Modular spherical robot

Abstract

This invention relates to a modular spherical robot, comprising a spherical shell, a frame disposed within the shell, and a self-reconfiguration mechanism mounted on the frame. The self-reconfiguration mechanism includes an even number of circumferentially distributed first magnetic attractors, with adjacent first magnetic attractors having opposite outward polarities. The self-reconfiguration mechanism also includes a second driving mechanism for driving the multiple first magnetic attractors to rotate synchronously by α degrees, where α is the included angle between two adjacent first magnetic attractors. The outward-facing side of each first magnetic attractor forms a magnetically controlled area within the spherical shell. The self-reconfiguration mechanism also includes several second magnetic attractors, the number of which does not exceed the number of first magnetic attractors. Each second magnetic attractor is located within a magnetically controlled area and is hinged to the frame. Each second magnetic attractor can rotate around its hinge axis, changing its outward polarity. This invention provides second magnetic attractors within the spherical shell, and the polarity of the second magnetic attractors facing outwards from the shell can be changed, facilitating the connection and separation of the spherical robot.

Description

Technical Field

[0001] This invention relates to the field of spherical robot technology, and more specifically to a modular spherical robot. Background Technology

[0002] For over 30 years, robotics experts have been pursuing the vision of modular, self-reconfigurable robots. These robots offer significant advantages in adaptability, scalability, and robustness, with applications spanning space exploration, reconfigurable environments, and search and rescue. However, the autonomous operation capabilities of small, modular robots are often limited, and current research focuses on solving the problem of multi-robot self-reconfiguration and achieving more complex functions through swarm collaboration.

[0003] Chinese invention patent CN111216141B discloses a dockable and reconfigurable spherical robot. It features male and female ports on individual spherical robots, and reconfigures the robot by docking the male and female ports of adjacent individual spherical robots. While this design provides a reliable connection, it only allows for fixed-point insertion, making alignment difficult. Chinese invention patent CN115366083A discloses a modular self-reconfigurable robot with a ferromagnetic shell and multiple magnets at the bottom. Self-reconfiguration is achieved by attracting the magnets to the ferromagnetic shells of adjacent robot units. Although this reconfiguration method eliminates the need for fixed-point docking, separation is difficult due to the difficulty in separating the magnets from the ferromagnetic shell. Furthermore, the magnets are located on the shell, making them unsuitable for spherical robots as they could easily disrupt the robot's spherical shape. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a modular spherical robot with multiple second magnetic components inside a spherical shell. The polarity of the second magnetic components facing outward from the shell can be changed to facilitate the connection and separation of the spherical robot.

[0005] To address the aforementioned technical problems, this invention provides a modular spherical robot, comprising a spherical shell, a frame disposed within the spherical shell, a first drive mechanism for rotating the spherical shell on the frame, and a self-reconfiguration mechanism on the frame. The self-reconfiguration mechanism includes an even number of circumferentially distributed first magnetic attractors, with adjacent first magnetic attractors having opposite outward polarities. The self-reconfiguration mechanism further includes a second drive mechanism for driving the plurality of first magnetic attractors to rotate synchronously by α degrees, where α is the included angle between adjacent first magnetic attractors. The outward-facing side of each first magnetic attractor forms a magnetically controlled area within the spherical shell. The self-reconfiguration mechanism also includes a plurality of second magnetic attractors, the number of which does not exceed the number of first magnetic attractors. Each second magnetic attractor is located within a magnetically controlled area, and the second magnetic attractor is hinged to the frame. The second magnetic attractor can rotate around its hinge axis with the frame, thereby changing the outward polarity of the second magnetic attractor.

[0006] In this invention, the outward polarities of two adjacent first magnetic chucks are opposite, the included angle between two adjacent first magnetic chucks is α, and the second driving mechanism can drive multiple first magnetic chucks to rotate synchronously by α degrees. For the second magnetic chuck, at the previous moment its inner side is attracted to the outer side of the corresponding first magnetic chuck, then at the next moment, after the second driving mechanism drives the first magnetic chuck to rotate by α degrees, the inner side of the second magnetic chuck repels the outer side of the corresponding first magnetic chuck. Under the action of this repulsive force, the second magnetic chuck will rotate around its hinge axis, causing the outward polarity of the second magnetic chuck to change. Therefore, through the cooperation of the first magnetic chuck, the second magnetic chuck, and the second driving mechanism, the outward polarity of the second magnetic chuck can be changed. A magnetic connection point can be formed on the spherical shell corresponding to the outer side of the second magnetic chuck. In practice, the outward polarity of the second magnetic chuck can be changed to achieve the connection and separation of two spherical robots at the magnetic connection point.

[0007] Preferably, the number of the second magnetic attractors is equal to the number of the first magnetic attractors, and the multiple second magnetic attractors are distributed one-to-one in multiple magnetically controlled areas. Since the number of the second magnetic attractors is equal to the number of the first magnetic attractors, multiple magnetic connection points can be formed on the spherical shell, facilitating the spherical robot's self-reconfiguration in various forms.

[0008] Preferably, there is an installation tilt angle between the straight line along the length direction of the first magnetic chuck and the horizontal plane. The installation tilt angles of the multiple first magnetic chucks are arranged alternately according to a first tilt angle and a second tilt angle. The first tilt angle and the second tilt angle are not equal, and the absolute values ​​of the first tilt angle and the second tilt angle do not exceed 45 degrees. Because the first tilt angle and the second tilt angle are not equal, when the second driving mechanism drives the first magnetic chuck to rotate, for the same second magnetic chuck, the installation tilt angle of the first magnetic chuck it faces at the previous moment and the next moment are not equal. This results in an angle between the central magnetic field line of the first magnetic chuck and the central magnetic field line of the second magnetic chuck at the next moment. The existence of this angle will cause the second magnetic chuck to be subjected to torque, which helps the second magnetic chuck to rotate smoothly, thereby facilitating the change of the outward polarity of the second magnetic chuck.

[0009] Preferably, the first tilt angle is positive and the second tilt angle is negative; specifically, when the first magnetic chuck tilts upward from the inside out, its installation tilt angle is positive, and when the first magnetic chuck tilts downward from the inside out, its installation tilt angle is negative. With the first tilt angle positive and the second tilt angle negative, the angle between the central magnetic field lines of the first magnetic chuck and the second magnetic chuck is larger, resulting in a larger torque on the second magnetic chuck and thus smoother rotation of the second magnetic chuck.

[0010] Preferably, the second drive mechanism includes a servo motor mounted on the frame, the servo motor having a mounting bracket connected to its servo disc, and the mounting bracket having the first magnetic suction element.

[0011] Preferably, the first drive mechanism includes a first drive wheel and a second drive wheel installed on the left and right sides of the lower part of the frame. The first drive wheel is driven by a first drive motor, and the second drive wheel is driven by a second drive motor. A center of gravity adjustment mechanism is provided between the first drive wheel and the second drive wheel. The center of gravity adjustment mechanism includes a counterweight and a third drive mechanism that drives the counterweight to move linearly in the left and right direction of the frame. The third drive mechanism of the center of gravity adjustment mechanism can drive the counterweight to move linearly in the left and right direction to adjust the center of gravity of the overall structure located inside the spherical shell. This serves to adjust the left and right rolling posture during the movement of the individual spherical robot, so as to ensure that the structure inside the spherical shell always maintains a self-stability within the range of 0 degrees to ±5 degrees of tilt angle with the horizontal plane in the left and right direction.

[0012] Preferably, the third drive mechanism includes a lead screw linear servo, with a bracket connected to the slider of the lead screw linear servo, and the counterweight mounted on the bracket; the bracket is provided with a guide portion, and a support member is provided on the frame along its left-right direction, with the bottom of the guide portion abutting against the top of the support member. The support member can provide support and guidance for the bracket, ensuring the reliable operation of the center of gravity adjustment mechanism.

[0013] Preferably, the top of the frame is provided with a plurality of ball bearings, which roll in contact with the inner wall of the spherical shell. The ball bearings passively roll under the frictional force of the spherical shell, providing support within the shell.

[0014] Preferably, the frame is provided with a hinge seat that is hinged to the second magnetic member, and the hinge seat has hinge holes arranged at intervals; the outer periphery of the second magnetic member is fixedly fitted with a mounting sleeve, and two rotating shafts are fixedly connected to both sides of the mounting sleeve, and the two rotating shafts are rotatably inserted into the corresponding hinge holes.

[0015] Preferably, the mounting bracket is provided with a mounting seat for mounting the first magnetic component. The mounting seat has an open-top mounting cavity formed on its inner circumference. The bottom surface of the mounting cavity is inclined relative to the horizontal plane, such that the line containing the length direction of the first magnetic component forms the mounting angle with the horizontal plane. This mounting seat structure simplifies the installation process of the first magnetic component; simply placing the first magnetic component in the mounting cavity is sufficient to achieve the corresponding mounting angle. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0017] Figure 1 This is a schematic diagram of the modular spherical robot according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the internal structure of the modular spherical robot according to an embodiment of the present invention;

[0019] Figure 3 This is a cross-sectional view of the internal structure of the modular spherical robot according to an embodiment of the present invention;

[0020] Figure 4 This is an exploded view of the internal structure of the modular spherical robot according to an embodiment of the present invention;

[0021] Figure 5 This is an exploded view of the second driving mechanism according to an embodiment of the present invention;

[0022] Figure 6 This is a schematic diagram of the mounting bracket according to an embodiment of the present invention;

[0023] Figure 7 for Figure 6 AA section view in the middle;

[0024] Figure 8 for Figure 6 BB section view in the middle;

[0025] Figure 9 This is a schematic diagram of the structure of the second magnetic suction component and the mounting sleeve according to an embodiment of the present invention;

[0026] Figure 10 This is a schematic diagram of the center-of-gravity adjustment mechanism according to an embodiment of the present invention;

[0027] Figure 11 This is a schematic diagram of two spherical robots in a connected state according to an embodiment of the present invention;

[0028] Figure 12 This is a schematic diagram of the self-reconfiguration form of the modular spherical robot according to an embodiment of the present invention.

[0029] Figure label:

[0030] 1-Wireless charging dock; 2-Spherical shell; 3-Frame; 31-First circuit board; 311-6-axis gyroscope and 3-axis geomagnetic sensor; 312-Infrared temperature sensor; 313-Stepper motor driver; 314-433M hard start switch; 315-IIC multi-channel bus chip; 32-Second circuit board; 321-Power management module; 322-Soft router module; 323-Embedded main control module; 324-Miniature camera; 325-Laser rangefinder sensor; 33-Frame; 331-Hinge base; 332-Lithium... Battery; 333-Wireless charging receiver coil; 4-First drive mechanism; 41-First drive wheel; 42-Second drive wheel; 43-First drive motor; 44-Second drive motor; 5-Ball bearing; 6-Center of gravity adjustment mechanism; 61-Counterweight; 62-Screw linear servo; 63-Bracket; 631-Guide section; 64-Support component; 7-Self-reconfiguration mechanism; 71-Servo; 72-Servo disc; 73-Mounting bracket; 731-Mounting base; 74-First magnetic clasp; 75-Second magnetic clasp; 76-Mounting sleeve; 77-Shaft. Detailed Implementation

[0031] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0032] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0033] like Figure 1 , Figure 2 , Figure 3 , Figure 4, Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 and Figure 10 As shown, this embodiment provides a modular spherical robot, including a robot body and a wireless charging base 1. The robot body is a sealed sphere with a diameter of 64mm, weighing 100g, and uses wireless charging. Specifically, the robot body includes a spherical shell 2 and an internal structure disposed within the spherical shell 2. The internal structure is sealed within the sphere and isolated from the outside. The aforementioned spherical shell 2 adopts a split design, including two interlocking hemispherical shells, which are made of a transparent, wave-transparent, impact-resistant, and aging-resistant high-strength resin-based material. It should be noted that the material of the spherical shell 2 is not limited to the high-strength resin-based material described above, depending on the severity of the operating environment.

[0034] The internal structure inside the aforementioned spherical shell 2 includes a frame 3, which, from top to bottom, includes a first circuit board 31, a second circuit board 32, and a skeleton 33, which are bolted together in sequence.

[0035] refer to Figure 2 and Figure 3 A first driving mechanism 4 for driving the spherical shell 2 to rotate is provided on the aforementioned frame 33. This first driving mechanism 4 includes a first driving wheel 41 and a second driving wheel 42 installed on the left and right sides of the lower part of the frame 33. The first driving wheel 41 is connected to a first driving motor 43, and the second driving wheel 42 is connected to a second driving motor 44. Both the first driving motor 43 and the second driving motor 44 are micro stepper motors, which respectively drive the first driving wheel 41 and the second driving wheel 42 to rotate. Since the outer edges of the first driving wheel 41 and the second driving wheel 42 contact the spherical shell 2, the first driving wheel 41 and the second driving wheel 42 can drive the spherical shell 2 to roll using friction. Two first supports are provided on the aforementioned first circuit board 31, and one second support is provided on the second circuit board 32. Ball bearings 5 ​​are installed on both the first and second supports, and the three ball bearings 5 ​​are evenly distributed at 120 degrees. All three ball bearings 5 ​​roll and rub against the inner wall of the spherical shell 2, thus supporting the upper part of the spherical shell 2. The second support installed on the second circuit board 32 also serves to connect the first circuit board 31 and the second circuit board 32.

[0036] refer to Figure 4A 6-axis gyroscope and a 3-axis magnetometer 311 are mounted on the first circuit board 31. These gyroscope and magnetometer provide the individual spherical robot's attitude information: three-axis velocity, three-axis acceleration, and three-axis magnetic deflection. The first drive wheel 41 and the second drive wheel 42 employ differential drive. Based on the individual spherical robot's attitude information collected by the 6-axis gyroscope and magnetometer 311, the robot's pitch attitude is adjusted to ensure the internal structure within the spherical shell 2 remains stable within a tilt angle of 0 to ±5 degrees relative to the horizontal plane in the forward and backward directions (the robot's forward and backward directions). Simultaneously, the robot can rotate in place, move forward and backward, and turn left and right. In this embodiment, the differential drive structure of the first drive wheel 41 and the second drive wheel 42 using two micro stepper motors is existing technology and is the same as the self-balancing principle of existing electric balance vehicles, so it will not be elaborated upon here.

[0037] Further, refer to Figure 4 and Figure 10 To ensure the spherical robot's self-stability in the left-right direction, this embodiment includes a center of mass adjustment mechanism 6 between the first drive wheel 41 and the second drive wheel 42. The center of mass adjustment mechanism 6 includes a lead counterweight 61 and a third drive mechanism that drives the counterweight 61 to move linearly in the left-right direction of the frame 3. Specifically, the third drive mechanism includes a lead screw linear servo 62, with a bracket 63 connected to the slider of the lead screw linear servo 62, and the aforementioned counterweight 61 mounted on the bracket 63. In this embodiment, the lead screw linear servo 62 can drive the counterweight 61 to move linearly in the left-right direction based on the spherical robot's own attitude information collected by the 6-axis gyroscope and the 3-axis magnetometer 311. This adjusts the overall left-right center of mass position of the internal structure within the spherical shell 2, thereby adjusting the lateral rolling posture of the spherical robot during movement and ensuring that the internal structure of the spherical shell remains stable within a 0-degree to ±5-degree tilt angle relative to the horizontal plane in the left-right direction. Furthermore, a guide portion 631 is provided on the aforementioned bracket 63, and a support member 64 is connected to the frame 33. The support member 64 is installed on the frame 33 along the left-right direction, and the bottom of the guide portion 631 abuts against the top of the support member 64. The support member 64 can provide support and guidance for the bracket 63, ensuring the reliable operation of the center of gravity adjustment mechanism 6.

[0038] Further, refer to Figure 3 , Figure 4 and Figure 5A self-reconfiguration mechanism 7 is also provided on the frame 3, which enables the modular spherical robot to self-reconfigure. The self-reconfiguration mechanism 7 includes a second drive mechanism, specifically a servo motor 71 mounted on the second circuit board 32. The servo motor 71 is a 90-degree micro servo motor. A mounting bracket 73 is connected to the servo disk 72 of the servo motor 71. Four first magnetic attractors 74 are evenly distributed around the circumference of the mounting bracket 73. The outward polarities of adjacent first magnetic attractors 74 are opposite; for example, the outward polarities of the four first magnetic attractors 74 are N, S, N, S in a clockwise direction. The servo motor 71 drives the four first magnetic attractors 74 to rotate simultaneously 90 degrees clockwise or counterclockwise. The outward-facing side of the first magnetic attractor 74 forms a magnetic control area within the spherical shell 2 (i.e., the main area of ​​magnetic force action on the outward-facing side of the first magnetic attractor 74). The aforementioned self-reconfiguration mechanism 7 also includes four second magnetic attractors 75 hinged to the top of the frame 33. The four second magnetic attractors 75 are located in the four magnetic control zones in a one-to-one correspondence. The second magnetic attractors 75 can rotate around their hinge axis with the frame 33, thereby changing the outward polarity of the second magnetic attractors 75.

[0039] In this embodiment, the outward polarities of two adjacent first magnetic accommodating members 74 are opposite, the included angle between two adjacent first magnetic accommodating members 74 is 90 degrees, and the servo motor 71 can drive all four first magnetic accommodating members 74 to rotate synchronously by 90 degrees. For the second magnetic accommodating member 75, at the previous moment, its inner side is magnetically attracted to the outer side of the corresponding first magnetic accommodating member 74. At the next moment, after the servo motor 71 drives the first magnetic accommodating member 74 to rotate 90 degrees, the inner side of the second magnetic accommodating member 75 repels the outer side of the corresponding first magnetic accommodating member 74. Under the action of this repulsive force, the second magnetic accommodating member 75 will rotate around its hinge axis, causing the outward polarity of the second magnetic accommodating member 75 to change. Therefore, by cooperating with the first magnetic chuck 74, the second magnetic chuck 75, and the servo motor 71, the outward polarity of the second magnetic chuck 75 can be changed. A magnetic connection point can be formed on the area on the spherical shell 2 corresponding to the outer side of the second magnetic chuck 75. In practice, the outward polarity of the second magnetic chuck 75 can be changed to achieve the connection and separation of two spherical robots at the magnetic connection point. (Reference) Figure 11 This is a schematic diagram of two spherical robots in a connected state. (Refer to...) Figure 12 This is a schematic diagram illustrating various self-reconfigurable forms of the modular spherical robot achievable in this embodiment.

[0040] In this embodiment, there are four first magnetic accumulators 74 and four second magnetic accumulators 75. In practice, the number of first magnetic accumulators 74 can also be designed to be other even numbers, such as 2, 6, 8, etc. At the same time, according to the requirement of the number of magnetic connection points on the spherical shell 2, the number of second magnetic accumulators 75 can be designed to be any value not exceeding the number of first magnetic accumulators 74. Of course, after the number of first magnetic accumulators 74 is changed, it is still necessary to satisfy the rule that the polarities of two adjacent first magnetic accumulators 74 facing outward are different, and when the included angle between two adjacent first magnetic accumulators 74 is α degrees, the angle that the servo motor 71 rotates in a single turn should also be α degrees.

[0041] Specifically, refer to Figure 2 and Figure 9 A hinge seat 331 is provided on the frame 33 to hinge with the second magnetic member 75. Specifically, the hinge seat 331 consists of two spaced-apart hinge ears, each with a hinge hole. A mounting sleeve 76 is fixedly fitted around the outer periphery of the second magnetic member 75. Rotating shafts 77 are fixedly connected to both sides of the mounting sleeve 76, and the two rotating shafts 77 rotatably pass through the hinge holes on the hinge seat 331. This structure ensures the integrity of the second magnetic member 75 and allows it to rotate smoothly.

[0042] Furthermore, there is an installation tilt angle between the straight line along the length direction of the first magnetic chuck 74 and the horizontal plane (in this embodiment, the first magnetic chuck 74 is cylindrical, so there is an installation tilt angle between its axis and the horizontal plane). The installation tilt angles of the four first magnetic chucks 74 are arranged alternately according to the first tilt angle and the second tilt angle. The first tilt angle and the second tilt angle are not equal, and the absolute values ​​of the first tilt angle and the second tilt angle do not exceed 45 degrees. Specifically, the first tilt angle is positive and the second tilt angle is negative; when the first magnetic chuck 74 tilts upward from the inside to the outside, its installation tilt angle is positive, and when the first magnetic chuck tilts downward from the inside to the outside, its installation tilt angle is negative. Since the first tilt angle is positive and the second tilt angle is negative, for the second magnetic chuck 75, the angle between the central magnetic field lines of the first magnetic chuck 74 it faces at the previous moment and the next moment is larger, resulting in a larger torque on the second magnetic chuck 75. This makes the flipping of the second magnetic chuck 75 smoother, thus facilitating the change of the outward polarity of the second magnetic chuck. In this embodiment, the first tilt angle is 1.5° and the second tilt angle is -1.5°.

[0043] Further, refer to Figure 6 , Figure 7 and Figure 8The mounting bracket 73 is provided with a mounting seat 731 for mounting the first magnetic member 74. The mounting seat 731 forms a mounting cavity with an open top on its inner circumference. The bottom surface of the mounting cavity is inclined relative to the horizontal plane, and the inclination angles of the bottom surfaces of the mounting cavities of two adjacent mounting seats 731 are designed to alternate according to the first inclination angle and the second inclination angle. When the first magnetic member 74 is fixedly embedded in the mounting seat 731, the straight line along the length direction of the first magnetic member 74 forms the above-mentioned mounting inclination angle with the horizontal plane, which simplifies the installation process of the first magnetic member 74.

[0044] In addition, a lithium battery 332 is installed on the aforementioned frame 33. An infrared temperature sensor 312, a stepper motor driver 313, a 433M hard-start switch 314, and an IIC multi-channel bus chip 315 are also mounted on the first circuit board 31. A power management module 321, a soft routing module 322, an embedded main control module 323, a miniature camera 324, and a laser rangefinder 325 are mounted on the second circuit board 32. A wireless charging receiver coil 333, which works with the wireless charging base 1, is connected to the lower part of the frame 33 to charge the lithium battery 332. The lithium battery 332 supplies power to the various electrical devices of the spherical robot through the power management module 321. The 433M hard-start switch 314 serves as the robot's power on / off switch. The infrared temperature sensor 312 serves as a task module for searching for heat sources or detecting ambient temperature. Other types of miniature task modules, such as radioactivity monitoring sensors, thermal imaging sensors, and other spectral sensors, can also be mounted here. The laser rangefinder 325 and miniature camera 324, as task modules, along with other task sensors such as the infrared temperature sensor 312, communicate with the embedded main control module 323 via the IIC multi-channel bus chip 315. The miniature camera 324 is used to acquire image information and uses a liveness detection algorithm to perform personnel identification tasks in search and rescue missions. The soft router module 322 carries an intra-group communication model, and the embedded main control module 323 carries a reinforcement learning model to guide the spherical robot in performing its tasks.

[0045] It should be noted that the above only introduces the various modules mounted on the first circuit board 31 and the second circuit board 32. The execution algorithm, control method and communication method of the spherical robot are not within the protection scope of this application and will not be described in detail here.

[0046] Numerous specific details are set forth in this specification. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, systems, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0047] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, system, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, systems, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A modular spherical robot, comprising a spherical shell, a frame disposed within the spherical shell, and a first drive mechanism for driving the spherical shell to rotate, characterized in that: The frame is provided with a self-reconfiguration mechanism, which includes an even number of first magnetic attractors evenly distributed around the circumference, with the outward polarities of two adjacent first magnetic attractors being opposite; the self-reconfiguration mechanism also includes a second driving mechanism, which is used to drive the multiple first magnetic attractors to rotate synchronously by α degrees, where α is the included angle between two adjacent first magnetic attractors. The outward-facing side of the first magnetic attractor forms a magnetically controlled area within the spherical shell; The self-reconfiguration mechanism further includes a plurality of second magnetic attractors, the number of which does not exceed the number of the first magnetic attractors. Each second magnetic attractor is located within a magnetically controlled area and is hinged to the frame. The second magnetic attractor can rotate around its hinge axis with the frame, thereby changing the outward polarity of the second magnetic attractor.

2. A modular spherical robot according to claim 1, characterized in that: The number of the second magnetic attractors is equal to the number of the first magnetic attractors, and the multiple second magnetic attractors are distributed one-to-one in multiple magnetic control zones.

3. A modular spherical robot according to claim 1, characterized in that: There is an installation tilt angle between the straight line along the length direction of the first magnetic attractor and the horizontal plane. The installation tilt angles of the multiple first magnetic attractors are arranged alternately according to the first tilt angle and the second tilt angle. The first tilt angle and the second tilt angle are not equal, and the absolute values ​​of the first tilt angle and the second tilt angle do not exceed 45 degrees.

4. A modular spherical robot according to claim 3, characterized in that: The first tilt angle is positive, and the second tilt angle is negative; wherein, when the first magnetic suction member tilts upward from the inside to the outside, its installation tilt angle is positive, and when the first magnetic suction member tilts downward from the inside to the outside, its installation tilt angle is negative.

5. A modular spherical robot according to claim 3, characterized in that: The second drive mechanism includes a servo motor mounted on the frame, with a mounting bracket connected to the servo motor's servo disc, and the first magnetic attractor is provided on the mounting bracket.

6. A modular spherical robot according to claim 1, characterized in that: The first drive mechanism includes a first drive wheel and a second drive wheel installed on the left and right sides of the lower part of the frame. The first drive wheel is driven by a first drive motor, and the second drive wheel is driven by a second drive motor. A center of gravity adjustment mechanism is provided between the first drive wheel and the second drive wheel. The center of gravity adjustment mechanism includes a counterweight and a third drive mechanism that drives the counterweight to move linearly in the left and right directions of the frame.

7. A modular spherical robot according to claim 6, characterized in that: The third drive mechanism includes a lead screw linear servo, on which a bracket is connected to the slider of the lead screw linear servo, and the counterweight is mounted on the bracket; The bracket is provided with a guide part, and the frame is provided with a support member along its left and right directions. The bottom of the guide part abuts against the top of the support member.

8. A modular spherical robot according to claim 1, characterized in that: The top of the frame is provided with a plurality of ball bearings, which roll in contact with the inner wall of the spherical shell.

9. A modular spherical robot according to claim 1, characterized in that: The frame is provided with a hinge seat that is hinged to the second magnetic attractor, and the hinge seat has hinge holes arranged at intervals. The second magnetic suction component is fixedly fitted with a mounting sleeve on its outer periphery. The two sides of the mounting sleeve are fixedly connected with rotating shafts, and the two rotating shafts are rotatably inserted into the corresponding hinge holes.

10. A modular spherical robot according to claim 5, characterized in that: The mounting bracket is provided with a mounting seat for mounting the first magnetic component. The mounting seat has an open mounting cavity on its inner circumference. The bottom surface of the mounting cavity is inclined relative to the horizontal plane, so that the mounting tilt angle is formed between the straight line of the length direction of the first magnetic component and the horizontal plane.

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