The invention relates to a pendulum type rolling robot and solves a problem that most rolling robots depend on a driving source to drive shells of the rolling robots to rotate so as to drive the shells to roll on the ground. The robot comprises a shell, is characterized in that a horizontally-arranged main shaft is erected between a left side wall and a right side wall of the shell, the shell is arevolving body with the main shaft as an axis, an auxiliary shaft which is horizontally arranged and perpendicular to the main shaft is arranged in the center of the main shaft, two ends of the auxiliary shaft are suspended, swing blocks are hung below two ends of the auxiliary shaft, and a driving device for driving the main shaft and the auxiliary shaft to rotate is arranged at an intersectionof the main shaft and the auxiliary shaft. The robot is advantaged in that the overall mass center position is changed through front-back and left-right swing of a pendulum type swing block in the rolling robot shell, so front-back movement and left-right turning of the rolling robots are driven, the structure is simple, and control is more accurate and reliable.
本发明涉及一种钟摆式滚动机器人,解决滚动机器人多是依靠驱动源带动滚动机器人的壳体转动从而驱动壳体在地面上滚动的问题。本装置包括壳体,其特征在于:所述壳体左右侧壁之间架设水平设置的主轴,所述壳体为以主轴为轴线的回转体,所述主轴中心设有水平设置并与主轴相互垂直的副轴,副轴两端悬空,且副轴两端的下方吊设有摆动块,所述主轴和副轴的交叉处设置有驱动主轴和副轴转动的驱动装置。本发明利用滚动机器人壳体内部钟摆式的摆动块的前后、左右摆动来改变整体的质心位置,从而带动滚动机器人的前后运动和左右转弯,结构简单,控制更为精准可靠。
Pendulum type rolling robot
一种钟摆式滚动机器人
2020-05-05
Patent
Electronic Resource
Chinese