A wheel-foot combined spherical robot
Patent Information
- Application Number
- CN202522276678.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-28
- Publication Date
- 2026-09-11
- Estimated Expiration
- 2035-10-28
AI Technical Summary
[0002]随着机器人技术在复杂环境作业、灾害救援、星球探测等领域的广泛应用，对移动机器人的运动灵活性和地形适应性提出了更高要求，传统移动机器人主要分为轮式、履带式、足式等类型，但均存在显著局限
[0011]与现有技术相比，本实用新型所达到的有益效果是：本实用新型，
Smart Images
Figure CN224739498U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of intelligent mobile robot structural design technology, specifically relating to a spherical robot with a wheel-leg composite structure. Background Technology
[0002] With the widespread application of robotics technology in complex environment operations, disaster relief, planetary exploration and other fields, higher requirements have been placed on the mobility and terrain adaptability of mobile robots. Traditional mobile robots are mainly divided into wheeled, tracked and legged types, but all of them have significant limitations.
[0003] Wheeled / tracked robots are highly efficient on flat surfaces, but have weak obstacle-crossing capabilities and struggle to handle steep slopes, ravines, or unstructured terrain. Legged robots, while possessing strong obstacle-crossing capabilities, are complex in structure, slow in movement, consume a lot of energy, and are difficult to control. Pure spherical robots have advantages such as omnidirectional movement, anti-tipping, and low friction, but they suffer from low driving efficiency, inability to actively cross obstacles, and are prone to slipping on rough or soft surfaces. This phenomenon has become a problem that urgently needs to be solved by researchers in this field. Utility Model Content
[0004] The purpose of this invention is to provide a wheel-leg composite spherical robot to address the problems mentioned in the background art.
[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a wheel-foot composite spherical robot, including a spherical mechanism and a deployment mechanism, the deployment mechanism being located inside the spherical mechanism. The spherical mechanism includes a hemispherical shell and a spherical shell. The two ends of the deployment mechanism are bolted to the hemispherical shell. The deployment mechanism includes a housing and a lead rod. A support plate is bolted to the right side of the housing. The right side shaft of the lead rod is slidably connected to the housing. A second lead rod is pinned to the top right side of the lead rod. The housing is fitted onto the left side shaft of the second lead rod. A load-bearing beam is slidably connected to the right side of the housing. A sliding bearing is fitted on the left side of beam two. A connecting semi-circular flange is pinned to the right side of screw rod two. The connecting semi-circular flange is slidably connected to the right side of the load-bearing beam two. A slide rail is fixed in the middle of the shaft of screw rod two. A guide rail two is fitted in the middle of the shaft of screw rod two. The guide rail two has a slide rail groove inside, which allows the guide rail two to move horizontally on screw rod two. A connecting rod two is screwed to the bottom left side of the guide rail two. A threaded sealing ring is fitted on the outer ring of the left side of the guide rail two. A metal disc is screwed to the left side of the connecting rod two. A motor one is threaded to the bottom of the metal disc. A connecting rod one is screwed to the metal disc at a position symmetrical to the connecting rod two.
[0006] This utility model further explains that an array of threaded columns and a fixing block are fixedly connected inside the spherical shell. A large gear is connected to the threaded columns by screws. A small gear 1 and a small gear 2 mesh on the large gear. A square groove is provided on the outer ring of the large gear. The fixing block and the square groove are interference fit to fix the large gear circumferentially. A retaining ring is fixedly connected to one side of the fixing block to fix the large gear axially. Two sets of guide rails are fixedly connected inside the spherical shell. Four sets of pulley mechanisms are slidably connected to the guide rails.
[0007] This utility model further illustrates that the pulley mechanism has a symmetrical structure, and the pulley mechanism includes a first roller and a second roller. The first roller has a bearing inside which a first sleeve is connected. The left side of the first sleeve is bolted to a first support plate, and the right side of the first sleeve is bolted to a first support base plate. The second roller has a bearing inside which a second sleeve is connected. The right side of the second sleeve is bolted to a second support plate, and the left side of the second sleeve is bolted to the first support base plate. Two sets of motor frames are fixed to the outer side of the lower part of the second support plate, and the motor frames are bolted to a crawling mechanism.
[0008] The present invention further describes that a motor slot is fixed on the left side of the inner side of the second support plate, and a first geared motor is placed inside the motor slot. The first geared motor is located between the first support plate and the second support plate. A pinion gear is connected to the left output end of the first geared motor, and a second geared motor is connected to the left side of the pinion gear. A rectangular opening is provided on the second support plate, and a fixing plate is inserted into the rectangular opening. A battery is placed on the fixing plate.
[0009] This utility model further explains that the crawling mechanism includes a second motor. The second motor is bolted to a motor frame on one side near the support plate. A metal rudder disk is threaded to the top and bottom of the outer side of the second motor. A motor cross is screwed to the top of the metal rudder disk. Two sets of metal rudder disks are screwed to the left and right sides of the motor cross. A fifth motor is threaded between the two sets of metal rudder disks. Two sets of fixed motor plates are screwed to both sides of the fifth motor. The fixed motor plates are in contact with the metal rudder disks. A third motor is screwed to the left side of the fixed motor plate. A third metal rudder disk is threaded to both sides of the third motor. A lower leg is screwed to the third metal rudder disk.
[0010] This utility model further illustrates that a motor four is screwed to the lower outer side of the second support plate, and a stop bar is connected to the left shaft of the fourth motor. The lower end of the stop bar meshes with a large gear.
[0011] Compared with the prior art, the beneficial effects achieved by this utility model are: This utility model, (1) By setting up four sets of crawling mechanisms, the robot can move forward, backward, left and right and turn. By setting up a hemispherical shell, the four sets of crawling mechanisms can retract into the sphere when in a spherical state. By setting up rollers, the support plate will not roll along when the sphere is rolling, thus maintaining stability. Attached Figure Description
[0012] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the unfolding mechanism of this utility model; Figure 3 This is a schematic diagram showing the connection between the metal disc of this utility model and connecting rod one and connecting rod two; Figure 4 This is a schematic diagram of the internal frame of this utility model; Figure 5 This is a schematic diagram of the outer casing of this utility model; Figure 6 This is a schematic diagram of the support plate connecting pulley mechanism of this utility model; Figure 7 This is a schematic diagram of the crawling mechanism of this utility model; In the diagram: 1. Spherical mechanism; 101. Hemispherical shell one; 102. Spherical shell; 103. Large gear; 104. Small gear one; 105. Guide rail one; 106. Threaded column; 107. Retaining ring; 108. Fixing block; 109. Square groove; 110. Small gear two; 111. Hemispherical shell two; 2. Deployment mechanism; 201. Lead bar II; 202. Lead bar I; 203. Guide rail II; 204. Metal disc; 205. Load-bearing beam I; 206. Housing I; 207. Connecting rod II; 208. Connecting semi-circular flange; 209. Motor I; 210. Threaded sealing ring; 211. Sliding bearing; 212. Load-bearing beam II; 213. Housing II; 214. Connecting rod I; 215. Slide rail; 216. Slide rail groove; 3. Crawling mechanism; 301. Motor cross; 302. Motor mounting plate; 303. Lower leg; 304. Metal rudder disk one; 305. Motor two; 306. Metal rudder disk two; 307. Metal rudder disk three; 308. Motor three; 309. Motor five; 4. Support plate one; 401. Gear motor one; 402. Battery; 403. Fixing plate; 404. Gear motor two; 5. Pulley mechanism; 501. Roller 1; 502. Support base plate bar; 503. Sleeve 1; 504. Sleeve 2; 505. Roller 2; 6. Support plate two; 601. Rectangular opening; 602. Motor frame; 603. Motor slot; 604. Motor four; 605. Stop bar. Detailed Implementation
[0013] The following detailed, non-limiting description of the present invention, in conjunction with preferred embodiments and accompanying drawings, is provided. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.
[0014] Please see Figure 1-7 This utility model provides a technical solution: a wheel-foot composite spherical robot, including a spherical mechanism 1 and a deployment mechanism 2. The deployment mechanism 2 is located inside the spherical mechanism 1. The spherical mechanism 1 includes a hemispherical shell 101 and a spherical shell 102. The two ends of the deployment mechanism 2 are bolted to the hemispherical shell 101. The deployment mechanism 2 includes a housing 206 and a lead rod 202. A support plate 4 is bolted to the right side of the housing 206. The right side shaft of the lead rod 202 is slidably connected to the housing 206. A lead rod 201 is pinned to the top right side of the lead rod 202. A housing 213 is fitted onto the left side shaft of the lead rod 201. A load-bearing beam 212 is slidably connected to the right side of the housing 213. A sliding bearing 211 is fitted onto the left side of the load-bearing beam 212. The right side of the second 201 is connected to a connecting semi-circular flange 208 via a pin. The connecting semi-circular flange 208 is slidably connected to the right side of the inner part of the second load-bearing beam 212. A slide rail 215 is fixed in the middle part of the shaft of the second lead rod 201. A guide rail 203 is sleeved in the middle of the shaft of the second lead rod 201. The guide rail 203 has a slide rail groove 216 inside, which allows the guide rail 203 to move horizontally on the second lead rod 201. A connecting rod 207 is screwed to the bottom left side of the guide rail 203. A threaded sealing ring 210 is sleeved on the outer ring of the left side of the guide rail 203. A metal disc 204 is screwed to the left side of the connecting rod 207. A motor 209 is threaded to the bottom of the metal disc 204. A connecting rod 214 is screwed to the metal disc 204 at a position symmetrical to the connecting rod 207 (e.g., ...). Figure 3 (as shown) The spherical shell 102 has a fixed connection of an array of threaded columns 106 and a fixing block 108. The threaded columns 106 are screwed to a large gear 103. The large gear 103 is meshed with a small gear 104 and a small gear 2 110. The outer ring of the large gear 103 is provided with a square groove 109. The fixing block 108 and the square groove 109 are interference fit to fix the large gear 103 circumferentially. A retaining ring 107 is fixedly connected to one side of the fixing block 108 to fix the large gear 103 axially. The spherical shell 102 has a fixed connection of two sets of guide rails 105. The guide rails 105 are slidably connected to four sets of pulley mechanisms 5. The pulley mechanism 5 has a symmetrical structure. The pulley mechanism 5 includes roller 1 501 and roller 2 505. Roller 1 501 has a bearing inside and sleeve 1 503 connected to it. Support plate 1 4 is bolted to the left side of sleeve 1 503. Support base plate 502 is bolted to the right side of sleeve 1 503. Roller 2 505 has a bearing inside and sleeve 2 504 connected to it. Support plate 2 6 is bolted to the right side of sleeve 2 504. The left side of sleeve 2 504 is bolted to support base plate 502. Two sets of motor frames 602 are fixed to the outer side of the lower part of support plate 2 6. Crawling mechanism 3 is bolted to motor frames 602. A motor slot 603 is fixed on the left side of the inner side of the second support plate 6. A geared motor 401 is placed inside the motor slot 603. The geared motor 401 is located between the first support plate 4 and the second support plate 6. A pinion 104 is connected to the output end on the left side of the geared motor 401. A geared motor 404 is connected to the left side of the pinion 110. A rectangular opening 601 is provided on the second support plate 6. A fixing plate 403 is inserted into the rectangular opening 601. A battery 402 is placed on the fixing plate 403. The crawling mechanism 3 includes a second motor 305. The second motor 305 is bolted to the motor frame 602 on the side of the support plate 2 6. The top and bottom of the outer side of the second motor 305 are threaded to a metal rudder disk 304. The top of the metal rudder disk 304 is screwed to a motor cross 301. The left and right sides of the motor cross 301 are screwed to two sets of metal rudder disks 306. The left and right sides of the two sets of metal rudder disks 306 are threaded to a fifth motor 309. The two sides of the fifth motor 309 are screwed to two sets of fixed motor plates 302. The fixed motor plates 302 are in contact with the metal rudder disks 306. The left side of the fixed motor plate 302 is screwed to a third motor 308. The two sides of the third motor 308 are threaded to a third metal rudder disk 307. The third metal rudder disk 307 is screwed to a lower leg 303. The lower outer side of the support plate 26 is screwed to the motor 4 604. The left side of the motor 4 604 is shaft connected to the stop bar 605. The lower end of the stop bar 605 meshes with the large gear 103.
[0015] Working principle: This robot has two movement modes: spherical rolling and quadrupedal crawling. Spherical rolling is directly driven by dual motors, while quadrupedal crawling achieves movement on complex terrain through multi-joint coordination.
[0016] Spherical rolling: Gear motor 1 (401) and gear motor 2 (404) operate simultaneously in the same direction. Gear motor 1 (401) drives pinion 1 (104) to rotate, and gear motor 2 (404) drives pinion 2 (110) to rotate. Pinion 1 (104) and pinion 2 (110) drive the meshing large gear 103 to rotate, thus realizing the robot's forward and backward movement. When turning is required, only one gear motor (401) or gear motor 2 (404) needs to be operated, while the other gear motor (401) or gear motor 2 (404) is not driven.
[0017] Quadrupedal Crawling: To transform from a spherical state to a quadrupedal form, first turn on motor 209. Motor 209 drives metal disc 204 to rotate. Connecting rod 214 and connecting rod 207 on metal disc 204 rotate accordingly. Connecting rod 207 causes guide rail 203, which is connected to the screw on the right side, to move horizontally in the front bare rod area of lead rod 201. It also rotates horizontally in the middle area where there is slide rail 215. This pushes the load-bearing beam 212 to move horizontally to the right and causes the load-bearing beam 212 to rotate. The hemispherical shell 101 is bolted to the right side of the load-bearing beam 212. The load-bearing beam 205 also moves horizontally to the left in the same way, thereby enabling hemispherical shell 101 and hemispherical shell 211 to rotate outward and unfold, providing sufficient space for the quadrupedal to unfold. Four sets of crawling mechanisms 3 are bolted to support plates 1 (4) and 2 (6), namely, upper left and lower left, upper right and lower right. After opening hemispherical shell 1 (101) and hemispherical shell 2 (111), first turn on motor 5 (309), causing the fixed motor plate 302 to rotate towards the ground. Then turn on motor 3 (308), causing the lower legs 303 to rotate towards the ground and make them contact the ground, allowing all four legs to extend outwards and contact the ground simultaneously, creating distance between the entire sphere and the ground. At this point, it has transformed into a quadrupedal form. When crawling, the first step is to let the right leg... The motor 309 operates, causing the lower leg 303 to separate from the ground (lifting the leg). Then, motor 309 stops operating. Next, motor 305 operates, causing the cross-shaped motor 301 to rotate towards the central axis. Motor 305 stops operating, and then motor 309 rotates towards the ground, lowering the lower leg 303. The second step involves driving the lower left crawling mechanism 3 in the same way. The third step drives the upper left crawling mechanism 3, and the fourth step drives the lower right crawling mechanism 3. This sequential cycle enables forward crawling. When a right turn is needed, the first step rotates the upper right crawling mechanism 3 away from the central axis. The second step rotates the lower right crawling mechanism 3 towards the central axis. The third step rotates the lower left crawling mechanism 3 away from the central axis. The fourth step rotates the upper left crawling mechanism 3 towards the central axis. After these four steps, a right turn is achieved. Left turns are achieved in the same way. Ultimately, this allows for spherical rolling on flat roads and quadrupedal walking on rough terrain.
[0018] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model, 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 this utility model.
[0019] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model 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 of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.
Claims
1. A wheel-leg composite spherical robot, comprising a spherical mechanism (1) and a deployment mechanism (2), characterized in that: The unfolding mechanism (2) is located inside the spherical mechanism (1). The spherical mechanism (1) includes a hemispherical shell (101) and a spherical shell (102). The two ends of the unfolding mechanism (2) are bolted to the hemispherical shell (101). The unfolding mechanism (2) includes a housing (206) and a lead rod (202). A support plate (4) is bolted to the right side of the housing (206). The right side shaft of the lead rod (202) is slidably connected to the housing (206). A lead rod (201) is pinned to the top right side of the lead rod (202). A housing (213) is fitted on the left side shaft of the lead rod (201). A load-bearing beam (212) is slidably connected to the right side of the housing (213). A sliding bearing (211) is fitted on the left side of the load-bearing beam (212). The right side is connected to a connecting semi-circular flange (208) by a pin. The connecting semi-circular flange (208) is slidably connected to the right side of the load-bearing beam (212). The middle part of the shaft of the second lead rod (201) is fixed with a slide rail (215). The middle part of the shaft of the second lead rod (201) is fitted with a guide rail (203). The guide rail (203) is provided with a slide rail groove (216). The bottom left side of the guide rail (203) is screwed to a connecting rod (207). The outer left side of the guide rail (203) is fitted with a threaded sealing ring (210). The left side of the connecting rod (207) is screwed to a metal disc (204). The bottom of the metal disc (204) is threaded to a motor (209). The metal disc (204) and the connecting rod (207) are symmetrically connected to a connecting rod (214) by screws.
2. The spherical robot with wheel-leg composite structure according to claim 1, characterized in that: The spherical shell (102) is internally fixedly connected to an array of threaded columns (106) and a fixing block (108). The threaded columns (106) are screwed to a large gear (103). The large gear (103) is meshed with a small gear one (104) and a small gear two (110). The outer ring of the large gear (103) is provided with a square groove (109). The fixing block (108) and the square groove (109) are interference fit. A retaining ring (107) is fixedly connected to one side of the fixing block (108). The spherical shell (102) is internally fixedly connected to two sets of guide rails one (105). The guide rails one (105) are slidably connected to four sets of pulley mechanisms (5).
3. A spherical robot with a wheel-leg composite structure according to claim 2, characterized in that: The pulley mechanism (5) has a symmetrical structure. The pulley mechanism (5) includes a roller 1 (501) and a roller 2 (505). The roller 1 (501) has a bearing inside which a sleeve 1 (503) is connected. The left side of the sleeve 1 (503) is bolted to a support plate 1 (4). The right side of the sleeve 1 (503) is bolted to a support base plate rod (502). The roller 2 (505) has a bearing inside which a sleeve 2 (504) is connected. The right side of the sleeve 2 (504) is bolted to a support plate 2 (6). The left side of the sleeve 2 (504) is bolted to the support base plate rod (502). The lower part of the support plate 2 (6) has two sets of motor frames (602) fixed on the outer side. The motor frames (602) are bolted to a crawling mechanism (3).
4. A spherical robot with a wheel-leg composite structure according to claim 3, characterized in that: A motor slot (603) is fixed on the left side of the inner side of the second support plate (6). A geared motor (401) is placed inside the motor slot (603). The geared motor (401) is located between the first support plate (4) and the second support plate (6). A pinion gear (104) is connected to the output end on the left side of the geared motor (401). A geared motor (404) is connected to the left side of the pinion gear (110). A rectangular opening (601) is provided on the second support plate (6). A fixing plate (403) is inserted into the rectangular opening (601). A battery (402) is placed on the fixing plate (403).
5. A spherical robot with a wheel-leg composite structure according to claim 4, characterized in that: The crawling mechanism (3) includes a second motor (305), which is bolted to a motor frame (602) on the side of the second support plate (6). The top and bottom of the outer side of the second motor (305) are threaded with a metal rudder disk (304). The top of the metal rudder disk (304) is screwed with a motor cross (301). The left and right sides of the motor cross (301) are screwed with two sets of metal rudder disks (306). The left and right sides of the two sets of metal rudder disks (306) are threaded with a fifth motor (309). The two sides of the fifth motor (309) are screwed with two sets of fixed motor plates (302). The fixed motor plates (302) are in contact with the metal rudder disks (306). The left side of the fixed motor plate (302) is screwed with a third motor (308). The two sides of the third motor (308) are threaded with a third metal rudder disk (307). The third metal rudder disk (307) is screwed with a lower leg (303).
6. A spherical robot with a wheel-leg composite structure according to claim 5, characterized in that: The support plate 2 (6) is screwed to the lower side of the outer side and motor 4 (604). The motor 4 (604) is shaft connected to the left side and stop bar (605). The lower end of the stop bar (605) meshes with the large gear (103).