Spherical robot

Abstract

A spherical robot, comprising a sphere (30), wherein the sphere (30) is internally provided with a driving mechanism (31), and the sphere (30) comprises a traveling ring (7) and a spherical surface (11). The driving mechanism (31) comprises a support ring (1) arranged inside the sphere (30); the support ring (1) is internally provided with a base (32); and a vision module (2) and a master control board (3) are provided on the base (32). The spherical robot has a good structural stability and a dynamic balance, and thus can be applied to a variety of complex scenes.

Description

TECHNICAL FIELD

[0001] The present invention relates to the field of mobile robots, and in particular, to spherical robots. BACKGROUND

[0002] Spherical mobile robots are simple in structure, and can move without complex motion pairs or motion joints. A main motion mode of the spherical mobile robots is rolling motion, which can provide more flexible steering compared with other motion modes. Spherical robots are usually used for detection due to the numerous uncontrollable factors in detection environment, the complexity of natural environment, the environmental complexity and instability caused by human factors, and the existence and influence of a large number of uncertain factors. Therefore, designers have developed spherical robots. For example, Chinese Utility Model Patent No. CN208576617U discloses a spherical mobile robot, which includes a spherical shell. A mounting rack is arranged in the spherical shell. The spherical shell includes two circular rolling shells. Several rolling wheels are arranged on both sides of the mounting rack. A circular rail is arranged on an inner wall of each circular rolling shell. A control device and two driving motors are arranged in the mounting rack. The two driving motors are positioned on a lower part of the mounting rack. Driving wheels are arranged at output ends of the driving motors. The spherical robot mainly adjusts the relative rotation of the two circular rolling shells by controlling the rotation speed and the rotation direction output by the two driving devices, so as to control the motion of the robot. However, the structural stability and dynamic equilibrium of the robot are unsatisfactory, and the adaptability of the robot in different complex scenarios is also unsatisfactory. SUMMARY

[0003] A purpose of the present invention is to provide a spherical robot. The present invention has good structural stability and dynamic equilibrium, and can be applied to various complex scenarios.

[0004] A technical solution of the present invention is that: a spherical robot including a sphere. A driving mechanism is arranged inside the sphere. The sphere includes a traveling ring and a spherical surface. The driving mechanism includes a support ringarranged inside the sphere. A base is arranged inside the support ring. A visual module and a main control board are arranged on the base. A power supply is arranged below the main control board. Traveling motors are arranged on both sides of the base. An extending end of each of the traveling motors is connected with a corresponding one of thrust rods. The thrust rods pass through the support ring. An end of each of the thrust rods is fixed to an inner wall of the traveling ring. A flywheels are arranged below the traveling motors. Multiple shock absorbers are uniformly arranged on the support ring. Each of arc-shaped plates is arranged at an end of a corresponding one of the multiple shock absorbers. The arc-shaped plates are combined to form an entire spherical surface. Transparent acrylic rings are arranged on the spherical surface. Visual sensors in the visual module are arranged correspondingly to the transparent acrylic rings.

[0005] In the foregoing spherical robot, the traveling ring is fixed to corresponding arc-shaped plates, located outside the traveling ring, of the arc-shaped plates.

[0006] In the foregoing spherical robot, the support ring includes multiple arc-shaped side supports, and the multiple shock absorbers are uniformly arranged on the multiple arc-shaped side supports by bolts.

[0007] In the foregoing spherical robot, each of the multiple shock absorbers includes a fixed cylinder arranged on a corresponding arc-shaped side support of the multiple arc-shaped side supports. A piston rod is arranged inside the fixed cylinder. An end of the piston rod is connected with the corresponding arc-shaped side support by a bolt of the bolts. A displacement cylinder is arranged in the fixed cylinder. A piston cylinder is arranged in the displacement cylinder. Another end of the piston rod is arranged in the piston cylinder. A piston block is arranged at the other end of the piston rod. A connecting shaft is arranged at an end of the displacement cylinder. The connecting shaft is connected with a corresponding one of the arc-shaped plates by a bolt of the bolts.

[0008] In the foregoing spherical robot, gaskets and rubber pads are arranged on both the piston rod and the connecting shaft and are located on a side of the bolt.

[0009] In the foregoing spherical robot, a sealing ring and a spring are arranged at another end of the displacement cylinder and are located on the piston rod. An end of the spring is pressed against the sealing ring, and another end of the spring is pressed against an end of the piston cylinder.

[0010] In the foregoing spherical robot, the base is of a double-layer structure. The visual module is arranged at an upper layer of the base. The main control board is arranged at a lower layer of the base.

[0011] In the foregoing spherical robot, the upper layer and the lower layer of the base are connected with each other through connecting columns.

[0012] Compared with the prior art, the spherical robot of the present invention has the following advantages:

[0013] 1. When complex environments need to be detected, the traveling motors on both sides of the base start to drive the thrust rods to rotate. Through the traveling ring, the entire spherical surface is driven to roll and the support ring is also driven to rotate. The power supply, the motors, the visual module, and the main control board are arranged on the base. These components are heavy when stacked together. When the spherical surface rolls, center of gravity of the base remains unchanged, and the components on the base remain stable and fixed. The detection sensors in the visual module detect the surrounding environment through the transparent acrylic rings. The detected data information is stored in the main control board. The flywheels on both sides are configured to control the direction of the spherical robot of the present invention. The structural stability is ensured through the structure of the support ring inside. The flywheels on both sides ensure the dynamic equilibrium of the spherical robot of the present invention while ensuring steering. Multiple shock absorbers on the support ring can achieve a good effect of shock absorbing, and have strong adaptability in complex environments.

[0014] 2. With regard to each shock absorber, when the arc-shaped plate at an end of the connecting shaft is under pressure, the displacement cylinder will move in the fixed cylinder, and the piston cylinder will also move relative to the piston rod, so as to counteract the pressure and achieve the effect of shock absorbing.

[0015] 3. The gaskets and the rubber pads are arranged on both the piston rod and the connecting shaft and are located on a side of the bolt. These two components are mainly arranged to ensure stable connection between the bolts at ends of rods and corresponding components and achieve a good axial fixing effect.

[0016] 4. The sealing ring and the spring are arranged at another end of the displacement cylinder and are located on the piston rod. An end of the spring is pressed against the sealing ring, and another end of the spring is pressed against an end of the piston cylinder. Therefore, good sealing inside the displacement cylinder is ensured, and the piston rod can operate stably in the piston cylinder. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] FIG. lisa structural schematic diagram according to present invention;

[0018] FIG. 2 is a schematic diagram of a traveling ring;

[0019] FIG. 3 is a schematic diagram of a support ring;

[0020] FIG. 4 is a schematic diagram of a shock absorber; and

[0021] FIG. 5 is a schematic diagram of thrust rods.

[0022] Reference signs in the drawings: 1 support ring, 2 visual module, 3 main control board, 4 power supply, 5 traveling motor, 6 thrust rod, 7 traveling ring, 8 flywheel, 9 shock absorber, 10 arc-shaped plate, 11 spherical surface, 12 transparent acrylic ring, 13 arc-shaped side support, 14 fixed cylinder, 15 piston rod, 16 displacement cylinder, 17 piston cylinder, 18 piston block, 19 connecting shaft, 20 gasket, 21 rubber pad, 22 sealing ring, 23 spring, 30 sphere, 31 driving mechanism, and 32 base. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The present invention is further described below with reference to drawings and embodiments, but does not serve as a basis for limiting the present invention.

[0024] Embodiment: A spherical robot, as shown in FIG. 1 to FIG. 5, includes a sphere 30. A driving mechanism 31 is arranged inside the sphere 30. The sphere 30 includes a traveling ring 7 and a spherical surface 11. The driving mechanism 31 includes a support ring 1 arranged inside the sphere 30. A base 32 is arranged inside the support ring 1. A visual module 2 and a main control board 3 are arranged on the base 32. The visual module 2 mainly collects image information of complex environments. The collected image information is transmitted to a screen of a user through the main control board 3. Information processing and transmission components are arranged on the main control board 3. The base 32 is of a double-layer structure. The visual module 2 is arranged at an upper layer of the base 32. The main control board 3 is arranged at a lower layer of the base 32. The upper layer and the lower layer of the base 32 are connected through connecting columns. A power supply 4 is arranged below the main control board 3. Traveling motors 5 are arranged on both sides of the base 32. An extending end of each traveling motor 5 is connected with a thrust rod 6. The thrust rods 6 pass through the support ring 1. An end of the thrust rod 6 is fixed to an inner wall of the traveling ring 7. A flywheel 8 is arranged below the traveling motor 5. The flywheels are arranged below each of the traveling motors 5 on both sides of the base 32. One of the flywheels 8 corresponds to one of the motors. During steering, the flywheel 8 on one side rotates, while the flywheel 8 on the other side does not rotate. The entire spherical robot will turn to the side where the flywheel 8 does not rotate. Multiple shock absorbers 9 are uniformly arranged on the support ring 1. An arc-shaped plate 10 is arranged at an end of each shock absorber 9. The arc-shaped plates 10 are combined to form the entire spherical surface 11. Transparent acrylic rings 12 are arranged on the spherical surface 11. Visual sensors in the visual module 2 are arranged correspondingly to the transparent acrylic rings 12. A detection sensing head in the visual module 2 will detect through the transparent acrylic ring 12 to collect environment images. The traveling ring 7 is fixed to corresponding arc-shaped plates 10 located outside the traveling ring 7. The support ring 1 includes a plurality of arc-shaped side supports 13, and the multiple shock absorbers 9 are uniformly arranged on the plurality of arc-shaped side supports 13 by bolts.

[0025] Each of the multiple shock absorbers 9 includes a fixed cylinder 14 arranged on a corresponding arc-shaped side support 13. The piston rod 15 is arranged in the fixed cylinder 14. An end of the piston rod 15 is connected with the arc-shaped side support 13 by a bolt of the bolts. A displacement cylinder 16 is arranged in the fixed cylinder 14. A piston cylinder 17 is arranged in the displacement cylinder 16. Another end of the piston rod 15 is arranged in the piston cylinder 17. A piston block 18 is arranged at the another end of the piston rod 15. A connecting shaft 19 is arranged at an end of the displacement cylinder 16. Gaskets 20 and rubber pads 21 are arranged on both the piston rod 15 and the connecting shaft 19 and are located on a side of the bolt. These two components are mainly arranged to ensure stable connection between the bolts at ends of rods and corresponding components and achieve a good axial fixing effect. The connecting shaft 19 is connected with the arc-shaped plate 10 by a bolt of the bolts. When the arc-shaped plate 10 at an end of the connecting rod is under pressure, the displacement cylinder 16 will move in the fixed cylinder 14, and the piston cylinder 17 will also move relative to the piston rod 15, so as to counteract the pressure and achieve the effect of shock absorbing. Multiple shock absorbers 9 are arranged on the support ring 1, and each shock absorber 9 corresponds to one arc-shaped plate 10, so that the corresponding shock absorber 9 will retract to absorb shock when encountering raised ground in a case of facing complex terrain environments. Therefore, the spherical robot of the present invention has good environmental adaptability.

[0026] A sealing ring 22 and a spring 23 are arranged at another end of the displacement cylinder 16 and are located on the piston rod 15. An end of the spring 23 is pressed against the sealing ring 22, and another end of the spring 23 is pressed against an end of the piston cylinder 17. Therefore, good sealing inside the displacement cylinder 16 is ensured, and the piston rod 15 can operate stably in the piston cylinder 17.

[0027] A working principle of the spherical robot in present invention is that: when complex environments need to be detected, the power supply 4, the motors, the visual module 2 and the main control board 3 are arranged on the base 32. These components are heavy when stacked together. When the spherical surface 11 rolls, center of gravity of the base 32 remains unchanged, and the components on the base 32 remain stable and fixed. Then, the traveling motors 5 on both sides of the base 32 start to drive the thrust rods 6 to rotate. Through the traveling ring 7, the entire spherical surface 11 is driven to roll, and the support ring 1 is also driven to rotate. The detection sensors in the visual module 2 detect the surrounding environment through the transparent acrylic rings 12. The detected data information is stored in the main control board 3. The flywheels 8 on both sides are configured to control the direction of the spherical robot of the present invention. The structural stability is ensured through the structure of the support ring 1 inside. The flywheels 8 on both sides ensure the dynamic equilibrium of the spherical robot of the present invention while ensuring steering. Multiple shock absorbers 9 on the support ring 1 can achieve a good effect of shock absorbing, and have strong adaptability in complex environments.

Claims

1. A spherical robot, comprising a sphere (30), a driving mechanism (31) is arranged inside the sphere (30); wherein the sphere (30) comprises a traveling ring (7) and a spherical surface (11); the driving mechanism (31) comprises a support ring (l)arranged inside the sphere (30); a base (32) is arranged inside the support ring (1); a visual module (2) and a main control board (3) are arranged on the base (32); a power supply (4) is arranged below the main control board (3); traveling motors (5) are arranged on both sides of the base (32), an extending end of each of the traveling motors (5) is connected with a corresponding one of thrust rods (6); the thrust rods (6) pass through the support ring (1); an end of each of the thrust rods (6) is fixed to an inner wall of the traveling ring (7); flywheels (8) are arranged below the traveling motors (5); a plurality of shock absorbers (9) are uniformly arranged on the support ring (1); each of arc-shaped plates (10) is arranged at an end of a corresponding one of the plurality of the shock absorbers (9); the arc-shaped plates (10) are combined to form an entire spherical surface (11); transparent acrylic rings (12) are arranged on the spherical surface (11); and visual sensors in the visual module (2) are arranged correspondingly to the transparent acrylic rings (12).

2. The spherical robot according to claim 1, wherein the traveling ring (7) is fixed to corresponding arc-shaped plates (10), located outside the traveling ring (7), of the arc-shaped plates (10).

3. The spherical robot according to claim 1, wherein the support ring (1) comprises a plurality of arc-shaped side supports (13), and the plurality of shock absorbers (9) are uniformly arranged on the plurality of arc-shaped side supports (13) by bolts.

4. The spherical robot according to claim 3, wherein each of the plurality of shock absorbers (9) comprises a fixed cylinder (14) arranged on a corresponding arc-shaped side support (13) of the plurality of arc-shaped side supports (13); a piston rod (15) is arranged in the fixed cylinder (14); an end of the piston rod (15) is connected with the corresponding arc-shaped side support (13) by a bolt of the bolts; a displacement cylinder (16) is arranged in the fixed cylinder (14); a piston cylinder (17) is arranged in the displacement cylinder (16); another end of the piston rod (15) is arranged in the piston cylinder (17); a piston block (18) is arranged at the other end of the piston rod (15); a connecting shaft (19) is arranged at an end of the displacement cylinder (16); theconnecting shaft (19) is connected with a corresponding one of the arc-shaped plates (10) by a bolt of the bolts.

5. The spherical robot according to claim 4, wherein gaskets (20) and rubber pads (21) are arranged on both the piston rod (15) and the connecting shaft (19) and are located on a side of the bolt.

6. The spherical robot according to claim 4, wherein a sealing ring (22) and a spring (23) are arranged at another end of the displacement cylinder (16) and are located on the piston rod (15); an end of the spring (23) is pressed against the sealing ring (22); and another end of the spring (23) is pressed against an end of the piston cylinder (17).

7. The spherical robot according to claim 1, wherein the base (32) is of a double-layer structure; the visual module (2) is arranged at an upper layer of the base (32); and the main control board (3) is arranged at a lower layer of the base (32).

8. The spherical robot according to claim 7, wherein the upper layer and the lower layer of the base (32) are connected with each other through connecting columns.INTERNATIONAL SEARCH REPORT International application No. PCT / CN2023 / 127454A. CLASSIFICATION OF SUBJECT MATTER B62D57 / 02(2006.01)i; B25J5 / 00(2006.01)i; B62D57 / 00(2006.01)i; B25J9 / 00(2006.01)i; B62D3 / 02(2006.01)i; F16F15 / 0 4(2006.01)i; F16F15 / 08(2006.01)i According to International Patent Classification (IPC) or to both national classification and IPC B. FIELDS SEARCHED Minimum documentation searched (classification system followed by classification symbols) IPC: B62D57 / -; B25J5 / -; B25J9 / -; B62D3 / -; F16F15 / - Documentation searched other than minimum documentation to the extent that such documents are included in the fields searched Electronic data base consulted during the international search (name of data base and, where practicable, search terms used) CNTXT, ENTXTC, CNKI, M WANFANG: WlS, MAM, MM, C J*#, WB, MS, MSA, MM, MAS, ff, tt, M, ■, I'M MM AM, A M, 'Ifttft, M, MiR, MM MM MM, Mifc ven, entxt, oetxt, dwpi, wpabs, ieee, web of science: hangzhou city university, robot+, vehicle, moving device, moving object, actuator, ball, globe, global, globular, spherical+, bar, shaft, ring, circle, frame, roll+, unitary, support+, mount+, flywheel, inertia wheel, synchronizing wheel, transparen+, vibrat+, quiver, oscillat+, shock C. DOCUMENTS CONSIDERED TO BE RELEVANT Category* Citation of document, with indication, where appropriate, of the relevant passages Relevant to claim No. PX E CN 115723871 A (HANGZHOU CITY UNIVERSITY) 03 March 2023 (2023-03-03) description, paragraphs 0017-0027, and figures 1-5 CN 218317003 U (HANGZHOU CITY UNIVERSITY) 17 January 2023 (2023-01-17) description, paragraphs 0017-0027, and figures 1-5 1-8 1-8 A CN 113232735 A (UNIVERSITY OF SCIENCE AND TECHNOLOGY OF CHINA) 10 August 2021 (2021-08-10) entire document 1-8 A CN 103158799 A (SHANGHAI UNIVERSITY) 19 June 2013 (2013-06-19) entire document 1-8 A CN 111267567 A (XI'AN JIAOTONG UNIVERSITY) 12 June 2020 (2020-06-12) entire document 1-8 | | Further documents are listed in the continuation of Box C. | J | See patent family annex. * Special categories of cited documents: “T” later document published after the international filing date or priority “A” document defining the general state of the art which is not considered date and not in conflict with the application but cited to understand the to be of particular relevance principle or theory underlying the invention “D” document cited by the applicant in die international application “X” document of particular relevance; the claimed invention cannot be “E" earlier application orpatent but published on or after the international considered novel or cannot be considered to involve an inventive step filing date when the document is taken alone •SL” document which may throw doubts on priority claim(s) or which is “Y” document of particular relevance; the claimed invention cannot be cited to establish the publication date of another citation or other considered to involve an inventive step when the document is special reason (as specified) combined with one or more other such documents, such combination “O” document referring to an oral disclosure, use, exhibition or other being obvious to a person skilled in the art means document member of the same patent family “P” document published prior to the international filing date but later than the priority date claimed Date of the actual completion of the international search 15 January 2024 Date of mailing of the international search report 20 January 2024 Name and mailing address of the ISA / CN China National Intellectual Property Administration (ISA / CN) China No. 6, Xitucheng Road, Jimenqiao, Haidian District, Beijing 100088 Authorized officer Telephone No.INTERNATIONAL SEARCH REPORT International application No. PCT / CN2023 / 127454 C. DOCUMENTS CONSIDERED TO BE RELEVANT Category* Citation of document, with indication, where appropriate, of the relevant passages Relevant to claim No. A A CN 1616257 A (BEIJING UNIVERSITY OF POSTS AND TELECOMMUNICATIONS) 18 May 2005 (2005-05-18) entire document CN 215436680 U (BEIJING INSTITUTE OF TECHNOLOGY, ZHUHAI) 07 January 2022 (2022-01-07) entire document 1-8 1-8 A EP 0159052 A2 (ENTREPRISES ROBERT DELBRASSINNE) 23 October 1985 (1985-10-23) entire document 1-8 A A A JP 2004306921 A (MATSUDA MASATOYO et al.) 04 November 2004 (2004-11-04) entire document US 2012152628 Al (PATTI DAVIDE GIUSEPPE et al.) 21 June 2012 (2012-06-21) entire document WO 2006049559 Al (KAZNOV VIKTOR et al.) 11 May 2006 (2006-05-11) entire document 1-8 1-8 1-8 A WO 2006073548 A2 (THE BOEING COMPANY et al.) 13 July 2006 (2006-07-13) entire document 1-8 A A WO 2015149000 Al (THE BOARD OF REGENTS FOR OKLAHOMA STATE UNIVERSITY) 01 October 2015 (2015-10-01) entire document WO 2020065659 Al (INDIAN INSTITUTE OF TECHNOLOGY MADRAS (11T MADRAS)) 02 April 2020 (2020-04-02) entire document 1-8 1-8INTERNATIONAL SEARCH REPORT Information on patent family membersInternational application No.PCT / CN2023 / 127454Patent document cited in search report Publication date (day / month / year) Patent family member)s) Publication date (day / month / year) CN 115723871 A 03 March 2023 CN 115723871 B 15 August 2023 CN 218317003 U 17 January 2023 None CN 113232735 A 10 August 2021 CN 113232735 B 06 September 2022 CN 103158799 A 19 June 2013 CN 103158799 B 28 October 2015 CN 111267567 A 12 June 2020 CN 111267567 B 27 July 2021 CN 1616257 A 18 May 2005 CN 1313249 C 02 May 2007 CN 215436680 U 07 January 2022 CN 113443039 A 28 September 2021 EP 0159052 A2 23 October 1985 BE 899473 Al 22 October 1984 JP 2004306921 A 04 November 2004 JP 4105580 B2 25 June 2008 US 2012152628 Al 21 June 2012 US 8991527 B2 31 March 2015 IT 1403468 Bl 17 October 2013 WO 2006049559 Al 11 May 2006 JP 4820370 B2 24 November 2011 US 2008097644 Al 24 April 2008 US 8099189 B2 17 January 2012 EP 1812210 Al 01 August 2007 EP 1812210 Bl 19 August 2009 CA 2585386 C 20 January 2015 JP 2008522880 W 03 July 2008 DE 602005016139 E 01 October 2009 wo 2006073548 A2 13 July 2006 WO 2006073548 A3 08 September 2006 GB 2433481 A 27 June 2007 GB 2433481 B 02 July 2008 US 2006090938 Al 04 May 2006 US 7165637 B2 23 January 2007 wo 2015149000 Al 01 October 2015 US 2017210468 Al 27 July 2017 US 10850836 B2 01 December 2020 US 2021086894 Al 25 March 2021 US 11591083 B2 28 February 2023 wo 2020065659 Al 02 April 2020 IN 201841035890 A 27 March 2020 IN 437412 B 07 July 2023

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