The invention provides a hemispherical differential spherical self-reconfigurable robot with a unit module capable of autonomously moving, and the spherical robot is newly designed with an external structure and a hemispherical differential driving structure which meet the spherical shell sealing and sensor working conditions at the same time. And a single spherical robot unit has robust and accurate autonomous omnidirectional motion capability. On the basis of movement of a single spherical robot, the spherical robot is modularly designed, the advantages of a traditional spherical robot and a self-reconfiguration modular robot are combined, and the spherical robot has the autonomous docking and reconfiguration capacity through an active docking interface, a passive locking interface mechanism, a swing mechanism and a sensing system; and a plurality of spherical robot modules are butted and reconfigured to form a snakelike or wheel-legged robot and other new configurations according to task requirements, so that the trafficability of the robot is enhanced, and the robot can execute more complex collaborative operation tasks. The spherical robot is mainly suitable for disaster prevention and detection, danger elimination and rescue and other complex working scenes.

    本发明专利提供了单元模块自主移动的半球可差动球形自重构机器人,所述球形机器人全新设计了同时满足球壳封闭和传感器工作条件的外部结构以及半球可差动驱动结构,使得单个球形机器人单元具备鲁棒精准的自主全向运动能力。在单个球形机器人运动的基础上将其模块化设计,结合了传统球形机器人和自重构模块化机器人的优势,通过主动对接接口、被动锁紧接口机构和摆动机构以及感知系统使得该球形机器人具备自主对接重构能力,多个球形机器人模块对接重新构型后可根据任务需要成为蛇形或轮腿式机器人等新构型,从而增强机器人通过性,机器人可以执行更复杂的协同作业任务。所述球形机器人将主要适用于灾难预防探测、排险救援等复杂工作场景。


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    Title :

    Hemispherical differential spherical self-reconfigurable robot with unit module moving autonomously


    Additional title:

    一种单元模块自主移动的半球可差动球形自重构机器人


    Contributors:
    SONG JINGZHOU (author) / WANG YUN (author) / ZHANG RUI (author)

    Publication date :

    2021-07-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge




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