The invention provides a mass center offset type spherical robot based on a double-wheel driving principle, and belongs to the field of spherical robots. The problems that the posture of the robot cannot be controlled and the motion control precision is lost due to the fact that a driving unit in the spherical robot slips on the inner wall of a spherical shell are solved. The robot comprises a spherical shell, pulleys, wheel assemblies, a battery, a circuit board, a lower-layer plate assembly, an eccentric assembly, an upper-layer plate and an attitude sensor, the lower-layer plate assembly is arranged under the upper-layer plate, the rim of each pulley makes contact with the inner wall of the spherical shell, and the two wheel assemblies are arranged on the lower end face of the upper-layer plate in a bilateral symmetry mode; the eccentric assembly is arranged on the rear side of the lower end face of the upper-layer plate and used for changing the gravity center of the robot. The wheel assembly comprises wheels and motors, the output ends of the motors are connected with the wheels, and the lowest points of the outer rims of the wheels make contact with the inner wall of the spherical shell. The device is mainly used for detection in severe environments.

    本发明提出了一种基于双轮驱动原理的质心偏移型球形机器人,属于球形机器人领域。解决球形机器人内部驱动单元与球壳内壁出现打滑导致的机器人姿态无法受控和运动控制精度丢失的问题。它包括球形外壳、滑轮、车轮组件、电池、电路板、下层板组件、偏心组件、上层板和姿态传感器,下层板组件设置在上层板正下方,每个滑轮的轮缘均与球形外壳内壁相接触,两个车轮组件左右对称的布置在上层板的下端面上,偏心组件设置在上层板的下端面靠后一侧用于改变机器人重心,车轮组件用于驱动机器人动作;车轮组件包括车轮和电机,电机的输出端与车轮相连,车轮的外轮缘最低点与球形外壳内壁相接触。它主要用于恶劣环境的探测。


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    Title :

    Mass center offset type spherical robot based on double-wheel driving principle


    Additional title:

    一种基于双轮驱动原理的质心偏移型球形机器人


    Contributors:
    LI HAOWEI (author) / DONG YIFEI (author) / ZHU YIMIN (author) / LIN ZEFENG (author) / WANG YANBIN (author) / CAI BO (author) / ZHANG LIXIAN (author)

    Publication date :

    2023-06-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



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