Spherical robot

Abstract

The invention relates to the technical field of spherical robots, and provides a spherical robot which comprises a robot spherical machine body, two robot spherical wheel sets, a robot wheel rotation driving mechanism, a battery balance system, a balance adjusting system, a sensing system, a communication system and a working assembly. The two robot spherical wheel sets are arranged on the side face of the robot spherical machine body to form a complete sphere structure, and the robot wheel rotation driving mechanism, the battery balance system, the balance adjusting system, the sensing system, the communication system and the working assembly are arranged in the robot spherical machine body. The output end of the robot wheel rotation driving mechanism is connected with the robot spherical wheel sets, the two robot spherical wheel sets intersect and converge on the lower side of the robot spherical machine body to form an intersection to jointly support the whole robot, and the device is reasonable in structure, convenient to use and capable of automatically adapting to the complex environment, stably running and executing diversified tasks.

Description

Technical Field

[0001] This invention relates to the field of spherical robot technology, and more particularly to a spherical robot. Background Technology

[0002] A spherical robot is a novel type of specialized robot capable of omnidirectional movement. It is a robotic system that integrates its drive mechanism and control system within a spherical shell, utilizing the spherical shell as its locomotion mechanism. In recent years, many experts and scholars both domestically and internationally have conducted research on spherical robots, and several different structural types of spherical robots have been developed. Spherical robots are a type of specialized robot that has emerged and developed rapidly both domestically and internationally in recent years.

[0003] As disclosed in application number CN201910779804.9, a rolling robot with an external swing arm suffers from the problem that the driving torque generated by the built-in swing block of existing rolling robots is small, resulting in insufficient driving force and affecting control accuracy. This device includes a rolling shell, with a horizontally arranged main shaft between the left and right side walls of the shell. The main shaft can rotate relative to the shell. A horizontally arranged secondary shaft perpendicular to the main shaft is provided at the center of the main shaft. The secondary shaft can rotate on its own axis and rotate with the main shaft. Both ends of the secondary shaft are suspended, and internal swing blocks are fixedly suspended below both ends of the secondary shaft. External swing arms are fixedly arranged outside the shell at both ends of the main shaft.

[0004] However, the working parts of existing spherical robots are set on the external swing arm. Due to the small installation space of the external swing arm, it is not possible to set up large functional components. Moreover, the functional components that are set up are simple and have poor adaptability. Therefore, they cannot be used as a general spherical mobile platform, resulting in a narrow range of applications. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides a spherical robot.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A spherical robot includes: a spherical robot body, spherical robot wheelsets, a robot wheel rotation drive mechanism, a battery balancing system, a balance adjustment system, a sensing system, a communication system, and working components. The spherical robot wheelsets are arranged in two sets, forming a complete spherical structure on the side of the spherical robot body. The robot wheel rotation drive mechanism, battery balancing system, balance adjustment system, sensing system, communication system, and working components are housed within the spherical robot body. The output end of the robot wheel rotation drive mechanism is connected to the spherical robot wheelsets. The two sets of spherical robot wheelsets intersect and converge on the underside of the spherical robot body, forming a convergence point that jointly supports the entire robot.

[0008] Preferably, the upper side of the robot's spherical body is spherical, and the side has two sloping surfaces, forming an overall inverted triangular structure. The side of the robot's spherical body is connected to the robot's spherical wheel assembly.

[0009] Preferably, the battery balancing system includes: a battery casing, a battery, and a battery rotation drive mechanism. The battery is disposed at the center of the robot's spherical body, the battery rotation drive mechanism is fixedly connected to the robot's spherical body, the battery is disposed inside the battery casing, the battery casing is fixedly connected to the output end of the battery rotation drive mechanism, and the battery casing is rotatably disposed inside the robot's spherical body.

[0010] Preferably, the balance adjustment system includes one or more sets of gyroscope components, each gyroscope component including: a gyroscope rotation drive mechanism and a flywheel, wherein the gyroscope rotation drive mechanism is fixedly installed in the spherical body of the robot, and the output end of the gyroscope rotation drive mechanism is fixedly connected to the flywheel.

[0011] Preferably, the sensing system includes: one or more sets of sensors or a combination of multiple sets of sensors, wherein the sensors are optical sensors, electromagnetic sensors or acoustic sensors.

[0012] Preferably, the communication system adopts a wireless communication structure, a wired communication structure, an acoustic communication structure, an optical communication structure, or a composite communication structure combining multiple communication structures. The communication system is a composite system of one-way reception, two-way transmission and reception, relay, or transmission and reception relay.

[0013] Preferably, the working component is a robotic arm, a weapon, an explosive device, or a functional component.

[0014] Preferably, the robot spherical wheel assembly includes: a tire, a blade, a wheel axle, a blade axle frame, a blade shaft, and a blade drive rotation mechanism. The wheel axle is disposed inside the tire, the wheel axle is fixedly connected to the blade axle frame, the blade shaft is movably connected to the blade inside the blade axle frame, and the end of the blade shaft is fixedly connected to the output end of the blade drive rotation mechanism.

[0015] Preferably, the tire includes: a tire body, grip protrusions and blade avoidance grooves, wherein multiple sets of grip protrusions are provided and the multiple sets of grip protrusions are evenly arrayed on the outer surface of the tire body, and the blade avoidance grooves are provided at the blade unfolding area.

[0016] The advantages of this invention are as follows: by setting two sets of intersecting robot spherical wheel sets to drive the movement of the whole machine, the two sets of robot spherical wheel sets can move in the same direction, in opposite directions, at the same speed, or at different speeds, thereby enabling it to quickly complete highly difficult maneuvers such as forward movement, backward movement, turning in place, and even lateral translation. By setting a battery balancing system and a balancing adjustment system, the stability of the device during movement is ensured. It provides a reconfigurable and universal robot mobile chassis, which can expand the application range by replacing different working modules. Attached Figure Description

[0017] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0018] Figure 1 This is a schematic diagram of the structure of the present invention;

[0019] Figure 2 This is a cross-sectional view of the present invention from one angle;

[0020] Figure 3 This is a cross-sectional view of the structure from angle two of the present invention;

[0021] Figure 4 This is a schematic diagram of the spherical body of the robot of the present invention;

[0022] Figure 5 This is a schematic diagram of the battery balancing system of the present invention;

[0023] Figure 6 This is a schematic diagram of the balance adjustment system of the present invention;

[0024] Figure 7 This is a schematic diagram of the spherical wheel assembly of the robot of the present invention;

[0025] Figure 8 This is a schematic diagram of the tire structure of the present invention.

[0026] Explanation of reference numerals in the attached figures:

[0027] 1. Robot spherical body; 2. Robot spherical wheel assembly; 3. Robot wheel rotation drive mechanism; 4. Battery balancing system; 5. Balance adjustment system; 6. Sensing system; 7. Communication system; 8. Working components; 41. Battery casing; 42. Battery; 43. Battery rotation drive mechanism; 51. Gyroscope assembly; 52. Gyroscope rotation drive mechanism; 53. Flywheel; 21. Tire; 22. Propeller blade; 23. Wheel axle; 24. Propeller blade bracket; 25. Propeller blade shaft; 211. Tire body; 212. Grip protrusion; 213. Propeller blade avoidance groove. Detailed Implementation

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0029] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0030] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0031] Example 1, combined with Figure 1 , Figure 2 , Figure 3 and Figure 4 Explanation:

[0032] A spherical robot includes: a spherical robot body 1, a spherical robot wheel assembly 2, a robot wheel rotation drive mechanism 3, a battery balancing system 4, a balance adjustment system 5, a sensing system 6, a communication system 7, and working components 8.

[0033] The robot spherical wheel assembly 2 is provided in two sets. The outer side of the robot spherical wheel assembly 2 is spherical, and the inner side is flat, forming a hemispherical structure. The inner side mates with the two sides of the robot spherical body 1. The rotation axes of the two robot spherical wheel assemblies 2 are perpendicular to the sides of the robot spherical body 1.

[0034] Two sets of robot spherical wheel sets 2 are set on the side of the robot spherical body 1 to form a complete spherical structure. The robot wheel rotation drive mechanism 3, battery balancing system 4, balance adjustment system 5, sensing system 6, communication system 7 and working components 8 are set inside the robot spherical body 1. The robot spherical body 1 is provided with installation space for working components 8, clearance space for battery balancing system 4, one or more openings for sensing system 6, one or more openings for communication system 7, installation space for drive mechanism of robot spherical wheel set 2, and installation space for balance adjustment system 5.

[0035] The robot wheel rotation drive mechanism 3 adopts a mechanical rotation drive structure, such as multi-link, gear and rack, worm gear, hydraulic and pneumatic, etc. The robot wheel rotation drive mechanism 3 provides the driving torque required for the spherical robot to move.

[0036] The output end of the robot wheel rotation drive mechanism 3 is connected to the robot spherical wheel set 2. The two sets of robot spherical wheel sets 2 intersect and converge on the lower side of the robot spherical body 1 to form a meeting point, which together support the entire robot.

[0037] The upper side of the spherical robot body 1 is spherical, and the side has two sloping surfaces, forming an inverted triangular structure. The side of the spherical robot body 1 is connected to the spherical robot wheel assembly 2.

[0038] The sensing system 6 includes: one or more sets of sensors or a combination of multiple sets of sensors, wherein the sensors are optical sensors, electromagnetic sensors or acoustic sensors.

[0039] The communication system 7 adopts a wireless communication structure, a wired communication structure, an acoustic communication structure, an optical communication structure, or a composite communication structure combining multiple communication structures. The communication system 7 is a composite system that can be unidirectional receiving, bidirectional transmitting and receiving, relaying, or transmitting and receiving relaying.

[0040] The working component 8 can be various types of robotic arms, weapons, explosives, or functional components, thereby expanding the application range.

[0041] Example 2, based on Example 1, combined with... Figure 5 and Figure 6 Explanation:

[0042] The battery balancing system 4 includes: a battery casing 41, a battery 42, and a battery rotation drive mechanism 43. The battery 42 is located at the center of the robot spherical body 1. The battery rotation drive mechanism 43 is fixedly connected to the robot spherical body 1. The battery 42 is located inside the battery casing 41. The battery casing 41 is fixedly connected to the output end of the battery rotation drive mechanism 43. The battery casing 41 is rotatably located inside the robot spherical body 1.

[0043] The battery-driven rotary drive mechanism 43 employs a mechanical rotary drive structure, such as a multi-link, rack and pinion, worm gear, or hydraulic / pneumatic system. The battery-driven rotary drive mechanism 43 provides the torque necessary to maintain the balance of the robot's spherical body 1.

[0044] The balance adjustment system 5 includes one or more sets of gyroscope components 51. Each gyroscope component 51 includes a gyroscope rotation drive mechanism 52 and a flywheel 53. The gyroscope rotation drive mechanism 52 is fixedly installed inside the spherical body 1 of the robot, and the output end of the gyroscope rotation drive mechanism 52 is fixedly connected to the flywheel 53.

[0045] The gyroscope rotation drive mechanism 52 adopts a mechanical rotation drive structure, such as multi-link, gear rack, worm gear, hydraulic pneumatic, etc.

[0046] Example 3, based on Example 2, combined with Figure 7 and Figure 8 Explanation:

[0047] The robot spherical wheel assembly 2 includes: a tire 21, a blade 22, a wheel axle 23, a blade shaft frame 24, a blade shaft 25, and a blade drive rotation mechanism. The wheel axle 23 is disposed inside the tire 21 and is fixedly connected to the blade shaft frame 24. The blade shaft frame 24 is movably connected to the blade 22 via the blade shaft 25. The end of the blade shaft 25 is fixedly connected to the output end of the blade drive rotation mechanism.

[0048] The blade shaft holder 24 includes a wheel hub and a blade mounting bracket.

[0049] The blade-driven rotary mechanism adopts a mechanical rotary drive structure, such as multi-link, gear rack, worm gear, hydraulic pneumatic, etc.

[0050] The tire 21 includes: a tire body 211, grip protrusions 212, and blade avoidance grooves 213. Multiple sets of grip protrusions 212 are evenly arrayed on the outer surface of the tire body 211. The blade avoidance grooves 213 are located at the unfolded part of the blades 22. The grip protrusions 212 can take the form of raised or recessed treads or other forms that increase friction.

[0051] The working principle of this invention is as follows: During use, the robot wheel rotation drive mechanism 3 is activated, generating torque to drive the respective tires 33 to rotate. Due to the friction between the grip protrusions 212 of the tires 21 and the ground, the rotating tires 21 will propel the robot forward, backward, or turn. Because there are two independently driven wheels, by controlling the differential speed of the two wheels, one fast and one slow, or one rotating in the forward direction and one in the reverse direction, the robot can achieve flexible turning, or even rotate in place. During the rolling process, in order to prevent the spherical body 1 of the robot from tipping over due to bumps or acceleration, the battery assembly 61 will rotate around the battery assembly mounting axis. This is like an internal gravity gyroscope, which generates an eccentric gravitational torque by changing its own position, which cancels out the external interference torque in real time, thereby maintaining the balance and stability of the body. This device can also switch between land mode and water mode by retracting or extending the propellers 22. This device has a reasonable structure, is easy to use, and can autonomously adapt to complex environments, operate stably, and perform diverse tasks.

[0052] For those skilled in the art, the present invention is not limited to the details of the exemplary embodiments described above, and can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention; therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Therefore, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0053] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any minor modifications, equivalent substitutions, and improvements made to the above embodiments based on the technical essence of the present invention should be included within the protection scope of the present invention.

Claims

1. A spherical robot, characterized in that, include: The robot has a spherical body (1), a spherical wheel assembly (2), a robot wheel rotation drive mechanism (3), a battery balancing system (4), a balance adjustment system (5), a sensing system (6), a communication system (7), and a working component (8). The robot spherical wheel assembly (2) consists of two sets, which are arranged on the side of the robot spherical body (1) to form a complete spherical structure. The robot wheel rotation drive mechanism (3), battery balancing system (4), balance adjustment system (5), sensing system (6), communication system (7), and working component (8) are arranged inside the robot spherical body (1). The output end of the robot wheel rotation drive mechanism (3) is connected to the robot spherical wheel assembly (2). The two sets of robot spherical wheel assemblies (2) intersect and converge on the lower side of the robot spherical body (1) to form a convergence point, which together support the entire robot.

2. A spherical robot according to claim 1, characterized in that, The upper side of the spherical body (1) of the robot is spherical, and the side side is two inclined planes. The whole structure is an inverted triangle. The side of the spherical body (1) of the robot is connected to the spherical wheel set (2).

3. A spherical robot according to claim 1, characterized in that, The battery balancing system (4) includes: a battery casing (41), a battery (42) and a battery rotation drive mechanism (43). The battery (42) is located at the center of the robot spherical body (1). The battery rotation drive mechanism (43) is fixedly connected to the robot spherical body (1). The battery (42) is located inside the battery casing (41). The battery casing (41) is fixedly connected to the output end of the battery rotation drive mechanism (43). The battery casing (41) is rotatably located inside the robot spherical body (1).

4. A spherical robot according to claim 1, characterized in that, The balance adjustment system (5) includes one or more sets of gyroscope components (51). The gyroscope components (51) include: a gyroscope rotation drive mechanism (52) and a flywheel (53). The gyroscope rotation drive mechanism (52) is fixedly installed inside the spherical body (1) of the robot. The output end of the gyroscope rotation drive mechanism (52) is fixedly connected to the flywheel (53).

5. A spherical robot according to claim 1, characterized in that, The sensing system (6) includes: one or more sets of sensors or a combination of multiple sets of sensors, wherein the sensors are optical sensors, electromagnetic sensors or acoustic sensors.

6. A spherical robot according to claim 1, characterized in that, The communication system (7) adopts a wireless communication structure, a wired communication structure, an acoustic communication structure, an optical communication structure, or a composite communication structure combining multiple communication structures. The communication system (7) is a composite system of one-way reception, two-way transmission and reception, relay, or transmission and reception relay.

7. A spherical robot according to claim 1, characterized in that, The working component (8) is a type of robotic arm, weapon, explosive, or functional component.

8. A spherical robot according to claim 1, characterized in that, The robot spherical wheel assembly (2) includes: a tire (21), a blade (22), a wheel axle (23), a blade shaft frame (24), a blade shaft (25), and a blade drive rotation mechanism. The wheel axle (23) is located inside the tire (21). The wheel axle (23) is fixedly connected to the blade shaft frame (24). The blade shaft frame (24) is movably connected to the blade (22) through the blade shaft (25). The end of the blade shaft (25) is fixedly connected to the output end of the blade drive rotation mechanism.

9. A spherical robot according to claim 8, characterized in that, The tire (21) includes: a tire body (211), grip protrusions (212) and blade avoidance grooves (213). The grip protrusions (212) are provided in multiple sets, and the multiple sets of grip protrusions (212) are evenly arrayed on the outer surface of the tire body (211). The blade avoidance grooves (213) are provided at the unfolded part of the blades (22).

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