Amphibious spherical robot with adjustable rotor angle

Abstract

The present invention discloses an amphibious spherical robot with adjustable rotor angle. The amphibious spherical robot includes a housing, a frame, and a rotor assembly. The housing is provided with an annular groove; the frame is disposed within the inner cavity of the housing; the rotor assembly is disposed within the frame and has a folding configuration and a flight configuration. The rotor assembly includes a folding arm, a tilting arm, and a rotor. One end of the folding arm is rotatably connected to the frame, and the tilting arm is connected between the rotor and the folding arm. In the flight configuration, the tilting arm and the rotor extend outside the housing through the annular groove to drive the robot in flight. The tilting arm is rotatable relative to the folding arm to adjust the rotation direction of the rotor. The amphibious spherical robot with adjustable rotor angle according to the present invention has the advantages of good maneuverability and high flight maneuverability.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and in particular to an amphibious spherical robot with adjustable rotor angle. Background Art

[0002] The shell of the spherical robot rolls as a whole to drive the robot forward. It has high maneuverability and can move quickly and stably. Moreover, the shell of the robot can protect the internal mechanism of the spherical robot during movement. The spherical robots in related technologies have poor passability and cannot roll through complex and rugged terrain. The robot's range of movement is restricted by terrain conditions. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, an embodiment of the present invention provides an amphibious spherical robot with adjustable rotor angle, which has the advantages of good maneuverability and high flight maneuverability.

[0004] The amphibious spherical robot with adjustable rotor angle of an embodiment of the present invention includes a shell, the shell is provided with an annular groove, and the annular groove extends closed along the circumference of the shell; a frame, the frame is provided in the inner cavity of the shell; the rotor assembly, the rotor assembly is provided on the frame and has a folding form and a flying form, the rotor assembly includes a folding arm, a tilt arm and a rotor, one end of the folding arm is rotatably connected to the frame, and the tilt arm is connected between the rotor and the folding arm, in the folding form, the folding arm, the tilt arm and the rotor are stored in the shell so that the shell can roll, in the flight form, the tilt arm and the rotor extend to the outside of the shell through the annular groove to be suitable for driving the robot to fly, and the tilt arm is rotatable relative to the folding arm to adjust the rotation direction of the rotor.

[0005] The amphibious spherical robot with adjustable rotor angle according to the embodiment of the present invention has the advantages of good passability and high flight maneuverability.

[0006] In some embodiments, the rotor assembly includes a tilt motor, one end of which is connected to an end of the folding arm away from the frame, and the other end of the tilt motor is connected to the tilt arm to drive the tilt arm to rotate relative to the folding arm.

[0007] In some embodiments, a first support is provided at one end of the folding arm near the tilting arm, and a second support is provided at one end of the tilting arm near the folding arm. The tilting motor includes a first part and a second part, the second part is rotatably engaged with the first part, the first part is connected to the first support, the second part is connected to the second support, the second part has a through hole, a rotating shaft is provided in the through hole, and the rotating shaft passes through the first support and the second support to improve the radial bearing capacity between the folding arm and the tilting arm.

[0008] In some embodiments, the rotor assembly includes a drive, one end of which is rotatably connected to the base, and the other end of the drive is rotatably connected to the folding arm, and the length of the drive is adjustable to drive the rotor assembly to switch between the flight form and the folding form.

[0009] In some embodiments, the rotor is located at an end of the tilt arm away from the folding arm, and the rotor includes multiple rotor arms and a flight motor. The flight motor is connected to the multiple rotor arms to drive the rotor arms to rotate and generate lift. In the flight form, the multiple rotor arms are evenly spaced along the circumference of the flight motor so that the rotor assembly maintains dynamic balance during rotation. In the folded form, the multiple rotor arms extend along the length direction of the folding arm so that the rotor assembly can be retracted into the outer casing.

[0010] In some embodiments, the rotor assembly includes a first rotor assembly and a second rotor assembly, and the first rotor assembly and the second rotor assembly are symmetrically arranged along a width direction of the frame.

[0011] In some embodiments, the amphibious spherical robot with adjustable rotor angle includes a drive motor connected between the frame and the shell, and the drive motor is suitable for driving the shell to rotate around the frame.

[0012] In some embodiments, the amphibious spherical robot with adjustable rotor angle includes a weight-swing component, which is disposed on the frame and is suitable for adjusting the center of gravity of the robot to adjust the robot's direction of travel or improve stability.

[0013] In some embodiments, the counterweight assembly includes a first component, a second component and a counterweight, the first component is arranged on the frame, one end of the second component is rotatably assembled with the first component, the counterweight is arranged at the other end of the second component, the first component is suitable for driving the second component to swing to adjust the inclination angle of the counterweight, and the second component is suitable for driving the counterweight to translate to adjust the distance between the counterweight and the first component.

[0014] In some embodiments, the first component includes a first swing motor, a second swing motor, and a rotating frame, the rotating frame is connected between the first swing motor and the second swing motor, the first swing motor and the second swing motor are coaxially arranged to drive the rotating frame to rotate, and the second component is connected to the rotating frame and extends along the radial direction of the rotating frame;

[0015] The second component includes an adjustment motor, an adjustment screw, a first guide rod and a second guide rod. The adjustment motor is fixedly connected to the rotating frame, and the adjustment motor is connected to the adjustment screw to drive the adjustment screw to rotate. The first guide rod and the second guide rod are arranged parallel to and spaced apart from the adjustment screw, and the adjustment screw is located between the first guide rod and the second guide rod. The counterweight is slidingly matched with the first guide rod and the second guide rod, and the adjustment screw is threadedly connected to the counterweight to drive the counterweight to move along the bidirectional screw. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the rotor assembly of the amphibious spherical robot with adjustable rotor angle in a flight configuration according to an embodiment of the present invention.

[0017] Figure 2 It is a structural schematic diagram of the rotor assembly of the amphibious spherical robot with adjustable rotor angle in a folded form according to an embodiment of the present invention.

[0018] Figure 3 It is a structural schematic diagram of the rotor assembly of an amphibious spherical robot with adjustable rotor angle according to an embodiment of the present invention.

[0019] Figure 4 yes Figure 3 Schematic diagram of the structure of the middle folding arm.

[0020] Figure 5 yes Figure 3 Schematic diagram of the structure of the mid-tilt boom.

[0021] Figure 6 It is a schematic cross-sectional view of the rotor assembly of the amphibious spherical robot with adjustable rotor angle according to an embodiment of the present invention.

[0022] Figure 7 It is a structural schematic diagram of the re-swing assembly of the amphibious spherical robot with adjustable rotor angle according to an embodiment of the present invention.

[0023] Figure 8 It is a cross-sectional schematic diagram of a re-swing assembly of an amphibious spherical robot with adjustable rotor angle according to an embodiment of the present invention.

[0024] Reference numerals:

[0025] Housing 1; first shell 11; second shell 12;

[0026] Frame 2; main frame 21; first base 22; second base 23;

[0027] Telescopic assembly 3; screw assembly 31; bidirectional screw 311; first nut portion 312; second nut portion 313; telescopic motor 32; first push frame 33; second push frame 34;

[0028] Rotor assembly 4; folding arm 41; first support 411; first through hole 412; tilt arm 42; second support 421; second through hole 422; rotor 43; rotary arm 431; flight motor 432; tilt motor 44; first portion 441; second portion 442; rotating shaft 45; driver 46; first rotor assembly 401; second rotor assembly 402;

[0029] Weighted swing assembly 5; first assembly 51; first swing motor 511; first rotor portion 5111; first stator portion 5112; second swing motor 512; second rotor portion 5121; second stator portion 5122; rotating frame 513; first portion 5131; second portion 5132; connecting portion 5133; first protrusion 5134; second protrusion 5135; second assembly 52; adjustment motor 521; third rotor portion 5211; third stator portion 5212; adjustment screw 522; first guide rod 523; second guide rod 524; counterweight 53; avoidance groove 531; end plate 54;

[0030] A first driving motor 601 and a second driving motor 602 . DETAILED DESCRIPTION

[0031] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0032] The following describes an amphibious spherical robot with adjustable rotor angle according to an embodiment of the present invention with reference to the accompanying drawings.

[0033] like Figures 1 to 8 As shown, the amphibious spherical robot with adjustable rotor angle according to the embodiment of the present invention includes a shell 1 , a frame 2 , a telescopic assembly 3 and a rotor assembly 4 .

[0034] The housing 1 is provided with an annular groove 13, which extends along the circumference of the housing 1 in a closed manner. Specifically, the housing 1 is spherical and has an annular groove 13. The annular groove 13 is a through groove that extends along the circumference of the housing 1 and connects the interior of the housing 1 with the exterior of the housing 1. The annular groove 13 divides the housing 1 into a first shell 111 and a second shell 112. The first and second shells 111, 112 are arranged symmetrically in the left-right direction, with a predetermined spacing between them to form the annular groove 13.

[0035] The frame 2 is disposed within the interior of the housing 1, and the housing 1 is rotatable relative to the frame 2 in a first direction. Specifically, the frame 2 extends in a left-right direction, with the first direction being the direction of extension of the frame 2. The left end of the frame 2 is rotatably connected to the second shell 112, and the right end of the frame 2 is rotatably connected to the first shell 111, so that the first shell 111 and the second shell 112 can rotate synchronously or relative to each other, thereby driving the amphibious spherical robot with external operation capabilities according to the present invention to roll on the ground.

[0036] The frame 2 includes a main frame 21, a first base 22 and a second base 23. The main frame 21 is located inside the housing 1 and extends in the left-right direction. The first base 22 and the second base 23 are suitable for

[0037] The rotor assembly 4 is arranged on the frame 2 and has a folding form and a flight form. The rotor assembly 4 includes a folding arm 41, a tilt arm 42 and a rotor 43. One end of the folding arm 41 is rotatably connected to the frame 2, and the tilt arm 42 is connected between the rotor 43 and the folding arm 41. In the folding form, the folding arm 41, the tilt arm 42 and the rotor 43 are stored in the shell 1 so that the shell 1 can roll. In the flight form, the tilt arm 42 and the rotor 43 extend to the outside of the shell 1 to be suitable for driving the robot to fly. The tilt arm 42 can be rotated relative to the folding arm 41 to adjust the rotation direction of the rotor 43.

[0038] Specifically, in the folded form, the rotor assembly 4 is stored in the shell 1 to avoid collision between the rotor assembly 4 and objects outside the shell 1. In the flying form, part of the rotor assembly 4 extends out of the shell 1 through the annular groove 13, and the part of the rotor assembly 4 extending out of the shell 1 can generate lift to drive the amphibious spherical robot of the embodiment of the present invention to fly.

[0039] The tilt arm 42 can rotate circumferentially along the extension direction of the folding arm 41. Since the rotating shaft 45 of the rotor 43 is fixed relative to the upper tilt arm 42, when the tilt arm 42 rotates relative to the folding arm 41, the rotation direction of the rotor 43 also rotates relative to the folding arm 41, thereby changing the direction of the thrust generated by the rotor 43. The thrust component along the horizontal direction drives the amphibious spherical robot with adjustable rotor angle of the embodiment of the present invention to move horizontally.

[0040] The amphibious spherical robot with adjustable rotor angles according to the present invention can roll, providing high maneuverability on relatively flat terrain. However, when the robot needs to traverse relatively rough terrain, it cannot roll. When the robot is in a state of being ...

[0041] When the amphibious spherical robot with adjustable rotor angle of the embodiment of the present invention is in the flight form, the direction of the thrust generated by the rotor 43 is adjusted by rotating the tilt arm 42, and the thrust component along the horizontal direction drives the amphibious spherical robot with adjustable rotor angle of the embodiment of the present invention to move horizontally, thereby improving the maneuverability of the amphibious spherical robot with adjustable rotor angle of the embodiment of the present invention in the flight form. Therefore, the amphibious spherical robot with adjustable rotor angle of the embodiment of the present invention has the advantages of good passability and high flight maneuverability.

[0042] In some embodiments, the rotor assembly 4 includes a tilt motor 44 , one end of which is connected to the end of the folding arm 41 facing away from the frame 2 , and the other end of the tilt motor 44 is connected to the tilt arm 42 to drive the tilt arm 42 to rotate relative to the folding arm 41 .

[0043] Specifically, if Figure 3 and Figure 6 As shown, the tilt motor 44 is located between the tilt arm 42 and the folding arm 41. The rotation axis 45 of the tilt motor 44 coincides with the extension direction of the folding arm 41, and the extension direction of the tilt arm 42 coincides with the rotation axis 45 of the tilt motor 44. The two ends of the tilt motor 44 can rotate relative to each other, thereby causing the tilt arm 42 and the folding arm 41 to rotate relative to each other.

[0044] The tilt motor 44 is a stepper motor, and thus, the tilt motor 44 can accurately control the rotation direction of the rotor 43 to drive the amphibious spherical robot with adjustable rotor angle of the embodiment of the present invention to move horizontally in the flight state, thereby improving the maneuverability of the amphibious spherical robot with adjustable rotor angle of the embodiment of the present invention in the flight state.

[0045] In some embodiments, a first support 411 is provided at one end of the folding arm 41 near the tilting arm 42, and a second support 421 is provided at one end of the tilting arm 42 near the folding arm 41. The tilting motor 44 includes a first part 441 and a second part 442. The second part 442 is rotatably engaged with the first part 441. The first part 441 is connected to the first support 411, and the second part 442 is connected to the second support 421. The second part 442 has a through hole, and a rotating shaft 45 is provided in the through hole. The rotating shaft 45 passes through the first support 411 and the second support 421 to improve the radial bearing capacity between the folding arm 41 and the tilting arm 42.

[0046] Specifically, if Figure 3 and Figure 6 As shown, one end of the folding arm 41 is suitable for being rotatably connected to the frame 2, and the other end of the folding arm 41 is provided with a first support 411, which extends along a plane perpendicular to the extension direction of the folding arm 41. The tilting arm 42 is provided with a second support 421 at one end close to the folding arm 41, and the second support 421 is arranged parallel to the first support 411 and spaced apart, and the tilting motor 44 is connected between the first support 411 and the second support 421.

[0047] The first part 441 of the tilt motor 44 is a stator, and the second part 442 of the tilt electrode is a rotor. The geometric axis of the second part 442 coincides with the geometric axis of the first part 441. The second part 442 is assembled in the first part 441 and rotates relative to the first part 441. The end of the first part 441 close to the first support 411 is detachably connected to the first support 411 via a connecting piece, and the end of the second part 442 close to the second support 421 is detachably connected to the second support 421 via a connecting piece.

[0048] Thus, driven by electromagnetic force, the second part 442 rotates a set angle relative to the first part 441, so that the tilt arm 42 rotates a set angle relative to the folding arm 41. Since the folding arm 41 remains fixed relative to the frame 2 in the flight form, the tilt motor 44 drives the rotation direction of the rotor 43 to rotate a set angle relative to the frame 2 to drive the amphibious spherical robot with adjustable rotor angle of an embodiment of the present invention to move horizontally.

[0049] like Figure 6 As shown, the tilt motor 44 is a ring-shaped motor, a channel is provided inside the second part 442, a first through hole 412 coaxial with the channel is provided in the first support 411, a second through hole 422 coaxial with the channel is provided in the second support 421, and the rotating shaft 45 passes through the first through hole 412, the channel and the second through hole 422 in sequence. The rotating shaft 45 is connected to the hole wall of the first through hole 412 by a bearing, and the rotating shaft 45 is connected to the hole wall of the second through hole 422 by a bearing.

[0050] Therefore, in the flight mode, the rotor 43 generates an upward lift for the amphibious spherical robot with adjustable rotor angle of an embodiment of the present invention to fly, and the rotor 43 is connected to the tilt arm 42 to generate a torsional moment between the tilt arm 42 and the folding arm 41. By setting the rotating shaft 45, the structural strength between the tilt arm 42 and the folding arm 41 can be increased without affecting the relative rotation of the tilt arm 42 and the folding arm 41 to bear the torsional moment applied by the rotor 43 to the tilt arm 42 and the folding arm 41.

[0051] In some embodiments, the rotor assembly 4 includes a driver 46, one end of which is rotatably connected to the base, and the other end of the driver 46 is rotatably connected to the folding arm 41. The length of the driver 46 is adjustable to drive the rotor assembly 4 to switch between the flight form and the folding form.

[0052] Specifically, one end of the driver 46 is rotatably connected to the middle section of the folding arm 41 to form a first connection position, and the other end of the driver 46 is rotatably connected to the middle section of the base to form a second connection position.

[0053] Therefore, when the folding arm 41 swings from the folding form to the flying form, the distance between the first connection position and the second connection position increases. On the one hand, the length of the driver 46 can be adjusted to adapt to the change in the distance between the first connection position and the second connection position. On the other hand, the length of the driver 46 can be adjusted to increase the distance between the first connection position and the second connection position, thereby allowing the folding arm 41 to switch between the flying form and the folding form.

[0054] In some embodiments, the rotor 43 is located at one end of the tilt arm 42 away from the folding arm 41. The rotor 43 includes multiple rotor arms 431 and a flight motor 432. The flight motor 432 is connected to the multiple rotor arms 431 to drive the rotor arms 431 to rotate and generate lift. In the flight form, the multiple rotor arms 431 are evenly spaced along the circumference of the flight motor 432 so that the rotor assembly 4 maintains dynamic balance during rotation. In the folded form, the multiple rotor arms 431 extend along the length direction of the folding arm 41 so that the rotor assembly 4 can be retracted into the outer casing.

[0055] Specifically, the rotor 43 is a foldable rotor 43. In the folded form, multiple rotor arms 431 are folded and stored in the folding arm 41. At this time, the multiple rotor arms 431 extend in a direction roughly parallel to the folding arm 41, and the multiple rotor arms 431 are affixed to the side of the folding arm 41 away from the base to reduce the width of the multiple rotor arms 431, thereby reducing the width of the rotor assembly 4, so that the width of the rotor assembly 4 is smaller than the distance between the first shell 11 and the second shell 12, so that the rotor assembly 4 can be stored from the outside of the shell 1 to the inside of the shell 1 in the folded form.

[0056] In the flight form, the folding arm 41 moves the rotor assembly 4 to the outside of the shell 1, and the flight motor 432 drives the multiple rotary arms 431 to rotate around the axis of the flight motor 432 to generate lift. The multiple rotary arms 431 are arranged at equal intervals along the outer peripheral side of the flight motor 432, so that the mass of the multiple rotors 43 is evenly distributed along the circumference of the flight motor 432, thereby allowing the rotor assembly 4 to maintain dynamic balance during flight.

[0057] Therefore, the flight motor 432 is located at the end of the folding arm 41 away from the base, and the rotor 43 is a foldable rotor 43. On the one hand, the length of multiple rotor arms 431 is increased, which facilitates the rotor assembly 4 to provide greater lift in the flight form. On the other hand, the length of the lever arm of the lift moment of the rotor assembly 4 in the flight form is increased, thereby increasing the stability of the amphibious spherical robot with adjustable rotor angle in the flight form of the embodiment of the present invention.

[0058] In some embodiments, rotor assembly 4 includes a first rotor assembly 401 and a second rotor assembly 402 , and first rotor assembly 401 and second rotor assembly 402 are symmetrically arranged along the width direction of frame 2 .

[0059] Specifically, if Figure 1 As shown, the first rotor assembly 401 is rotatably connected to the first base 22, and the second rotor assembly 402 is rotatably connected to the second base 23. The first base 22 and the second base 23 are symmetrically arranged along the front-to-back direction, so that the first rotor assembly 401 and the second rotor assembly 402 are symmetrical along the front-to-back direction. The first rotor assembly 401 and the second rotor assembly 402 move synchronously, that is, when one of the first rotor assembly 401 and the second rotor assembly 402 is converted from the flight form to the folded form, the other of the first rotor assembly 401 and the second rotor assembly 402 is also converted from the flight form to the folded form.

[0060] Therefore, on the one hand, the first rotor assembly 401 and the second rotor assembly 402 are symmetrically arranged along the front-to-back direction, so that the weight of the amphibious spherical robot with adjustable rotor angle of the embodiment of the present invention is evenly distributed in the front-to-back direction, so that the center of gravity of the robot in a stationary state is stable within the vertical geometric center axis of the robot; on the other hand, the first rotor assembly 401 and the second rotor assembly 402 are symmetrically arranged along the front-to-back direction, so that when the amphibious spherical robot with adjustable rotor angle of the embodiment of the present invention is in a flying state, the lift torque generated by the first rotor assembly 401 and the lift torque generated by the second rotor assembly 402 offset each other, so that the flight state of the robot is stable.

[0061] In some embodiments, a first drive motor 601 and a second drive motor 602 are included. The first drive motor 601 is arranged at one end of the telescopic component 3 and is connected to the first shell 11. The first drive motor 601 is suitable for driving the first shell 11 to rotate. The second drive motor 602 is arranged at the other end of the telescopic component 3 and is connected to the second shell 12. The second drive motor 602 is suitable for driving the second shell 12 to rotate.

[0062] Specifically, one end of the first drive motor 601 is connected to the first shell 11 , and the other end of the first drive motor 601 is connected to the telescopic assembly 3 ; one end of the second drive motor 602 is connected to the second shell 12 , and the other end of the second drive motor 602 is connected to the telescopic assembly 3 .

[0063] Thus, the first drive motor 601 can drive the first shell 11 to rotate relative to the telescopic assembly 3 and the frame 2, and the second drive motor 602 can drive the second shell 12 to rotate relative to the telescopic assembly 3 and the frame 2. Thus, the first shell 11 and the second shell 12 rotate relative to the frame 2 to drive the rolling motion of the amphibious spherical robot with adjustable rotor angle of an embodiment of the present invention.

[0064] In some embodiments, the amphibious spherical robot with adjustable rotor angle according to the present invention includes a weight-rebalancing assembly 5, which is provided on the frame 2 and is adapted to adjust the center of gravity of the robot to adjust the direction of travel of the robot or to improve stability. Figure 1 、 Figure 7 and Figure 8 As shown, the weight-swing assembly 5 is located on the lower side of the frame 2. The weight-swing assembly 5 is stabilized on the lower side of the frame 2 under the action of gravity, thereby keeping the posture of the frame 2 stable under the amphibious spherical robot with adjustable rotor angle in an embodiment of the present invention.

[0065] like Figure 2 As shown, when the amphibious spherical robot with adjustable rotor angle according to an embodiment of the present invention rolls down, the weight-swing assembly 5 can adjust the center of gravity of the amphibious spherical robot with adjustable rotor angle according to an embodiment of the present invention to the left and right sides, so that the shell 1 rolls toward the side where the center of gravity is offset, thereby driving the robot to turn.

[0066] like Figure 1 As shown, when the amphibious spherical robot with adjustable rotor angle according to an embodiment of the present invention is in the flight form, the weight-swing assembly 5 moves the center of gravity of the robot toward the rotor assembly 4 so that the center of gravity of the robot is close to the rotor assembly 4, thereby improving the stability of the amphibious spherical robot with adjustable rotor angle according to an embodiment of the present invention during flight.

[0067] In some embodiments, the counterweight 53 includes a first component 51, a second component 52 and a counterweight 53. The first component 51 is arranged on the frame 2, one end of the second component 52 is rotatably assembled with the first component 51, and the counterweight 53 is arranged at the other end of the second component 52. The first component 51 is suitable for driving the second component 52 to swing to adjust the inclination angle of the counterweight 53, and the second component 52 is suitable for driving the counterweight 53 to translate to adjust the distance between the counterweight 53 and the first component 51.

[0068] Specifically, if Figure 8As shown, the first assembly 51 is arranged in the front-to-back direction, the second assembly 52 is arranged radially of the first assembly 51, and the counterweight 53 is located at the end of the second assembly 52 away from the first assembly 51. The first assembly 51 can rotate relative to the frame 2 to adjust the extension direction of the second assembly 52, thereby adjusting the position of the counterweight 53 in the circumferential direction of the first assembly 51. The second assembly 52 drives the counterweight 53 to move along the extension direction of the second assembly 52 to adjust the distance between the counterweight 53 and the first assembly 51, thereby adjusting the center of gravity of the amphibious spherical robot with adjustable rotor angle according to the embodiment of the present invention.

[0069] Thus, when the amphibious spherical robot with adjustable rotor angle according to the embodiment of the present invention rolls downward, the first assembly 51 drives the counterweight 53 to swing left and right, causing the center of gravity of the amphibious spherical robot with adjustable rotor angle according to the embodiment of the present invention to shift left and right, thereby tilting the robot in the direction of the shifting center of gravity to adjust the direction of the robot's rolling movement. When the amphibious spherical robot with adjustable rotor angle according to the embodiment of the present invention flies downward, the second assembly 52 adjusts the vertical position of the counterweight 53 so that the robot's center of gravity is closer to the moment arm of the lift generated by the rotor assembly 4, thereby improving the robot's stability during flight.

[0070] In some embodiments, the first component 51 includes a first swing motor 511, a second swing motor 512 and a rotating frame 513, the rotating frame 513 is connected between the first swing motor 511 and the second swing motor 512, the first swing motor 511 and the second swing motor 512 are coaxially arranged to drive the rotating frame 513 to rotate, and the second component 52 is connected to the rotating frame 513 and extends radially along the rotating frame 513.

[0071] Specifically, if Figure 8 As shown, the front end of the first swing motor 511 is connected to the frame 2, the rear end of the first swing motor 511 is connected to the rotating frame 513, the front end of the second swing motor 512 is connected to the rotating frame 513, and the rear end of the second swing motor 512 is connected to the frame 2. The first swing motor 511 and the second swing motor 512 are symmetrically arranged along the front-to-back direction. The first swing motor 511 and the second swing motor 512 rotate synchronously to drive the rotating frame 513 to rotate in a plane perpendicular to the front-to-back direction, and the rotating shaft 45 of the rotating frame 513 extends along the front-to-back direction, thereby changing the position of the counterweight 53 in the left-to-right direction.

[0072] Therefore, on the one hand, the first swing motor 511 and the second swing motor 512 are symmetrically arranged in the front-to-back direction, so that the mass of the first component 51 is symmetrically distributed along the front-to-back direction, thereby improving the stability of the center of gravity of the amphibious spherical robot with adjustable rotor angle in the front-to-back direction of the embodiment of the present invention. On the other hand, the coaxial arrangement of the first swing motor 511 and the second swing motor 512 improves the torque output by the first swing motor 511 and the second swing motor 512, thereby facilitating the swinging of the second component 52 and the counterweight 53.

[0073] In some embodiments, the rotating frame 513 includes a first part 5131, a second part 5132 and a connecting part 5133. The first part 5131 and the second part 5132 are arranged in parallel and spaced apart. The first part 5131 is connected to the first swing motor 511, and the second part 5132 is connected to the second swing motor 512. The connecting part 5133 is connected between the first part 5131 and the second part 5132, and a groove is formed between the first part 5131, the second part 5132 and the connecting part 5133.

[0074] Specifically, the rotating frame 513 is a "C"-shaped structure, the first part 5131 and the second part 5132 are parallel to each other and the first part 5131 and the second part 5132 are arranged at intervals in the front-to-back direction, there is a set interval between the first part 5131 and the second part 5132 to limit the assembly space, and the first part 5131 is located in front of the second part 5132, the connecting part 5133 is arranged horizontally and the front end of the connecting part 5133 is connected to the upper end of the first part 5131, and the rear end of the connecting part 5133 is connected to the upper end of the second part 5132.

[0075] In some embodiments, the first part 5131, the second part 5132 and the connecting part 5133 are rectangular plate structures, the front end of the first swing motor 511 is connected to the rear side of the first part 5131, the rear end of the second swing motor 512 is connected to the front end of the second part 5132, and the connecting part 5133 is located on the upper side of the first swing motor 511 and the second swing motor 512 to connect the first part 5131 and the second part 5132.

[0076] Therefore, the first part 5131 and the second part 5132 are vertically arranged plate-like structures, the first swing motor 511 is connected to the rear side of the first part 5131, and the second swing motor 512 is connected to the front side of the second part 5132, which increases the contact area of ​​the connection between the swing motor and the frame 2, thereby improving the load-bearing capacity when the first swing motor 511 and the second swing motor 512 drive the counterweight 53 to swing.

[0077] In some embodiments, the first swing motor 511 includes a first rotor portion 5111 and a first stator portion 5112, and the second swing motor 512 includes a second rotor portion 5121 and a second stator portion 5122. The first stator portion 5112 is connected to the frame, one end of the first rotor portion 5111 is rotatably engaged with the first stator portion 5112, and the other end of the first rotor portion 5111 is connected to the first portion 5131. The second stator portion 5122 is connected to the frame, one end of the second rotor portion 5121 is rotatably engaged with the second stator portion 5122, and the other end of the second rotor portion 5121 is connected to the second portion 5132.

[0078] Specifically, the first swing motor 511 and the second swing motor 512 both include a rotor part and a stator part. The first stator part 5112 of the first swing motor 511 is located on the front side of the first swing motor 511. The front end of the first stator part 5112 of the first swing motor 511 is connected to the rear side of the first part 5131, and the rear end of the first rotor part 5111 is connected to the front end of the rotating frame 513. The first rotor part 5111 of the first swing motor 511 is rotatably matched with the first stator part 5112 of the first swing motor 511, and the first rotor part 5111 of the first swing motor 511 and the first stator part 5112 of the first swing motor 511 can rotate relative to each other.

[0079] The second stator portion 5122 of the second swing motor 512 is located on the rear side of the second rotor portion 5121 of the second swing motor 512, and the rear end of the second stator portion 5122 of the second swing motor 512 is connected to the second portion 5132, and the front end of the second rotor portion 5121 of the second swing motor 512 is connected to the rear end of the rotating frame 513. The second rotor portion 5121 of the second swing motor 512 is rotatably matched with the second stator portion 5122 of the second swing motor 512, and the second rotor portion 5121 of the second swing motor 512 can rotate relative to the second stator portion 5122 of the second swing motor 512.

[0080] Thus, while the second rotor portion 5121 of the second swing motor 512 rotates relative to the second stator portion 5122 of the second swing motor 512, the first rotor portion 5111 of the first swing motor 511 rotates relative to the first stator portion 5112 of the first swing motor 511. When the second rotor portion 5121 of the second swing motor 512 rotates relative to the second stator portion 5122 of the second swing motor 512, the second rotor portion 5121 of the second swing motor 512 drives the rotating frame 513 to rotate along the axis of the swing motor. When the first rotor portion 5111 of the first swing motor 511 rotates relative to the first stator portion 5112 of the first swing motor 511, the first rotor portion 5111 of the first swing motor 511 drives the rotating frame 513 to rotate along the axis of the swing motor. As a result, the first swing motor 511 and the second swing motor 512 synchronously drive the rotating frame 513 to swing, thereby improving the ability of the weight-swing assembly 5 to adjust the center of gravity of the amphibious spherical robot with adjustable rotor angle according to the embodiment of the present invention.

[0081] In some embodiments, the first part 5131 is provided with a first protrusion 5134, and the second part 5132 is provided with a second protrusion 5135. The first protrusion 5134 and the second protrusion 5135 are symmetrically arranged along the width direction of the rotating frame 513. Part of the first protrusion 5134 is rotatably engaged with the first rotor part 5111, and part of the second protrusion 5135 is rotatably engaged with the second rotor part 5121.

[0082] Specifically, the first protrusion 5134 protrudes forward from the front end surface of the first part 5131, and the second protrusion 5135 protrudes backward from the rear end surface of the second part 5132. The first protrusion 5134 is assembled and fit in the first rotor part 5111 of the first rotor part 5111, and the second protrusion 5135 is assembled and fit in the second rotor part 5121 of the second swing motor 512.

[0083] The first rotor portion 5111 of the first swing motor 511 is a tubular structure. The first stator portion 5112 of the first swing motor 511 is rotatably assembled in the inner cylinder of the first rotor portion 5111 of the first swing motor 511. The first protrusion 5134 is interference fitted in the first rotor portion 5111 of the first swing motor 511. The second rotor portion 5121 of the second swing motor 512 is a tubular structure. The second stator portion 5122 of the second swing motor 512 is rotatably assembled in the inner cylinder of the second rotor portion 5121 of the second swing motor 512. The second protrusion 5135 is interference fitted in the second rotor portion 5121 of the second swing motor 512.

[0084] Thus, part of the first protrusion 5134 is assembled in the first rotor part 5111 of the first swing motor 511, and part of the second protrusion 5135 is assembled in the second rotor part 5121 of the second swing motor 512, thereby improving the radial bearing capacity of the connection between the rotating frame 513 and the first swing motor 511 and the second swing motor 512, so that the rotating frame 513, the first swing motor 511 and the second swing motor 512 can carry a heavier counterweight 53.

[0085] In some embodiments, the second component 52 includes an adjustment motor 521, an adjustment screw 522, a first guide rod 523 and a second guide rod 524. The adjustment motor 521 is fixedly connected to the rotating frame 513, and the adjustment motor 521 is connected to the adjustment screw 522 to drive the adjustment screw 522 to rotate. The first guide rod 523 and the second guide rod 524 are arranged parallel to and spaced apart from the adjustment screw 522, and the adjustment screw 522 is located between the first guide rod 523 and the second guide rod 524. The counterweight 53 is slidably fitted with the first guide rod 523 and the second guide rod 524, and the adjustment screw 522 is threadedly connected to the counterweight 53 to drive the counterweight 53 to move along the bidirectional screw 311.

[0086] Specifically, if Figure 8 As shown, the adjustment motor 521 is connected to the rotating frame 513, the adjustment screw 522 extends radially along the rotating shaft 45 of the rotating frame 513, the first guide rod 523 and the second guide rod 524 are arranged parallel to and spaced apart from the adjustment screw 522, and the adjustment motor 521 is connected to the adjustment screw 522 to drive the adjustment screw 522 to rotate along the circumferential direction of the adjustment screw 522.

[0087] When the adjusting screw 522 rotates, the counterweight 53 moves along the axial direction of the adjusting screw 522 to adjust the distance between the counterweight 53 and the first mechanism, so that the mass distribution of the amphibious spherical robot with adjustable rotor angle of the embodiment of the present invention is closer to the rotor assembly 4. Therefore, in the flight form, when the first component 51 adjusts the position of the counterweight 53 in the left and right directions, the torsional torque applied by the counterweight 53 to the robot is smaller, thereby improving the stability of the robot in the flight form.

[0088] In some embodiments, the adjustment motor 521 includes a third rotor portion 5211 and a third stator portion 5212. The third stator portion 5212 is connected to the connecting portion. The third rotor portion 5211 is sleeved on the outer peripheral side of the adjustment screw 522 and is connected to the adjustment screw 522. The third rotor portion 5211 rotates and cooperates with the third stator portion 5212 to drive the adjustment screw 522 to rotate. The adjustment screw 522 is threadedly connected to the counterweight 53 to drive the counterweight 53 to move along the bidirectional screw.

[0089] Specifically, the rotating shaft of the adjustment motor 521 extends in the up and down directions, the upper end of the third stator part 5212 of the adjustment motor 521 is connected to the lower end surface of the connecting part of the rotating frame 513, the third rotor part 5211 of the adjustment motor 521 is rotatably assembled in the third stator part 5212 of the adjustment motor 521, and the adjustment screw rod 522 is assembled in the third rotor part 5211 of the adjustment motor 521 and connected to the third rotor part 5211 of the adjustment motor 521.

[0090] The counterweight 53 is provided with a threaded hole and a guide hole. The threaded hole extends in the up-down direction and passes through the counterweight 53 . The extending direction of the guide hole is the same as that of the threaded hole and passes through the counterweight 53 . The adjusting screw rod 522 is threadedly assembled in the threaded hole.

[0091] Therefore, when the third rotor part 5211 of the adjustment motor 521 rotates relative to the third stator part 5212 of the adjustment motor 521, the adjustment screw 522 is driven to rotate along the circumferential direction of the adjustment motor 521, so that the counterweight 53 is translated along the axial direction of the adjustment screw 522 to change the distance between the counterweight 53 and the rotating frame 513.

[0092] The upper end of the adjustment screw 522 extends beyond the third rotor portion 5211 of the adjustment motor 521, forming an extended section. The extended section is rotatably mounted to the connection portion of the rotating frame 513 via a first bearing. Therefore, when the adjustment screw 522 is subjected to a torsional torque caused by its rotation relative to the rotating frame 513, the first bearing between the extended section and the connection portion withstands the radial torque of the adjustment screw 522, thereby reducing the radial torque applied to the adjustment motor 521.

[0093] In some embodiments, the heavy swing assembly includes an end plate 54, one end of the adjustment screw 522 is rotatably fitted with the connecting portion, the other end of the adjustment screw 522 is rotatably fitted with the end plate 54, and the first guide rod 523 and the second guide rod 524 are connected between the end plate 54 and the connecting portion.

[0094] Specifically, the first guide rod 523 and the second guide rod 524 are arranged along the axis of symmetry of the adjusting screw rod 522, and the first guide rod 523 and the second guide rod 524 are respectively located on the left and right sides of the adjusting screw rod 522, and the end plate 54 extends in the left and right directions. The end plate 54 is arranged at the lower end of the adjusting screw rod 522, and the end plate 54 is connected to the lower ends of the first guide rod 523 and the second guide rod 524. The adjusting screw rod 522 is rotatably assembled on the end plate 54 through the second bearing, and the lower ends of the first guide rod 523 and the second guide rod 524 are fixedly connected to the end plate 54.

[0095] Thus, the end plate 54 connects the lower end of the guide rod and the lower end of the adjusting screw 522, which on the one hand improves the structural strength of the combination of the first guide rod 523, the second guide rod 524, the adjusting screw 522 and the counterweight 53, and on the other hand improves the guiding accuracy of the first guide rod 523 and the second guide rod 524 on the counterweight 53 when the counterweight 53 translates axially along the guide rod.

[0096] In some embodiments, the counterweight 53 is provided with an avoidance groove 531 , which extends along the length direction of the adjusting screw rod 522 , and the avoidance groove 531 is suitable for avoiding the end plate 54 .

[0097] Specifically, the avoidance groove 531 is located on the lower side of the counterweight 53 and extends in the left and right directions. The width dimension of the avoidance groove 531 is greater than the width dimension of the end plate 54. The lower end of the threaded hole of the counterweight 53 is connected to the avoidance groove 531, and the lower end of the guide hole of the counterweight 53 is connected to the avoidance groove 531.

[0098] Thus, at least part of the adjustment screw 522, at least part of the first guide rod 523 and at least part of the second guide rod 524 are located in the avoidance groove 531. When the counterweight 53 moves downward, the end plate 54 can move into the avoidance groove 531, thereby increasing the axial stroke of the counterweight 53 along the adjustment screw 522.

[0099] In some embodiments, the counterweight 53 has an inner cavity suitable for accommodating a counterweight. Specifically, the counterweight 53 is hollow. Thus, high-density components such as the battery of the amphibious spherical robot with adjustable rotor angle according to embodiments of the present invention can be placed within the counterweight 53. The high mass of the counterweight 53 can adjust the center of gravity of the amphibious spherical robot with adjustable rotor angle according to embodiments of the present invention. Furthermore, installing components such as the battery within the inner cavity can reduce the volume of the amphibious spherical robot with adjustable rotor angle according to embodiments of the present invention.

[0100] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0101] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0102] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0103] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0104] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0105] Although the above embodiments have been shown and described, it is understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments by those skilled in the art are all within the scope of protection of the present invention.

Claims

1. An amphibious spherical robot with adjustable rotor angle, characterized in that: include: A housing, wherein the housing is provided with an annular groove, and the annular groove extends in a closed manner along the circumference of the housing; a frame, the frame being arranged in the inner cavity of the shell; a rotor assembly, the rotor assembly being disposed on the frame and having a folding configuration and a flight configuration, the rotor assembly comprising a folding arm, a tilting arm, and a rotor, one end of the folding arm being rotatably connected to the frame, the tilting arm being connected between the rotor and the folding arm, in the folding configuration, the folding arm, the tilting arm, and the rotor being accommodated within the housing so as to enable the housing to roll, in the flight configuration, the tilting arm and the rotor extending to the outside of the housing through the annular groove to be suitable for driving the robot to fly, the tilting arm being rotatable relative to the folding arm to adjust the angle of the rotor; The rotor assembly includes a tilt motor, one end of the tilt motor is connected to an end of the folding arm away from the frame, and the other end of the tilt motor is connected to the tilt arm to drive the tilt arm to rotate relative to the folding arm; The folding arm is provided with a first support at one end thereof close to the tilting arm, and a second support is provided at another end thereof close to the folding arm. The tilting motor includes a first portion and a second portion, the second portion being rotatably engaged with the first portion, the first portion being connected to the first support, the second portion being connected to the second support, the second portion having a through hole, a rotating shaft being provided in the through hole, and the rotating shaft passing through the first support and the second support to improve the radial bearing capacity between the folding arm and the tilting arm. The rotor assembly includes a driver, one end of the driver is rotatably connected to the base, and the other end of the driver is rotatably connected to the folding arm, and the length of the driver is adjustable to drive the rotor assembly to switch between the flight configuration and the folded configuration; The rotor is located at one end of the tilt arm away from the folding arm. The rotor includes multiple rotor arms and a flight motor. The flight motor is connected to the multiple rotor arms to drive the rotor arms to rotate and generate lift. In the flight configuration, the multiple rotor arms are evenly spaced along the circumference of the flight motor so that the rotor assembly maintains dynamic balance during rotation. In the folded configuration, the multiple rotor arms extend along the length direction of the folding arm so that the rotor assembly can be retracted into the housing.

2. The amphibious spherical robot with adjustable rotor angle according to claim 1, characterized in that: The rotor assembly includes a first rotor assembly and a second rotor assembly, and the first rotor assembly and the second rotor assembly are symmetrically arranged along the width direction of the frame.

3. The amphibious spherical robot with adjustable rotor angle according to claim 1, characterized in that: The drive motor comprises a driving motor connected between the frame and the shell, and the driving motor is suitable for driving the shell to rotate around the frame.

4. The amphibious spherical robot with adjustable rotor angle according to any one of claims 1 to 3, characterized in that: The robot comprises a re-swing component, which is arranged on the frame and is suitable for adjusting the center of gravity of the robot to adjust the traveling direction of the robot or improve stability.

5. The amphibious spherical robot with adjustable rotor angle according to claim 4, characterized in that: The counterweight assembly includes a first assembly, a second assembly and a counterweight, wherein the first assembly is arranged on the frame, one end of the second assembly is rotatably assembled with the first assembly, and the counterweight is arranged on the other end of the second assembly, and the first assembly is suitable for driving the second assembly to swing to adjust the inclination angle of the counterweight, and the second assembly is suitable for driving the counterweight to translate to adjust the distance between the counterweight and the first assembly.

6. The amphibious spherical robot with adjustable rotor angle according to claim 5, characterized in that: The first component includes a first swing motor, a second swing motor and a rotating frame, the rotating frame is connected between the first swing motor and the second swing motor, the first swing motor and the second swing motor are coaxially arranged to drive the rotating frame to rotate, and the second component is connected to the rotating frame and extends along the radial direction of the rotating frame; The second component includes an adjustment motor, an adjustment screw, a first guide rod and a second guide rod. The adjustment motor is fixedly connected to the rotating frame, and the adjustment motor is connected to the adjustment screw to drive the adjustment screw to rotate. The first guide rod and the second guide rod are arranged parallel to and spaced apart from the adjustment screw, and the adjustment screw is located between the first guide rod and the second guide rod. The counterweight is slidingly matched with the first guide rod and the second guide rod, and the adjustment screw is threadedly connected to the counterweight to drive the counterweight to move along the adjustment screw.

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