CN108556577B - Air-ground dual-purpose spherical robot - Google Patents
Air-ground dual-purpose spherical robot Download PDFInfo
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- CN108556577B CN108556577B CN201810364783.XA CN201810364783A CN108556577B CN 108556577 B CN108556577 B CN 108556577B CN 201810364783 A CN201810364783 A CN 201810364783A CN 108556577 B CN108556577 B CN 108556577B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
Abstract
The invention discloses an air-ground spherical robot, which comprises a spherical shell, wherein the spherical shell comprises a lower hemispherical shell, a middle guide mechanism is arranged on the inner side of the upper end of the lower hemispherical shell, the middle guide mechanism is connected with a fixed steel frame, the top end of the fixed steel frame is provided with an installation groove, a micro motor is arranged in the installation groove, and an output shaft of the micro motor is connected with an upper spherical shell valve through a worm gear mechanism; the upper spherical shell valve forms an upper hemispherical shell together, and forms a complete sphere together with the lower hemispherical shell. The invention can realize air buffer landing, air flight and land rolling by controlling the structural transformation, has the characteristics of simple and compact structure, flexible movement and the like, and has wide application prospect in the fields of military and civil use.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an air-ground spherical robot.
Background
The spherical robot is an independent moving body with a spherical or approximately spherical shell, and mainly adopts a rolling motion mode, so that the spherical robot is different from a wheeled or orbital robot. When the moving mechanism is in dangerous conditions such as high-altitude falling and the like, the spherical device can quickly adjust the running state to continuously work; the spherical structure has a strong restoring ability when colliding with an obstacle or other moving mechanism during detection. In addition, the rolling resistance of the ball body is much smaller than the movement resistance of a sliding or wheel type device, so that the spherical robot has the characteristics of high movement efficiency and small energy loss. Aiming at the advantages, the spherical robot can be applied to the aspects of detection of dangerous environments, detection of welding seams in pipelines, monitoring and reconnaissance and the like, and has wide application prospect in the fields of military and civil use.
The existing spherical robot such as a spherical-wheel composite deformable mobile robot structure is a composite mobile robot which realizes the interchange of spherical and wheel robots by changing the geometrical shape of the robot, thereby improving the adaptability to various complex geographic environments.
The robot is spherical in the throwing process, and the spherical structure is changed into a two-wheel vehicle structure through deformation after falling to the ground, so that the robot has flexible movement performance and stable operation performance. In addition, there is a rollable jumping compound robot for detection in a complex environment. On a relatively flat ground, the robot can roll freely, and when encountering an obstacle of a relatively large size, the robot can jump over the obstacle.
However, the existing spherical robot mechanism design can only swim on the ground, in the air or in the water, and a spherical robot which can realize the dual-purpose functions of land and air is not available for a while, so that the application range of the spherical robot is limited.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the air-ground spherical robot which can realize air buffer landing, air flight and land rolling by controlling structure transformation.
In order to solve the technical problems, the invention adopts the following technical scheme:
the robot comprises a spherical shell, wherein the spherical shell comprises a lower hemispherical shell, a middle guide mechanism is arranged on the inner side of the upper end of the lower hemispherical shell, the middle guide mechanism is connected with a fixed steel frame, the top end of the fixed steel frame is provided with a mounting groove, a micro motor is arranged in the mounting groove, and an output shaft of the micro motor is respectively connected with a plurality of upper spherical shell valves through a worm gear mechanism; the number of the upper spherical shell valves is usually four, and the four upper spherical shell valves form an upper hemispherical shell together and form a complete sphere together with a lower hemispherical shell;
the middle guide mechanism is connected with a rolling steering device, the rolling steering device comprises a servo motor, a battery and a control box which are connected with each other, a flying device is arranged on the rolling steering device, the flying device comprises a self-locking telescopic mechanism, a flying motor is arranged on the self-locking telescopic mechanism, and an output shaft of the flying motor is connected with the folding paddle; the battery and the control box are respectively connected with the servo motor, the micro motor and the flying motor.
In the above technical solution, preferably, the middle guide mechanism includes a ring gear disposed at an inner side of an upper end of the lower hemispherical shell, and an annular groove is disposed at a lower portion of the ring gear.
In the above technical scheme, preferably, the rolling steering device includes a rolling support plate, a servo motor is mounted on the rolling support plate, an output shaft of the servo motor is connected with the horizontal steering mechanism, the vertical steering mechanism and the weight box respectively, and a control box is fixedly mounted on the lower surface of the rolling support plate.
In the above technical solution, preferably, the servo motor includes a first steering motor, an output shaft of the first steering motor is connected to a limit connector, the limit connector is engaged with the horizontal transmission gear, and the horizontal transmission gear is engaged with the ring gear;
the horizontal steering mechanism comprises a horizontal fixing frame, the horizontal fixing frame is in an arc shape, a through hole is formed in the middle of the horizontal fixing frame, the limiting connector is sleeved in the through hole, and the horizontal transmission gear is arranged in the through hole; and two ends of the horizontal fixing frame are respectively provided with a roller which is matched and connected with the annular groove.
In the above technical solution, preferably, the servo motor includes a second steering motor, and an output shaft of the second steering motor is fixedly connected with a gear;
the vertical steering mechanism comprises a vertical fixing frame, the vertical fixing frame is in a bow shape, and two ends of the fixing frame are respectively provided with a roller which is matched and connected with the annular groove; and a fixed gear is arranged on one side of the middle part of the vertical fixing frame, which is adjacent to the rolling supporting plate, and the fixed gear is meshed with a gear on an output shaft of the second steering motor.
In the above technical solution, preferably, the servo motor includes a deflection motor, and an output shaft of the deflection motor is fixedly connected with a gear;
the weight box comprises a swing gear meshed with a gear on an output shaft of the deflection motor, the swing gear is fixedly connected with the upper end of the fixing frame, the lower end of the fixing frame is connected with the box body, and the battery is arranged in the box body.
Among the above-mentioned technical scheme, preferably, be provided with interconnect's controller, motor drive chip, data collection station, sensor and communicator in the control box.
Among the above-mentioned technical scheme, preferably, the flight device includes the flight layer board, installs four electronic speed regulation boxes on the flight layer board, mutually perpendicular between four electronic speed regulation boxes, and self-locking telescopic machanism installs in the electronic speed regulation box inboard.
In the above technical scheme, preferably, the electronic speed regulation box includes blade adsorbers and an electronic speed regulator electrically connected with the flying motor, the blade adsorbers are disposed on two sides of the electronic speed regulation box, and the blade adsorbers are electromagnets.
In the above technical solution, preferably, the self-locking telescopic mechanism includes a stepping motor, the stepping motor is disposed at the right middle position of the flight support plate, an output shaft of the stepping motor is fixedly connected with the middle position of a crank slide bar, the crank slide bar is cross-shaped, the middle part and the end part of the crank slide bar are hinged through a rotating shaft, the end part of the crank slide bar is four short bars, and the tail ends of the short bars are hinged with the telescopic truss;
the number of the telescopic trusses is four, the telescopic trusses are centrosymmetric around an output shaft of the stepping motor, one end of each telescopic truss is fixedly connected with the flying supporting plate, and the other end of each telescopic truss is connected with the flying motor.
The land-air dual-purpose spherical robot provided by the invention has the main beneficial effects that:
the spherical shell is internally provided with the rolling steering device and the flying device, and the wind power rotor wing propulsion and the heavy pendulum swing are combined, so that the spherical robot can be used in both land and air.
Aiming at the characteristics of the variable mechanism, the movement mechanism is redesigned, and the corresponding mechanical structure is driven by the motor, so that two movement modes of air flight and ground flight are realized, and the switching between the two modes can be realized quickly and efficiently. When encountering ground obstacles, the flight mode can be started to jump over the obstacles; when the flying mode is switched to the ground rolling mode from the air flying mode, the flying motor can be weakened or closed, the opened spherical shell valve serves as a parachute for protecting, and the energy consumption of the system is reduced.
Through setting up the control box to set up the sensor in the control box, but real-time supervision environment and robot self motion isoparametric, through setting up data collection station and communicator, can be in real time with the data acquisition of sensor record and through the timely transmission of communicator, thereby effectively carry out the real-time supervision operation.
The whole structure of the invention has the characteristics of simplicity, compactness, modularization and the like, and can replace part of robots to enter narrow spaces such as disaster relief sites, factory surveys, radiation pollution areas, dangerous operation environments and the like for detection operation.
Drawings
Fig. 1 is a schematic structural diagram of an air-ground spherical robot.
Fig. 2 is a schematic structural view of the intermediate guide mechanism.
Fig. 3 is a schematic structural diagram of the fixed steel frame and the worm and gear mechanism.
Fig. 4 is a schematic structural view of the roll steering apparatus.
Fig. 5 is a schematic view of the connection relationship between the first steering motor and the horizontal transmission gear.
Fig. 6 is a schematic structural diagram of the flying device.
Wherein, 1, a spherical shell, 11, a lower hemispherical shell, 12, a middle guide mechanism, 121, a ring gear, 122, an annular groove, 13, a fixed steel frame, 131, a mounting groove, 14, an upper spherical shell valve, 15, a worm gear mechanism, 16, a micro motor, 2, a rolling steering device, 21, a rolling supporting plate, 22, a horizontal steering mechanism, 221, a horizontal transmission gear, 222, a roller, 223, a limit connector, 224, a fixed frame, 23, a vertical steering mechanism, 231, a fixed gear, 232, a vertical fixed frame, 24, a servo motor, 241, a first steering motor, 242, a second steering motor, 243, a deflection motor, 25, a weight box, 251, a swing gear, 252, a box body, 253, a fixed frame, 26, a control box, 3, a flight device, 31, a flight supporting plate, 32, an electronic speed regulating box, 321, an electronic speed regulator, 322, a blade absorber, 33, a self-locking telescopic mechanism, 331. step motor, 332, crank slide bar, 333, telescopic truss, 34, flying motor, 35, folding paddle.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1, it is a schematic structural diagram of an air-ground spherical robot.
The air-ground spherical robot comprises a spherical shell 1, wherein the spherical shell 1 comprises a lower hemispherical shell 11, a middle guide mechanism 12 is arranged on the inner side of the upper end of the lower hemispherical shell 11, the middle guide mechanism 12 is connected with a fixed steel frame 13, a mounting groove 131 is formed in the top end of the fixed steel frame 13, as shown in fig. 3, a micro motor 16 is arranged in the mounting groove 131, and an output shaft of the micro motor 16 is respectively connected with four upper spherical shell valves 14 through a worm gear mechanism 15 to drive the four upper spherical shell valves 14 to open and close; the four upper spherical shell valves 14 form an upper hemispherical shell together, and form a complete sphere together with the lower hemispherical shell 11.
As shown in fig. 2, the intermediate guide mechanism 12 includes a ring gear 121 disposed inside the upper end of the lower hemispherical shell 11, a ring groove 122 is disposed at the lower portion of the ring gear 121, and the auxiliary rolling steering device 2 rotates around the Z axis using a standard cartesian three-dimensional coordinate system with the center of sphere as the origin by disposing the intermediate guide mechanism 12.
The whole spherical shell 1 supports the shape of the whole sphere and isolates the internal device from the external environment, thereby ensuring the normal work of the whole system.
The inner side of the middle guide mechanism 12 is connected with a rolling steering device 2, as shown in fig. 4, the rolling steering device 2 comprises a rolling supporting plate 21, a servo motor 24 is installed on the rolling supporting plate 21, an output shaft of the servo motor 24 is respectively connected with a horizontal steering mechanism 22, a vertical steering mechanism 23 and a weight box 25, and a control box 26 is fixedly installed on the lower surface of the rolling supporting plate 21.
The servo motor 24 comprises a first steering motor 241, an output shaft of the first steering motor 241 is connected with a limit connector 223, the limit connector 223 is meshed with the horizontal transmission gear 221, and when the first steering motor 241 is in a reverse rotation or counterclockwise state, as shown in fig. 5, the limit connector 223 is in a locking state; therefore, the rotation of the first steering motor 241 cannot drive the horizontal transmission gear 221 to rotate; the horizontal driving gears 221 include three gears meshed with each other, and the outermost horizontal driving gear 221 is meshed with the ring gear 121.
The first steering motor 241 outputs a forward or clockwise torque, and the horizontal transmission gear 221 moves to drive the rolling steering device 2 to rotate around the Z axis.
The horizontal steering mechanism 22 comprises a horizontal fixing frame 224, the horizontal fixing frame 224 is in an arc shape, a through hole is formed in the middle of the horizontal fixing frame 224, a limiting connector 223 is sleeved in the through hole, and a horizontal transmission gear 221 is arranged in the through hole; the two ends of the horizontal fixing frame 224 are respectively provided with a roller 222 which is matched and connected with the annular groove 122.
The servo motor 24 comprises a second steering motor 242, and an output shaft of the second steering motor 242 is fixedly connected with a gear; the vertical steering mechanism 23 comprises a vertical fixing frame 232, the vertical fixing frame 232 is in a bow shape, and two ends of the fixing frame 232 are respectively provided with a roller 222 which is matched and connected with the annular groove 122; a fixed gear 231 is arranged at one side of the middle part of the vertical fixing frame 232 adjacent to the rolling supporting plate 21, and the fixed gear 231 is meshed with a gear on an output shaft of the second steering motor 242; the rolling carriage 21 is driven to rotate around the Y axis by a gear on the output shaft of the second steering motor 242 connected to the auxiliary fixed gear 231.
The servo motor 24 comprises a deflection motor 243, and an output shaft of the deflection motor 243 is fixedly connected with a gear; the weight box 25 comprises a swing gear 251 engaged with a gear on the output shaft of the deflection motor 243, the swing gear 251 is fixedly connected with the upper end of a fixed frame 253, the lower end of the fixed frame 253 is connected with a box body 252, and a battery is arranged in the box body 252 and used for supplying energy to the whole system.
The gear on the output shaft of the deflection motor 243 is connected with the swinging gear 251 and is used for driving the weight box 25 to swing around the X axis; and then the servo motor 24 drives the internal structure to realize the omnibearing rolling motion mode of the spherical robot on the land.
A controller, a motor driving chip, a data acquisition unit, a sensor and a communicator which are connected with each other are arranged in the control box 26; the sensors comprise temperature, humidity, GPS and the like, and can monitor parameters such as environment, robot self-motion and the like in real time; the battery and control box 26 are respectively connected with the servo motor 24, the micro motor 16 and the flying motor 34. Through setting up data collection station and communicator, can be in real time with the data acquisition of sensor record and in time transmit through the communicator to effectively carry out the real-time supervision operation.
The rolling steering device 2 is provided with a flying device 3, as shown in fig. 6, the flying device 3 comprises a flying supporting plate 31, the flying supporting plate 31 is provided with four electronic speed regulating boxes 32, the four electronic speed regulating boxes 32 are perpendicular to each other, and the self-locking telescopic mechanism 33 is arranged on the inner side of the electronic speed regulating box 32.
The electronic speed regulation box 32 comprises blade adsorbers 322 and an electronic speed regulator 321 electrically connected with the flight motor 34, the blade adsorbers 322 are arranged on two sides of the electronic speed regulation box 32, and the blade adsorbers 322 are electromagnets. When the spherical robot is in a rolling mode, the folding paddle 35 is adsorbed on the blade adsorber 322; the electromagnet is de-energized to unfold the folding blade 35 from the blade adsorber 322 when the spherical robot is in flight mode.
The self-locking telescopic mechanism 33 comprises a stepping motor 331, the stepping motor 331 is arranged at the right middle position of the flight supporting plate 31, an output shaft of the stepping motor 331 is fixedly connected with the middle position of a crank sliding rod 332, the crank sliding rod 332 is cross-shaped, the middle part and the end part of the crank sliding rod 332 are hinged through a rotating shaft, the end part of the crank sliding rod 332 is provided with four short rods, and the tail ends of the short rods are hinged with a telescopic truss 333; the crank sliding rod 332 is driven to rotate through the rotation of the stepping motor 331, so that the telescopic truss 333 is controlled to stretch; the telescopic truss 333 is in a contracted state when the spherical robot is in a rolling mode, and the telescopic truss 333 is in an expanded state when the spherical robot is in a flying mode.
The number of the telescopic trusses 333 is four, the four telescopic trusses are centrosymmetric around the output shaft of the stepping motor 331, one end of each telescopic truss 333 is fixedly connected with the flight supporting plate 31, the other end of each telescopic truss is connected with the flight motor 34, and the output shaft of the flight motor 34 is connected with the folding paddle 35.
The spherical robot of the invention is usually in the following two motion states: the system comprises a pure rolling motion mode and a flight mode, wherein the flight mode is divided into a throwing flight mode and a land vertical lifting flight mode; the switching of three motion modes of the spherical robot can be realized by a remote control or autonomous control mode.
The following is a description of the operating principle of each motion mode:
one, pure scroll motion mode:
aiming at the movement on a relatively flat terrain, a pure rolling movement mode is adopted, the center of a sphere is taken as an origin, and a standard Cartesian three-dimensional space coordinate system is adopted; the clockwise rotation direction is defined as the forward rotation of the motor.
In this mode, the basic motion process of the robot is as follows:
the robot is placed on the ground and is powered. The system recovers the initial state, namely the rolling carriage 21 is parallel to the Y axis, and the weight box 25 is parallel to the Z axis; the four upper spherical valves 14 are in a closed state and the micro-motor 16 is in a locked state, so that the four upper spherical valves 14 are ensured not to be impacted and stretched out when encountering unevenness in the rolling process.
During the linear motion, the second steering motor 242 outputs a driving torque to drive the fixed gear 231 to rotate, so as to drive the rolling carriage 21 to rotate around the Y axis, thereby driving the entire rolling steering device 2 to rotate around the Y axis. In the process of rotating around the Y axis, the gravity center position is changed due to the fact that the weight box 25 is fixed on the rolling carriage 21, namely the gravity center point rotates around the Y axis, and therefore the gravity center position is changed to drive the spherical shell to rub with the ground, and therefore the spherical robot can move linearly along the X axis direction.
At this time, the first steering motor 241 and the yaw motor 243 are in a locked state; due to the function of the limiting connector 223, the rolling steering device 2 does not drive the horizontal transmission gear 221 to rotate when rotating around the Y axis; because the first steering motor 241 and the second steering motor 242 are arranged in a back-to-back manner, the forward rotation direction is opposite, that is, when the second steering motor 242 is in the forward rotation state, and when the gear on the output shaft of the first steering motor 241 is in the reverse rotation state, the limiting connector 223 is in a locking state, so that the rolling steering device 2 cannot be driven to rotate around the Z axis.
During steering movement, the first steering motor 241 and the second steering motor 242 are kept in working states, and the deflection motor 243 outputs driving torque to adjust the included angle between the weight box 25 and the rolling carriage 21, so that the gravity center position is changed, the weight box 25 swings at a certain angle around the X axis, the gravity center position of the spherical robot deviates from the track during linear movement, and the purpose of steering is achieved.
When the rolling steering device 2 moves around the Y axis and swings around the X axis, the second steering motor 242 and the deflection motor 243 keep working, the first steering motor 241 can output driving torque, and the limit connector 223 and the horizontal transmission gear 221 move relative to the ring gear 121, so that the rolling steering device 2 moves around the Z axis while swinging around the Y axis and the X axis; the spherical robot can be controlled to make a curve motion by moving the position of the center of gravity of the spherical robot to a point on the sphere deviating from the original center of gravity.
Secondly, a land vertical takeoff and landing type flight mode:
if the spherical robot receives a control command of a land vertical take-off and landing flight mode in the rolling motion, the whole system recovers the initial state, namely the rolling planker 21 is parallel to the Y axis, and the weight box 25 is parallel to the Z axis; the four upper spherical valves 14 are in a closed state and the micro-motor 16 is in a locked state, so that the four upper spherical valves 14 are ensured not to be impacted and stretched out when encountering unevenness in the rolling process.
At this time, the first steering motor 241, the second steering motor 242, and the yaw motor 243 are in a locked state; the micro motor 16 outputs driving torque to drive the worm gear mechanism 15 to rotate, so that the four upper spherical shell valves 14 are controlled to open; meanwhile, the electromagnet of the blade absorber 322 is powered off, and the folding blade 35 is unfolded from the blade absorber 322; the stepping motor 331 of the self-locking telescopic mechanism 33 outputs a driving torque to drive the crank sliding rod 332 to rotate, thereby controlling the extension of the telescopic truss 333.
When the telescopic truss 333 is fully extended, the stepping motor 331 stops outputting the driving torque, but does not cut off the power supply; the four flying motors 34 output high-speed driving torque to drive the folding blades 35 to rotate, so that the spherical robot is driven to take off; meanwhile, the micro motor 16 outputs reverse driving torque to drive the worm gear mechanism 15 to rotate, so that the four upper spherical shell valves 14 are controlled to be closed.
When the spherical robot is in a landing state, the micro motor 16 outputs a driving torque to drive the worm and gear mechanism 15 to rotate, so that the four upper spherical shell valves 14 are controlled to open; at the same time, the flight motor 34 attenuates the output drive torque, so that the rotational speed of the folding blade 35 is reduced.
When the spherical robot lands, the flying motor 34 stops outputting the driving torque, and the stepping motor 331 outputs the driving torque to drive the crank slide rod 332 to rotate, so as to control the telescopic truss 333 to contract; when the telescopic truss 333 is completely contracted, the stepping motor 331 stops outputting the driving torque, but keeps supplying power; at this time, the micro motor 16 outputs a reverse driving torque to drive the worm gear mechanism 15 to rotate, so as to control the upper spherical shell valve 14 to close.
Thirdly, a throwing type flight mode:
when an emergency occurs, the air vehicle is required to throw the spherical robot out for rescue detection, and the state when the spherical robot is thrown out is the initial state of the system.
The driving torque is output by the deflection motor 243, and the included angle between the weight box 25 and the rolling carriage 21 is adjusted to change the gravity center position, so that the weight box 25 swings at a certain angle around the X axis; then the deflection motor 243 outputs a reverse driving torque to make the weight box 25 swing reversely by the same angle, and return to the state parallel to the Z axis; this way the valve 14 with the upper spherical shell is positioned right above.
At this time, the micro motor 16 outputs a driving torque to drive the worm gear mechanism 15 to rotate, so as to control the upper spherical shell valve 14 to open; meanwhile, the electromagnet of the blade absorber 322 is powered off, and the folding blade 35 is unfolded from the blade absorber 322; the stepping motor 331 of the self-locking telescopic mechanism 33 outputs a driving torque to drive the crank sliding rod 332 to rotate, thereby controlling the extension of the telescopic truss 333.
When the telescopic truss 333 is fully extended, the stepping motor 331 stops outputting the driving torque and keeps supplying power; the flight motor 34 outputs high-speed driving torque to drive the folding paddle 35 to rotate, so as to drive the spherical robot to fly; the micro motor 16 then outputs a reverse driving torque to rotate the worm gear 15, thereby controlling the upper spherical valve 14 to close.
The above description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
Claims (5)
1. The air-ground spherical robot is characterized by comprising a spherical shell (1), wherein the spherical shell (1) comprises a lower hemispherical shell (11), a middle guide mechanism (12) is installed on the inner side of the upper end of the lower hemispherical shell (11), the middle guide mechanism (12) is connected with a fixed steel frame (13), an installation groove (131) is formed in the top end of the fixed steel frame (13), a micro motor (16) is arranged in the installation groove (131), and an output shaft of the micro motor (16) is respectively connected with a plurality of upper spherical shell valves (14) through a worm gear mechanism (15); a plurality of upper spherical shell valves (14) jointly form an upper hemispherical shell, and form a complete sphere together with the lower hemispherical shell (11);
the middle guide mechanism (12) is connected with a rolling steering device (2), the rolling steering device (2) comprises a servo motor (24), a battery and a control box (26) which are connected with each other, a flying device (3) is installed on the rolling steering device (2), the flying device comprises a self-locking telescopic mechanism (33), a flying motor (34) is installed on the self-locking telescopic mechanism (33), and an output shaft of the flying motor (34) is connected with a folding paddle (35);
the battery and the control box (26) are respectively connected with the servo motor (24), the micro motor (16) and the flying motor (34); the middle guide mechanism (12) comprises a ring gear (121) arranged on the inner side of the upper end of the lower hemispherical shell (11), and an annular groove (122) is formed in the lower part of the ring gear (121);
the rolling steering device (2) comprises a rolling supporting plate (21), a servo motor (24) is installed on the rolling supporting plate (21), an output shaft of the servo motor (24) is respectively connected with a horizontal steering mechanism (22), a vertical steering mechanism (23) and a weight box (25), and a control box (26) is fixedly installed on the lower surface of the rolling supporting plate (21);
the servo motor (24) comprises a first steering motor (241), an output shaft of the first steering motor (241) is connected with a limit connector (223), the limit connector (223) is meshed with the horizontal transmission gear (221), and the horizontal transmission gear (221) is meshed with the annular gear (121);
the horizontal steering mechanism (22) comprises a horizontal fixing frame (224), the horizontal fixing frame (224) is in an arc shape, a through hole is formed in the middle of the horizontal fixing frame (224), the limiting connector (223) is sleeved in the through hole, and the horizontal transmission gear (221) is arranged in the through hole; two ends of the horizontal fixing frame (224) are respectively provided with a roller (222) which is matched and connected with the annular groove (122); the servo motor (24) comprises a second steering motor (242), and an output shaft of the second steering motor (242) is fixedly connected with a gear;
the vertical steering mechanism (23) comprises a vertical fixing frame (232), the vertical fixing frame (232) is in an arc shape, and two ends of the fixing frame (232) are respectively provided with a roller (222) which is in fit connection with the annular groove (122);
one side of the middle part of the vertical fixing frame (232) close to the rolling supporting plate (21) is provided with a fixed gear (231), and the fixed gear (231) is meshed and connected with a gear on an output shaft of a second steering motor (242); the servo motor (24) comprises a deflection motor (243), and an output shaft of the deflection motor (243) is fixedly connected with a gear;
the weight box (25) comprises a swing gear (251) meshed with a gear on an output shaft of the deflection motor (243), the swing gear (251) is fixedly connected with the upper end of a fixed frame (253), the lower end of the fixed frame (253) is connected with a box body (252), and the battery is arranged in the box body (252).
2. The air-ground spherical robot according to claim 1, characterized in that a controller, a motor driving chip, a data collector, a sensor and a communicator are arranged in the control box (26) and are connected in sequence.
3. The air-ground spherical robot according to claim 1, wherein the flying device (3) comprises a flying supporting plate (31), an electronic speed regulating box (32) is mounted on the flying supporting plate (31), the electronic speed regulating boxes (32) are perpendicular to each other, and the self-locking telescopic mechanism (33) is mounted on the inner side of the electronic speed regulating box (32).
4. The air-ground spherical robot according to claim 3, wherein the electronic speed regulation box (32) comprises a blade adsorber (322) and an electronic speed regulator (321) electrically connected with the flying motor (34), and the blade adsorber (322) is arranged on two sides of the electronic speed regulation box (32).
5. The air-ground spherical robot according to claim 3, wherein the self-locking telescopic mechanism (33) comprises a stepping motor (331), the stepping motor (331) is arranged at the middle of the flight supporting plate (31), an output shaft of the stepping motor (331) is fixedly connected with the middle of a crank sliding rod (332), the middle of the crank sliding rod (332) is hinged with the end through a rotating shaft, the end of the crank sliding rod (332) is a short rod, and the tail end of the short rod is hinged with a telescopic truss (333);
the telescopic truss (333) is centrosymmetric around an output shaft of the stepping motor (331), one end of the telescopic truss (333) is fixedly connected with the flight supporting plate (31), and the other end of the telescopic truss is connected with the flight motor (34).
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| CN110917525B (en) * | 2019-10-28 | 2021-04-27 | 南京航空航天大学 | Tilting-rotating-force deformation aircraft for high-rise rescue |
| CN112498035B (en) * | 2020-12-15 | 2022-02-01 | 江苏集萃智能制造技术研究所有限公司 | Portable triphibian mobile robot of land, water and air |
| CN112706952B (en) * | 2020-12-17 | 2021-11-02 | 哈尔滨工业大学 | Spherical lander and planet landing method using spherical lander |
| CN113276977A (en) * | 2021-06-28 | 2021-08-20 | 西南科技大学 | Multi-freedom-degree spherical robot |
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| CN108556577A (en) | 2018-09-21 |
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