The invention discloses a novel passive unfolding spherical robot. The novel passive unfolding spherical robot comprises a rack, two ball wheel mechanisms and a linear unfolding mechanism; the ball wheel mechanism comprises a driving blade, two driven blades, an anti-rollover block, a driving turntable, a driven turntable, a forward steering engine and a plurality of connecting pieces; the linear unfolding mechanism comprises two racks, a gear, four guide rods, a rack baffle and a transverse driving steering engine. The advancing steering engine is connected with the driving rotary disc, the blades are connected with the driving rotary disc and the driven rotary disc, the whole three-blade deformation structure is directly driven to be unfolded and integrally rotated, and the rack is fixedly connected with the advancing steering engine mounting plate through the L-shaped connecting piece, so that the rack can drive the advancing steering engine mounting plate to synchronously move to complete linear unfolding action when moving. The scheme has the advantages of a round wheel and a leg wheel, space redundancy is saved for single degree of freedom, only friction force between a ball wheel and an obstacle is used for changing from a round state to an unfolding state, and an additional actuator is not needed.
本发明公开了一种新型被动展开球形机器人,包括机架、两个球轮机构以及直线展开机构;球轮机构包括:主动叶片、两个被动叶片、防侧翻块、主动转盘、被动转盘、前进舵机和若干连接件;直线展开机构包括:两个齿条、齿轮、四根导杆、齿条挡板以及横向驱动舵机;前进舵机与主动转盘连接,叶片通过与主、从动转盘连接,实现直接驱动整个三叶变形结构进行展开和整体旋转,齿条通过L形连接件与前进舵机安装板固定连接,使其在进行运动时能够带动前进舵机安装板同步运动完成直线展开动作,该方案兼具圆轮和腿轮的优点,且为单自由度节省空间冗余,从圆形到展开变化只使用球轮和障碍物之间的摩擦力,而不需要额外的执行器。
Novel passive unfolding spherical robot
一种新型被动展开球形机器人
2023-06-02
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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