采用混合同步带五驱动球形机器人

Five-drive spherical robot using mixed synchronous belt

Abstract

The invention discloses a five-drive spherical robot using a mixed synchronous belt. The spherical robot comprises a spherical case and a track frame, wherein the spherical case is fixed on the outer surface of the track frame, and an annular rigid belt formed by the mixed synchronous belt is fixed in the track frame. Two ends of a center shaft are connected through a coupling center shaft motor and an electromagnetic clutch brake respectively and installed in an inner frame. A counter weight swing arm is connected with the center shaft and a counter weight box. Four pairs of T-shaped support arms are connected with a center outer frame and press wheel shafts, press wheels are sleeved on the press wheel shafts in a sliding mode and pressed on tracks of the track frame. Belt wheel shafts are installed in the middle of junctions of the T-shaped support arms, and synchronous belt wheels are mounted on the belt wheel shafts and meshed with the mixed synchronous belt. The four synchronous belt wheels move along the fixed rigid mixed synchronous belt to enable the counter weight position to change under the drive of circumferential motors and to enable the gravity center position of the spherical robot to change under the drive of a center shaft motor, and the spherical case is driven to roll along the ground. Motion control of the spherical robot is achieved through control of five motors.
本发明公开了一种采用混合同步带五驱动球形机器人,包括球壳和轨道框,球壳固定在轨道框外表面上,轨道框内固定有由混合同步带组成圆环形的刚性带。中心轴两端分别通过联轴器中心轴电机和电磁离合制动器相连安装在内框架中。配重摆臂连接中心轴与配重盒。四对T型支撑臂连接中心外框架和压轮轴,压轮滑套在压轮轴上并压在轨道框的轨道上。T型支撑臂交叉处中间安装带轮轴,同步带轮安装在带轮轴上与混合同步带啮合。四个同步带轮在周向电机驱动下,带轮沿着固定的刚性的混合同步带运动使配重位置变化,及中心轴电机驱动,使球形机器人重心位置变化,驱动球壳沿着地面滚动。通过对着5个电机进行控制,从而实现球形机器人的运动控制。

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