SPHERICAL ROBOTIC (OPTIONS) Russian patent published in 2018 - IPC B25J5/00 

FIELD: robotics.

SUBSTANCE: invention relates to robotics, in particular to spherical robots for scientific research and security-monitoring purposes. Spherical robot contains a self-propelled chassis with a spherical shell and a supporting frame located in the shell by means of support-retaining rolling bodies, mounted on the frame of a pendulum-type propeller using a pair of spaced left and right at equal distances from the longitudinal vertical plane of the shell, and coupled to the inner surface of the shell, a differential reversible drive of pendulum-type traction elements, a counterweight to the center of mass coupled for displacement, an autonomous power source and a chassis control system. Traction element drive is electromechanical, independent and individual and consists of a pair of identical monoblocks with electric motors. In each monoblock, the traction element and its driving motor are coaxial, the axes of the traction elements are arranged vertically with the lower position of the traction elements, and support-retaining rolling elements – at the top of the chassis on their common axis, which is located horizontally and transversely.

EFFECT: invention makes it possible to improve technical and operational characteristics, improve controllability and reduce noise and vibration during operation.

7 cl, 5 dwg