Deformable spherical robot and moving method thereof

Abstract

The invention belongs to the technical field of robots, and particularly relates to a deformable spherical robot and a moving method thereof. Comprising a main machine frame and variable wheel set devices arranged on the two sides of the main machine frame, each variable wheel set device has a two-wheel closed form and a four-wheel unfolded form, each variable wheel set device structurally comprises an inner wheel and an outer wheel which are eccentrically designed with the main machine frame, and the inner wheels and the outer wheels are fixed to the main machine frame through corresponding suspension devices; in the closed state, the circle centers of the inner wheel, the outer wheel and the main rack are located on the same axis. In the unfolded state, the inner wheel, the outer wheel and the circle center of the main rack form a triangular structure. The deformable spherical robot aims to keep stable and efficient movement on various terrains such as flat road surfaces, pits and protrusions through the flexible form conversion and wheel swinging strategy of the deformable spherical robot, and the adaptive capacity under different terrain conditions is remarkably enhanced.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a deformable spherical robot and a moving method thereof. Background Art

[0002] The structures of throwable spherical mobile reconnaissance robots in the prior art are generally similar, such as HikThrowBot spherical reconnaissance robot of Hikvision, PTQX01 throwable spherical reconnaissance robot of Intelligent Mobile Robot (Zhongshan) Research Institute, and self-propelled spherical robot developed by Beijing Keleming. They all use left and right double half wheels to form a movement mode similar to that of a two-wheeled robot and a telescopic opening and closing mode to both sides. Such solutions have many disadvantages:

[0003] 1) Due to the limitation of the internal telescopic mechanism, the effective working area that can be vacated by the left and right half wheels is small, the detection and sensing devices that can be installed are insufficient, and the reconnaissance capability is poor. At present, only one camera and one sound pickup device that can rotate along the cross-section can be arranged in the middle of the robot, and the field of view is very limited. Also, due to the limited position of the installed sensors, it is difficult to realize the autonomous positioning and navigation functions, which affects the mass application of spherical robots;

[0004] 2) The existing spherical robot moves in a similar way to a two-wheeled balancing car. Although the above-mentioned development unit has added a tail to the spherical robot, its obstacle-crossing ability is still low, and the sliding friction energy utilization rate between the tail and the ground is low, the noise is loud, and it is not suitable for outdoor work, which also has an adverse effect on concealment;

[0005] 3) The telescopic opening and closing mechanism must be designed to be strong enough to resist falling, which results in the internal components being too crowded and having basically no load capacity, making it difficult to develop integrated reconnaissance and strike capabilities. In addition, the communication distance is short due to the small size of the antenna that can be arranged.

[0006] The above information disclosed in the above background technology section is only used to enhance the understanding of the background technology of the technology described in this article. Therefore, the background technology may contain certain information that does not form the known prior art for those skilled in the art. Summary of the invention

[0007] In order to solve the defects of the prior art mentioned above, the present invention provides a deformable spherical robot and a moving method thereof.

[0008] The technical solution adopted by the present invention is as follows:

[0009] A deformable spherical robot comprises a main frame and a variable wheel set device arranged on both sides of the main frame, wherein the variable wheel set device has a closed state of two wheels and an expanded state of four wheels, and the variable wheel set device structure comprises an inner wheel and an outer wheel respectively eccentrically designed with respect to the main frame, and the inner wheel and the outer wheel are respectively fixed to the main frame through corresponding suspension devices;

[0010] In the closed state, the centers of the inner wheel, outer wheel and main frame are on the same axis;

[0011] In the unfolded state, the inner wheel, outer wheel and the center of the main frame form a triangle structure.

[0012] In the preferred technical solution, the inner wheel includes an inner wheel swing frame, an inner wheel rim, and a first bearing connecting the inner wheel rim and the inner wheel swing frame; a connecting sleeve is fixedly provided at the eccentric part of the main frame, and the other end of the connecting sleeve is rotatably connected to the inner wheel swing frame provided with a second bearing, and an inner swing motor is fixedly provided on the connecting sleeve, and the rotor end of the inner swing motor is fixedly connected to the end face of the inner wheel swing frame, and the connection point between the connecting sleeve and the inner wheel swing frame is from the center of the inner wheel swing frame to any point on the circle. Through the above, the rotor end of the inner swing motor drives the inner wheel swing frame to rotate around the axis of the connecting sleeve, so that it swings eccentrically relative to the main frame, thereby realizing the outward expansion of the inner wheel.

[0013] Furthermore, the inner wheel swing frame is also fixedly provided with an inner wheel drive motor on any connecting line from the center to the circumference of the circle, the rotor end of the inner wheel drive motor is connected with a gear, and the inner circumferential surface of the inner wheel rim is provided with an internal tooth surface meshing with the gear. Through the above, the rotor end of the inner wheel drive motor drives the inner wheel rim to rotate around the axis of the inner wheel swing frame through the gear rack mechanism, thereby realizing the power output of the inner wheel.

[0014] In the preferred technical solution, the outer wheel comprises: an outer wheel rim, an outer wheel frame and an outer wheel swing frame, the outer wheel rim is fixedly mounted on the circumferential surface of the outer wheel frame, an outer wheel drive motor is fixedly mounted on one end of the outer wheel swing frame, and the rotor end of the outer wheel drive motor is fixedly connected to the center of the outer wheel swing frame; an outer swing motor is connected to the other end of the outer wheel swing frame away from the outer wheel drive motor, and the stator end of the outer swing motor is fixedly connected to the connecting sleeve or the main frame after passing through the first bearing and the inner swing motor.

[0015] Furthermore, a shaft sleeve and a third bearing are fixedly provided at the rotor end of the outer swing motor, one end of the shaft sleeve is sleeved and fixed on the output end of the outer swing motor, the other end of the shaft sleeve is sleeved and fixed on the outer wheel swing frame, the inner ring of the third bearing is sleeved on one end of the shaft sleeve close to the outer swing motor, and the outer ring of the third bearing is fixedly connected to the inner ring of the end side of the connecting sleeve.

[0016] Furthermore, the outer circumferential surfaces of the inner rim and the outer rim are both provided with anti-slip grooves.

[0017] In a preferred technical solution, a control system is installed inside the main frame, and the control system has built-in sensors, controllers and actuators.

[0018] In the preferred technical solution, a camera module is installed on the main frame, and a battery is installed in the main frame.

[0019] A moving method of the deformable spherical robot comprises the following steps:

[0020] Step 1: A pair of outer swing motors drive their respective outer wheel swing frames to swing around the rotor end of the outer swing motor in a clockwise / counterclockwise direction, thereby driving the corresponding outer wheel and the outer wheel drive motor to swing in that direction; at the same time, a pair of inner swing motors drive their respective inner wheel swing frames to swing around the connecting sleeve in the opposite direction of the outer wheel swing frame, thereby driving the corresponding inner wheel to swing in the same direction. When the center distance between the outer wheel and the inner wheel is the farthest, the outer wheel swing frame and the inner wheel swing frame stop rotating, and at this time the robot changes from a two-wheel closed form to a four-wheel unfolded form;

[0021] Step 2: When moving on a non-obstructed road, the outer wheel drive motors on both sides of the robot drive the outer wheels to rotate, and the inner wheel drive motors on both sides of the robot drive the inner wheels to rotate in the same direction, thereby driving the robot to move forward or backward in a straight line (four-wheel drive or two-wheel drive mode can be selected); when encountering a scene that requires changing direction, the outer wheel drive motors and inner wheel drive motors on both sides of the robot drive the corresponding wheels to rotate in opposite directions, thereby driving the wheels on both sides to turn the robot using the differential principle;

[0022] Step 3: When moving on a pit-shaped terrain, if the outer wheel is at the front end of the moving direction, the outer wheel swing frame swings downward around the rotor end of the outer swing motor, thereby driving the outer wheel that passes through the pit first to swing downward to fill the drop caused by the pit to a certain extent. When the outer wheel leaves the pit, the outer wheel swing frame swings upward, thereby lifting the outer wheel upward to leave the pit. The inner wheel that subsequently enters the pit completes the pit obstacle crossing in the same way as above (in four-wheel drive mode, the obstacle crossing efficiency is high);

[0023] Step 4: When moving on raised terrain, if the outer wheel is at the front end of the moving direction, the outer wheel swing frame and the inner wheel swing frame of the robot will swing in the opposite direction to that in step 3, thereby driving the outer wheel and the inner wheel to swing in turn to adapt to the shape of the ground, ensuring that the main frame is in a stable moving state as much as possible.

[0024] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0025] 1. Since the opening and closing method on both sides is abandoned, there is no need to reduce the size in order to hide all the detection devices and related structures in the spherical shell. Therefore, the effective working area of ​​the detection sensor can be directly arranged, and even multiple detectors can be arranged side by side, which solves the problem that the existing spherical robot can be equipped with a small number of detection devices, thereby affecting the detection and reconnaissance capabilities of the whole machine. In addition, by arranging more sensors, the problem that the existing robot is difficult to achieve autonomous environmental positioning and navigation due to the small number of detection devices is solved.

[0026] 2. It has two forms: two wheels and four wheels. In the four-wheel form, the outer and inner wheels of the robot can be driven and rotated independently. It has four-wheel drive, time-sharing control and differential functions, and can realize multiple travel modes such as straight lines and turns. The swing angles of the four wheels can be controlled independently. With the four-wheel drive control, it can effectively adapt to various complex obstacle road shapes such as pits and bumps. At the same time, it avoids the dependence of the two-wheeled robot on the tail structure, improves the obstacle crossing height and energy utilization rate; at the same time, because there is no tail, there is no noise generated by the continuous friction between the tail and the ground when moving, which solves the noise problem of the spherical robot's covert reconnaissance and indoor patrol at night.

[0027] 3. Because the opening and closing mechanisms on the left and right sides are omitted, the internal effective space is large and has load capacity, and a large antenna size can be arranged, which solves the problem of poor communication distance and basically no load of traditional spherical robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will now be described by way of example with reference to the accompanying drawings, in which:

[0029] Figure 1 A schematic diagram of the morphological changes of a spherical robot in one embodiment of the present invention;

[0030] Figure 2 is a schematic diagram of the shape change of a spherical robot in another embodiment of the present invention;

[0031] Figure 3 A three-dimensional exploded diagram of a spherical robot in one embodiment of the present invention;

[0032] Figure 4 A schematic diagram of a spherical robot moving on a pit-shaped terrain in an embodiment of the present invention;

[0033] Figure 5 Schematic diagram of a spherical robot moving on a convex terrain in one embodiment of the present invention. DETAILED DESCRIPTION

[0034] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0035] Example 1

[0036] This embodiment provides a deformable spherical robot and a moving method thereof. Figure 1 , 2 ,include:

[0037] Main frame 1: The main frame 1 is the core supporting structure of the entire robot and is made of solid materials to ensure the stability and durability of the robot.

[0038] The variable wheel set device 2 is arranged on both sides of the main frame 1. The variable wheel set device 2 structure includes an inner wheel 3 and an outer wheel 4 which are eccentrically designed with respect to the main frame 1. The inner wheel 3 and the outer wheel 4 are made of wear-resistant materials to adapt to the friction and wear of different terrains. The size and shape of the inner wheel 3 and the outer wheel 4 can be adjusted according to the specific application scenario to achieve the best movement effect.

[0039] Suspension device: The suspension device, i.e., the outer wheel swing frame 403 and the inner wheel swing frame 301, is used to connect the inner wheel 3 and the outer wheel 4 to the main frame 1 and allow them to rotate freely within a certain range. The design of the suspension device should ensure that the inner wheel 3 and the outer wheel 4 can smoothly transition during the shape conversion process while maintaining sufficient stability and load-bearing capacity.

[0040] The variable wheel assembly 2 has a two-wheel closed state and a four-wheel expanded state:

[0041] In the closed state, the inner wheel 3, the outer wheel 4 and the center of the main frame 1 are located on the same axis. At this time, the inner wheel 3 and the outer wheel 4 fit tightly together to form a compact spherical structure. In this state, the robot can move quickly on flat or narrow ground, with a small size and high flexibility;

[0042] In the unfolded state, the inner wheel 3, the outer wheel 4 and the center of the main frame 1 form a triangular structure. At this time, the inner wheel 3 and the outer wheel 4 expand outwards to form four support points, which increases the stability and load-bearing capacity of the robot. In this state, the robot can adapt to complex terrain or scenes that require climbing, and has stronger adaptability and mobility efficiency.

[0043] Example 2

[0044] Based on the above-mentioned embodiment 1, this embodiment further refines and optimizes the specific structure and working principle of the inner wheel 3, aiming to show how the inner wheel 3 can achieve flexible conversion from closed to unfolded through a more detailed description. Figure 3 , the diagram shows in detail the structural layout of the inner wheel 3 assembly and its linkage mechanism with the main frame 1.

[0045] Detailed structure of inner wheel 3:

[0046] Inner wheel swing frame 301: As the main supporting structure of the inner wheel 3, the inner wheel swing frame 301 is designed to be strong and light, so as to quickly respond to control instructions and achieve precise swinging movements. It cleverly integrates other components of the inner wheel 3 into one, ensuring the compactness and stability of the overall structure.

[0047] Inner rim 302: Inner rim 302 is the key component for inner wheel 3 to contact the ground. It is made of wear-resistant and elastic material to provide good grip and shock absorption. The diameter and width of inner rim 302 are selected according to the needs of actual application scenarios to ensure stable movement on various terrains.

[0048] The first bearing 303: The first bearing 303 connecting the inner wheel rim 302 and the inner wheel swing frame 301 not only bears the radial and axial loads generated when the inner wheel 3 rotates, but also ensures the flexible rotation between the two, providing a basis for the smooth operation of the inner wheel 3.

[0049] The linkage mechanism between the inner wheel 3 and the main frame 1:

[0050] Connecting sleeve 7: A connecting sleeve 7 is eccentrically arranged on the main frame 1, and the connecting sleeve 7 serves as a bridge between the inner wheel swing frame 301 and the main frame 1, playing a key connecting and supporting role.

[0051] Second bearing 304: At the other end of the connecting sleeve 7, the second bearing 304 is used to realize the rotation connection with the inner wheel swing frame 301. The selection of the second bearing 304 ensures that the inner wheel swing frame 301 can rotate smoothly and stably around the axis of the connecting sleeve 7.

[0052] Inner swing motor 305: The stator end of the inner swing motor 305 is firmly fixed on the outer circumference of the connecting sleeve 7, while the rotor end is closely connected to the end face of the inner wheel swing frame 301. It is understandable that the stator end of the inner swing motor 305 can also be directly fixedly connected to the side of the main frame, so that the inner swing motor 305 can directly drive the inner wheel swing frame 301 to swing eccentrically, thereby driving the entire inner wheel 3 to expand outward or close inward. It is worth noting that the connection point between the connecting sleeve 7 and the inner wheel swing frame 301 is located exactly from the center of the circle of the inner wheel swing frame 301 to any point on its circle. This geometric layout further enhances the flexibility and accuracy of the swing of the inner wheel 3.

[0053] Working principle: When the inner swing motor 305 receives the control signal, its rotor end starts to rotate, and transmits power to the inner wheel swing frame 301 through the second bearing 304, driving it to swing eccentrically around the axis of the connecting sleeve 7. As the inner wheel swing frame 301 swings, the inner wheel 3 gradually expands outward from the closed state until it reaches a predetermined expansion angle. Conversely, when the motor reverses, the inner wheel 3 gradually returns to the closed state. In this process, the first bearing 303 ensures the smooth rotation of the inner wheel rim 302, while the second bearing 304 ensures the smooth swing of the inner wheel swing frame 301, together realizing the flexible conversion of the inner wheel 3 from closed to expanded.

[0054] In this embodiment, the inner wheel swing frame 301 is also fixedly provided with an inner wheel drive motor 306 on any connecting line from the center to the circumference, the stator end of the inner wheel drive motor 306 is fixedly connected to the inner wheel swing frame 301, the rotor end of the inner wheel drive motor 306 is connected to the gear 307, and the inner circumferential surface of the inner wheel rim 302 is provided with an inner tooth surface 308 meshing with the gear 307.

[0055] Working principle: When the inner wheel drive motor 306 receives the command from the control system, its rotor end starts to rotate, thereby driving the gear 307 connected to it to rotate together. Since the gear 307 is tightly meshed with the inner tooth surface 308 of the inner wheel rim 302, the rotation of the gear 307 will be directly converted into the rotation of the inner wheel rim 302. This process does not require an additional transmission device, and realizes the direct transmission of power from the motor to the inner wheel rim 302, greatly improving the energy conversion efficiency.

[0056] Example 3

[0057] Based on the above-mentioned embodiments 1 and 2, this embodiment elaborates on the specific structure of the outer wheel 4 and its power transmission mechanism. By introducing the outer wheel drive motor 404 and the outer swing motor 405, this embodiment not only realizes the efficient power output of the outer wheel 4, but also gives the outer wheel 4 the ability to flexibly deploy on complex terrain. Figure 3 , the outer wheel 4 comprises:

[0058] An outer wheel rim 401, an outer wheel frame 402 and an outer wheel swing frame 403, wherein the outer wheel rim 401 is fixedly arranged on the circumferential surface of the outer wheel frame 402, an outer wheel drive motor 404 is fixedly arranged at one end of the outer wheel swing frame 403, a rotor end of the outer wheel drive motor 404 is fixedly connected to the center of the circle of the outer wheel swing frame 403, the rotor end of the outer wheel drive motor 404 directly drives the outer wheel frame 402 to rotate around its own center of the circle, so as to realize the power output of the outer wheel 4; an outer wheel swing frame 403 is connected to an outer swing motor 405 at the other end away from the outer wheel drive motor 404, a rotor end of the outer swing motor 405 is directly fixedly connected to the outer wheel swing frame 403, and a stator end of the outer swing motor 405 is fixedly connected to the connecting sleeve 7 or the main frame 1 after passing through the first bearing 303 and the inner swing motor 305.

[0059] Working principle: When the outer wheel drive motor 404 receives the control command, its rotor end starts to rotate, directly driving the outer wheel frame 402 to rotate around its own center of circle, thereby realizing the power output of the outer wheel 4. At the same time, the outer swing motor 405 also starts to work, and its rotor end drives the outer wheel swing frame 403 to swing eccentrically. As the outer wheel swing frame 403 swings, the outer wheel 4 gradually unfolds outward from the closed state until it reaches a predetermined unfolding angle. In this process, the outer wheel drive motor 404 and the outer swing motor 405 work together to ensure that the outer wheel 4 can both efficiently output power and flexibly unfold on complex terrain.

[0060] In this embodiment, if the output shaft of the motor or the reducer is directly connected to the outer wheel swing frame 403, the output shaft of the motor or the reducer will be subjected to excessive load, which may easily cause a transmission system failure. In this embodiment, a shaft sleeve 406 and a third bearing 407 are particularly provided between the outer swing motor 405 and the outer wheel swing frame 403. One end of the shaft sleeve 406 is sleeved and fixed on the output end of the outer swing motor 405, and the other end of the shaft sleeve 406 is sleeved and fixed on the outer wheel swing frame 403. The inner ring of the third bearing 407 is sleeved on the end of the shaft sleeve 406 close to the outer swing motor 405, and the outer ring of the third bearing 407 is fixedly connected to the inner ring of the end side of the connecting sleeve 7. Through the above, the shaft sleeve 406 and the third bearing 407 play a supporting and fixing role, which can prevent the output shaft of the motor or the reducer from being directly subjected to a large load, enhance the connection strength and stability between the rotor end of the outer swing motor 405 and the outer wheel swing frame 403, and ensure the stability and reliability of the transmission process.

[0061] In this embodiment, in order to enhance the friction between the inner rim 302 and the outer rim 401 and the ground, anti-skid patterns 5 are particularly provided on the outer circumferential surfaces of the inner rim 302 and the outer rim 401. These anti-skid patterns 5 are precisely designed and processed, which not only increase the contact area, but also effectively improve the grip of the tire on wet, muddy or uneven terrain through its unique texture structure. The types of anti-skid patterns 5 include but are not limited to some common types of anti-skid patterns 5 including transverse stripes, longitudinal stripes, staggered stripes and block-shaped protrusions. These anti-skid patterns 5 are distributed on the outer circumferential surface of the tire at specific angles, depths and spacings to ensure that the best anti-skid effect can be provided under various working conditions.

[0062] Example 4

[0063] Based on the above embodiments 1, 2, and 3, this embodiment further introduces advanced control systems and sensing devices, aiming to comprehensively improve the intelligence level, motion control accuracy, and endurance of the deformable spherical robot. The following is a detailed analysis of the new technical solutions of this embodiment:

[0064] A control system is installed inside the main frame 1, and the control system includes components such as sensors, controllers and actuators. Together, they constitute the "brain" and "muscle" of the robot, realizing real-time monitoring and precise control of the robot's motion state. Among them, the sensor is used to monitor the robot's posture, speed, position and other information in real time, and transmit this information to the controller. The controller calculates the robot's motion trajectory and posture adjustment plan based on the feedback signal of the sensor. The actuator, as the "muscle" of the control system, is responsible for converting the controller's decision into the robot's actual action. According to the instructions of the controller, they accurately drive the various moving parts of the robot, such as the inner wheel 3, the outer wheel 4, the swing mechanism, etc., to realize the robot's movement, steering, shape transformation and other complex actions.

[0065] In this embodiment, in order to improve the robot's environmental perception ability, a high-performance camera module 6 is installed on the main frame 1. The module has the characteristics of high-definition imaging, wide-angle field of view, and night vision, and can capture and identify obstacles, road signs, target objects and other information in the surrounding environment in real time, providing strong support for the robot's autonomous navigation and obstacle avoidance.

[0066] In this embodiment, in order to ensure the endurance of the robot in long-term tasks, a high-performance battery 8 is installed inside the main frame 1. The system adopts advanced battery materials and management technology, which not only has large capacity and long life, but also has functions such as fast charging and intelligent power management, ensuring that the robot can maintain a stable power supply in various application scenarios.

[0067] Example 5

[0068] Based on the structural design of a deformable spherical robot, the present invention further describes an efficient and flexible movement method, which makes full use of the robot's deformation ability and driving mechanism to ensure its stable movement and efficient obstacle crossing under different terrain conditions. The steps are as follows:

[0069] Step 1: Form transformation and preparation

[0070] Operation description: Start a pair of outer swing motors 405, so that they drive their respective outer wheel swing frames 403 to swing clockwise or counterclockwise around the rotor end of the outer swing motor 405. This action synchronously drives the corresponding outer wheel 4 and the outer wheel drive motor 404 to swing in the same direction. At the same time, a pair of inner swing motors 305 are also started, driving their respective inner wheel swing frames 301 to swing around the connecting sleeve 7 in the opposite direction of the outer wheel swing frame 403, driving the inner wheel 3 to swing in the same direction. When the center distance between the outer wheel 4 and the inner wheel 3 reaches the farthest, stop rotating the outer wheel swing frame 403 and the inner wheel swing frame 301. At this time, the robot changes from a compact two-wheel closed form to a spacious four-wheel unfolded form, preparing for subsequent movement.

[0071] Step 2: Moving on an unobstructed surface

[0072] Linear motion: On a flat or slightly undulating road surface, the outer wheel drive motors 404 and inner wheel drive motors 306 on both sides of the robot synchronously drive their respective wheels to rotate, achieving forward or backward linear motion. Depending on the task requirements, the four-wheel drive mode can be selected to enhance traction, or the two-wheel drive mode can be selected to save energy.

[0073] Steering operation: When the direction of travel needs to be changed, the outer wheel drive motors 404 and the inner wheel drive motors 306 on both sides of the robot respectively drive the corresponding wheels to rotate in opposite directions, using the differential principle to make the robot turn smoothly.

[0074] Step 3: Overcoming obstacles in concave terrain

[0075] Obstacle crossing strategy: When the robot encounters a pit-like terrain, if the outer wheel 4 is at the front end of the moving direction, the outer wheel swing frame 403 will swing downward around the rotor end of the outer swing motor 405, driving the outer wheel 4 to swing downward to fill the gap caused by the pit. When the outer wheel 4 leaves the pit, the outer wheel swing frame 403 swings upward again to lift the outer wheel 4 out of the pit. Subsequently, the inner wheel 3 completes the obstacle crossing action according to the same principle. In the four-wheel drive mode, since the four wheels are involved in obstacle crossing at the same time, the robot's obstacle crossing efficiency is higher.

[0076] Step 4: Overcoming obstacles on raised terrain

[0077] Obstacle crossing strategy: When facing a convex terrain, if the outer wheel 4 is at the front of the moving direction, the outer wheel swing frame 403 and the inner wheel swing frame 301 of the robot swing in the opposite direction to that when crossing a pit obstacle. This action enables the outer wheel 4 and the inner wheel 3 to swing in sequence to adapt to the convex shape of the ground, keeping the main frame 1 in a stable moving state as much as possible, and ensuring the stable driving of the robot on complex terrain.

[0078] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A deformable spherical robot, characterized in that: The invention comprises a main frame (1) and a variable wheel assembly device (2) arranged on both sides of the main frame (1), wherein the variable wheel assembly device (2) has a two-wheel closed state and a four-wheel unfolded state, and the variable wheel assembly device (2) structure comprises an inner wheel (3) and an outer wheel (4) which are respectively eccentrically designed with respect to the main frame (1), and the inner wheel (3) and the outer wheel (4) are respectively fixed to the main frame (1) through corresponding suspension devices; In the closed state, the centers of the inner wheel (3), the outer wheel (4) and the main frame (1) are on the same axis; In the unfolded state, the inner wheel (3), the outer wheel (4) and the center of the main frame (1) form a triangular structure.

2. A deformable spherical robot according to claim 1, characterized in that: The inner wheel (3) comprises an inner wheel swing frame (301), an inner wheel rim (302), and a first bearing (303) connecting the inner wheel rim (302) and the inner wheel swing frame (301); a connecting sleeve (7) is fixedly provided at an eccentric position of the main frame (1); the other end of the connecting sleeve (7) is rotatably connected to the inner wheel swing frame (301) provided with a second bearing (304); an inner swing motor (305) is fixedly provided on the connecting sleeve (7); the rotor end of the inner swing motor (305) is fixedly connected to the end face of the inner wheel swing frame (301); and the connection point between the connecting sleeve (7) and the inner wheel swing frame (301) is from the center of the inner wheel swing frame (301) to any point on the circle.

3. A deformable spherical robot according to claim 2, characterized in that: The inner wheel swing frame (301) is also fixedly provided with an inner wheel drive motor (306) on any connecting line from the center of the circle to the circumference, the rotor end of the inner wheel drive motor (306) is connected to a gear (307), and the inner circumferential surface of the inner wheel rim (302) is provided with an inner tooth surface (308) meshingly connected with the gear (307).

4. A deformable spherical robot according to claim 3, characterized in that: The outer wheel (4) comprises: an outer wheel rim (401), an outer wheel frame (402) and an outer wheel swing frame (403); the outer wheel rim (401) is fixedly arranged on the circumferential surface of the outer wheel frame (402); an outer wheel drive motor (404) is fixedly arranged at one end of the outer wheel swing frame (403); a rotor end of the outer wheel drive motor (404) is fixedly connected to the center of the outer wheel swing frame (403); an outer swing motor (405) is connected to the other end of the outer wheel swing frame (403) away from the outer wheel drive motor (404); a stator end of the outer swing motor (405) passes through a first bearing (303) and an inner swing motor (305) and is fixedly connected to a connecting sleeve (7) or a main frame (1).

5. A deformable spherical robot according to claim 4, characterized in that: A shaft sleeve (406) and a third bearing (407) are fixedly provided at the rotor end of the outer swing motor (405); one end of the shaft sleeve (406) is sleeved and fixed on the output end of the outer swing motor (405); the other end of the shaft sleeve (406) is sleeved and fixed on the outer wheel swing frame (403); the inner ring of the third bearing (407) is sleeved on one end of the shaft sleeve (406) close to the outer swing motor (405); and the outer ring of the third bearing (407) is fixedly connected to the inner ring of the end side of the connecting sleeve (7).

6. A deformable spherical robot according to claim 4, characterized in that: The outer circumferential surfaces of the inner rim (302) and the outer rim (401) are both provided with anti-slip grooves (5).

7. The deformable spherical robot according to claim 1, characterized in that: A control system is installed inside the main frame (1), and the control system has built-in sensors, a controller and an actuator.

8. The deformable spherical robot according to claim 1, characterized in that: A camera module (6) is installed on the main frame (1), and a battery (8) is installed inside the main frame (1).

9. A method for moving a deformable spherical robot according to any one of claims 1 to 8, characterized in that: The steps include: Step 1: A pair of outer swing motors (405) drive their respective outer wheel swing frames (403) to swing around the rotor end of the outer swing motor (405) in a clockwise / counterclockwise direction, thereby driving the corresponding outer wheel (4) and the outer wheel drive motor (404) to swing in the direction; at the same time, a pair of inner swing motors (305) drive their respective inner wheel swing frames (301) to swing around the connecting sleeve (7) in the opposite direction to the outer wheel swing frame (403), thereby driving the corresponding inner wheel (3) to swing in the same direction. When the center distance between the outer wheel (4) and the inner wheel (3) is the farthest, the outer wheel swing frame (403) and the inner wheel swing frame (301) stop rotating, and at this time the robot changes from a two-wheel closed form to a four-wheel unfolded form; Step 2: When moving on an obstacle-free road surface, the outer wheel drive motors (404) on both sides of the robot drive the outer wheels (4) to rotate, and the inner wheel drive motors (306) on both sides of the robot drive the inner wheels (3) to rotate in the same direction, thereby driving the robot to move forward or backward in a straight line; when encountering a scene where a change of direction is required, the outer wheel drive motors (404) and the inner wheel drive motors (306) on both sides of the robot drive the corresponding wheels to rotate in opposite directions, thereby driving the wheels on both sides to turn the robot by using the differential principle; Step 3: When moving on a pit-shaped terrain, if the outer wheel (4) is at the front end of the moving direction, the outer wheel swing frame (403) swings downward around the rotor end of the outer swing motor (405), thereby driving the outer wheel (4) that has passed the pit first to swing downward to fill the drop caused by the pit to a certain extent. When the outer wheel (4) leaves the pit, the outer wheel swing frame (403) swings upward, thereby lifting the outer wheel (4) upward to leave the pit, and then the inner wheel (3) that enters the pit completes the pit obstacle crossing in the same manner as above; Step 4: When moving on a raised terrain, if the outer wheel (4) is at the front end of the moving direction, the outer wheel swing frame (403) and the inner wheel swing frame of the robot swing in the opposite direction to step 3, thereby successively driving the outer wheel (4) and the inner wheel to swing to adapt to the shape of the ground, thereby ensuring that the main frame (1) is in a stable moving state.

Images