Spherical rolling robot with rotating rotor

The invention discloses a spherical rolling robot with a rotating rotor. Belongs to the technical field of mechanical structures and robots, the robot structurally comprises a rotor motor, a rotor fixing support and an external rolling support from inside to outside, and lead screw motors are installed on the two sides of the rolling support to control the rotor fixing support and the rotor motor to move left and right together; the characteristics of the olive-shaped spherical robot and rotor rotation are combined, the characteristic of angular momentum balance is used for controlling the movement of the olive-shaped robot, and the problems that an existing rolling spherical robot is single in movement mode and cannot pass through complex and difficult terrains are solved. 本发明公开了一种含转动转子的球形滚动机器人；属于力学结构和机器人技术领域，本发明的机器人由内到外结构是转子电机-转子固定支架-外部滚动支架，滚动支架两侧装有丝杆电机控制转子固定支架和转子电机一起左右移动；结合橄榄型球形机器人和转子转动的特点，利用角动量平衡的特点控制橄榄球型机器人的运动，解决了现有滚动球形机器人运动方式单一，无法通过复杂困难地形的问题。