The invention discloses a fluid-driven spherical rolling robot and a driving method thereof. At present, the driving modes of the spherical robot mainly include trolley driving, counterweight driving,deformation driving and wind power driving, and each driving mode has certain defects. The fluid-driven spherical rolling robot comprises a control box, a power mechanism, a spherical shell and a balance box, wherein the power mechanism comprises an annular pipe, a first gravity center adjusting block, a second gravity center adjusting block and a partition plate; an oil way module is arranged inthe control box; And the oil way module comprises an oil tank, a first reversing valve, a second reversing valve, a first on-off valve, a second on-off valve, an overflow valve and a hydraulic source. According to the invention, a fluid in the pipe is controlled to flow in a hydraulic transmission mode, so that the internal gravity center adjusting blocks are driven to move, and the mass center position of the robot is changed. Compared with a traditional spherical robot mass center changing mode, the structure is simpler and more reliable, and the movement is more stable and flexible.
本发明公开了一种流体驱动的球形滚动机器人及其驱动方法。目前球形机器人的驱动方式主要有小车驱动、配重驱动、形变驱动和风力驱动,均存在一定缺陷。本发明一种流体驱动的球形滚动机器人,包括控制盒、动力机构、球形外壳和平衡箱。动力机构包括环形管、第一重心调节块、第二重心调节块和隔板。控制盒内安装有油路模块。油路模块包括油箱、第一换向阀、第二换向阀、第一通断阀、第二通断阀、溢流阀和液压源。本发明利用液压传动方式,控制管内液体流动,从而驱动内部重心调节块运动,改变机器人质心位置,与传统球形机器人质心改变方式相比,结构更加简单可靠,运动更加平稳灵活。
Fluid-driven spherical rolling robot and driving method thereof
一种流体驱动的球形滚动机器人及其驱动方法
2020-04-10
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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