, and is characterized in that the middle parting surface of the spherical shell is made of a rubber material, a supporting rod is arranged in the side end cover, and when the robot sinks into the mire, the driving mechanism drives the supporting rod to rotate. The rubber material of the spherical shell is sunken inwards to trigger an internal sunken part detection mechanism, and at the moment, a supporting rod in the side end cover extends out to assist the spherical shell to leave the mire and continue to move; when the robot stops, the supporting rods in the side end covers extend out to support the whole robot, and the stability during working is ensured; the problems that an existing spherical robot is difficult to advance in the mire land, and the posture is not stable enough during working are solved.

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.

The present disclosure concerns an articulated positioning system for positioning a scientific tool in predetermined position and orientation with respect to a head of a subject, the articulated positioning system comprising: a spherical robot arm assembly defining an arm displacement sphere, the spherical robot arm assembly comprising: a proximal arm segment comprising a base-mounting end portion connectable to a support structure and an opposed distal segment-mounting end portion, the proximal arm segment forming a proximal arc of the arm displacement sphere; and a distal arm segment comprising a proximal segment-mounting end portion pivotally mounted to the distal segment-mounting end portion about an arm segment connection axis and an opposed tool-holding end portion, the distal arm segment forming a distal arc of the arm displacement sphere. It also concerns a corresponding robotized positioning assembly and a corresponding method for positioning the tool in the predetermined position and orientation.

The invention discloses a water-land-air multi-domain micro-spherical robot system which comprises a spherical protective shell, a multi-mode core processing module, an integrated electronic speed controller and a power module, wherein the multi-mode core processing module, the integrated electronic speed controller and the power module are arranged in the spherical protective shell. The spherical protective shell comprises a hollowed-out upper outer layer, a closed upper inner layer, a closed lower inner layer and a hollowed-out lower outer layer, the closed upper inner layer, the closed lower inner layer and the hollowed-out lower outer layer are sequentially connected to the hollowed-out upper outer layer, a spherical shell is formed, and the closed upper inner layer and the closed lower inner layer are arranged to provide comprehensive protection for an internal hardware system of the robot; the hollowed-out upper outer layer and the hollowed-out lower outer layer provide sufficient airflow circulation space for the power module while protecting the robot system, power of the power module is guaranteed, through combination of closing and the hollowed-out spherical shell, anti-collision protection of the internal structure can be achieved, the sufficient airflow circulation space is provided for the interior, and the working efficiency of the power module is improved.

The invention provides a self-recognition method for the relative attitude of a differential wheel trolley in a spherical robot, and relates to the technical field of robot technology and intelligent control, and the method comprises the steps: constructing a Gaudberg polyhedron derived spherical grid system, and regularly deploying targets carrying three-dimensional coordinate information on the inner wall of a spherical shell; and establishing an indirect conversion path from the carbon steel spherical shell sphere center coordinate system to the internal differential wheel axle center coordinate system, and fusing the target information to generate a pose matrix comprising coordinates of a plurality of preset points on the differential wheel trolley in the carbon steel spherical shell sphere center coordinate system, so as to complete the identification of the relative attitude of the differential wheel trolley in the spherical robot. The technical obstacle that the relative pose in a separated driving structure cannot be measured is broken through, the environment sensing capacity and the mode switching reliability of the bimodal spherical robot are remarkably improved, and a brand new pose sensing normal form is provided for a multi-task robot system under the complex terrain.

The invention relates to a mobile robot technology, in particular to a multi-loop spherical robot derived based on a Bricard mechanism, which comprises a first spherical shell, a second spherical shell, a third spherical shell and 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 and an eighth connecting rod; a first connecting seat, a second connecting seat, a third connecting seat, a fourth connecting seat, a fifth connecting seat and a sixth connecting seat; the single-degree-of-freedom driven spherical robot is composed of a spherical shell and a driving motor, multiple loops are derived through a Bricard mechanism to be combined with the spherical shell, a new structure of the single-degree-of-freedom driven spherical robot is obtained, and the single-degree-of-freedom driven spherical robot has the movement ability of a rolling gait, a creeping gait and a

A single power steering spherical robot based on Bennett mechanism, which is a spatial single closed chain mechanism. The single power steering spherical robot based on Bennett mechanism is composed of a first connecting rod (1), a second connecting rod (2), a third connecting rod (3), a fourth connecting rod (4), a first spherical mechanism (9), a second spherical mechanism (8), a third spherical mechanism (5), a fourth spherical mechanism (6) and a driving motor (7). By controlling the forward and reverse rotation of the motor, the robot can realize straight motion and steering motion, and will be well applied in the fields of education, entertainment and military.

The invention discloses a spherical robot control method and device based on a mini-host and a single chip microcomputer, and belongs to the technical field of spherical robot control. The spherical robot control device comprises the mini-host, an accelerometer, a gravity pendulum, a flywheel, a gravity pendulum motor, a flywheel motor, the single chip microcomputer, a CAN signal transmission line, a PS2 handle and a PS2 receiver, the system is used for straight movement control of the spherical robot, signal transmission between the accelerometer and the mini-host and receiving and transmitting of relevant parameters between the mini-host and the single chip microcomputer are achieved through serial port communication, the single chip microcomputer controls the gravity pendulum motor and the flywheel motor, and steering and straight movement of the spherical robot are achieved through conservation of rotational inertia. Finally, the required stable motion state is achieved, motion control over the spherical robot is achieved, motion control over the spherical robot under the actual condition is optimized through a model predictive control algorithm, and motion of the spherical robot is more stable and controllable.

The present invention discloses a spherical robot attitude disturbance compensation control method and system. The control method includes: S1, the nutation angle θ and the spin angle #imgabs0#; S2, subtracting the nutation angle θ and the spin angle #imgabs1# from the real-time nutation angle y of the robot θ and the real-time spin angle #imgabs2# to obtain the error quantity e θ and #imgabs3# and differentiating them to obtain the differential quantities #imgabs4# and #imgabs5#. S3, inputting e θ and #imgabs6# and #imgabs7# and the quantity #imgabs8# into a fuzzy PID controller respectively to obtain the control quantities u θ and #imgabs9#. S4, combining u θ and #imgabs10# and transmitting them to the pendulum spherical robot for execution, collecting the attitude angle and angular velocity of the spherical robot, and outputting y θ and #imgabs11#. S5, sending the attitude angle, angular velocity and the control quantity u pid to the nonlinear disturbance observer to output the estimated disturbance #imgabs12#. S6, subtracting the disturbance #imgabs13# from the control quantity u pid to obtain the control quantity #imgabs14# and sending it to the pendulum spherical robot, and repeating steps S2 to S6 until the attitude adjustment is completed.

The invention relates to the technical field of mobile robots, in particular to a deformable spherical robot with bimodal motion ability, which is composed of a deformable shell module, a single-shaft steering engine shell, a first biaxial steering engine shell and a control module, the control module comprises a single-shaft steering engine, a first double-shaft steering engine, a second double-shaft steering engine, a second double-shaft steering engine connecting piece, a heavy pendulum connecting rod and a sleeve, and is combined with the internal spoke-like type deformation mechanism through the spherical shell, so that the effective expansion of the wheel type movement mode of the robot is realized based on the folding and unfolding mechanism; the robot has spherical totally-closed rolling and wheel type unfolding obstacle crossing dual-mode movement capacity, and the omnidirectional movement performance and the obstacle crossing capacity of the robot are cooperatively improved while the compact structure and the spherical shell closing performance are kept.

The invention discloses a line-driven magnetic type omni-directional moving spherical robot, and relates to the technical field of moving robots. The device comprises a magnetic outer spherical shell, an internal mass block assembly, a linear driving assembly, a detection assembly and a control unit, the internal mass block assembly is composed of an upper electromagnet, a lower side weight and a spring connecting the upper electromagnet and the lower side weight, the linear driving assembly comprises at least three sets of driving motors and high-strength steel wire ropes which are distributed in the circumferential direction, and the detection assembly comprises double gradienters. In the working process, the electromagnet is electrified to attract the outer spherical shell to fix the mass block, rope winding / unwinding actions of the driving motor in different directions are matched with deformation of the spring, the mass block tilts to achieve mass center deviation, and the outer spherical shell is pushed to roll; after the gradienter detects that the posture is reset, the electromagnet is powered off and repeated. According to the invention, the transmission structure is simplified, the motion response speed and omnidirectional flexibility are improved, and the device can be widely applied to scenes such as complex terrain detection and indoor inspection.

This invention discloses a trajectory planning and tracking control method for a spherical robot applicable to all terrains, comprising the following steps: S1, establishing a nonlinear kinematic model of the spherical robot including disturbance terms; S2, fitting the disturbance terms using a neural network and assigning initial values; S3, acquiring robot position and other state information, as well as obstacle information, using sensing devices; S4, performing trajectory planning and tracking control using an integrated adaptive model predictive planning and control algorithm; S5, calculating the optimal trajectory and control strategy using a sequential quadratic programming algorithm and the alternating direction multiplier method; S6, storing the optimal trajectory and sending the control strategy to the underlying attitude controller for execution; S7, repeating steps S3-S6 until the spherical robot reaches the endpoint. This method enables the spherical robot to traverse all terrains, improving its trajectory planning and tracking control performance under different terrain conditions.

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 present invention discloses a superelastic memory alloy rod-triggered spherical robot with a coronavirus-like appearance. The robot mainly consists of a rod-end contact, a superelastic memory alloy rod, a tough wire, a rod sleeve, a spherical shell, a miniature camera, a hexagonal connecting prism, a straight-through joint, a wire-retracting device, a dodecahedron core, a control panel, and a nine-axis attitude sensor. The wire-retracting device drives the winding drum to rotate through a motor to retract the tough wire, causing the elastic rod on the outer surface of the spherical robot to deform, and then quickly releases the tough wire. The bent elastic rod rebounds to provide power for the robot's movement. At the same time, the wire-retracting device and the elastic rod are reset to ensure the continuous movement of the robot. Changing the position of the knot on the tough wire can control the degree of bending of the elastic rod, and the control system controls the ejection cycle. The robot has a unique configuration, a novel principle, complex functions, strong human-machine interaction and perception capabilities, and high movement flexibility and stability. It has important theoretical significance and practical value for the research on spherical robots.