CN116372987A - Modularized spherical robot - Google Patents
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- CN116372987A CN116372987A CN202310360132.4A CN202310360132A CN116372987A CN 116372987 A CN116372987 A CN 116372987A CN 202310360132 A CN202310360132 A CN 202310360132A CN 116372987 A CN116372987 A CN 116372987A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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Abstract
The invention relates to a modularized spherical robot, which comprises a spherical shell, a rack arranged in the spherical shell, and a self-reconstruction mechanism arranged on the rack, wherein the self-reconstruction mechanism comprises an even number of first magnetic attraction pieces uniformly distributed on the circumference, and the outward polarities of two adjacent first magnetic attraction pieces are opposite; the self-reconstruction mechanism further comprises a second driving mechanism which is used for driving the plurality of first magnetic attraction pieces to synchronously rotate by alpha degrees, wherein alpha is an included angle between two adjacent first magnetic attraction pieces; one side of the first magnetic attraction piece facing outwards forms a magnetic control area in the spherical shell; the self-reconstruction mechanism further comprises a plurality of second magnetic attraction pieces, the number of the second magnetic attraction pieces does not exceed that of the first magnetic attraction pieces, each second magnetic attraction piece is located in one magnetic control area, the second magnetic attraction pieces are hinged to the frame, the second magnetic attraction pieces can turn around the hinge shafts of the second magnetic attraction pieces, and the outward polarity of the second magnetic attraction pieces is changed. According to the invention, the second magnetic attraction piece is arranged in the spherical shell, and the polarity of the second magnetic attraction piece facing the outer side of the spherical shell can be changed, so that the spherical robot can be conveniently connected and separated.
Description
Technical Field
The invention relates to the technical field of spherical robots, in particular to a modularized spherical robot.
Background
Robot specialists have been pursuing the prospect of a modular self-constructing robot for over 30 years. The robot has remarkable advantages in adaptability, expandability and robustness, and the application field of the robot comprises space exploration, reconfigurable environment, search rescue and the like. However, the autonomous working capacity of small modular robot cells is often limited, and current research focuses on solving the direction of multiple machine self-reconstruction and achieving more complex functions in a clustered collaboration.
The Chinese patent with publication number of CN111216141B discloses a butt-joint reconstruction spherical robot, which is characterized in that a male port and a female port are arranged on a single spherical robot, and the reconstruction of the spherical robot is realized by butt joint of the male port and the female port of two adjacent single spherical robots. The Chinese patent application with publication No. CN115366083A discloses a modularized self-reconstruction robot, which is provided with a ferromagnetic shell, a plurality of magnets are arranged at the bottom of the ferromagnetic shell, and the self-reconstruction is realized by attracting the magnets with the ferromagnetic shell of an adjacent robot monomer.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a modularized spherical robot, a plurality of second magnetic attraction pieces are arranged in a spherical shell, and the polarity of the second magnetic attraction pieces facing the outer side of the spherical shell can be changed so as to facilitate the connection and the separation of the spherical robot.
In order to solve the technical problems, the invention provides a modularized spherical robot which comprises a spherical shell and a rack arranged in the spherical shell, wherein a first driving mechanism for driving the spherical shell to rotate is arranged on the rack, a self-reconstruction mechanism is arranged on the rack, the self-reconstruction mechanism comprises an even number of first magnetic attraction pieces uniformly distributed on the circumference, and the outward polarities of two adjacent first magnetic attraction pieces are opposite; the self-reconstruction mechanism further comprises a second driving mechanism, wherein the second driving mechanism is used for driving the plurality of first magnetic attraction pieces to synchronously rotate for alpha degrees, and alpha is an included angle between two adjacent first magnetic attraction pieces; a magnetic control area is formed in the spherical shell on one outwards facing side of the first magnetic attraction piece; the self-reconstruction mechanism further comprises a plurality of second magnetic attraction pieces, the number of the second magnetic attraction pieces does not exceed that of the first magnetic attraction pieces, each second magnetic attraction piece is located in one magnetic control area, the second magnetic attraction pieces are hinged to the machine frame, and the second magnetic attraction pieces can turn around the hinge shafts of the second magnetic attraction pieces and the machine frame, so that the outward polarity of the second magnetic attraction pieces is changed.
In the invention, the outward polarities of the two adjacent first magnetic attraction pieces are opposite, the included angle of the two adjacent first magnetic attraction pieces is alpha, and the second driving mechanism can drive the plurality of first magnetic attraction pieces to synchronously rotate for alpha degrees. For the second magnetic attraction piece, the inner side of the second magnetic attraction piece is attracted to the outer side of the corresponding first magnetic attraction piece at the previous moment, and after the second driving mechanism drives the first magnetic attraction piece to rotate for alpha degrees at the next moment, the inner side of the second magnetic attraction piece is repelled from the outer side of the corresponding first magnetic attraction piece, and under the action of repulsive force, the second magnetic attraction piece can turn around the hinge shaft of the second magnetic attraction piece, so that the polarity of the second magnetic attraction piece facing the outer side is changed. Therefore, through the cooperation of the first magnetic attraction piece, the second magnetic attraction piece and the second driving mechanism, the outward polarity of the second magnetic attraction piece can be changed, and the magnetic connection point can be formed in the area, corresponding to the outer side of the second magnetic attraction piece, of the spherical shell, so that in practice, the outward polarity of the second magnetic attraction piece can be changed, and the connection and separation of the two spherical robots at the magnetic connection point can be realized.
Preferably, the number of the second magnetic attraction pieces is equal to the number of the first magnetic attraction pieces, and the second magnetic attraction pieces are distributed in the magnetic control areas in a one-to-one correspondence manner. The number of the second magnetic attraction pieces is equal to that of the first magnetic attraction pieces, so that a plurality of magnetic connection points can be formed on the spherical shell, and the spherical robot can conveniently carry out the self-reconstruction of various forms.
Preferably, an installation inclination angle exists between a straight line where the length direction of the first magnetic attraction piece is located and a horizontal plane, the installation inclination angles of the plurality of first magnetic attraction pieces are staggered according to a first inclination angle and a second inclination angle, the first inclination angle is unequal to the second inclination angle, and absolute values of the first inclination angle and the second inclination angle are not more than 45 degrees. When the second driving mechanism drives the first magnetic attraction piece to rotate, the installation inclination angles of the first magnetic attraction piece facing the second magnetic attraction piece at the previous moment and the next moment are unequal, so that an included angle is formed between the central magnetic induction line of the first magnetic attraction piece and the central magnetic induction line of the second magnetic attraction piece at the next moment, the second magnetic attraction piece is subjected to torque action due to the included angle, the second magnetic attraction piece is helped to turn over smoothly, and the outward polarity of the second magnetic attraction piece is changed conveniently.
Preferably, the first inclination angle is a positive value, and the second inclination angle is a negative value; the installation inclination angle of the first magnetic attraction piece is positive when the first magnetic attraction piece is inclined from inside to outside, and is negative when the first magnetic attraction piece is inclined from inside to outside and downward. The first inclination is positive, and the second inclination is negative, so that for the second magnetic attraction piece, the included angle of the central magnetic induction line of the first magnetic attraction piece facing the last moment and the next moment is larger, so that the torque received by the second magnetic attraction piece is larger, and the second magnetic attraction piece can be overturned more smoothly.
Preferably, the second driving mechanism comprises a steering engine installed on the frame, a mounting frame is connected to a steering wheel of the steering engine, and the mounting frame is provided with the first magnetic attraction piece.
Preferably, the first driving mechanism comprises a first driving wheel and a second driving wheel which are arranged on the left side and the right side of the lower part of the frame, the first driving wheel is in transmission connection with a first driving motor, and the second driving wheel is in transmission connection with a second driving motor; and a mass center adjusting mechanism is arranged between the first driving wheel and the second driving wheel and comprises a balancing weight and a third driving mechanism for driving the balancing weight to do linear motion in the left-right direction of the frame. The third driving mechanism of the mass center adjusting mechanism can drive the balancing weight to linearly move in the left-right direction so as to adjust the mass center of the whole structure inside the spherical shell, and the effect of adjusting left-right rolling postures in the movement process of the individual spherical robot is achieved, so that the structure inside the spherical shell is kept stable within the range of 0-positive and negative 5-degree inclination angles with the horizontal plane all the time in the left-right direction.
Preferably, the third driving mechanism comprises a screw rod linear steering engine, a bracket is connected to a sliding block of the screw rod linear steering engine, and the balancing weight is arranged on the bracket; the support is provided with a guide part, a support piece is arranged on the frame along the left-right direction of the support, and the bottom of the guide part is abutted to the top of the support piece. The support piece can play a supporting role and a guiding role on the support, and the centroid adjusting mechanism is ensured to work reliably.
Preferably, a plurality of balls are arranged at the top of the frame, and the balls are in rolling contact with the inner wall of the spherical shell. The ball rolls passively under the effect of the friction force of the spherical shell, and can play a supporting role in the spherical shell.
Preferably, the frame is provided with a hinge seat hinged with the second magnetic attraction piece, and the hinge seat is provided with hinge holes which are arranged at intervals; the periphery fixed cover of piece is inhaled to the second magnetism is equipped with the installation cover, the both sides fixedly connected with pivot of installation cover, two the pivot rotatably wears to establish in corresponding the hinge hole.
Preferably, the mounting frame is provided with a mounting seat for mounting the first magnetic attraction piece, the inner periphery of the mounting seat forms a mounting cavity with an open top, and the bottom surface of the mounting cavity is obliquely arranged relative to a horizontal plane, so that the mounting inclination angle is formed between a straight line where the length direction of the first magnetic attraction piece is located and the horizontal plane. By designing the mounting seat structure, the mounting process of the first magnetic attraction piece can be simplified, and the corresponding mounting inclination angle can be obtained only by placing the first magnetic attraction piece in the mounting cavity.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.
Fig. 1 is a schematic structural view of a modular spherical robot according to an embodiment of the present invention;
fig. 2 is a schematic view of an internal structure of a modular spherical robot according to an embodiment of the present invention;
FIG. 3 is a cross-sectional view of the internal structure of a modular spherical robot according to an embodiment of the present invention;
FIG. 4 is an exploded view of the internal structure of a modular spherical robot according to an embodiment of the present invention;
FIG. 5 is an exploded view of a second drive mechanism according to an embodiment of the present invention;
FIG. 6 is a schematic view of a mounting frame according to an embodiment of the present invention;
FIG. 7 is a cross-sectional view A-A of FIG. 6;
FIG. 8 is a cross-sectional view B-B in FIG. 6;
FIG. 9 is a schematic view of a second magnetic attraction member and a mounting sleeve according to an embodiment of the invention;
FIG. 10 is a schematic diagram of a centroid adjustment mechanism according to an embodiment of the present invention;
fig. 11 is a schematic structural view of two spherical robots in a connected state according to an embodiment of the present invention;
fig. 12 is a self-reconfiguration view of the modular spherical robot according to the embodiment of the present invention.
Reference numerals:
1-a wireless charging stand; 2-spherical shell; 3-a frame; 31-a first circuit board; 311-6 axis gyroscopes and 3-axis geomagnetic sensors; 312-infrared temperature sensor; 313-stepper motor driver; 314-433M hard start switch; 315-iic multi-path bus chip; 32-a second circuit board; 321-a power management module; 322-soft routing module; 323-embedded master control module; 324-miniature camera; 325-a laser ranging sensor; 33-skeleton; 331-a hinge base; 332-lithium battery; 333-a wireless charging receiving coil; 4-a first drive mechanism; 41-a first driving wheel; 42-a second drive wheel; 43-a first drive motor; 44-a second drive motor; 5-rolling balls; 6-a centroid adjustment mechanism; 61-balancing weight; 62-screw rod linear steering engine; 63-a scaffold; 631-a guide; 64-support; 7-self-reconstruction mechanism; 71-steering engine; 72-rudder disk; 73-mounting rack; 731-mount; 74-a first magnetic attraction piece; 75-a second magnetic attraction piece; 76-mounting the sleeve; 77-a rotating shaft.
Detailed Description
Embodiments of the technical scheme of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and thus are merely examples, and are not intended to limit the scope of the present invention.
It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.
As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, the embodiment provides a modularized spherical robot, which comprises a robot body and a wireless charging seat 1, wherein the robot body is a sealed sphere with the diameter of 64mm, and the weight of the robot body is 100g, and the robot body adopts a wireless charging mode. Specifically, the robot body includes the spherical shell 2 and sets up the inner structure in the spherical shell 2, and inner structure seals in the spheroid, with outside isolation. The spherical shell 2 adopts a split design and comprises two mutually buckled hemispherical shells, and is made of transparent, wave-transparent, impact-resistant and anti-aging high-strength resin-based materials. It should be noted that the material of the spherical shell 2 is not limited to the high-strength resin-based material described above, depending on the severe degree of the use environment.
The internal structure in the spherical shell 2 comprises a frame 3, wherein the frame 3 sequentially comprises a first circuit board 31, a second circuit board 32 and a framework 33 from top to bottom, and the first circuit board 31, the second circuit board 32 and the framework 33 are sequentially connected through bolts.
Referring to fig. 2 and 3, a first driving mechanism 4 for driving the spherical shell 2 to rotate is provided on the frame 33, the first driving mechanism 4 includes a first driving wheel 41 and a second driving wheel 42 mounted on left and right sides of a lower portion of the frame 33, the first driving wheel 41 is in transmission connection with a first driving motor 43, and the second driving wheel 42 is in transmission connection with a second driving motor 44. The first driving motor 43 and the second driving motor 44 are micro stepping motors, which are respectively used for driving the first driving wheel 41 and the second driving wheel 42 to rotate, and the outer edges of the first driving wheel 41 and the second driving wheel 42 are contacted with the spherical shell 2, so that the first driving wheel 41 and the second driving wheel 42 can drive the spherical shell 2 to roll by friction force. Two first supports are arranged on the first circuit board 31, a second support is arranged on the second circuit board 32, balls 5 are arranged on the first support and the second support, three balls 5 are uniformly distributed at 120 degrees, and the three balls 5 are in rolling friction with the inner wall of the spherical shell 2, so that the upper part of the spherical shell 2 is supported. Wherein the second support mounted on the second circuit board 32 also serves to connect the first circuit board 31 and the second circuit board 32.
Referring to fig. 4, a 6-axis gyroscope and a 3-axis geomagnetic sensor 311 are mounted on the above-described first circuit board 31, and the 6-axis gyroscope and the 3-axis geomagnetic sensor 311 are used to provide self-posture information of the individual spherical robots: triaxial speed, triaxial acceleration and triaxial geomagnetic declination. The first driving wheel 41 and the second driving wheel 42 adopt a differential driving mode, and according to the self-posture information of the individual spherical robot acquired by the 6-axis gyroscope and the 3-axis geomagnetic sensor 311, the front-back pitching posture of the individual spherical robot is adjusted, so that the internal structure in the spherical shell 2 is ensured to keep self-stability within the inclination angle range from 0 degrees to plus or minus 5 degrees from the horizontal plane all the time in the front-back direction (the advancing and retreating directions of the spherical robot); meanwhile, the individual spherical robots can rotate in situ, advance and retreat and turn left and right. In this embodiment, the structure that the first driving wheel 41 and the second driving wheel 42 realize differential driving through two micro stepping motors belongs to the prior art, and is the same as the self-balancing principle of the existing electric balance car, and will not be described herein.
Further, referring to fig. 4 and 10, in order to ensure that the individual spherical robots are self-stabilized in the left-right direction, the present embodiment is provided with a centroid adjusting mechanism 6 between the first driving wheel 41 and the second driving wheel 42. The mass center adjusting mechanism 6 includes a lead weight 61 and a third driving mechanism for driving the weight 61 to linearly move in the left-right direction of the frame 3. Specifically, the third driving mechanism includes a screw rod linear steering engine 62, a bracket 63 is connected to a slider of the screw rod linear steering engine 62, and the balancing weight 61 is mounted on the bracket 63. In this embodiment, the screw rod linear steering engine 62 can drive the balancing weight 61 to do linear motion in the left-right direction according to the self-posture information of the individual spherical robot collected by the 6-axis gyroscope and the 3-axis geomagnetic sensor 311, so as to adjust the overall left-right centroid position of the internal structure in the spherical shell 2, further play a role in adjusting the left-right rolling posture of the individual spherical robot in the motion process, and ensure that the internal structure of the spherical shell always keeps self-stability within the range of 0 degrees to plus or minus 5 degrees with the horizontal plane in the left-right direction. The bracket 63 is provided with a guide portion 631, the frame 33 is connected to the support 64, the support 64 is attached to the frame 33 in the lateral direction of the frame 33, and the bottom of the guide portion 631 is in contact with the top of the support 64. The support member 64 can support and guide the bracket 63, and ensure that the centroid adjusting mechanism 6 works reliably.
Further, referring to fig. 3, 4 and 5, a self-reconstruction mechanism 7 is further provided on the frame 3, and the self-reconstruction mechanism 7 can realize self-reconstruction of the modular spherical robot. The self-reconstruction mechanism 7 includes a second driving mechanism, where the second driving mechanism specifically includes a steering engine 71 installed on the second circuit board 32, the steering engine 71 is a 90-degree micro steering engine, a steering wheel 72 of the steering engine 71 is connected with a mounting frame 73, four first magnetic attraction pieces 74 are uniformly distributed on the circumference of the mounting frame 73, and polarities of the two adjacent first magnetic attraction pieces 74 facing outwards are opposite, for example, the polarities of the four first magnetic attraction pieces 74 facing outwards are N, S, N, S in sequence in a clockwise direction. The steering engine 71 is used for driving the four first magnetic attraction members 74 to rotate 90 degrees clockwise or counterclockwise at the same time. The outward side of the first magnetic attraction element 74 forms a magnetic control area (i.e., a main acting area of magnetic force on the outward side of the first magnetic attraction element 74) in the spherical shell 2. The above-mentioned self-reconstruction mechanism 7 further includes four second magnetic attraction pieces 75 hinged at the top of the skeleton 33, the four second magnetic attraction pieces 75 are located in the four magnetic control areas in a one-to-one correspondence, and the second magnetic attraction pieces 75 can turn around their hinge shafts with the skeleton 33, so that the outward polarity of the second magnetic attraction pieces 75 is changed.
In this embodiment, the outward polarities of the adjacent two first magnetic attraction pieces 74 are opposite, the included angle between the adjacent two first magnetic attraction pieces 74 is 90 degrees, and the steering engine 71 can drive the four first magnetic attraction pieces 74 to synchronously rotate by 90 degrees. For the second magnetic attraction piece 75, at the previous moment, the inner side of the second magnetic attraction piece 75 is attracted to the outer side magnetic force of the corresponding first magnetic attraction piece 74, and at the next moment, after the steering engine 71 drives the first magnetic attraction piece 74 to rotate 90 degrees, the inner side of the second magnetic attraction piece 75 is repelled to the outer side magnetic force of the corresponding first magnetic attraction piece 74, and under the action of the repulsive force, the second magnetic attraction piece 75 can turn around the hinge shaft of the second magnetic attraction piece 75, so that the polarity of the second magnetic attraction piece 75 facing to the outer side is changed. Therefore, through the cooperation of the first magnetic attraction piece 74, the second magnetic attraction piece 75 and the steering engine 71, the outward polarity of the second magnetic attraction piece 75 can be changed, and the region, corresponding to the outer side of the second magnetic attraction piece 75, on the spherical shell 2 can form a magnetic connection point, so that in practice, the outward polarity of the second magnetic attraction piece 75 can be changed to realize the connection and separation of the two spherical robots at the magnetic connection point. Referring to fig. 11, a schematic structural view of two spherical robots in a connected state, and referring to fig. 12, a schematic structural view of a plurality of self-reconstruction forms of a modular spherical robot which can be realized by the present embodiment is shown.
In this embodiment, the number of the first magnetic attraction pieces 74 and the second magnetic attraction pieces 75 is four, in practice, the number of the first magnetic attraction pieces 74 may be designed to be other even number, such as 2, 6, 8, etc., and meanwhile, according to the requirement of the number of the magnetic connection points on the spherical shell 2, the number of the second magnetic attraction pieces 75 may be designed to be any value not exceeding the number of the first magnetic attraction pieces 74. Of course, after the number of the first magnetic attraction pieces 74 is changed, the rule that the polarities of the adjacent two first magnetic attraction pieces 74 facing outwards are different still needs to be satisfied, and when the included angle between the adjacent two first magnetic attraction pieces 74 is α degrees, the angle through which the steering engine 71 rotates once should also be α degrees.
Specifically, referring to fig. 2 and 9, a hinge seat 331 hinged to the second magnetic member 75 is provided on the frame 33, and the hinge seat 331 is specifically two hinge lugs arranged at intervals, and hinge holes are provided on both hinge lugs. The second magnetic member 75 is fixedly sleeved with a mounting sleeve 76, two sides of the mounting sleeve 76 are fixedly connected with rotating shafts 77, and the two rotating shafts 77 rotatably penetrate through the hinge holes of the hinge seat 331. With this structure, the integrity of the second magnetic attraction member 75 can be ensured, and at the same time, the second magnetic attraction member 75 can be ensured to be turned over smoothly.
Further, there is an installation inclination angle between the straight line where the length direction of the first magnetic attraction piece 74 is located and the horizontal plane (in this embodiment, the first magnetic attraction piece 74 is cylindrical, and then there is an installation inclination angle between the axis direction and the horizontal plane), the installation inclination angles of the four first magnetic attraction pieces 74 are staggered according to the first inclination angle and the second inclination angle, the first inclination angle is unequal to the second inclination angle, and the absolute values of the first inclination angle and the second inclination angle are not more than 45 degrees. Specifically, the first inclination angle is a positive value, and the second inclination angle is a negative value; wherein the installation inclination of the first magnetic attraction member 74 is positive when it is inclined from inside to outside, and is negative when it is inclined from inside to outside. The first inclination is positive, and the second inclination is negative, so that for the second magnetic attraction piece 75, the included angle of the central magnetic induction line of the first magnetic attraction piece 74 facing the previous moment and the next moment is larger, so that the torque received by the second magnetic attraction piece 75 is larger, the second magnetic attraction piece 75 can be turned more smoothly, and the outward polarity of the second magnetic attraction piece can be changed conveniently. In this embodiment, the first tilt angle is 1.5 ° and the second tilt angle is-1.5 °.
Further, referring to fig. 6, 7 and 8, the mounting frame 73 is provided with a mounting seat 731 for mounting the first magnetic attraction piece 74, the inner periphery of the mounting seat 731 forms a mounting cavity with an open top, the bottom surfaces of the mounting cavities are obliquely arranged relative to the horizontal plane, and the inclination angles of the bottom surfaces of the mounting cavities of two adjacent mounting seats 731 are staggered according to the first inclination angle and the second inclination angle, so that when the first magnetic attraction piece 74 is fixedly embedded in the mounting seat 731, the mounting inclination angle is just formed between the straight line of the length direction of the first magnetic attraction piece 74 and the horizontal plane, and the mounting process of the first magnetic attraction piece 74 can be simplified.
A lithium battery 332 is mounted on the frame 33, an infrared sensor 312, stepping motor drivers 313, 433M hard start switch 314, and iic multi-channel bus chip 315 are mounted on the first circuit board 31, and a power management module 321, a soft routing module 322, an embedded main control module 323, a micro camera 324, and a laser ranging sensor 325 are mounted on the second circuit board 32. A wireless charging receiving coil 333 matched with the wireless charging seat 1 is connected to the lower part of the framework 33, and is used for charging the lithium battery 332, and the lithium battery 332 supplies power to each power utilization device of the spherical robot through the power management module 321. 433M hard start switch 314 is used as a robot power on-off switch, and infrared temperature sensor 312 is used as a task module for searching and selecting a heat source or exploring the ambient temperature, and other types of micro task modules, such as a radioactivity monitoring sensor, a thermal imaging sensor and other spectrum sensors, can be also mounted. The laser ranging sensor 325 and the miniature camera 324 are used as task modules, and together with task sensors such as the infrared temperature sensor 312, the task sensors are in bus communication with the embedded main control module 323 through the iic multi-path bus chip 315. The micro camera 324 is used to collect image information and perform a person recognition task in a search and rescue task using a living body detection algorithm. The soft routing module 322 is equipped with an intra-group communication model, and the embedded master control module 323 is equipped with a reinforcement learning model for guiding the spherical robot to execute the task.
It should be noted that the above description is only for each module mounted on the first circuit board 31 and the second circuit board 32, and the execution algorithm, the control method and the communication method of the spherical robot do not belong to the protection scope of the present application, and are not described in detail herein.
In the description of the present invention, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, systems, and techniques have not been shown in detail in order not to obscure an understanding of this description.
In the description of the present specification, a description of the terms "one embodiment," "some embodiments," "examples," "particular examples," or "some examples," etc., means that a particular feature, system, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, systems, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced with equivalents; such modifications and substitutions do not depart from the spirit of the invention, and are intended to be included within the scope of the appended claims and description.
Claims (10)
1. The utility model provides a modularization spherical robot, includes the spherical shell, sets up the frame in this spherical shell, is provided with the drive in this frame spherical shell pivoted first actuating mechanism, its characterized in that:
the rack is provided with a self-reconstruction mechanism, the self-reconstruction mechanism comprises an even number of first magnetic attraction pieces uniformly distributed on the circumference, and the outward polarities of two adjacent first magnetic attraction pieces are opposite; the self-reconstruction mechanism further comprises a second driving mechanism, wherein the second driving mechanism is used for driving the plurality of first magnetic attraction pieces to synchronously rotate for alpha degrees, and alpha is an included angle between two adjacent first magnetic attraction pieces;
a magnetic control area is formed in the spherical shell on one outwards facing side of the first magnetic attraction piece;
the self-reconstruction mechanism further comprises a plurality of second magnetic attraction pieces, the number of the second magnetic attraction pieces does not exceed that of the first magnetic attraction pieces, each second magnetic attraction piece is located in one magnetic control area, the second magnetic attraction pieces are hinged to the machine frame, and the second magnetic attraction pieces can turn around the hinge shafts of the second magnetic attraction pieces and the machine frame, so that the outward polarity of the second magnetic attraction pieces is changed.
2. A modular spherical robot as claimed in claim 1, wherein:
the number of the second magnetic attraction pieces is equal to that of the first magnetic attraction pieces, and the second magnetic attraction pieces are distributed in the magnetic control areas in a one-to-one correspondence manner.
3. A modular spherical robot as claimed in claim 1, wherein:
the installation inclination angles exist between the straight line where the length direction of the first magnetic attraction piece is located and the horizontal plane, the installation inclination angles of the first magnetic attraction pieces are staggered according to the first inclination angles and the second inclination angles, the first inclination angles are unequal to the second inclination angles, and the absolute values of the first inclination angles and the second inclination angles are not more than 45 degrees.
4. A modular spherical robot according to claim 3, wherein:
the first inclination angle is a positive value, and the second inclination angle is a negative value; the installation inclination angle of the first magnetic attraction piece is positive when the first magnetic attraction piece is inclined from inside to outside, and is negative when the first magnetic attraction piece is inclined from inside to outside and downward.
5. A modular spherical robot according to claim 3, wherein:
the second driving mechanism comprises a steering engine arranged on the frame, a steering wheel of the steering engine is connected with a mounting frame, and the mounting frame is provided with the first magnetic attraction piece.
6. A modular spherical robot as claimed in claim 1, wherein:
the first driving mechanism comprises a first driving wheel and a second driving wheel which are arranged on the left side and the right side of the lower part of the frame, the first driving wheel is in transmission connection with a first driving motor, and the second driving wheel is in transmission connection with a second driving motor;
and a mass center adjusting mechanism is arranged between the first driving wheel and the second driving wheel and comprises a balancing weight and a third driving mechanism for driving the balancing weight to do linear motion in the left-right direction of the frame.
7. A modular spherical robot as claimed in claim 6, wherein:
the third driving mechanism comprises a screw rod linear steering engine, a bracket is connected to a sliding block of the screw rod linear steering engine, and the balancing weight is arranged on the bracket;
the support is provided with a guide part, a support piece is arranged on the frame along the left-right direction of the support, and the bottom of the guide part is abutted to the top of the support piece.
8. A modular spherical robot as claimed in claim 1, wherein:
the top of frame is provided with a plurality of balls, and this ball with the inner wall rolling contact of spherical shell.
9. A modular spherical robot as claimed in claim 1, wherein:
the frame is provided with a hinge seat hinged with the second magnetic attraction piece, and hinge holes are arranged on the hinge seat at intervals;
the periphery fixed cover of piece is inhaled to the second magnetism is equipped with the installation cover, the both sides fixedly connected with pivot of installation cover, two the pivot rotatably wears to establish in corresponding the hinge hole.
10. A modular spherical robot as claimed in claim 5, wherein:
the installation rack is provided with an installation seat for installing the first magnetic attraction piece, the inner periphery of the installation seat forms an installation cavity with an open top, and the bottom surface of the installation cavity is obliquely arranged relative to a horizontal plane, so that an installation inclination angle is formed between a straight line where the length direction of the first magnetic attraction piece is located and the horizontal plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310360132.4A CN116372987A (en) | 2023-04-06 | 2023-04-06 | Modularized spherical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310360132.4A CN116372987A (en) | 2023-04-06 | 2023-04-06 | Modularized spherical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116372987A true CN116372987A (en) | 2023-07-04 |
Family
ID=86976450
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310360132.4A Pending CN116372987A (en) | 2023-04-06 | 2023-04-06 | Modularized spherical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116372987A (en) |
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2023
- 2023-04-06 CN CN202310360132.4A patent/CN116372987A/en active Pending
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