CN115535105A - Deformable spherical robot - Google Patents
Deformable spherical robot Download PDFInfo
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- CN115535105A CN115535105A CN202211182056.4A CN202211182056A CN115535105A CN 115535105 A CN115535105 A CN 115535105A CN 202211182056 A CN202211182056 A CN 202211182056A CN 115535105 A CN115535105 A CN 115535105A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/12—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of electric gearing
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- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a deformable spherical robot, which comprises a driving system, wherein the driving system comprises a power device and a transmission device; the power device is used for providing power for the transmission device; the transmission device is used for driving the spherical robot to move and the spherical shell of the spherical robot to deform. According to the invention, the spherical shell structure is designed into a deformable structure, and the spherical shell deforms into the ratchet wheel under the complex terrain, so that the spherical robot can complete the obstacle crossing task, and the environment adaptability is improved; besides, the invention has the advantages of exquisite structure, variable form and strong environment adaptability, can complete complex terrain obstacle-crossing tasks by utilizing the unique ratchet wheel deformation, and can be widely applied to various occasions such as monitoring, emergency rescue, fire fighting, disaster relief, geological exploration, military detection and the like.
Description
Technical Field
The invention belongs to the technical field of spherical robots, and particularly relates to a deformable spherical robot.
Background
The deformable spherical robot is a mobile robot integrating the advantages of the spherical robot and the obstacle crossing robot. Because of its special construction, deformable spherical robot has very big advantage than other mobile robot: first, the environmental adaptability is stronger. The robot has the characteristic of being deformable, the problem that the traditional spherical robot is difficult to pass through a complex terrain is solved by changing the spherical shell into a ratchet shape through control, and the condition that the robot generates idling of the spherical shell is greatly reduced by using the supporting shell. Secondly, the operating efficiency is high. The robot has the advantages that the traditional spherical robot has the advantages that the friction force generated by the contact between the walking shell of the robot and the ground is driving force when the robot is not deformed, a passive friction wheel is not arranged, the movement efficiency is high, the contact between the shell and the ground is point contact, the requirement on the road is low, and the adaptability is strong. Thirdly, the action continuity is strong, can resume to stable state by oneself after bumping or falling from the eminence, can adapt to more complicated topography. Fourthly, the spherical robot has good dynamic and static balance, the controllability of the motion direction is good, and the spherical robot can quickly recover by itself once the spherical robot is out of state.
At present, intelligent machines mainly develop three forms, namely legged robots, wheeled robots and tracked robots. The legged robot can complete the climbing task of rugged terrain by means of flexible joints and arms, but the legged robot moves slowly and has low stability; the crawler-type robot has larger traction force and stronger passing capacity, but due to structural limitation, better working efficiency cannot be realized in narrow scenes; the wheeled robot has a traditional mechanical structure design, can move at a high speed, but has a large turning radius and low maneuverability.
The spherical robot provided by the invention has the advantages that the walking shell is in single-point contact with the ground in a spherical state, the generated friction force is the driving force, the double-motor-driven walking is realized, the energy loss is small, and the maneuverability is high. And the ratchet wheel formed by the deformation of the spherical shell can be utilized to increase the holding force with the ground in the deformed state so as to be convenient for crossing a rugged road section, thereby enabling the robot to complete various tasks in a complex terrain. Therefore, the deformable spherical robot has obvious advantages and wide application prospect in the fields of planet exploration, dangerous environment detection, pipeline internal detection and the like.
Disclosure of Invention
The invention aims to provide a deformable spherical robot aiming at the defects in the prior art, so as to solve the problem that the existing spherical robot cannot complete obstacle crossing of complex terrains due to smooth surface of a spherical shell.
In order to achieve the purpose, the invention adopts the technical scheme that:
a deformable spherical robot, comprising:
the driving system comprises a power device and a transmission device;
the power device is used for providing power for the transmission device;
the transmission device is used for driving the spherical robot to move and the spherical shell of the spherical robot to deform.
Further, the power device comprises two speed reducing motors, a steering engine and a small motor;
the two speed reducing motors are respectively arranged in motor grooves formed in the two sides of the bottom plate; the steering engine is arranged in a steering engine groove between the two speed reducing motors; a left output shaft and a right output shaft of the steering engine are respectively provided with a flange plate with a gear, and two first racks and two second racks which are opposite are arranged above and below the two gears; the steering engine rotates to drive the two gears to rotate, and the two gears drive the first rack and the second rack to move back and forth; the cover plate is connected and fixed with the bottom plate up and down through two plate fixing rods; the small motor is arranged in a groove formed in the blocking shell and is fixed by a small motor cover plate; the inner ring of the retaining shell is provided with a platform, and a screw hole formed in the platform is fixedly connected with a screw hole in the plane of the bottom plate through a screw; two rotating shafts of the small motor are respectively fixed with a cylindrical gear, the supporting shell is rotationally connected with the blocking shell through a pin, and the gear part of the supporting shell is in meshing transmission with the cylindrical gear.
Furthermore, the first rack and the second rack are limited by a groove formed in the bottom plate; the gear is fixed by the steering engine flange plate.
Furthermore, the transmission device comprises a left hemispherical shell and a right hemispherical shell which have the same structure; the left hemispherical shell comprises a hemispherical shell, a sleeve and an adjusting sleeve; a sleeve and an adjusting sleeve for adjusting the distance are concentrically and fixedly arranged outside a transmission shaft of the speed reducing motor, a flange sleeve is arranged at the end, close to the motor, of the sleeve, a flange plate is fixed outside the flange sleeve through a set screw, a first rack is arranged outside the flange plate and concentric with the flange plate, and the flange sleeve is fixedly arranged on the left plate and the right plate.
Furthermore, three pin holes are fixedly arranged on the left disc and the right disc, and the three pins penetrate through the left side of the inner wheel disc and are fixedly connected with the left disc; the left disc is provided with a through hole for connecting a spring, and the spring is respectively hooked with two through holes formed in the left side of the left disc and the left side of the inner disc; the left inner wheel disc is fixedly arranged on the sleeve.
Further, the pin penetrates through a through hole formed in the left side of the inner wheel disc; the left upper part of the inner wheel disc is provided with three through holes respectively containing two first rolling bearings up and down; a rotating connecting rod is fixedly arranged above the half-thread inner hexagonal screw, penetrates through a through hole containing a first rolling bearing and is fixed by a nut; the rotating connecting rod can rotate around the half-thread hexagon socket head cap screw.
Furthermore, two second rolling bearings are respectively arranged at the upper part and the lower part of the central through hole of the left outer expanding plate of the outer wheel disc and are fixed on the sleeve; the outer wheel disc is provided with two threaded holes in trisection respectively, two headless inner hexagonal screw fastening jackscrews penetrate through the threaded holes, and the upper parts of the headless inner hexagonal screw fastening jackscrews are fixed by two nuts respectively; the lower part of the two headless inner hexagonal screws tightly fixes the jackscrew and is fixedly connected with a connecting rod with two threaded holes.
Furthermore, two first rolling bearings which are arranged in a positive and negative mode are respectively arranged above and below the boss through hole in the front upper part of the hemispherical shell; a boss through hole at the front lower part of the hemispherical shell is provided with a first rolling bearing which is arranged in a positive and negative way up and down; and the half-thread inner hexagon screw penetrates through the boss at the front upper part of the hemispherical shell, is connected with the other end of the rotating connecting rod, which contains the threaded hole, penetrates through the boss at the front lower part, and is fixed by the nut.
Furthermore, two first rolling bearings are respectively arranged on the upper part and the lower part of the boss through hole at the rear upper part of the hemispherical shell in a positive and negative way, wherein a second rolling bearing is arranged below the first rolling bearing at the lower part; two first rolling bearings are respectively arranged on the upper part and the lower part of the boss through hole at the lower part of the rear part of the hemispherical shell in a positive and negative way, wherein a second rolling bearing is arranged on the first rolling bearing positioned on the upper part; the half-thread inner hexagon screw penetrates through the boss at the rear upper part of the hemispherical shell, is connected with the other end of the connecting rod with the threaded hole, penetrates through the boss at the front lower part and is fixed by the nut; the spherical shell is fixed at the outer end of the sleeve.
Furthermore, an outer wheel disc external expansion plate is concentrically and rotatably arranged on the outer side of the sleeve, and three connecting rods are fixedly arranged at trisection positions of the outer wheel disc external expansion plate.
The deformable spherical robot provided by the invention has the following beneficial effects:
1. the ratchet wheel has the advantages of exquisite structure, variable form and strong environment adaptability, can complete obstacle crossing tasks of complex terrains by utilizing the unique ratchet wheel deformation, and can be widely applied to various occasions such as monitoring, emergency rescue, fire fighting, disaster relief, geological exploration, military detection and the like.
2. The obstacle crossing capability of the spherical robot is improved, the spherical robot is in contact with the ground, the contact point of the spherical robot and the ground is in point contact, the contact point has less friction force and cannot cross the complex terrain environment under the complex terrain; the spherical shell structure is designed into a deformable structure, and the spherical shell deforms into the ratchet wheel under the complex terrain, so that the spherical robot can complete the obstacle crossing task, and the environment adaptability is improved.
3. The invention is driven by the transmission shaft, the motor is connected with the transmission shaft, the rotation of the transmission shaft can not only provide a power source for the movement of the robot, but also deform the shell of the spherical robot through a special mechanical structure, and the deformation part designs a mechanical structure which is connected by rotation to complete the rotation of the spherical shell connecting rod, thereby forming a certain angle difference and further achieving the deformation target.
Drawings
FIGS. 1 to 3 are internal overall structural views of the transformable spherical robot in the present invention;
FIG. 4 is an isometric view of the core actuation system of the deformable spherical robot of the present invention;
FIG. 5 is an overall view of the left deforming wheel of the deformable spherical robot in the present invention;
FIG. 6 is a structural view of a motor driving part of the transformable spherical robot in the present invention;
FIG. 7 is a diagram of the configuration of the central retainer ring of the transformable spherical robot in accordance with the present invention;
FIG. 8 is a front view of the right transformable wheel of the transformable spherical robot in the present invention;
FIG. 9 is a right structural view of an inner wheel of the transformable spherical robot in the present invention.
FIG. 10 is a diagram showing a configuration of a deformable spherical robot in the present invention;
FIG. 11 is a view showing a structure of a sphere of the transformable spherical robot in the present invention;
in the figure, 1, a speed reducing motor; 2. a right spherical shell mirror image; 3. a cylindrical gear; 4. two-plate fixing rods; 5. a support housing; 6. a nut; 7. a connecting rod; 8. the left outer expanding plate of the outer wheel disc; 9. the left side of the inner wheel disc; 10. a hemispherical shell; 11. a pin; 12. a left disc; 13. a half-thread hexagon socket screw; 14. a flange sleeve; 15. a second rack; 16. a blocking shell; 17. a gear; 18. a second nut; 19. a battery; 20. a cover plate; 21. a stopper; 22. the right side of the inner wheel disc; 23. a right disc; 24. a flange plate; 25. outside the spherical shell; 26. a first rack; 27. the outer wheel disc is a right outer expansion plate; 28. a first rolling bearing; 29. a base plate; 30. rotating the connecting rod; 31. a steering engine; 32. a steering engine flange plate; 33. a small motor cover plate; 34. a small motor; 35. a second rolling bearing; 36. a top thread is tightly fixed by a headless inner hexagonal screw; 37. a sleeve; 38. and adjusting the sleeve.
Detailed Description
The following 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.
In embodiment 1, referring to fig. 1 to 11, the deformable spherical robot of the present invention has the characteristics of a delicate structure, a deformable structure, a strong environmental adaptability, and capability of carrying multiple task loads, and can complete a plurality of tasks such as monitoring, emergency rescue, fire fighting, disaster relief, geological exploration, military detection, etc. in a complex terrain, including:
a drive system;
the driving system is used for driving the spherical robot to move and deform; the drive system is located on a flat bed 29.
The driving system comprises a power device and a transmission device, wherein the power device is used for providing power for the spherical robot; the transmission device is used for transmitting the movement of the spherical robot and the deformation of the spherical shell.
the device comprises a speed reducing motor 1, a bottom plate 29, a cover plate 20, a steering engine 31, a steering engine flange plate 32, a flat plate bottom plate 29, a first rack 26, a second rack 15, a two-plate fixing rod 4, a blocking shell 16, a battery 19, a small motor cover plate 33, a small motor 34, a cylindrical gear 3 and a support shell 5.
Two speed reducing motors 1 of the embodiment are respectively placed in motor grooves formed in a bottom plate 29, the two motors are positioned on the left side and the right side of the bottom plate 29, and two steering gears 31 are positioned on the left side and the right side of a steering gear 31 groove formed between the two speed reducing motors 1; a steering engine flange 32 is fixedly arranged on the left and right rotating shafts of the steering engine 31 respectively, and the two flanges 24 are fixedly connected with gears 17 respectively; two first racks 26 and two second racks 15 are respectively arranged above and below the two gears 17; the first rack 26, the second rack 15 and the gear 17 are fixed by rack slots arranged on the bottom plate 29 and a steering engine flange plate 32 respectively.
The cover plate 20 and the bottom plate 29 are connected and fixed up and down through the two-plate fixing rod 4, and the two speed reducing motors 1 and the steering engine 31 are firmly fixed by the cover plate 20 and the bottom plate 29 through a groove formed between the two fixing rods; a stop block 21 is fixedly arranged on the side surfaces of the cover plate 20 and the bottom plate 29 and used for limiting the stroke of the rack; the inner ring of the retaining shell 16 is provided with a platform, and the platform is provided with a screw hole which is fixedly connected with a screw hole on the plane of the bottom plate 29 through a screw; a cylindrical gear 173 is fixed on each of the two rotating shafts of the small motor 34; the small motor 34 is arranged in a groove arranged in the blocking shell 16 and is fixed by a small motor cover plate 33; the supporting shell 5 is rotationally connected with the blocking shell 16 through the pin 11, and the gear 17 of the supporting shell 5 is partially in meshing transmission with the cylindrical gear 3.
The power device of the embodiment is used for specifically operating:
the steering engine 31 rotates to drive the gear 17, the gear 17 drives the first rack 26 and the second rack 15 to move so that the first rack 26 and the second rack 15 move back and forth, the geometric centers of the first rack 26 and the second rack 15 are coaxial with the transmission shaft, a sleeve 37 and an adjusting sleeve 38 for adjusting the position are concentrically fixed outside the transmission shaft, a flange sleeve 14 is arranged at the end, close to the motor, of the sleeve 37, a flange plate 24 is fixed outside the flange sleeve 14 through a set screw, the rack is arranged outside and concentric with the flange plate 24, the flange sleeve 14 is fixedly arranged on the left disc 23 and the right disc 23, when the rack moves forward, the flange sleeve 14 and a part fixedly connected with the flange plate can be pushed to move forward, when the rack moves backward, the flange plate 24 and a part fixedly connected with the flange plate can be pulled backward, three pin 11 holes are fixedly arranged on the left disc 23 and the right disc 23, the pins 11 penetrate through holes arranged on the inner disc, when the ball shell deforms or does not deform, the steering engine 31 moves to drive the rack to move so that the pins 11 are inserted into and pulled out of the outer disc, and expanded plates, and the robot can be convenient to maintain the state of the deformed and the deformed ball-shaped robot when the ball shell does not deform.
the semi-spherical shell 10, the outer wheel disc left outer expanding plate 8, the inner wheel disc left 9, the second rolling bearing 35, the half-tooth inner hexagonal screw 13, the headless inner hexagonal screw tightening jackscrew 36, the first rolling bearing 28, the second nut 18, the connecting rod 7, the sleeve 37, the flange sleeve 14, the left disc 12, the pin 11, the rotating connecting rod 30, the adjusting sleeve 38, the spherical shell outer 25, the semi-spherical shell 10 and the rotating connecting rod 30.
A sleeve 37 and an adjusting sleeve 38 for adjusting the distance are concentrically and fixedly arranged outside a transmission shaft of the speed reducing motor 1, a flange sleeve 14 is arranged at the end, close to the motor, of the sleeve 37, a flange plate 24 is fixed outside the flange sleeve 14 through a set screw, a first rack 26 is arranged outside the flange plate 24 and is concentric with the flange plate 24, and the flange sleeve 14 is fixedly arranged on the left disc 12 and the right disc 23.
Three pins 11 are fixedly arranged on the left disc 12 and the right disc 23, the three pins 11 penetrate through the left 9 of the inner disc and are fixedly connected with the left disc 12, a through hole for connecting a spring is formed in the left disc 12, the spring is respectively hooked with the two through holes formed in the left disc 12 and the left 9 of the inner disc, and the left 9 of the inner disc is fixedly arranged on the sleeve 37.
The pin 11 passes through a through hole formed in the left 9 of the inner wheel disc, and three through holes respectively containing two first rolling bearings 28 up and down are formed in the left 9 of the inner wheel disc; a rotating connecting rod 30 is fixedly arranged above the half-thread inner hexagonal screw 13, penetrates through a through hole containing a first rolling bearing 28 and is fixed by a nut 6; the rotating link 30 may rotate about the half-thread hexagon socket screw 13.
Two second rolling bearings 35 are respectively arranged at the upper part and the lower part of the central through hole of the left outer expanding plate 8 of the outer wheel disc and are fixed on the sleeve 37; trisection on the outer wheel disc is respectively provided with two threaded holes, two headless inner hexagonal screw fastening jackscrews 36 pass through the threaded holes, and the upper parts of the headless inner hexagonal screw fastening jackscrews are respectively fixed by second nuts 18; the lower part of the two headless inner hexagonal screw fastening jackscrews 36 is fixedly connected with the connecting rod 7 with two threaded holes.
Two first rolling bearings 28 which are arranged in a positive and negative mode are respectively arranged at the upper and lower parts of the through hole of the boss at the front upper part of the hemispherical shell 10; a boss through hole at the front lower part of the hemispherical shell 10 is provided with a first rolling bearing 28 which is arranged in a positive and negative way up and down; and a half-thread inner hexagonal screw 13 penetrates through the boss at the front upper part of the hemispherical shell 10, is connected with the other end of the rotating connecting rod 30 with a threaded hole, penetrates through the boss at the front lower part and is fixed by a nut 6.
Two first rolling bearings 28 are respectively arranged on the upper and lower sides of the through hole of the boss at the rear upper part of the hemispherical shell 10 in a positive and negative mode, wherein a second rolling bearing 35 is arranged below the first rolling bearing 28 at the lower part; the upper part and the lower part of the boss through hole at the rear lower part of the hemispherical shell 10 are respectively provided with two first rolling bearings 28 in a positive and negative way, wherein the first rolling bearing 28 positioned at the upper part is provided with a second rolling bearing 35; a half-thread inner hexagonal screw 13 penetrates through the boss at the rear upper part of the hemispherical shell 10, is connected with the other end of the connecting rod 7 with a threaded hole, penetrates through the boss at the front lower part and is fixed by the nut 6; the spherical shell outer 25 is fixed to the outer end of the sleeve 37.
An outer wheel disc outward-expanding plate is concentrically and rotatably arranged on the outer side of the sleeve 37, and three connecting rods 7 are fixedly arranged at trisection positions of the outer wheel disc outward-expanding plate. For the description of the part fixing mode of the right half-deforming wheel, the right spherical shell mirror image 2 is fixed with the hemispherical shell 10, the right inner plate 22 is fixed with the inner plate 9, and the right outer expanding plate 27 is fixed with the left outer expanding plate 8.
The embodiment is used for concrete operation;
when the spherical shell is deformed, when the gear motor 1 rotates, the power of the gear motor 1 is transmitted to the inner wheel disc connected with the gear motor through the sleeve 37 fixedly connected with the motor rotating shaft, so that the rotating connecting rod 30 and the outer wheel disc are driven to rotate to expand plates, the rotating connecting rod 30 is connected with the inner wheel disc in a rotating mode, the connecting rod 7 and the outer wheel disc are connected in a fixed mode, the hemispherical shell 10 rotates to enable the spherical shell to rotate to the designated position due to the fact that the angle difference occurs, the steering engine 31 controls the rack to move forwards, the pin 11 fixed on the left disc 23 and the right disc 23 is inserted into the pin 11 hole of the outer wheel disc to expand plates, the deformation state of the spherical shell is locked, the deformation process is completed, and then the motor can drive the deformed spherical shell to move.
The working principle of the deformable spherical robot is as follows:
when the spherical shell is not deformed, the gear motor 1 drives the sleeve 37, the sleeve 37 transmits the torque transmitted by the gear motor 1 to the inner wheel disc fixedly connected with the sleeve, and at the moment, the pin 11 is inserted into the pin 11 hole of the outer wheel disc, so that the angular speed of the inner wheel disc is the same as that of the outer wheel disc, and the spherical shell can rotate.
When the spherical shell warp, through with motor shaft fixed connection sleeve 37 transmit motor power for the interior rim plate rather than being connected when gear motor 1 rotates, thereby the drive rotates connecting rod 30 and the rotation of outer rim plate outer expanding plate, because it is connected for rotating with interior rim plate to rotate connecting rod 30, and connecting rod 7 and outer rim plate outer expanding plate are connected for fixed connection, this just makes hemisphere shell 10 rotate and appears the angle difference and make the spherical shell change to after the assigned position, steering wheel 31 control rack moves forward, left and right dish 23 fixed pin 11 inserts the outer ring plate outer expanding plate pin 11 hole and makes the spherical shell deformation state lock and die the completion deformation process, later the motor motion can be with the spherical shell motion after the drive warp.
While the embodiments of the invention have been described in detail in connection with the accompanying drawings, it is not intended to limit the scope of the invention. Various modifications and changes may be made by those skilled in the art without inventive step within the scope of the appended claims.
Claims (10)
1. A deformable spherical robot, comprising:
a drive system including a power device and a transmission;
the power device is used for providing power for the transmission device;
the transmission device is used for driving the spherical robot to move and the spherical shell of the spherical robot to deform.
2. The deformable spherical robot of claim 1, wherein: the power device comprises two speed reducing motors, a steering engine and a small motor;
the two speed reducing motors are respectively arranged in motor grooves formed in the two sides of the bottom plate; the steering engine is arranged in a steering engine groove between the two speed reducing motors; a flange plate with a gear is respectively arranged on the left output shaft and the right output shaft of the steering engine, and two first racks and two second racks which are opposite are arranged above and below the two gears; the steering engine rotates to drive the two gears to rotate, and the two gears drive the first rack and the second rack to move back and forth; the cover plate is connected and fixed with the bottom plate up and down through two plate fixing rods; the small motor is arranged in a groove formed in the blocking shell and is fixed by a small motor cover plate; a platform is arranged in the inner ring of the blocking shell, and a screw hole formed in the platform is fixedly connected with a screw hole in the plane of the bottom plate through a screw; two rotating shafts of the small motor are respectively fixed with a cylindrical gear, the supporting shell is rotationally connected with the blocking shell through a pin, and the gear part of the supporting shell is in meshing transmission with the cylindrical gear.
3. The deformable spherical robot of claim 2, wherein: the first rack and the second rack are limited by a groove formed in the bottom plate; the gear is fixed by the steering engine flange plate.
4. The transformable spherical robot of claim 3, wherein: the transmission device comprises a left hemispherical shell and a right hemispherical shell which have the same structure; the left hemispherical shell comprises a hemispherical shell, a sleeve and an adjusting sleeve; a sleeve and an adjusting sleeve for adjusting the distance are concentrically and fixedly arranged outside a transmission shaft of the speed reducing motor, a flange sleeve is arranged at the end, close to the motor, of the sleeve, a flange plate is fixed outside the flange sleeve through a set screw, a first rack is arranged outside the flange plate and concentric with the flange plate, and the flange sleeve is fixedly arranged on the left plate and the right plate.
5. The transformable spherical robot of claim 4, wherein: three pin holes are fixedly arranged on the left disc and the right disc, and three pins penetrate through the left side of the inner wheel disc to be fixedly connected with the left disc; the left disc is provided with a through hole for connecting a spring, and the spring is respectively hooked with two through holes formed in the left side of the left disc and the left side of the inner disc; the left side of the inner wheel disk is fixedly arranged on the sleeve.
6. The deformable spherical robot of claim 5, wherein: the pin penetrates through a via hole formed in the left side of the inner wheel disc; the left upper part of the inner wheel disc is provided with three through holes respectively containing two first rolling bearings up and down; a rotating connecting rod is fixedly arranged above the half-tooth inner hexagonal screw, penetrates through a through hole containing the first rolling bearing and is fixed by a nut; the rotating connecting rod can rotate around the half-thread hexagon socket head cap screw.
7. The deformable spherical robot of claim 6, wherein: two second rolling bearings are respectively arranged on the upper part and the lower part of the central through hole of the left outer expanding plate of the outer wheel disc and are fixed on the sleeve; the outer wheel disc is provided with two threaded holes in trisection respectively, two headless inner hexagonal screw fastening jackscrews penetrate through the threaded holes, and the upper parts of the headless inner hexagonal screw fastening jackscrews are fixed by two nuts respectively; the lower part of the two headless inner hexagonal screws tightly fixes the jackscrew and is fixedly connected with a connecting rod with two threaded holes.
8. The transformable spherical robot of claim 7, wherein: two first rolling bearings which are arranged in a positive and negative mode are respectively arranged above and below the boss through hole in the front upper part of the hemispherical shell; a boss through hole at the front lower part of the hemispherical shell is provided with a first rolling bearing which is arranged in a positive and negative way up and down; and the half-thread inner hexagon screw penetrates through the boss at the front upper part of the hemispherical shell, is connected with the other end of the rotating connecting rod, which contains the threaded hole, penetrates through the boss at the front lower part, and is fixed by the nut.
9. The deformable spherical robot of claim 8, wherein: two first rolling bearings are respectively arranged on the upper part and the lower part of the boss through hole at the rear upper part of the hemispherical shell in a positive and negative way, wherein a second rolling bearing is arranged below the first rolling bearing at the lower part; two first rolling bearings are respectively arranged on the upper part and the lower part of the through hole of the boss on the rear lower part of the hemispherical shell in a positive and negative way, wherein a second rolling bearing is arranged on the first rolling bearing on the upper part; the half-thread inner hexagon screw penetrates through the boss at the rear upper part of the hemispherical shell, is connected with the other end of the connecting rod, which contains the threaded hole, penetrates through the boss at the front lower part and is fixed by the nut; the spherical shell is fixed at the outer end of the sleeve.
10. The transformable spherical robot of claim 9, wherein: the outer side of the sleeve is concentrically and rotatably provided with an outer wheel disc outward expansion plate, and three connecting rods are fixedly arranged at trisection positions of the outer wheel disc outward expansion plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211182056.4A CN115535105B (en) | 2022-09-27 | 2022-09-27 | Deformable spherical robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211182056.4A CN115535105B (en) | 2022-09-27 | 2022-09-27 | Deformable spherical robot |
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| CN115535105B CN115535105B (en) | 2023-07-25 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN113443039A (en) * | 2021-07-23 | 2021-09-28 | 北京理工大学珠海学院 | Spherical mobile robot |
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