Spherical bouncing robot capable of preventing winding and blocking

Abstract

The invention belongs to the field of robots, and discloses an anti-winding and anti-jamming spherical bouncing robot which comprises an upper hemispherical shell and a lower hemispherical shell, and the upper hemispherical shell and the lower hemispherical shell are combined to form a complete sphere. A plurality of notch grooves distributed in the circumferential direction are formed in the joint edges of the upper hemispherical shell and the lower hemispherical shell; the notch grooves of the upper hemispherical shell and the notch grooves of the lower hemispherical shell are arranged in a staggered mode, so that the upper hemispherical shell and the lower hemispherical shell can slide oppositely in the axial direction. A first sliding block and a first driving part are arranged in the lower semispherical shell, and a gap is reserved between the first sliding block and the central axis of the lower semispherical shell; the first driving part is connected with the first sliding block and is used for driving the first sliding block to rotate around the central axis of the lower hemispherical shell; a driving mechanism and an elastic part are arranged between the upper hemispherical shell and the lower hemispherical shell; the mode that the whole upper hemispherical shell and the lower hemispherical shell get close to each other for energy storage jumping is adopted, and the technical problems that an existing obstacle crossing spherical robot is prone to winding and clamping due to the fact that exposed mechanisms such as mechanical legs are adopted are fundamentally solved.

Description

Technical Field

[0001] This invention belongs to the field of robotics, specifically relating to a spherical bouncing robot designed to prevent entanglement and jamming. Background Technology

[0002] Spherical robots, as specialized mobile platforms with enclosed shells, have shown broad application prospects in fields such as exploration and inspection, disaster relief, and planetary exploration due to their excellent mobility and environmental adaptability. However, existing spherical robots still have significant limitations when facing complex unstructured environments, especially those with flexible obstacles. For example, a spherical robot for obstacle crossing disclosed in Chinese utility model patent CN222157653U, although achieving obstacle crossing functionality through a built-in drive core frame, swing guide mechanism, and exposed support obstacle crossing mechanism, relies on deployable support legs, making it prone to entanglement and jamming in environments such as ruins and vegetation, leading to motion failure and limiting its reliability in practical applications. Therefore, existing technologies suffer from the problem of robots being prone to entanglement and jamming due to the use of exposed obstacle crossing mechanisms. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the present invention aims to provide a spherical bouncing robot that prevents entanglement and jamming, thus solving the problem of robots being prone to entanglement and jamming due to the use of exposed obstacle-crossing mechanisms in existing technologies.

[0004] The objective of this invention can be achieved through the following technical solutions:

[0005] A spherical bouncing robot designed to prevent entanglement and jamming includes an upper hemisphere and a lower hemisphere, which together form a complete sphere.

[0006] Multiple notches distributed circumferentially are provided at the joint edges of the upper and lower hemispheres;

[0007] The notches and grooves of the upper hemisphere and the lower hemisphere are arranged in an alternating manner, allowing the upper and lower hemispheres to slide towards each other along the axial direction.

[0008] The lower hemisphere shell is provided with a first slider and a first driving part, and a gap is left between the first slider and the central axis of the lower hemisphere shell;

[0009] The first drive unit is connected to the first slider and is used to drive the first slider to rotate around the central axis of the lower hemisphere.

[0010] A drive mechanism and an elastic part are provided between the upper and lower hemispherical shells;

[0011] The drive mechanism connects the upper and lower hemispheres and is used to drive them closer to each other;

[0012] The elastic part compresses and stores energy as the upper and lower hemispheres approach each other, and the direction of the elastic force of the elastic part is the same as the direction of the central axis of the lower hemisphere.

[0013] When the drive mechanism stops, the elastic part releases stored energy, pushing the upper and lower hemispheres away from each other.

[0014] The elastic part includes a first fixed plate and a second fixed plate, which are respectively fixed inside the lower hemisphere and the upper hemisphere. The first fixed plate and the second fixed plate are both placed on the same axis as the lower hemisphere. A plurality of first springs are provided between the first fixed plate and the second fixed plate in a ring evenly distributed around the central axis of the lower hemisphere. The two ends of the first springs are fixed to the first fixed plate and the second fixed plate, respectively.

[0015] The first fixed plate has an annular groove placed on the same axis, and the first slider is slidably engaged in the annular groove.

[0016] The first drive unit includes a first rotary motor fixedly mounted on a first fixed plate. The output shaft of the first rotary motor is placed coaxially with the first fixed plate, and a connecting rod for connecting the first slider is fixed on the output shaft of the first rotary motor.

[0017] A second slider is also slidably engaged inside the annular groove.

[0018] The drive mechanism includes a fixed shaft fixed on a first fixed plate, a fixed frame fixed on a second fixed plate, a pair of symmetrically placed limiting rings on the fixed frame, the fixed shaft sliding through the limiting rings, and a second drive unit mounted on the fixed frame;

[0019] The second drive unit is used to drive the fixed shaft to move closer to the upper hemispherical shell. When the fixed shaft moves to the predetermined position, the second drive unit releases the fixed shaft.

[0020] A limit plate is fixed on the fixed shaft, and the limit plate is located between two limit rings.

[0021] The second drive unit includes a first crank, a second crank, a second rotary motor, and a pulley;

[0022] The second rotary motor is fixedly mounted on the mounting bracket, and the output shaft of the second rotary motor is placed horizontally.

[0023] The actuating wheel is fixedly sleeved on the output shaft of the second rotating motor;

[0024] One end of the first crank is rotatably hinged to the end of the fixed shaft away from the lower hemispherical shell, the other end of the first crank is rotatably hinged to the second crank, the other end of the second crank is rotatably connected to the fixed frame, and the second crank is used to rotate around the output shaft of the second rotary motor.

[0025] A protrusion is fixed on the second crank, which is used to push the protrusion during the rotation of the turntable.

[0026] A second spring is sleeved on the fixed shaft. One end of the second spring is fixed to the limiting plate, and the other end of the second spring is fixed to any limiting ring.

[0027] The sphere, which is composed of an upper hemisphere and a lower hemisphere, is equipped with a filter screen for blocking the notch slot. One edge of the filter screen is fixed to the inner wall of the upper hemisphere, and the other edge of the filter screen is fixed to the inner wall of the lower hemisphere.

[0028] The beneficial effects of this invention are:

[0029] This application abandons the exposed movable obstacle-crossing mechanism and adopts an energy-storing jump method in which the upper and lower hemispheres of the whole approach each other. This fundamentally solves the technical problems of easy entanglement and jamming of existing obstacle-crossing spherical robots due to the use of exposed mechanisms such as mechanical legs. At the same time, the center of gravity adjustment mechanism not only achieves precise omnidirectional jump control, but also ensures excellent posture stability after landing, making the robot particularly suitable for complex unstructured environments with a large number of flexible obstacles, such as rubble rescue and field exploration. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0032] Figure 2 These are schematic diagrams of the overall structure of the present invention in different states;

[0033] Figure 3 This is a partial structural diagram of the first spring of the present invention;

[0034] Figure 4 This is a partial structural diagram of the first fixed disk of the present invention;

[0035] Figure 5 This is a partial structural diagram of the first slider of the present invention;

[0036] Figure 6 This is a partial structural diagram of the first crank section of the present invention. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] like Figures 1 to 6 As shown, a spherical bouncing robot that is resistant to entanglement and jamming includes an upper hemispherical shell 100 and a lower hemispherical shell 200, which together form a complete sphere.

[0039] Multiple notches 300 distributed circumferentially are provided at the joint edge of the upper hemisphere shell 100 and the lower hemisphere shell 200.

[0040] The notch 300 of the upper hemisphere 100 and the notch 300 of the lower hemisphere 200 are arranged in an alternating manner, so that the upper hemisphere 100 and the lower hemisphere 200 can slide towards each other along the axial direction.

[0041] The lower hemispherical shell 200 is provided with a first slider 401 and a first driving part, and a gap is left between the first slider 401 and the central axis of the lower hemispherical shell 200;

[0042] The first driving unit is connected to the first slider 401 and is used to drive the first slider 401 to rotate around the central axis of the lower hemispherical shell 200.

[0043] A drive mechanism 500 and an elastic part 600 are provided between the upper hemispherical shell 100 and the lower hemispherical shell 200;

[0044] The drive mechanism 500 connects the upper hemispherical shell 100 and the lower hemispherical shell 200 and is used to drive the two closer to each other;

[0045] The elastic part 600 compresses and stores energy as the upper hemisphere 100 and the lower hemisphere 200 approach each other, and the elastic direction of the elastic part 600 is the same as the direction of the central axis of the lower hemisphere 200.

[0046] When the drive mechanism 500 stops driving, the elastic part 600 releases the stored energy, pushing the upper hemisphere 100 and the lower hemisphere 200 away from each other;

[0047] In use, the upper hemisphere 100 and the lower hemisphere 200 are driven to move closer to each other by the drive mechanism 500, and the first slider 401 is driven to rotate around the central axis of the lower hemisphere 200 by the first drive unit. By controlling and adjusting the position of the first slider 401, the center of gravity of the ball is controlled, so that the lower hemisphere 200 tilts towards the first slider 401, thereby adjusting the tilt direction of the central axis of the lower hemisphere 200 and changing the tilt direction of the elastic force of the elastic part 600. When the drive mechanism 500 stops driving, the elastic part 600 releases the stored energy, and under the action of the elastic force, the upper hemisphere 100 and the lower hemisphere 200 move away rapidly to achieve the jump of the ball, and the jump direction is the tilt direction of the central axis of the lower hemisphere 200 after adjustment.

[0048] After the jump and landing, the ball continues to roll on the ground and drives the first slider 401 through the first drive block to actively adjust the real-time center of gravity position of the ball. By using the torque generated by the center of gravity shift, the rolling direction of the ball can be actively changed or unwanted rolling can be suppressed.

[0049] Meanwhile, since the first slider 401 and the first drive unit are concentrated in the lower hemisphere shell 200, they form a stable configuration with a low center of gravity. This configuration generates a strong righting torque, which can effectively ensure that when the rolling kinetic energy of the ball is about to be exhausted, the lower hemisphere shell 200 of the ball can automatically face downward and remain stable, so that the robot can quickly return to a stable initial standing posture and prepare for the next jump.

[0050] In summary, this application abandons the exposed movable obstacle-crossing mechanism and adopts an energy-storing jump method in which the upper hemisphere 100 and the lower hemisphere 200 approach each other. This fundamentally solves the technical problems of easy entanglement and jamming that exist in existing obstacle-crossing spherical robots due to the use of exposed mechanisms such as mechanical legs. At the same time, through the innovative center of gravity adjustment mechanism, not only is precise omnidirectional jump control achieved, but excellent posture stability after landing is also ensured, making the robot particularly suitable for complex unstructured environments with a large number of flexible obstacles, such as rubble rescue and field exploration.

[0051] The elastic part 600 includes a first fixing plate 601 and a second fixing plate 602 respectively fixed inside the lower hemisphere shell 200 and the upper hemisphere shell 100. The first fixing plate 601 and the second fixing plate 602 are both placed coaxially with the lower hemisphere shell 200. A plurality of first springs 603 are provided between the first fixing plate 601 and the second fixing plate 602 in a ring evenly distributed around the central axis of the lower hemisphere shell 200. The two ends of the first springs 603 are fixed to the first fixing plate 601 and the second fixing plate 602 respectively.

[0052] Preferably, a plurality of telescopic rods are provided between the first fixed plate 601 and the second fixed plate 602. The number of telescopic rods is equal to that of the first springs 603 and they correspond one-to-one. Each first spring 603 is sleeved on the corresponding telescopic rod. The telescopic rods improve the guiding performance of the first springs 603 during their telescopic movement.

[0053] As the upper hemisphere 100 and the lower hemisphere 200 approach each other, the first fixed disk 601 and the second fixed disk 602 compress and store energy in the first spring 603.

[0054] The first fixed plate 601 has an annular groove 6011 placed on the same axis, and the first slider 401 is slidably engaged in the annular groove 6011.

[0055] The first drive unit includes a first rotary motor 402 fixedly mounted on a first fixed disk 601. The output shaft of the first rotary motor 402 is placed coaxially with the first fixed disk 601. A connecting rod 403 connecting the first slider 401 is fixed on the output shaft of the first rotary motor 402.

[0056] By turning on the first rotating motor 402, the output shaft of the first rotating motor 402 drives the connecting rod 403 and the first slider 401, so that the first slider 401 slides in the annular groove 6011 to adjust its position.

[0057] Preferably, the first rotating motor 402 is fixed to the first fixed plate 601 by a mounting bracket.

[0058] A second slider 404 is also slidably engaged within the annular groove 6011;

[0059] When it is necessary to control and adjust the center of gravity of the ball, the first rotating motor 402 drives the connecting rod 403 and the first slider 401 to adjust their positions. The first slider 401 can push the second slider 404 to move synchronously, so that the first slider 401 and the second slider 404 move to the same side of the ball, which facilitates the rapid adjustment of the center of gravity of the ball.

[0060] When balance needs to be restored, the first rotating motor 402 drives the first slider 401 to move away from the second slider 404, so that the two sliders are symmetrically arranged about the central axis. At this time, the torques generated by the two sliders cancel each other out, and the center of gravity of the ball quickly returns to the central axis of the lower hemisphere 200, thus stabilizing the posture.

[0061] By coordinating the first slider 401 and the second slider 404, the response speed and control efficiency of the center of gravity adjustment are greatly improved, enabling the robot to quickly switch between posture changes and stable recovery.

[0062] Preferably, the annular groove 6011 has a convex cross-section along the radial direction, and one end of the first slider 401 and the second slider 404 are both set to a shape that matches the annular groove 6011, which effectively prevents the first slider 401 and the second slider 404 from coming out of the annular groove 6011 while ensuring smooth sliding.

[0063] Preferably, the first slider 401 and the second slider are of the same specifications, and the second slider 404 is fixed with a counterweight rod of the same specifications as the connecting rod 403, so as to facilitate the spherical robot to return to a balanced state.

[0064] The drive mechanism 500 includes a fixed shaft 501 fixed on a first fixed plate 601, a fixed frame 502 fixed on a second fixed plate 602, a pair of symmetrically placed limiting rings 503 on the fixed frame 502, the fixed shaft 501 sliding through the limiting rings 503, and a second drive unit mounted on the fixed frame 502.

[0065] The second drive unit is used to drive the fixed shaft 501 closer to the upper hemispherical shell 100. When the fixed shaft 501 moves to the predetermined position, the second drive unit releases the fixed shaft 501.

[0066] A limiting disk 504 is fixed on the fixed shaft 501, and the limiting disk 504 is located between two limiting rings 503;

[0067] The combination of fixed shaft 501, fixed frame 502 and limiting ring 503 facilitates the improvement of guidance during the relative movement of the upper hemisphere 100 and the lower hemisphere 200.

[0068] By using the combination of two limiting rings 503 and limiting disc 504, the fixed shaft 501 can move axially while preventing complete separation of the fixed shaft 501 from the fixed frame 502.

[0069] The second drive unit includes a first crank 505, a second crank 506, a second rotary motor 507, and a pulley 508;

[0070] The second rotary motor 507 is fixedly mounted on the mounting bracket 502, and the output shaft of the second rotary motor 507 is placed horizontally.

[0071] The actuating wheel 508 is fixedly sleeved on the output shaft of the second rotating motor 507;

[0072] One end of the first crank 505 is rotatably hinged to the end of the fixed shaft 501 away from the lower hemispherical shell 200, the other end of the first crank 505 is rotatably hinged to the second crank 506, the other end of the second crank 506 is rotatably connected to the fixed frame 502, and the second crank 506 is used to rotate around the output shaft of the second rotary motor 507.

[0073] A protrusion 5061 is fixed on the second crank 506, and the dial wheel 508 is used to push the protrusion 5061 during rotation.

[0074] When the second rotary motor 507 is turned on, the second rotary motor 507 drives the actuation wheel 508, the actuation wheel 508 drives the protrusion 5061 and the second crank 506 to rotate around the output shaft of the second rotary motor 507, the second crank 506 drives the first crank 505 and the fixed shaft 501, and then drives the fixed shaft 501 to pass through the limiting ring 503 and approach the upper hemispherical shell 100. During this process, the elastic part 600 is compressed and stores energy.

[0075] When the protrusion 5061 rotates to the position closest to the upper hemisphere 100, the actuating wheel 508 continues to push the protrusion 5061 to move, and the elastic part 600 instantly releases the stored energy, causing the sphere to jump.

[0076] The above structure is an embodiment of the second drive unit provided in this application;

[0077] This application also provides another embodiment of the second drive unit, which is Embodiment Two of the second drive unit;

[0078] In Embodiment 2, the second drive unit includes an electric push rod, which is placed coaxially with the fixed shaft 501. One end of the electric push rod is fixed to the second fixed plate 602, and the other end of the electric push rod is fixedly equipped with an electric gripper. The electric gripper is used to grip the end of the fixed shaft 501 away from the lower hemisphere 200. The electric push rod pulls the fixed shaft 501 closer to the upper hemisphere 100. When a jump is required, the electric gripper releases the fixed shaft 501.

[0079] A second spring 509 is sleeved on the fixed shaft 501. One end of the second spring 509 is fixed to the limiting plate 504, and the other end of the second spring 509 is fixed to any limiting ring 503. The setting of the second spring 509 makes it easy for the protrusion 5061 to move and reset quickly to the lower hemisphere 200 end after passing the position closest to the upper hemisphere 100.

[0080] The sphere formed by the upper hemisphere 100 and the lower hemisphere 200 is equipped with a filter screen for blocking the notch 300. One edge of the filter screen is fixed to the inner wall of the upper hemisphere 100, and the other edge of the filter screen is fixed to the inner wall of the lower hemisphere 200. By setting the filter screen, foreign objects can be prevented from entering the interior of the sphere without affecting the relative movement of the upper hemisphere 100 and the lower hemisphere 200.

[0081] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0082] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A spherical bouncing robot designed to prevent entanglement and jamming, characterized in that, It includes an upper hemispherical shell (100) and a lower hemispherical shell (200), which together form a complete sphere; Multiple notches (300) distributed circumferentially are provided at the joint edge of the upper hemisphere (100) and the lower hemisphere (200). The notches (300) of the upper hemisphere (100) and the notches (300) of the lower hemisphere (200) are arranged alternately, so that the upper hemisphere (100) and the lower hemisphere (200) can slide towards each other along the axial direction. The lower hemisphere shell (200) is provided with a first slider (401) and a first driving part. There is a gap between the first slider (401) and the central axis of the lower hemisphere shell (200). The first driving part is connected to the first slider (401) and is used to drive the first slider (401) to rotate around the central axis of the lower hemisphere shell (200). A drive mechanism (500) and an elastic part (600) are provided between the upper hemisphere (100) and the lower hemisphere (200). The drive mechanism (500) connects the upper hemisphere (100) and the lower hemisphere (200) and is used to drive the two to move closer to each other. The elastic part (600) compresses and stores energy as the upper hemisphere (100) and the lower hemisphere (200) approach each other, and the elastic direction of the elastic part (600) is the same as the direction of the central axis of the lower hemisphere (200). When the drive mechanism (500) stops driving, the elastic part (600) releases stored energy, pushing the upper hemisphere (100) and the lower hemisphere (200) away from each other.

2. The spherical bouncing robot for preventing entanglement and jamming according to claim 1, characterized in that, The elastic part (600) includes a first fixing plate (601) and a second fixing plate (602) respectively fixed inside the lower hemisphere (200) and the upper hemisphere (100). The first fixing plate (601) and the second fixing plate (602) are both placed coaxially with the lower hemisphere (200). A plurality of first springs (603) are provided between the first fixing plate (601) and the second fixing plate (602) in a ring evenly distributed around the central axis of the lower hemisphere (200). The two ends of the first springs (603) are fixed to the first fixing plate (601) and the second fixing plate (602) respectively.

3. The spherical bouncing robot for preventing entanglement and jamming according to claim 2, characterized in that, The first fixed plate (601) has an annular groove (6011) placed on the same axis, and the first slider (401) is slidably engaged in the annular groove (6011). The first drive unit includes a first rotary motor (402) fixedly mounted on a first fixed plate (601). The output shaft of the first rotary motor (402) is placed coaxially with the first fixed plate (601). A connecting rod (403) connecting the first slider (401) is fixed on the output shaft of the first rotary motor (402).

4. The spherical bouncing robot for preventing entanglement and jamming according to claim 3, characterized in that, A second slider (404) is also slidably engaged inside the annular groove (6011).

5. The spherical bouncing robot for preventing entanglement and jamming according to claim 4, characterized in that, The drive mechanism (500) includes a fixed shaft (501) fixed on a first fixed plate (601), a fixed frame (502) fixed on a second fixed plate (602), a pair of symmetrically placed limiting rings (503) on the fixed frame (502), the fixed shaft (501) sliding through the limiting rings (503), and a second drive unit mounted on the fixed frame (502); The second drive unit is used to drive the fixed shaft (501) to move closer to the upper hemispherical shell (100). When the fixed shaft (501) moves to the predetermined position, the second drive unit releases the fixed shaft (501). A limiting disk (504) is fixed on the fixed shaft (501), and the limiting disk (504) is located between two limiting rings (503).

6. The spherical bouncing robot for preventing entanglement and jamming according to claim 5, characterized in that, The second drive unit includes a first crank (505), a second crank (506), a second rotary motor (507), and a pulley (508); The second rotary motor (507) is fixedly mounted on the fixed frame (502), and the output shaft of the second rotary motor (507) is placed horizontally; The actuating wheel (508) is fixedly sleeved on the output shaft of the second rotating motor (507); One end of the first crank (505) is rotatably hinged to the end of the fixed shaft (501) away from the lower hemispherical shell (200), the other end of the first crank (505) is rotatably hinged to the second crank (506), the other end of the second crank (506) is rotatably connected to the fixed frame (502), and the second crank (506) is used to rotate around the output shaft of the second rotary motor (507); A protrusion (5061) is fixed on the second crank (506), which is used to push the protrusion (5061) during the rotation of the turn wheel (508).

7. The spherical bouncing robot for preventing entanglement and jamming according to claim 6, characterized in that, A second spring (509) is sleeved on the fixed shaft (501). One end of the second spring (509) is fixed to the limiting plate (504), and the other end of the second spring (509) is fixed to any limiting ring (503).

8. The spherical bouncing robot for preventing entanglement and jamming according to claim 7, characterized in that, The sphere formed by the upper hemisphere (100) and the lower hemisphere (200) is provided with a filter screen for blocking the notch slot (300). One edge of the filter screen is fixed to the inner wall of the upper hemisphere (100), and the other edge of the filter screen is fixed to the inner wall of the lower hemisphere (200).

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