A spherical robot tail support structure

Abstract

The application belongs to the technical field of spherical robots, and particularly relates to a tail support structure of a spherical robot. The application comprises a tail buckle, a tail support, a tail, a driving mechanism, a tail buckle rotating shaft, a tail buckle torsional spring, a tail support rotating shaft, a tail support torsional spring, a tail rotating shaft and a tail torsional spring. The tail buckle, the tail support and the tail are respectively installed on the tail buckle rotating shaft, the tail support rotating shaft and the tail rotating shaft. The tail buckle, the tail support and the tail are respectively provided with the tail buckle torsional spring, the tail support torsional spring and the tail torsional spring at the rotating connection positions of the tail buckle rotating shaft, the tail support rotating shaft and the tail rotating shaft. When the tail is in a closed state, the tail support torsional spring and the tail torsional spring are in a pre-tightening state. The driving mechanism is in engagement with the tail buckle. Under the actions of the driving mechanism, the tail buckle torsional spring, the tail support torsional spring and the tail torsional spring, the tail can be automatically opened, and can be manually closed and stored when the work is completed, which is convenient and reliable.

Description

Technical Field

[0001] This invention belongs to the field of spherical robot technology, and particularly relates to a tail support structure for a spherical robot. Background Technology

[0002] Existing throwable reconnaissance robots lack a tail that can open and close. Some are dumbbell-shaped with external tails that cannot provide rigid support, preventing the tail from closing during throwing and thus hindering spherical throwing and resulting in poor impact resistance. Others are spherical without a tail mechanism, rendering them immobile after landing and only capable of stationary surveillance.

[0003] Patent CN 219294023 U discloses a spherical robot motion balancer, including a support rod and a support frame. The support rod includes a first support and a second support. One end of the first support is rotatably connected to the spherical robot, and the other end is rotatably connected to the second support. The distal end of the support on the second support is connected to the support frame. Although this balancer can open and close, its complex structure increases the system's complexity and manufacturing cost, affecting the robot's reliability and stability. The motor installed at the tail of the balancer increases the robot's weight and size, limiting its carrying capacity and mobility. Summary of the Invention

[0004] The purpose of this invention is to design an openable tail support structure that can achieve rigid support for the tail, enabling the spherical robot to be in a spherical state when thrown and to open up for combat upon landing.

[0005] To achieve the above objectives, the present invention provides a tail support structure for a spherical robot, including a drive mechanism, a tail latch, a tail support, a tail, a first rotation recovery mechanism, a second rotation recovery mechanism, and a third rotation recovery mechanism.

[0006] The drive mechanism 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, and the drive mechanism applies a driving force to the tail buckle in a second direction.

[0007] The second rotational recovery mechanism is connected to the tail support, and the second rotational recovery mechanism applies a restoring force to the tail support in a second direction;

[0008] The third rotational recovery mechanism is connected to the tail, and the third rotational recovery mechanism applies a restoring force to the tail in the second direction. The tail is provided with a hook.

[0009] With the tail closed, the tail support and the tail are in a state of overcoming restoring force, and the tail buckle and hook are engaged and limited;

[0010] When the tail is extended, the tail buckle and hook disengage, and the tail support and tail abut against each other.

[0011] The first direction is the direction in which the tail moves from the extended state to the closed state, and the second direction is the direction in which the tail moves from the closed state to the extended state.

[0012] Furthermore, the first rotational recovery mechanism includes a tail buckle pivot and a tail buckle torsion spring, with the tail buckle torsion spring disposed at the rotational connection between the tail buckle and the tail buckle pivot.

[0013] The second rotation recovery mechanism includes a tail support shaft and a tail support torsion spring, with the tail support torsion spring disposed at the rotational connection between the tail support and the tail support shaft.

[0014] The third rotational recovery mechanism includes a tail shaft and a tail torsion spring, with the tail torsion spring located at the rotational connection between the tail and the tail shaft.

[0015] Furthermore, the drive mechanism includes a tail drive servo and a tail latch drive shaft, one end of which is interference-fitted to the tail latch rotating shaft, and the other end is connected to the output shaft of the tail drive servo.

[0016] Furthermore, a boss is provided at one end of the tail buckle drive shaft that is connected to the tail buckle rotating shaft, and the boss engages with the tail buckle.

[0017] Furthermore, the tail buckle 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.

[0018] Furthermore, the tail is provided with a through groove, and when the tail is in a closed state, the tail support passes through the through groove.

[0019] Furthermore, the tail support is provided with a handle.

[0020] Furthermore, 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. When the tail is in an extended state, the limiting structure abuts against the tail support.

[0021] Compared with the prior art, the present invention has the following significant advantages: under the action of the drive mechanism, tail buckle torsion spring, tail support torsion spring and tail torsion spring, the tail support structure of the spherical robot can realize the automatic opening of the tail and can be manually closed and stored when the work is completed, which is convenient and reliable; the tail drive servo will not be subjected to external force when it is not working, and the tail support structure of the spherical robot will not cause damage to the tail drive servo. Attached Figure Description

[0022] Figure 1 This is a schematic diagram illustrating the application of the closed state of the tail support structure of the spherical robot of the present invention;

[0023] Figure 2 This is a schematic diagram illustrating the deployed state of the tail support structure of the spherical robot of the present invention.

[0024] Figure 3 This is a schematic diagram of the closed state structure of the tail support structure of the spherical robot of the present invention;

[0025] Figure 4 This is a schematic diagram of the unfolded state of the tail support structure of the spherical robot of the present invention;

[0026] Figure 5 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.

[0027] The components include: 1. Spherical robot body; 2. Tail; 3. Tail latch pivot; 4. Tail latch; 5. Tail support pivot; 6. Tail support; 7. Tail pivot; 8. Rear shell; 9. Tail latch drive shaft; 10. Tail drive servo motor; 11. Tail latch torsion spring; 12. Tail support torsion spring; 13. Tail torsion spring; 14. Boss; 15. Hook. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0029] The present invention provides a tail support structure for a spherical robot, which can be applied to, for example... Figure 1 and Figure 2 The application environment shown is illustrated. The tail support structure of the spherical robot is installed within the spherical robot body 1. The installation position is adjusted according to the structure of the spherical robot body 1 to ensure that the tail 2 extends out of the spherical robot body 1 and provides rigid support when extended, and can be completely retracted into the spherical robot body 1 when closed. Furthermore, the spherical robot body 1 is an application object of the tail support structure in this embodiment and is not the focus of protection of this invention; therefore, its structure will not be described in detail.

[0030] like Figure 3 and Figure 4 As shown, the tail support structure of the spherical robot includes a drive mechanism, a tail buckle 4, a tail support 6, a tail 2, a first rotation recovery mechanism, a second rotation recovery mechanism, and a third rotation recovery mechanism.

[0031] The drive mechanism is connected to the tail latch 4 via a first rotational recovery mechanism. The first rotational recovery mechanism applies a restoring force to the tail latch 4 in a first direction, while the drive mechanism applies a driving force to the tail latch 4 in a second direction. When the drive mechanism applies the driving force to the tail latch 4, it needs to overcome the restoring force applied to the tail latch 4 by the first rotational recovery mechanism.

[0032] The second rotational recovery mechanism is connected to the tail support 6, and the second rotational recovery mechanism applies a restoring force to the tail support 6 in the second direction.

[0033] The third rotational recovery mechanism is connected to the tail 2. The third rotational recovery mechanism applies a restoring force to the tail 2 in the second direction. The tail 2 is provided with a hook 15.

[0034] The first direction is the direction from the extended state to the closed state of tail 2, and the second direction is the direction from the closed state to the extended state of tail 2. That is, the restoring force acting on tail support 6 and tail 2 drives the extension, achieving the automatic extension function of tail 2. Both the restoring force and the driving force can be greater than or equal to 0 Newtons. Changing the magnitude of the restoring force and the driving force controls the direction of the resultant force on the controlled object, thus changing the state. In the closed state, tail support 6 and tail 2 are in a state of overcoming the restoring force, and tail latch 4 is engaged with hook 15 for limitation. When the drive mechanism applies a driving force along the second direction to tail latch 4, tail latch 4 rotates until it disengages from hook 15. At this time, the restoring force acting on tail support 6 and tail 2 moves in the extension direction. In the extended state, tail latch 4 and hook 15 are disengaged, tail 2 is in contact with the ground for rigid support, and tail support 6 and tail 2 abut against each other to limit tail 2.

[0035] The part of the tail support 6 that abuts against the tail 2 can be any part, without specific restrictions, as long as the function of limiting the tail 2 is achieved. Furthermore, to facilitate the storage of the spherical robot's tail support structure, in one embodiment, a handle is provided on the tail support 6. When the tail 2 is in the extended state, the handle can be moved by external force to disengage the tail support 6 from the tail 2. At this time, the tail 2 can be driven to rotate in the first direction by external force until the tail latch 4 and the hook 15 re-engage and limit the tail 2, completing the closed storage of the tail 2.

[0036] In order to enable the tail support 6 to be stored when the tail 2 is in the closed storage state, the tail 2 is provided with a through groove. When the tail 2 is in the closed state, the tail support 6 passes through the through groove. As the tail 2 gradually unfolds, the tail support 6 gradually disengages from the through groove and rotates under the action of restoring force until it abuts against the tail 2.

[0037] In this embodiment, the first, second, and third rotational recovery mechanisms are mainly used to realize the rotation and recovery of the tail buckle 4, tail support 6, and tail 2. Therefore, their structure is not absolutely limited as long as the functions can be achieved.

[0038] In one embodiment, the first rotational recovery mechanism includes a tail buckle pivot 3 and a tail buckle torsion spring 11. The tail buckle torsion spring 11 is disposed at the rotational connection between the tail buckle 4 and the tail buckle pivot 3, and the tail buckle torsion spring 11 applies a recovery force to the tail buckle 4 in the first direction.

[0039] The second rotational recovery mechanism includes a tail support shaft 5 and a tail support torsion spring 12. The tail support torsion spring 12 is located at the rotational connection between the tail support 6 and the tail support shaft 5, and applies a recovery force to the tail support 6 in the second direction.

[0040] The third rotational recovery mechanism includes a tail shaft 7 and a tail torsion spring 13. The tail torsion spring 13 is located at the rotational connection between the tail 2 and the tail shaft 7, and the tail torsion spring 13 applies a recovery force to the tail 2 in the second direction.

[0041] In other embodiments, the first rotational recovery mechanism, the second rotational recovery mechanism, and the third rotational recovery mechanism may undergo other deformations, all of which are within the scope of protection of this invention. For example, the torsion spring can be replaced with other elastic components, such as springs, and a restoring force in the corresponding direction can be applied through the elastic component. For example, the rotating shaft can be replaced with a universal ball bearing, and the universal ball bearing can be limited in a specific direction to achieve the same rotational effect as the rotating shaft.

[0042] For ease of installation, the tail support structure of the spherical robot in this embodiment also includes a rear shell 8. The rear shell 8 is fixed to the robot body 1 with screws, the tail buckle shaft 3 is connected to the rear shell 8 through bearings, and the tail support shaft 5 and the tail shaft 7 are fixedly connected to the rear shell 8.

[0043] When tail 2 is in the closed state, the tail support torsion spring 12 and tail torsion spring 13 are pre-tightened, and the tail support 6 and tail 2 are in a state of overcoming the restoring force.

[0044] The drive mechanism includes a tail drive servo 10 and a tail latch drive shaft 9. One end of the tail latch drive shaft 9 is interference-fitted with the tail latch rotating shaft 3, and the other end is connected to the output shaft of the tail drive servo 10. A boss 14 is provided at the end of the tail latch drive shaft 9 that is connected to the tail latch rotating shaft 3. The boss 14 engages with the side of the tail latch 4.

[0045] The tail latch 4 has a first surface and a second surface at the engagement point with the boss 14. The distance between the first surface and the second surface is greater than the width of the boss 14. When the boss 14 rotates in the second direction, it contacts the second surface, causing the tail latch 4 to rotate in the second direction. The first surface and the second surface can be parallel, or they can be in contact at one end to form a triangular structure. The boss 14 is located between the first surface and the second surface.

[0046] The tail latch 4 includes a latching structure and a limiting structure, and the tail 2 is provided with a hook 15. When the tail 2 is in the closed state, the hook 15 engages with the latching structure of the tail latch 4. At this time, the limiting structure can either abut against the tail support 6 or be in a non-abutting state due to the influence of the hook 15. When the driving force applied by the drive mechanism is greater than the restoring force on the tail latch, the limiting structure moves away from the tail support 6, and the latching structure disengages from the hook 15. When the driving force applied by the drive mechanism is less than the restoring force on the tail latch (including when the drive mechanism stops applying the driving force), the limiting structure abuts against the tail support 6 under the action of the restoring force. Therefore, when the tail 2 is in the extended state, the limiting structure abuts against the tail support 6. In the state where the limiting structure abuts against the tail support 6, the restoring force applied by the tail latch torsion spring 11 can be exactly 0 Newtons or not 0 Newtons.

[0047] The working principle of the spherical robot tail support structure of the present invention is as follows:

[0048] Tail 2 unfolding method: The tail drive servo 10 drives the tail buckle drive shaft 9 to rotate a certain angle in the second direction. The boss 14 on the tail buckle drive shaft 9 drives the tail buckle 4 to rotate in the tail 2 unfolding direction (second direction) against the tail buckle torsion spring 11. The tail buckle 4 disengages from the hook 15. At this time, the tail 2 is moved away from the tail buckle 4 by the torque of the tail torsion spring 13, so the tail 2 unfolds. At the same time, the tail support 6 falls out of the through groove in the middle of the tail 2 and is rotated in the tail 2 unfolding direction by the torque of the tail support torsion spring 12, supporting the support point of the tail 2 and completing the tail opening action of the spherical robot. Figure 5 The direction of the torque of the tail buckle torsion spring 11, the tail support torsion spring 12, and the tail torsion spring 13 is shown.

[0049] After the tail 2 unfolds, the tail-driven servo motor 10 returns to its initial state. Simultaneously, the tail latch 4 rotates in the first direction under the torque of the tail latch torsion spring 11 until the limiting structure abuts against the tail support 6. At this time, there is a certain distance between the boss 14 and the first surface of the tail latch 4. When the latching structure of the tail latch 4 is subjected to an external force in the second direction, due to the distance between the boss 14 and the first surface, the tail latch 4 will not directly impact the boss 14 and will be buffered by the torque of the tail latch torsion spring 11, which can reduce the impact of external forces on the tail-driven servo motor 10. When the latching structure of the tail latch 4 is subjected to an external force in the first direction, since the limiting structure of the tail latch 4 abuts against the tail support 6, it no longer rotates in the first direction, thus protecting the tail-driven servo motor 10 from external forces. Therefore, the tail-driven servo motor 10 will not be subjected to external forces when it is not working, and the tail support structure of the spherical robot will not cause damage to the tail-driven servo motor 10.

[0050] Tail 2 closing method: Manually fasten the handle on the tail support 6 to disengage it from the support point of tail 2, and at the same time close tail 2, so that the hook 15 engages with the buckle structure of tail buckle 4, thus completing the tail closing action of the spherical robot.

[0051] The embodiments described above are merely illustrative of one or more implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the scope of protection of the present invention. Therefore, the scope of protection of this invention should be determined by the appended claims.

Claims

1. A tail support structure for a spherical robot, characterized in that, Includes a drive mechanism, a tail buckle (4), a tail support (6), a tail (2), a first rotation recovery mechanism, a second rotation recovery mechanism, and a third rotation recovery mechanism; The drive mechanism is connected to the tail buckle (4) through the first rotation recovery mechanism. The first rotation recovery mechanism applies a recovery force to the tail buckle (4) in a first direction, and the drive mechanism applies a driving force to the tail buckle (4) in a second direction. The second rotational recovery mechanism is connected to the tail support (6), and the second rotational recovery mechanism applies a restoring force to the tail support (6) in the second direction; The third rotation recovery mechanism is connected to the tail (2), and the third rotation recovery mechanism applies a recovery force to the tail (2) to rotate in the second direction. The tail (2) is provided with a hook (15). When the tail (2) is closed, the tail support (6) and the tail (2) are in a state of overcoming the restoring force, and the tail buckle (4) and the hook (15) are engaged and limited. When the tail (2) is extended, the tail buckle (4) and the hook (15) are disengaged, and the tail support (6) and the tail (2) abut against each other; The first direction is the direction in which the tail (2) moves from the unfolded state to the closed state, and the second direction is the direction in which the tail (2) moves from the closed state to the unfolded state.

2. The spherical robot tail support structure according to claim 1, characterized in that, The first rotational recovery mechanism includes a tail buckle pivot (3) and a tail buckle torsion spring (11), with the tail buckle torsion spring (11) located at the rotational connection between the tail buckle (4) and the tail buckle pivot (3); The second rotation recovery mechanism includes a tail support shaft (5) and a tail support torsion spring (12), with the tail support torsion spring (12) located at the rotational connection between the tail support (6) and the tail support shaft (5); The third rotation recovery mechanism includes a tail shaft (7) and a tail torsion spring (13), with the tail torsion spring (13) located at the rotational connection between the tail (2) and the tail shaft (7).

3. The spherical robot tail support structure according to claim 2, characterized in that, The drive mechanism includes a tail drive servo (10) and a tail latch drive shaft (9). One end of the tail latch drive shaft (9) is interference-connected to the tail latch rotating shaft (3), and the other end is connected to the output shaft of the tail drive servo (10).

4. The spherical robot tail support structure according to claim 3, characterized in that, The tail buckle drive shaft (9) is connected to the tail buckle rotating shaft (3) at one end with a boss (14), and the boss (14) engages with the tail buckle (4).

5. The spherical robot tail support structure according to claim 4, characterized in that, The tail buckle (4) has a first surface and a second surface at the engagement point with the boss (14). The distance between the first surface and the second surface is greater than the width of the boss (14). When the boss (14) rotates in the second direction, it contacts the second surface.

6. The spherical robot tail support structure according to claim 1, characterized in that, The tail (2) is provided with a through groove. When the tail (2) is in a closed state, the tail support (6) passes through the through groove.

7. The spherical robot tail support structure according to claim 1, characterized in that, The tail support (6) is provided with a handle.

8. The spherical robot tail support structure according to claim 1, characterized in that, The tail buckle (4) includes a buckle structure and a limiting structure. When the tail (2) is in a closed state, the buckle structure engages with the hook (15). When the tail (2) is in an unfolded state, the limiting structure abuts against the tail support (6).

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