The invention discloses an opening and closing type reconfigurable spherical robot. The spherical robot mainly comprises a left hemispherical shell, a right hemispherical shell, a heavy pendulum mechanism, a driving mechanism, a telescopic mechanism, a butt joint mechanism and the like. The left and right hemispherical shells can be closed for single rolling; and the left hemispherical shell and the right hemispherical shell can be opened through the telescopic mechanism to conduct single differential motion, and connection and configuration transformation of a plurality of robots can be achieved through the pair of movable butt joint mechanisms and the pair of fixed butt joint mechanisms. According to the spherical robot capable of being opened and butted, when a spherical shell is closed, left and right driving motors output at the same speed, and a heavy pendulum driving motor adjusts a heavy pendulum to swing left and right so as to control turning of a spherical unit; and when the spherical shell is opened, straight movement and turning movement of the spherical unit are controlled by controlling the same-speed and differential-speed output of the left and right driving motors. The single spherical unit has independent movement capacity, and when a plurality of spherical units or robots with the same docking mechanism exist, a plurality of robots can form different configurations to meet task requirements. The opening and closing type reconfigurable spherical robot can be switched between the closed state and the open state, and in the open state, butt joint and configuration change of a plurality of spherical units can be completed through combination of the butt joint mechanisms, so that the robot has flexible movement and change capacity, and the external operation capability and the multi-spherical-unit cooperation capability of the spherical robot are enhanced.

    本发明公开一种开合式的可重构球形机器人,该球形机器人主要包括左右半球壳、重摆机构、驱动机构、伸缩机构以及对接机构等。左右半球壳闭合可进行单体滚动;左右半球壳通过伸缩机构打开可进行单体差速运动,并通过一对活动对接机构和一对固定对接机构可实现多个机器人之间的连接以及构型变换。本发明提出的可打开式可对接球形机器人:当球壳闭合时,左右驱动电机同速输出,重摆驱动电机调节重摆左右摆动从而控制球形单元的转弯;当球壳打开时,通过控制左右驱动电机的同速与差速输出,控制球形单元的直行与转弯运动。单个球形单元具有独立运动的能力,当有多个球形单元或具有同样对接机构的机器人时,多个机器人可组成不同构型以满足任务需求。该开合式的可重构球形机器人可以在闭合状态和打开状态下相互切换,且在打开状态下,可通过对接机构的组合,完成多个球形单元的对接以及构型变化,使其不仅具有灵活的运动和变化能力,增强了球形机器人的对外操作和多球形单元协作能力。


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    Titel :

    Opening and closing type reconfigurable spherical robot


    Weitere Titelangaben:

    一种开合式的可重构球形机器人


    Beteiligte:
    SONG JINGZHOU (Autor:in) / SUN ZHONGYUAN (Autor:in) / SUN HANXU (Autor:in) / WANG YUN (Autor:in)

    Erscheinungsdatum :

    2021-07-09


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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