SPHERICAL WALKING ROBOT

• US 20070215394A1
• Filed: 02/15/2007
• Published: 09/20/2007
• Est. Priority Date: 03/15/2006
• Status: Active Grant

• Current Assignee: Beijing University of Posts and Telecommunications
• Original Assignee: Beijing University of Posts and Telecommunications
• Inventors: JIA, Qingxuan, SUN, Hanxu
• Granted Patent: US 7,726,422 B2
• Time in Patent Office: Days
• US Class Current: 180/8.100
• CPC Class Codes: B62D 57/00 Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track sledges B62B; motor sledges B62M
• CPC Class Codes: Y10T 74/20305 Robotic arm

Abstract

The embodiments of the present invention disclose a spherical walking robot, the spherical walking robot comprises a spherical coronal; a spherical housing which has a surface groove; a walking and transmission mechanism in the spherical housing; a lift and transmission mechanism; mechanical arms located in the surface groove, and the mechanical arm comprises a little arm and an upper arm connected the little arm by an elbow joint motor. The embodiments of the present invention also disclose a spherical walking robot, the spherical walking robot does not comprise the lift and transmission mechanism, but a fastness mechanism and a rotating mechanism rotatably connected with the fastness mechanism.

Claims

1. A spherical walking robot, comprising:

a spherical coronal;

a spherical housing which has a surface groove and is opposite to the spherical coronal;

a walking and transmission mechanism in the spherical housing;

a lift and transmission mechanism connected with the spherical coronal and the spherical housing respectively, wherein the spherical coronal is operative to move close to the spherical housing to close up the spherical walking robot and is operative to move away from the spherical housing;

mechanical arms located in the surface groove, wherein the mechanical arm comprises a little arm and an upper arm connected with the little arm by an elbow joint motor, the upper arm is immovably fixed on the spherical coronal, and when the spherical coronal departs from the spherical housing, one end of little arm away from the elbow joint motor is operative to rotate around the elbow joint motor and the little arm is operative to extend out of the spherical housing.

2. The spherical walking robot of claim 1, wherein the lift and transmission mechanism comprises a screw motor, a screw and a screw sleeve, in order to lift and drop the spherical coronal, and make the spherical coronal move close to the spherical housing and move away from the spherical housing, the screw motor is configured in a center of the internal space above a pedestal of the spherical coronal;

one end of the screw is connected with an axis of rotation of the screw motor, and the screw is operative to rotate under the drive of the screw motor;

the screw sleeve is immovably fixed in the surface groove of the spherical housing and meshes with the other end of the screw.

3. The spherical walking robot of claim 2, wherein two or three or four guided rods surrounding external side of the screw are further averagely distributed between the spherical coronal and the spherical housing, and one end of the guided rod is fixed on the spherical coronal, the other end of the guided rod extending through a positioning hole of the spherical housing has a guard and is configured with a pressed spring to improve the stability in lifting and dropping the spherical coronal and the stability of the motion of the mechanical arms.

4. The spherical walking robot of claim 3, wherein the length of the tipper arm is greater than a distance between the screw and the guided rods, so that there is a space for the little arm to rotate freely.

5. The spherical walking robot of claim 1, wherein at least one of the little arm and the upper arm is an arc bent rod.

6. The spherical walking robot of claim 1, wherein the walking and transmission mechanism comprises a rectangular frame.

7. The spherical walking robot of claim 1, wherein the end of little arm away from the elbow joint motor is further fixed with a mechanical hand.

8. The spherical walking robot of claim 7, wherein the mechanical hand is further fixed with a sensor.

9. The spherical walking robot of claim 8, wherein a control device is configured in internal space above a pedestal of the spherical coronal, and the control device comprises control circuits for controlling the lift and transmission mechanism and each of joint motors and mechanical hands and sensors.

10. The spherical walking robot of claim 1, wherein the control circuits receive control information from a user via a wireless communication.

11. A spherical walking robot, comprising:

a spherical coronal;

a spherical housing which has a surface groove and is opposite to the spherical coronal;

a walking and transmission mechanism in the spherical housing;

a fastness mechanism connected with the spherical coronal and the spherical housing respectively, wherein the fastness mechanism makes the spherical coronal away from the spherical housing, and forms a gap between the spherical coronal and the spherical housing;

a rotating mechanism rotatably connected with the fastness mechanism, and configured in the surface groove of the spherical housing;

mechanical arms located in the surface groove, wherein the mechanical arm comprises a little arm and an upper arm connected with the little arm by an elbow joint motor, the upper arm is immovably fixed on the rotating mechanism and driven by the rotating mechanism, and one end of little arm away from the elbow joint motor is operative to rotate around the elbow joint motor and the little arm is operative to extend out of the spherical housing.

12. The spherical walking robot of claim 11, wherein the fastness mechanism comprises a centre locating rod, and one end of the centre locating rod is fixed on the spherical coronal, and the other end is fixed on the surface groove of the spherical housing under the spherical coronal, and the centre locating rod is rotatably connected with the rotating mechanism via bearings.

13. The spherical walking robot of claim 12, wherein the rotating mechanism comprises a transmission gear, an upper arm drive motor and a rotating sleeve, and the rotating sleeve is immovably fixed by bearings on external side of the centre locating rod, and an outer gear wheel of the rotating sleeve is operative to mesh with the transmission gear on the axis of rotation of the upper arm drive motor fixed in the surface groove of the spherical housing, the rotating sleeve and the upper arm fixed on the rotating sleeve are rotated under the driving of the upper arm drive motor.

14. The spherical walking robot of claim 11, wherein at least one of the little arm and the upper arm is an arc bent rod.

15. The spherical walking robot of claim 11, wherein the walking and transmission mechanism comprises a rectangular frame.

16. The spherical walking robot of claim 11, wherein the end of little arm away from the elbow joint motor is further fixed with a mechanical hand.

17. The spherical walking robot of claim 16, wherein the mechanical hand is further fixed with a sensor.

18. The spherical walking robot of claim 17, wherein a control device is fixed on the upper arm, and the control device comprises control circuits for controlling the rotating mechanism and each of joint motors and mechanical hands and sensors.

19. The spherical walking robot of claim 18, wherein the control circuits receive control information from a user via a wireless communication.