Spherical rolling and jumping robot
By designing a spherical rolling robot that combines the structures of a spherical and jumping robot, and employing a six-bar linkage and gear system, efficient movement in complex environments is achieved. This solves the problems of low driving torque in spherical robots and low energy utilization in jumping robots, and improves the robot's ability to traverse rough terrain.
Patent Information
- Application Number
- CN202411102162.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-12
- Publication Date
- 2026-02-13
AI Technical Summary
Existing spherical robots have low driving torque in complex environments and poor ability to traverse rugged terrain, while jumping robots have low energy utilization during movement and are difficult to move efficiently in complex environments.
Design a spherical rolling and jumping robot that combines the structures of a spherical robot and a jumping robot. Employ a six-bar linkage, gear system, and energy storage components to achieve efficient energy utilization and adaptability to complex environments through a combination of rolling and jumping.
It achieves efficient movement in complex environments, combining the stability of a spherical robot with the obstacle-crossing ability of a jumping robot, thus improving its ability to traverse rugged terrain.
Smart Images
Figure CN121516129A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of special robots, specifically relating to a spherical robot that can roll and jump for exploration in complex environments. Background Technology
[0002] Exploration in complex and harsh environments, including search and rescue, interstellar exploration, or exploration in fields such as counter-terrorism, military, and archaeology, may involve robots encountering relatively flat ground or obstacles larger than their own size. Spherical robots offer advantages such as high energy efficiency on flat surfaces, no tipping, and the protection of internal devices and instruments by their enclosed shells. However, due to their gravity-driven propulsion method, which relies on altering eccentric mass, their driving torque is low, resulting in poor ability to traverse rough terrain. Jumping robots possess the ability to overcome tall obstacles, but jumping is a movement method that relies on explosive force and high energy density in a short time. Therefore, there is significant energy loss due to collisions and impacts during the movement, leading to low energy efficiency. In conclusion, both spherical robots and jumping robots have their own advantages and disadvantages when facing complex environments, but neither is well-suited for exploration tasks in complex environments. Spherical jumping robots combine the advantages of both spherical robots and jumping robots, and have a stronger ability to navigate complex environments. Summary of the Invention
[0003] The present invention provides a spherical rolling and jumping robot that organically combines a spherical robot and a jumping robot, proposing a spherical robot that can freely roll and repeatedly jump on the ground. This robot can combine the structural advantages of spherical robots and jumping robots and select an appropriate mode of movement in complex environments.
[0004] Technical solution: A spherical rolling and jumping robot, comprising: a spherical shell, a motion frame, a rolling drive device, a jumping device, and a jumping drive device; the rolling drive device is mounted on the motion frame, which is mounted inside the spherical shell and rotatably connected to it; the jumping device consists of a six-bar linkage, gear 1, gear 2, an energy storage element, and jumping feet, wherein the six-bar linkage consists of a top frame, a bottom frame, upper arm links, and lower arm links, with two upper arm links and two lower arm links; there are two gears 1, which are respectively connected to the two upper arm links. One end is fixedly connected to two gears 1, which mesh with each other and are hinged to the top frame; there are two gears 2, each fixedly connected to one end of a forearm link, and the two gears 2 mesh with each other and are hinged to the bottom frame; the other ends of the two upper arm links are respectively hinged to the other ends of the two forearm links; the two ends of the energy storage element are fixedly connected to the hinge points of the upper arm links and forearm links respectively; the jumping foot is fixedly connected to the bottom frame; the jumping device is fixedly connected to the motion frame through the top frame; the jumping foot extends outside the spherical shell and can move relative to the spherical shell under the drive of the six-bar linkage; the jumping drive device is powered by an energy storage device. The device comprises a motor, an energy storage motor frame, a gearbox, a roller, and a pull rope. The energy storage motor housing is fixedly connected to the energy storage motor frame, and the energy storage motor output shaft is fixedly connected to gear 4. The gearbox is fixedly connected to the energy storage motor frame, and the gearbox output shaft is fixedly connected to the roller. One end of the pull rope is fixedly connected to the roller, and the other end is fixedly connected to the jumping foot. Driven by the energy storage motor, the gearbox output shaft drives the roller to rotate, thereby winding the pull rope and pulling the six-bar linkage to retract, thus stretching the energy storage element to store energy. The gearbox includes a ratchet and pawl mechanism, a compression spring, a one-way bearing, and a missing gear, used to realize the gearbox's... One-way locking and unlocking; the one-way locking and unlocking process is described as follows: When the energy storage motor rotates forward, the pawl does not rotate with the gearbox input shaft under the action of the one-way bearing, but only holds the ratchet under the action of the compression spring. When the missing gear in the gearbox rotates to a certain angle, the missing gear disengages from the meshing state, so that the gearbox output shaft is no longer affected by the energy storage motor. Then, the energy storage motor reverses, the pawl rotates with the gearbox input shaft and disengages from the ratchet, the one-way locking of the gearbox is released, the energy storage element quickly releases energy and drives the jumping leg to move out of the spherical shell through the six-bar linkage, realizing the robot's jumping.
[0005] The preferred energy storage element is a spring;
[0006] Preferably, the missing gear is an incomplete gear, which has an incomplete number of teeth.
[0007] Preferably, the end of the jumping foot extending out of the spherical shell is a spherical crown. Attached Figure Description
[0008] Figure 1 This is a three-dimensional schematic diagram of the surface of the present invention.
[0009] Figure 2 This is a schematic diagram of the internal structure of the spherical shell of the present invention when opened.
[0010] Figure 3 This is a schematic diagram of the jumping device of the present invention.
[0011] Figure 4 This is a schematic diagram of the internal structure of the jump drive device of the present invention.
[0012] Figure 5 This is a front view of the gearbox of the present invention.
[0013] Figure 6 This is a schematic diagram of the rolling state of the present invention. In the diagram, 1-spherical crown, 2-spherical shell, 3-pull rope, 4-jumping foot, 5-movement frame, 6-drive motor, 7-energy storage motor, 8-pendulum motor, 9-pendulum motor frame, 10-pendulum, 11-top gear, 12-gear 1, 13-energy storage element, 14-gearbox, 15-top frame, 16-upper arm link, 17-lower arm link, 18-gear 2, 19-bottom frame, 20-energy storage motor frame, 21-roller, 22-gearbox intermediate shaft, 23-gearbox output shaft, 24-gear 3, 25-gear 4, 26-pawl, 27-gearbox input shaft, 28-missing gear, 29-gearbox frame, 30-gear 5, 31-ratchet, 32-gear 6, 33-compression spring, 34-one-way bearing. Detailed Implementation
[0014] To make the technical solutions and structural features of the present invention clearer, the technical solutions in the embodiments of the invention will be described completely and clearly below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art are within the scope of protection of the present invention.
[0015] like Figure 1 , 2 As shown, the rolling part of a spherical rolling robot of the present invention consists of a spherical shell, a rolling drive device, and a motion frame. The rolling drive device comprises a spherical crown, a top gear, a drive motor, a pendulum motor frame, a pendulum motor, and a pendulum. The spherical shell has cylindrical holes at its top and bottom. The top hole has a ring of internal teeth. The spherical crown has a boss that rotatably engages with the cylindrical hole at the top of the spherical shell. The boss passes through the cylindrical hole at the top of the spherical shell and is fixedly connected to one end of the motion frame. The other end of the motion frame has a boss that rotatably engages with the cylindrical hole at the bottom of the spherical shell. The drive motor housing is fixedly connected to the motion frame, and its output shaft is fixedly connected to the top gear. The top gear meshes with the internal teeth on the cylindrical hole at the top of the spherical shell. Driven by the drive motor, the spherical shell can rotate relative to the motion frame. The pendulum motor housing is fixedly connected to the pendulum motor frame, the pendulum motor output shaft is fixedly connected to the pendulum, and the pendulum motor frame is fixedly connected to the motion frame. The pendulum motor can drive the pendulum to move relative to the motion frame.
[0016] like Figure 3 As shown, the spherical rolling robot jumping device of the present invention consists of a six-bar linkage, gear 1, gear 2, energy storage element, and jumping foot. The six-bar linkage comprises a top frame, a bottom frame, upper arm links, and lower arm links, with two upper arm links and two lower arm links. There are two gear 1s, each fixedly connected to one end of one of the two upper arm links, meshing and hinged to the top frame. There are two gear 2s, each fixedly connected to one end of one of the two lower arm links, meshing and hinged to the bottom frame. The other ends of the two upper arm links are hinged to the other ends of the two lower arm links. The energy storage element is fixedly connected at both ends to the hinge points of the upper arm links and lower arm links, allowing it to store energy during the stretching or rebound of the six-bar linkage. The jumping foot is fixedly connected to the bottom frame. The jumping device is fixedly connected to the motion frame via the top frame. The jumping foot extends outside the spherical shell and can move relative to the spherical shell under the influence of the six-bar linkage.
[0017] like Figure 4 , 5 As shown, the spherical rolling robot jumping drive device of the present invention consists of an energy storage motor, an energy storage motor frame, a gearbox, a roller, and a pull rope. The gearbox comprises gear 3, gear 4, a missing gear, gear 5, gear 6, a gearbox input shaft, a gearbox intermediate shaft, a gearbox output shaft, a ratchet, a pawl, a one-way bearing, a compression spring, and a gearbox frame. The energy storage motor is fixedly connected to the energy storage motor frame, the energy storage motor frame is fixedly connected to the gearbox frame, the gearbox frame is fixedly connected to the motion frame, and the energy storage motor output shaft is fixedly connected to gear 4. The gearbox input shaft, gearbox intermediate shaft, and gearbox output shaft are all rotatably connected to the energy storage motor frame. Gear 3, the missing gear, and the inner ring of the one-way bearing are all fixedly connected to the gearbox input shaft, allowing them to rotate relative to the energy storage motor frame with the gearbox input shaft. The pawl is fixedly connected to the outer ring of the one-way bearing, allowing the pawl to rotate only unidirectionally relative to the gearbox input shaft. Gear 5 is fixedly connected to the gearbox intermediate shaft and meshes with the missing gear and gear 6 respectively. Gear 6 and the ratchet are both fixed to the gearbox output shaft. One end of the compression spring is fixed to the pawl, and the other end is fixed to the gearbox frame. Under the action of the spring force, the pawl holds the ratchet, making it rotate only in one direction. The roller is fixed to the gearbox output shaft. One end of the pull rope is fixed to the roller, and the other end passes through the six-bar linkage and is fixed to the jumping foot. The gearbox achieves one-way locking and unlocking of the gearbox through the ratchet and pawl mechanism, compression spring, one-way bearing, and missing gear. The behavior is as follows: When the energy storage motor rotates forward, the pawl does not rotate with the gearbox input shaft under the action of the one-way bearing, but only holds the ratchet under the action of the compression spring. When the missing gear in the gearbox rotates to a certain angle, the missing gear disengages, so that the gearbox output shaft is not affected by the energy storage motor. Then, the energy storage motor reverses, the pawl rotates with the gearbox input shaft and disengages from the ratchet, the one-way locking of the gearbox is released, the energy storage element quickly releases energy and drives the jumping foot to move out of the spherical shell through the six-bar linkage, realizing the robot's jump.
[0018] like Figure 6 As shown, the robot is in a rolling state. In this state, the combination of the drive motor and the pendulum motor drives the pendulum to rotate relative to the spherical shell, changing the position of the robot's center of mass, thereby realizing the robot's rolling on the ground.
[0019] The jumping process of a spherical rolling robot according to the present invention is as follows: First, the energy storage motor drives the gear set to rotate in the forward direction, causing the roller to wind around the pull rope. The pull rope tightens the six-bar linkage and retracts into the spherical shell. Under the action of the ratchet and pawl, the gearbox is locked in one direction, and the pull rope cannot be pulled in the opposite direction. Second, when the jumping foot retracts into the shell, making the whole thing spherical, as... Figure 6 As shown, at this time, the missing gear in the gearbox rotates to a certain angle, and the missing gear disengages, so that the output shaft of the gearbox is no longer affected by the energy storage motor; next, the robot adjusts its posture by using the pendulum to make the jumping foot contact the ground; finally, the energy storage motor reverses, the pawl disengages from the ratchet, the one-way lock of the gearbox is released, and the energy storage element quickly releases energy to drive the six-bar linkage to extend out of the spherical shell, realizing the robot's jump.
[0020] It should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A spherical rolling robot, characterized in that... include: Spherical shell, motion frame, rolling drive device, jumping device, jumping drive device; The rolling drive device is mounted on the motion frame, which is installed inside the spherical shell and rotates in connection with it. The jumping device consists of a six-bar linkage, gear 1, gear 2, an energy storage element, and a jumping foot. The six-bar linkage consists of a top frame, a bottom frame, a boom link, and a forearm link, with two boom links and two forearm links. There are two gear 1s, each fixed to one end of a boom link, meshing and hinged to the top frame. There are two gear 2s, each fixed to one end of a forearm link, meshing and hinged to the bottom frame. The other ends of the boom links are hinged to the other ends of the forearm links. The energy storage element is fixed at both ends to the hinge points of the boom and forearm links. The jumping foot is fixed to the bottom frame. The jumping device is fixed to the motion frame via the top frame. The jumping foot extends outside the spherical shell and can move relative to the spherical shell under the drive of the six-bar linkage. The jumping drive device consists of an energy storage motor, an energy storage motor frame, a gearbox, a roller, and a pull rope. The energy storage motor housing is fixedly connected to the energy storage motor frame, and the energy storage motor output shaft is fixedly connected to gear 4. The gearbox is fixedly connected to the energy storage motor frame, and the gearbox output shaft is fixedly connected to the roller. One end of the pull rope is fixedly connected to the roller, and the other end is fixedly connected to the jumping foot. The gearbox output shaft drives the roller to rotate under the drive of the energy storage motor, thereby winding the pull rope and pulling the six-bar linkage to retract, causing the energy storage element to be stretched and store energy. The gearbox includes a ratchet and pawl mechanism, a compression spring, a one-way bearing, and a missing gear, used for... The system enables one-way locking and unlocking of the gearbox. The one-way locking and unlocking process is described as follows: When the energy storage motor rotates forward, the pawl does not rotate with the gearbox input shaft under the action of the one-way bearing. It only holds the ratchet under the action of the compression spring. When the missing gear in the gearbox rotates to a certain angle, the missing gear disengages, so that the gearbox output shaft is no longer affected by the energy storage motor. Then, the energy storage motor reverses, and the pawl rotates with the gearbox input shaft to disengage from the ratchet. The one-way locking of the gearbox is released, and the energy storage element quickly releases energy and drives the jumping leg to move out of the spherical shell through the six-bar linkage, realizing the robot's jumping.
2. The spherical rolling robot according to claim 1, characterized in that... The energy storage element is a spring.
3. A spherical rolling robot according to claim 1, characterized in that... The missing gear is an incomplete gear, meaning that the number of teeth on the gear is incomplete.
4. A spherical rolling robot according to claim 1, characterized in that... The jumping foot extends from one end of the spherical shell to form a spherical crown.