A spherical wheeled robot

Abstract

The application discloses a spherical wheeled robot, which comprises a body, three transmission sub-chains and six wheel groups, the body comprises a three-hole fixing block, a motor end shell and a non-motor end shell, the two shells have T-shaped ends; each wheel group comprises a pair of large wheels symmetrically arranged at the T-shaped ends, and further comprises a small wheel arranged outside the large wheels and coaxial with the large wheels, a plurality of rollers are arranged on the outer circumferences of the large wheels and the small wheel at intervals, each transmission sub-chain comprises a double-output-shaft motor arranged in the motor end shell, a first 90-degree direction-changing double-output-shaft mechanism, a transmission shaft arranged in the non-motor end shell and a second 90-degree direction-changing double-output-shaft mechanism, wherein the wheel axes of the wheel groups at the two ends of the same transmission sub-chain are parallel, and the wheel axes on different transmission sub-chains are perpendicular to each other. The robot of the application is arranged in a spherical shape by the six wheel groups, has the advantages of compact and novel structure, high flexibility and the like, and can be applied to the fields of field survey, rescue, teaching demonstration and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mobile robots, in particular to a spherical wheeled robot. BACKGROUND

[0002] With the development of modern technology, robots begin to appear in all aspects of people's life. In some areas that are not suitable for human work, especially in the field of wild exploration, rescue and other non-structural environment work, the role of robots is particularly important. Robots working in non-structural environment should have high obstacle avoidance ability, good stability and good motion performance.

[0003] Among all mobile robots, spherical robots highlight their unique advantages. The spherical robot is a robot with a spherical appearance. All mechanisms are placed inside. When the spherical robot falls from a high place, the spherical structure plays a good protective role. When the spherical robot moves in a non-structural environment, its unique spherical structure makes it easy to adjust the motion posture, which can ensure the robot to move with normal posture.

[0004] Most of the existing spherical robots rely on mass block deviation for driving. This driving method reduces the moving speed and power of the robot. The inertia of the mass block also causes the robot's motion to be unable to be accurately controlled, which greatly limits the actual use range of the spherical robot and affects the development of the spherical robot. SUMMARY

[0005] The purpose of the present application is to solve the problem of unstable movement, insufficient power and slow movement of the spherical robot driven by the mass center deviation.

[0006] To this end, the application provides a spherical wheeled robot, comprising: a body comprising a three-hole fixing block having a first through hole, a second through hole and a third through hole, the axes of the three through holes being vertically staggered in space, and motor end housings and non-motor end housings symmetrically arranged at both ends of each of the through holes, both having T-shaped ends to accommodate 90° directional double-shaft mechanisms; a first wheel set, a second wheel set, a third wheel set, a fourth wheel set, a fifth wheel set and a sixth wheel set, the six wheel sets being identical in structure, each of the wheel sets comprising a pair of large wheels symmetrically arranged at the T-shaped ends, and small wheels arranged coaxially outside the large wheels, the outer periphery of the large wheels and the small wheels being arranged with rollers at intervals; a first transmission branch chain, a second transmission branch chain and a third transmission branch chain, the three transmission branch chains being identical in structure and arranged one-to-one with the three through holes, each of the transmission branch chains comprising a double-shaft motor arranged in the motor end housing and a first 90° directional double-shaft mechanism, and a transmission shaft and a second 90° directional double-shaft mechanism arranged in the non-motor end housing, wherein the wheel axes of the wheel sets at both ends of the same transmission branch chain are parallel, and the wheel axes on different transmission branch chains are perpendicular to each other.

[0007] The application combines the wheeled robot and the spherical robot, so that the robot has the advantages of fast movement speed and stable movement of the wheeled robot and high flexibility of the spherical robot, overcomes the problem of insufficient power when using counterweight blocks to drive, enhances the movement performance of the robot in a non-structured environment, improves the control accuracy of the robot, enhances the ability of the robot to adapt to various complex terrains, greatly expands the practical application range of the spherical robot, and is conducive to the development and popularization of the spherical robot.

[0008] The robot of the application is arranged in a spherical shape by six wheel sets, has the advantages of compact and novel structure, high flexibility, and can be applied to fields such as field survey, rescue, teaching demonstration, etc.

[0009] In addition to the objects, features and advantages described above, the application has other objects, features and advantages. The application will be further described below with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0010] The drawings accompanying the specification of this application form a part thereof, serve to provide further understanding of the application, and together with the description of the exemplary embodiments of the application and the explanation thereof serve to explain the application, and do not constitute improper limitations on the application. In the drawings:

[0011] Figure 1 is a schematic diagram of the overall structure of a spherical wheeled robot of the application;

[0012] Figure 2 is a schematic diagram of the wheel assembly of a spherical wheeled robot of the application;

[0013] Figure 3 is a structural diagram of a spherical wheeled robot wheel of the present application;

[0014] Figure 4 is an enlarged view of part A of Figure 3 ;

[0015] Figure 5 is an assembly diagram of a spherical wheeled robot shell of the present application;

[0016] Figure 6 is a structural diagram of a non-motor end shell of a spherical wheeled robot of the present application;

[0017] Figure 7 is a structural diagram of a motor end shell of a spherical wheeled robot of the present application;

[0018] Figure 8 is a structural diagram of a transmission branch system of a spherical wheeled robot of the present application;

[0019] Figure 9 is a structural diagram of a single transmission branch of a spherical wheeled robot of the present application;

[0020] Figure 10 is a structural diagram of a three-hole fixing block of a spherical wheeled robot of the present application;

[0021] Figures 11-13 is a diagram showing the movement of a spherical wheeled robot of the present application in different scenarios; wherein, Figure 11 the movement of the robot on a plane is shown; Figure 12 the movement of the robot in a ditch is shown; Figure 13 the movement of the robot in a non-structured environment is shown.

[0022] BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 in which: 1. wheel set; 2. transmission branch; 3. body;

[0024] Figure 2 in which: 11. large wheel; 12. small wheel;

[0025] Figure 3 and Figure 4 in which: 111. roller; 112. tire; 113. hub; 114. small shaft;

[0026] Figure 5 in which: 31. non-motor end shell; 32. motor end shell;

[0027] Figure 6 and Figure 7Middle: 311. fixed block connecting part; 312. support block groove; 321. motor groove;

[0028] Figure 8 Middle: 21. first transmission branch chain; 22. second transmission branch chain; 23. third transmission branch chain;

[0029] Figure 9 Middle: 211, 215. cross-shaped support block; 212. driven bevel gear; 213. semicircular support block; 214. driving bevel gear; 216. three-hole fixed block; 217. motor; 218. coupling. DETAILED DESCRIPTION

[0030] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0031] As shown in the drawings, the spherical wheeled robot of the present application comprises wheels 1, transmission branch chain system 2, and body 3. Figure 1 As shown in the drawings, the spherical wheeled robot of the present application comprises wheels 1, transmission branch chain system 2, and body 3.

[0032] Figure 2 As shown in the drawings, the spherical wheeled robot of the present application comprises wheels 1, transmission branch chain system 2, and body 3.

[0033] As shown in the drawings, the spherical wheeled robot of the present application comprises wheels 1, transmission branch chain system 2, and body 3. Figure 3 Figure 4 As shown in the drawings, the spherical wheeled robot of the present application comprises wheels 1, transmission branch chain system 2, and body 3.

[0034] As shown in the drawings, the spherical wheeled robot of the present application comprises wheels 1, transmission branch chain system 2, and body 3. Figure 5 As shown in the drawings, the spherical wheeled robot of the present application comprises wheels 1, transmission branch chain system 2, and body 3.

[0035] Figure 6 As shown in the drawings, the spherical wheeled robot of the present application comprises wheels 1, transmission branch chain system 2, and body 3. Figure 7 As shown in the drawings, the spherical wheeled robot of the present application comprises wheels 1, transmission branch chain system 2, and body 3.

[0036] Figure 8 ​​​​As shown in the figure, the transmission branch system of the spherical wheeled robot comprises a first transmission branch 21, a second transmission branch 22 and a third transmission branch 23, and the three transmission branches are the same and perpendicular to each other.

[0037] As shown in the figure, Figure 9 The transmission branch of the spherical wheeled robot mainly comprises two 90° turning double-output shaft mechanisms, a motor 217 and a shaft coupling 218, wherein the 90° turning double-output shaft mechanism comprises a driving bevel gear 214 and a pair of driven bevel gears 212, the driving bevel gear shaft is connected with the motor output shaft through the shaft coupling 218, and the pair of driven bevel gear shafts are connected with the wheels.

[0038] A three-hole fixing block 216 is installed at the midpoint of each transmission branch and serves as a fixing function, and the three-hole fixing block 216 is connected through the boss and the fixing block connecting part on the shell.

[0039] The motor 217 is a double-output shaft motor, and one motor 217 is installed in the motor groove of the motor end shell of each transmission branch, and the output shaft axes of the motors are perpendicular to each other and perpendicular to the axes of the driven bevel gears.

[0040] Some support blocks are arranged in the non-motor end shell 31 and the motor end shell 32, and the support blocks comprise semicircular support blocks 213 and cross-shaped sliding blocks 211 and 215, the semicircular support blocks 213 are installed in the shell grooves opposite to the driving bevel gears, the 5mm cross-shaped sliding blocks 211 are installed in the shell grooves corresponding to the driven bevel gear shafts, and the 8mm cross-shaped sliding blocks 215 are installed in the shell grooves corresponding to the motor output shafts.

[0041] As shown in the figure, Figure 9 and Figure 10 As shown in the figure, the hole axes of the three-hole fixing blocks of the spherical wheeled robot are perpendicular to each other, and the design of the fixing block hole size also ensures that the gravity center of the robot is located at the center of the robot.

[0042] As shown in the figure, Figures 11 to 13 The spherical structure of the spherical wheeled robot makes it easy to adjust the posture and move in a complex environment, A represents the movement of the robot on a plane, B represents the movement of the robot in a ditch, and C represents the movement of the robot in a non-structured environment.

[0043] The above only describes the embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A spherical wheeled robot, characterized in that, include: The body includes a three-hole fixing block having a first through hole, a second through hole and a third through hole, the axes of the three through holes being perpendicular to each other in space, and also includes a motor end housing and a non-motor end housing symmetrically arranged at both ends of each of the through holes, both having T-shaped ends to accommodate a 90° reversing double output shaft mechanism; The first, second, third, fourth, fifth, and sixth wheel groups have the same structure. Each wheel group includes a pair of large wheels symmetrically arranged at the end of a T-shape, and a small wheel arranged coaxially with and outside the large wheels. Rollers are spaced apart on the outer circumference of the large and small wheels. The first, second, and third transmission branches have identical structures and are arranged one-to-one with the three through holes. Each transmission branch includes a dual-output shaft motor and a first 90° reversing dual-output shaft mechanism disposed in the motor end housing, and a transmission shaft and a second 90° reversing dual-output shaft mechanism disposed in the non-motor end housing. In this system, the wheel axes of the wheel sets at both ends of the same transmission chain are parallel, while the wheel axes of different transmission chains are perpendicular to each other.

2. The spherical wheeled robot according to claim 1, characterized in that, The 90° reversing double-output shaft mechanism includes a driving bevel gear and a pair of driven bevel gears meshing with the driving bevel gear. The gear shaft of each of the pair of driven bevel gears is the drive shaft of the wheel set.

3. The spherical wheeled robot according to claim 1, characterized in that, The non-motor end housing is provided with a fixing block connecting part and a support block groove, and the motor end housing is provided with a fixing block connecting part, a support block groove, and a motor groove.

4. The spherical wheeled robot according to claim 1, characterized in that, The non-motor end housing and the motor end housing are each composed of two halves of the housing, which are fastened together by screws.

5. The spherical wheeled robot according to claim 1, characterized in that, The non-motor end housing and the motor end housing are provided with a semi-circular support block, a 5mm cross-shaped slider and an 8mm cross-shaped slider. The semi-circular support block is installed in the housing groove opposite the drive bevel gear. The 5mm cross-shaped slider is installed in the housing groove corresponding to the driven gear shaft. The 8mm cross-shaped slider is installed in the housing groove corresponding to the motor output shaft.

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