Amphibious spherical robot

Abstract

The present invention discloses an amphibious spherical robot, which includes a shell, a frame and a rotor assembly, wherein the shell is provided with an annular groove, and the annular groove is closed and extends along the circumference of the shell; the frame is arranged in the inner cavity of the shell and the shell can rotate around a first direction relative to the frame; the rotor assembly is arranged on the frame, and the rotor assembly has a folding form and a flying form, in the folding form, the rotor assembly is stored in the shell so that the shell can roll, and in the flying form, the rotor assembly extends to the outside of the shell through the annular groove to be suitable for driving the amphibious spherical robot to fly. The amphibious spherical robot of the embodiment of the present invention has the advantages of being able to fly over rugged terrain and having good passability.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, in particular to an amphibious spherical robot. Background Art

[0002] The spherical robot has high maneuverability, can move quickly and stably, and can protect the internal mechanism of the spherical robot during movement. The spherical robot in the related art has poor passability and cannot cross complex and rugged terrain. Summary of the invention

[0003] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, an embodiment of the present invention provides an amphibious spherical robot, which has the advantages of being able to fly over rough terrain and having good passability.

[0004] The amphibious spherical robot of an embodiment of the present invention includes a shell, the shell is provided with an annular groove, and the annular groove extends in a closed manner along the circumference of the shell; a frame, the frame is arranged in the inner cavity of the shell and the shell can rotate around a first direction relative to the frame; the rotor assembly, the rotor assembly is arranged on the frame, the rotor assembly has a folding form and a flying form, in the folding form, the rotor assembly is stored in the shell so that the shell can roll, and in the flying form, the rotor assembly extends to the outside of the shell through the annular groove so as to be suitable for driving the amphibious spherical robot to fly.

[0005] The amphibious spherical robot according to the embodiment of the present invention has the advantages of being able to fly over rough terrain and having good passability.

[0006] In some embodiments, the amphibious spherical robot includes a weight-swing component, which is disposed on the frame and is suitable for adjusting the center of gravity of the amphibious spherical robot to adjust the moving direction of the amphibious spherical robot or improve stability.

[0007] 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.

[0008] 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 radially along the rotating frame.

[0009] In some embodiments, 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 slidably matched with the first guide rod and the second guide rod, and the adjustment screw is threadably connected to the counterweight to drive the counterweight to move along the bidirectional screw.

[0010] In some embodiments, a first drive motor and a second drive motor are included, wherein the first drive motor is disposed at one end of the telescopic assembly and connected to the first shell, and the first drive motor is suitable for driving the first shell to rotate, and the second drive motor is disposed at the other end of the telescopic assembly and connected to the second shell, and the second drive motor is suitable for driving the second shell to rotate.

[0011] In some embodiments, the rotor assembly includes a base arm, a folding arm, a drive and a rotor, the base arm is fixedly connected to the frame, the folding arm is rotatably connected to the base arm, the rotor is rotatably connected to the folding arm, one end of the drive is rotatably connected to the base arm, and the other end of the drive is rotatably connected to the folding arm. In the folded form, the folding arm rotates to be parallel to the base arm to reduce the space occupied by the rotor assembly. In the flight form, the folding arm rotates to be parallel to the base arm to extend the rotor out of the housing. The length of the drive is adjustable to drive the rotor assembly to switch between the flight form and the folded form.

[0012] In some embodiments, the folding arm includes a first section and a second section, the first section and the second section form an angle, one end of the first section is rotationally connected to the top end of the base arm, and the other end of the first section is connected to the second section. The folding arm has a first position and a second position. In the first position, the second section and the base arm are located on the same side of the first section. In the second position, the first section and the base arm have the same extension direction.

[0013] In some embodiments, the rotor is located at one end of the folding arm away from the base 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 shell.

[0014] 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic structural diagram of the rotor assembly of the amphibious spherical robot in a folded state according to an embodiment of the present invention.

[0016] Figure 2 It is a structural schematic diagram of the rotor assembly of the amphibious spherical robot in the flight state according to an embodiment of the present invention.

[0017] Figure 3 Schematic diagram of the structure of an amphibious spherical robot according to an embodiment of the present invention.

[0018] Figure 4 Schematic diagram of the re-swing assembly of the amphibious spherical robot according to an embodiment of the present invention.

[0019] Figure 5 4 is a cross-sectional view of a re-swing assembly of an amphibious spherical robot according to an embodiment of the present invention.

[0020] Figure 6 Schematic diagram of the rotor assembly of the amphibious spherical robot according to an embodiment of the present invention.

[0021] Reference numerals:

[0022] Shell 1; first shell 11; second shell 12; annular groove 13;

[0023] Rack 2;

[0024] A first driving motor 301; a second driving motor 302;

[0025] Rotor assembly 4; base arm 41; first pivot 411; first avoidance slot 412; folding arm 42; first section 421; second section 422; second pivot 423; second avoidance slot 424; driver 43; rotor 44; flight motor 441; swing arm 442; first wing 4421; second wing 4422; folder 443; first drive 4431; second drive 4432; first rotor assembly 401; second rotor assembly 402;

[0026] The weight swing assembly 5; the first assembly 51; the first swing motor 511; the first rotor part 5111; the first stator part 5112; the second swing motor 512; the second rotor part 5121; the second stator part 5122; the rotating frame 513; the first part 5131; the second part 5132; the connecting part 5133; the first protrusion 5134; the second protrusion 5135; the second assembly 52; the adjustment motor 521; the third rotor part 5211; the third stator part 5212; the adjustment screw 522; the first guide rod 523; the second guide rod 524; the counterweight 53; the avoidance groove 531; the end plate 54. DETAILED DESCRIPTION

[0027] 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.

[0028] The amphibious spherical robot according to the embodiment of the present invention will be described below with reference to the accompanying drawings.

[0029] like Figures 1 to 6 As shown, the amphibious spherical robot according to the embodiment of the present invention includes a shell 1 , a frame 2 and a rotor assembly 4 .

[0030] The housing 1 is provided with an annular groove 13, and the annular groove 13 is closed and extends along the circumference of the housing 1. Specifically, the housing 1 is spherical, and the housing 1 is provided with an annular groove 13, and the annular groove 13 is a through groove, and the annular groove 13 is closed and extends along the circumference of the housing 1, and the annular groove 13 connects the inner cavity of the housing 1 and the outer side of the housing 1, and the annular groove 13 divides the housing 1 into a first shell 111 and a second shell 112, and the first shell 111 and the second shell 112 are symmetrically arranged in the left-right direction, and there is a set spacing between the first shell 111 and the second shell 112 to form the annular groove 13.

[0031] The frame 2 is provided in the inner cavity of the shell 1 and the shell 1 can rotate around the first direction relative to the frame 2. Specifically, the frame 2 extends along the left-right direction, the first direction is the extension direction 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 relatively, thereby driving the amphibious spherical robot with external operation function of the embodiment of the present invention to roll on the ground.

[0032] The rotor assembly 4 is arranged on the frame 2, and the rotor assembly 4 has a folding form and a flying form. In the folding form, the rotor assembly 4 is stored in the shell 1 so that the shell 1 can roll. In the flying form, the rotor assembly 4 extends to the outside of the shell 1 through the annular groove 13 to be suitable for driving the amphibious spherical robot to fly.

[0033] Specifically, in the folded form, the rotor assembly 4 is stored in the shell 1 to prevent the rotor assembly 4 from colliding with objects outside the shell 1. In the flight 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.

[0034] The amphibious spherical robot of the embodiment of the present invention can roll and move forward, and has high maneuverability under relatively flat terrain conditions, but when the amphibious spherical robot is required to pass through relatively rugged terrain, the amphibious spherical robot cannot roll forward. The rotor assembly 4 can be adjusted to a flight state to drive the amphibious spherical robot of the embodiment of the present invention to fly, so that the amphibious spherical robot of the embodiment of the present invention can fly over relatively rugged terrain, so that the amphibious spherical robot of the embodiment of the present invention has the advantages of being able to fly over rugged terrain and having good passability.

[0035] In some embodiments, the amphibious spherical robot of the embodiment of the present invention includes a re-swing assembly 5, which is arranged on the frame 2, and the re-swing assembly 5 is suitable for adjusting the center of gravity of the robot to adjust the traveling direction of the robot or improve the stability. Figures 1 to 5 As shown, the weight-swing assembly 5 is located at the lower side of the frame 2. The weight-swing assembly 5 is stabilized at the lower side of the frame 2 under the action of gravity, so that in the amphibious spherical robot of the embodiment of the present invention, the posture of the frame 2 remains stable.

[0036] like Figure 1 As shown, when the amphibious spherical robot of the embodiment of the present invention rolls, the weight-swing assembly 5 can adjust the center of gravity of the amphibious spherical robot of the 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.

[0037] like Figure 2 As shown, when the amphibious spherical robot of the 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 of the embodiment of the present invention during flight.

[0038] In some embodiments, the counterweight 53 includes a first component 51, a second component 52 and a counterweight 53, the first component 51 is disposed on the frame 2, one end of the second component 52 is rotatably assembled with the first component 51, and the counterweight 53 is disposed 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.

[0039] Specifically, Figure 4As shown, the first component 51 is arranged along the front-to-back direction, the second component 52 is arranged along the radial direction of the first component 51, the counterweight 53 is located at one end of the second component 52 away from the first component 51, and the first component 51 can rotate relative to the frame 2 to adjust the extension direction of the second component 52, thereby adjusting the position of the counterweight 53 in the circumferential direction of the first component 51. The second component 52 drives the counterweight 53 to move along the extension direction of the second component 52 to adjust the distance between the counterweight 53 and the first component 51, thereby adjusting the center of gravity position of the amphibious spherical robot according to the embodiment of the present invention.

[0040] Thus, when the amphibious spherical robot of the embodiment of the present invention rolls, the first component 51 drives the counterweight 53 to swing left and right to move the center of gravity of the amphibious spherical robot of the embodiment of the present invention left and right, so that the robot tilts in the direction of the center of gravity movement to adjust the direction of the robot rolling. When the amphibious spherical robot of the embodiment of the present invention flies, the second component 52 adjusts the position of the counterweight 53 in the up and down direction so that the center of gravity of the robot is close to the force arm of the lift generated by the rotor assembly 4, thereby improving the stability of the robot during flight.

[0041] 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.

[0042] Specifically, Figure 4 and Figure 5 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-right direction.

[0043] 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 of the embodiment of the present invention in the front-to-back direction. 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.

[0044] 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.

[0045] 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 on the front side 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.

[0046] 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.

[0047] 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, thereby increasing the contact area at the connection between the swing motor and the frame 2, thereby improving the carrying capacity of the first swing motor 511 and the second swing motor 512 when driving the counterweight 53 to swing.

[0048] 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, 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.

[0049] 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.

[0050] The second stator portion 5122 of the second swing motor 512 is located at 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, 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.

[0051] 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, so that 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 according to the embodiment of the present invention.

[0052] 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 matched with the first rotor part 5111, and part of the second protrusion 5135 is rotatably matched with the second rotor part 5121.

[0053] 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 fitted in the first rotor part 5111 of the first rotor part 5111, and the second protrusion 5135 is assembled and fitted in the second rotor part 5121 of the second swing motor 512.

[0054] 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, and the second protrusion 5135 is interference fitted in the second rotor portion 5121 of the second swing motor 512.

[0055] Therefore, 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.

[0056] 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 in parallel 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 matched 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.

[0057] Specifically, Figure 4 and Figure 5 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.

[0058] 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 of the embodiment of the present invention is closer to the rotor assembly 4. Therefore, in the flight form, when the first assembly 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.

[0059] 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.

[0060] Specifically, the rotating shaft of the adjustment motor 521 extends in the up-down direction, the upper end of the third stator portion 5212 of the adjustment motor 521 is connected to the lower end surface of the connecting portion of the rotating frame 513, the third rotor portion 5211 of the adjustment motor 521 is rotatably assembled in the third stator portion 5212 of the adjustment motor 521, and the adjustment screw 522 is assembled in the third rotor portion 5211 of the adjustment motor 521 and connected to the third rotor portion 5211 of the adjustment motor 521.

[0061] 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.

[0062] 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.

[0063] The upper end of the adjusting screw 522 extends out of the third rotor portion 5211 of the adjusting motor 521 and forms an extended section, and the extended section is rotatably assembled to the connecting portion of the rotating frame 513 through the first bearing. Therefore, when the adjusting screw 522 is subjected to a torsional moment rotating relative to the rotating frame 513, the first bearing between the extended section and the connecting portion is subjected to a radial moment of the adjusting screw 522, thereby reducing the radial moment of the adjusting motor 521.

[0064] In some embodiments, the heavy swing assembly includes an end plate 54, one end of the adjustment screw rod 522 is rotatably engaged with the connecting portion, the other end of the adjustment screw rod 522 is rotatably engaged 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.

[0065] Specifically, the first guide rod 523 and the second guide rod 524 are arranged along the axial symmetry axis 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, and 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, and 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.

[0066] 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 for the counterweight 53 when the counterweight 53 translates axially along the guide rod.

[0067] In some embodiments, the counterweight 53 is provided with an avoidance groove 531 , and the avoidance groove 531 extends along the length direction of the adjusting screw rod 522 , and the avoidance groove 531 is suitable for avoiding the end plate 54 .

[0068] Specifically, the avoidance groove 531 is located at the lower side of the counterweight 53 and extends in the left-right direction. 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.

[0069] Thus, at least part of the adjustment screw 522 and at least part of the guide rod are located in the avoidance groove 531 . When the counterweight 53 translates 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 .

[0070] In some embodiments, the counterweight 53 has an inner cavity, and the inner cavity is suitable for accommodating the counterweight. Specifically, the counterweight 53 is a hollow structure. Therefore, the components with high density such as the battery of the amphibious spherical robot of the embodiment of the present invention can be arranged in the counterweight 53. On the one hand, the large mass of the counterweight 53 can adjust the center of gravity position of the amphibious spherical robot of the embodiment of the present invention. On the other hand, installing the battery and other components in the inner cavity can reduce the volume of the amphibious spherical robot of the embodiment of the present invention.

[0071] In some embodiments, a first drive motor 601 and a second drive motor 602 are included. The first drive motor 601 is disposed at one end of the telescopic assembly 3 and 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 disposed at the other end of the telescopic assembly 3 and connected to the second shell 12. The second drive motor 602 is suitable for driving the second shell 12 to rotate.

[0072] 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 .

[0073] 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, so that in the second form, the first shell 11 and the second shell 12 rotate relative to the frame 2 to drive the amphibious spherical robot of an embodiment of the present invention to roll.

[0074] In some embodiments, the rotor assembly 4 includes a base arm 41, a folding arm 42, a driver 43 and a rotor 44. The base arm 41 is fixedly connected to the frame 2, the folding arm 42 is rotatably connected to the base arm 41, the rotor 44 is rotatably connected to the folding arm 42, one end of the driver 43 is rotatably connected to the base arm 41, and the other end of the driver 43 is rotatably connected to the folding arm 42. In the folded form, the folding arm 42 rotates to be parallel to the base arm 41 to reduce the space occupied by the rotor assembly 4. In the flight form, the folding arm 42 rotates to be parallel to the base arm to extend the rotor 44 out of the shell 1. The length of the driver 43 is adjustable to drive the rotor assembly 4 to switch between the flight form and the folded form.

[0075] Specifically, Figure 1 and Figure 6 As shown, the base arm extends in the up-down direction, the folding arm 42 is rotatably connected to the upper end of the base arm, and the rotating shaft of the folding arm 42 extends in the left-right direction, so that the folding arm 42 can swing in a plane perpendicular to the left-right direction, and a rotor 44 is provided on the side of the folding arm 42 away from the base arm 41, one end of the driver 43 is rotatably connected to the middle section of the folding arm 42 to form a first connection position, and the other end of the driver 43 is rotatably connected to the middle section of the base arm 41 to form a second connection position.

[0076] Therefore, when the folding arm 42 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 43 is adjustable to adapt to the change in the distance between the first connection position and the second connection position. On the other hand, the adjustable length of the driver 43 increases the distance between the first connection position and the second connection position, thereby allowing the folding arm 42 to switch between the flying form and the folding form.

[0077] In some embodiments, the folding arm 42 includes a first section 421 and a second section 422, the first section 421 and the second section 422 are at an angle, one end of the first section 421 is rotatably connected to the top of the base arm 41, and the other end of the first section 421 is connected to the second section 422. The folding arm 42 has a first position and a second position. In the first position, the second section 422 and the base arm 41 are located on the same side of the first section 421. In the second position, the extension directions of the first section 421 and the base arm 41 are consistent.

[0078] Specifically, the first section 421 and the second section 422 are both long flat plate structures, the base arm 41 extends in the vertical direction, one end of the first section 421 is connected to one end of the second section 422 and the extension direction of the first section 421 is perpendicular to the extension direction of the second section 422, and the other end of the first section 421 is rotatably connected to the upper end of the base arm 41, so that the folding arm 42 can rotate around the upper end of the base arm 41.

[0079] In the first position, the first section 421 is perpendicular to the base arm 41, the second section 422 is arranged parallel to the base arm 41, and the base arm 41 is located at the lower side of the first section 421, and the second section 422 is located at the lower side of the first section 421. In the second position, the first section 421 extends in the vertical direction, the second section 422 is located at the upper side of the first section 421, and the second section 422 extends in the horizontal direction.

[0080] The rotor assembly 4 is provided with a first section 421 and a second section 422 which are perpendicular to each other. In the second position, the base arm 41 and the first section 421 extend in the vertical direction. The height dimension of the rotor assembly 4 in the second position is the sum of the length of the first section 421 and the length of the base arm 41. In the first position, the first section 421 is perpendicular to the base arm 41 so that there is a set interval between the second section 422 and the base arm 41. Therefore, when the rotor assembly 4 is folded and stored, part of the height of the rotor assembly 4 in the second position is converted into the thickness of the rotor assembly 4 in the first position.

[0081] Thus, on the one hand, when the folding arm 42 swings from the second position to the first position, the partial height of the rotor assembly 4 at the second position is converted into the thickness of the rotor assembly 4 at the first position, so that the rotor assembly 4 has a large height difference before and after folding, which is convenient for storage. On the other hand, in the first position, there is a set interval between the second part and the base arm 41 with a thickness equal to the length of the first part, which is convenient for storing the driver 43 into the set interval. Therefore, the rotor assembly 4 has the advantage of having a small outline size after folding, which is convenient for storage.

[0082] In some embodiments, the rotor 44 is located at one end of the folding arm 42 away from the base arm 41. The rotor 44 includes multiple rotor arms 441 and a flight motor 442. The flight motor 442 is connected to the multiple rotor arms 441 to drive the rotor arms 441 to rotate and generate lift. In the flight form, the multiple rotor arms 441 are evenly spaced along the circumference of the flight motor 442 to allow the rotor assembly 4 to maintain dynamic balance during rotation. In the folded form, the multiple rotor arms 441 extend along the length direction of the folding arm 42 so that the rotor assembly 4 can be retracted into the outer shell.

[0083] Specifically, rotor 44 is a foldable rotor. In the folded state, multiple rotor arms 441 are folded and stored in folding arm 42. At this time, multiple rotor arms 441 extend in a direction roughly parallel to folding arm 42, and multiple rotor arms 441 are attached to the side of folding arm 42 away from base arm 41 to reduce the width of multiple rotor arms 441, thereby reducing the width of rotor assembly 4, making the width of rotor assembly 4 smaller than the distance between first shell 11 and second shell 12, so that rotor assembly 4 can be stored from outside shell 1 to inside shell 1 in the folded state.

[0084] In the flight form, the folding arm 42 moves the rotor assembly 4 to the outside of the shell 1, and the flight motor 442 drives the multiple rotary arms 441 to rotate around the axis of the flight motor 442 to generate lift. The multiple rotary arms 441 are arranged at equal intervals along the outer peripheral side of the flight motor 442, so that the mass of the multiple rotors 44 is evenly distributed along the circumference of the flight motor 442, thereby allowing the rotor assembly 4 to maintain dynamic balance during flight.

[0085] Therefore, the flight motor 442 is located at one end of the folding arm 42 away from the base arm 41, and the rotor 44 is a foldable rotor. On the one hand, the length of multiple rotor arms 441 is increased, which facilitates the rotor assembly 4 to provide greater lift in the flight form. On the other hand, the arm length of the lift moment of the rotor assembly 4 in the flight form is increased, thereby increasing the stability of the amphibious spherical robot of the embodiment of the present invention in the flight form.

[0086] In some embodiments, multiple rotary arms 441 include a first wing 4411 and a second wing 4412, a folder 443 is provided at one end of the output shaft of the flight motor 442, the folder 443 includes a first drive 4431 and a second drive 4432, the rotating shaft of the first drive 4431 is arranged parallel to the rotating shaft of the flight motor 442, the rotating shaft of the second drive 4432 is arranged parallel to the rotating shaft of the flight motor 442, the first drive 4431 and the second drive 4432 are arranged symmetrically along the rotating shaft of the flight motor 442, the first drive 4431 is connected to the first wing 4411, and the second drive 4432 is connected to the second wing 4412.

[0087] Specifically, Figure 6 As shown, there are two rotors, a first wing 4411 and a second wing 4412 are connected to the output shaft of the flight motor 442 via a folder 443, and the folder 443 is connected to the output shaft of the flight motor 442. When the output shaft of the flight motor 442 rotates, the folder 443 rotates relative to the second part along with the output shaft of the flight motor 442. The folder 443 includes a first drive 4431 and a second drive 4432. The first drive 4431 and the second drive 4432 are arranged at equal intervals along the circumference of the output shaft of the flight motor 442. The first drive 4431 is connected to one end of the first wing 4411, and the second drive 4432 is connected to one end of the second wing 4412.

[0088] Therefore, on the one hand, there are two rotors, which makes it convenient to fold all the rotors to extend along the length direction of the second part. On the other hand, the first drive 4431 can drive the first wing 4411 to rotate relative to the folder 443, and the second drive 4432 can drive the second wing 4412 to rotate relative to the folder 443, thereby driving the rotor to switch between the folded form and the unfolded form.

[0089] In some embodiments, the base arm 41 includes a first pivot 411, the folding arm 42 includes a second pivot 423, the extension direction of the first pivot 411 is the same as the extension direction of the second pivot 423, the driver 43 is connected between the first pivot 411 and the second pivot 423, and in the first position, the first pivot 411 is located between the first section 421 and the second pivot 423.

[0090] Specifically, Figure 6 As shown, the first pivot 411 and the second pivot 423 extend in the left-right direction, the distance between the second pivot 423 and the first part is greater than the distance between the first pivot 411 and the first part, the driver 43 includes a fixed part and a driving part, the driving part guide is matched with the fixed part, the fixed part is rotatably connected to the first pivot 411, and the driving part is rotatably connected to the second pivot 423.

[0091] Thus, the distance between the second pivot 423 and the first part is greater than the distance between the first pivot 411 and the first part. In the first position, there is an angle between the extension direction of the driver 43 and the extension direction of the base arm 41, so that the driver 43 is tilted relative to the base arm 41 and the second section 422, thereby facilitating the storage of the driver 43 between the base arm 41 and the second section 422 in the first position.

[0092] In some embodiments, the base arm 41 is provided with a first avoidance groove 412, the second section 422 is provided with a second avoidance groove 424, the first pivot 411 is located in the first avoidance groove 412, the second pivot 423 is located in the second avoidance groove 424, the first avoidance groove 412 extends along the length direction of the base arm 41, and the second avoidance groove 424 extends along the length direction of the second section 422.

[0093] Specifically, the extension direction of the first avoidance groove 412 is the same as the extension direction of the base arm 41, and the first avoidance groove 412 runs through the front and rear sides of the base arm 41, the first pivot 411 extends along the width direction of the first avoidance groove 412 and is connected to the base arm 41, the extension direction of the second avoidance groove 424 is the same as the extension direction of the second section 422, the second pivot 423 extends along the width direction of the second avoidance groove 424 and the second pivot 423 is connected to the second section 422.

[0094] Therefore, the fixed part of the driver 43 cooperates with the first avoidance groove 412. When the driver 43 rotates relative to the base arm 41, the first avoidance groove 412 avoids the driver 43 to prevent the base arm 41 from affecting the swing stroke of the driver 43. The driving part of the driver 43 cooperates with the second avoidance groove 424. When the driver 43 rotates relative to the second section 422, the second avoidance groove 424 avoids the driving part of the driver 43 to prevent the second section 422 from affecting the swing stroke of the driver 43.

[0095] 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 .

[0096] Specifically, Figure 3 As shown, first rotor assembly 401 and second rotor assembly 402 are symmetrical along the front-to-back direction, and first rotor assembly 401 and second rotor assembly 402 move synchronously, that is, when one of first rotor assembly 401 and second rotor assembly 402 is converted from the flight form to the folded form, the other of first rotor assembly 401 and second rotor assembly 402 is also converted from the flight form to the folded form.

[0097] 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 distribution of the amphibious spherical robot of the embodiment of the present invention is uniform in the front-to-back direction, so that the center of gravity of the amphibious spherical robot in a static state is stable within the vertical geometric center axis of the amphibious spherical 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 of the embodiment of the present invention is in a flying state, the lift moment generated by the first rotor assembly 401 offsets the lift moment generated by the second rotor assembly 402, so that the flight state of the amphibious spherical robot is stable.

[0098] In the description of the present invention, it is to 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”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0099] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0100] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0101] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0102] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. 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 representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0103] Although the above embodiments have been shown and described, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments by those of ordinary skill in the art are all within the scope of protection of the present invention.

Claims

1. An amphibious spherical robot, characterized in that: include: A shell, wherein the shell is provided with an annular groove, and the annular groove extends in a closed manner along the circumference of the shell; A frame, the frame is arranged in the inner cavity of the shell and the shell can rotate around a first direction relative to the frame; a rotor assembly, the rotor assembly being arranged on the frame, the rotor assembly having a folding state and a flying state, wherein in the folding state, the rotor assembly is stored in the shell so that the shell can roll, and in the flying state, the rotor assembly extends to the outside of the shell through the annular groove so as to be suitable for driving the amphibious spherical robot to fly; The rotor assembly comprises a base arm, a folding arm, a driver and a rotor, wherein the base arm is fixedly connected to the frame, the folding arm is rotatably connected to the base arm, the rotor is rotatably connected to the folding arm, one end of the driver is rotatably connected to the base arm, and the other end of the driver is rotatably connected to the folding arm. In the folding configuration, the folding arm is rotated to be parallel to the base arm to reduce the space occupied by the rotor assembly. In the flight configuration, the folding arm is rotated to be perpendicular to the base arm to extend the rotor out of the housing. The length of the driver is adjustable to drive the rotor assembly to switch between the flight configuration and the folding configuration. The folding arm comprises a first section and a second section, the first section and the second section form an angle, one end of the first section is rotatably connected to the top end of the base arm, and the other end of the first section is connected to the second section. The folding arm has a first position and a second position. In the first position, the second section and the base arm are located on the same side of the first section, and in the second position, the first section and the base arm have the same extension direction. The rotor is located at one end of the folding arm away from the base arm. The rotor includes a plurality of rotor arms and a flight motor. The flight motor is connected to the plurality of rotor arms to drive the rotor arms to rotate and generate lift. In the flight form, the plurality of 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 plurality of rotor arms extend along the length direction of the folding arm so that the rotor assembly can be retracted into the shell.

2. The amphibious spherical robot according to claim 1, characterized in that: It comprises a re-swing component, which is arranged on the frame and is suitable for adjusting the center of gravity of the amphibious spherical robot to adjust the traveling direction of the amphibious spherical robot or improve the stability.

3. The amphibious spherical robot according to claim 2, 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, 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.

4. The amphibious spherical robot according to claim 3, 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 radially along the rotating frame.

5. The amphibious spherical robot according to claim 4, characterized in that: 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 in parallel 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 slidably matched with the first guide rod and the second guide rod, and the adjustment screw is threadably connected to the counterweight to drive the counterweight to move along the adjustment screw.

6. The amphibious spherical robot according to claim 1, characterized in that: It includes a first drive motor and a second drive motor, the first drive motor is arranged at one end of the telescopic component and connected to the first shell, the first drive motor is suitable for driving the first shell to rotate, the second drive motor is arranged at the other end of the telescopic component and connected to the second shell, the second drive motor is suitable for driving the second shell to rotate.

7. The amphibious spherical robot 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 a width direction of the frame.

Images