The invention provides a quick-release complete-drive spherical robot, and belongs to the technical field of mobile robots. Comprising a spherical shell, a long shaft frame, a short shaft, a swing rod and a heavy pendulum. The spherical shell is divided into a drum-shaped spherical shell, a left spherical crown and a right spherical crown, and the spherical crowns are in threaded connection with the drum-shaped spherical shell, so that the quick release function of the internal driving device can be realized. The spherical shell and the long shaft frame, the long shaft frame and the short shaft, and the short shaft and the swing rod are all directly driven by the rotating motors and correspond to three rotating freedom degrees of the spherical robot moving on the ground respectively, and the spherical robot can still achieve zero-radius turning and omnidirectional movement when any rotating motor breaks down. The spherical robot capable of being quickly disassembled and completely driven has high movement flexibility and reliability, meanwhile has the advantage of being convenient to maintain in the later period, and has high value in theoretical research and practical application.

    本发明提供了一种可快拆完全驱动球形机器人,属于移动机器人技术领域。包括:球壳、长轴框架、短轴、摆杆和重摆。所述球壳分为鼓形球壳和左右球冠,球冠与鼓形球壳采用螺纹连接,可实现内部驱动装置的快拆功能。所述球壳和长轴框架、长轴框架和短轴、短轴和摆杆均由旋转电机直接驱动,分别对应球形机器人在地面运动的三个旋转自由度,任何一个旋转电机出现故障,球形机器人仍能实现零半径转弯和全向移动。本发明的可快拆完全驱动球形机器人具备高的运动灵活性和可靠性,同时具备便捷的后期维护优点,在理论研究和实际应用中均具备较高的价值。


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    Title :

    Quickly-detachable completely-driven spherical robot


    Additional title:

    一种可快拆完全驱动球形机器人


    Contributors:
    SUN HANXU (author) / LI MINGGANG (author) / SUN PING (author)

    Publication date :

    2023-05-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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