The invention relates to a four-wheel-drive spherical robot with five omnidirectional wheels. The robot mainly comprises a spherical shell, a rack, a walking drive, a steering drive, a spring, a support, four driving omnidirectional wheels, a chassis and the like. Eccentric mass of parts in the spherical shell and pre-pressure of the spring jointly act on the inner surface of the spherical shell,the provided friction force enables the eccentric mass to deviate from the sphere center, and therefore eccentric torque is generated to enable the spherical shell to roll. The four omnidirectional wheels are supported below the chassis in pairs in an orthogonal mode, large bearing capacity can be provided, the front omnidirectional wheel and the rear omnidirectional wheel are driven by one walking motor, the left omnidirectional wheel and the right omnidirectional wheel are driven by one steering motor, and the supporting omnidirectional wheel located at the top can prevent the chassis from overturning.
本发明涉及一种具有五个全向轮的四驱动球形机器人。该发明主要包括球壳、机架、行走驱动、转向驱动、弹簧、支撑及四个驱动全向轮和底盘等部件。球壳内的部件偏心质量及弹簧预压力共同作用于球壳内表面,所提供的摩擦力使偏心质量偏离球心,从而产生偏心力矩使球壳滚动。四个全向轮两个一组按正交位支撑在底盘下方,可提供大的承载能力,其中前后两全向轮由一个行走电机驱动,左右两全向轮由一个转向电机驱动,位于顶部的支撑全向轮可以防止底盘倾覆。
Double-power four-wheel-drive five-omnidirectional-wheel heavy-load spherical robot
双动力四驱五全向轮重载球形机器人
2020-06-26
Patent
Electronic Resource
Chinese
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