An amphibious spherical robot driven by double pendulums and paddle wheels

Abstract

The present invention discloses an amphibious spherical robot driven by a double pendulum and a paddle wheel, belonging to the technical field of robotic equipment. The robot comprises a left spherical shell and a right spherical shell, a land motion mechanism, a water motion mechanism, a telescopic mechanism and a sealing and waterproof mechanism. The left spherical shell and the right spherical shell are provided with symmetrical two-stage cylindrical outer cylinders, an inner cylinder is nested in the outer cylinder via a first bearing and a second bearing, the water motion mechanism and the telescopic mechanism are both arranged in the inner cylinder, a central transverse axis is provided between the two outer cylinders, the central transverse axis passes through the two outer cylinders, and the central transverse axis is connected to the land motion mechanism via a third bearing. The present invention has a simple structure and is easy to implement. The land and water mechanisms are independent of each other and their movements do not interfere with each other, thereby maximizing the motion capabilities of the land and water motion mechanisms.

Description

Technical Field

[0001] The invention belongs to the technical field of robot equipment, and in particular relates to an amphibious spherical robot driven by a double pendulum and a paddle wheel. Background Art

[0002] Research on spherical robots began in the 1990s. Their advantages, such as anti-overturning, strong anti-interference capabilities, and zero-radius steering, have shown broad application prospects in areas such as pipeline exploration, planetary exploration, and exploration of unknown environments. The research continues to flourish. With the deepening of spherical robot research and advances in ocean exploration technology, amphibious spherical robots are becoming a hot topic in academic research.

[0003] At present, the research on amphibious spherical robots can be mainly divided into two categories according to their structural characteristics: those based on bionics and those using composite propulsion structures. Amphibious spherical robots based on the principle of bionics generally adopt a spherical shell deformable structure design while ensuring the advantages of the spherical structure. Patent CN201610933334.3 discloses a bionic amphibious spherical robot with a variable structure. Each hemisphere is designed with six leg structures. On land, it can adopt two modes of spherical shell rolling and leg crawling. Its feet also serve as water spray devices to achieve movement in water. The spherical robot is novel in concept and ingenious in design. It has strong movement ability in complex environments. However, the water spray device that serves as the power of movement in water is also the foot of the crawling movement mechanism on land. This will likely cause the water outlet of the water spray device to be blocked, affecting the movement performance in water. Patent CN201721599310.5 discloses a wheel-leg hybrid drive mechanism for an amphibious spherical robot. The robot's half sphere opens and closes. When moving on land, the half sphere opens, mimicking a turtle's quadrupedal crawling motion. When moving in water, the half sphere closes, using vector thrusters in the foot as propulsion. This spherical robot is innovative and offers strong underwater posture adjustment capabilities. However, its integrated structure, which combines the crawling foot for land movement with the underwater powertrain, compromises its underwater performance.

[0004] Although the above various structural designs have realized the amphibious movement of the spherical robot and achieved good control effects, the overly integrated amphibious composite motion mechanism inevitably causes mutual influence between water and land movement, resulting in many unsatisfactory aspects of its amphibious movement. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an amphibious spherical robot driven by a double pendulum and a paddle wheel to solve the problems faced by the above-mentioned background technology.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] An amphibious spherical robot driven by a double pendulum and paddle wheels comprises a left spherical shell, a land motion mechanism, an aquatic motion mechanism, a telescopic mechanism, and a sealing and waterproof mechanism. The left and right spherical shells are provided with symmetrical two-step cylindrical outer cylinders. An inner cylinder is nested within the outer cylinder via a first bearing and a second bearing. The aquatic motion mechanism and the telescopic mechanism are both disposed within the inner cylinder. A central transverse axis is provided between the left and right outer cylinders, passing through the two outer cylinders and connected to the land motion mechanism via a third bearing.

[0008] The water sports mechanism includes a base, a slot for a battery and a motor component is provided in the base, a second drive motor is provided in the slot, an output end of the second drive motor is connected to a paddle wheel, and a plurality of blades are provided on the paddle wheel.

[0009] Furthermore, the land motion mechanism includes a first gear, a second gear, a first drive motor, a pendulum and a pendulum rod, the pendulum is fixedly connected to the pendulum rod, the pendulum rod is hung on the central horizontal axis through a third bearing, the first gear and the second gear are meshed, the second gear is connected to the output end of the first drive motor, and the first drive motor is placed in a motor slot inside the pendulum.

[0010] Furthermore, the sealing and waterproof mechanism includes a left spherical shell, a right spherical shell, a waterproof foamed silicone round strip, a second bearing, a waterproof silicone sealing gasket, an external hexagonal bolt and a hexagonal double-pass copper column. The waterproof foamed silicone round strip is arranged at the connection between the left spherical shell and the right spherical shell, the second bearing is an oil-sealed waterproof bearing, and the waterproof silicone sealing gasket is arranged at the connection between the external hexagonal bolt and the hexagonal double-pass copper column.

[0011] Furthermore, the telescopic mechanism includes a telescopic motor fixedly embedded in the inner tube, the output end of the telescopic motor is connected to a third gear, the top of the base is also provided with a rack engaged with the third gear, and the bottom of the base is provided with two parallel sliding bars.

[0012] Furthermore, two parallel slide rails are provided inside the inner cylinder, and the slide rails are tightly matched with the slide bar at the bottom of the base.

[0013] Beneficial effects of the present invention:

[0014] The invention has a simple structure and is easy to implement. The land and water mechanisms are independent of each other and their movements do not interfere with each other, thus maximizing the movement capabilities of the land and water movement mechanisms. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0016] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0017] Figure 2 It is a right side view of the external structure of the present invention;

[0018] Figure 3 The front view, left view, right view and front view of the land motion mechanism of the present invention;

[0019] Figure 4 These are the front view, top view, rear view and right view of the water sports mechanism of the present invention.

[0020] Description of the numbers in the figure:

[0021] 1. Left spherical shell; 2. Outer cylinder; 4. First bearing; 5. Second bearing; 6. Inner cylinder; 7. Central horizontal axis; 8. Slot; 9. Telescopic motor; 10. First drive motor; 11. Paddle wheel; 12. Rocker arm; 13. Pendulum; 14. First gear; 15. Second gear; 16. Third bearing; 17. Third gear; 18. Rack; 19. Machine base; 20. Slide bar; 21. Blade; 22. Waterproof foam silicone round bar; 23. External hexagon bolt; 24. Hexagonal double-pass copper column; 25. Waterproof silicone sealing gasket; 26. Right spherical shell; 27. Second drive motor. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0023] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0024] An amphibious spherical robot driven by a double pendulum and paddle wheels, such as Figures 1-4As shown, the robot comprises a left spherical shell 1 and a right spherical shell 26, a land motion mechanism, a water motion mechanism, a telescopic mechanism, and a sealing and waterproofing mechanism. The left and right spherical shells 1 and 26 each have symmetrical, two-step cylindrical outer tubes 2. An inner tube 6 is nested within the outer tube 2 via a first bearing 4 and a second bearing 5. The water motion mechanism and the telescopic mechanism are both located within the inner tube 6. A central transverse axis 7 is located between the two outer tubes 2, passing through them and connected to the land motion mechanism via a third bearing 16. The water motion mechanism includes a base 19, within which is a slot 8 for the battery and motor components. A second drive motor 27 is located within the slot 8. The output end of the second drive motor 27 is connected to a paddle wheel 11, which is equipped with several blades 21. The spherical robot is internally equipped with bilaterally symmetrical drive paddle wheels 11. When the drive motors for the left and right paddle wheels rotate synchronously, the robot performs linear motion. When the drive motors for the left and right paddle wheels rotate differentially, the robot performs turning motion.

[0025] The land motion mechanism includes a first gear 14, a second gear 15, a first drive motor 10, a pendulum 13, and a rocker 12. The pendulum 13 is fixedly connected to the rocker 12, which is mounted on the central horizontal axis 7 via a third bearing 16. The first gear 14 and the second gear 15 are meshed, and the second gear 15 is connected to the output of the first drive motor 10. The first drive motor 10 is placed in a motor slot within the pendulum 13. The swing of the pendulum 13 shifts the spherical robot's center of gravity, driving the robot's motion. The spherical robot is equipped with two symmetrical pendulums 13. When the left and right first drive motors 10 rotate synchronously, the spherical robot performs linear motion. When the left and right first drive motors 10 rotate differentially, the spherical robot performs turning motion.

[0026] The sealing and waterproof mechanism includes a left spherical shell 1, a right spherical shell 26, a waterproof foamed silicone round strip 22, a second bearing 5, a waterproof silicone sealing gasket 25, an outer hexagonal bolt 23 and a hexagonal double-pass copper column 24. The waterproof foamed silicone round strip 22 is arranged at the connection between the left spherical shell 1 and the right spherical shell 26. The second bearing 5 is an oil-sealed waterproof bearing. The waterproof silicone sealing gasket 25 is arranged at the connection between the outer hexagonal bolt 23 and the hexagonal double-pass copper column 24. The left and right pressures formed by the engagement of the outer hexagonal bolt 23 and the hexagonal double-pass copper column 24 are used to press the waterproof foamed silicone round strip 22 tightly into the groove of the right spherical shell 26 to achieve waterproof sealing. The entire device is formed into a sealed state by the left spherical shell 1, the right spherical shell 26, the waterproof foamed silicone round strip 22, the second bearing 5, the waterproof silicone sealing gasket 25, the outer hexagonal bolt 23 and the hexagonal double-pass copper column 24, thereby waterproofing.

[0027] The telescopic mechanism includes a telescopic motor 9 fixedly embedded in the inner cylinder. The output end of the telescopic motor 9 is connected to a third gear 17. A rack 18 is mounted on the top of the base 19, meshing with the third gear 17. Two parallel slide bars 20 are located at the bottom of the base 19. Two parallel slide rails are located inside the inner cylinder 6, which tightly mate with the slide bars 20. The rack 18 is fixed to the base 19 of the water drive mechanism and controls the rotation direction of the telescopic motor 9. The gear and rack transmission system transmits the rotation to achieve the release and recovery of the water drive mechanism.

[0028] Example 1

[0029] When the robot moves on land, when the first drive motor 10 is powered on and rotates, the swing drives the second gear 15 to rotate, and the second gear 15 drives the first gear 14 that is tightly meshed with it. Through the transmission of this gear meshing system, the pendulum 13 and the pendulum rod 12 swing through the third bearing 16. At the same time, the reaction torque and the gravity of the pendulum 13 cause the left spherical shell 1 and the right spherical shell 26 to roll, thereby driving the spherical robot forward on land.

[0030] When the spherical robot is required to move forward in a straight line, the left and right pendulums 13 are driven to swing synchronously in the same direction with equal amplitude. The driving force generated by the center of gravity offset of the two pendulums 13 causes the left and right spherical shells 1 and 26 to roll forward, thereby driving the spherical robot forward in a straight line. The driving torque of the first drive motor 10 determines the swing angle of the pendulums 13. The greater the driving torque, the greater the swing angle. Therefore, the greater the driving force generated by the center of gravity offset of the pendulums 13 on the left and right spherical shells 1 and 26, and the faster the spherical robot moves.

[0031] When the spherical robot needs to turn, different driving torques are applied to control the left and right pendulums 13 to drive the first drive motor 10 to swing asynchronously. The left and right pendulums 13 generate driving forces of different magnitudes or directions on the left and right spherical shells 1 and 26, thereby driving the spherical robot to turn. The magnitude of the driving torque determines the turning speed of the spherical robot, and the difference in the left and right driving torques determines the turning angle.

[0032] Because inner cylinder 6 is nested within outer cylinder 2 via first and second bearings 4 and 5, the aquatic drive mechanism within inner cylinder 6 does not rotate when the left and right spherical shells roll, minimizing the impact of the aquatic motion mechanism on land. Furthermore, the spherical robot's land motion is driven by changes in its center of gravity. Therefore, the symmetrical design of the aquatic motion mechanism at both ends prevents any impact on the robot's center of gravity during land motion.

[0033] Example 2

[0034] When the robot is moving on water, the telescopic motor 9 rotates. Driven by the rack-and-pinion transmission system consisting of the third gear 17 and rack 18, the aquatic drive mechanism, along with the rack 18 and the base 19, extends out of both spherical shells along the slide rails of the inner cylinder 6. When the paddle wheel 11 is fully extended from the spherical shell, the telescopic motor 9 stops, and the aquatic drive mechanism begins operating. When the spherical robot enters a land environment from aquatic environments, the telescopic motor 9 reverses, retracting the aquatic drive mechanism back into the spherical shell, and the land drive mechanism begins operating.

[0035] When the spherical robot is required to move in a straight line on the water, the second drive motors 27 of the left and right paddle wheels 11 apply equal and co-directional torques, driving the paddle wheels 11 to rotate in the same direction and at the same speed. The equal and co-directional torques generated by the left and right paddle wheels 11 then cause the spherical robot to move in a straight line on the water. The magnitude of the motor drive torque determines the speed of the paddle wheels 11. The greater the drive torque, the greater the rotation speed, and the faster the spherical robot moves.

[0036] When the spherical robot needs to turn on the water, different driving torques are applied to control the differential rotation of the left and right paddle wheels 11. The magnitude of the driving torque determines the turning speed of the spherical robot, and the difference in the left and right driving torques determines the turning angle.

[0037] When the aquatic driving mechanism drives the spherical robot through the water, the left and right pendulums 13 will swing slightly due to inertia, which will interfere with the spherical robot's aquatic motion and cause instability. Therefore, while controlling the spherical robot's aquatic speed, it is necessary to control the robot's posture to ensure that the left and right pendulums 13 always remain in a vertical direction and prevent the center of gravity from shifting, which would affect the spherical robot's aquatic motion.

[0038] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these 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 any one or more embodiments or examples.

[0039] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and modifications fall within the scope of the invention as claimed.

Claims

1. An amphibious spherical robot driven by a double pendulum and a paddle wheel, characterized in that: The invention comprises a left spherical shell (1) and a right spherical shell (26), a land motion mechanism, a water motion mechanism, a telescopic mechanism and a sealing and waterproof mechanism. The left spherical shell (1) and the right spherical shell (26) are provided with symmetrical two-step cylindrical outer cylinders (2). An inner cylinder (6) is nested in the outer cylinder (2) via a first bearing (4) and a second bearing (5). The water motion mechanism and the telescopic mechanism are both arranged in the inner cylinder (6). A central transverse axis (7) is provided between the left and right outer cylinders (2). The central transverse axis (7) passes through the left and right outer cylinders (2), and the central transverse axis (7) is connected to the land motion mechanism via a third bearing (16). The water sports mechanism comprises a base (19), a battery and a slot (8) for a motor component are provided in the base (19), a second drive motor (27) is provided in the slot (8), an output end of the second drive motor (27) is connected to a paddle wheel (11), and a plurality of blades (21) are provided on the paddle wheel (11); The sealing and waterproof mechanism comprises a left spherical shell (1), a right spherical shell (26), a waterproof foamed silicone round strip (22), a second bearing (5), a waterproof silicone sealing pad (25), an outer hexagonal bolt (23) and a hexagonal double-pass copper column (24); the waterproof foamed silicone round strip (22) is arranged at the connection between the left spherical shell (1) and the right spherical shell (26); the second bearing (5) is an oil-sealed waterproof bearing; and the waterproof silicone sealing pad (25) is arranged at the connection between the outer hexagonal bolt (23) and the hexagonal double-pass copper column (24); The telescopic mechanism comprises a telescopic motor (9) fixedly embedded in the inner cylinder, the output end of the telescopic motor (9) is connected to a third gear (17), the top of the machine base (19) is further provided with a rack (18) meshing with the third gear (17), and the bottom of the machine base (19) is provided with two parallel sliding bars (20).

2. The amphibious spherical robot driven by a double pendulum and a paddle wheel according to claim 1, characterized in that: The land motion mechanism comprises a first gear (14), a second gear (15), a first drive motor (10), a pendulum (13) and a rocker (12); the pendulum (13) is fixedly connected to the rocker (12); the rocker (12) is connected to the central horizontal axis (7) through a third bearing (16); the first gear (14) and the second gear (15) are meshed; the second gear (15) is connected to the output end of the first drive motor (10); and the first drive motor (10) is placed in a motor slot inside the pendulum (13).

3. The amphibious spherical robot driven by a double pendulum and a paddle wheel according to claim 1, characterized in that: Two parallel slide rails are provided inside the inner cylinder (6), and the slide rails are tightly matched with the slide bar (20).

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