The spherical wheeled robot comprises a robot body, three transmission branched chains and six wheel sets, the robot body comprises a three-way hole fixing block, a motor end shell and a non-motor end shell, and the two shells are provided with T-shaped tail ends; each wheel set comprises a pair of large wheels symmetrically arranged at the T-shaped tail end and further comprises small wheels arranged on the outer sides of the large wheels and coaxial with the large wheels, and idler wheels are arranged on the peripheries of the large wheels and the small wheels at intervals. Each transmission branch chain comprises a double-output-shaft motor and a first 90-degree turning double-output-shaft mechanism which are arranged in a motor end shell, and a transmission shaft and a second 90-degree turning double-output-shaft mechanism which are arranged in a non-motor end shell, the wheel axes of the wheel sets at the two ends of the same transmission branch chain are parallel, and the wheel axes on different transmission branch chains are perpendicular to each other. The robot is formed by arranging six wheel sets in a spherical shape, has the advantages of being compact and novel in structure, high in flexibility and the like, and can be applied to the fields of field survey, rescue, teaching demonstration and the like.
本发明公开了一种球形轮式机器人,包括机体、三个传动支链、以及六个轮组,该机体包括三通孔固定块、电机端外壳和非电机端外壳,二外壳具有T型末端;各个轮组包括在T型末端对称布置的一对大轮,还包括在大轮外侧且与大轮同轴布置的小轮,所述大轮和小轮的外周上间隔布置有滚轮,各个传动支链包括在电机端外壳中设置的双出轴电机与第一90°变向双出轴机构、和在非电机端外壳中设置的传动轴和第二90°变向双出轴机构,其中,同一传动支链两端的轮组的轮子轴线平行,不同传动支链上的轮子轴线相互垂直。本发明的机器人由六个轮组布置呈球形,具有结构紧凑新颖、灵活性高等优点,可以应用于野外勘测、救援、教学示范等领域。
Spherical wheeled robot
一种球形轮式机器人
2023-03-10
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |