The invention discloses a spherical robot with an omnidirectional jumping capacity, relates to the field of robots, and aims to realize continuous jumping without adjusting the pose of the robot afterlanding. A first rotary table motor is arranged on an inner wall of an outer shell and connected with an outer surface of an inner shell. A second rotary table motor is arranged on the inner wall ofthe inner shell and fixedly connected with a limiting platform, limiting holes are formed in a top surface of the limiting platform, supporting legs penetrate through the limiting holes and are provided with bosses in a radial direction, and energy storage springs are placed between the bosses and the limiting platform. Teeth on side surfaces of the supporting legs are meshed with a locking gear pair, a main gear of the locking gear pair is connected with an energy storage motor, an auxiliary gear is installed on a gear fixing plate, and an output shaft of the energy storage motor penetrates through the gear fixing plate and is connected with a one-way bearing. A reset spring is further installed on the gear fixing plate and fixedly connected with the limiting platform. A simple mechanicalstructure is used for meeting the requirement for omnidirectional jumping of the robot, and a movement capacity of the spherical jumping robot is expanded.

    本发明公开了一种具有全向跳跃能力的球形机器人,涉及机器人领域,能够连续起跳,落地后无需调整机器人位姿。本发明包括:外壳内壁设置第一转台电机,第一转台电机连接内壳的外表面。内壳的内壁设置第二转台电机,第二转台电机固定连接限位平台,限位平台顶面设置限位孔,支撑腿穿过限位孔且沿径向设置凸台,凸台和限位平台之间放置储能弹簧。支撑腿侧表面上的齿和锁定齿轮副啮合,锁定齿轮副的主齿轮和储能电机连接,副齿轮安装在齿轮固定板上,储能电机输出轴穿过齿轮固定板,并和单向轴承连接。齿轮固定板上还安装复位弹簧,复位弹簧固定连接限位平台。本发明使用简单的机械结构满足机器人全向跳跃的需求,拓展了球形跳跃机器人的运动能力。


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    Titel :

    Spherical robot with omnidirectional jumping capability


    Weitere Titelangaben:

    一种具有全向跳跃能力的球形机器人


    Beteiligte:
    DONG YANGYANG (Autor:in) / HAN SHAOJIE (Autor:in) / ZHANG ZIJIAN (Autor:in) / ZUO KUNGANG (Autor:in)

    Erscheinungsdatum :

    2020-10-23


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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