Coaxial dual-rotor air-land amphibious spherical robot based on variable center of mass control principle

Abstract

The application provides a coaxial dual-rotor air-ground amphibious spherical robot based on a variable center control principle, which comprises a canard-like spherical shell mechanism for protecting internal mechanisms, providing additional lift in a flight mode and shell support in a land rolling mode, a coaxial dual-rotor driving mechanism for providing required lift in the flight mode, a gyro frame driving mechanism for providing required moment in the land rolling mode, and a variable center driving mechanism for providing required moment for attitude adjustment in the two motion modes. The application realizes amphibious motion function of the spherical robot through the cooperation of the variable center driving mechanism with the coaxial dual-rotor driving mechanism and the gyro frame driving mechanism. The application has the advantages of simple and flexible structure, variable motion mode and strong terrain passability, and can meet the demand of rescue and disaster relief, reconnaissance and detection and other work tasks in unstructured environments such as mine ruins, forest caves and the like.

Description

Technical Field

[0001] This invention relates to an amphibious spherical robot, specifically, to a coaxial dual-rotor spherical robot with amphibious capabilities based on the variable center of mass control principle. This invention belongs to the field of robotics technology. Background Technology

[0002] A spherical mobile robot (or simply spherical robot) is a fully enclosed robot with a spherical shell. It achieves movement through principles such as center of mass shift or momentum conservation. These robots possess excellent sealing properties, strong balance, and high mobility, eliminating the risk of tipping over. Therefore, spherical robots have significant advantages and broad application prospects in fields such as planetary exploration and hazardous environment detection. Traditional spherical robots include land-based spherical robots, underwater spherical robots, flying spherical robots, amphibious spherical robots, and air-to-ground amphibious spherical robots.

[0003] Existing amphibious spherical robots include multi-rotor spherical robots and "rotor-control surface" spherical robots. Multi-rotor spherical robots use multi-rotor rotation to provide traction, enabling amphibious movement. "Rotor-control surface" spherical robots use the aerodynamic action of control surfaces to adjust the direction of the rotor wake, thus meeting the requirements for flight attitude adjustment. Due to structural limitations, existing amphibious spherical robots generally have low control accuracy in land rolling mode and limited ability to traverse complex terrain, thus restricting their application to a certain extent. Summary of the Invention

[0004] For the reasons mentioned above, the purpose of this invention is to provide a coaxial dual-rotor amphibious spherical robot based on the principle of variable center of mass control.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a coaxial dual-rotor amphibious spherical robot based on the variable center of mass control principle, which includes a ducted spherical shell mechanism, a gyroscope frame drive mechanism, a variable center of mass drive mechanism, and a coaxial dual-rotor drive mechanism installed in the ducted spherical shell mechanism;

[0006] The gyro frame drive mechanism enables the spherical robot to have a land rolling motion mode, and the coaxial dual rotor drive mechanism enables the spherical robot to have a flight motion mode; the variable center of mass drive mechanism works in conjunction with the gyro frame drive mechanism and the coaxial dual rotor drive mechanism to adjust the motion posture of the spherical robot.

[0007] The ducted spherical shell mechanism includes an open spherical shell, landing gear, a duct lip telescopic mechanism, and a duct lip; the open spherical shell and the duct lip are connected by splines to form a complete spherical shell, and the duct lip can slide axially relative to the open spherical shell while maintaining a relatively fixed position circumferentially; the landing gear is mounted on the bottom of the open spherical shell by fastening screws; the duct lip telescopic mechanism is mounted on the crown of the duct lip by bearings;

[0008] The variable center of mass drive mechanism includes two parallel guide rods, a battery, a battery mounting bracket, a variable center of mass drive motor, and a transmission mechanism. The battery serves both to power the entire spherical robot and to act as a counterweight to change the center of mass of the spherical robot. The variable center of mass drive motor drives the battery mounting bracket, on which the battery is fixed, to move along the guide rods through the transmission mechanism, thereby changing the center of mass of the spherical robot and adjusting its posture.

[0009] Preferably, the gyroscope frame drive mechanism includes an upper central shaft, a lower central shaft, a yaw frame, a pitch frame, a roll motor, and a turn motor;

[0010] Both the yaw frame and the pitch frame are rectangular frame structures. The yaw frame is located inside the pitch frame, and the center points of the two short sides of the yaw frame are coaxially connected to the center points of the two long sides of the pitch frame.

[0011] The turning motor is fixed at the center point of the side where the yaw frame and pitch frame are connected by a motor mounting bracket, and the motor output shaft of the turning motor passes through the center point where the yaw frame and pitch frame are connected; symmetrically, at the center point of the other side where the yaw frame and pitch frame are connected, the variable center of mass drive mechanism is fixed by a mounting bracket, and the transmission shaft connected to the variable center of mass drive motor output shaft of the variable center of mass drive mechanism passes through the center point of the other side where the yaw frame and pitch frame are connected.

[0012] One end of the upper central shaft is fixed to the center of a long side of the yaw frame by a fastening screw, and the other end is connected to the center of the duct lip telescopic mechanism by a spline and thread.

[0013] One end of the lower central shaft is fixed to the center of the other long side of the yaw frame by fastening screws, and the other end is fixed to the center of the landing gear by bearings.

[0014] The forward roll motor is mounted on the lower central shaft by fastening screws, and its output rotor is connected to the landing gear to drive the ducted spherical shell mechanism to rotate, thereby realizing the forward rolling function in the land rolling motion mode of the spherical robot; the turning motor drives the pitch frame to rotate relative to the yaw frame, thereby realizing the turning function in the land rolling motion mode of the spherical robot.

[0015] Preferably, the variable center of mass drive mechanism is fixed at the center of the side where the yaw frame and pitch frame are connected by a mounting bracket; the two guide rods of the variable center of mass drive mechanism are arranged parallel and symmetrically on the horizontal plane of the pitch frame; the two ends of the battery mounting bracket are respectively mounted on the two guide rods by linear bearings.

[0016] Preferably, the duct lip telescopic mechanism includes a flange nut, a telescopic drive motor, and a telescopic drive motor flange;

[0017] The telescopic drive motor has a through hole along its longitudinal central axis.

[0018] A longitudinal central rod is integrally formed at the center of the telescopic drive motor flange; one end of the central rod is secured to the crown of the duct lip by a bearing, and the other end passes through the telescopic drive motor and is secured to the flange nut by a bearing;

[0019] The telescopic drive motor flange and flange nut are respectively fixed to the top and bottom surfaces of the telescopic drive motor by fastening screws;

[0020] The flange nut is provided with internal threads and spline slots. The flange nut is connected to the upper central shaft of the gyroscope frame drive mechanism through splines and threads. The output rotor of the telescopic drive motor drives the flange nut to rotate. The cooperation between the flange nut and the upper central shaft drives the duct lip telescopic mechanism to slide axially relative to the upper central shaft, while maintaining relative stillness in the circumferential direction.

[0021] Preferably, the coaxial dual-rotor drive mechanism includes an upper rotor hollow shaft motor, a lower rotor hollow shaft motor, an upper rotor, and a lower rotor; the upper rotor hollow shaft motor and the lower rotor hollow shaft motor are respectively mounted on the upper central shaft and the lower central shaft of the gyroscope frame drive mechanism by fastening screws, and respectively drive the upper rotor and the lower rotor to rotate in opposite directions.

[0022] Preferably, the coaxial dual-rotor amphibious spherical robot based on the variable center of mass control principle further includes a control system, which includes a microprocessor, an upper rotor motor speed controller, a lower rotor motor speed controller, a turning motion motor speed controller, a variable center of mass drive motor speed controller, and a forward roll motion motor driver fixed in the ducted spherical shell mechanism; the driver of the forward roll motion motor is integrated inside the forward roll motion motor, and its power line and communication line are laid through the hollow lower central shaft.

[0023] This invention, based on the principle of variable center of mass control, utilizes the synergistic effect of a variable center of mass drive mechanism with a coaxial dual-rotor drive mechanism and a gyro-frame drive mechanism to achieve amphibious mobility for a spherical robot, enhancing its ability to traverse complex terrain and enabling autonomous environmental perception in unstructured environments. This invention integrates the variable center of mass drive mechanism, coaxial dual-rotor drive mechanism, and gyro-frame drive mechanism into a unified design, resulting in a relatively simple drive method, a simple and flexible structure, and variable motion modes for the spherical robot. This further broadens the application scenarios of the spherical robot, fully leveraging its advantages to meet the needs of rescue and disaster relief, reconnaissance, and detection tasks in unstructured environments such as mine ruins and forest caves. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the coaxial dual-rotor amphibious spherical robot based on the variable center of mass control principle of the present invention.

[0025] Figure 2 This is a schematic diagram of the internal structure of the coaxial dual-rotor amphibious spherical robot based on the variable center of mass control principle of the present invention.

[0026] Figure 3A This is a schematic diagram of the ducted spherical shell mechanism of the present invention;

[0027] Figure 3B This is an exploded structural diagram of the ducted spherical shell mechanism of the present invention;

[0028] Figure 4 This is a schematic diagram of the gyroscope frame drive mechanism of the present invention;

[0029] Figure 5 This is a schematic diagram of the variable center of mass driving mechanism of the present invention;

[0030] Figure 6 This is a schematic diagram of the land rolling motion mode of the present invention;

[0031] Figure 7 This is a schematic diagram of the coaxial dual-rotor drive mechanism of the present invention;

[0032] Figure 8 This is a schematic diagram of the flight motion mode of the present invention;

[0033] Figure 9 This is a schematic diagram of the duct lip telescopic mechanism of the present invention;

[0034] Figure 10 This is a schematic diagram of the force distribution on the duct lip telescopic mechanism of the present invention in flight mode;

[0035] Figure 11 This is a schematic diagram of the control system of the present invention;

[0036] Among them: 1. Ductless spherical shell mechanism, 11. Open spherical shell, 12. Landing gear, 13. Ductless lip telescopic mechanism, 131. Flange nut, 132. Telescopic drive motor, 133. Telescopic drive motor flange, 134. Center rod, 135 and 136. Bearing, 14. Ductless lip; 2. Gyro frame drive mechanism, 21. Upper central shaft, 22. Lower central shaft, 23. Yaw frame, 24. Pitch frame, 25. Forward roll motor, 26. Turning motor, 27. Turning motor mounting bracket, 28. Variable center of mass drive mechanism mounting bracket; 3. Variable center of mass drive mechanism, 31. 31. Guide rod; 32. Battery; 33. Linear bearing; 34. Battery mounting bracket; 35. Variable center of mass drive motor; 36. First drive shaft; 37. Second drive shaft; 38. Third drive shaft; 39. First synchronous belt; 310. Second synchronous belt; 311. Five synchronous belt pulleys; 4. Coaxial dual rotor drive mechanism; 41. Upper rotor hollow shaft motor; 42. Lower rotor hollow shaft motor; 43. Upper rotor; 44. Lower rotor; 51. Microprocessor; 52. Upper rotor motor speed controller; 53. Lower rotor motor speed controller; 54. Turning motion motor speed controller; 55. Variable center of mass drive motor speed controller. Detailed Implementation

[0037] The structure and features of the present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that various modifications can be made to the embodiments disclosed herein; therefore, the embodiments disclosed in this specification should not be considered as limitations on the present invention, but merely as examples to make the features of the present invention readily apparent.

[0038] like Figure 1 , Figure 2 As shown, the coaxial dual-rotor amphibious spherical robot based on the variable center of mass control principle disclosed in this invention consists of a duct-like spherical shell mechanism 1, a gyro-frame drive mechanism 2, a variable center of mass drive mechanism 3, and a coaxial dual-rotor drive mechanism 4 installed within the spherical shell mechanism. The gyro-frame drive mechanism 2 enables the spherical robot to have a land rolling motion mode, while the coaxial dual-rotor drive mechanism 4 enables the spherical robot to have a flight motion mode. The variable center of mass drive mechanism 4 works in conjunction with the gyro-frame drive mechanism 2 and the coaxial dual-rotor drive mechanism 4 to enhance the amphibious motion function of the spherical robot and improve its ability to pass through complex terrain.

[0039] Figure 3A and Figure 3BThe figure shows a schematic diagram of the ducted spherical shell mechanism of the present invention. The ducted spherical shell mechanism 1 includes an open spherical shell 11, a landing gear 12, a duct lip telescopic mechanism 13, and a duct lip 14. The open spherical shell 11 and the duct lip 14 are connected by splines to form a complete spherical shell. The duct lip can slide axially relative to the open spherical shell while maintaining a relatively fixed position circumferentially. The landing gear 12 is mounted at the bottom center of the open spherical shell 11 by fastening screws, and the duct lip telescopic mechanism 13 is mounted at the crown of the duct lip by bearings. The landing gear 12 and the duct lip telescopic mechanism 13 are coaxially mounted.

[0040] Figure 4 The figure shows a schematic diagram of the gyro frame drive mechanism for driving a spherical robot to achieve a land rolling motion mode according to the present invention. As shown in the figure, the gyro frame drive mechanism 2 includes an upper central shaft 21, a lower central shaft 22, a yaw frame 23, a pitch frame 24, a forward roll motor 25, and a turning motor 26. Both the yaw frame 23 and the pitch frame 24 are rectangular frame structures. The yaw frame 23 is located inside the pitch frame 24, and the center points of the two short sides of the yaw frame 23 are coaxially connected to the center points of the two long sides of the pitch frame 24. The turn motor 26 is fixed at the center point of the side where the yaw frame 23 and the pitch frame 24 are connected by a motor mounting bracket 27, and the motor output shaft of the turn motor 26 passes through the center point where the yaw frame and the pitch frame are connected. Symmetrically, at the center point of the other side where the yaw frame 23 and the pitch frame 24 are connected, a variable center of mass drive mechanism 3 is fixed by a mounting bracket 28. The variable center of mass drive mechanism 3 includes a variable center of mass drive motor, and the transmission shaft connected to the output shaft of the variable center of mass drive motor passes through the center point of the other side where the yaw frame 23 and the pitch frame 24 are connected.

[0041] One end of the upper central shaft 21 is fixed to the center of one long side of the yaw frame 23 by fastening screws, and the other end is connected to the center of the duct lip telescopic mechanism 13 by splines and threads, so that the duct lip telescopic mechanism 13 is circumferentially stationary relative to the upper central shaft 21, but axially sliding relative to it. One end of the lower central shaft 22 is fixed to the center of the other long side of the yaw frame 23 by fastening screws, and the other end is fixed to the center of the landing gear 12 by a bearing, so that the landing gear 12 can rotate relative to the lower central shaft 22.

[0042] The forward roll motor 25 is mounted on the lower central shaft 22 by fastening screws. Its output rotor is connected to the landing gear 12, driving the ducted spherical shell mechanism to rotate, thus realizing the forward rolling function in the spherical robot's rolling mode. The turning motor 26 drives the pitch frame to rotate relative to the yaw frame, thus realizing the turning function in the spherical robot's rolling mode.

[0043] To improve the ability of spherical robots to traverse complex terrain, such as Figure 5As shown, the present invention also includes a variable center of mass drive mechanism 3, which is fixed to the center of the side where the yaw frame 23 and the pitch frame 24 are connected by a mounting bracket 28 (see [reference]). Figure 4 The variable center of mass drive mechanism 3 includes two parallel guide rods 31, a battery 32, two linear bearings 33, a battery mounting bracket 34, a variable center of mass drive motor 35, and a transmission mechanism. The battery 32 serves both to power the entire spherical robot drive mechanism and control system, and to act as a counterweight to change the spherical robot's center of mass. The two guide rods 31 are arranged parallel and symmetrically on the horizontal plane of the pitch frame 24. After the battery mounting bracket 34 fixes the battery 32, its two ends are respectively mounted on the two guide rods 31 via linear bearings 33. The variable center of mass drive motor 35 drives the battery mounting bracket 34 through the transmission mechanism, causing the battery 32 to move along the guide rods 31, thus changing the spherical robot's center of mass.

[0044] In a preferred embodiment of the present invention, the transmission mechanism includes a first transmission shaft 36, a second transmission shaft 37, a third transmission shaft 38, a first synchronous belt 39, a second synchronous belt 310, and a synchronous pulley 311.

[0045] One end of the first drive shaft 36 and the third drive shaft 38 are secured to the front and rear positions of the side frame of the pitch frame 24 via bearings, synchronous pulleys 311, and fastening screws, respectively, and the other end is secured to the mounting bracket 28 via bearings, synchronous pulleys 311, and fastening screws. One end of the second drive shaft 27 is secured to the middle position of the side frame of the pitch frame 24 via bearings and fastening screws, and the other end of the second drive shaft 27 is secured to the synchronous pulley 311 and connected to the output shaft of the variable center of mass drive motor 35 via a coupling. The first synchronous belt 39 is fitted onto the synchronous pulleys at the ends of the first and third drive shafts, and the second synchronous belt 310 is fitted onto the synchronous pulleys at the ends of the second and third drive shafts. The battery mounting bracket 34 is connected to the first synchronous belt 39 by fasteners and is mounted on two guide rods 41 by linear bearings 33. The variable center of mass drive motor 35 drives the battery mounting bracket 34, on which the battery 32 is fixed, to move along the guide rods 31 via the first, second, and third drive shafts and the first and second synchronous belts, changing the position of the battery 32, which acts as a counterweight, and thus changing the center of mass of the spherical robot. When the spherical robot is in land rolling motion mode, the variable center of mass drive mechanism 3 provides a counter torque, which works in conjunction with the gyro frame drive mechanism 2 to adjust the attitude of the spherical robot. When the spherical robot is in flight motion mode, the variable center of mass drive mechanism 3 provides the pitch torque required to control the robot's pitch angle, which works in conjunction with the coaxial dual rotor drive mechanism 4 to adjust the attitude of the spherical robot.

[0046] Figure 6The diagram illustrates the land rolling motion mode of this invention. As shown, the forward rolling motor 25 is mounted on the lower central shaft 22 via fastening screws. Its output rotor is connected to the spherical shell mechanism landing gear 12, driving the spherical shell mechanism to rotate. Simultaneously, under the gravity of the variable center of mass drive mechanism battery 32, the variable center of mass drive mechanism 3 provides a counter torque. Under the synergistic action of the variable center of mass drive mechanism 3 and the gyro frame drive mechanism 2, the ducted spherical shell mechanism rotates relative to the lower central shaft 22, causing the spherical robot to roll forward. Similarly, the turning motor 26 drives the pitch frame 24 to rotate relative to the yaw frame 23. Under the gravity of the variable center of mass drive mechanism battery, the variable center of mass drive mechanism 3 provides a counter torque. Under the synergistic action of the variable center of mass drive mechanism 3 and the gyro frame drive mechanism 2, the spherical robot completes turning motion, realizing the spherical robot's land rolling / movement and turning actions.

[0047] Figure 7 This is a schematic diagram of the coaxial dual-rotor drive mechanism of the present invention. Figure 8 This is a schematic diagram of the flight motion mode of the present invention. Figure 7 , Figure 8 As shown, the coaxial dual-rotor drive mechanism 4 includes an upper rotor hollow shaft motor 41, a lower rotor hollow shaft motor 42, an upper rotor 43, and a lower rotor 44. The upper rotor hollow shaft motor 41 and the lower rotor hollow shaft motor 42 are respectively mounted on the upper central shaft 21 and the lower central shaft 22 of the gyroscope frame drive mechanism 2 by fastening screws, and respectively drive the upper rotor 43 and the lower rotor 44 to rotate in opposite directions. Through the differential motion of the upper rotor hollow shaft motor 41 and the lower rotor hollow shaft motor 42, the spherical robot can achieve aerial flight.

[0048] When the spherical robot is flying, the position of the center of mass of the spherical robot is changed by adjusting the position of the battery 32 under the action of the variable center of mass drive mechanism 3, thereby adjusting the robot's pitch angle and attitude; under the reverse differential motion of the coaxial dual rotor drive mechanism 4, the yaw angle of the spherical robot is adjusted to complete the yaw motion.

[0049] To effectively improve the aerodynamic characteristics of the spherical robot in flight mode, as shown in Figure 3, Figure 9 As shown, the present invention also includes a duct lip telescopic mechanism 13. The duct lip telescopic mechanism 13 includes a flange nut 131, a telescopic drive motor 132, and a telescopic drive motor flange 133.

[0050] The telescopic drive motor 132 has a through hole along its longitudinal central axis. A longitudinal central rod 134 is integrally formed at the center of the telescopic drive motor flange 133; one end of this central rod is secured to the crown of the duct lip 14 via a bearing 136, and the other end passes through the telescopic drive motor 132 and is secured to the flange nut via a bearing 135. The telescopic drive motor flange 133 and the flange nut 131 are respectively fixed to the top and bottom surfaces of the telescopic drive motor 132 with fastening screws.

[0051] The flange nut 131 is provided with internal thread and spline slot hole. The flange nut 131 is connected to the upper central shaft 21 of the gyroscope frame drive mechanism through spline and thread. The output rotor of the telescopic drive motor 132 drives the flange nut to rotate. The cooperation between the flange nut and the upper central shaft 21 drives the duct lip telescopic mechanism 13 to slide axially relative to the upper central shaft 21, while maintaining relative stillness in the circumferential direction.

[0052] When the spherical robot is in flight mode, such as Figure 10 As shown, due to the suction effect of the coaxial dual rotor system, the airflow will generate a flow phenomenon around the duct lip position 141. The velocity is higher and the pressure is lower on the inner side of the duct lip position 141 than on the outer side. After the pressure difference is generated between the inner and outer sides of the duct lip position, the air action causes the duct lip 14 to bear the upward component force. Therefore, when the amphibious spherical robot of the present invention is in flight mode, its main lift is provided by the upper and lower rotors. At the same time, the duct lip extension mechanism 13 provides additional lift for the robot, improving the aerodynamic characteristics of the spherical robot.

[0053] When the amphibious spherical robot of the present invention is in flight mode, the duct lip extension mechanism 13 is in the deployed state. When the amphibious spherical robot is in land rolling mode, the duct lip extension mechanism 13 is in the closed state to avoid interfering with the robot's movement.

[0054] Figure 11 The schematic diagram of the drive motor and control system of the present invention is shown in the figure. The drive motors for driving the spherical robot include a forward rolling motor 25, a turning motor 26, a variable center of mass drive motor 35, an upper rotor motor 41, and a lower rotor motor 42. To control the rotational speed of these motors, the control system of the present invention includes a microprocessor 51, an upper rotor motor speed controller 52, a lower rotor motor speed controller 53, a turning motor speed controller 54, and a variable center of mass drive motor speed controller 55. The driver of the forward rolling motor 25 is integrated inside it, and the power line and communication line are transmitted through the hollow lower central shaft 22 to avoid interference with the rotation of the lower rotor 42.

[0055] Compared with traditional spherical mobile robots, this invention has the following advantages:

[0056] 1. Possesses amphibious capabilities.

[0057] This invention utilizes the synergistic effect of the variable center of mass drive mechanism, coaxial dual rotor drive mechanism, and gyro frame drive mechanism based on the variable center of mass control principle to realize the aerial flight motion mode and land rolling motion mode of the spherical robot, thereby improving the spherical robot's ability to pass through complex terrain and meeting its ability to perform autonomous environmental perception in unstructured environments.

[0058] 2. Strong resistance to overturning and impact.

[0059] This invention uses a ducted spherical shell as the robot's outer shell, inheriting the anti-tipping characteristics of spherical robots. When facing unstructured environments such as ruins and jungles, it also provides protection and impact resistance to its internal structure.

[0060] 3. The driving method is relatively simple, flexible, and efficient.

[0061] The variable center of mass drive mechanism based on the variable center of mass control principle has a reuse function, providing the reaction torque required for the spherical robot in rolling mode and the torque required for pitch angle manipulation in flight mode, reducing drive input, simplifying structure and improving efficiency.

[0062] 4. Effectively improves the aerodynamic characteristics of spherical robots.

[0063] When the spherical robot is in flight mode, this invention utilizes a ducted lip telescopic mechanism to provide additional lift, thereby improving the overall aerodynamic characteristics of the spherical robot.

[0064] Finally, it should be noted that the above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A coaxial dual-rotor amphibious spherical robot based on the variable center of mass control principle, characterized in that: It includes a ducted spherical shell mechanism, a gyroscope frame drive mechanism, a variable center of mass drive mechanism, and a coaxial dual rotor drive mechanism installed within the ducted spherical shell mechanism; The gyro frame drive mechanism enables the spherical robot to have a land rolling motion mode, and the coaxial dual rotor drive mechanism enables the spherical robot to have a flight motion mode; the variable center of mass drive mechanism works in conjunction with the gyro frame drive mechanism and the coaxial dual rotor drive mechanism to adjust the motion posture of the spherical robot. The ducted spherical shell mechanism includes an open spherical shell, landing gear, a duct lip telescopic mechanism, and a duct lip; the open spherical shell and the duct lip are connected by splines to form a complete spherical shell, and the duct lip can slide axially relative to the open spherical shell while maintaining a relatively fixed position circumferentially; the landing gear is mounted on the bottom of the open spherical shell by fastening screws; the duct lip telescopic mechanism is mounted on the crown of the duct lip by bearings; The variable center of mass drive mechanism includes two parallel guide rods, a battery, a battery mounting bracket, a variable center of mass drive motor, and a transmission mechanism. The battery serves both to power the entire spherical robot and to act as a counterweight to change the center of mass of the spherical robot. The variable center of mass drive motor drives the battery mounting bracket, which is fixed to the battery, to move along the guide rods through the transmission mechanism, thereby changing the center of mass of the spherical robot and adjusting its posture. The gyroscope frame drive mechanism includes an upper central axis, a lower central axis, a yaw frame, a pitch frame, a roll motor, and a turn motor. Both the yaw frame and the pitch frame are rectangular frame structures. The yaw frame is located inside the pitch frame, and the center points of the two short sides of the yaw frame are coaxially connected to the center points of the two long sides of the pitch frame. The turning motion motor is fixed at the center point of the side where the yaw frame and pitch frame are connected by a motor mounting bracket, and the motor output shaft of the turning motion motor passes through the center point where the yaw frame and pitch frame are connected; symmetrically, at the center point of the other side where the yaw frame and pitch frame are connected, the variable center of mass drive mechanism is fixed by a mounting bracket, and the transmission shaft connected to the variable center of mass drive motor output shaft of the variable center of mass drive mechanism passes through the center point of the other side where the yaw frame and pitch frame are connected. One end of the upper central shaft is fixed to the center of a long side of the yaw frame by a fastening screw, and the other end is connected to the center of the duct lip telescopic mechanism by a spline and thread. One end of the lower central shaft is fixed to the center of the other long side of the yaw frame by fastening screws, and the other end is fixed to the center of the landing gear by bearings. The forward roll motor is mounted on the lower central shaft by fastening screws, and its output rotor is connected to the landing gear to drive the ducted spherical shell mechanism to rotate, thereby realizing the forward rolling function in the land rolling motion mode of the spherical robot; the turning motor drives the pitch frame to rotate relative to the yaw frame, thereby realizing the turning function in the land rolling motion mode of the spherical robot. The variable center of mass drive mechanism is fixed at the center of the side where the yaw frame and pitch frame are connected by a mounting bracket. The two guide rods of the variable center of mass drive mechanism are arranged in parallel and symmetrically on the horizontal plane of the pitch frame. The battery mounting bracket is mounted on the two guide rods at both ends via linear bearings.

2. The coaxial dual-rotor amphibious spherical robot based on the variable center of mass control principle according to claim 1, characterized in that: The duct lip telescopic mechanism includes a flange nut, a telescopic drive motor, and a telescopic drive motor flange. The telescopic drive motor has a through hole along its longitudinal central axis. A longitudinal central rod is integrally formed at the center of the telescopic drive motor flange; one end of the central rod is secured to the crown of the duct lip by a bearing, and the other end passes through the telescopic drive motor and is secured to the flange nut by a bearing; The telescopic drive motor flange and flange nut are respectively fixed to the top and bottom surfaces of the telescopic drive motor by fastening screws; The flange nut is provided with internal threads and spline slots. The flange nut is connected to the upper central shaft of the gyroscope frame drive mechanism through splines and threads. The output rotor of the telescopic drive motor drives the flange nut to rotate. The cooperation between the flange nut and the upper central shaft drives the duct lip telescopic mechanism to slide axially relative to the upper central shaft, while maintaining relative stillness in the circumferential direction.

3. The coaxial dual-rotor amphibious spherical robot based on the variable center of mass control principle according to claim 2, characterized in that: The coaxial dual-rotor drive mechanism includes an upper rotor hollow shaft motor, a lower rotor hollow shaft motor, an upper rotor, and a lower rotor; The upper rotor hollow shaft motor and the lower rotor hollow shaft motor are respectively mounted on the upper and lower central shafts of the gyroscope frame drive mechanism by fastening screws, and respectively drive the upper rotor and the lower rotor to rotate in opposite directions.

4. The coaxial dual-rotor amphibious spherical robot based on the variable center of mass control principle according to claim 3, characterized in that: It also includes a control system, which includes a microprocessor, an upper rotor motor speed controller, a lower rotor motor speed controller, a turning motion motor speed controller, a variable center of mass drive motor speed controller, and a forward roll motion motor driver fixed in the ducted spherical shell mechanism. The driver of the forward rolling motion motor is integrated inside the forward rolling motion motor, and its power line and communication line are laid through the hollow lower central shaft.

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