The radius-variable spherical robot comprises a double-layer spherical film, a spherical inner shell located in the double-layer spherical film, a magnetic driving device and an air pressure control reducing device, the double-layer spherical film comprises an outer-layer spherical film and an inner-layer spherical film, the outer-layer spherical film and the inner-layer spherical film are made of elastic materials, and the magnetic driving device comprises a steel ball and an electromagnet. A movable steel ball is arranged between the outer-layer ball film and the inner-layer ball film, a plurality of electromagnets are uniformly and fixedly arranged on the inner-layer ball film, the electromagnets are located between the inner-layer ball film and the spherical inner shell, and the electromagnets are electrified to adsorb the steel ball; the inner spherical film and the spherical inner shell are provided with a plurality of through holes for air circulation, and the outer spherical film is provided with a plurality of through holes for air pressure control of the reducing device to inflate or exhaust air into or out of the spherical robot. The driving force provided by the driving device can change along with the change of the size of the spherical robot, the requirement of the spherical robot for the driving force when the spherical robot moves in different sizes can be met, the rotational inertia is large, energy is saved, and the obstacle crossing ability is improved.

    本发明公开了一种半径可变式球形机器人,包括双层球膜、位于双层球膜内的球形内壳、磁力驱动装置和气压控制变径装置,双层球膜包括外层球膜和内层球膜,外层球膜和内层球膜采用弹性材料,磁力驱动装置包括钢球和电磁铁,外层球膜和内层球膜之间设置活动的钢球,内层球膜上均匀固定排布若干电磁铁,电磁铁位于内层球膜与球形内壳之间,电磁铁得电吸附钢球;内层球膜和球形内壳设置若干通孔用于气体流通,外层球膜设置若干通孔用于气压控制变径装置向球形机器人内部充入或排出气体。驱动装置提供的驱动力能够随着球形机器人体积的变化而变化,能够满足球形机器人在不同体积时运动对驱动力的需求,使得转动惯量大,节省能源,提升了越障能力。


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    Title :

    Spherical robot with variable radius and radius adjusting method thereof


    Additional title:

    半径可变式球形机器人及其半径调节方法


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

    Publication date :

    2024-07-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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