The invention discloses a rolling bouncing spherical robot, and relates to the technical field of robots. Comprising a bouncing joint used for bouncing movement, a main body rack, a secondary gear reduction device, a one-way self-locking mechanism and an energy storage motor, and further comprises a direct current motor used for achieving a rolling mode, a rolling wheel with an inner gear, a spherical groove hub and a robot spherical shell. The pawl and the ratchet wheel are fastened and released by controlling forward and reverse rotation of the energy storage motor, the ratchet wheel is connected with the pinion through the D-shaped shaft, the pinion serves as a driving wheel and transmits force to the winding drum device with line transmission through the stage gear reduction device, one section of the rope is fixedly connected with the winding drum, and the other end of the rope is connected with the bottom of the bouncing leg. Energy storage and release of elastic potential energy of the bouncing leg are achieved through forward and reverse rotation of the energy storage motor. The bouncing leg is arranged at the lower end of the reduction gear box, the upper end of the bouncing leg is fixedly connected with the gear box, the lower end of the bouncing leg is fixedly connected with the robot rack, and after energy storage of the bouncing leg is completed, elastic potential energy is released to enable the upper end of the bouncing leg and the gear box to be launched in the direction opposite to the bouncing leg compression direction. When the gear box collides with the top of the robot, the robot can be driven to jump, and then bouncing motion is achieved. The direct current motor is fixedly connected to the robot rack, the surface of the driving rotating shaft is fixedly sleeved with a transmission rod, the transmission rod drives a small gear, the small gear is meshed with an inner gear of a spherical rolling wheel, and therefore the spherical rolling wheel is driven to achieve a rolling mode. The bouncing motion is completed by the bouncing legs, the horizontal motion on the flat ground is completed by the spherical rolling wheels, and the horizontal moving ability and the obstacle crossing ability of the robot are effectively improved.

    本发明公开了一种滚动弹跳的球形机器人,涉及机器人技术领域。包括用于弹跳运动的弹跳关节,主体机架,二级齿轮减速装置,单向自锁机构,蓄能电机,还包括用于实现滚动模式的直流电机,带有内齿轮的滚动轮,球形槽轮毂及机器人球形外壳,单向自锁机构与蓄能电机之间固定安装,通过控制蓄能电机的正反转从而实现棘爪与棘轮的扣紧与释放,棘轮与小齿轮通过D形轴连接,小齿轮作为主动轮经过级齿轮减速装置将力传递给带有线传动的卷筒装置,绳索的一段与卷筒固接,另一端与弹跳腿的底部连接,利用储能电机正反转实现弹跳腿弹性势能的储能与释放。弹跳腿设置在减速齿轮箱下端,并使弹跳腿上端与齿轮箱固定连接,弹跳腿下端与机器人机架固定连接,当弹跳腿储能完成后释放弹性势能使弹跳腿上端与齿轮箱向弹跳腿压缩反方向发射,当齿轮箱与机器人顶部发生碰撞时可带动机器人起跳,进而实现弹跳运动。直流电机固定连接在机器人机架上,驱动转轴表面固定套接有传动杆,传动杆带动小齿轮,小齿轮与球形滚动轮的内齿轮啮合,从而驱动球形滚动轮实现滚动模式。弹跳运动由弹跳腿来完成,平坦地面的水平运动由球形滚动轮完成,有效提高了机器人的水平移动能力和越障能力。


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    Title :

    Rolling bouncing spherical robot


    Additional title:

    一种滚动弹跳的球形机器人


    Contributors:
    ZHOU ZUPENG (author) / ZENG XIANGKUN (author)

    Publication date :

    2024-12-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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