The invention discloses an omni-directional wheel driving magnetic enhancement spherical robot. The omni-directional wheel driving magnetic enhancement spherical robot comprises a spherical shell and a driving unit located in the spherical shell. The driving unit is composed of two motors, four omnidirectional wheels, a synchronous belt transmission assembly, a rack, a balance weight, a permanent magnet and the like. Ferromagnetic induction materials are attached to the inner wall of the spherical shell. The omni-directional wheels are symmetrically arranged at the bottom of the rack in the mode that every two omni-directional wheels form a group and are vertically arranged, the two omni-directional wheels in the same direction are driven by a synchronous belt driven by a motor, eccentric torque is provided for the driving unit through friction force between the omni-directional wheels and the inner wall of the spherical shell, and the spherical robot is driven to move forwards and steer. The permanent magnet is installed at the bottom of the machine frame, a small gap is formed between the permanent magnet and ferromagnetic induction materials on the inner wall of the spherical shell, and magnetic adsorption force is generated, so that the driving unit is adsorbed to the inner wall of the spherical shell, pressure and driving friction force between the omnidirectional wheel and the inner wall of the spherical shell are increased, and meanwhile the magnetic adsorption force can avoid the possibility that the driving unit breaks away from the inner surface of the spherical shell and overturns when the gravity center rises. And the overall motion reliability of the spherical robot is improved.
本发明公开一种全向轮驱动磁增强球形机器人,该发明包括球壳和位于其内部的驱动单元组成。驱动单元由两电机、四个全向轮、同步带传动组件、机架、配重、永磁体等部件组成;球壳内壁附着铁磁感应材料。全向轮以两个一组按垂直方位对称布置在机架底,同向两个全向轮由一个电机带动的同步带驱动,利用全向轮与球壳内壁之间的摩擦力为驱动单元提供偏心力矩,驱使球形机器人实现前进、转向运动。永磁体安装于机架底部,与球壳内壁铁磁感应材料有小间隙,产生磁吸附力,使驱动单元被吸附向球壳内壁,增大全向轮与球壳内壁的压力和驱动摩擦力,同时磁吸附力可避免驱动单元重心升高时脱离球壳内表面及倾覆的可能,提升球形机器人整体运动的可靠性。
Omnidirectional wheel driving magnetic enhancement spherical robot
一种全向轮驱动磁增强球形机器人
2022-07-29
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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