CN115535105B - Deformable spherical robot - Google Patents
Deformable spherical robot Download PDFInfo
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- CN115535105B CN115535105B CN202211182056.4A CN202211182056A CN115535105B CN 115535105 B CN115535105 B CN 115535105B CN 202211182056 A CN202211182056 A CN 202211182056A CN 115535105 B CN115535105 B CN 115535105B
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- spherical robot
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Classifications
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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
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 is deformed into a ratchet wheel under complex terrain, so that the spherical robot can conveniently complete obstacle surmounting tasks, and the environment adaptability is improved; besides, the invention has the advantages of exquisite structure, changeable form and strong environment adaptability, can complete the obstacle surmounting task of complex terrain by utilizing the unique ratchet wheel deformation, and can be widely applied to various occasions such as monitoring, 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 surmounting robot. Due to its special structure, the deformable spherical robot has great advantages over other mobile robots: first, the adaptive capacity to the environment is stronger. The robot has the characteristic of deformability, the problem of complex terrain which is difficult to pass through by the traditional spherical robot can be solved by changing the spherical shell into a ratchet shape through control, and the occurrence of the condition that the spherical shell of the robot idles is greatly reduced by using the supporting shell. Second, the operating efficiency is high. The robot has the advantages that the friction force generated by the contact of the walking shell of the robot and the ground when the robot is not deformed is the driving force, the passive friction wheel is not arranged, the movement efficiency is high, the contact of 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, and the device can automatically recover to a stable state after collision or falling from a high place, so that the device can adapt to more complex terrains. Fourth, the spherical robot has good dynamic and static balance, the controllability of the movement direction is good, and the spherical robot can quickly recover itself once the movement is lost.
At present, three forms of legged robots, wheeled robots and crawler robots are mainly developed by intelligent machines. The leg robot can finish climbing tasks on rugged terrains by virtue of flexible joints and arms, but acts slowly and has low stability; the crawler robot has larger traction force and stronger passing capacity, but can not realize better working efficiency in a narrow scene due to structural limitation; the wheeled robot has a more traditional mechanical structure design, can realize high-speed movement, but has a larger 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 motors are used for driving the walking, the energy loss is small, and the maneuverability is high. The ratchet wheel deformed by the spherical shell can be used for increasing the gripping force with the ground under the deformation state, so that the robot can conveniently cross a rugged road section, and various tasks can be completed under complex terrains. Therefore, the deformable spherical robot has remarkable advantages and wide application prospects in the fields of planet exploration, hazardous environment detection, pipeline interior detection and the like.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a deformable spherical robot so as to solve the problem that the current spherical robot cannot finish obstacle surmounting on complex terrains due to smooth spherical shell surfaces.
In order to achieve the above purpose, the invention adopts the following technical scheme:
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 gear 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 gear motors; the left output shaft and the right output shaft of the steering engine are respectively provided with a flange plate with gears, and the two gears are provided with two reverse first racks and two reverse second racks up and down; the steering engine rotates to drive 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 with the bottom plate up and down through two plate fixing rods and is fixed; 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 baffle shell is provided with a platform, and screw holes formed in the platform are fixedly connected with screw holes in the plane of the bottom plate through screws; the two rotating shafts of the small motor are respectively fixed with a cylindrical gear, the supporting shell and the blocking shell are rotationally connected through pins, and the gear part of the supporting shell is meshed with the cylindrical gear for transmission.
Further, the first rack and the second rack are limited by grooves formed in the bottom plate; the gear is fixed by steering wheel ring flange.
Further, the transmission device comprises a left hemispherical shell and a right hemispherical shell which are identical in structure; the left hemispherical shell comprises a hemispherical shell, a sleeve and an adjusting sleeve; the driving shaft of the gear motor is fixedly provided with a sleeve and an adjusting sleeve for adjusting the distance in a concentric manner, the sleeve is provided with a flange sleeve close to the motor end, a flange plate is fixed outside the flange sleeve through a set screw, the 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.
Further, three pin holes are fixedly formed in the left disc and the right disc, and three pins penetrate through the left of the inner wheel disc and are fixedly connected with the left disc; the left disc is provided with a through hole for connecting the spring, and the spring is respectively hooked with two through holes formed on the left disc and the left disc; the inner wheel disc is fixedly arranged on the sleeve at the left side.
Further, 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 which respectively contain two first rolling bearings up and down; a rotary connecting rod is fixedly arranged above the half-tooth inner hexagon screw, penetrates through a through hole containing the first rolling bearing and is fixed by a nut; the rotary connecting rod can rotate around the half-tooth inner hexagon screw.
Further, two second rolling bearings are respectively arranged at the upper part and the lower part of the central through hole of the left outer expansion plate of the outer wheel disc and are fixed on the sleeve; two threaded holes are respectively formed in the outer wheel disc in a trisection mode, two headless inner hexagon screws tightly penetrate through the threaded holes, and the upper parts of the headless inner hexagon screws tightly penetrate through the threaded holes and are respectively fixed by two nuts; the lower parts of the two headless hexagon socket screws are fixedly connected with a connecting rod with two threaded holes.
Further, two first rolling bearings which are placed in the front and back directions are respectively arranged on the upper part and the lower part of the boss through hole on the front upper part of the hemispherical shell; the front lower boss through holes of the hemispherical shells are provided with first rolling bearings which are placed in the front-back direction up and down; the half-tooth inner hexagon screw passes through the boss at the front upper part of the hemispherical shell, is connected with the other end of the rotating connecting rod with the threaded hole, passes through the boss at the front lower part and is fixed by the nut.
Further, 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 under the first rolling bearing positioned below the first rolling bearing; two first rolling bearings are respectively arranged on the upper part and the lower part of the boss through hole at 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 positioned above; the half-tooth inner hexagon screw passes through a boss at the rear upper part of the hemispherical shell, is connected with the other end of the connecting rod with a threaded hole, passes through a boss at the front lower part and is fixed by a nut; the spherical shell is externally fixed at the outer end of the sleeve.
Further, an outer wheel disc outer expansion plate is concentrically arranged on the outer side of the sleeve in a rotating mode, and three connecting rods are fixedly arranged at three parts of the outer wheel disc outer expansion plate.
The deformable spherical robot provided by the invention has the following beneficial effects:
1. the invention has the advantages of exquisite structure, changeable form and strong environment adaptability, can complete the obstacle surmounting task of complex terrain by utilizing the unique ratchet wheel deformation, and can be widely applied to various occasions such as monitoring, rescue, fire fighting, disaster relief, geological exploration, military detection and the like.
2. The invention improves the obstacle crossing capability of the spherical robot, and the spherical robot is in point contact with the ground, so that the spherical robot has less friction force with the ground contact point under complex terrain and cannot cross the complex terrain environment; the invention mainly improves the defect, designs the spherical shell structure into a deformable structure, and deforms the spherical shell into a ratchet wheel under complex terrain so as to facilitate the spherical robot to complete obstacle surmounting tasks, thereby improving the environment adaptability.
3. The spherical shell connecting rod is driven by the transmission shaft, the motor is connected with the transmission shaft, the rotation of the transmission shaft not only can provide a power source for the movement of the robot, but also can deform the spherical robot shell through a special mechanical structure, and the deformed part designs a mechanical structure which is rotationally connected to complete the rotation of the spherical shell connecting rod, so that a certain angle difference is formed, and the deformation aim is achieved.
Drawings
FIGS. 1 to 3 are internal overall construction views of a deformable spherical robot according to the present invention;
FIG. 4 is an isometric view of a core drive system of a deformable spherical robot in accordance with the present invention;
FIG. 5 is an overall construction view of a left deformable wheel of the deformable spherical robot of the present invention;
fig. 6 is a diagram showing a structure of a motor driving part of the deformable spherical robot in the present invention;
FIG. 7 is a diagram of a center baffle ring of the deformable spherical robot of the present invention;
FIG. 8 is a right deformable wheel elevation view of the deformable spherical robot of the present invention;
fig. 9 is a right structural view of an inner wheel of the deformable spherical robot of the present invention.
FIG. 10 is a diagram showing a deformation structure of a deformable spherical robot according to the present invention;
FIG. 11 is a spherical structure diagram of a deformable spherical robot in accordance with the present invention;
in the figure, 1, a speed reducing motor; 2. mirror image of the right spherical shell; 3. a cylindrical gear; 4. two-plate fixing rods; 5. a support case; 6. a nut; 7. a connecting rod; 8. an outer ring disc left outer expansion plate; 9. the left side of the inner wheel disc; 10. a hemispherical shell; 11. a pin; 12. a left disc; 13. a half-tooth socket head cap 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 stop block; 22. the right of the inner wheel; 23. a right disc; 24. a flange plate; 25. the outer part of the spherical shell; 26. a first rack; 27. an outer ring disc right outer expansion plate; 28. a first rolling bearing; 29. a bottom plate; 30. rotating the connecting rod; 31. steering engine; 32. steering wheel ring flange; 33. a small motor cover plate; 34. a small motor; 35. a second rolling bearing; 36. the top thread is tightly fixed by the hexagon socket head cap screw; 37. a sleeve; 38. the sleeve is adjusted.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate 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 all the inventions which make use of the inventive concept are protected by the spirit and scope of the present invention as defined and defined in the appended claims to those skilled in the art.
Embodiment 1, referring to fig. 1 to 11, the deformable spherical robot of the present embodiment has the characteristics of exquisite structure, deformability, strong environmental adaptability and capability of carrying various task loads, and can complete a plurality of tasks such as monitoring, rescue, fire protection, disaster relief, geological exploration, military detection, etc. under complex terrain, and the deformable spherical robot of the present invention comprises:
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 base plate 29.
The driving system comprises a power device and a transmission device, and 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.
Embodiment 2 referring to fig. 1 to 11, this embodiment presents a composition of a power plant, which specifically includes:
gear motor 1, bottom plate 29, apron 20, steering wheel 31, steering wheel ring flange 32, dull and stereotyped bottom plate 29, first rack 26, second rack 15, two board dead levers 4, fender shell 16, battery 19, little motor apron 33, little motor 34, cylindrical gear 3 and support shell 5.
In the embodiment, two gear motors 1 are respectively placed in motor grooves formed in a bottom plate 29, the two motors are positioned at the left side and the right side of the bottom plate 29, and two steering engines 31 are positioned at the left side and the right side of steering engine 31 grooves formed between the two gear motors 1; steering engine flange plates 32 are fixedly arranged on the rotating shafts on the left side and the right side of the steering engine 31 respectively, and gears 17 are fixedly connected to the two flange plates 24 respectively; two first racks 26 and 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 respectively fixed by rack grooves formed in the bottom plate 29 and the steering engine flange plate 32.
The cover plate 20 and the bottom plate 29 are connected and fixed up and down through two plate fixing rods 4, and the cover plate 20 and the bottom plate 29 firmly fix the two gear motors 1 and the steering engine 31 through grooves formed between the cover plate 20 and the bottom plate 29; 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 travel of the racks; the inner ring of the baffle shell 16 is provided with a platform, and the platform is provided with screw holes which are fixedly connected with screw holes on the plane of the bottom plate 29 through screws; two rotary shafts of the small motor 34 are respectively fixed with a cylindrical gear 173; the small motor 34 is placed in a groove formed in the inner part of the baffle shell 16 and is fixed by a small motor cover plate 33; the supporting shell 5 and the baffle shell 16 are rotatably connected through the pin 11, and a gear 17 part of the supporting shell 5 is meshed with the cylindrical gear 3 for transmission.
The power device of the embodiment is used for specific operation:
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 forwards and backwards, the geometric centers of the first rack 26 and the second rack 15 are coaxial with a transmission shaft, a sleeve 37 and an adjusting sleeve 38 for adjusting positions are fixedly arranged outside the transmission shaft in a concentric manner, the sleeve 37 is provided with a flange sleeve 14 close to a motor end, a flange plate 24 is fixedly arranged outside the flange sleeve 14 through a set screw, the racks are arranged outside the flange plate 24 and concentric with the flange plate, the flange sleeve 14 is fixedly arranged on the left disc 23 and the right disc 23, the flange plate 24 and a part fixedly connected with the flange plate 14 can be pulled forwards when the racks move forwards, the flange plate 24 and a part fixedly connected with the flange plate can be pulled backwards when the racks move backwards, three pin 11 holes are fixedly arranged on the left disc 23 and the right disc 11 pass through holes arranged on an inner disc, and when the spherical shell is deformed or is not deformed, the steering engine 31 moves to drive the racks to move so as to complete the insertion of the pins 11 and the expansion plate of the outer disc, and the spherical robot can maintain the state when the spherical robot is deformed and is not deformed.
Embodiment 3, referring to fig. 1 to 11, the present embodiment shows a composition of a transmission device, in which the transmission structure of the left and right spherical shells of the transmission device is the same, only the left hemispherical shell 10 is described herein, the mirror image 2 of the right hemispherical shell is unfolded and deformed completely the same as the motion principle of the left hemispherical shell, and the left hemispherical shell 10 specifically includes:
the device comprises a hemispherical shell 10, an outer wheel left outer expansion plate 8, an inner wheel left 9, a second rolling bearing 35, a half-tooth inner hexagon screw 13, a headless inner hexagon screw tightening jackscrew 36, a first rolling bearing 28, a second nut 18, a connecting rod 7, a sleeve 37, a flange sleeve 14, a left wheel 12, a pin 11, a rotating connecting rod 30, an adjusting sleeve 38, a spherical shell outer 25, the hemispherical shell 10 and a rotating connecting rod 30.
The transmission shaft of the gear motor 1 is fixedly provided with a sleeve 37 and an adjusting sleeve 38 for adjusting the distance in a concentric manner, the sleeve 37 is provided with a flange sleeve 14 close to the motor end, 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 concentric with the flange plate 24, and the flange sleeve 14 is fixedly arranged on the left plate 12 and the right plate 23.
Three pin 11 holes are fixedly arranged on the left disc 12 and the right disc 23, three pins 11 penetrate through the inner disc left 9 and are fixedly connected with the left disc 12, through holes for connecting springs are arranged on the left disc 12, the springs are respectively hooked with the two through holes formed in the left disc 12 and the inner disc left 9, and the inner disc left 9 is fixedly arranged on the sleeve 37.
The pin 11 passes through the through holes formed in the left 9 of the inner wheel disc, and three through holes which respectively contain two first rolling bearings 28 up and down are formed in the left 9 of the inner wheel disc; a rotary connecting rod 30 is fixedly arranged above the half-tooth socket head cap screw 13, penetrates through a through hole containing the first rolling bearing 28 and is fixed by a nut 6; the rotation link 30 can rotate around the half socket head cap screw 13.
The center through hole of the outer ring disc left outer expansion plate 8 is provided with two second rolling bearings 35 up and down and fixed on a sleeve 37; two threaded holes are respectively formed in the outer wheel disc in a trisection mode, two headless inner hexagon screws tightly penetrate through the threaded holes, and the upper parts of the headless inner hexagon screws tightly penetrate through the threaded holes and are respectively fixed by the second nuts 18; the lower parts of the two non-head socket head cap screws are fixedly connected with the connecting rod 7 with two threaded holes.
Two first rolling bearings 28 which are placed in the opposite directions are respectively arranged on the upper part and the upper part of the boss through holes in the front of the hemispherical shell 10; the front lower boss through holes of the hemispherical shell 10 are provided with first rolling bearings 28 which are arranged in a positive and negative way up and down; the half-tooth inner hexagon screw 13 passes through the boss at the front upper part of the half spherical shell 10, is connected with the other end of the rotary connecting rod 30 with a threaded hole, passes through the boss at the front lower part, and is fixed by the nut 6.
Two first rolling bearings 28 are respectively arranged on the upper and lower sides of the boss through holes at the rear upper part of the hemispherical shell 10 in a positive and negative way, wherein a second rolling bearing 35 is arranged below the first rolling bearing 28 positioned below; two first rolling bearings 28 are respectively and positively arranged on the upper side and the lower side of the boss through hole at the rear lower side of the hemispherical shell 10, wherein a second rolling bearing 35 is arranged on the first rolling bearing 28 positioned above; the half-tooth inner hexagon screw 13 passes through a 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, passes through a boss at the front lower part and is fixed by the nut 6; the spherical shell outer 25 is fixed at the outer end of the sleeve 37.
An outer wheel disc outer expansion plate is concentrically arranged on the outer side of the sleeve 37 in a rotating mode, and three connecting rods 7 are fixedly arranged at three parts of the outer wheel disc outer expansion plate. For the part fixing mode of the right half deformation wheel, the right spherical shell mirror image 2 is fixed in the same way as the hemispherical shell 10, the inner wheel right 22 is fixed in the same way as the inner wheel 9, and the inner wheel right outer expansion plate 27 is fixed in the same way as the inner wheel left outer expansion plate 8.
The embodiment is in specific operation;
when the spherical shell is deformed, when the gear motor 1 rotates, the power of the gear motor 1 is transmitted to an inner wheel disc connected with the gear motor through a sleeve 37 fixedly connected with a motor rotating shaft, so that the rotating connecting rod 30 is driven to rotate with an outer expansion plate of an outer wheel disc, as the rotating connecting rod 30 is connected with the inner wheel disc and is fixedly connected with the outer expansion plate of the outer wheel disc, the angle difference appears in the rotation of the hemispherical shell 10, the spherical shell rotates to a designated position, a steering engine 31 controls a rack to move forwards, a pin 11 fixed on the left and right discs 23 is inserted into a pin 11 hole of the outer expansion plate of the outer wheel disc, so that the spherical shell is locked in a deformed state, and then the deformed spherical shell can be driven to move by the motor.
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 fixedly connected with the sleeve 37, and the pin 11 is inserted into the pin 11 hole of the outer wheel, so that the angular speed of the inner wheel is the same as that of the outer wheel, and the spherical shell can rotate.
When the spherical shell is deformed, when the gear motor 1 rotates, motor power is transmitted to an inner wheel disc connected with the gear motor through a fixed connecting sleeve 37 of a motor rotating shaft, so that the rotating connecting rod 30 and an outer wheel disc outer expansion plate are driven to rotate, as the rotating connecting rod 30 is connected with the inner wheel disc and is in rotating connection, the connecting rod 7 is connected with the outer wheel disc outer expansion plate and is in fixed connection, the angle difference is generated when the hemispherical shell 10 rotates, the spherical shell rotates to a designated position, the steering engine 31 controls the rack to move forwards, the pins 11 fixed on the left and right discs 23 are inserted into the pin 11 holes of the outer wheel disc outer expansion plate, so that the spherical shell deformation state is locked, and then the deformed spherical shell can be driven to move by the motor.
Although specific embodiments of the invention have been described in detail with reference to the accompanying drawings, it should not be construed as limiting the scope of protection of the present patent. Various modifications and variations which may be made by those skilled in the art without the creative effort are within the scope of the patent described in the claims.
Claims (7)
1. A deformable spherical robot, comprising:
a drive system comprising 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;
the power device comprises two speed reducing motors, a steering engine and a small motor;
the two gear 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; the left output shaft and the right output shaft of the steering engine are respectively provided with a flange plate with gears, and the two gears are provided with a first reverse rack and a second reverse rack up and down; the steering engine rotates to drive 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 with the bottom plate up and down through two plate fixing rods and is fixed; 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 baffle shell is provided with a platform, and screw holes formed in the platform are fixedly connected with screw holes in the plane of the bottom plate through screws; the two rotating shafts of the small motor are respectively fixed with a cylindrical gear, the supporting shell and the blocking shell are rotationally connected through a pin, and the gear part of the supporting shell is meshed with the cylindrical gear for transmission;
the first rack and the second rack are limited by grooves formed in the bottom plate; the gear is fixed by a steering engine flange plate;
the transmission device comprises a left hemispherical shell and a right hemispherical shell which are identical in structure; the left hemispherical shell comprises an outer wheel disc left outer expansion plate, a hemispherical shell, a sleeve and an adjusting sleeve; the gear motor is characterized in that a sleeve and an adjusting sleeve for adjusting the distance are fixedly arranged outside a transmission shaft of the gear motor in a concentric manner, a flange sleeve is arranged at the sleeve, close to the motor end, and a flange plate is fixedly arranged outside the flange sleeve through a set screw.
2. The deformable spherical robot of claim 1 wherein: three pin holes are fixedly formed in the left disc and the right disc, and three pins penetrate through the left of the inner wheel disc and are fixedly connected with the left disc; the left disc is provided with a through hole for connecting the spring, and the spring is respectively hooked with two through holes formed on the left disc and the left disc; the inner wheel disc is fixedly arranged on the sleeve at the left side.
3. The deformable spherical robot of claim 2 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 which respectively contain two first rolling bearings up and down; a rotary connecting rod is fixedly arranged above the half-tooth inner hexagon screw, penetrates through a through hole containing the first rolling bearing and is fixed by a nut; the rotary connecting rod rotates around the half-tooth inner hexagon screw.
4. A deformable spherical robot as claimed in claim 3, wherein: the center through hole of the outer ring disc left outer expansion plate is provided with two second rolling bearings up and down and is fixed on the sleeve; two threaded holes are respectively formed in the outer wheel disc in a trisection mode, two headless inner hexagon screws tightly penetrate through the threaded holes, and the upper parts of the headless inner hexagon screws tightly penetrate through the threaded holes and are respectively fixed by two nuts; the lower parts of the two headless hexagon socket screws are fixedly connected with a connecting rod with two threaded holes.
5. The deformable spherical robot of claim 4 wherein: two first rolling bearings which are placed in the front and back directions are respectively arranged on the upper part and the lower part of the boss through hole on the front upper part of the hemispherical shell; the front lower boss through holes of the hemispherical shells are provided with first rolling bearings which are placed in the front-back direction up and down; the half-tooth inner hexagon screw passes through the boss at the front upper part of the hemispherical shell, is connected with the other end of the rotating connecting rod with the threaded hole, passes through the boss at the front lower part and is fixed by the nut.
6. The deformable spherical robot of claim 5 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 positioned below the first rolling bearing; two first rolling bearings are respectively arranged on the upper part and the lower part of the boss through hole at 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 positioned above; the half-tooth inner hexagon screw passes through a boss at the rear upper part of the hemispherical shell, is connected with the other end of the connecting rod with a threaded hole, passes through a boss at the front lower part and is fixed by a nut; the spherical shell is externally fixed at the outer end of the sleeve.
7. The deformable spherical robot of claim 6 wherein: the sleeve is provided with an outer wheel disc outer expansion plate in a concentric rotation mode, and three connecting rods are fixedly arranged at three parts of the outer wheel disc outer expansion plate.
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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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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211182056.4A CN115535105B (en) | 2022-09-27 | 2022-09-27 | Deformable spherical robot |
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| CN115535105A CN115535105A (en) | 2022-12-30 |
| CN115535105B true CN115535105B (en) | 2023-07-25 |
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| US7963350B1 (en) * | 2009-04-10 | 2011-06-21 | The United States Of America As Represented By The Secretary Of The Navy | Spherical armored mobile platform |
| CN104002886A (en) * | 2014-05-22 | 2014-08-27 | 战强 | Shape-shifting spherical detection robot |
| KR101853258B1 (en) * | 2017-08-25 | 2018-04-30 | 조성건 | A spherical robot with variable exoskeleton |
| CN109677494B (en) * | 2018-12-26 | 2021-07-20 | 广西大学 | Self-adaptive steering and climbing deformable spherical robot |
| CN112455565A (en) * | 2020-11-18 | 2021-03-09 | 燕山大学 | Wheel-leg-shape-reconfigurable reconnaissance robot with self-adaptive capacity |
| CN113086040A (en) * | 2021-05-14 | 2021-07-09 | 北京邮电大学 | Open-close type reconfigurable spherical robot |
| CN113443039A (en) * | 2021-07-23 | 2021-09-28 | 北京理工大学珠海学院 | Spherical mobile robot |
| CN114275071B (en) * | 2021-12-24 | 2022-09-20 | 北方工业大学 | Novel deformable wheel-leg robot |
| CN114701306A (en) * | 2022-03-14 | 2022-07-05 | 中建八局第一建设有限公司 | Amphibious spherical investigation robot with variable foot wheels |
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2022
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