The invention relates to a spherical robot which comprises a spherical shell and a driving mechanism arranged in the spherical shell, a spherical protective shell is arranged outside the spherical shell, a plurality of first springs are connected between the spherical shell and the spherical protective shell, and a second fixing ring is connected to the outer surface of the spherical shell. The inner surface of the spherical protective shell is connected with a first fixing ring, the first fixing ring is connected with a second fixing ring, and a buffering air bag is arranged between the spherical shell and the spherical protective shell; the driving mechanism comprises a power output mechanism, a control module and a signal transmission module, and eccentric torque generated by the power output mechanism enables the spherical shell to roll and steer. According to the spherical robot, a double-spherical-shell structure is adopted, the damping effect is achieved through damping of the buffering air bags and the springs, deformation is effectively restrained, the spherical robot has good environmental adaptability and long endurance, meanwhile, the driving mechanisms in the spherical robot are symmetrically designed, and the spherical robot is more stable in the moving process.

    本发明涉及一种球形机器人,包括球形外壳以及设于球形外壳内的驱动机构,所述球形外壳的外部设有球形保护外壳,所述球形外壳和球形保护外壳之间连接有若干个第一弹簧,所述球形外壳的外表面连接有第二固定环,所述球形保护外壳的内表面连接有第一固定环,所述第一固定环和第二固定环连接,所述球形外壳和球形保护外壳之间设有缓冲气囊;所述驱动机构包括动力输出机构、控制模块和信号传输模块,动力输出机构产生的偏心力矩使球形外壳滚动和转向。该球形机器人,采用了双球壳体结构,通过缓冲气囊和弹簧减震达到减震的效果,有效地抑制形变,具有良好的环境适应性和长续航性,同时其内部的驱动机构采用对称设计,在移动过程中更加的稳定。


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    Title :

    Spherical robot


    Additional title:

    一种球形机器人


    Contributors:
    ZHU LIHONG (author) / ZHANG JINLONG (author) / LI XIN (author) / CHEN YUXUAN (author) / ZHONG JIAJUN (author) / CAO YU (author) / ZHANG XIAOQING (author) / ZHANG CHAO (author)

    Publication date :

    2021-06-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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