Rolling bouncing spherical robot

Abstract

The invention discloses a rolling bouncing spherical robot, and relates to the technical field of robots. Comprising a bouncing joint used for bouncing movement, a main body rack, a secondary gear reduction device, a one-way self-locking mechanism and an energy storage motor, and further comprises a direct current motor used for achieving a rolling mode, a rolling wheel with an inner gear, a spherical groove hub and a robot spherical shell. The pawl and the ratchet wheel are fastened and released by controlling forward and reverse rotation of the energy storage motor, the ratchet wheel is connected with the pinion through the D-shaped shaft, the pinion serves as a driving wheel and transmits force to the winding drum device with line transmission through the stage gear reduction device, one section of the rope is fixedly connected with the winding drum, and the other end of the rope is connected with the bottom of the bouncing leg. Energy storage and release of elastic potential energy of the bouncing leg are achieved through forward and reverse rotation of the energy storage motor. The bouncing leg is arranged at the lower end of the reduction gear box, the upper end of the bouncing leg is fixedly connected with the gear box, the lower end of the bouncing leg is fixedly connected with the robot rack, and after energy storage of the bouncing leg is completed, elastic potential energy is released to enable the upper end of the bouncing leg and the gear box to be launched in the direction opposite to the bouncing leg compression direction. When the gear box collides with the top of the robot, the robot can be driven to jump, and then bouncing motion is achieved. The direct current motor is fixedly connected to the robot rack, the surface of the driving rotating shaft is fixedly sleeved with a transmission rod, the transmission rod drives a small gear, the small gear is meshed with an inner gear of a spherical rolling wheel, and therefore the spherical rolling wheel is driven to achieve a rolling mode. The bouncing motion is completed by the bouncing legs, the horizontal motion on the flat ground is completed by the spherical rolling wheels, and the horizontal moving ability and the obstacle crossing ability of the robot are effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a bouncing robot. Background Art

[0002] The movement of robots in outdoor complex environments has always been a research hotspot. Compared with wheeled robots of the same size, jumping robots Robots and tracked robots have stronger obstacle-crossing capabilities and can be used as wireless sensor network nodes to cross obstacles that are several times taller than themselves, or jump into narrow pits to perform detection tasks. They can be used in military reconnaissance, dangerous environment detection, post-disaster search and rescue and other fields.

[0003] Existing bouncing robots cannot achieve safe and stable landing. They often flip over and fall sideways after landing. Before taking off, it is necessary to be able to achieve self-reset and other actions, which complicates the mechanical structure. The bouncing robot of the present invention has a spherical profile and can achieve safe landing and stable self-reset.

[0004] At the same time, most existing jumping robots have the problem of single function, such as pursuing jumping height while reducing the weight of the robot as much as possible. The robot's own weight will also result in a poor load capacity and the inability to integrate more electronic devices and data processing equipment, thereby limiting the development of the robot's autonomy and intelligence. The robot designed by the present invention has a larger storage space and can install more electronic components.

[0005] Although the bouncing robot has obvious advantages, compared with the rolling motion of the traditional wheeled robot, the bouncing motion is The energy conversion efficiency of the bouncing robot is still not as good as the former. Therefore, the present invention combines wheeled motion with bouncing motion. The bouncing robot can choose the appropriate motion mode according to the terrain requirements to improve energy utilization. When encountering obstacles, it can not only choose to bypass, but also choose to bounce over, thereby expanding the robot's range of activities. Summary of the invention

[0006] Technical issues to be solved:

[0007] In order to solve the shortcomings of the prior art, the present invention proposes a rolling and bouncing spherical robot, which can store The invention discloses a robot which can store energy and realize jumping at different heights. The robot has a simple structure design and is easy to control, and can meet the jumping needs of different road conditions.

[0008] To achieve the above object, the present invention provides the following technical solution: a rolling and bouncing spherical robot, the robot It includes a main frame, an energy storage motor, a one-way self-locking mechanism, a secondary reduction device, a bouncing joint, a rolling wheel with an internal gear, a DC motor, a spherical groove wheel hub, and a spherical shell.

[0009] Preferably, the main frame is used to install a DC motor, is fixedly connected to the bouncing joint, and plays a limiting role in the bouncing joint. The present invention relates to a rotational axis rotational direction of the wheel bearing the inner gear, and the rotational axis of the wheel bearing the inner gear is characterized by a circular outer contour, an upper crossbeam and a lower crossbeam; the upper crossbeam and the lower crossbeam are two parallel and relatively arranged flat plates; the inner surface of the rolling wheel with an internal gear has a circumferential array of spherical joints; the spherical groove hub has two semicircular tracks; the back end of the track has a spherical groove, which meshes with the spherical joint on the inner surface of the rolling wheel with an internal gear; a boss is arranged on the inner surface of the spherical groove hub and is fixedly mounted to the main frame through three sections of threaded columns.

[0010] Preferably, the secondary reduction device is installed on the spring joint for placing and installing the energy storage motor and the one-way self-locking mechanism. The structure includes a box shell, a cover plate, a driving gear, a double-headed gear shaft, a gear reel and a gear rack. Positioning holes are arranged on the top and sides of the box shell for installing the gear rack, and a bearing mounting hole is arranged on the front side so that the output shaft of the energy storage motor and the box shell can rotate relative to each other; the cover plate is used to seal the secondary reduction device. At the same time, two cylindrical bosses are designed on one side of the cover plate. The long boss is used to support the gear reel so that the gear reel can rotate around the cylindrical boss, and the short boss is used to limit the bearing of the double-headed gear shaft from falling off; the gear rack is used to install the one-way self-locking mechanism and the double-headed gear shaft.

[0011] Preferably, the one-way self-locking mechanism is installed in the box shell, including an active part and a driven part. The active part includes a ball, a torsion spring, a pawl, and a pawl disk, and the driven part includes a ratchet with a D-shaped shaft; the pawl disk is a circular disk structure, a cylindrical boss is provided at the center of one end face, a circular boss is provided at the outer edge of the other end face, and two cylindrical protrusions are provided at symmetrical positions of the end face; the pawl is an arc structure, a center of which is hinged on the cylindrical protrusion of the pawl disk, and one end is a hook head; the two pawls are connected end to end and are located on the same plane, and the other ends of the pawls are connected to the inner wall of the pawl disk through torsion springs; the two balls are respectively placed between the outer arc surfaces of the two pawls and the inner wall of the circular boss of the pawl disk, and the stroke is between the center of the pawl and the torsion spring; the ratchet with a D-shaped shaft is coaxial with the pawl disk, one end is a D-shaped shaft, and the other end is a ratchet, the ratchet with a D-shaped shaft is meshed with the hook heads of the two pawls, and the D-shaped shaft passes through the sealing gasket and the through hole of the gear frame in turn, and is finally fixedly connected to the driving gear.

[0012] Preferably, the bouncing joint is used for storing and releasing elastic potential energy, and comprises three layers: upper, middle and lower. The surface is a raised groove structure, and the other end is a flat plate with two symmetrical cylinders. Two symmetrical torsion spring grooves are set on the flat plate. A baffle is installed at the end of the cylinder. Two symmetrical torsion spring grooves are also set on the side of the baffle that contacts the cylinder. The torsion spring passes through the cylinder and is installed in the grooves of the baffle and the flat plate. In order to prevent the thickness of the part with the torsion spring groove from being too small, a protrusion is set opposite the groove to increase the thickness of the component. The middle layer is an elastic metal sheet, and two U-shaped covers are fixed at both ends. Two slots are set at the circular end of the U-shaped cover, which is fixedly installed with the torsion spring arm. There are two components composed of the U-shaped cover and the elastic metal sheet, which are symmetrically placed. The elastic metal sheet as the middle layer component is connected to the upper layer of the bouncing mechanism at one end and connected to the lower layer at the other end, thereby forming a bouncing joint.

[0013] Compared with the related art, the rolling and bouncing spherical robot provided by the present invention has the following beneficial effects:

[0014] The present invention provides a spherical robot with rolling and bouncing function, which converts the rotational motion of the robot's one-way self-locking mechanism into a bouncing motion. The telescopic movement of the joints enables the power output to have efficient energy transfer efficiency. The interior of the robot is hollow, leaving plenty of space for installing various sensors to achieve the purpose of making the robot intelligent.

[0015] The present invention provides a spherical robot with rolling and bouncing function. The telescopic movement of the bouncing joint can not only achieve a relatively large energy It improves the efficiency of energy utilization and is decoupled from horizontal rolling. The bouncing motion can adjust the height and distance of the jump through a one-way self-locking mechanism.

[0016] The present invention provides a spherical robot with rolling and bouncing motion, wherein the bouncing motion is completed by an energy storage motor in cooperation with a bouncing joint. The horizontal movement on flat ground is completed by the spherical shell, which can adapt to the complex terrain for bouncing movement, and can also move efficiently on flat ground, effectively improving the robot's environmental adaptability and horizontal movement ability. At a certain distance and in a complex environment, the spherical bouncing robot can demonstrate excellent endurance and environmental adaptability, and can complete difficult reconnaissance tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 It is a schematic diagram of the spherical shell structure of the present invention;

[0019] Figure 3 It is a schematic diagram of the overall internal structure of the present invention;

[0020] Figure 4 It is a schematic diagram of the spring joint structure of the foam cicada-like pleural arch structure of the present invention;

[0021] Figure 5 It is a schematic diagram of the structure of the two-stage reduction device of the present invention;

[0022] Figure 6 Schematic diagram of the one-way self-locking mechanism of the present invention In the figure: 1, spherical shell, 2, spherical groove hub, 3, rolling wheel with internal gear, 4, main frame, 5, secondary reduction device, 6, bouncing joint, 7, DC motor, 8, gear, 9, three-section threaded column 9, 10, energy storage motor, 11, bearing, 12, box shell, 13, one-way self-locking mechanism 14, sealing gasket, 15, driving gear, 16, gear reel, 17, cover plate, 18, rope, 19, double-headed gear shaft, 20, gear frame, 61, U-shaped cover, 62, elastic metal sheet, 63, baffle, 64, torsion spring, 131, ratchet with D-shaped shaft, 132, torsion spring, 133, pawl, 134, pawl plate, 135, ball. DETAILED DESCRIPTION Example:

[0023] See also Figure 1-Figure 6 The present invention provides a technical solution, including a robot, the robot including a main frame 4, an energy storage Motor 10, one-way self-locking mechanism 13, two-stage reduction device 5, spring joint 6 with inner gear The wheel comprises a rolling wheel 3, a DC motor 7, a spherical groove wheel hub 2, and a spherical housing 1;

[0024] The main frame 4 is used to install the DC motor 7, the rolling wheel 3 with an internal gear, fix the bouncing joint 6, and The joint plays a limiting role, including a circular outer contour, an upper crossbeam and a lower crossbeam; the upper crossbeam and the lower crossbeam are two parallel and oppositely arranged flat plates, the inner surface of the rolling wheel 3 with an internal gear has a circumferential array of spherical joints, the spherical groove hub 2 has two semicircular tracks, and the back end of the track has a spherical groove, which is meshed with the spherical joint on the inner surface of the rolling wheel 3 with an internal gear, and the inner surface of the spherical groove hub 2 is provided with a boss and is fixedly installed with the main frame 4 through three sections of threaded columns 9.

[0025] The secondary reduction device 5 is installed on the bouncing joint 6, and is used to place and install the energy storage motor 10 and the one-way self-locking mechanism 13, including a housing 12, a cover plate 17, a driving gear 15, a double-headed gear shaft 19, a gear reel 16 and a gear rack 20. Positioning holes are set on the top and side of the housing 12 for installing the gear rack 20, and a bearing 11 mounting hole is set on the front to enable relative rotation between the output shaft of the energy storage motor 10 and the housing 12; the cover plate 17 is used to seal the secondary reduction device 5. At the same time, two cylindrical bosses are designed on one side of the cover plate 17, the long boss is used to support the gear reel 16 so that the gear reel 16 can rotate around the cylindrical boss, and the short boss is used to limit the bearing of the double-headed gear shaft 19 from falling off; the gear rack 20 is used to install the one-way self-locking mechanism 13 and the double-headed gear shaft 19. The driving gear 15 is driven to rotate by the ratchet 131 with a D-shaped shaft. A gear structure is set at each end of the double-headed gear shaft 19, wherein the large gear is used to mesh with the driving gear 15, and the small gear at the other end rotates at the same time, and the small gear meshes with the large gear of the gear reel 16, thereby driving the gear reel 16 to rotate. The double-headed gear shaft 19 is hollow, which is convenient for installation on the cylindrical convex of the gear frame 20. The platform is provided with grooves at the centers of the gears at both ends, and bearings can be installed to facilitate the rotation of the gear shaft relative to the gear frame 20;

[0026] The one-way self-locking mechanism 13 is installed in the box shell 12, and includes an active part and a passive part. The moving part includes a ball 135, a torsion spring 132, a pawl 133, and a pawl plate 134, and the driven part includes a ratchet 131 with a D-shaped shaft; the pawl plate 134 is a disc structure, a cylindrical boss is arranged at the center of one end face, a circular boss is arranged at the outer edge of the other end face, and two cylindrical protrusions are arranged at symmetrical positions of the end face; the pawl plate 134 is driven to rotate by the energy storage motor 10, and one side of the cylindrical boss of the pawl plate 134 faces the energy storage motor 10; the pawl 133 is an arc structure, wherein The center of the ratchet 134 is hinged on the cylindrical protrusion of the ratchet plate 134, and one end is a hook head; the two ratchet 133 are connected end to end and located on the same plane, and the other ends of the ratchet 133 are connected to the inner wall of the ratchet plate 134 through the torsion spring 132; the two balls 135 are respectively placed between the outer arc surface of the two ratchet 133 and the inner wall of the annular boss of the ratchet plate 134, and the stroke is between the center of the ratchet and the torsion spring 132; the ratchet wheel 131 with a D-shaped shaft is coaxial with the ratchet plate 134, one end is a D-shaped shaft, and the other end is a ratchet wheel, the ratchet wheel 131 with a D-shaped shaft is meshed with the hook heads of the two ratchet 133, and the D-shaped shaft passes through the sealing gasket 14 in sequence and the through hole of the gear frame 20, and finally fixedly connected with the driving gear 15;

[0027] The bouncing joint 6 is used for storing and releasing elastic potential energy, and comprises three layers: upper, middle and lower. One end surface of the upper layer is convex. The groove-shaped structure is used to place and install the one-way self-locking mechanism 13 and the two-stage reduction device 5. The other end is a flat plate with two symmetrical cylinders. Two symmetrical torsion spring grooves are set on the flat plate for installing torsion springs 64. A baffle 63 is installed at the end of the cylinder. Two symmetrical torsion spring grooves are also set on the side of the baffle 63 that contacts the cylinder. The torsion spring 64 passes through the cylinder and is installed in the grooves of the baffle and the flat plate. Therefore, the upper part of the bouncing mechanism can accommodate four torsion springs. In order to prevent the thickness of the part with the torsion spring groove from being too small, a protrusion is set opposite the groove to increase the thickness of the component. The middle layer is an elastic metal sheet 62, and two U-shaped covers 61 are fixed at both ends. Two slots are set at the circular end of the U-shaped cover 61 for installing torsion spring arms. There are two components composed of the U-shaped cover 61 and the elastic metal sheet 62, which are placed symmetrically. The elastic metal sheet 62 is connected to the upper layer of the bouncing mechanism at one end as a middle layer component, and connected to the lower layer at the other end, thereby forming a bouncing joint.

[0028] In this embodiment, there are two movement modes: bouncing movement and horizontal rolling, which can adapt to complex terrain and simple terrain respectively. The bouncing movement is mainly completed by the energy storage motor 10, which can drive the one-way self-locking mechanism 13, rotate the gear reel 16 after deceleration, and pull the bouncing joint 6 through the rope 18, thereby compressing the elastic metal sheet 62 and the torsion spring 64 to store force. The horizontal rolling is controlled by the start and stop of the DC motor 7 to control the movement of the robot in the front and rear directions. The DC motor differential is used to control the left and right directions;

[0029] The design of two spherical groove wheel hubs 2 with a certain distance and a rolling wheel 3 with an internal gear makes the robot internal It is hollow and has a huge storage space, which can be used to install various sensors, electronic equipment, etc. At the same time, the outward expansion of the spherical shell 1 not only further expands the internal space of the robot, but also provides good protection for the robot.

[0030] Working principle: When performing the bouncing movement, the energy storage motor 10 rotates forward, and the one-way self-locking mechanism 13 pawl 133 is fastened. The ratchet 131 causes the driving gear 15 to rotate, and after secondary deceleration, the gear reel 16 contracts the rope 18, and the bouncing joint 6 is pulled by the rope 18, thereby compressing the elastic metal sheet 62 and the torsion spring 64 to store force; the energy storage motor 10 rotates in the opposite direction, and the pawl 133 releases the ratchet 131, and the driving gear 15 rotates rapidly. At the same time, the rope 18 extends rapidly, and the bouncing joint 6 rebounds and collides with the crossbeam on the main frame 4, and the robot jumps as a whole. When rolling horizontally, the DC motor 7 starts to drive the gear 8 to rotate, so that the spherical shell 1 rolls along the spherical groove hub 2 through the meshing of the rolling wheel 3 with the internal gear and the gear 8, and finally the horizontal rolling operation of the robot is completed.

Claims

1. A rolling and bouncing spherical robot, comprising a robot, characterized in that: The robot also includes a bouncing joint 6 with a foam cicada pleural arch structure, a main frame 4, an energy storage motor 10, a two-stage gear reduction device 5, a DC motor 7, a spherical groove hub 2, a rolling wheel 3 with an internal gear, a one-way self-locking mechanism 13 and a spherical shell 1. The housing 12 of the two-stage gear reduction device 5 is fixedly installed with the energy storage motor 10, and the output shaft of the energy storage motor 10 rotates around a bearing 11, and the bearing 11 is fixedly installed on the housing 12. The output shaft of the energy storage motor 10 is fixedly installed on the one-way self-locking mechanism 13. The two-stage gear reduction device 5 is provided with a driving gear 15, and the driving gear 15 is fixedly sleeved with a D-shaped shaft ratchet 131 through a D-shaped hole. A sealing gasket 14 is fixedly installed on the surface of the one-way self-locking mechanism 13 and fits with the outer end of the gear frame 20. The output shaft of the DC motor 7 is fixedly installed with a gear 8, and the gear 8 is meshed with the rolling wheel 3 with an internal gear.

2. A rolling and bouncing spherical robot according to claim 1, characterized in that: The two-stage gear reduction device 5 includes a driving gear 15, and the driving gear 15 is fixedly connected to a D-shaped shaft ratchet 131 through a D-shaped hole. The driving gear 15 is meshed with a double-headed gear shaft 19, and the double-headed gear shaft 19 is meshed with a gear reel 16. The double-headed gear shaft 19 is installed on the raised cylinder of the gear frame 20 through a bearing. A rope 18 is fixedly provided on the end of the gear reel 16, and the end of the rope 18 is fixedly installed on the bottom end of the lower layer of the bouncing joint 6. The gear reel 16 is installed on the back end of the gear box cover 17 through a bearing.

3. The rolling and bouncing spherical robot according to claim 1, characterized in that: The inner surface of the rolling wheel 3 with an internal gear has a circumferential array of spherical joints, the spherical groove hub 2 has two semicircular tracks, and the back end of the track has a spherical groove, which meshes with the spherical joints on the inner surface of the rolling wheel 3 with an internal gear. The inner surface of the spherical groove hub 2 is provided with a boss and is fixedly installed with the main frame 4 through three sections of threaded columns 9.

4. The rolling and bouncing spherical robot according to claim 1, characterized in that: Both ends of the main frame 4 are fixed with cross beams, and the lower cross beam is provided with a limit baffle for installing the lower end of the bouncing joint 6. The upper cross beam of the main frame 4 is used to limit the vertical movement of the bouncing joint 6. When the bouncing joint 6 collides with the upper cross beam, the robot as a whole is driven to bounce.

5. The rolling and bouncing spherical robot according to claim 1, characterized in that: The upper end of the bouncing joint 6 is located below the housing 12 of the secondary gear reduction device 5, and an upper flange is protruding from the periphery. The inner end of the torsion spring 64 is fixedly installed in the groove of the lower flange, and the hole of the torsion spring 64 is rotatably installed on the raised cylinder on the flange surface. The outer end of the torsion spring 64 is installed on the arc end of the U-shaped cover 61, and the plane end of the U-shaped cover 61 is fixedly connected to both ends of the elastic metal sheet 62.

6. The rolling and bouncing spherical robot according to claim 1, characterized in that: The spherical housing 1 is provided with an external thread, the rolling wheel 3 with an internal gear is provided with an internal thread, and the spherical housing 1 and the rolling wheel 3 with an internal gear are connected via threads.

7. The rolling and bouncing spherical robot according to claim 1, characterized in that: The flange of the bouncing joint 6 is provided with a slot, which is fixedly connected to the baffle 63 via a square insert.

8. The rolling and bouncing spherical robot according to claim 1, characterized in that: The one-way self-locking mechanism 13 is provided with a ball 135, a torsion spring 132, a pawl 133, and a pawl plate 134. The pawl 133 is installed on the cylindrical boss of the pawl plate 134. The pawl 133 is symmetrically arranged on both sides of the ratchet 131 with a D-shaped shaft and meshes with the ratchet 131 with a D-shaped shaft. The hole of the torsion spring 132 is rotatably installed on the raised cylinder on the surface of the pawl plate 134.

9. The rolling and bouncing spherical robot according to claim 1, characterized in that: The driving gear and the double-headed gear shaft and the gear reel have the same module.

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