Obstacle-crossing spherical robot

Abstract

The utility model discloses an obstacle-crossing spherical robot. The obstacle-crossing spherical robot comprises a spherical shell, a driving core frame, a swinging guide framework and a supporting obstacle-crossing mechanism, the spherical shell is composed of an upper hemispherical shell and a lower hemispherical shell which are connected through flange plates on the left side and the right side to form the complete spherical shell. The driving core frame is arranged in the center of the interior of the spherical shell, the driving steering engine and the conductive slip ring are installed on the left side and the right side of the driving core frame respectively, the driving core frame moves, the driving steering engine is connected to the first flange plate through the first coupler, and the conductive slip ring is connected with the second flange plate so as to be fixed in the sphere; the swing guide framework comprises a swing arm, a balancing weight and a tripod, and is connected with the swing steering engine to control the motion direction of the spherical robot; the supporting obstacle crossing mechanism comprises supporting legs, a digital steering engine and a second coupler and controls the spherical robot to cross obstacles. The external structure and the internal structure of the spherical robot are simplified, and the spherical robot has the advantages of being flexible in movement, good in stability and high in controllability.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and more specifically relates to an obstacle-crossing spherical robot structure. Background Art

[0002] With the rapid development of science and technology, more and more robots with excellent performance are put into daily life production to replace people to complete some dangerous and repetitive tasks. With the development of robot technology, the requirements for robots are constantly increasing. For detection platforms, high flexibility is an inevitable trend for their future development. At present, land motion platforms are mainly wheeled, tracked and footed. Wheeled and tracked types have fast movement speed and strong carrying capacity, but their adaptability to the environment is poor; although the footed type has strong adaptability to the environment, it has high control requirements and weak stability. Therefore, spherical robots with flexible and lightweight movement, strong stability and high environmental adaptability will have higher research prospects and use value.

[0003] Spherical robots generally have a closed shell, which contains a control system, power system, motion actuator, sensor, etc. The basic movement is achieved through internal drive combined with the rolling of the spherical shell. At the same time, because its circuit and mechanical structure are stored in the spherical shell, it has strong environmental adaptability and can be used in environmental monitoring, industrial inspection, nuclear accident handling and other occasions. However, the current research on spherical robots is not yet fully mature. Many existing spherical robots have complex internal structures, inflexible driving methods, weak stability, and how the spherical robots can cross obstacles such as bosses during movement. How to optimize the internal and external structures of spherical robots has become an urgent problem to be solved. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model aims to provide an obstacle-crossing spherical robot with optimized external and internal structures, multiple motion modes and strong stability, so as to be suitable for a wider environment.

[0005] In order to achieve the above-mentioned purpose of the invention, the technical solution adopted by the utility model is:

[0006] A spherical obstacle-crossing robot, characterized in that it comprises a spherical shell, a driving core frame, a swinging guide mechanism and a supporting obstacle-crossing mechanism; the driving core frame is arranged at the central position inside the spherical shell, and a conductive slip ring and two servos are installed on it; the swinging guide mechanism is connected to the driving core frame; the supporting obstacle-crossing mechanism is fixed on the inner surface of the spherical shell, and two servos are installed on it.

[0007] Furthermore, the spherical shell comprises two upper and lower hemispherical shells, the interior of the hemispherical shells is provided with buckles and grooves, and the hemispherical shells are connected by the buckles. A pair of sides of the inner surface of the spherical shell are respectively installed with support frames.

[0008] Furthermore, a driving servo is installed on one side of the driving core frame, and the other side is connected to a conductive slip ring pin, and a swing servo is installed below, one side of the driving servo is fixed in the driving core frame by bolts, and the other side is connected to a first flange through a first coupling, the swing servo is connected to the swing guide mechanism, one side of the conductive slip ring is connected to the driving core frame pin, and the other side is connected to the spherical shell through a second flange.

[0009] Furthermore, one side of the first coupling is matched with and tightly connected to the steering gear shaft of the driving steering gear, and the other side of the first coupling is tightly connected to the first flange.

[0010] Furthermore, the first flange is fixed inside the spherical shell, the axial hole of the first flange is matched with and tightly connected to the first coupling, and the bottom plate of the first flange is tightly connected to the spherical shell.

[0011] Furthermore, the second flange is fixed inside the spherical shell, the axial hole of the second flange is matched with and tightly connected to the conductive slip ring shaft, and the bottom plate of the second flange is tightly connected to the spherical shell.

[0012] Furthermore, the swing guide mechanism includes a swing arm, a counterweight and a tripod, the swing arm cooperates with and is tightly connected to the servo shaft of the swing servo, the counterweight is fixed to the tripod by gluing, one side of the tripod is tightly connected to the driving core frame, and the other side is glued to the counterweight.

[0013] Furthermore, the support obstacle crossing mechanism includes support legs, a digital steering gear and a second coupling, and the digital steering gear is connected to the support frame on the inner surface of the spherical shell by bolts.

[0014] Furthermore, one side of the second coupling is tightly connected to the digital servo, and the other side of the second coupling is tightly connected to the supporting leg.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] 1. The utility model optimizes the external structure of the spherical robot and adopts a spliced ​​support frame on the spherical shell, which can support the robot to cross obstacles, increase the movement mode of the spherical robot, and improve the flexibility of the spherical robot.

[0017] 2. The utility model optimizes the internal structure of the spherical robot, uses the tripod as an auxiliary structure of the pendulum, and can select a suitable weight of the counterweight according to different mounted components, making its motion control easier.

[0018] 3. The internal structure of the spherical robot designed by the utility model is bilaterally symmetrical, which makes it easier to balance the overall weight of the spherical robot and enhances its static and dynamic stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is an external schematic diagram of the obstacle-crossing spherical robot of the utility model.

[0020] Figure 2 The oblique view of the obstacle-crossing spherical robot of the utility model with the upper hemisphere shell hidden

[0021] Figure 3 This is a top view of the lower hemisphere shell of the obstacle-crossing spherical robot of the utility model

[0022] Figure 4 This is a longitudinal cross-sectional view of the obstacle-crossing spherical robot of the utility model

[0023] Figure 5 Bottom view of the upper hemisphere shell of the obstacle-crossing spherical robot of the utility model

[0024] The accompanying drawings are marked as follows: 1 spherical shell, 2 buckle, 3 groove, 4 first flange, 5 second flange, 6 driving core frame, 7 first coupling, 8 conductive slip ring, 9 swing arm, 10 tripod, 11 counterweight, 12 swing guide mechanism, 13 support obstacle crossing mechanism, 14 support leg, 15 second coupling, 16 support frame, 21 driving servo, 22 swing servo, 23 digital servo. DETAILED DESCRIPTION

[0025] In order to explain the purpose, technical solution and advantages of the utility model more concisely and easily, we will explain it in detail with reference to the drawings and embodiments. It should be clear that the embodiments mentioned in this article are only used to explain the concept of the utility model and are not used to specifically limit it.

[0026] Example 1

[0027] like Figures 1 to 5 As shown, the utility model provides an obstacle-crossing spherical robot, comprising a spherical shell 1, a driving core frame 6 and a swinging guide mechanism 12 arranged in the spherical shell 1, and a supporting obstacle-crossing mechanism 13 fixed on the inner surface of the spherical shell 1.

[0028] The spherical shell 1 is composed of two upper and lower hemispherical shells and adopts a double-layer snap-on 2 structure. The upper hemispherical shell is provided with an inner snap-on 2, and the lower hemispherical shell is provided with a groove 3. It is connected by a driving servo 21 on one side and a conductive slip ring 8 on the other side at the same height as the center of the ball, supporting the entire spherical shape, thereby isolating the internal mechanism from the external environment and ensuring stable operation of the entire system.

[0029] The driving core frame 6 is arranged at the central position inside the spherical shell 1, and it presents a rectangular structure with a hollow middle. A driving servo 21 is installed on one side of the driving core frame, and a swing servo 22 is installed perpendicular to the rolling direction below the hollow middle part, which drives the movement of the spherical shell 1 and the swing guide mechanism 12 respectively.

[0030] Taking the center of the sphere as the origin and adopting a standard Cartesian three-dimensional rectangular coordinate system, the driving servo 21 is installed at the central position of one side of the driving core frame 6 and is tightly connected by bolts.

[0031] The steering gear shaft of the driving steering gear 21 is connected to the first coupling 7. One side of the first coupling 7 is matched with and tightly connected to the steering gear shaft, and the other side is tightly connected to the first flange.

[0032] The first flange 4 is fixed inside the spherical housing, and its axial hole is matched with and tightly connected to the first coupling 7, and its chassis peripheral holes are tightly connected to the spherical housing 1 through bolts.

[0033] The swing servo 22 is fixed to the hollow part below the driving core frame 6 by the servo base through fastening bolts. The connection structure of the entire driving core frame 6 is symmetrical about the Z axis and coincides with the Y axis, thereby ensuring the balance stability inside the obstacle-crossing spherical robot.

[0034] The swing guide mechanism 12 includes a swing arm 9, a tripod 10 and a counterweight 11. One side of the tripod 10 is tightly connected to the driving core frame 6, and the other side is glued to the counterweight 10. The counterweight 11 is fixed to the tripod 10 by gluing. The mass of the counterweight is adjusted to ensure the balance of the robot in the direction parallel to the X-axis. The swing arm 9 cooperates with and is tightly connected to the servo shaft of the swing servo 22 to control the movement direction of the obstacle-crossing spherical robot.

[0035] Specifically, the servo shaft direction of the swing servo 22 intersects with the servo shaft direction of the driving servo 21 to form a "cross shape", thereby establishing a more stable internal structure of the obstacle-crossing spherical robot.

[0036] The obstacle-crossing support mechanism 13 is composed of two parts, each of which has the same structure, including a digital servo 23, a second coupling 15, a support frame 16 and a support leg 14. The two parts are respectively located on the upper and lower sides of the spherical shell 1 of the obstacle-crossing spherical robot. The digital servo is connected to the support frame on the inner wall of the spherical shell by bolts. The servo shaft of the digital servo 23 is connected to the second coupling 15. One side of the second coupling 15 is matched and fastened with the servo shaft by a key connection, and the other side is fastened with the support leg 14 by bolts to assist the obstacle-crossing spherical robot to cross obstacles.

[0037] In the obstacle-crossing spherical robot, the motion control system (including the control board and the battery, etc.) except the digital servo 23 is carried by the driving core frame 6, wherein the battery is fastened to the hollow middle part of the driving core frame 6 by bolts.

[0038] The working principle of the obstacle-crossing spherical robot's motion mode is described in detail below:

[0039] 1. Linear motion mode

[0040] Reference Figures 1 to 5 , when moving in an environment with no obstacles ahead, a linear motion mode is adopted.

[0041] The robot is placed on the ground to ensure that the battery is sufficient. The system returns to the initial state, that is, the driving core frame 6 and the swing guide mechanism 12 are parallel to the Z axis, and the support legs are embedded in the surface of the spherical shell 1.

[0042] During linear motion, the driving servo 21 outputs a driving torque, and the spherical shell on the same side as the driving servo rotates around the Y-axis. The other side is fastened to the spherical shell 1 by a conductive slip ring 8 through a second flange 5, thereby ensuring that the rotation speeds of the spherical shells on both sides are consistent. The driving servo 21 continuously outputs a torque to ensure the rolling speed of the spherical shell 1, thereby realizing the linear motion of the obstacle-crossing spherical robot.

[0043] At this time, the swing servo 22 is in a locked state, ensuring that the swing guide mechanism will not rotate relative to the Z axis due to the rotation of the spherical shell 1 around the Y axis, that is, it will not produce a certain angle with the Z axis, causing the entire system to be unbalanced in the Y direction, so that it cannot stably perform linear motion.

[0044] During the turning movement, the driving servo 21 keeps working, and the driving torque is output by the swinging servo 22 to adjust the angle between the swinging guide mechanism 12 and the driving core frame 6, so that the relative position of the swing arm 9 and the center of the ball changes, thereby making the speed of the obstacle-crossing spherical robot deviate from the linear motion trajectory and achieving the purpose of turning.

[0045] 2. Curve motion mode

[0046] Reference Figures 1 to 5 In a curved road environment, it is necessary to implement the curved forward mode by combining linear motion and steering motion simultaneously.

[0047] During curved motion, the driving servo 21 remains in working condition, and the driving servo 21 outputs torque to provide a speed V1 of motion in the X-axis direction. At the same time, the swinging servo 22 outputs a driving torque, and by adjusting the angle between the swinging guide mechanism 12 and the driving core frame 6, the balance point in the Y-axis direction is changed to provide a speed V2 in the Y-axis direction. By moving the center of gravity of the obstacle-crossing spherical robot to a point on the sphere that deviates from the original center of gravity, the speed of the obstacle-crossing spherical robot deviates from the trajectory during linear motion. In this way, the speed of the obstacle-crossing spherical robot is controlled by the swinging guide mechanism 12, and the linear and turning motion modes are alternated in parallel to achieve curved motion.

[0048] 3. Obstacle-crossing sports mode

[0049] Reference Figures 1 to 5 As shown, in an environment where there are obstacles in front that cannot be bypassed, the obstacle crossing movement mode is adopted.

[0050] When the robot moves over obstacles, the digital servo 23 located above the spherical shell 1 outputs a driving torque to adjust the angle between the upper support leg and the spherical shell 1, so that the support leg 14 and the obstacle form a slope. The digital servo 23 located below the spherical shell 1 outputs a driving torque to adjust the angle between the lower support leg 14 and the spherical shell 1, so that the lower support leg 14 supports the ground to support the robot. The driving servo 21 enters the working state, so that the obstacle-crossing spherical robot rolls forward to complete the obstacle crossing. After the robot climbs over the obstacle, the digital servos 23 on both sides output a driving torque to restore the two support legs 14 to their initial state, thereby achieving the purpose of overcoming obstacles.

Claims

1. An obstacle-crossing spherical robot, characterized in that The invention comprises a spherical shell (1), a driving core frame (6), a swinging guide mechanism (12) and a supporting obstacle-crossing mechanism (13); the driving core frame (6) is arranged at the central position inside the spherical shell (1), and a conductive slip ring and two steering gears are installed on the driving core frame (6); the swinging guide mechanism (12) is connected to the driving core frame (6); and the supporting obstacle-crossing mechanism (13) is fixed on the inner surface of the spherical shell (1), and two steering gears are installed on the driving core frame (6).

2. The obstacle-crossing spherical robot according to claim 1, characterized in that: The spherical shell (1) comprises two upper and lower hemispherical shells, wherein buckles (2) and grooves (3) are provided inside the hemispherical shells, the hemispherical shells are connected via the buckles (2), and support frames (16) are respectively installed on a pair of sides of the inner surface of the spherical shells.

3. The obstacle-crossing spherical robot according to claim 2, characterized in that: A driving servo (21) is installed on one side of the driving core frame (6), and the other side is connected to a conductive slip ring (8) by a pin. A swing servo (22) is installed below. One side of the driving servo (21) is fixed in the driving core frame (6) by bolt connection, and the other side is connected to a first flange (4) by a first coupling (7). The swing servo (22) is connected to the swing guide mechanism (12). One side of the conductive slip ring (8) is connected to the driving core frame (6) by a pin, and the other side is connected to the spherical shell (1) by a second flange (5).

4. The obstacle-crossing spherical robot according to claim 3, characterized in that: One side of the first coupling (7) is matched with and tightly connected to the steering gear shaft of the driving steering gear (21), and the other side of the first coupling (7) is tightly connected to the first flange (4).

5. The obstacle-crossing spherical robot according to claim 4, characterized in that: The first flange (4) is fixed inside the spherical housing (1), its axial hole is matched with and tightly connected to the first coupling (7), and its base is tightly connected to the spherical housing (1).

6. The obstacle-crossing spherical robot according to claim 5, characterized in that: The second flange (5) is fixed inside the spherical shell (1), its axial hole is matched with and tightly connected to the shaft of the conductive slip ring (8), and its bottom plate is tightly connected to the spherical shell (1).

7. The obstacle-crossing spherical robot according to claim 6, characterized in that: The swing guide mechanism (12) comprises a swing arm (9), a counterweight (11) and a tripod (10); the swing arm (9) cooperates with and is tightly connected to the steering gear shaft of the swing steering gear (22); the counterweight (11) is fixed to the tripod (10) by gluing; one side of the tripod (10) is tightly connected to the driving core frame (6), and the other side is glued to the counterweight (11).

8. The obstacle-crossing spherical robot according to claim 2, characterized in that: The obstacle-crossing support mechanism (13) comprises a support leg (14), a digital steering engine (23) and a second coupling (15); the digital steering engine (23) is connected to the support frame (16) on the inner surface of the spherical housing (1) by means of bolts.

9. The obstacle-crossing spherical robot according to claim 8, characterized in that: One side of the second coupling (15) is firmly connected to the digital steering gear (23), and the other side of the second coupling (15) is firmly connected to the supporting leg (14).

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