Spherical robot

Abstract

The invention relates to the technical field of robots, in particular to a spherical robot which comprises a spherical shell. A mounting cavity is formed in the spherical shell, and a first mounting opening and a second mounting opening which are communicated with the mounting cavity are formed in the outer wall of the spherical shell; a connecting rod is arranged in the mounting cavity, and a first connecting plate and a second connecting plate are correspondingly mounted at the two ends of the connecting rod respectively; the first connecting plate and the second connecting plate are correspondingly arranged in the first mounting opening and the second mounting opening respectively; a first motor is installed on the outer wall of the connecting rod, and the output end of the first motor faces upwards and is fixedly provided with a rotating disc. A bearing rod is fixed to the outer wall of the connecting rod, and a gravity block is fixed to the bottom of the bearing rod. And a first driving assembly and a second driving assembly are arranged on the outer wall of the connecting rod correspondingly. The device can be suitable for different terrains and is high in maneuverability, small in overall size and high in concealment.

Description

Technical Field

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

[0002] An unmanned reconnaissance robot is a robot system that can perform reconnaissance tasks under unmanned or limited control. According to their application environment and form, unmanned reconnaissance robots can be divided into many types, such as space reconnaissance robots, flying reconnaissance robots (unmanned reconnaissance aircraft), ground reconnaissance robots, underwater reconnaissance robots and bionic reconnaissance robots.

[0003] At present, ground reconnaissance robots mainly move through mobile mechanisms such as wheels, tracks and Mecanum wheels. Through certain structural designs, mobile robots can be made flexible and maneuverable. However, this structure still has certain space requirements for the site when turning and cannot meet existing needs.

[0004] To this end, a spherical robot is proposed. Summary of the invention

[0005] The present invention aims to provide a spherical robot.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A spherical robot, comprising:

[0008] Spherical shell;

[0009] The spherical shell is provided with a mounting cavity inside, and the outer wall of the spherical shell is provided with a first mounting opening and a second mounting opening which are connected with the mounting cavity;

[0010] A connecting rod is arranged inside the installation cavity, and a first connecting plate and a second connecting plate are respectively installed at both ends of the connecting rod;

[0011] The first connecting plate and the second connecting plate are respectively disposed inside the first mounting opening and the second mounting opening;

[0012] A first motor is installed on the outer wall of the connecting rod, and an output end of the first motor faces upward and is fixed with a rotating disk;

[0013] A receiving rod is fixed to the outer wall of the connecting rod, and a gravity block is fixed to the bottom of the receiving rod;

[0014] The outer wall of the connecting rod is respectively provided with a first driving assembly and a second driving assembly;

[0015] The first connecting plate and the second connecting plate are both integrated with a visual sensing system.

[0016] Preferably, the first connecting plate is movably installed inside the first installation opening.

[0017] Preferably, the second connecting plate is movably installed inside the second installation opening.

[0018] Preferably, the first driving assembly includes a first support rod fixed to the outer wall of the connecting rod, and a first driving wheel is installed at the bottom of the first support rod.

[0019] Preferably, the first driving wheel is driven by a second motor installed inside the first driving wheel.

[0020] Preferably, the second driving assembly comprises a second support rod fixed on the outer wall of the connecting rod, and a second driving wheel is installed at the bottom of the second support rod.

[0021] Preferably, the second driving wheel is driven by a third motor installed inside the second driving wheel.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The present invention starts the second motor and the third motor, and driven by the second motor and the third motor, the first drive wheel and the second drive wheel will roll accordingly, and when the first drive wheel and the second drive wheel roll, the spherical shell will be driven to roll, so as to achieve the purpose of overall movement, and by controlling the rotation direction of the second motor and the third motor, the overall forward or backward movement can be controlled, and by starting the first motor, the first motor drives the rotating disk to rotate, and when the rotating disk rotates, the spherical shell will be driven to rotate accordingly, so as to achieve the purpose of adjusting the overall angle, and by controlling the rotation direction of the first motor, the overall left or right turn can be controlled, and combined with the visual sensor system, the purpose of unmanned reconnaissance can be achieved. Compared with the existing ones, the present invention can be applied to different terrains, has strong maneuverability, and has a small overall size and strong concealment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 It is a partial structural schematic diagram of the present invention;

[0026] Figure 3 It is a schematic diagram of the spherical shell structure in the present invention;

[0027] Figure 4 It is a schematic diagram of the structure of the first connecting plate and the second connecting plate in the present invention.

[0028] In the figure: 1, spherical shell; 2, installation cavity; 3, second installation port; 4, second connecting plate; 5, first connecting plate; 6, connecting rod; 7, rotating disk; 8, receiving rod; 9, gravity block; 10, first support rod; 11, first driving wheel; 12, second support rod; 13, second driving wheel. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0031] See also Figure 1-4 , the present invention provides a technical solution: To achieve the above-mentioned purpose, the present invention provides the following technical solution: a spherical robot, comprising: a spherical shell 1; a mounting cavity 2 is arranged inside the spherical shell 1, and a first mounting port and a second mounting port 3 connected to the mounting cavity 2 are opened on the outer wall of the spherical shell 1; a connecting rod 6 is arranged inside the mounting cavity 2, and a first connecting plate 5 and a second connecting plate 4 are respectively installed at both ends of the connecting rod 6; the first connecting plate 5 and the second connecting plate 4 are respectively arranged inside the first mounting port and the second mounting port 3; a first motor is installed on the outer wall of the connecting rod 6, and the output end of the first motor faces upward and is fixed with a rotating disk 7; a receiving rod 8 is fixed on the outer wall of the connecting rod 6, and a weight is fixed at the bottom of the receiving rod 8 force block 9; the outer wall of the connecting rod 6 is respectively provided with a first drive component and a second drive component; the first connecting plate 5 and the second connecting plate 4 are both integrated with a visual sensing system, the first connecting plate 5 is movably installed inside the first installation port, and the second connecting plate 4 is movably installed inside the second installation port 3, the first drive component includes a first support rod 10 fixed to the outer wall of the connecting rod 6, a first driving wheel 11 is installed at the bottom of the first support rod 10, and the first driving wheel 11 is driven by a second motor installed inside it, the second drive component includes a second support rod 12 fixed to the outer wall of the connecting rod 6, a second driving wheel 13 is installed at the bottom of the second support rod 12, and the second driving wheel 13 is driven by a third motor installed inside it.

[0032] Specifically, the present invention starts the second motor and the third motor, and driven by the second motor and the third motor, the first driving wheel 11 and the second driving wheel 13 will roll accordingly, and when the first driving wheel 11 and the second driving wheel 13 roll, the spherical shell 1 will be driven to roll, so as to achieve the purpose of overall movement, and by controlling the rotation direction of the second motor and the third motor, the overall forward or backward movement can be controlled, and by starting the first motor, the first motor drives the rotating disk 7 to rotate, and when the rotating disk 7 rotates, the spherical shell 1 will be driven to rotate accordingly, so as to achieve the purpose of adjusting the overall angle, and by controlling the rotation direction of the first motor, the overall left or right turn can be controlled, and combined with the visual sensing system, the purpose of unmanned reconnaissance can be achieved. Compared with the existing ones, the present invention can be applied to different terrains, has strong mobility, and has a small overall size and strong concealment.

[0033] It should be noted that the first motor, the second motor, the third motor and the visual sensing system are all connected to an external controller.

[0034] Working principle:

[0035] By starting the second motor and the third motor, the first drive wheel 11 and the second drive wheel 13 will roll accordingly under the drive of the second motor and the third motor. When the first drive wheel 11 and the second drive wheel 13 roll, the spherical shell 1 will be driven to roll, thereby achieving the purpose of overall movement. By controlling the rotation direction of the second motor and the third motor, the overall forward or backward movement can be controlled. By starting the first motor, the first motor drives the rotating disk 7 to rotate. When the rotating disk 7 rotates, the spherical shell 1 will be driven to rotate accordingly, thereby achieving the purpose of adjusting the overall angle. By controlling the rotation direction of the first motor, the overall left or right turn can be controlled. In combination with the visual sensor system, the purpose of unmanned detection can be achieved.

[0036] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A spherical robot, characterized in that: include: Spherical housing (1); The spherical housing (1) is provided with a mounting cavity (2) inside, and the outer wall of the spherical housing (1) is provided with a first mounting opening and a second mounting opening (3) which are connected to the mounting cavity (2); A connecting rod (6) is arranged inside the installation cavity (2), and a first connecting plate (5) and a second connecting plate (4) are respectively installed at two ends of the connecting rod (6); The first connecting plate (5) and the second connecting plate (4) are respectively and correspondingly arranged inside the first mounting opening and the second mounting opening (3); A first motor is mounted on the outer wall of the connecting rod (6), and an output end of the first motor faces upward and is fixed with a rotating disk (7); A receiving rod (8) is fixed to the outer wall of the connecting rod (6), and a gravity block (9) is fixed to the bottom of the receiving rod (8); The outer wall of the connecting rod (6) is respectively provided with a first driving component and a second driving component; The first connecting plate (5) and the second connecting plate (4) are both integrated with a visual sensing system.

2. A spherical robot according to claim 1, characterized in that: The first connecting plate (5) is movably mounted inside the first mounting opening.

3. A spherical robot according to claim 1, characterized in that: The second connecting plate (4) is movably mounted inside the second mounting opening (3).

4. A spherical robot according to claim 1, characterized in that: The first driving assembly comprises a first support rod (10) fixed to the outer wall of the connecting rod (6), and a first driving wheel (11) is installed at the bottom of the first support rod (10).

5. A spherical robot according to claim 4, characterized in that: The first driving wheel (11) is driven by a second motor installed inside the first driving wheel (11).

6. A spherical robot according to claim 1, characterized in that: The second driving assembly comprises a second support rod (12) fixed on the outer wall of the connecting rod (6), and a second driving wheel (13) is installed at the bottom of the second support rod (12).

7. A spherical robot according to claim 6, characterized in that: The second driving wheel (13) is driven by a third motor installed inside the second driving wheel (13).

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