CN219668366U - Spherical robot - Google Patents

Abstract

The utility model relates to the technical field of robots, in particular to a spherical robot, which comprises: a spherical shell; the connecting structure is arranged in the spherical shell, and a bouncing structure is arranged in the connecting structure; the support column is arranged in the connecting structure, a driving structure is arranged in the middle of the support column, and a buffer structure is arranged at one end, away from the bouncing structure, of the support column; the momentum wheel is provided with two power supply structures, and is arranged on the driving structure and connected with the driving structure; the omnidirectional moving wheels are provided with a plurality of omnidirectional moving wheels, and are arranged on the connecting structure at intervals. The spherical robot has a simple structure, a totally-enclosed structure, good impact resistance and environmental adaptability, and the capability of rolling exploration and jumping obstacle surmounting in a rugged complex environment, so that the space for task exploration and the efficiency of task execution can be improved.

Description

Spherical robot

Technical Field

The utility model relates to the technical field of robots, in particular to a spherical robot.

Background

The spherical robot is a robot with a fully-closed or semi-closed spherical shape, a driving system is positioned inside the spherical body, the spherical body motion is realized in an internal driving mode, and certain movement capacity is achieved.

In the prior art, a robot with strong flexibility and capability of realizing omnidirectional rolling exists; there is also a robot with good body tightness and can realize land/water cross-domain application; meanwhile, the robot has a compact structure and good sealing performance, is provided with various sensors, and can be used for pipeline inspection in a narrow space; and a robot capable of realizing platform maneuver and having small obstacle crossing ability by rotating the internal mechanism. However, the obstacle surmounting and escaping capability of the spherical robot is generally poor, and the spherical robot cannot be effectively applied to environments with rough terrain and dense obstacles.

Disclosure of Invention

Therefore, the technical problem to be solved by the utility model is to solve the problems that the obstacle crossing and escaping capability of the spherical robot in the prior art is generally poor and the spherical robot cannot be effectively applied to environments with rough terrain and dense obstacles, so that the spherical robot is provided.

In order to solve the above technical problems, the present utility model provides a spherical robot comprising: a spherical shell; the connecting structure is arranged in the spherical shell, and a bouncing structure is arranged in the connecting structure; the support column is arranged in the connecting structure, a driving structure is arranged in the middle of the support column, and a buffer structure is arranged at one end, away from the bouncing structure, of the support column; the momentum wheel is provided with two power supply structures, and is arranged on the driving structure and connected with the driving structure; the omnidirectional moving wheels are provided with a plurality of omnidirectional moving wheels, and are arranged on the connecting structure at intervals.

In some embodiments, the driving structure includes: the rotating shaft is arranged on the supporting column and is mutually perpendicular to the supporting column, and the momentum wheel is sleeved on the rotating shaft; and the circuit structure is arranged on the support column, and the power supply structure is connected with the circuit structure.

In some embodiments, the momentum wheel comprises: the annular shell is provided with a plurality of slotted holes, and the power supply structure is arranged in the slotted holes; the connecting frame is arranged on the inner wall of the annular shell and is connected with the rotating shaft.

In some embodiments, the number of slots is an integer multiple.

In some embodiments, the connection structure comprises: the connecting body is positioned in the middle of the spherical shell; the connecting platforms are arranged at two ends of the supporting column; the connecting pieces are provided with a plurality of connecting pieces, and the connecting pieces are connected with the connecting platform and the connecting body.

In some embodiments, a plurality of connection rings are arranged on the outer wall of the connection body, and the connection rings are used for connecting the omnidirectional moving wheels.

In some embodiments, the omni-directional mobile wheel comprises: the U-shaped frame is provided with a rotating shaft at the free end; the wheel body is arranged on the rotating shaft, and a plurality of rollers are arranged on the outer edge of the wheel body.

In some embodiments, two rows of grooves are arranged on the outer edge of the wheel body, the grooves are arranged in a staggered manner, and the rollers are arranged in the grooves.

In some embodiments, the buffer structure comprises: the elastic piece is arranged on the connecting platform; and the spherical part is arranged on the elastic part and is abutted with the inner wall of the spherical shell.

In some embodiments, the spherical shell comprises two half shells, and the two half shells are threaded.

The technical scheme of the utility model has the following advantages:

1. the spherical robot provided by the utility model comprises: a spherical shell; the connecting structure is arranged in the spherical shell, and a bouncing structure is arranged in the connecting structure; the support column is arranged in the connecting structure, a driving structure is arranged in the middle of the support column, and a buffer structure is arranged at one end, away from the bouncing structure, of the support column; the momentum wheel is provided with two power supply structures, and is arranged on the driving structure and connected with the driving structure; the omnidirectional moving wheels are provided with a plurality of omnidirectional moving wheels, and are arranged on the connecting structure at intervals.

The connecting structure is arranged in the spherical shell, so that an installation platform is provided for the installation of the bouncing structure and the supporting column, and the spherical robot is used for supporting and protecting the spherical robot when moving on the ground or jumping directionally; meanwhile, a bouncing structure is arranged at the bottom of the supporting column, a driving structure and a momentum wheel are arranged in the middle of the supporting column, and the directional jumping of the spherical robot can be realized through the combination of the momentum wheel, the driving structure and the bouncing structure. The omnidirectional moving wheels are arranged at intervals, and are connected with the connecting structure; the top at connection structure sets up buffer structure, and a plurality of omnidirectionally moving wheel's strong point and buffer structure's strong point equipartition are on the inner wall of spherical shell, and when the organism moved in the inner wall, each strong point can weaken the vibration that the collision brought, avoids striking to damage to overall structure.

The omnidirectional movement principle of the spherical robot is to control the rotation speeds of a plurality of omnidirectional movement wheels, and the movement of a machine body in a spherical shell is realized through the difference of the rotation speeds of all the wheels, so that the gravity center position of the robot is changed, and the spherical robot rolls in a certain direction. The directional jumping principle of the spherical robot is that the bouncing structure of the robot is compressed, meanwhile, the momentum wheel starts to rotate and accelerate, and the control of the jumping aerial robot gesture is realized by controlling the acceleration and deceleration of the momentum wheel while the bouncing structure is released, so that the controllability of the self-jumping direction and the landing state of the robot is ensured. The spherical robot has a simple structure, a totally-enclosed structure, good impact resistance and environmental adaptability, and the capability of rolling exploration and jumping obstacle surmounting in a rugged complex environment, so that the space for task exploration and the efficiency of task execution can be improved.

2. The utility model provides a spherical robot, the momentum wheel comprises: the annular shell is provided with a plurality of slotted holes, and the power supply structure is arranged in the slotted holes; the connecting frame is arranged on the inner wall of the annular shell and is connected with the rotating shaft.

The rotating shaft and the circuit structure are arranged in the middle of the support column, so that the momentum wheel is mounted on the support column, and the momentum wheel is in a suspended state relative to the spherical shell; meanwhile, the circuit structure is arranged at the core position of the spherical shell, so that the center of the spherical robot is ensured, and the stability of the action of the spherical robot can be ensured; and the circuit structure is connected with the power supply structure, namely the power supply structure is utilized to provide a power source for the circuit structure, so that the circuit structure can be utilized to drive the momentum wheel to rotate.

3. According to the spherical robot provided by the utility model, the outer edge of the wheel body is provided with two rows of grooves, the grooves are arranged in a staggered manner, and the rollers are arranged in the grooves. The quantity of gyro wheels can be increased to the gyro wheel of crisscross setting to, the gyro wheel of this setting mode for the outward flange equipartition of wheel body has the gyro wheel, can cooperate the omnidirectional to remove the wheel structure and realize that the body structure is at the inside smooth removal of spherical shell.

4. The spherical robot provided by the utility model, the buffer structure comprises: the elastic piece is arranged on the connecting platform; and the spherical part is arranged on the elastic part and is abutted with the inner wall of the spherical shell. The elastic member can play a role in damping, and the spherical member can be used as a ball to be contacted with the ball wall to roll on the inner wall of the spherical shell with minimum friction.

The summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the disclosure, nor is it intended to be used to limit the scope of the disclosure.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a spherical robot provided by the utility model;

fig. 2 is a schematic structural view of a connection structure of the spherical robot provided by the utility model;

fig. 3 is a schematic structural view of a momentum wheel of the spherical robot provided by the utility model;

fig. 4 is a schematic structural view of an annular housing of the spherical robot provided by the utility model;

fig. 5 is a schematic structural view of a driving structure of the spherical robot provided by the utility model;

FIG. 6 is a schematic structural diagram of a bouncing structure of the spherical robot provided by the utility model;

fig. 7 is a schematic structural view of a connecting member of the spherical robot provided by the utility model;

fig. 8 is a schematic structural view of a buffering structure of the spherical robot provided by the utility model;

fig. 9 is a schematic structural view of an omni-directional moving wheel of the spherical robot.

Reference numerals illustrate:

1. a spherical shell; 11. a half shell; 2. a connection structure; 21. a connection body; 22. a connecting platform; 23. a connecting piece; 24. a connecting ring; 3. a bouncing structure; 4. a support column; 5. a driving structure; 51. a rotating shaft; 52. a circuit structure; 6. a buffer structure; 61. an elastic member; 62. a spherical member; 7. a momentum wheel; 71. an annular housing; 72. a slot hole; 73. a connecting frame; 8. a power supply structure; 9. an omni-directional moving wheel; 91. a U-shaped frame; 92. a wheel body; 93. a groove; 94. and a roller.

Detailed Description

Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present disclosure. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.

In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present disclosure and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present disclosure. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present disclosure, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the description of the present disclosure, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, or communicable with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art as the case may be.

In this disclosure, unless expressly stated or limited otherwise, a first feature being "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is less level than the second feature.

The following disclosure provides many different embodiments, or examples, for implementing different structures of the disclosure. In order to simplify the present disclosure, components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present disclosure. Furthermore, the present disclosure may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

The preferred embodiments of the present disclosure are described below in conjunction with the accompanying drawings, it being understood that the preferred embodiments described herein are for purposes of illustration and explanation only and are not intended to limit the present disclosure.

Referring to fig. 1 to 9, the present utility model provides a spherical robot, comprising: a spherical shell 1; the connecting structure 2 is arranged in the spherical shell 1, and a bouncing structure 3 is arranged in the connecting structure 2; the support column 4 is arranged in the connecting structure 2, a driving structure 5 is arranged in the middle of the support column 4, and a buffer structure 6 is arranged at one end, away from the bouncing structure 3, of the support column 4; the momentum wheel 7 is provided with two power supply structures 8, the momentum wheel 7 is arranged on the driving structure 5, and the power supply structures 8 are connected with the driving structure 5; the omni-directional moving wheels 9 are provided with a plurality of moving wheels, and are arranged on the connecting structure 2 at intervals.

The connecting structure 2 is arranged in the spherical shell 1, so that a mounting platform is provided for mounting the bouncing structure 3 and the supporting column 4, and the spherical robot is used for supporting and protecting the spherical robot in ground movement or directional jumping; meanwhile, the bouncing structure 3 is arranged at the bottom of the supporting column 4, the driving structure 5 and the momentum wheel 7 are arranged in the middle of the supporting column 4, and the directional jumping of the spherical robot can be realized through the combined arrangement of the momentum wheel 7, the driving structure 5 and the bouncing structure 3. The plurality of omni-directional moving wheels 9 are arranged at intervals, and the omni-directional moving wheels 9 are connected with the connecting structure 2; the top at connection structure 2 sets up buffer structure 6, and the supporting point of a plurality of qxcomm technology remove wheel 9 and buffer structure 6's supporting point equipartition is on the inner wall of spherical shell 1, and when the organism moved in the inner wall, each supporting point can weaken the vibration that the collision brought, avoids striking the damage of overall structure.

The omnidirectional movement principle of the spherical robot is to control the rotation speeds of a plurality of omnidirectional movement wheels 9, and the movement of the machine body in the spherical shell 1 is realized through the difference of the rotation speeds of all the wheels, so that the gravity center position of the robot is changed, and the rolling of the spherical robot in a certain direction is realized. The directional jumping principle of the spherical robot is that the robot jumping structure 3 is compressed, meanwhile, the momentum wheel 7 starts to rotate and accelerate, and the control of the jumping aerial robot gesture is realized by controlling the acceleration and deceleration of the momentum wheel 7 while the jumping structure 3 is released, so that the controllability of the jumping direction and the landing state of the robot is ensured. The spherical robot has a simple structure, a totally-enclosed structure, good impact resistance and environmental adaptability, and the capability of rolling exploration and jumping obstacle surmounting in a rugged complex environment, so that the space for task exploration and the efficiency of task execution can be improved.

The omni-directional moving wheels 9 are arranged at intervals, and the included angle between the three omni-directional moving wheels 9 is 120 degrees.

The main body structure of the bouncing structure 3 is diamond-shaped, the top end of the bouncing structure 3 is connected with a motor, and the bottom end of the bouncing structure 3 is an impact pad. The bouncing structure 3 works in such a way that the top motor drives the diamond structure to compress, the springs fixed on the diagonal lines are stretched while compressing, the force and energy storage process is completed, then the top motor releases the locking of the tops of the diamonds and moves upwards along the support columns 4, and the release of energy storage is completed.

The support column 4 is of a hexagonal structure, so that the bouncing structure 3 is effectively prevented from rotating while moving along the length direction of the support column 4, and unnecessary energy loss is avoided.

In some alternative embodiments, the drive structure 5 comprises a rotary shaft 51 and a circuit structure 52; the rotating shaft 51 is arranged on the support column 4 and is perpendicular to the support column 4, and the momentum wheel 7 is sleeved on the rotating shaft 51; the circuit structure 52 is disposed on the support column 4, and the power supply structure 8 is connected with the circuit structure 52.

The rotating shaft 51 and the circuit structure 52 are arranged in the middle of the support column 4, so that the momentum wheel 7 is mounted on the support column 4, and the momentum wheel 7 is in a suspended state relative to the spherical shell 1; meanwhile, the circuit structure 52 is arranged at the core position of the spherical shell 1, so that the center of the spherical robot is ensured, and the stability of the action of the spherical robot can be ensured; and, the circuit structure 52 is connected with the power supply structure 8, that is, the power supply structure 8 provides a power source for the circuit structure 52, so that the circuit structure 52 can be used for driving the momentum wheel 7 to rotate.

The rotating shaft 51 is internally provided with a motor, that is, the rotating shaft can be driven to rotate through the circuit structure 52, and then the momentum wheel 7 is driven to rotate.

The circuit structure 52 includes a power supply circuit, a control circuit, and a driving circuit. The power supply circuit provides electric energy for the robot and provides corresponding power supply voltage for each module and the sensor;

the control circuit is provided with sensors such as a gesture, a speed position and the like, so that the state information of the robot can be perceived, and the movement of the robot is controlled;

the driving circuit converts the control signal output by the control circuit to drive the operation of each motor in the seven-star robot.

In some alternative embodiments, the momentum wheel 7 comprises an annular housing 71 and a connecting frame 73; wherein, the annular housing 71 is provided with a plurality of slots 72, and the power supply structure 8 is disposed in the slots 72; the connection frame 73 is provided on the inner wall of the annular housing 71, and the connection frame 73 is connected to the rotation shaft 51.

By arranging the plurality of slots 72 on the annular housing 71, namely providing mounting positions for the power supply structure 8, wherein the power supply structure 8 is a lithium battery, the weight can be ensured without increasing the weight additionally while the moment of inertia of the momentum wheel 7 is ensured, and the effective utilization of the self weight of the machine body is realized.

The annular housing 71 is made of aluminum alloy.

By providing the connection frame 73, the annular housing 71 can be mounted on the rotation shaft 51 through the connection frame 73.

In some alternative embodiments, the number of slots 72 is an integer multiple. Specifically, the number of slots 72 in the annular housing 71 is eight.

In some alternative embodiments, the connection structure 2 includes a connection body 21 and a connection platform 22, and a connection piece 23; wherein the connecting body 21 is positioned in the middle of the spherical shell 1; the connecting platforms 22 are arranged at two ends of the support column 4; the connecting pieces 23 have a plurality, and the plurality of connecting pieces 23 connect the connecting platform 22 and the connecting body 21.

The connection platforms 22 are disposed at both ends of the support column 4, that is, one end of the connection platform 22 is connected with the inner wall of the spherical shell 1, and meanwhile, one end of the connection member 23 is connected with the connection body 21, and the other end is connected with the connection platform 22, so that the connection structure 2 forms an integral structure.

Wherein the connecting piece 23 has three.

Specifically, the support column 4 is a hexagonal prism, so that the internal structure can be ensured to move in the center of the sphere.

In some alternative embodiments, a plurality of connection rings 24 are provided on the outer wall of the connection body 21, and the connection rings 24 are used for connecting the omni-directional movement wheel 9. The arrangement of the connection ring 24 facilitates the installation of the omni-directional movement wheel 9.

Specifically, the attachment ring 24 is a rubber cushion that dampens vibrations transmitted by the ball wall.

In some alternative embodiments, the omni-directional moving wheel 9 includes a U-shaped frame 91 and a wheel body 92; wherein, the free end of the U-shaped frame 91 is provided with a rotating shaft; the wheel body 92 is disposed on the rotating shaft, and a plurality of rollers 94 are disposed on the outer edge of the wheel body 92. 94

The omnidirectional moving wheel 9 can actively rotate, and the whole omnidirectional moving wheel 9 can rotate around the wheel axis; the outer edge of the wheel body 92 is provided with a plurality of rollers 94, the rollers 94 are elliptic plastic small rollers 94, each omnidirectional moving wheel 9 comprises 12 wheels, and the translational motion of the wheels along the wheel axis can be realized.

Specifically, two rows of grooves 93 are formed in the outer edge of the wheel body 92, the grooves 93 are staggered, and the rollers 94 are arranged in the grooves 93.

The number of the rollers 94 can be increased by the rollers 94 which are arranged in a staggered manner, and the rollers 94 in the arrangement mode are uniformly distributed on the outer edge of the wheel body 92, so that the machine body structure can smoothly move in the spherical shell 1 in cooperation with the omni-directional moving wheel 9 structure.

In some alternative embodiments, the cushioning structure 6 includes an elastic member 61 and a spherical member 62; wherein the elastic member 61 is disposed on the connection platform 22; the ball 62 is disposed on the elastic member 61, and the ball 62 abuts against the inner wall of the spherical shell 1.

The elastic member 61 can play a role in shock absorption, and the spherical member 62 is a metal sphere, and can roll on the inner wall of the spherical shell 1 with little friction as a ball and a wall contact.

Specifically, the elastic member 61 is a spring.

In some alternative embodiments, the spherical shell 1 comprises two half-shells 11, and the two half-shells 11 are screwed.

The two half shells 11 are connected together through a thread groove, the diameter of the spherical shell 1 is 26cm, the material is light plastic, and the thickness is 2mm to 3mm.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the utility model.

Claims (10)

1. A spherical robot, comprising:

a spherical shell (1);

the connecting structure (2) is arranged in the spherical shell (1), and the bouncing structure (3) is arranged in the connecting structure (2);

the support column (4) is arranged in the connecting structure (2), a driving structure (5) is arranged in the middle of the support column (4), and a buffer structure (6) is arranged at one end, far away from the bouncing structure (3), of the support column (4);

the momentum wheels (7) are two, a power supply structure (8) is arranged on the momentum wheels (7), the momentum wheels (7) are arranged on the driving structure (5), and the power supply structure (8) is connected with the driving structure (5);

the omnidirectional moving wheels (9) are provided with a plurality of connecting structures (2) at intervals.

2. Spherical robot according to claim 1, characterized in that the driving structure (5) comprises:

the rotating shaft (51) is arranged on the support column (4) and is perpendicular to the support column (4), and the momentum wheel (7) is sleeved on the rotating shaft (51);

and the circuit structure (52) is arranged on the support column (4), and the power supply structure (8) is connected with the circuit structure (52).

3. Spherical robot according to claim 2, characterized in that the momentum wheel (7) comprises:

the annular shell (71), a plurality of slotted holes (72) are formed in the annular shell (71), and the power supply structure (8) is arranged in the slotted holes (72);

and a connecting frame (73) arranged on the inner wall of the annular shell (71), wherein the connecting frame (73) is connected with the rotating shaft (51).

4. A spherical robot according to claim 3, characterized in that the number of slots (72) is an integer multiple.

5. Spherical robot according to any of claims 1-4, characterized in that the connection structure (2) comprises:

the connecting body (21) is positioned in the middle of the spherical shell (1);

the connecting platforms (22) are arranged at two ends of the supporting column (4);

the connecting piece (23) is provided with a plurality of connecting pieces (23) which are connected with the connecting platform (22) and the connecting body (21).

6. Spherical robot according to claim 5, characterized in that the outer wall of the connecting body (21) is provided with a plurality of connecting rings (24), the connecting rings (24) being used for connecting the omni-directional moving wheel (9).

7. Spherical robot according to claim 6, characterized in that the omni-directional movement wheel (9) comprises:

the U-shaped frame (91), the free end of the U-shaped frame (91) is provided with a rotating shaft;

the wheel body (92) is arranged on the rotating shaft, and a plurality of rollers (94) are arranged on the outer edge of the wheel body (92).

8. The spherical robot according to claim 7, wherein two rows of grooves (93) are formed in the outer edge of the wheel body (92), the grooves (93) are arranged in a staggered manner, and the rollers (94) are arranged in the grooves (93).

9. Spherical robot according to any of claims 6-8, characterized in that the buffer structure (6) comprises:

an elastic member (61) provided on the connection platform (22);

and a spherical member (62) provided on the elastic member (61), wherein the spherical member (62) is in contact with the inner wall of the spherical shell (1).

10. Spherical robot according to claim 1, characterized in that the spherical shell (1) comprises two half-shells (11) and that the two half-shells (11) are screwed.