The invention provides a design scheme of a spherical mobile robot with a high energy storage mass ratio and capable of continuously jumping, and belongs to the field of mobile robots. Firstly, a deformable spherical shell and a retractable releasing long-axis frame serve as a first-layer energy storage mechanism; secondly, the five-connecting-rod bouncing mechanism installed on the short-shaft frame serves as second-layer energy storage; the two energy storage structures are driven by a unified spring rope mechanism, so that the control is convenient; the spherical mobile robot has various motion forms of rolling and jumping, the advantages and characteristics of omni-directional movement and full sealing performance of the spherical mobile robot are reserved, and meanwhile the defect that a traditional spherical robot is poor in obstacle crossing ability is overcome. The method has a profound application prospect in the detection of the external planet in a severe service environment.

    本发明提供了一种具有高蓄能质量比可连续跳跃的球形移动机器人设计方案,属于移动机器人领域,首先,可变形球壳和可收缩释放长轴框架作为第一层蓄能机构;其次,安装在短轴框架上五连杆弹跳机构作为第二层蓄能;两种蓄能结构采用了统一的弹簧绳索机构作为驱动,便于控制;本发明具有滚动和跳跃多种运动形式,既保留了球形移动机器人全向移动和全封闭性的优势特点,同时克服了传统球形机器人越障能力弱的缺点。本发明在服役环境恶劣的外星球探测中具有深远的应用前景。


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    Title :

    Spherical mobile robot with continuous jumping capability


    Additional title:

    一种具有连续跳跃能力的球形移动机器人


    Contributors:
    SUN HANXU (author) / LI MINGGANG (author) / MA LONG (author) / SUN PING (author)

    Publication date :

    2024-06-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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