A throw-able spherical reconnaissance robot

Abstract

The application discloses a throwable spherical reconnaissance robot, which comprises two open half-spherical shells and an opening and closing mechanism arranged between the two half-spherical shells. The throwable spherical reconnaissance robot is provided with the opening and closing mechanism, so that the two half-spherical shells of the spherical robot are closed during throwing, the anti-falling performance is improved, the parts in the half-spherical shell body are protected, and damage is prevented. When the spherical robot is thrown and falls to the ground, the two half-spherical shell bodies of the spherical robot are automatically opened by a first driving assembly, normal reconnaissance work is carried out by using a camera, and the tail supporting structure of the spherical robot can automatically expand the tail under the action of a second driving assembly, a tail buckle torsional spring, a tail supporting torsional spring and a tail torsional spring, and can be manually closed and stored when the work is completed, so that the spherical robot is convenient and reliable. The third driving assembly is used for expanding the antenna back plate, so that the antenna can conveniently communicate normally.

Description

Technical Field

[0001] This invention belongs to the field of robotics, specifically relating to a throwable spherical reconnaissance robot. Background Technology

[0002] Various wireless remote-controlled reconnaissance devices exist, such as remote-controlled drones, remote-controlled unmanned vehicles, and spherical robots on the market, but they all have inherent shortcomings or defects:

[0003] Drones are noisy during flight, making them easy to detect and unable to conduct close-range reconnaissance; remote-controlled unmanned vehicles are prone to tipping over on uneven roads, affecting their usability; existing spherical robots on the market have poor drop resistance and are easily damaged by significant vibrations, making them unusable for throwing. Summary of the Invention

[0004] The purpose of this invention is to address the problems mentioned in the background art by proposing a throwable spherical reconnaissance robot.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] This invention proposes a throwable spherical reconnaissance robot, comprising two open hemispherical shells, an opening and closing mechanism disposed between the two hemispherical shells, a tail mechanism disposed on the opening and closing mechanism, and an antenna disposed on the opening and closing mechanism, wherein:

[0007] The opening and closing mechanism includes a first bracket, a support member and a second bracket arranged in sequence, as well as a locking assembly, two first drive assemblies and at least one guide rod. Each guide rod is fixedly connected to the support member. The first bracket and the second bracket are slidably sleeved on both ends of the guide rod. Each end of the guide rod is also sleeved with a spring, and each spring is located between the corresponding bracket and the support member. The two first drive assemblies are respectively installed on the first bracket and the second bracket, and the two first drive assemblies are located on both sides of the support member. The two hemispherical shells are respectively connected to the two first drive assemblies. The locking assembly is installed between the openings of the two hemispherical shells.

[0008] The tail mechanism includes a rear shell, a second drive assembly, a tail buckle, a tail support, a tail, a first rotational recovery mechanism, a second rotational recovery mechanism, and a third rotational recovery mechanism. The rear shell and the second drive assembly are both mounted on the support. The second drive assembly is connected to the tail buckle through the first rotational recovery mechanism. The first rotational recovery mechanism applies a restoring force to the tail buckle in a first direction. The second drive assembly applies a driving force to the tail buckle in a second direction. The second rotational recovery mechanism is connected to the tail support and applies a restoring force to the tail support in a second direction. The third rotational recovery mechanism is connected to the tail and applies a restoring force to the tail in a second direction. The tail is provided with a hook that engages with the tail buckle.

[0009] The antenna is mounted on the rear cover.

[0010] Preferably, the locking assembly includes a predetermined number of buckles that are fixed to the openings of the two hemispherical shells and are evenly distributed in the circumferential direction. The buckles on the two hemispherical shells correspond one-to-one. Each buckle includes a locking foot, and each locking foot is installed at the opening of the corresponding hemispherical shell. Each locking foot and the hemispherical shell form a locking groove. When the two corresponding buckles are locked together, the locking foot on one buckle engages with the locking groove on the other buckle.

[0011] Preferably, the first drive assembly includes a motor and a connector arranged in sequence. The motor's base is fixedly mounted on a corresponding bracket, the connector is fixedly connected to the output end of the motor, and the connector is fixedly connected to the hemispherical shell.

[0012] Preferably, the guide rod is further provided with baffles at both ends to limit the movement of the first bracket and the second bracket respectively.

[0013] Preferably, the first rotational recovery mechanism includes a tail buckle rotating shaft and a tail buckle torsion spring. The tail buckle torsion spring is disposed at the rotational connection between the tail buckle and the tail buckle rotating shaft. The tail buckle rotating shaft is connected to the rear shell through a bearing.

[0014] The second rotational recovery mechanism includes a tail support shaft and a tail support torsion spring. The tail support torsion spring is located at the rotational connection between the tail support and the tail support shaft, and the tail support shaft is fixedly connected to the rear shell.

[0015] The third rotational recovery mechanism includes a tail shaft and a tail torsion spring. The tail torsion spring is located at the rotational connection between the tail and the tail shaft, and the tail shaft is fixedly connected to the rear shell.

[0016] Preferably, the second drive assembly includes a tail drive servo and a tail latch drive shaft. The tail drive servo is mounted on the support. One end of the tail latch drive shaft is interference-fitted with the tail latch rotating shaft, and the other end is connected to the output shaft of the tail drive servo. The tail latch rotating shaft is connected to the rear housing through a bearing.

[0017] Preferably, a boss is provided at one end of the tail buckle drive shaft that connects to the tail buckle rotating shaft, and the boss engages with the tail buckle.

[0018] Preferably, the tail clip has a first surface and a second surface at the engagement point with the boss, the distance between the first surface and the second surface is greater than the width of the boss, and the boss contacts the second surface when it rotates in the second direction.

[0019] Preferably, the tail is provided with a through groove, and when the tail is in the closed state, the tail support passes through the through groove.

[0020] Preferably, the tail buckle includes a buckle structure and a limiting structure. When the tail is in a closed state, the buckle structure engages with the hook, and when the tail is in an extended state, the limiting structure abuts against the tail support.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] 1. The throwable spherical reconnaissance robot uses an opening and closing mechanism to close the two hemispherical shells during the throwing process, improving its impact resistance and protecting the internal parts of the hemispherical shells from damage. After the spherical robot lands, the first drive component automatically opens the two hemispherical shells to conduct normal reconnaissance work using a camera. When the operation is completed, the shells can be manually closed for easy use. Furthermore, the rotation of two motors enables the spherical robot to move.

[0023] 2. Under the action of the second drive component, tail buckle torsion spring, tail support torsion spring and tail torsion spring, the tail support structure of the throwable spherical reconnaissance robot can automatically unfold the tail and manually close and store it when the operation is completed, which is convenient and reliable. At the same time, the unfolded tail contacts the ground for support, which enables the spherical robot to maintain balance during movement and improves the stability of the spherical robot. The antenna backplate can be unfolded through the third drive component, which facilitates the antenna to carry out normal communication. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the closed state from the first perspective of the throwable spherical reconnaissance robot of the present invention;

[0025] Figure 2 This is a schematic diagram of the first-view open state of the throwable spherical reconnaissance robot of the present invention;

[0026] Figure 3 This is a partial schematic diagram of the opening and closing mechanism of the present invention;

[0027] Figure 4 This is a schematic diagram of the tail and antenna backplate of the present invention combined with the hemispherical shell in the closed state;

[0028] Figure 5 This is a schematic diagram of the tail and antenna backplate of the present invention combined with the hemispherical shell in the unfolded state;

[0029] Figure 6 This is a schematic diagram of the tail in the closed state of the present invention;

[0030] Figure 7 This is a schematic diagram of the tail of the present invention in the deployed state;

[0031] Figure 8 This is a schematic diagram showing the torsional direction of the tail buckle torsion spring, tail support torsion spring, and tail torsion spring of the present invention.

[0032] Figure 9 This is a schematic diagram of the antenna backplate in the closed state of the present invention;

[0033] Figure 10 This is a schematic diagram of the antenna backplate base of the present invention;

[0034] Figure 11 This is a schematic diagram of the camera assembly of the present invention.

[0035] Explanation of reference numerals in the attached drawings: 1. Hemispherical shell; 2. Opening and closing mechanism; 21. First bracket; 22. Second bracket; 23. Locking assembly; 231. Clamping foot; 232. Clamping slot; 24. First drive assembly; 241. Motor; 242. Connector; 25. Guide rod; 26. Spring; 27. Baffle; 28. Support; 3. Tail mechanism; 30. Boss; 31. Rear shell; 32. Second drive assembly; 321. Tail drive servo; 322. Tail latch drive shaft; 33. Tail latch; 34. Tail support; 35. Tail; 36. First rotation recovery mechanism; 361. Tail latch pivot. 362. Tail latch torsion spring; 37. Second rotation recovery mechanism; 371. Tail support shaft; 372. Tail support torsion spring; 38. Third rotation recovery mechanism; 381. Tail shaft; 382. Tail torsion spring; 39. Hook; 4. Third drive assembly; 40. Closed limit slot; 41. Antenna drive servo; 42. Antenna shaft; 43. Toggle block; 44. Antenna backplate base; 45. Antenna backplate; 46. Limit spring; 47. Ball bearing; 48. Toggle step; 49. Open limit slot; 5. Camera assembly; 51. Camera; 52. Camera servo; 53. Servo shaft. Detailed Implementation

[0036] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] It should be noted that when a component is referred to as being "connected" to another component, it can be directly connected to the other component or there may be an intervening component. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to limit the application.

[0038] The following embodiments illustrate this patent in detail: Example 1

[0039] like Figure 1 , 2 As shown in Figures 3 and 11, a throwable spherical reconnaissance robot includes two open hemispherical shells 1, an opening and closing mechanism 2 disposed between the two hemispherical shells 1, a tail mechanism 3 disposed on the opening and closing mechanism 2, and an antenna disposed on the opening and closing mechanism 2, wherein:

[0040] The opening and closing mechanism 2 includes a first bracket 21, a support member 28, and a second bracket 22 arranged sequentially, as well as a locking assembly 23, two first drive assemblies 24, and at least one guide rod 25. Each guide rod 25 is fixedly connected to the support member 28. The first bracket 21 and the second bracket 22 are slidably sleeved on both ends of the guide rod 25. Each end of the guide rod 25 is also sleeved with a spring 26, and each spring 26 is located between the corresponding bracket and the support member 28. The two first drive assemblies 24 are respectively installed on the first bracket 21 and the second bracket 22, and the two first drive assemblies 24 are respectively located on both sides of the support member 28. The two hemispherical shells 1 are respectively connected to the two first drive assemblies 24. The locking assembly 23 is installed between the openings of the two hemispherical shells 1.

[0041] The throwable spherical reconnaissance robot also includes a camera assembly 5, which includes a camera 51, a camera servo motor 52, and a servo motor shaft 53. The camera servo motor 52 is mounted on the support 28. One end of the servo motor shaft 53 is driven by the camera servo motor 52, and the other end is fixedly connected to the camera 51. After the two hemispherical shells 1 are opened by the opening and closing mechanism 2, the camera servo motor 52 drives the camera 51 to rotate, so as to realize the shooting and reconnaissance of different directions.

[0042] The opening and closing mechanism 2 causes the two hemispherical shells 1 of the spherical robot to close during the throwing process, protecting the internal parts of the hemispherical shells 1 from damage. After the spherical robot lands, the first drive component 24 causes the two hemispherical shells 1 of the spherical robot to open automatically.

[0043] It should be noted that, specifically, with Figure 1 For example, the first bracket 21, the support member 28, and the second bracket 22 are arranged sequentially from left to right. In this embodiment, two guide rods 25 are used, but the specific number is not limited. Both guide rods 25 are fixedly connected to the support member 28 (e.g., the middle part of the guide rod 25 is fixedly connected to the support member 28). The first bracket 21 is slidably sleeved on the left end of the two guide rods 25, and the second bracket 22 is slidably sleeved on the right end of the two guide rods 25. The shape of the first bracket 21 and the second bracket 22 is not limited. For example, in this embodiment, each bracket is I-shaped, and the upper and lower sides of each bracket are slidably sleeved on the corresponding guide rods 25. The support member 28 can be a seat, a block, etc., and its shape is not limited. It can be designed according to actual needs. In this embodiment, four springs 26 are used, but the number is not limited. Each guide rod 25 is fitted with a spring 26 at both ends, and the spring 26 is located between the corresponding bracket and support member 28. The openings of the two hemispherical shells 1 are opposite each other. After the two hemispherical shells 1 are installed, the first bracket 21 and the second bracket 22 are both located inside the corresponding hemispherical shells 1.

[0044] When closing the spherical robot, manually bring the two hemispherical shells 1 closer together, which in turn drives the two first drive components 24 and the two supports to move closer together. During the movement, the first support 21 and the second support 22 compress the spring 26, overcoming the elastic force of the spring 26 (the two ends of the spring 26 abut against the corresponding support and bracket 28 respectively), causing the two hemispherical shells 1 to close and be locked by the locking assembly 23 (e.g., Figure 1 As shown in the figure, this protects the internal parts of the hemispherical shell 1 and improves its impact resistance.

[0045] When the robot is opened, the two first drive components 24 drive the two hemispherical shells 1 to rotate in opposite directions, thereby unlocking the locking component 23. Under the elastic force of the spring 26, the first bracket 21 and the second bracket 22 are pushed apart, thereby driving the two hemispherical shells 1 to separate and open, thus completing the opening operation.

[0046] In this embodiment, the locking assembly 23 includes a preset number of buckles that are fixed to the openings of the two hemispherical shells 1 and are evenly distributed in the circumferential direction. The buckles on the two hemispherical shells 1 correspond one-to-one. Each buckle includes a locking foot 231, and each locking foot 231 is installed at the opening of the corresponding hemispherical shell 1. Each locking foot 231 and the hemispherical shell 1 form a locking groove 232. When the two corresponding buckles are locked together, the locking foot 231 on one buckle engages with the locking groove 232 on the other buckle.

[0047] It should be noted that a preset number of buckles are evenly distributed around the openings of the two hemispherical shells 1. The number of buckles on each hemispherical shell 1 is not limited and can be set according to actual needs. The two corresponding buckles are centrally symmetrical.

[0048] In this embodiment, the locking foot 231 is L-shaped, but the specific shape is not limited and can also be U-shaped, waist-shaped, etc. Each locking foot 231 is fixedly connected to the corresponding hemispherical shell 1. The locking foot 231 and locking groove 232 on the left hemispherical shell 1 are opposite in direction to the locking foot 231 and locking groove 232 on the right hemispherical shell 1. By rotating the two hemispherical shells 1, the locking foot 231 on the left can be locked one-to-one with the locking groove 232 on the right, and the locking foot 231 on the right can be locked one-to-one with the locking groove 232 on the left, thereby achieving locking between the two hemispherical shells 1.

[0049] In this embodiment, the first drive assembly 24 includes a motor 241 and a connector 242 arranged in sequence. The base of the motor 241 is fixedly mounted on the corresponding bracket. The connector 242 is fixedly connected to the output end of the motor 241 and to the hemispherical shell 1.

[0050] It should be noted that the process of the first drive component 24 driving the hemispherical shell 1 to rotate is as follows: the motor 241 is started, which drives the connector 242 to rotate synchronously. The connector 242 is fixedly connected to the hemispherical shell 1, thereby driving the hemispherical shell 1 to rotate synchronously. The process of manually rotating the hemispherical shell 1 is as follows: the hemispherical shell 1 is manually rotated, which in turn drives the connector 242 to rotate, which in turn drives the output end of the motor 241 to rotate relative to the base of the motor 241 (in this embodiment, the motor 241 used is a brushless motor, specifically the RoboMaster M2006 P36. Before closing the hemispherical shell 1, the motor 241 is in a de-energized state, and the output end of the motor 241 can be manually rotated relative to the base. However, other types of motors can also be used, and the specific type is not limited). The connector 242 is fixedly connected to the inner wall of the hemispherical shell 1. The connector 242 can be a column, block, etc.

[0051] In this embodiment, the guide rod 25 is also provided with baffles 27 at both ends to limit the first bracket 21 and the second bracket 22 respectively.

[0052] It should be noted that during the separation process of the two hemispherical shells 1, the first support 21 and the second support 22 also move away from each other in the opposite direction along the guide rod 25. The baffle 27 is used to limit the corresponding support and prevent the support from detaching from the guide rod 25.

[0053] Closing the two hemispherical shells 1: Manually bring the two hemispherical shells 1 closer together, thereby driving the two connectors 62 and the two motors 241 to move closer together, and driving the first bracket 21 and the second bracket 22 to move closer together synchronously. During the approach, the first bracket 21 and the second bracket 22 respectively compress the corresponding springs 26. Then, manually rotate the two hemispherical shells 1 (the two hemispherical shells 1 rotate in opposite directions. When manually rotating the hemispherical shells 1, the connectors 242 rotate, thereby driving the output end of the motor 241 to rotate relative to the base of the motor 241) so that the corresponding latches engage one by one, thereby closing the two hemispherical shells 1.

[0054] Open the two hemispherical shells 1: Start the two motors 241 to make the two hemispherical shells 1 rotate (the two hemispherical shells 1 rotate in opposite directions), which synchronously drives the corresponding buckles to rotate and unlock. At this time, under the elastic force of the spring 26, the first bracket 21 and the second bracket 22 are pushed apart, thereby driving the two hemispherical shells 1 to separate and open, completing the opening operation of the entire robot.

[0055] After the two hemispherical shells 1 are opened, the rotation of the two hemispherical shells 1 is driven by the rotation of the two motors 241, thereby realizing the movement of the entire spherical robot. At the same time, by controlling the different speeds of the two motors 241, the spherical robot can automatically turn. Example 2

[0056] like Figure 4-8 As shown, based on Embodiment 1, the tail mechanism 3 includes a rear shell 31, a second drive assembly 32, a tail buckle 33, a tail support 34, a tail 35, a first rotation recovery mechanism 36, a second rotation recovery mechanism 37, and a third rotation recovery mechanism 38. The rear shell 31 and the second drive assembly 32 are both mounted on the support member 28. The second drive assembly 32 is connected to the tail buckle 33 through the first rotation recovery mechanism 36. The first rotation recovery mechanism 36 applies a restoring force to the tail buckle 33 in a first direction. The second drive assembly 32 applies a driving force to the tail buckle 33 in a second direction. The second rotation recovery mechanism 37 is connected to the tail support 34 and applies a restoring force to the tail support 34 in a second direction. The third rotation recovery mechanism 38 is connected to the tail 35 and applies a restoring force to the tail 35 in a second direction. The tail 35 is provided with a hook 39 that cooperates with the tail buckle 33.

[0057] It should be noted that the rear shell 31 is installed onto the support member 28 by screws. In this embodiment, the rear shell 31 is arc-shaped and has a hollow frame structure, but the specific shape is not limited and other shapes can also be used. When the second drive assembly 32 applies a driving force to the tail buckle 33, it needs to overcome the restoring force applied to the tail buckle 33 by the first rotational recovery mechanism 36.

[0058] The first direction is the direction in which the tail 35 changes from the extended state to the closed state, and the second direction is the direction in which the tail 35 changes from the closed state to the extended state. That is, the restoring force acting on the tail support 34 and the tail 35 drives the extension, thus achieving the automatic extension function of the tail 35. Both the restoring force and the driving force can be greater than or equal to 0 Newtons. By changing the magnitude of the restoring force and the driving force, the direction of the resultant force on the controlled object is controlled, thereby changing the state. In the closed state, the tail support 34 and the tail 35 are in a state of overcoming the restoring force, and the tail latch 33 is engaged with the hook 39 for limitation. When the second drive assembly 32 applies a driving force along the second direction to the tail latch 33, the tail latch 33 rotates until it disengages from the hook 39. At this time, the restoring force acting on the tail support 34 and the tail 35 moves in the extension direction. In the extended state, the tail latch 33 and the hook 39 are disengaged, the tail 35 is in contact with the ground for rigid support, and the tail support 34 and the tail 35 abut against each other to limit the movement of the tail 35.

[0059] The part where the tail support 34 abuts against the tail 35 can be any part, without specific restrictions, as long as the function of limiting the tail 35 is achieved. Furthermore, to facilitate the storage of the spherical robot's tail support structure, in this embodiment, a handle is provided on the tail support 34. When the tail 35 is in the extended state, the handle can be moved by external force to disengage the tail support 34 from the tail 35. At this time, the tail 35 can be driven to rotate in the first direction by external force until the tail latch 33 and hook 39 re-engage and limit the tail 35, completing the closed storage of the tail 35.

[0060] In this embodiment, the tail 35 is provided with a through groove, and when the tail 35 is in a closed state, the tail support 34 passes through the through groove.

[0061] It should be noted that in order to enable the tail support 34 to be stored when the tail 35 is in the closed storage state, the tail 35 is provided with a through groove. When the tail 35 is in the closed state, the tail support 34 passes through the through groove. As the tail 35 gradually unfolds, the tail support 34 gradually disengages from the through groove and rotates under the action of restoring force until it abuts against the tail 35.

[0062] In this embodiment, the first rotational recovery mechanism 36 includes a tail buckle rotating shaft 361 and a tail buckle torsion spring 362. The tail buckle torsion spring 362 is disposed at the rotational connection between the tail buckle 33 and the tail buckle rotating shaft 361. The tail buckle rotating shaft 361 is connected to the rear shell 31 through a bearing.

[0063] The second rotational recovery mechanism 37 includes a tail support shaft 371 and a tail support torsion spring 372. The tail support torsion spring 372 is disposed at the rotational connection between the tail support 34 and the tail support shaft 371. The tail support shaft 371 is fixedly connected to the rear shell 31.

[0064] The third rotational recovery mechanism 38 includes a tail shaft 381 and a tail torsion spring 382. The tail torsion spring 382 is located at the rotational connection between the tail 35 and the tail shaft 381, and the tail shaft 381 is fixedly connected to the rear shell 31.

[0065] It should be noted that the tail latch torsion spring 362 applies a restoring force to the tail latch 33 in the first direction, the tail support torsion spring 372 applies a restoring force to the tail support 34 in the second direction, and the tail torsion spring 382 applies a restoring force to the tail 35 in the second direction. The first rotational restoring mechanism 36, the second rotational restoring mechanism 37, and the third rotational restoring mechanism 38 can also undergo other deformations, all within the scope of this application. For example, the torsion spring can be replaced with other elastic components, such as a spring, to apply a restoring force in the corresponding direction. For example, the pivot can be replaced with a universal ball bearing, and limiting the universal ball bearing in a specific direction can achieve the same rotational effect as the pivot.

[0066] When the tail 35 is in the closed state, the tail support torsion spring 372 and the tail torsion spring 382 are pre-tightened, and the tail support 34 and the tail 35 are in a state of overcoming the restoring force.

[0067] In this embodiment, the second drive assembly 32 includes a tail drive servo 321 and a tail latch drive shaft 322. The tail drive servo 321 is mounted on the support member 28. One end of the tail latch drive shaft 322 is interference-fitted with the tail latch rotating shaft 361, and the other end is connected to the output shaft of the tail drive servo 321. The tail latch rotating shaft 361 is connected to the rear housing 31 through a bearing.

[0068] The tail buckle drive shaft 322 is connected to the tail buckle rotating shaft 361 at one end, and the boss 30 is engaged with the tail buckle 33.

[0069] The tail buckle 33 has a first surface and a second surface at the engagement point with the boss 30. The distance between the first surface and the second surface is greater than the width of the boss 30. When the boss 30 rotates in the second direction, it contacts the second surface.

[0070] It should be noted that when the boss 30 rotates in the second direction, it contacts the second surface, causing the tail buckle 33 to rotate in the second direction. The first surface and the second surface can be parallel, or they can have one end in contact to form a triangular structure. The boss 30 is located between the first surface and the second surface.

[0071] In this embodiment, the tail buckle 33 includes a buckle structure and a limiting structure. When the tail 35 is in a closed state, the buckle structure engages with the hook 39. When the tail 35 is in an extended state, the limiting structure abuts against the tail support 34.

[0072] It should be noted that when the tail 35 is in the closed state, the hook 39 engages with the latching structure of the tail latch 33. At this time, the limiting structure can either abut against the tail support 34 or, due to the influence of the hook 39, be in a non-abutting state. When the driving force applied by the second drive component 32 is greater than the restoring force on the tail latch 33, the limiting structure moves away from the tail support 34, and the latching structure disengages from the hook 39. When the driving force applied by the second drive component 32 is less than the restoring force on the tail latch 33 (including when the second drive component 32 stops applying the driving force), the limiting structure abuts against the tail support 34 under the action of the restoring force. Therefore, when the tail 35 is in the extended state, the limiting structure abuts against the tail support 34. In the state where the limiting structure abuts against the tail support 34, the restoring force applied by the tail latch torsion spring 362 can be exactly 0 Newtons or not.

[0073] Tail 35 unfolding method: The tail drive servo 321 drives the tail latch drive shaft 322 to rotate a certain angle in the second direction. The boss 30 on the tail latch drive shaft 322 drives the tail latch 33 to overcome the tail latch torsion spring 362 and rotate in the tail 35 unfolding direction (second direction). The tail latch 33 disengages from the hook 39. At this time, the tail 35 is moved away from the tail latch 33 by the torque of the tail torsion spring 382, ​​so the tail 35 unfolds. At the same time, the tail support 34 falls out of the through groove in the middle of the tail 35 and is rotated in the tail 35 unfolding direction by the torque of the tail support torsion spring 372, supporting the support point of the tail 35 and completing the tail 35 opening action of the spherical robot. Figure 8 The direction of the torque of the tail latch torsion spring 362, tail support torsion spring 372, and tail torsion spring 382 is shown. The extended tail 35 contacts the ground for support, achieving the balance of the spherical robot (with...). Figure 5 For example, the right side of tail 35 is in contact with the ground for support.

[0074] After the tail 35 unfolds, the tail-driven servo 321 returns to its initial state. Simultaneously, the tail latch 33 rotates in the first direction under the torque of the tail latch torsion spring 362 until the limiting structure abuts against the tail support 34. At this time, there is a certain distance between the boss 30 and the first surface of the tail latch 33. When the latching structure of the tail latch 33 is subjected to an external force in the second direction, due to the distance between the boss 30 and the first surface, the tail latch 33 will not directly impact the boss 30 and will be buffered by the torque of the tail latch torsion spring 362, reducing the impact of external forces on the tail-driven servo 321. When the latching structure of the tail latch 33 is subjected to an external force in the first direction, because the limiting structure of the tail latch 33 abuts against the tail support 34, it no longer rotates in the first direction, thus protecting the tail-driven servo 321 from external forces. Therefore, the tail-driven servo 321 will not be subjected to external forces when not in operation, and the tail support structure of the spherical robot will not damage the tail-driven servo 321.

[0075] Tail 35 Closing Method: Manually fasten the handle on the tail support 34 to disengage it from the support point of the tail 35, simultaneously closing the tail 35 so that the hook 39 engages with the snap-fit ​​structure of the tail snap-fit ​​33, completing the tail closing action of the spherical robot. If Figure 1 For the front view of the spherical robot, then Figure 4 and Figure 5 This is a side view of a spherical robot. Example 3

[0076] like Figure 9-10 As shown, based on embodiments 1 and 2, the antenna is mounted on the rear cover 31.

[0077] The antenna is mounted to the rear housing 31 via a third drive assembly 4. The third drive assembly 4 includes an antenna drive servo 41, an antenna shaft 42, a toggle block 43, an antenna backplate base 44, an antenna backplate 45, a limit spring 46, a ball bearing 47, a toggle step 48, and an antenna drive shaft (e.g., Figure 9 (b) shown in the figure, where:

[0078] Antenna backplate base 44 is located inside rear housing 31, and mounting slots (such as...) are provided on antenna backplate base 44. Figure 10As shown in diagram a), the antenna backplate 45 is fixedly installed in the mounting slot, the antenna is mounted on the antenna backplate 45, the antenna drive servo 41 is fixedly installed on the support 28, the antenna drive shaft is fixedly connected to the antenna drive servo 41, and through holes are provided on both the antenna backplate base 44 and the rear shell 31. One end of the antenna shaft 42 is connected to the antenna drive shaft, and the other end passes through the through holes on the antenna backplate base 44 and the rear shell 31 respectively, and is connected to the rear shell 31 through a bearing. The toggle block 43 is fixedly installed on the side of the antenna drive shaft away from the antenna drive servo 41. A toggle step 48 is provided on the side of the antenna backplate base 44 near the antenna drive shaft. 8 is fan-shaped, but the specific shape is not limited. The toggle step 48 has a first contact surface and a second contact surface. When the antenna back plate 45 is closed and stored, the toggle block 43 contacts and abuts against the second contact surface of the toggle step 48. The antenna back plate base 44 is also provided with an opening limit groove 49 and a closing limit groove 40. One end of the limit spring 46 is fixedly connected to the support member 28, and the other end is fixedly connected to the ball 47. When the antenna back plate 45 is closed and stored, the ball 47 engages with the opening limit groove 49. When the antenna back plate 45 is unfolded, the ball 47 engages with the opening limit groove 49. By engaging the ball 47 with each limit groove, the antenna back plate base 44 is limited.

[0079] Both the antenna backplate 45 and the tail 35 are arc-shaped structures, and when they are closed and stored, they are attached to the rear shell 31. The unfolding or closing of the antenna backplate 45 and the tail 35 are complementary interferences. The antenna backplate 45 is a flexible antenna backplate 45.

[0080] When the two hemispherical shells 1 are opened, the antenna drive servo 41 rotates (the rotation angle of the antenna drive servo 41 is preset), which drives the antenna shaft 42 and the toggle block 43 to rotate. The toggle block 43 pushes the toggle step 48 to make the antenna back plate base 44 rotate, which in turn drives the antenna back plate 45 to rotate, so that the antenna back plate 45 unfolds (separates from the rear shell 31). After the antenna back plate 45 is unfolded, the antenna can interact with the outside world, which improves the reliability of signal transmission and reception. During this process, the ball 47 changes from being engaged with the closed limiting groove 40 to being engaged with the open limiting groove 49. Then the antenna drive servo 41 rotates in the opposite direction to return to its original position, which in turn drives the toggle block 43 to return to its original position, preventing the antenna back plate 45 from being damaged by external forces.

[0081] When the antenna backplate 45 is subjected to an external force in the same direction as the rotation, the antenna backplate 45 is prevented from breaking by elastic deformation, thus improving stability. When the antenna backplate 45 is subjected to an external force in the opposite direction to the rotation, the antenna backplate 45 drives the antenna backplate base 44 to rotate. At this time, the ball bearing 47 disengages from the open limiting groove 49 and changes to engage with the closed limiting groove 40. The antenna backplate 45 also moves from the unfolded state (separated from the rear shell 31) to the closed and retracted state (fitted with the rear shell 31), thereby achieving protection for the antenna backplate 45.

[0082] How does the throwable spherical reconnaissance robot work?

[0083] The robot is thrown to the location to be scouted, and then two motors 241 are activated to open the two hemispherical shells 1, exposing the tail 35, antenna backplate 45 and camera 51. Then, the tail drive servo motor 321 is activated to unfold the tail 35, and the antenna drive servo motor 41 is activated to unfold the antenna backplate 45, thereby enabling the antenna to communicate. Then, the rotation of the two motors 241 drives the movement of the entire spherical robot, while the unfolded tail 35 contacts the ground to support the balance. During the movement, the spherical robot conducts reconnaissance through the camera 51.

[0084] After the reconnaissance operation is completed, the tail 35 and antenna backplate 45 can be manually closed and stored, and the two hemispherical shells 1 can also be manually closed, which is convenient and reliable.

[0085] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0086] The embodiments described above are merely specific and detailed examples of the embodiments described in this application, and should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this patent application should be determined by the appended claims.

Claims

1. A throwable spherical reconnaissance robot, characterized in that: The throwable spherical reconnaissance robot includes two open hemispherical shells (1), an opening and closing mechanism (2) disposed between the two hemispherical shells (1), a tail mechanism (3) disposed on the opening and closing mechanism (2), and an antenna disposed on the opening and closing mechanism (2), wherein: The opening and closing mechanism (2) includes a first bracket (21), a support member (28), and a second bracket (22) arranged in sequence, as well as a locking assembly (23), two first drive assemblies (24), and at least one guide rod (25). Each guide rod (25) is fixedly connected to the support member (28). The first bracket (21) and the second bracket (22) are slidably sleeved on both ends of the guide rod (25). Each end of the guide rod (25) is also sleeved with a spring (26), and each spring (26) is located between the corresponding bracket and the support member (28). The two first drive assemblies (24) are respectively installed on the first bracket (21) and the second bracket (22), and the two first drive assemblies (24) are respectively located on both sides of the support member (28). The two hemispherical shells (1) are respectively connected to the two first drive assemblies (24). The locking assembly (23) is installed between the openings of the two hemispherical shells (1). The tail mechanism (3) includes a rear shell (31), a second drive assembly (32), a tail buckle (33), a tail support (34), a tail (35), a first rotation recovery mechanism (36), a second rotation recovery mechanism (37), and a third rotation recovery mechanism (38). The rear shell (31) and the second drive assembly (32) are both mounted on the support member (28). The second drive assembly (32) is connected to the tail buckle (33) through the first rotation recovery mechanism (36). The first rotation recovery mechanism (36) applies a force along a first direction to the tail buckle (33). The second drive assembly (32) applies a rotational driving force to the tail buckle (33) in the second direction, the second rotational recovery mechanism (37) is connected to the tail support (34), the second rotational recovery mechanism (37) applies a rotational recovery force to the tail support (34) in the second direction, the third rotational recovery mechanism (38) is connected to the tail (35), the third rotational recovery mechanism (38) applies a rotational recovery force to the tail (35) in the second direction, and the tail (35) is provided with a hook (39) that cooperates with the tail buckle (33). The antenna is mounted on the rear housing (31).

2. The throwable spherical reconnaissance robot as described in claim 1, characterized in that: The locking assembly (23) includes a preset number of buckles that are fixed to the openings of the two hemispherical shells (1) and are evenly distributed in the circumferential direction. The buckles on the two hemispherical shells (1) correspond one to one. Each buckle includes a locking foot (231), and each locking foot (231) is installed at the opening of the corresponding hemispherical shell (1). Each locking foot (231) and the hemispherical shell (1) form a locking groove (232). When the two corresponding buckles are locked together, the locking foot (231) on one buckle engages with the locking groove (232) on the other buckle.

3. The throwable spherical reconnaissance robot as described in claim 1, characterized in that: The first drive assembly (24) includes a motor (241) and a connector (242) arranged in sequence. The base of the motor (241) is fixedly mounted on the corresponding bracket. The connector (242) is fixedly connected to the output end of the motor (241) and the connector (242) is fixedly connected to the hemispherical shell (1).

4. The throwable spherical reconnaissance robot as described in claim 1, characterized in that: The guide rod (25) is also provided with baffles (27) at both ends to limit the first bracket (21) and the second bracket (22) respectively.

5. The throwable spherical reconnaissance robot as described in claim 1, characterized in that: The first rotational recovery mechanism (36) includes a tail buckle rotating shaft (361) and a tail buckle torsion spring (362). The tail buckle torsion spring (362) is located at the rotational connection between the tail buckle (33) and the tail buckle rotating shaft (361). The tail buckle rotating shaft (361) is connected to the rear shell (31) through a bearing. The second rotation recovery mechanism (37) includes a tail support shaft (371) and a tail support torsion spring (372). The tail support torsion spring (372) is disposed at the rotational connection between the tail support (34) and the tail support shaft (371). The tail support shaft (371) is fixedly connected to the rear shell (31). The third rotation recovery mechanism (38) includes a tail shaft (381) and a tail torsion spring (382). The tail torsion spring (382) is located at the rotational connection between the tail (35) and the tail shaft (381). The tail shaft (381) is fixedly connected to the rear shell (31).

6. The throwable spherical reconnaissance robot as described in claim 5, characterized in that: The second drive assembly (32) includes a tail drive servo (321) and a tail latch drive shaft (322). The tail drive servo (321) is mounted on the support (28). One end of the tail latch drive shaft (322) is interference-fitted to the tail latch rotating shaft (361), and the other end is connected to the output shaft of the tail drive servo (321). The tail latch rotating shaft (361) is connected to the rear housing (31) through a bearing.

7. The throwable spherical reconnaissance robot as described in claim 6, characterized in that: The tail buckle drive shaft (322) is connected to the tail buckle rotating shaft (361) at one end with a boss (30), and the boss (30) engages with the tail buckle (33).

8. The throwable spherical reconnaissance robot as described in claim 7, characterized in that: The tail buckle (33) has a first surface and a second surface at the engagement point with the boss (30). The distance between the first surface and the second surface is greater than the width of the boss (30). When the boss (30) rotates in the second direction, it contacts the second surface.

9. The throwable spherical reconnaissance robot according to claim 1, characterized in that: The tail (35) is provided with a through groove. When the tail (35) is in a closed state, the tail support (34) passes through the through groove.

10. The throwable spherical reconnaissance robot according to claim 1, characterized in that: The tail buckle (33) includes a buckle structure and a limiting structure. When the tail (35) is in a closed state, the buckle structure engages with the hook (39). When the tail (35) is in an extended state, the limiting structure abuts against the tail support (34).

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