The invention discloses a full-step walking spherical robot. The full-step walking spherical robot mainly comprises a spherical shell, stepping motors, transmission shafts, a spherical universal wheel and omni-directional wheel sets; the spherical shell is internally provided with a platform, the center of the top face of the platform is perpendicularly and fixedly connected with a platform seat, the platform seat is connected with a guide rod through a cylinder spiral compression spring, and the top end of the guide rod is connected with the spherical universal wheel; the bottom of the platform is perpendicularly fixed to a connecting seat, the bottom end of the connecting seat is sleeved with a mass disc, and a mass disc bracket is installed on the mass disc; four transmission mechanisms are installed at the bottom of the platform, each transmission mechanism comprises the stepping motor, a synchronous belt wheel, a synchronous cog belt, the transmission shaft and the omni-directional wheel set, shafts of the stepping motors are sleeved with the synchronous belt wheels, by means of transmission of the synchronous cog belts, the omni-directional wheel sets of the transmission shafts are driven to move; the stepping motors are connected with a single chip microcomputer; the spherical universal wheel arranged at the top of the guide rod is in contact with the inner wall of the spherical shell, and the universal of the platform is in contact with the inner wall of the spherical shell. The full-step walking spherical robot has the advantages that the control is accurate and simple, the movement is flexible, and the cost is low.
Full-step walking spherical robot
2015-07-08
Patent
Electronic Resource
English
IPC: | B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge |
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