A spherical rolling robot with a rotating rotor

Abstract

The present invention discloses a spherical rolling robot with a rotating rotor. This robot belongs to the fields of mechanical structures and robotics. From the inside out, the robot comprises a rotor motor, a rotor fixing bracket, and an external rolling bracket. Screw motors are mounted on both sides of the rolling bracket to control the left and right movement of the rotor fixing bracket and the rotor motor. By combining the characteristics of the olive-shaped spherical robot and the rotation of the rotor, and utilizing the characteristics of angular momentum balance to control the movement of the rugby-shaped robot, the present invention solves the problem of existing rolling spherical robots having a single movement mode and being unable to navigate complex and difficult terrain.

Description

Technical Field

[0001] The invention belongs to the field of mechanical structure and robot technology, and in particular relates to a spherical rolling robot with a rotating rotor. Background Art

[0002] In recent years, frequent natural and man-made disasters have posed a significant threat to human life and safety. Disaster sites are often complex, with numerous risk factors and numerous secondary hazards. This slows down rescue efforts and creates the added threat of secondary disasters. During the rescue process, trapped individuals can face unexpected situations at any time. Therefore, rapidly assessing the life status of trapped individuals and delivering essential life-sustaining substances (water, oxygen, and nutrients) can significantly improve rescue success rates.

[0003] Currently, disaster relief robots often use multiple wheels or tracks, which can be inflexible and bulky. Choosing a spherical rolling robot reduces its size, allowing it to be used in more complex environments, effectively addressing the limitations of traditional wheeled robots in navigating sandy and swampy terrain. Furthermore, rolling robots offer greater flexibility and maneuverability. Existing spherical rolling robots, due to their simple structure, often suffer from a single mode of movement. Furthermore, most existing spherical rolling robots rely on tentacles, resulting in a discontinuous external structure and an inability to navigate difficult terrain such as swamps. Summary of the Invention

[0004] The present invention provides a spherical rolling robot with a rotating rotor. By combining the characteristics of an olive-shaped spherical robot and rotor rotation, the motion of a rugby-shaped robot is controlled by utilizing the characteristics of angular momentum balance, thereby solving the problem in the prior art that rolling spherical robots cannot pass through complex and difficult terrain.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A spherical rolling robot with a rotating rotor includes a rotor fixing bracket, an external rolling bracket, a rotor hub motor and a screw translation motor. The rotor hub motor is connected to the rotor fixing bracket by bolts, and the rotor fixing bracket is installed in the corresponding matching hole of the external rolling bracket; the screw translation motor is fixed to both ends of the external rolling bracket by threaded connection.

[0007] The rotor fixing bracket includes a mounting hole located at the center, the mounting hole is used for fixing and mounting the rotor hub motor, and the rotor fixing bracket is connected to the connecting hole through a link block by bolts.

[0008] The rotor fixing bracket and the external rolling bracket are combined through corresponding matching holes, and the rotor fixing bracket and the external rolling bracket can achieve translation under the restriction of the limiting hole and the pulling of the screw motor;

[0009] A first connecting plate is provided on both sides of the external rolling bracket, a second connecting plate is provided on the left side of the screw translation motor, and mounting holes are correspondingly provided on the first connecting plate and the second connecting plate.

[0010] The rotor hub motor is connected to the rotor fixing bracket, the rotor hub motor is connected to a motor drive module via a wire, and the motor drive module is connected to a single chip microcomputer and a battery via a wire.

[0011] Beneficial effects: The present invention discloses a spherical rolling robot with a rotating rotor. The structure from the inside to the outside is a rotor motor-rotor fixing bracket-external rolling bracket. Screw motors are installed on both sides of the rolling bracket to control the left and right movement of the rotor fixing bracket and the rotor motor together; combining the characteristics of the olive-shaped spherical robot and the rotor rotation, the characteristics of angular momentum balance are used to control the movement of the rugby-shaped robot, which solves the problem that the existing rolling spherical robot has a single movement mode and cannot pass through complex and difficult terrain. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a schematic diagram of the three-dimensional structure of a spherical rolling robot including a rotating rotor in an embodiment of the present invention;

[0013] Figure 2 1 is a schematic diagram of the three-dimensional structure of a rotor fixing bracket of a spherical rolling robot including a rotating rotor according to an embodiment of the present invention;

[0014] Figure 3 is a side view of a rotor fixing bracket of a spherical rolling robot including a rotating rotor according to an embodiment of the present invention;

[0015] Figure 4 1 is a schematic diagram of the three-dimensional structure of an external rolling support of a spherical rolling robot including a rotating rotor in an embodiment of the present invention;

[0016] Figure 5 is a side view of an external rolling support of a spherical rolling robot including a rotating rotor according to an embodiment of the present invention;

[0017] Figure 6 is a front view of a spherical rolling robot including a rotating rotor according to an embodiment of the present invention;

[0018] Figure 7 1 is a schematic diagram of the rotor connection of a spherical rolling robot including a rotating rotor according to an embodiment of the present invention;

[0019] Figure 81 is a state diagram of a spherical rolling robot with a rotating rotor at a certain moment in an embodiment of the present invention.

[0020] In the figure, 1-translational screw motor; 2-external rolling bracket; 3-rotor fixing bracket; 4-rotor hub motor; 5-rotor fixing bracket connecting hole, 6-rotor hub motor fixing hole; 7-rotor translation guide rod; 8-translational screw fixing hole; 9-external rolling bracket fixing hole; 10-external rolling bracket first connecting plate; 11-rotor translation guide hole. DETAILED DESCRIPTION

[0021] The present invention is described in detail below through the accompanying drawings and specific embodiments:

[0022] Unless otherwise defined, the technical or scientific terms used in the present invention shall have the usual meanings understood by persons of ordinary skill in the field to which the present invention belongs. The words "first", "second" and similar terms used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0023] Example 1

[0024] like Figure 1 As shown, a spherical rolling robot with a rotating rotor includes a translation screw motor 1, an external rolling bracket 2, a rotor fixing bracket 3, and a rotor hub motor 4;

[0025] The external rolling brackets 2 are symmetrical and are linked together through fixing holes 9 to form a rugby-shaped external bracket. The rotor translation guide bracket is installed on the upper end of the external rolling bracket 2, and a rotor translation guide hole 11 is set in the middle of the rotor translation guide bracket.

[0026] The rotor fixing bracket 3 is a two-layer structure, and the upper and lower layers are connected by a connecting rod. The middle opening of the upper layer is matched with the rotor translation guide hole 11 of the external rolling bracket 2 through the rotor translation guide rod 7. The top of the translation guide rod 7 is provided with a translation screw fixing hole 8. One end of the translation screw is fixed in the translation screw fixing hole 8, and the other end passes through the first connecting plate 10 of the external rolling bracket at the top of the external rolling bracket 2 and is connected to the translation screw motor 1;

[0027] A connecting rod is provided on the side of the lower layer of the rotor fixing bracket 3, and a rotor fixing bracket connecting hole 5 is provided at the end of the connecting rod for connecting and fixing the rotor fixing bracket 3 symmetrically on both sides. A rotor hub motor fixing hole 6 is provided in the middle of the lower layer for fixing the rotor hub motor 4. The rotor hub motor 4 has a corresponding control interface connected to the drive module. The drive module is connected to the power supply and the single-chip microcomputer, and the motor is controlled by the single-chip microcomputer program, giving the rotor hub motor 4 a signal to make it rotate;

[0028] During operation, the translation screw is controlled by the translation screw motor 1 to drive the translation guide rod 7, thereby dragging the rotor fixing bracket 3 to move left and right. When the angular momentum on the left side increases, the robot turns left; the same is true in reverse. The rotor translation guide hole 11 is set to a square, which ensures that there is only one translational degree of freedom between the external rolling bracket 2 and the rotor fixing bracket 3, and there is only one horizontal movement degree of freedom in the Y direction between the external rolling bracket 2 and the rotor fixing bracket 3, and no other degrees of freedom. If the shape of the hole is not square but circular, the torque cannot be transmitted, and the external frame and the internal rotor cannot rotate in opposite directions. This type of design is simple and easy to maintain, and the screw motor has sufficient power, and there is no need to add structures such as sliding bearings. Using the principle of conservation of angular momentum, the sum of the angular momentum generated by the internal rotor of the robot and the angular momentum of the external rolling bracket 2 needs to be 0, so the external rolling bracket 2 will rotate in the opposite direction to the rotor, and when the total torque of the robot rotating on a given axis is 0 due to the external force

[0029] When M Z =0L Z =Jω=Jω0=J 转子 ω 转子 +J 支架 ω 支架 Where: L Z —The angular momentum of the robot as a whole is a fixed constant.

[0030] J 转子 — moment of inertia of the rotating rotor,

[0031] ω 转子 — angular velocity of the rotating rotor,

[0032] J 支架 — the moment of inertia of the external rolling support and the rotor fixing support,

[0033] ω 支架 —Angular velocity of the external rolling support and the rotor fixed support;

[0034] When the translation guide rod of the external rolling bracket 2 interacts with the translation guide rod of the rotor fixed bracket 3, the external rolling bracket 2 will rotate in the direction opposite to the rotation direction of the rotor, thereby achieving the purpose of moving the robot forward.

[0035] The above embodiments are only preferred embodiments of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solutions of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A spherical rolling robot with a rotating rotor, characterized in that: The robot is composed of two symmetrical parts, each of which includes a rotor fixing bracket, an external rolling bracket, a rotor hub motor, a translation screw, and a screw translation motor; the external rolling brackets of the two parts are connected to each other, a rotor translation guide bracket is installed at the top end of the internal part of the external rolling bracket, a rotor translation guide hole is arranged in the middle of the rotor translation guide bracket, and the rotor translation guide hole is arranged in a square shape; the rotor fixing bracket is a two-layer structure, the upper and lower layers are connected by a connecting rod, the middle opening of the upper layer of the rotor fixing bracket is matched with the rotor translation guide hole of the external rolling bracket through the rotor translation guide rod; the rotor fixing bracket A connecting rod is provided on the side of the lower layer, and a rotor fixing bracket connecting hole is provided at the end of the connecting rod, which is used to connect and fix the rotor fixing brackets symmetrical on both sides; a rotor hub motor fixing hole is provided in the middle of the lower layer of the rotor fixing bracket to fix the rotor hub motor; a translation screw fixing hole is provided on the top of the rotor translation guide rod, one end of the translation screw is fixed in the translation screw fixing hole, and the other end passes through the top of the external rolling bracket to be connected to the translation screw motor; the translation screw is controlled by the screw translation motor to drive the rotor fixing bracket and the rotor motor to move left and right, and the movement of the rugby-type robot is controlled by the characteristics of angular momentum balance.

2. The spherical rolling robot with a rotating rotor according to claim 1, characterized in that: The external rolling supports are two symmetrical ones, which are linked together through the external rolling support fixing holes to form a rugby-shaped external support.

3. The spherical rolling robot with a rotating rotor according to claim 1, characterized in that: Based on the principle of conservation of angular momentum, the sum of the angular momentum generated by the internal rotor of the robot and the angular momentum of the external rolling support is 0. The external rolling support rotates in the opposite direction to the rotor. When the total torque of the robot rotating about a given axis by the external force is 0: when , Where: is the angular momentum of the robot as a whole, which is a fixed constant. is the moment of inertia of the rotating rotor, is the angular velocity of the rotating rotor, is the moment of inertia of the external rolling support and the rotor fixed support, is the angular velocity of the external rolling support and the rotor fixed support.

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