The invention discloses a gravity-adjustable spherical robot and a motion control method thereof.The gravity-adjustable spherical robot comprises a spherical shell, a rotating side main shaft, a fixed side main shaft, a driving motor, a swing water tank and a hydraulic adjusting module, and the driving motor drives the rotating side main shaft to rotate through a gear so as to drive the spherical shell to rotate; the hydraulic adjusting module comprises a seawater pump and a water inlet pipe; the input end of the water inlet pipe is communicated with the outside, the output end of the water inlet pipe is communicated with the seawater pump through the electromagnetic reversing valve, the electromagnetic reversing valve is communicated with the swing water tank and the water injection nozzle through the first multi-way connector, and the water injection nozzle is communicated with the outside and synchronously rotates along with the spherical shell. When the seawater pump pumps external liquid to the water injection nozzle, pushing force is provided. The sea water pump can be used for gravity adjustment of the spherical robot and can also be used for water spraying, so that parts such as underwater propellers are reduced, and the structure and construction cost of the spherical robot are simplified.

    本发明公开了一种重力可调式球形机器人及其运动控制方法,包括球形壳体、转动侧主轴、固定侧主轴、驱动电机、摆动水箱、液压调节模块,驱动电机通过齿轮驱动转动侧主轴转动,从而驱动球形外壳转动;液压调节模块包括海水泵、入水管;入水管输入端与外部连通,入水管输出端通过电磁换向阀与海水泵连通,电磁换向阀通过第一多通连接器分别与摆动水箱和喷水口连通,喷水口与外部连通,且随球形外壳同步转动,海水泵将外部液体泵入或排出摆动水箱时,调节重力,海水泵将外部液体泵向喷水口时,提供推动力。通过一个海水泵既可以用于球形机器人重力调节,也可以用于喷水,从而减少了水下推进器等部件,精简了球形机器人结构及建造成本。


    Access

    Download


    Export, share and cite



    Title :

    Gravity-adjustable spherical robot and motion control method thereof


    Additional title:

    一种重力可调式球形机器人及其运动控制方法


    Contributors:
    YIN BAOJI (author) / LIU YUCHEN (author) / QIU WENBIN (author)

    Publication date :

    2024-07-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen



    Robot with adjustable gravity center and chassis thereof

    ZHOU YUXIANG / CHEN QINGGE / LIN JIANGFENG et al. | European Patent Office | 2024

    Free access

    Robot chassis with adjustable gravity center

    ZHOU ZHONGMING / MENG QINGZHU / CHEN HONGJIN et al. | European Patent Office | 2021

    Free access

    Spherical robot and control method thereof

    WANG CHUNDA / HUANG HAO / LIU FENGSHAN et al. | European Patent Office | 2024

    Free access

    Spherical robot and control method thereof

    YE TIANQI / MIAO WENNAN / QIAN WEILIN et al. | European Patent Office | 2023

    Free access

    Obstacle crossing robot with adjustable gravity center

    SHEN ZHIHANG | European Patent Office | 2021

    Free access