55 results about "Spherical robot" patented technology

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 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.

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 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 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 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 invention belongs to the field of robots, and discloses an anti-winding and anti-jamming spherical bouncing robot which comprises an upper hemispherical shell and a lower hemispherical shell, and the upper hemispherical shell and the lower hemispherical shell are combined to form a complete sphere. A plurality of notch grooves distributed in the circumferential direction are formed in the joint edges of the upper hemispherical shell and the lower hemispherical shell; the notch grooves of the upper hemispherical shell and the notch grooves of the lower hemispherical shell are arranged in a staggered mode, so that the upper hemispherical shell and the lower hemispherical shell can slide oppositely in the axial direction. A first sliding block and a first driving part are arranged in the lower semispherical shell, and a gap is reserved between the first sliding block and the central axis of the lower semispherical shell; the first driving part is connected with the first sliding block and is used for driving the first sliding block to rotate around the central axis of the lower hemispherical shell; a driving mechanism and an elastic part are arranged between the upper hemispherical shell and the lower hemispherical shell; the mode that the whole upper hemispherical shell and the lower hemispherical shell get close to each other for energy storage jumping is adopted, and the technical problems that an existing obstacle crossing spherical robot is prone to winding and clamping due to the fact that exposed mechanisms such as mechanical legs are adopted are fundamentally solved.

1. The name of the design product: spherical robot. 2. The use of the design product: used for moving in special environment, detecting the environment through camera, such as sand, pothole, etc. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

The application discloses a brain-controlled self-rolling spherical robot based on SSVEP and a control method thereof, which comprises an upper hemisphere shell and a lower hemisphere shell, the upper hemisphere shell and the lower hemisphere shell are fixed through buckles, a main body support is arranged in an inner cavity formed by the upper hemisphere shell and the lower hemisphere shell, a main control circuit board is fixed to the upper half of the main body support, a direct current motor A, a direct current motor B and a central shaft are fixed to the lower half of the main body support, an LED circuit board is arranged on the main control circuit board, the LED circuit board is in X shape, and LED lamp beads are arranged on four corners of the LED circuit board. The application integrates LEDs as stimulation sources in the spherical robot body, so that a user can control the robot and capture and judge the surrounding environment in real time. The application designs a spherical robot with a unique structure, and can ensure that the internal structure does not shake in any process.

The invention discloses a spherical rolling and jumping robot, belongs to the field of specialized robots, and particularly relates to a spherical robot capable of rolling and jumping for detection in a complex environment. The robot can switch motion modes, and the robot advances in a rolling mode on a flat road surface, so that the advancing speed is high, and the energy loss is low; in a complex terrain, especially when the robot encounters an obstacle difficult to roll over, the robot can switch the jumping mode, and the robot can adjust the take-off angle, the jumping direction and the air posture after taking off, so that the jumping track and the posture after landing are changed, and repeated jumping and passing through the complex terrain are carried out. The robot jumps through the six-bar mechanism, the robot can be prevented from flying in advance before the energy storage device is completely released, and the energy utilization rate is high.

The invention discloses a CD-ROM three-dimensional motion spherical robot and a robot cluster.The spherical robot comprises a robot body and a topology shell assembly, the robot body comprises a shell, a driving module, an environment field sensing module, a signal transmitting module and a control module, and the driving module is used for driving the robot body to move; the environment field sensing module is used for sensing an environment field signal, the signal transmitting module is used for transmitting the environment field signal, and the control module is connected with the driving module, the environment field sensing module and the signal transmitting module so as to control the driving module and the signal transmitting module according to the environment field signal sensed by the environment field sensing module; the topology shell assembly is detachably connected to the outer surface of the shell, and the topology shell assembly comprises an attachment structure used for enabling the robot body to be attached to the surface of other objects and / or to be connected with other robots. According to the invention, a single robot or a robot cluster can autonomously realize ground movement, vertical surface climbing and autonomous stacking in a three-dimensional space.

The application discloses a throwable spherical reconnaissance robot, which comprises two open half-spherical shells and an opening and closing mechanism arranged between the two half-spherical shells. The throwable spherical reconnaissance robot is provided with the opening and closing mechanism, so that the two half-spherical shells of the spherical robot are closed during throwing, the anti-falling performance is improved, the parts in the half-spherical shell body are protected, and damage is prevented. When the spherical robot is thrown and falls to the ground, the two half-spherical shell bodies of the spherical robot are automatically opened by a first driving assembly, normal reconnaissance work is carried out by using a camera, and the tail supporting structure of the spherical robot can automatically expand the tail under the action of a second driving assembly, a tail buckle torsional spring, a tail supporting torsional spring and a tail torsional spring, and can be manually closed and stored when the work is completed, so that the spherical robot is convenient and reliable. The third driving assembly is used for expanding the antenna back plate, so that the antenna can conveniently communicate normally.

1. The name of the design product: spherical robot. 2. The use of the design product: robot for pet companionship and pet teasing. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view 1.

The application provides a telescopic spherical robot, relates to the technical field of pipeline robots, and comprises multiple sub-shells, a telescopic driving device, a walking mechanism and a detection mechanism; the multiple sub-shells are divided from a spherical shell; the walking mechanism is connected to the sub-shells and is used for walking in a pipeline; the telescopic driving device can at least drive the left and right sub-shells to move along the radial direction of the spherical shell; the detection mechanism is used for detecting environmental parameters of a front pipeline, and the environmental parameters at least include the diameter of the front pipeline; and the telescopic driving device controls the movement of the sub-shells according to the diameter parameter of the front pipeline. The multiple sub-shells of the telescopic spherical robot provided by the application can be telescoped according to the change of the pipeline environment, so that different pipeline environments can be adapted, and the applicability of the spherical robot is improved.

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 utility model discloses a spherical robot, which relates to the technical field of robots and comprises a joint actuator, a roller and a pendulum bob. The joint actuator comprises a shell, a driving assembly and a transmission assembly, wherein the driving assembly and the transmission assembly are installed on the shell. The transmission assembly comprises a first output piece, a second output piece and a third output piece which are in driving connection with the driving assembly; the two rolling wheels are oppositely arranged in the first direction, the two rolling wheels are arranged on the two sides of the joint actuator in a sleeving mode and rotatably connected with the joint actuator, and the first output piece and the second output piece are in driving connection with the two rolling wheels correspondingly; the pendulum bob is rotatably mounted between the joint actuator and the roller, and the third output piece is in driving connection with the pendulum bob; according to the technical scheme provided by the utility model, the spherical robot can form three modular structures including the joint actuator, the roller and the pendulum bob, so that the spherical robot can be quickly assembled and formed, and the installation and production efficiency of the spherical robot is improved.