A multi-motion mode multi-body reconfigurable spherical robot

Abstract

The application discloses a multi-motion mode multi-body reconfigurable spherical robot, which is composed of a mother spherical robot with a plurality of mechanical legs and a plurality of child spherical robots with amphibious motion modes. The mother spherical robot is combined with or separated from a child spherical robot through a capture docking mechanism at the end of each mechanical leg, so as to form a multi-motion mode multi-body reconfigurable spherical robot. Through deformation, combination and separation of the two types of spherical robots, the reconfigurable spherical robot has the multi-motion mode, and can switch the motion mode according to different external environments to meet the requirements of rescue and disaster relief, reconnaissance and detection and autonomous collaborative operation and other work tasks in the face of various terrains such as flat, slope and sludge, as well as wide-area environments such as wetland, pipeline and air.

Description

Technical Field

[0001] This invention relates to a spherical robot, specifically, to a spherical robot with reconfiguration capabilities and multiple movement modes. This invention belongs to the field of robotics technology. Background Technology

[0002] A spherical robot is a robot with a spherical shell that moves by shifting its center of mass and adhering to the principle of conservation of momentum. Because spherical robots have excellent balance and flexibility, and do not tip over, they have significant advantages in fields such as planetary exploration and hazardous environment detection, and are widely used.

[0003] Reconfigurable spherical robots are a type of spherical robot, referring to spherical robots formed by the deformation, combination, and separation of different types of spherical robots to create different configurations and formations. The current drawback of reconfigurable spherical robots is their limited range of motion modes, restricting their application to ground or air environments.

[0004] Therefore, developing reconfigurable spherical robots with multiple motion modes to broaden their application scenarios and fully leverage the advantages of spherical robots, enabling them to switch motion modes according to different external environments such as flat, sloping, and muddy terrains, as well as wetlands, pipelines, and the air, to meet the needs of tasks such as disaster relief, reconnaissance and detection, and autonomous collaborative operations, is a key research focus in the industry. Summary of the Invention

[0005] For the reasons mentioned above, the purpose of this invention is to provide a reconfigurable spherical robot with multiple motion modes that can adapt to different environmental requirements.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a multi-motion mode multi-body reconfigurable spherical robot, characterized in that: it includes a parent spherical robot with multiple mechanical legs, several daughter spherical robots with amphibious mobility, and several capture and docking mechanisms;

[0007] The mechanical legs of the parent spherical robot are retractable mechanical legs, and a capture docking mechanism for capturing the child spherical robot is fixed to the end of each mechanical leg.

[0008] The capture and docking mechanism includes a hemispherical capture tube, a self-locking mechanism, and an annular self-locking trigger pin. The hemispherical capture tube is connected to the end of the mechanical leg. An annular self-locking trigger pin is provided at the bottom of the hemispherical capture tube, and an upward-pointing trigger pin antenna is provided on the annular self-locking trigger pin. On both sides of the bottom of the hemispherical capture tube, a self-locking mechanism is symmetrically provided, which is linked to the annular self-locking trigger pin and is used to lock the passive docking mechanism of the child spherical robot.

[0009] The sub-spherical robot is equipped with a passive docking mechanism, which includes a tapered docking rod, an end cap, a flange, and a tension spring. The end cap is installed at the end of the tapered docking rod by a set screw and is held inside the flange by the limiting step of the flange. The tapered docking rod is installed on the central axis of the flange by a spline. A tension spring is provided between the end cap and the flange. The flange is clamped on both sides of the sub-spherical robot's shell by double bearings and is connected to the motion drive mechanism of the sub-spherical robot.

[0010] Preferably, the parent spherical robot includes a parent spherical shell, a bevel gearbox, and several mechanical legs; the bevel gearbox is installed at the core of the parent spherical shell by set screws and is used to drive the mechanical legs to move; the mechanical legs are symmetrically arranged on the bevel gearbox and are linked with the bevel gears inside the bevel gearbox.

[0011] Preferably, the sub-spherical robot includes a sub-spherical shell, the motion drive mechanism, and two symmetrically arranged passive docking mechanisms;

[0012] The motion drive mechanism is located at the core of the sub-body spherical shell; the two passive docking structures are respectively fixed to the motion drive mechanism through shaft hole cooperation, and are clamped at both ends of the sub-body spherical shell by double bearings.

[0013] Preferably, the self-locking mechanism of the capture docking mechanism includes a mounting plate, two symmetrically arranged guide rods, two sliders, two limit pins, two locking tongues, and two compression springs;

[0014] The mounting plate is installed at both ends of the capture cylinder by set screws, and a notch is opened in the middle for capturing the tapered docking rod;

[0015] The two guide rods, two sliders, two limiting pins, two locking tongues, and two compression springs are symmetrically arranged on both sides of the notch in the middle of the mounting plate; one end of each guide rod is connected to the annular self-locking trigger pin, and the other end is connected to the slider through the limiting pin; the locking tongue is connected to the slider; when the guide rod moves up and down, under the transmission action of the limiting pin, the slider pulls the locking tongue to move horizontally.

[0016] The compression spring is sleeved on the locking tongue and fixedly connected to the mounting plate.

[0017] Preferably, the parent spherical shell includes several spherical shell lobes, a horizontal rudder plate, a first longitudinal rudder plate, a second longitudinal rudder plate, a first transverse rudder plate, and a second transverse rudder plate;

[0018] The first longitudinal rudder plate and the second longitudinal rudder plate are symmetrically arranged on the longitudinal surface of the horizontal rudder plate; the first transverse rudder plate and the second transverse rudder plate are symmetrically arranged on the transverse surface of the horizontal rudder plate; the spherical shell flaps are arranged on the quadrant of the three-dimensional configuration formed by the horizontal rudder plate, the first longitudinal rudder plate, the second longitudinal rudder plate, the first transverse rudder plate and the second transverse rudder plate; the bevel gear box is installed at the center of the three-dimensional configuration.

[0019] A circular hole is opened on each of the spherical shell segments, through which the mechanical leg passes and is connected to the bevel gearbox at the core of the mother spherical shell.

[0020] Preferably, the bevel gearbox includes a housing, a bevel gear set, a drive shaft, a flange, and a gearbox motor;

[0021] The bevel gear set is fixed at the center of the housing. It is composed of several bevel gears meshing with each other, and a drive shaft is fixedly connected to the center of each bevel gear.

[0022] The flange is fixed to the outer surface of the housing, and at the same time, the flange is fixed to one of the bevel gears in the bevel gear set through double bearings and the drive shaft;

[0023] The gearbox motor is fixed on one of the drive shafts and drives one of the bevel gears in the bevel gear set to rotate.

[0024] Preferably, the mechanical leg includes a femur, a retractable shaft-connected first linkage chain, a second linkage chain, and a thigh motor;

[0025] One end of the femur is fixed to the flange at the top corner of the bevel gear set housing by a set screw, and the other end is connected to the first connecting rod chain and the second connecting rod chain by a bearing.

[0026] The first and second connecting chains are arranged in parallel and connected by a support shaft; both the first and second connecting chains are composed of several connecting shaft sections.

[0027] The thigh motor is fixed to the femur. The end of the first linkage chain connected to the femur is connected to the rotor of the thigh motor through a set screw. Under the drive of the thigh motor, the extension and retraction of the first linkage chain and the second linkage chain, as well as the rotation relative to the femur, are realized.

[0028] Preferably, the multi-motion mode multi-body reconfiguration spherical robot also includes a remote controller;

[0029] Several binocular vision sensors are installed on the outer wall of the spherical shell of the parent spherical robot;

[0030] A first microprocessor for controlling the gearbox motor and thigh motor is installed inside the shell of the parent spherical robot; a second microprocessor for controlling the motion drive mechanism is installed inside the shell of the daughter spherical robot.

[0031] The remote controller wirelessly transmits data with the binocular vision sensor. The remote controller wirelessly controls the first microprocessor and the second microprocessor to remotely control the parent spherical robot to capture or release the child spherical robot and reconstruct the spherical robot. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the multi-motion mode multi-body reconfigurable spherical robot structure of the present invention;

[0033] Figure 2 This is a schematic diagram of the parent spherical robot structure of the present invention;

[0034] Figure 3 This is a schematic diagram of the spherical shell structure of the parent spherical robot of the present invention;

[0035] Figure 4 This is a schematic diagram of the internal structure of the spherical shell of the parent spherical robot of the present invention;

[0036] Figure 5 This is a schematic diagram of the bevel gearbox structure of the parent spherical robot of the present invention;

[0037] Figure 6 This is a schematic diagram of the internal structure of the bevel gearbox of the parent spherical robot of the present invention;

[0038] Figure 7 This is a schematic diagram of the mechanical leg structure of the parent spherical robot of the present invention;

[0039] Figure 8 This is a schematic diagram of the internal structure of the spherical robot of the present invention;

[0040] Figure 9 This is a schematic diagram of the spherical shell structure of the sub-body spherical robot of the present invention;

[0041] Figure 10 This is a schematic diagram of the motion drive mechanism for the sub-body spherical robot of the present invention;

[0042] Figure 11 This is a schematic diagram of the passive docking mechanism of the sub-body spherical robot of the present invention;

[0043] Figure 12 This is a schematic diagram showing the connection relationship between the passive docking mechanism of the sub-body spherical robot and the sub-body spherical shell of the present invention;

[0044] Figure 13 This is a schematic diagram of the capture and docking mechanism of the present invention;

[0045] Figure 14 This is a schematic diagram of the self-locking mechanism of the capture and docking mechanism of the present invention;

[0046] Figure 15 This is a schematic diagram of the fixed flight mode of the quadrotor of the multi-motion mode multi-body reconfigurable spherical robot of the present invention;

[0047] Figure 16 This is a schematic diagram of the fixed flight mode of the octagonal rotor of the multi-motion mode multi-body reconfigurable spherical robot of the present invention;

[0048] Figure 17 This is a schematic diagram of the multi-rotor cooperative flight mode of the multi-body reconfigurable spherical robot with multiple motion modes according to the present invention;

[0049] Figure 18 This is a schematic diagram of the two-wheeled, legged, fixed motion mode of the multi-motion-mode, multi-body reconfigurable spherical robot of the present invention;

[0050] Figure 19 This is a schematic diagram of the four-wheeled legged fixed motion mode of the multi-motion mode multi-body reconfigurable spherical robot of the present invention;

[0051] Figure 20 This is a schematic diagram of the eight-wheeled leg retraction motion mode of the multi-motion mode multi-body reconfigurable spherical robot of the present invention;

[0052] Figure 21 This is a schematic diagram of the multi-wheeled leg cooperative motion mode of the multi-motion mode multi-body reconfigurable spherical robot of the present invention.

[0053] Among them, 1. Mother spherical robot, 2. Daughter spherical robot, 3. Capture and docking mechanism; 11. Mechanical leg, 12. Mother spherical shell, 13. Bevel gearbox; 111. Femoral head, 112. First rib plate, 113. Second rib plate, 114. Third rib plate, 115. Thigh motor, 116. First linkage chain, 117. Second linkage chain, 118. Support shaft; 121. Spherical shell flap, 122. Horizontal rudder plate, 123. First longitudinal rudder plate, 124. Second longitudinal rudder plate, 125. First transverse rudder plate, 126. Second transverse rudder plate, 127. Connecting corner bracket, 128. Notch, 129. Circular hole; 131. Box body, 132. Bevel gear set, 133. Drive shaft, 134. Double bearing, 135. Flange, 136. Gearbox motor; 21. Daughter spherical shell, 22. Motion drive motor. Structure: 23. Passive docking mechanism; 211. Spherical shell; 212. Spherical shell spokes; 213. Left end cap of spherical shell; 214. Right end cap of spherical shell; 221. Forward rolling motor; 222. First central shaft; 223. Second central shaft; 224. Gyroscope frame drive mechanism; 225. Variable center of mass drive mechanism; 226. Coaxial dual rotor drive mechanism; 227. Turning motor; 231. Conical docking rod; 232. End cap; 233. Flange; 234. Tension spring; 235. Double bearing; 31. Capture tube; 32. Self-locking mechanism; 33. Annular self-locking trigger pin; 331. Strut pin antenna; 311. First connecting arm; 312. Second connecting arm; 321. Mounting plate; 3211. Notch; 322. Guide rod; 323. Slider; 324. Limit pin; 325. Locking tongue; 326. Compression spring. Detailed Implementation

[0054] The structure and features of the present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that various modifications can be made to the embodiments disclosed herein; therefore, the embodiments disclosed in this specification should not be considered as limitations on the present invention, but merely as examples to make the features of the present invention readily apparent.

[0055] like Figure 1As shown, the multi-motion-mode multi-body reconfigurable spherical robot disclosed in this invention consists of a parent spherical robot 1, several daughter spherical robots 2 with amphibious capabilities, and several capture and docking mechanisms 3. The parent spherical robot has several retractable mechanical legs 11, with a capture and docking mechanism 3 for capturing the daughter spherical robots fixed to the end of each mechanical leg. The parent spherical robot 1 combines with and separates from the daughter spherical robots 2 through the capture and docking mechanisms 3, allowing the parent spherical robot 1 and one or more daughter spherical robots 2 to reconfigure into a new spherical robot with multiple motion modes. The daughter spherical robots complete flight and land rolling movements through a variable center of mass drive mechanism based on the variable center of mass control principle and a coaxial dual-rotor drive mechanism; the parent spherical robot completes walking, jumping, and rolling movements through the cooperation of its mechanical legs and the captured daughter spherical robots.

[0056] In a preferred embodiment of the present invention, the parent spherical robot 1 is symmetrically provided with eight mechanical legs 11, and a capture docking mechanism 3 is fixedly connected to the end of each mechanical leg. The parent spherical robot 1 can combine and separate with the daughter spherical robot 2 through the capture docking mechanism 3 at the end of its mechanical legs, and can be reconfigured to form a quadcopter fixed flight mode (see...). Figure 15 ), Octopus fixed flight mode (see) Figure 16 Multi-rotor cooperative flight mode (see) Figure 17 Two-wheeled leg fixed movement mode (see) Figure 18 ), four-wheeled leg fixed motion mode (see Figure 19 ), eight-wheel leg fixed movement mode (see Figure 20 Multi-wheel leg coordinated movement mode (see) Figure 21 The spherical robot can handle various terrains such as flat surfaces, slopes, and mud, as well as wide-area environments such as wetlands, pipelines, and the air, in order to meet the needs of tasks such as disaster relief, reconnaissance and detection, and autonomous collaborative operations.

[0057] like Figure 2 As shown, the parent spherical robot 1 of the present invention includes a parent spherical shell 12, a bevel gearbox 13, and several mechanical legs 11. The bevel gearbox 13 is mounted on the core of the parent spherical shell 12 by set screws; the mechanical legs 11 are symmetrically arranged on the bevel gearbox and fixedly connected to it, extending out of the parent spherical shell 12 and freely retracting; a capture and docking mechanism 3 is fixed to the end of the mechanical legs 11. The bevel gearbox drives the mechanical legs to move, which in turn drives the capture and docking mechanism to extend and retract, capturing or releasing the child spherical robot 2.

[0058] like Figure 3 , Figure 4As shown, the mother spherical shell 12 includes several spherical shell lobes 121, a horizontal rudder plate 122, a first longitudinal rudder plate 123, a second longitudinal rudder plate 124, a first transverse rudder plate 125, a second transverse rudder plate 126, and a connecting angle bracket 127.

[0059] The first longitudinal rudder plate 123 and the second longitudinal rudder plate 124 are symmetrically arranged on the longitudinal surface of the horizontal rudder plate 122; the first transverse rudder plate 125 and the second transverse rudder plate 126 are symmetrically arranged on the transverse surface of the horizontal rudder plate 122; the spherical shell flap 121 is arranged in the quadrant of the three-dimensional configuration formed by the horizontal rudder plate 122, the first longitudinal rudder plate 123, the second longitudinal rudder plate 124, the first transverse rudder plate 125 and the second transverse rudder plate 126, and a notch 128 for accommodating the bevel gearbox 13 is provided at the center of the three-dimensional configuration. The spherical shell flap 121, the horizontal rudder plate 122, the first longitudinal rudder plate 123, the second longitudinal rudder plate 124, the first transverse rudder plate 125 and the second transverse rudder plate 126 are interconnected by connecting brackets 127. When the parent spherical robot 1 completes its tumbling motion, the three-dimensional spatial structure formed by the horizontal rudder plate 122, the first longitudinal rudder plate 123, the second longitudinal rudder plate 124, the first transverse rudder plate 125, and the second transverse rudder plate 126 can withstand the contact force and impact force from the ground. Compared with the spherical shell mechanism without internal support, the parent spherical robot of the present invention has better stability and rigidity.

[0060] A circular hole 129 is opened on each spherical shell lobe, through which the mechanical leg 11 passes and is connected to the bevel gear box 13 at the core of the mother spherical shell.

[0061] In a preferred embodiment of the present invention, the mother spherical shell 12 includes eight spherical shell lobes 121, each spherical shell lobe 121 being arranged on the eight quadrants of the three-dimensional configuration formed by the horizontal rudder plate 122, the first longitudinal rudder plate 123, the second longitudinal rudder plate 124, the first transverse rudder plate 125, and the second transverse rudder plate 126.

[0062] like Figure 2 , Figure 5 , Figure 6 As shown, the bevel gearbox 13 installed at the core of the mother spherical shell includes a housing 131, a bevel gear set 132, a drive shaft 133, a double bearing 134, a flange 135, and a gearbox motor 136.

[0063] A bevel gear set 132 is fixed at the center inside the housing 131. The bevel gear set 132 consists of several meshing bevel gears, and a drive shaft 133 is fixedly connected to the center of each bevel gear. A flange 135 is fixed to the outer surface of the housing 131. At the same time, the flange 135 is fixed to one of the bevel gears in the bevel gear set 132 through a double bearing 134 and a drive shaft 133. A gearbox motor 136 is fixed to one of the drive shafts 133. The gearbox motor 136 drives one of the bevel gears in the bevel gear set to rotate. When this bevel gear rotates, it drives the other bevel gears to rotate simultaneously. Through the transmission of the flange, the mechanical legs (mechanical legs 11 are fixed to the end face of the flange 135 by set screws) rotate relative to each other simultaneously, switching the motion mode of the reconfigurable spherical robot.

[0064] In a preferred embodiment of the present invention, the bevel gear set 132 is composed of eight meshing bevel gears, with a drive shaft 133 fixedly connected to the center of each bevel gear. A flange 135 is fixed at each of the eight corners of the housing 131, and each flange is fixedly connected to a bevel gear via a double bearing 134 and a drive shaft 133. A mechanical leg 11 is connected to the end face of each flange via a set screw.

[0065] like Figure 2 , Figure 7 As shown, the mechanical leg 11 of the present invention includes a femur, a first link chain and a second link chain connected by a retractable shaft, and a thigh motor. The femur is composed of a femoral head 111, a first rib 112, a second rib 113, and a third rib 114. The femoral head 111 is fixedly connected to a flange 135 in a bevel gearbox 13 by a set screw. One end of the first rib 112, the second rib 113, and the third rib 114 is fixedly connected to the femoral head 111. The thigh motor 115 is mounted on the other end of the second rib 113 by a set screw.

[0066] The other ends of the first rib 112 and the third rib 114 are respectively connected to the first connecting chain 116 and the second connecting chain 117 via bearings; the first connecting chain 116 and the second connecting chain 117 are arranged in parallel and connected by a support shaft 118. Both the first connecting chain 116 and the second connecting chain 117 are composed of several connecting rod sections. In a preferred embodiment of the invention, both the first connecting chain 116 and the second connecting chain 117 are composed of four connecting rod sections.

[0067] The end of the first link chain 116, which is connected to the first rib, is connected to the rotor of the thigh motor 115 via a set screw. Driven by the thigh motor 115, the first link chain 116 and the second link chain 117 extend and retract, and rotate relative to the femur.

[0068] The two ends of the support shaft 118 are respectively clamped in the middle of the first link chain 116 and the middle of the second link chain 117 through bearings, so as to realize the mutual transmission of the motion of the first link chain and the second link chain, enhance the relative stability and rigidity of the first link chain and the second link chain, and make the mechanical leg 11 have 1 degree of freedom.

[0069] The last link of the first link chain 116 and the second link chain 117 is fixedly connected to the capture docking mechanism 3.

[0070] like Figure 8 As shown, the spherical robot 2 of the present invention includes a spherical shell 21, a motion drive mechanism 22, and two symmetrically arranged passive docking mechanisms 23. The motion drive mechanism 22 is located at the core of the spherical shell 21. The two passive docking structures 23 are respectively fixed to the motion drive mechanism 22 through shaft holes and are symmetrically locked on both sides of the spherical shell 21 by double bearings, and are symmetrically arranged on the left and right sides of the spherical shell 21.

[0071] like Figure 9 As shown, the sub-body spherical shell 21 includes a spherical shell 211 with openings at both ends, spherical shell spokes 212, a left end cap 213, and a right end cap 214. One end of the spherical shell spokes 212 is connected to the spherical shell 211 by set screws, and the other end is connected to the left end cap 213 or the right end cap 214 by set screws, forming a complete sub-body spherical shell 21. The advantages of the sub-body spherical shell 21 of this invention are: easy disassembly and low manufacturing difficulty.

[0072] like Figure 10 As shown, the motion drive mechanism 22 includes a forward rolling motor 221, a first central shaft 222, a second central shaft 223, a gyroscope frame drive mechanism 224, a variable center of mass drive mechanism 225, a coaxial dual rotor drive mechanism 226, and a turning motor 227.

[0073] The forward rolling motor 221 is mounted on the passive docking mechanism 23 by set screws. Its rotor is connected to the left end cover 213 or the right end cover 214 of the spherical shell (in a preferred embodiment of the invention, its rotor is connected to the right end cover 214 of the spherical shell). Driven by the forward rolling motor, the relative motion drive mechanism of the sub-body spherical shell rotates. One end of the first central shaft 222 and the second central shaft 223 are respectively fixedly connected to the passive docking mechanism 23 through shaft holes, and the other end is connected to the gyroscope frame drive mechanism 224 by set screws.

[0074] The gyro-frame drive mechanism 224, the variable center of mass drive mechanism 225, the coaxial dual-rotor drive mechanism 226, and the turning motor 227 are fixed to the core of the sub-spherical shell 21 via mounting brackets. The gyro-frame drive mechanism 224 enables the sub-spherical robot 2 to have a land rolling motion mode, the coaxial dual-rotor drive mechanism 226 enables the sub-spherical robot to have a flight motion mode, and the variable center of mass drive mechanism 225 works in conjunction with the gyro-frame drive mechanism 224 and the coaxial dual-rotor drive mechanism 226 to adjust the motion posture of the sub-spherical robot. The turning motor 227 enables the sub-spherical robot to have self-steering capability.

[0075] like Figure 8 , Figure 1 As shown, a passive docking mechanism 23 is symmetrically arranged at the left and right ends of the child spherical robot 2. The child spherical robot can combine or separate from the capture docking mechanism 3 at the end of the mechanical leg 11 of the mother spherical robot 1 through the passive docking mechanism 23, so as to realize the combination or separation of the mother spherical robot 1 and the child spherical robot 2 and complete the reconstruction.

[0076] like Figure 11 , Figure 12 As shown, the passive docking mechanism 23 includes a tapered docking rod 231, an end cap 232, a flange 233, a tension spring 234, and a double bearing 235.

[0077] The end cap 232 is installed at the end of the tapered connecting rod 231 by a set screw, and is held inside the flange 233 by the limiting step of the flange 233, thus restricting the relative movement of the tapered connecting rod 231 connected to the end cap 232 relative to the flange 233.

[0078] The central shaft of the front rolling motor 221 is hollow, and the tapered docking rod 231 passes through the hollow central shaft of the front rolling motor 221. The outer shell of the front rolling motor 221 is fixed to the flange 233 by set screws. At the same time, the rotor of the front rolling motor 221 is connected to the left end cover 213 or the right end cover 214 of the spherical shell of the sub-body spherical robot (in a preferred embodiment of the present invention, its rotor is connected to the right end cover 214 of the spherical shell).

[0079] The tapered connecting rod 231 is mounted on the central axis of the flange 233 via a spline, enabling axial relative movement of the tapered connecting rod 231 while maintaining relative stillness in the circumferential direction. To ensure smooth axial relative movement of the tapered connecting rod 231, a tension spring 234 is provided between the end cap 232 at the end of the tapered connecting rod 231 and the flange 233.

[0080] Flange 233 is secured to the left end cover 213 or the right end cover 214 of the spherical shell 21 of the spherical robot sub-body via double bearings 235. Simultaneously, flange 233 is also securely connected to the first central shaft 222 or the second central shaft 223 of the motion drive mechanism via a shaft hole. In a preferred embodiment of the invention, flange 233 is secured to the left end cover 213 of the spherical shell 21 of the spherical robot sub-body via double bearings 235, and simultaneously, flange 233 is securely connected to the first central shaft 222 of the motion drive mechanism via a shaft hole.

[0081] During the docking phase between the child spherical robot and the parent spherical robot, the conical docking rod 231 moves away from the flange along the axis of the flange 233 under the action of the capture docking mechanism 3. When the end cap at the end of the conical docking rod is in contact with the flange limiting step, the conical docking rod and the flange are in the maximum relative movement position. During the non-docking phase between the child spherical robot and the parent spherical robot, the conical docking rod and the flange are in the minimum relative movement position under the action of the tension spring 234.

[0082] Figure 13 This is a schematic diagram of the capture and docking mechanism of the present invention. As shown in the figure, the capture and docking mechanism 3 includes a hemispherical capture cylinder 31, a self-locking mechanism 32, and an annular self-locking trigger pin 33.

[0083] The top of the hemispherical capture tube 31 is symmetrically provided with a first connecting arm 311 and a second connecting arm 312, which are respectively connected to the mechanical legs 11 of the parent spherical robot via bearings. At the bottom of the hemispherical capture tube 31, there is an annular self-locking trigger pin 33, and on both sides of the bottom of the hemispherical capture tube 31, there is also a self-locking mechanism 32 that is linked to the annular self-locking trigger pin 33.

[0084] A vertically upward-pointing firing pin antenna 331 is provided on the annular self-locking trigger firing pin 33, pointing towards the parent spherical robot 1.

[0085] like Figure 14 As shown, the self-locking mechanism 32 constituting the capture docking mechanism 3 includes a mounting plate 321, two symmetrically arranged guide rods 322, two sliders 323, two limit pins 324, two locking tongues 325, and two compression springs 326.

[0086] Mounting plate 321 is mounted on both ends of capture tube 31 by set screws, and has a notch 3211 in the middle for the conical docking rod 231 of the passive docking mechanism for capturing the spherical robot.

[0087] Two guide rods 322, two sliders 323, two limit pins 324, two locking tongues 325, and two compression springs 326 are symmetrically arranged on both sides of the notch 3211 in the middle of the mounting plate. One end of the guide rod 322 is connected to a ring-shaped self-locking trigger pin 33, and the other end is connected to the slider 323 through the limit pin 324, which can drive the slider to move; the locking tongue 325 is connected to the slider 323. When the guide rod 322 moves up and down, under the transmission action of the limit pin 324, the slider 323 pulls the locking tongue 325 to move left and right, opening the notch 3211 in the middle of the mounting plate 321.

[0088] The compression spring 326 is fitted onto the locking tongue 325, and the other end is fixed to the mounting plate 321.

[0089] To ensure that the parent spherical robot can accurately capture the child spherical robot, this invention installs several binocular vision sensors on the outer wall of the parent spherical robot's shell. A first microprocessor is installed inside the parent spherical robot's shell to control the movement of the gearbox motor and the leg motors. A second microprocessor is installed inside the child spherical robot's shell to control the movement of the motion drive mechanism.

[0090] The invention also includes a remote controller, which wirelessly transmits data with a binocular vision sensor mounted on the parent spherical robot. The remote controller wirelessly controls a first microprocessor and a second microprocessor to remotely control the parent spherical robot to capture the child spherical robot, enabling the parent spherical robot to reconstruct the spherical robot according to different external environmental requirements to fulfill actual needs.

[0091] refer to Figures 11-14 When the parent spherical robot 1 needs to capture the child spherical robot 2, the first microprocessor accurately obtains the position of the child spherical robot to be captured through a binocular vision sensor, and outputs a control signal to drive the mechanical leg 11 to extend through the bevel gearbox. This causes the notch 3211 of the self-locking mechanism 32 on both sides of the capture docking mechanism 3 fixed to the end of the mechanical leg to approach and align with the conical docking rod 231 of the passive docking mechanism 23 on both sides of the spherical shell of the child spherical robot. Then, the mechanical leg 11 is further extended, causing the self-locking mechanism 32 of the capture docking mechanism to press the conical docking rod 231 of the passive docking mechanism 23 of the child spherical shell robot. The conical docking rod 231 squeezes the locking tongue 325 and pushes the locking tongue to be accommodated in the notch 3211 of the mounting plate. Under the action of the compression spring 326, the locking tongue 325 is reset. The parent spherical robot has completed capturing the child spherical robot.

[0092] When the parent spherical robot 1 needs to release the child spherical robot 2, the first microprocessor outputs a control signal to retract the mechanical leg 11 through the bevel gearbox. When the pin antenna 331 of the ring self-locking trigger pin 33 at the end of the mechanical leg is squeezed by the outer wall of the parent spherical robot's shell, the force is applied to the locking tongue 325 through the guide rod 322 fixed to it, pulling the locking tongue 325 to move and opening the locking tongue, so that the conical docking rod 231 of the passive docking mechanism 23 of the child spherical robot escapes from the notch 3211 of the self-locking mechanism of the capture docking mechanism, and the child spherical robot 2 separates from the parent spherical robot 1.

[0093] When the striker pin 331 on the ring self-locking trigger striker 33 of the capture docking mechanism is not squeezed by the outer wall of the mother spherical shell of the mother spherical robot, the locking tongue 325 remains closed under the action of the compression spring 326.

[0094] This invention utilizes the powerless input design of the capture docking mechanism 3 and the passive docking mechanism 23 of the daughter spherical robot. By taking advantage of the characteristic that the movement trajectory of the striker antenna 331 on the ring self-locking trigger striker 33 of the capture docking mechanism intersects with the outer wall of the shell of the mother spherical robot, the locking tongue 325 of the self-locking mechanism of the capture docking mechanism is opened. The locking tongue is kept closed by the compression spring without external force, thereby realizing the combination or separation of the mother spherical robot and the daughter spherical robot.

[0095] Advantages of this invention:

[0096] 1. It has the ability to be reconfigured and has multiple motion modes.

[0097] This invention, through the combination and separation design of the parent spherical robot and the daughter spherical robot, enables the reconstructed spherical robot to not only possess ground-based multi-motion mode capabilities but also aerial multi-motion mode capabilities. Facing various terrains such as flat surfaces, slopes, and mud, as well as wide-area environments such as wetlands, pipelines, and the air, it can switch motion modes according to different external environments, meeting the needs of tasks such as disaster relief, reconnaissance and detection, and autonomous collaborative operations.

[0098] 2. Strong resistance to overturning and impact.

[0099] This invention preserves a spherical or near-spherical shape in both the child spherical robot and the parent spherical robot, allowing them to move and perform tasks in any posture when landing.

[0100] In addition, since the spherical shell of the parent spherical robot of the present invention is a three-dimensional spatial structure composed of a horizontal rudder plate, a first longitudinal rudder plate, a second longitudinal rudder plate, a first transverse rudder plate, and a second transverse rudder plate, when the parent spherical robot completes the tumbling motion, it will bear the contact force and impact force from the ground. Compared with the spherical shell mechanism without internal support, it has stronger impact resistance.

[0101] 3. The mechanical leg drive method is relatively simple, flexible and efficient.

[0102] This invention utilizes a 1-DOF mechanical leg mechanism, driven by a single thigh motor, to enable the quadrupedal walking, jumping, and rolling movements of the parent spherical robot. Simultaneously, it can capture and dock with the child spherical robot, reconstructing it into multiple motion modes.

[0103] Finally, it should be noted that the above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-motion-mode, multi-body reconfigurable spherical robot, characterized in that: It includes a parent spherical robot with multiple mechanical legs, several sub-spherical robots with amphibious mobility, and several capture and docking mechanisms. The mechanical legs of the parent spherical robot are retractable mechanical legs, and a capture docking mechanism for capturing the child spherical robot is fixed to the end of each mechanical leg. The capture and docking mechanism includes a hemispherical capture tube, a self-locking mechanism, and an annular self-locking trigger pin. The hemispherical capture tube is connected to the end of the mechanical leg. An annular self-locking trigger pin is provided at the bottom of the hemispherical capture tube, and an upward-pointing trigger pin antenna is provided on the annular self-locking trigger pin. On both sides of the bottom of the hemispherical capture tube, a self-locking mechanism is symmetrically provided, which is linked to the annular self-locking trigger pin and is used to lock the passive docking mechanism of the child spherical robot. The sub-spherical robot is equipped with a passive docking mechanism, which includes a tapered docking rod, an end cap, a flange, and a tension spring. The end cap is installed at the end of the tapered docking rod by a set screw and is held inside the flange by the limiting step of the flange. The tapered docking rod is installed on the central axis of the flange by a spline. A tension spring is provided between the end cap and the flange. The flange is clamped on both sides of the sub-spherical robot's shell by double bearings and is connected to the motion drive mechanism of the sub-spherical robot.

2. The multi-motion mode multi-body reconfigurable spherical robot according to claim 1, characterized in that: The parent spherical robot includes a parent spherical shell, a bevel gearbox, and several mechanical legs; the bevel gearbox is installed at the core of the parent spherical shell by set screws and is used to drive the mechanical legs to move; the mechanical legs are symmetrically arranged on the bevel gearbox and are linked with the bevel gears inside the bevel gearbox.

3. The multi-motion mode multi-body reconfigurable spherical robot according to claim 1, characterized in that: The sub-spherical robot includes a sub-spherical shell, the motion drive mechanism, and two symmetrically arranged passive docking mechanisms; The motion drive mechanism is located at the core of the sub-body spherical shell; the two passive docking mechanisms are respectively fixed to the motion drive mechanism through shaft hole cooperation, and are clamped at both ends of the sub-body spherical shell by double bearings.

4. The multi-motion mode multi-body reconfigurable spherical robot according to claim 1, characterized in that: The self-locking mechanism of the capture docking mechanism includes a mounting plate, two symmetrically arranged guide rods, two sliders, two limit pins, two locking tongues, and two compression springs; The mounting plate is installed at both ends of the capture cylinder by set screws, and a notch is opened in the middle for capturing the tapered docking rod; The two guide rods, two sliders, two limiting pins, two locking tongues, and two compression springs are symmetrically arranged on both sides of the notch in the middle of the mounting plate; one end of each guide rod is connected to the annular self-locking trigger pin, and the other end is connected to the slider through the limiting pin; the locking tongue is connected to the slider; when the guide rod moves up and down, under the transmission action of the limiting pin, the slider pulls the locking tongue to move horizontally. The compression spring is sleeved on the locking tongue and fixedly connected to the mounting plate.

5. The multi-motion mode multi-body reconfigurable spherical robot according to claim 2, characterized in that: The parent spherical shell includes several spherical shell lobes, a horizontal rudder, a first longitudinal rudder, a second longitudinal rudder, a first transverse rudder, and a second transverse rudder; The first longitudinal rudder plate and the second longitudinal rudder plate are symmetrically arranged on the longitudinal surface of the horizontal rudder plate; the first transverse rudder plate and the second transverse rudder plate are symmetrically arranged on the transverse surface of the horizontal rudder plate; the spherical shell flaps are arranged on the quadrant of the three-dimensional configuration formed by the horizontal rudder plate, the first longitudinal rudder plate, the second longitudinal rudder plate, the first transverse rudder plate and the second transverse rudder plate; the bevel gear box is installed at the center of the three-dimensional configuration. A circular hole is opened on each of the spherical shell segments, through which the mechanical leg passes and is connected to the bevel gearbox at the core of the mother spherical shell.

6. The multi-motion-mode multi-body reconfigurable spherical robot according to claim 2, characterized in that: The bevel gearbox includes a housing, a bevel gear set, a drive shaft, a flange, and a gearbox motor; The bevel gear set is fixed at the center of the housing. It is composed of several bevel gears meshing with each other, and a drive shaft is fixedly connected to the center of each bevel gear. The flange is fixed to the outer surface of the housing, and at the same time, the flange is fixed to one of the bevel gears in the bevel gear set through double bearings and the drive shaft; The gearbox motor is fixed on one of the drive shafts and drives one of the bevel gears in the bevel gear set to rotate.

7. The multi-motion mode multi-body reconfigurable spherical robot according to claim 1, characterized in that: The mechanical leg includes a femur, a first linkage chain, a second linkage chain, and a thigh motor; One end of the femur is fixed to the flange at the top corner of the bevel gearbox housing by a set screw, and the other end is connected to the first connecting rod chain and the second connecting rod chain by a bearing. The first and second linkage chains are arranged in parallel and connected by a support shaft; both the first and second linkage chains are composed of several linkage shafts connected together. The thigh motor is fixed to the femur. The end of the first linkage chain connected to the femur is connected to the rotor of the thigh motor through a set screw. Under the drive of the thigh motor, the extension and retraction of the first linkage chain and the second linkage chain, as well as the rotation relative to the femur, are realized.

8. The multi-motion mode multi-body reconfigurable spherical robot according to claim 1, characterized in that: It also includes a remote control; Several binocular vision sensors are installed on the outer wall of the spherical shell of the parent spherical robot; A first microprocessor for controlling the gearbox motor and thigh motor is installed inside the shell of the parent spherical robot; a second microprocessor for controlling the motion drive mechanism is installed inside the shell of the daughter spherical robot. The remote controller wirelessly transmits data with the binocular vision sensor. The remote controller wirelessly controls the first microprocessor and the second microprocessor to remotely control the parent spherical robot to capture or release the child spherical robot and reconstruct the spherical robot.

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