Wave-driven spherical ocean robot

Abstract

The application relates to the technical field of robot devices, in particular to a spherical marine robot based on wave driving, which comprises a spherical shell, a flow guide plate is arranged on the middle surface of the spherical shell in a circumferential manner, a double-shaft steering pendulum system is arranged in the spherical shell, the double-shaft steering pendulum system comprises a main shaft, a secondary shaft, an L-shaped shaft sleeve, a pendulum bob and a steering engine driving module, the L-shaped shaft sleeve is provided with a shaft hole in a horizontal direction, the main shaft is connected through the shaft hole and the one-way bearings at both ends, the L-shaped shaft sleeve is provided with a bearing hole in a vertical direction, the first double-direction bearing is arranged in the bearing hole, the secondary shaft is arranged in a space horizontal direction with the main shaft, one end of the secondary shaft is connected with the first double-direction bearing, the other end is driven and connected by the steering engine driving module, the middle section of the secondary shaft is provided with a tail part, and the pendulum bob is connected to the tail part. The robot is driven by waves, has lower energy consumption and higher energy sustainability.

Description

Technical Field

[0001] This invention relates to the field of robotic equipment technology, and in particular to a wave-driven spherical marine robot. Background Technology

[0002] Oceans cover more than 70% of the Earth's surface and are rich in resources. In-depth ocean observation is crucial for understanding the marine environment, protecting ecosystems, and developing marine resources. Continuous advancements in ocean observation technology have led to the widespread application of various types of robots in this field. Marine robots are diverse and can be broadly categorized into manned and unmanned types. Manned robots are primarily used for specialized near-shore operations or scientific research activities requiring real-time human decision-making; unmanned robots are mainly used in harsh sea conditions and deep-sea areas, and have gradually become the mainstream application.

[0003] Spherical marine robots are a type of unmanned marine robot. They possess a fully enclosed spherical shell and move solely through center-of-mass shift or momentum conservation, offering advantages such as excellent sealing, strong balance, and high flexibility. The underwater propulsion methods for spherical robots can be divided into two types. The first utilizes water jets or propellers to drive the robot, similar to conventional unmanned marine robots. The second employs a land-like rolling mechanism, characterized by its simple and reliable structure. Propulsion is generated through ripples, patterns on the shell surface, or contact with the seabed, thus its movement is primarily limited to the water surface or seabed. Specific mechanisms driving the underwater rolling of spherical robots include wheel-driven, flywheel-driven, and pendulum-driven systems. Among these, the pendulum-driven type offers a simpler and more reliable motion control model compared to the other two, better meeting the agility and maneuverability requirements of the marine environment. However, all three types rely on onboard drive motors and batteries for propulsion, enabling precise control but consuming significant energy, thus limiting their range.

[0004] In the marine environment, existing energy sources mainly include marine solar energy, wind energy, ocean current energy, and wave energy. Wave energy, with its continuous and stable operation, high energy density, and economic and environmental friendliness, has undoubtedly become an excellent power source driven by environmental factors. Using wave energy as the external driving force for spherical robots can not only improve the robot's endurance but also potentially enable autonomous power supply, better meeting the needs of long-endurance, large-scale operations in deep-sea observation in the marine environment. Summary of the Invention

[0005] To address the aforementioned technical problems in the existing technology, this invention proposes a wave-driven spherical marine robot, the specific technical solution of which is as follows:

[0006] A wave-driven spherical marine robot includes a spherical shell with guide plates circumferentially distributed on the middle surface of the shell. Inside the shell is a dual-axis steering pendulum system, comprising a main shaft, a secondary shaft, an L-shaped bushing, a pendulum, and a servo drive module. The L-shaped bushing has a horizontally oriented shaft hole through which the main shaft passes, and its two ends are connected by one-way bearings. The L-shaped bushing also has a vertically oriented bearing hole in which a first bidirectional bearing is installed. The secondary shaft is horizontally intersecting the main shaft, with one end connected to the first bidirectional bearing and the other end driven by the servo drive module. A tail section extends from the middle section of the secondary shaft, and the pendulum is mounted on the tail section.

[0007] Furthermore, the spherical shell includes a left spherical shell, a central sphere, and a right spherical shell, with the left and right spherical shells symmetrically installed and connected on both sides of the central sphere.

[0008] Furthermore, the left and right spherical shells have the same structure, with a lifting ring on the top of the outer side of the left and right spherical shells, and a support base placed in the inner cavity of the left and right spherical shells; the support base is a four-legged support structure, which supports a flat box structure by the four legs evenly distributed.

[0009] Furthermore, a control system is also provided inside the spherical housing. The end face of the L-shaped bushing is connected to a load rib. Mounting holes are evenly provided on the tail of the secondary shaft, the load rib, and the surface of the planar box structure. The hardware module of the control system is configured through the mounting holes on the tail of the secondary shaft, the load rib, and the surface of the planar box structure.

[0010] Furthermore, the guide plate has a curved cross-section and is distributed in a linear circular pattern on the surface of the central sphere.

[0011] Furthermore, the curvature of the pendulum's outer contour is the same as the curvature of the inner wall of the central spherical cavity.

[0012] Furthermore, stepped holes and circular grooves are provided on both the left and right end faces of the central sphere, and end caps are installed on both end faces through the stepped holes. O-rings are installed and fitted in the circular grooves. Multiple sets of irregularly shaped slots are provided on the edges of both the left and right end faces of the central sphere in a linear circumferential distribution. The slots are used to install and connect the left and right spherical shells with the shell sealing screws and square shell sealing nuts.

[0013] Furthermore, the end cap is stepped, with the bottom of the end cap connected to the central sphere, and the top of the end cap is a cylindrical groove. The cylindrical groove has a slender protrusion, through which the one-way bearing is installed, and the two one-way bearings in the two end caps are installed in opposite directions.

[0014] Furthermore, the end face of the L-shaped bushing is provided with a lug; the servo drive module includes a bearing housing, a servo, a servo disc, a servo shaft connecting plate, and a coupling. A second double-acting bearing is installed on one end face of the bearing housing, and connecting holes that mate with the lug are provided on both sides of the end face. The other side of the bearing housing is fixedly connected to the servo; the servo disc is connected to the output shaft of the servo; one end of the servo shaft connecting plate is connected to the coupling, and the other end is connected to the servo disc; the other end of the secondary shaft is connected to the second double-acting bearing and connected to the coupling.

[0015] Beneficial Effects: This invention employs an environment-driven approach, utilizing the characteristics of wave energy in the marine environment to drive the robot's movement. Compared to traditional electric motor-driven, solar, and wind-driven methods, it boasts lower energy consumption and higher energy sustainability, meeting the demands of long-endurance and large-scale operations such as marine observation. Furthermore, it integrates electronic sensing components to enhance marine environmental perception and self-monitoring capabilities, providing an effective and reliable solution for marine monitoring and development. The integration of wave energy generation and storage devices with wave-driven operation offers significant potential for autonomous power supply applications. The proposed spherical structure design exhibits excellent streamlinedness and a compact, flexible design, demonstrating strong maneuverability and adaptability, especially in confined spaces and harsh sea conditions. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the spherical robot in motion according to the present invention;

[0017] Figure 2 This is a schematic diagram of the overall structure of the spherical robot of the present invention in a turning state;

[0018] Figure 3 This is a schematic diagram of the structure of the left or right spherical shell of the present invention;

[0019] Figure 4 This is a schematic diagram of the structure of the central sphere of the present invention;

[0020] Figure 5 This is an exploded disassembly diagram of the overall structure of the spherical robot of the present invention;

[0021] Figure 6 This is a schematic diagram of the dual-axis steering pendulum system of the present invention;

[0022] Figure 7 This is a structural schematic diagram of the L-shaped bushing part of the present invention;

[0023] Figure 8 This is an exploded structural diagram of the servo drive module of the present invention.

[0024] In the diagram: 1. Left spherical shell, 2. Central sphere, 3. Right spherical shell, 4. Dual-axis steering pendulum system, 5. Hanging ring, 6. Support base, 7. Cavity, 8. End cap, 9. O-ring, 10. Shell sealing screw, 11. Square shell sealing nut, 12. End cap fixing screw, 13. Square end cap fixing nut, 14. One-way bearing, 15. Main shaft, 16. Sub-shaft, 17. L-shaped bushing, 18. Bearing housing, 19. Servo motor, 20. Steering disc, 21. Servo motor shaft connecting disc, 22. Coupling, 23. First double-direction bearing, 24. Load rib, 25. Pendulum, 26. Servo motor drive module, 27. Ear clip, 28. Deflector. Detailed Implementation

[0025] To make the objectives, technical solutions, and technical effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0026] like Figures 1 to 5 As shown, this embodiment of a unidirectional rotating pendulum spherical robot driven by ocean waves includes a left spherical shell 1, a central sphere 2, a right spherical shell 3, and a dual-axis steering pendulum system 4. The left spherical shell 1 and the right spherical shell 3 have the same structure, each with a lifting ring 5, a support base 6, and a cavity 7. The left spherical shell 1 and the right spherical shell 3 are symmetrically installed on both sides of the central sphere 2 to form a complete spherical shell. The lifting ring 5 is located on the top of the left spherical shell 1 and the right spherical shell 3. The support base 6 is located in the cavity 7 of the left spherical shell 1 and the right spherical shell 3. The lifting ring 5 and the support base 6 are integrally formed with the left spherical shell 1 and the right spherical shell 3 and have rounded corners. The support base 6 is a four-legged support structure, which supports a planar box structure through four evenly distributed legs. The planar box structure has evenly distributed mounting holes on its surface, which can be used to install control system modules such as processors and sensors. The shell edges of the left spherical shell 1 and the right spherical shell 3 are provided with stepped holes distributed in a linear circular pattern.

[0027] The central sphere 2 has guide plates 28 arranged in a linear circumferential pattern on its spherical surface. The cross-section of the guide plates 28 is curved. The central sphere 2 has a symmetrical structure design. Stepped holes and circular grooves are opened on both its left and right end faces. End caps 8 are installed on the end faces through the stepped holes. O-rings 9 are installed and fitted in the circular grooves. Multiple sets of irregularly shaped slots are arranged in a linear circumferential pattern on the edges of the left and right end faces of the central sphere 2 for installing the left spherical shell 1 and the right spherical shell 3 with the housing sealing screws 10 and the square housing sealing nuts 11.

[0028] The end cap 8 is characterized by its stepped shape. The bottom surface of the end cap 8 is provided with stepped holes arranged in a linear circumferential pattern for use with the end cap fixing screws 12 and the square end cap fixing nuts 13 to install and connect it to the central sphere 2. The top of the end cap 8 is a cylindrical groove with a slender protrusion inside. A one-way bearing 14 is compactly installed inside the end cap 8 through the slender protrusion, and the two one-way bearings 14 inside the end cap 8 on the left and right sides of the central sphere 2 are installed in opposite directions.

[0029] like Figure 6 As shown, the dual-axis steering pendulum system 4 includes a main shaft 15, a secondary shaft 16, an L-shaped bushing 17, a first bidirectional bearing 23, a load rib 24, a pendulum 25, and a servo drive module 26. The main shaft 15 is mounted on the end cover 8 at both ends in conjunction with the one-way bearings 14.

[0030] like Figure 7 As shown, the L-shaped bushing 17 has a horizontal shaft hole for mounting with the main shaft 15, and a vertical bearing hole for mounting with the first bidirectional bearing 23. The end face of the L-shaped bushing 17 is provided with an ear buckle 27 and a threaded hole for mounting with the load rib 24.

[0031] like Figure 8 As shown, the servo drive module 26 includes a bearing housing 18, a servo motor 19, a servo disc 20, a servo shaft connecting disc 21, and a coupling 22. The bearing housing 18 is an irregularly shaped support structure. One end face of the bearing housing 18 has a bearing hole, and two connecting holes on both sides of this end face are provided to mate with the lug 27. A second double-acting bearing is installed in the bearing hole. The other side has an installation hole and is fixedly connected to the servo motor 19. The secondary shaft 16 is installed and rotated with the main shaft 15 through a first double-acting bearing 23 in the bearing hole of the L-shaped bushing 17 and a second double-acting bearing in the bearing hole of the irregularly shaped bearing housing 18. The side of the secondary shaft 16 extends to provide a tail, and an installation hole is provided at the tail. The main shaft 19... The rotational degrees of freedom of shaft 5 are arranged horizontally and intersecting the rotational degrees of freedom of shaft 16; the coupling 22 is installed at the end of shaft 16; the servo shaft connecting plate 21 has a mounting hole, one end of which is connected to coupling 22, and the other end is connected to servo disc 20; the servo disc 20 is connected to the output shaft of servo 19; the servo 19 is installed on an irregularly shaped bearing seat 18; the pendulum 25 is installed at the tail of shaft 16, and the pendulum 25 is crescent-shaped, with its outer contour curvature being the same as the inner wall contour curvature of the central sphere 2 cavity, thereby obtaining more rotation angles.

[0032] In summary, the solution adopted in this embodiment of a unidirectional rotating pendulum spherical robot driven by ocean waves is to generate the torque required for robot motion by changing the position of the robot's center of mass. This change in the robot's center of mass position is determined by the weight of the pendulum 25 and the change in its center of mass position. Specifically, the weight of the pendulum 25 needs to be as large as possible to meet the large torque required for motion; the volume of the pendulum 25 needs to be as compact as possible and close to the inner wall of the central sphere 2 cavity to meet the stability required for motion.

[0033] The unidirectional rotating pendulum spherical robot also includes a control system, comprising a power supply, a microprocessor, and, in addition to the sensors necessary for marine monitoring, a GPS, gyroscope, and accelerometer to monitor any changes in its dynamic state, such as changes in direction, speed, and altitude. The control system can also communicate with a shore-based base station via a wireless communication module, supporting real-time modification of task parameters and data transmission. The hardware modules of the control system can be configured through mounting holes on the support base 6, the secondary shaft 16, and the load rib 24.

[0034] The working principle of the unidirectional rotating pendulum spherical robot of the present invention is as follows:

[0035] When waves act on the surface of the central sphere 2, the waves flow between the guide plate 28 and the spherical surface, generating thrust and causing the central sphere 2 to roll around its central axis. Simultaneously, as the central sphere 2 gains a tendency to move under the excitation of the waves, the pendulum 25 moves in the direction where the one-way bearing 14 is not locked. Due to gravity, the pendulum 25 tends to swing back, but because of the locking function of the one-way bearing 14, the pendulum 25 can only rotate and swing in one direction. Under continuous wave excitation, the pendulum 25 continuously rotates and swings forward, generating a continuous rolling torque, which, combined with the external wave thrust, achieves a continuous and stable forward motion.

[0036] When the robot needs to adjust its attitude or change its path, the servo drive module 26 starts working. When the servo motor 19 receives a control signal, it drives the rudder disk 20 to rotate. Through the servo shaft connecting disk 21 and coupling 22, it drives the secondary shaft 16 to rotate, thereby adjusting the swing direction of the pendulum 25. Due to the gravity and inertia characteristics of the pendulum 25, the rolling torque generated by the pendulum 25 in the new direction will change the robot's center of mass distribution, causing the robot to deflect to a new direction of motion under the action of waves. With the help of real-time sensor data and control algorithms in the control system, the servo motor 19 can accurately adjust the direction of the pendulum 25, helping the robot to achieve flexible steering and path planning and adjustment, so as to adapt to the complex marine environment.

[0037] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention in any way. Although the implementation process of the present invention has been described in detail above, those skilled in the art can still modify the technical solutions described in the foregoing examples or make equivalent substitutions for some of the technical features. All modifications and equivalent substitutions made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A wave-driven spherical marine robot, characterized in that, The system includes a spherical shell with guide plates (28) arranged circumferentially on the middle surface of the shell. A dual-axis steering pendulum system (4) is provided inside the shell. The dual-axis steering pendulum system (4) includes a main shaft (15), a secondary shaft (16), an L-shaped bushing (17), a pendulum (25), and a servo drive module (26). The L-shaped bushing (17) has a shaft hole in the horizontal direction. The main shaft (15) passes through the shaft hole and is connected at both ends by a one-way bearing (14). The L-shaped bushing (17) has a bearing hole in the vertical direction. A first double-direction bearing (23) is installed in the bearing hole. The secondary shaft (16) is arranged horizontally and spatially across the main shaft (15). One end of the secondary shaft (16) is connected to the first double-direction bearing (23), and the other end is driven by the servo drive module (26). The middle section of the secondary shaft (16) extends to the shaft side and has a tail. The pendulum (25) is installed and connected to the tail. The spherical shell includes a left spherical shell (1), a central sphere (2) and a right spherical shell (3), and the left spherical shell (1) and the right spherical shell (3) are symmetrically installed and connected on both sides of the central sphere (2); The guide plate (28) has a curved cross-section and is distributed in a linear circular pattern on the surface of the central sphere (2).

2. The spherical marine robot as described in claim 1, characterized in that, The left spherical shell (1) and the right spherical shell (3) have the same structure. A lifting ring (5) is provided on the top of the outer side of the left spherical shell (1) and the right spherical shell (3). A support base (6) is placed in the inner cavity of the left spherical shell (1) and the right spherical shell (3). The support base (6) is a four-legged support structure, which supports a flat box structure by the even distribution of the four legs.

3. The spherical marine robot as described in claim 2, characterized in that, A control system is also provided inside the spherical shell. The end face of the L-shaped bushing (17) is connected to a load rib (24). Mounting holes are evenly provided on the tail of the secondary shaft (16), the load rib (24), and the surface of the planar box structure. The hardware module of the control system is configured through the mounting holes on the tail of the secondary shaft (16), the load rib (24), and the surface of the planar box structure.

4. The spherical marine robot as described in claim 1, characterized in that, The curvature of the outer contour of the pendulum (25) is the same as the curvature of the inner wall of the cavity of the central sphere (2).

5. The spherical marine robot as described in claim 1, characterized in that, The central sphere (2) has stepped holes and circular grooves on both the left and right end faces, and end caps (8) are installed on both end faces through the stepped holes. O-rings (9) are installed in the circular grooves. Multiple sets of irregularly shaped slots are arranged in a linear circumferential distribution at the edges of the left and right end faces of the central sphere (2). The slots are used to connect the left sphere (1) and the right sphere (3) with the housing sealing screw (10) and the square housing sealing nut (11).

6. The spherical marine robot as described in claim 5, characterized in that, The end cap (8) is stepped, and the bottom of the end cap (8) is connected to the central sphere (2). The top of the end cap (8) is a cylindrical groove. The cylindrical groove is provided with a slender protrusion, and the one-way bearing (14) is installed through the slender protrusion. The two one-way bearings (14) in the end caps (8) on both sides are installed in opposite directions.

7. The spherical marine robot as described in claim 1, characterized in that, The L-shaped bushing (17) has an ear clip (27) on its end face; the servo drive module (26) includes a bearing housing (18), a servo motor (19), a servo disc (20), a servo shaft connecting disc (21), and a coupling (22). The bearing housing (18) has a second double-acting bearing installed on one end face and connecting holes that mate with the ear clip (27) on both sides of the end face. The bearing housing (18) is fixedly connected to the servo motor (19) on the other side. The servo disc (20) is connected to the output shaft of the servo motor (19). One end of the servo shaft connecting disc (21) is connected to the coupling (22), and the other end is connected to the servo disc (20). The other end of the sub-shaft (16) is connected to the second double-acting bearing and connected to the coupling (22).

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