A throwable and foldable spherical robot

Abstract

A throwable, foldable spherical robot comprises an upper body, a lower body, foldable arms, and electric omnidirectional wheels. A plurality of tension springs are connected between the upper and lower bodies, and the tension springs are evenly distributed along the circumference of the upper and lower bodies. A plurality of foldable arms are evenly distributed along the circumference of the upper and lower bodies, with one end of the foldable arm hinged to the upper body and the other end of the foldable arm locked with the lower body. The electric omnidirectional wheels are disposed on the inner middle portion of the foldable arms. The center of gravity of the throwable, foldable spherical robot is located within the lower body. The throwable, foldable spherical robot of the present invention can enter a scene in a spherical initial state and by throwing it over obstacles. After entering the scene, it can change from the spherical initial state to an omnidirectional translational configuration. It can then search deep into narrow crevices within the ruins in the manner of a ground-moving robot, making full use of the precious golden rescue time to search for trapped victims.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a throwable, foldable, and expandable spherical robot. Background Art

[0002] During disaster relief efforts, to increase the chances of survival for trapped victims, rescuers must complete their search within the 48-hour golden rescue window. However, in reality, search and rescue efforts are often quite difficult. For example, road closures and victims buried under rubble can severely hinder search and rescue efforts, rapidly consuming this precious golden rescue window.

[0003] In order to improve the efficiency of search and rescue, robots are increasingly being used to assist rescue personnel in carrying out search and rescue work.

[0004] However, for some more special search and rescue scenarios, even if the search and rescue personnel arrive at the search and rescue site as soon as possible, the road to the site may have been blocked. It will take a lot of time for the search and rescue personnel to enter the site, thus wasting golden rescue time.

[0005] In order to solve the problem that search and rescue personnel cannot enter the scene to carry out search and rescue in the first time, drone-based flying robots are currently mainly used to enter the scene from the air. However, the search and rescue of flying robots has certain limitations. They can only search in the air and cannot search deep into the ruins like ground-based robots. Traditional ground-based robots cannot enter the scene with search and rescue personnel because of road interruptions. Summary of the Invention

[0006] In response to the problems existing in the existing technology, the present invention provides a throwable and foldable spherical robot, which can enter the scene in a spherical initial state and cross obstacles in a throwing manner. After entering the scene, it can change from the spherical initial state to an omnidirectional translation configuration. Thereafter, it can search deep into the narrow gaps of the ruins in the working mode of a ground-moving robot, making full use of the precious golden rescue time to carry out the search for trapped people.

[0007] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a throwable foldable spherical robot, comprising an upper body, a lower body, a foldable arm and an electric omnidirectional wheel; a tension spring is connected between the upper body and the lower body, and there are several tension springs, and the several tension springs are evenly distributed along the circumferential direction of the upper body and the lower body; there are several foldable arms, and the several foldable arms are evenly distributed along the circumferential direction of the upper body and the lower body, one end of the foldable arm is hinged to the upper body, and the other end of the foldable arm is locked and connected to the lower body; the electric omnidirectional wheel is arranged on the inner side of the middle part of the foldable arm; the center of gravity of the throwable foldable spherical robot is located inside the lower body.

[0008] The upper body includes an upper body shell, an upper body cover, a tension spring storage tube, a double-leaf door panel, a door panel opening and closing drive servo, a door panel opening and closing transmission assembly, a controller and a battery; the tension spring storage tubes are equal in number to the tension springs and their positions correspond one to one, and the tension spring storage tubes are fixedly installed between the upper body shell and the upper body cover; one end of the tension spring is inserted into the tension spring storage tube and fixedly connected to the upper body shell, and the other end of the tension spring passes through the upper body cover and fixedly connected to the lower body; there are several double-leaf door panels, and several double-leaf door panels are evenly arranged along the circumferential direction of the upper body shell; the door panel opening and closing drive servo, door panel opening and closing transmission assembly, controller and battery are all installed inside the upper body shell; the door panel opening and closing drive servo is electrically connected to the controller, and the door panel opening and closing drive servo and controller are powered by the battery; the door panel opening and closing drive servo and the double-leaf door panel are connected by the door panel opening and closing transmission assembly.

[0009] The door panel opening and closing transmission assembly includes a drive disk and a transmission arm; the number of the transmission arms is equal to the number of the double-door panels and the positions correspond one to one; the drive disk is coaxially fixed on the power output shaft of the door panel opening and closing drive servo, one end of the transmission arm is connected to the drive disk, and the other end of the transmission arm is connected to the double-door panel.

[0010] The transmission arm includes a rocker arm, a first joint block, a second joint block, a third joint block, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; one end of the rocker arm is hinged to the driving plate, and the other end of the rocker arm is coaxially hinged with one end of the first joint block and one end of the first connecting rod; the middle part of the first joint block is hinged to the upper body shell, and the other end of the first joint block is hinged to one end of the second connecting rod; the other end of the first connecting rod is hinged to the middle part of the second joint block, one end of the second joint block is hinged to the upper body shell, the other end of the second joint block is hinged to one end of the third connecting rod, and the other end of the third connecting rod is hinged to one side door panel of the double-leaf door panel; the other end of the second connecting rod is hinged to the middle part of the third joint block, one end of the third joint block is hinged to the upper body shell, the other end of the third joint block is hinged to one end of the fourth connecting rod, and the other end of the fourth connecting rod is hinged to the other side door panel of the double-leaf door panel.

[0011] A folding arm is provided between the door panels on both sides of the split door panel and the lower body; a folding arm is also provided between the upper body shell and the lower body, and the electric omnidirectional wheel is provided on the folding arm located between the upper body shell and the lower body.

[0012] The folding arm adopts a multi-section combination structure, including an arm unit section, a thrust spring and an elastic tensioning rod; there are a number of arm unit sections, and several arm unit sections are hinged together in series, and the arm unit sections are made of elastic flexible material; the arm unit sections adopt a trapezoidal structure, and the end points of the long bottom sides of adjacent arm unit sections are set as hinge points, and the thrust spring is arranged between the short bottom sides of adjacent arm unit sections; one end of the elastic tensioning rod is fixedly connected to the arm unit section at the farthest end of the folding arm, and the other end of the elastic tensioning rod passes through the remaining arm unit sections, the upper body shell, the tension spring storage tube and the tension spring on the folding arm in sequence and is fixedly connected to the lower body.

[0013] The folding arm has two structural forms, including an arc shape and a straight shape; when the folding arm is in the arc shape, the thrust spring is in a compressed state, and the thrust spring in the compressed state is embedded and hidden in the internal hole groove of the arm unit segment, the oblique sides of adjacent arm unit segments are seamlessly connected together, and the elastic tensioning bar is in an extended and tightened state; when the folding arm is in a straight shape, the thrust spring is in an extended state, all the arm unit segments on the folding arm are arranged in a straight line, the oblique sides of adjacent arm unit segments are out of contact, and the elastic tensioning bar is in a retracted and tightened state.

[0014] The lower body includes a lower body shell, a lower body cover and an electromagnetic lock; there are several electromagnetic locks, which are evenly distributed along the circumferential direction inside the lower body shell. The electromagnetic lock is fixedly installed between the lower body shell and the lower body cover. The telescopic locking rod of the electromagnetic lock passes through the lower body shell and locks with the arm unit section at the farthest end of the folding arm; the electromagnetic lock is electrically connected to the controller, and the electromagnetic lock is powered by a battery.

[0015] The electric omnidirectional wheel includes a wheel, a wheel frame, a drive motor, an adapter plate and an adapter plate; the adapter plate is fixedly connected to the arm unit section of the middle section of the folding arm, the wheel frame is fixedly mounted on the adapter plate, the drive motor is fixedly mounted on the wheel frame, and the wheel is coaxially fixedly connected to the motor shaft of the drive motor through the adapter plate; the drive motor is electrically connected to the controller, and the drive motor is powered by a battery.

[0016] Beneficial effects of the present invention:

[0017] The throwable, foldable spherical robot of the present invention can enter the scene in a spherical initial state and by throwing it over obstacles. After entering the scene, it can change from the spherical initial state to an omnidirectional translation configuration. Thereafter, it can search deep into the narrow gaps of the ruins in the working mode of a ground-moving robot, making full use of the precious golden rescue time to carry out the search for trapped people. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1Schematic diagram of the structure of a throwable, foldable spherical robot (in its spherical initial state) according to the present invention (viewpoint one);

[0019] Figure 2 Schematic diagram of the structure of a throwable, foldable spherical robot (spherical initial state) of the present invention (viewpoint 2);

[0020] Figure 3 Schematic diagram of the structure of a throwable, foldable spherical robot (spherical initial state) of the present invention (viewpoint three);

[0021] Figure 4 Schematic diagram of the structure of a throwable, foldable spherical robot (omnidirectional translation state) of the present invention (viewpoint one);

[0022] Figure 5 Schematic diagram of the structure of a throwable, foldable spherical robot (omnidirectional translation state) of the present invention (viewpoint 2);

[0023] Figure 6 Schematic diagram of the structure of a throwable, foldable spherical robot (omnidirectional translation state) of the present invention (viewpoint three);

[0024] Figure 7 Schematic diagram of the structure of a throwable, foldable spherical robot of the present invention (the spherical initial state, foldable arms and electric omnidirectional wheels are not shown);

[0025] Figure 8 Schematic diagram of the structure of the upper body (exploded state) of the present invention (viewing angle 1);

[0026] Figure 9 Schematic diagram of the structure of the upper body (upper body cover not shown) of the present invention (viewing angle 2);

[0027] Figure 10 This is a schematic structural diagram of the assembly of the drive plate, transmission support arm and split door panels of the present invention;

[0028] Figure 11 Schematic diagram of the structure of the folding arm (arc-shaped) of the present invention;

[0029] Figure 12 Schematic diagram of the structure of the folding arm (straight form, exploded state) of the present invention;

[0030] Figure 13 Schematic diagram of the structure of the assembly of the lower body (disassembled state), tension spring (extended state) and elastic tensioning bar of the present invention;

[0031] Figure 14 Schematic diagram of the structure of the electric omnidirectional wheel (exploded state) of the present invention;

[0032] In the figure, 1 is an upper body, 2 is a lower body, 3 is a folding arm, 4 is an electric omnidirectional wheel, 5 is a tension spring, 6 is an upper body shell, 7 is an upper body cover, 8 is a tension spring storage tube, 9 is a double-door panel, 10 is a door panel opening and closing drive servo, 11 is a door panel opening and closing transmission assembly, 12 is a controller, 13 is a battery, 14 is a drive plate, 15 is a transmission arm, 16 is a rocker arm, 17 is a first joint block, 18 is a second joint block, 19 is a third joint block, 20 is a first connecting rod, 21 is a second connecting rod, 22 is a third connecting rod, 23 is a fourth connecting rod, 24 is an arm unit section, 25 is a thrust spring, 26 is an elastic tension bar, 27 is a lower body shell, 28 is a lower body cover, 29 is an electromagnetic lock, 30 is a wheel, 31 is a wheel frame, 32 is a drive motor, 33 is an adapter plate, 34 is an adapter plate. DETAILED DESCRIPTION

[0033] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] like Figures 1 to 14 As shown, a throwable foldable spherical robot includes an upper body 1, a lower body 2, a foldable arm 3 and an electric omnidirectional wheel 4; a tension spring 5 is connected between the upper body 1 and the lower body 2, and a plurality of tension springs 5 ​​are uniformly distributed along the circumferential direction of the upper body 1 and the lower body 2; a plurality of foldable arms 3 are uniformly distributed along the circumferential direction of the upper body 1 and the lower body 2, one end of the foldable arm 3 is hinged to the upper body 1, and the other end of the foldable arm 3 is locked and connected to the lower body 2; the electric omnidirectional wheel 5 is arranged on the inner side of the middle part of the foldable arm 3; the center of gravity of the throwable foldable spherical robot is located inside the lower body 2.

[0035] The upper body 1 includes an upper body shell 6, an upper body cover 7, a tension spring receiving tube 8, a double-door panel 9, a door panel opening and closing drive servo 10, a door panel opening and closing transmission assembly 11, a controller 12 and a battery 13; the tension spring receiving tube 8 is equal in number to the tension spring 5 and their positions correspond one to one, and the tension spring receiving tube 8 is fixedly installed between the upper body shell 6 and the upper body cover 7; one end of the tension spring 5 is inserted into the tension spring receiving tube 8 and fixedly connected to the upper body shell 5, and the other end of the tension spring 5 passes through the upper body cover 7 and is fixedly connected to the lower body shell 5 The body 2 is fixedly connected; there are a number of the double-leaf door panels 9, and the double-leaf door panels 9 are evenly arranged along the circumferential direction of the upper body shell 6; the door panel opening and closing drive servo 10, the door panel opening and closing transmission assembly 11, the controller 12 and the battery 13 are all installed inside the upper body shell 6; the door panel opening and closing drive servo 10 is electrically connected to the controller 12, and the door panel opening and closing drive servo 10 and the controller 12 are powered by the battery 13; the door panel opening and closing drive servo 10 and the double-leaf door panel 9 are connected through the door panel opening and closing transmission assembly 11.

[0036] The door panel opening and closing transmission assembly 11 includes a drive disc 14 and a transmission arm 15; the number of the transmission arms 15 is equal to the number of the double-door panels 9 and the positions correspond one to one; the drive disc 14 is coaxially fixed on the power output shaft of the door panel opening and closing drive servo 10, and one end of the transmission arm 15 is connected to the drive disc 14, and the other end of the transmission arm 15 is connected to the double-door panel 9.

[0037] The transmission arm 15 includes a rocker arm 16, a first joint block 17, a second joint block 18, a third joint block 19, a first connecting rod 20, a second connecting rod 21, a third connecting rod 22 and a fourth connecting rod 23; one end of the rocker arm 16 is hinged to the driving plate 14, and the other end of the rocker arm 16 is coaxially hinged to one end of the first joint block 17 and one end of the first connecting rod 20; the middle part of the first joint block 17 is hinged to the upper body shell 6, and the other end of the first joint block 17 is hinged to one end of the second connecting rod 21; the other end of the first connecting rod 20 It is hinged to the middle part of the second joint block 18, one end of the second joint block 18 is hinged to the upper body shell 6, the other end of the second joint block 18 is hinged to one end of the third connecting rod 22, and the other end of the third connecting rod 22 is hinged to one side door panel of the double-leaf door panel 9; the other end of the second connecting rod 21 is hinged to the middle part of the third joint block 19, one end of the third joint block 19 is hinged to the upper body shell 6, the other end of the third joint block 19 is hinged to one end of the fourth connecting rod 23, and the other end of the fourth connecting rod 23 is hinged to the other side door panel of the double-leaf door panel 9.

[0038] A folding arm 3 is provided between the two side door panels of the double-door panel 9 and the lower body 2; a folding arm 3 is also provided between the upper body shell 6 and the lower body 2, and the electric omnidirectional wheel 5 is provided on the folding arm 3 located between the upper body shell 6 and the lower body 2.

[0039] The folding arm 3 adopts a multi-section combination structure, including an arm unit section 24, a thrust spring 25 and an elastic tensioning rod 26; the arm unit sections 24 are in a certain number, and a plurality of arm unit sections 24 are hinged together in series, and the arm unit sections 24 are made of an elastic and flexible material; the arm unit sections 24 adopt a trapezoidal structure, and the end points of the long bottom sides of adjacent arm unit sections 24 are set as hinge points, and the thrust spring 25 is arranged between the short bottom sides of adjacent arm unit sections 24; one end of the elastic tensioning rod 26 is fixedly connected to the arm unit section 24 at the farthest end of the folding arm 3, and the other end of the elastic tensioning rod 26 passes through the remaining arm unit sections 24 on the folding arm 3, the upper body shell 6, the tension spring storage tube 8 and the tension spring 5 in sequence and is fixedly connected to the lower body 2.

[0040] The folding arm 3 has two structural forms, including an arc shape and a straight shape; when the folding arm 3 is in the arc shape, the thrust spring 25 is in a compressed state, and the thrust spring 25 in the compressed state is embedded and hidden in the internal hole groove of the arm unit segment 24, the oblique sides of adjacent arm unit segments 24 are seamlessly connected together, and the elastic tensioning bar 26 is in an extended and tightened state; when the folding arm 3 is in a straight shape, the thrust spring 25 is in an extended state, all the arm unit segments 24 on the folding arm 3 are arranged in a straight line, the oblique sides of adjacent arm unit segments 24 are out of contact, and the elastic tensioning bar 26 is in a retracted and tightened state.

[0041] The lower body 2 includes a lower body shell 27, a lower body cover 28 and an electromagnetic lock 29; the number of the electromagnetic locks 29 is several, and the electromagnetic locks 29 are evenly distributed along the circumferential direction inside the lower body shell 27. The electromagnetic locks 29 are fixedly installed between the lower body shell 27 and the lower body cover 28. The telescopic locking rod of the electromagnetic lock 29 passes through the lower body shell 27 and locks with the arm unit section 24 at the farthest end of the folding arm 3; the electromagnetic lock 29 is electrically connected to the controller 12, and the electromagnetic lock 29 is powered by the battery 13.

[0042] The electric omnidirectional wheel 4 includes a wheel 30, a wheel frame 31, a drive motor 32, an adapter plate 33 and an adapter plate 34; the adapter plate 34 is fixedly connected to the arm unit section 24 of the middle section of the folding arm 3, the wheel frame 31 is fixedly mounted on the adapter plate 34, the drive motor 32 is fixedly mounted on the wheel frame 31, and the wheel 30 is coaxially fixedly connected to the motor shaft of the drive motor 32 through the adapter plate 33; the drive motor 32 is electrically connected to the controller 12, and the drive motor 32 is powered by the battery 13.

[0043] The following describes a one-time use process of the present invention in conjunction with the accompanying drawings:

[0044] In this embodiment, the folding arms 3 of the throwable foldable spherical robot are arranged in four groups of 16 arms in total, each group includes four folding arms 3, the two middle folding arms 3 in each group are connected to the upper body shell 6 and are equipped with the electric omnidirectional wheels 4, and the two side folding arms 3 in each group are connected to the double-door panel 9.

[0045] In the initial state, the throwable foldable spherical robot is in a spherical state, all the foldable arms 3 are in an arc shape, the arm unit section 24 at the farthest end of the foldable arm 3 and the telescopic locking rod of the electromagnetic lock 29 are in a locked state, the distance between the upper body 1 and the lower body 2 is the maximum, the tension spring 5 is in the maximum extension state, and various functional loads used for searching are installed in the upper body 1 of the throwable foldable spherical robot.

[0046] During the disaster relief process, when entering the middle section of the road at the scene, the robot in the initial spherical state can be thrown over obstacles and delivered to the scene. Since the center of gravity of the robot is located inside the lower body 2, after the robot is thrown to the ground at the scene, it will have the characteristics of a "tumbler" and can automatically straighten the body posture, so that the upper body 1 is in an upward posture.

[0047] When the robot completes the posture correction, the electromagnetic lock 29 is controlled to perform the unlocking action, so that the telescopic locking rod of the electromagnetic lock 29 is retracted into the lock. At the moment when the locking rod is disengaged from the arm unit section 24 at the farthest end of the folding arm 3, the locked state is released. Under the action of the thrust spring 25 and the elastic tensioning bar 26, the folding arm 3 quickly changes from an arc shape to a straight shape. At the same time, under the action of the tension spring 5 and the elastic tensioning bar 26, the upper body 1 and the lower body 2 are quickly merged together, and the rebounded tension spring 5 completely enters the tension spring storage tube 8 to be hidden. At this time, the robot is supported on the ground by four electric omnidirectional wheels 5.

[0048] After the robot completes the initial adjustment of its shape, it continues to fine-tune the folding arms 3 connected to the double-door panels 9. At this time, the door panel opening and closing drive servo 10 is started, and the door panel opening and closing drive servo 10 drives the drive disk 14 to rotate, and then drives the door panels on both sides of the double-door panel 9 to open through the transmission support arm 15, so that the two folding arms 3 connected thereto are deflected toward the side where the electric omnidirectional wheel 5 is located, until the four folding arms 3 are distributed in parallel. At this time, the four groups of folding arms 3 are distributed in a "cross shape" on the robot.

[0049] When the postures of the four sets of folding arms 3 are all adjusted, the electric omnidirectional wheels 5 are started to control the robot to move omnidirectionally on the ground and search deep into the narrow gaps of the ruins as soon as possible, making full use of the precious golden rescue time to carry out the search for trapped people.

[0050] The solutions in the embodiments are not intended to limit the patent protection scope of the present invention. Any equivalent implementation or modification that does not deviate from the present invention is included in the patent scope of this case.

Claims

1. A throwable, foldable, spherical robot, characterized by: The folding mechanism comprises an upper body, a lower body, a folding arm and an electric omnidirectional wheel; a tension spring is connected between the upper body and the lower body, and there are several tension springs, and the tension springs are evenly distributed along the circumferential direction of the upper body and the lower body; there are several folding arms, and the folding arms are evenly distributed along the circumferential direction of the upper body and the lower body, one end of the folding arm is hinged to the upper body, and the other end of the folding arm is connected to the lower body by a lock card; the electric omnidirectional wheel is arranged on the inner side of the middle part of the folding arm; the center of gravity of the throwable foldable spherical robot is located inside the lower body; the upper body comprises an upper body shell, an upper body cover, a tension spring storage tube, a double-door panel, a door panel opening and closing drive servo, a door panel opening and closing transmission assembly, a controller and a battery; the tension spring storage tube The tension spring receiving tube is fixedly installed between the upper body shell and the upper body cover, and the number is equal to and the positions correspond one to one with the tension springs; one end of the tension spring is inserted into the tension spring receiving tube and fixedly connected to the upper body shell, and the other end of the tension spring passes through the upper body cover and fixedly connected to the lower body; there are several double-door panels, and the double-door panels are evenly arranged along the circumferential direction of the upper body shell; the door panel opening and closing drive servo, door panel opening and closing transmission assembly, controller and battery are all installed inside the upper body shell; the door panel opening and closing drive servo is electrically connected to the controller, and the door panel opening and closing drive servo and controller are powered by the battery; the door panel opening and closing drive servo and the double-door panel are connected through the door panel opening and closing transmission assembly.

2. The throwable, foldable spherical robot according to claim 1, characterized in that: The door panel opening and closing transmission assembly includes a drive disk and a transmission arm; the number of the transmission arms is equal to the number of the double-door panels and the positions correspond one to one; the drive disk is coaxially fixed on the power output shaft of the door panel opening and closing drive servo, one end of the transmission arm is connected to the drive disk, and the other end of the transmission arm is connected to the double-door panel.

3. The throwable, foldable spherical robot according to claim 2, characterized in that: The transmission arm includes a rocker arm, a first joint block, a second joint block, a third joint block, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; one end of the rocker arm is hinged to the driving plate, and the other end of the rocker arm is coaxially hinged with one end of the first joint block and one end of the first connecting rod; the middle part of the first joint block is hinged to the upper body shell, and the other end of the first joint block is hinged to one end of the second connecting rod; the other end of the first connecting rod is hinged to the middle part of the second joint block, one end of the second joint block is hinged to the upper body shell, the other end of the second joint block is hinged to one end of the third connecting rod, and the other end of the third connecting rod is hinged to one side door panel of the double-leaf door panel; the other end of the second connecting rod is hinged to the middle part of the third joint block, one end of the third joint block is hinged to the upper body shell, the other end of the third joint block is hinged to one end of the fourth connecting rod, and the other end of the fourth connecting rod is hinged to the other side door panel of the double-leaf door panel.

4. The throwable, foldable spherical robot according to claim 3, characterized in that: A folding arm is provided between the door panels on both sides of the split door panel and the lower body; a folding arm is also provided between the upper body shell and the lower body, and the electric omnidirectional wheel is provided on the folding arm located between the upper body shell and the lower body.

5. The throwable, foldable spherical robot according to claim 4, characterized in that: The folding arm adopts a multi-section combination structure, including an arm unit section, a thrust spring and an elastic tensioning rod; there are a number of arm unit sections, and several arm unit sections are hinged together in series, and the arm unit sections are made of elastic flexible material; the arm unit sections adopt a trapezoidal structure, and the end points of the long bottom sides of adjacent arm unit sections are set as hinge points, and the thrust spring is arranged between the short bottom sides of adjacent arm unit sections; one end of the elastic tensioning rod is fixedly connected to the arm unit section at the farthest end of the folding arm, and the other end of the elastic tensioning rod passes through the remaining arm unit sections, the upper body shell, the tension spring storage tube and the tension spring on the folding arm in sequence and is fixedly connected to the lower body.

6. The throwable, foldable spherical robot according to claim 5, characterized in that: The folding arm has two structural forms, including an arc shape and a straight shape; when the folding arm is in the arc shape, the thrust spring is in a compressed state, and the thrust spring in the compressed state is embedded and hidden in the internal hole groove of the arm unit segment, the oblique sides of adjacent arm unit segments are seamlessly connected together, and the elastic tensioning bar is in an extended and tightened state; when the folding arm is in a straight shape, the thrust spring is in an extended state, all the arm unit segments on the folding arm are arranged in a straight line, the oblique sides of adjacent arm unit segments are out of contact, and the elastic tensioning bar is in a retracted and tightened state.

7. The throwable, foldable spherical robot according to claim 6, characterized in that: The lower body includes a lower body shell, a lower body cover and an electromagnetic lock; there are several electromagnetic locks, which are evenly distributed along the circumferential direction inside the lower body shell. The electromagnetic lock is fixedly installed between the lower body shell and the lower body cover. The telescopic locking rod of the electromagnetic lock passes through the lower body shell and locks with the arm unit section at the farthest end of the folding arm; the electromagnetic lock is electrically connected to the controller, and the electromagnetic lock is powered by a battery.

8. The throwable, foldable spherical robot according to claim 7, characterized in that: The electric omnidirectional wheel includes a wheel, a wheel frame, a drive motor, an adapter plate and an adapter plate; the adapter plate is fixedly connected to the arm unit section of the middle section of the folding arm, the wheel frame is fixedly mounted on the adapter plate, the drive motor is fixedly mounted on the wheel frame, and the wheel is coaxially fixedly connected to the motor shaft of the drive motor through the adapter plate; the drive motor is electrically connected to the controller, and the drive motor is powered by a battery.

Images