CN108556577A - A kind of land and air double-used ball shape robot - Google Patents
A kind of land and air double-used ball shape robot Download PDFInfo
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- CN108556577A CN108556577A CN201810364783.XA CN201810364783A CN108556577A CN 108556577 A CN108556577 A CN 108556577A CN 201810364783 A CN201810364783 A CN 201810364783A CN 108556577 A CN108556577 A CN 108556577A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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Abstract
The invention discloses a kind of land and air double-used ball shape robots, it includes spherical shell, spherical shell includes lower hemisphere shell, intermediate guiding mechanism is installed on the inside of the upper end of lower hemisphere shell, intermediate guiding mechanism is connected with fixed steelframe, the top of fixed steelframe is provided with mounting groove, micromotor is provided in mounting groove, the output shaft of micromotor is connect by worm gear mechanism with upper ball valve film；Upper ball valve film collectively constitutes upper hemispherical shell, and collectively forms complete spherical with lower hemisphere shell.The features such as aerial buffering is landed, airflight and land roll, simple and compact for structure, movement is flexible can be achieved by control structure transformation in the present invention, has broad application prospects in military, civil field.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of land and air double-used ball shape robot.
Background technology
Ball-type motion robot is a kind of using spherical or almost spherical as the self-movement body of shell, in a manner of rolling movement
Based on so that ball shape robot is different from wheeled or rail mounted robot.Such as when falling from high altitude danger occurs for motion
When situation, spherical device can adjust rapidly operating status continuous work；In detection process, moved when with barrier or others
When mechanism collides, spherical structure has very strong recovery capability.In addition the opposite sliding of resistance of balls tumble or wheeled dress
The resistance of motion set is much smaller, so ball shape robot has the characteristics that sport efficiency is high, energy loss is small.For above excellent
Gesture, ball shape robot can be applied to the detection of hazardous environment, and weld seam detection inside pipeline is monitored scouting etc.,
It has broad application prospects in military, civil field.
Existing ball shape robot such as sphere-wheel compound transformable mobile robot structure is one kind by itself geometric form
Shape changes to realize that spherical and wheeled robot exchanges composite mobile robot, to improve the geographical ring to various complexity
There is stronger adaptability in border.
Also a kind of Miniature throwable deformation reconnaissance ball, robot shape in throwing process is spherical shape, is led to after landing
Cross deformation becomes two-wheeler structure from spherical structure, to have the maneuvering performance of flexible movenent performance and stabilization.Except this
Except, it is also a kind of to roll the compound machine people that jumped for what is detected under complex environment.On relatively flat ground
Face, the robot can be rolled freely, and when encountering the barrier of large-size, robot can takeoff and clear the jumps.
But existing spherical robot mechanism design can only move about on the ground, in aerial or water, can not realize temporarily
Land, empty double-purpose functional ball shape robot, limit the use scope of ball shape robot.
Invention content
The present invention is directed to the above-mentioned deficiency of the prior art, provides a kind of achievable aerial buffering drop of control structure transformation
It falls, the land and air double-used ball shape robot that airflight and land roll.
In order to solve the above technical problems, present invention employs following technical proposals：
Provide a kind of land and air double-used ball shape robot comprising spherical shell, spherical shell include lower hemisphere shell, lower hemisphere shell
Upper end on the inside of intermediate guiding mechanism is installed, intermediate guiding mechanism is connected with fixed steelframe, and the top of fixed steelframe is provided with
Mounting groove, is provided with micromotor in mounting groove, the output shaft of micromotor by worm gear mechanism respectively on several
Portion's spherical shell valve connection；Upper ball valve film is usually four, and four upper ball valve films collectively constitute upper hemispherical shell, and with
Lower hemisphere shell collectively forms complete spherical；
Intermediate guiding mechanism is connected with rolling transfer, and it includes the servo motor being connected with each other, electricity to roll transfer
Pond and control cabinet roll and are equipped with flight instruments on transfer, and flight instruments include Self-locking flexible mechanism, Self-locking flexible mechanism
On flight motor is installed, the output shaft of flight motor is connect with blade is folded；Battery and control cabinet respectively with servo motor, micro-
Type motor, the connection of flight motor.
In above-mentioned technical proposal, it is preferable that intermediate guiding mechanism includes the annular being set on the inside of lower hemisphere shell upper end
The lower part of gear, ring gear is provided with annular groove.
In above-mentioned technical proposal, it is preferable that it includes rolling supporting plate to roll transfer, rolls and is equipped with servo electricity on planker
The output shaft of machine, servo motor is connect with horizontal steering mechanism, vertical steering mechanism and ballast box respectively, rolls the following table of supporting plate
Face is installed with control cabinet.
In above-mentioned technical proposal, it is preferable that servo motor include the first steering motor, the output shaft of the first steering motor with
It limits connector to be connected, limit connector engages connection with horizontal conveyor gear, and horizontal conveyor gear engages company with ring gear
It connects；
Horizontal steering mechanism includes horizontal fixed frame, and horizontal fixed frame is arched, is offered in the middle part of horizontal fixed frame logical
Hole, limit connector are socketed in through-hole, and horizontal conveyor gear is set in through-hole；The both ends of horizontal fixed frame are respectively arranged with
The idler wheel being connected with annular groove.
In above-mentioned technical proposal, it is preferable that servo motor includes the second steering motor, and the output shaft of the second steering motor is solid
Surely it is connected with a gear；
Vertical steering mechanism includes vertical fixed frame, and vertical fixed frame is arched, the both ends of fixed frame be respectively arranged with
The idler wheel that annular groove is connected；The neighbouring side for rolling supporting plate in middle part of vertical fixed frame is provided with fixed gear, fixed tooth
Wheel engages connection with the gear on the second steering motor output shaft.
In above-mentioned technical proposal, it is preferable that servo motor includes deflection motor, and the output shaft of deflection motor is fixedly connected with
One gear；
Ballast box includes the wobble gear that connection is engaged with the gear on deflection motor output shaft, wobble gear and fixed frame
Upper end be fixedly connected, the lower end of fixed frame is connected with babinet, and battery is set in babinet.
In above-mentioned technical proposal, it is preferable that be provided with the controller, motor drive ic, number of interconnection in control cabinet
According to collector, sensor and communicator.
In above-mentioned technical proposal, it is preferable that flight instruments include flight supporting plate, and there are four electronics tune for installation on flight supporting plate
Fast box is mutually perpendicular between four electronic speed regulation boxes, and Self-locking flexible mechanism is installed on the inside of electronic speed regulation box.
In above-mentioned technical proposal, it is preferable that electronic speed regulation box includes blade absorber and the electricity that is electrically connected with flight motor
Sub- governor, blade absorber are set to electronic speed regulation box both sides, and blade absorber is electromagnet.
In above-mentioned technical proposal, it is preferable that Self-locking flexible mechanism includes stepper motor, and stepper motor is set to flight supporting plate
Middle position, the output shaft of stepper motor is fixedly connected with the centre position of crank slide bar, and crank slide bar is in cross, bent
Hinged by shaft with end in the middle part of handle slide bar, the end of crank slide bar is four quarter butts, and the end of quarter butt is cut with scissors with flexible truss
It connects；
There are four flexible truss is total, and it is centrosymmetric around the output shaft of stepper motor, the one end for the truss that stretches and flight
Supporting plate is fixedly connected, and the other end is connect with flight motor.
The main advantageous effect of above-mentioned land and air double-used ball shape robot provided by the invention is：
Transfer and flight instruments are rolled by being arranged in spherical shell, wind-force rotor is promoted and put swing phase knot again
It closes so that ball shape robot can be land and air double-used, with existing wheeled, caterpillar mobile robot and existing ball shape robot machine
Structure is compared, and is had the characteristics that structure novel, movement are flexible, is had broad application prospects in military, civil field.
The characteristics of for changeable mechanism, drives corresponding mechanical structure by motor, realizes by redesigning motion
Two kinds of airflight, ground flying motor patterns, and can fast and efficiently realize that both of which switches.To meet with ground
When barrier, offline mode can be enabled and taken a leap over an obstacle；When being switched to ground surface pattern from airflight, it can weaken or close
Flight motor is closed, parachute its protective effect is served as by the spherical shell valve opened, reduces system energy consumption.
By the way that control cabinet is arranged, and sensor is set in control cabinet, it can real-time monitoring of environmental and robot displacement
Etc. parameters the data that sensor records can be acquired in real time and pass through communicator by the way that data collector and communicator is arranged
Transmission in time, to effectively carry out real-time monitoring results.
Total of the present invention has the characteristics that simple, compact, modularization, and it is existing that the disaster relief can be entered instead of partial robotic
The small spaces such as field, factory's exploration, radiation pollution region, dangerous operation environment are detected operation.
Description of the drawings
Fig. 1 is the structural schematic diagram of land and air double-used ball shape robot.
Fig. 2 is the structural schematic diagram of intermediate guiding mechanism.
Fig. 3 is the structural schematic diagram of fixed steelframe and worm gear mechanism.
Fig. 4 is the structural schematic diagram for rolling transfer.
Connection relationship diagrams of the Fig. 5 between the first steering motor and horizontal conveyor gear.
Fig. 6 is the structural schematic diagram of flight instruments.
Wherein, 1, spherical shell, 11, lower hemisphere shell, 12, intermediate guiding mechanism, 121, ring gear, 122, annular groove, 13,
Fixed steelframe, 131, mounting groove, 14, upper ball valve film, 15, worm gear mechanism, 16, micromotor, 2, roll and turn to dress
It sets, 21, roll supporting plate, 22, horizontal steering mechanism, 221, horizontal conveyor gear, 222, idler wheel, 223, limit connector, 224,
Fixed frame, 23, vertical steering mechanism, 231, fixed gear, 232, vertical fixed frame, 24, servo motor, 241, first turns to electricity
Machine, the 242, second steering motor, 243, deflection motor, 25, ballast box, 251, wobble gear, 252, babinet, 253, fixed frame,
26, control cabinet, 3, flight instruments, 31, flight supporting plate, 32, electronic speed regulation box, 321, electron speed regulator, 322, blade absorber,
33, Self-locking flexible mechanism, 331, stepper motor, 332, crank slide bar, 333, flexible truss, 34, flight motor, 35, fold paddle
Leaf.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings：
As shown in Figure 1, it is the structural schematic diagram of land and air double-used ball shape robot.
The land and air double-used ball shape robot of the present invention includes spherical shell 1, and spherical shell 1 includes lower hemisphere shell 11, lower hemisphere shell
Intermediate guiding mechanism 12 is installed, intermediate guiding mechanism 12 is connected with fixed steelframe 13, fixed steelframe 13 on the inside of 11 upper end
Top is provided with mounting groove 131, as shown in figure 3, micromotor 16 is provided in mounting groove 131, the output shaft of micromotor 16
Connect respectively with four upper ball valve films 14 by worm gear mechanism 15, drive four upper ball valve films 14 opening with
It is closed；Four upper ball valve films 14 collectively constitute upper hemispherical shell, and collectively form complete spherical with lower hemisphere shell 11.
As shown in Fig. 2, intermediate guiding mechanism 12 includes the ring gear 121 being set on the inside of 11 upper end of lower hemisphere shell,
The lower part of ring gear 121 is provided with annular groove 122, by being arranged intermediate guiding mechanism 12, auxiliary roll transfer 2 around with
The centre of sphere is origin, is rotated using the Z axis of standard Descartes's three-dimensional coordinate system.
Entire spherical shell 1 supports entire spheroid form and by interior arrangement and external environs, ensures whole system
Normal work.
12 inside of intermediate guiding mechanism, which is connected with, rolls transfer 2, as shown in figure 4, it includes rolling to roll transfer 2
Supporting plate 21 rolls and is equipped with servo motor 24 on planker 21, the output shaft of servo motor 24 respectively with horizontal steering mechanism 22, perpendicular
Straight steering mechanism 23 and ballast box 25 connect, and the lower surface for rolling supporting plate 21 is installed with control cabinet 26.
Servo motor 24 includes the first steering motor 241, output shaft and the limit connector 223 of the first steering motor 241
It is connected, limit connector 223 engages connection with horizontal conveyor gear 221, as shown in figure 5, when the first steering motor 241 is in anti-
Turn or state counterclockwise, limit connector 223 are in locking state；To the rotation of the first steering motor 241, cannot drive
The rotation of horizontal conveyor gear 221；Horizontal conveyor gear 221 includes intermeshing three gears, outermost horizontal conveyor
Gear 221 engages connection with ring gear 121.
Positive or clockwise torque is exported by the first steering motor 241, is moved by horizontal conveyor gear 221, to
Rolling transfer 2 is driven to rotate about the z axis.
Horizontal steering mechanism 22 includes horizontal fixed frame 224, and horizontal fixed frame 224 is arched, in horizontal fixed frame 224
Portion offers through-hole, and limit connector 223 is socketed in through-hole, and horizontal conveyor gear 221 is set in through-hole；Horizontal fixed frame
224 both ends are respectively arranged with the idler wheel 222 being connected with annular groove 122.
Servo motor 24 includes the second steering motor 242, and the output shaft of the second steering motor 242 is fixedly connected with a tooth
Wheel；Vertical steering mechanism 23 includes vertical fixed frame 232, and vertical fixed frame 232 is arched, and the both ends of fixed frame 232 are set respectively
It is equipped with the idler wheel 222 being connected with annular groove 122；The neighbouring side setting for rolling supporting plate 21 in the middle part of vertical fixed frame 232
There are fixed gear 231, fixed gear 231 to engage connection with the gear on 242 output shaft of the second steering motor；It is turned to by second
Gear 231 is auxiliarily fixed in gear connection on 242 output shaft of motor, and rolling planker 21 is driven to be rotated around Y-axis.
Servo motor 24 includes deflection motor 243, and the output shaft of deflection motor 243 is fixedly connected with a gear；Ballast box
25 include the wobble gear 251 that connection is engaged with the gear on 243 output shaft of deflection motor, wobble gear 251 and fixed frame 253
Upper end be fixedly connected, the lower end of fixed frame 253 is connected with babinet 252, and battery is set in babinet 252, for for entire system
System energy supply.
It is connected with wobble gear 251 by the gear on 243 output shaft of deflection motor, for driving ballast box 25 around X-axis
It swings；And then servo motor 24 drives internal structure to realize ball shape robot in land omnidirectional rolling motor pattern.
Controller, motor drive ic, data collector, sensor and the communication of interconnection are provided in control cabinet 26
Device；Sensor includes humiture, GPS etc., can parameters such as monitoring of environmental and robot displacement in real time；Battery and control cabinet 26
It is connect respectively with servo motor 24, micromotor 16, flight motor 34.By the way that data collector and communicator, Neng Goushi is arranged
When the data of sensor record are acquired and are transmitted in time by communicator, to effectively carrying out real-time monitoring results.
It rolls and flight instruments 3 is installed on transfer 2, as shown in fig. 6, flight instruments 3 include flight supporting plate 31, flight
Installation is mutually perpendicular to, the Self-locking flexible mechanism 33 between four electronic speed regulation boxes 32 there are four electronic speed regulation box 32 on supporting plate 31
It is installed on 32 inside of electronic speed regulation box.
Electronic speed regulation box 32 includes blade absorber 322 and the electron speed regulator 321 being electrically connected with flight motor 34, blade
Absorber 322 is set to 32 both sides of electronic speed regulation box, and blade absorber 322 is electromagnet.Mould is rolled when ball shape robot is in
Blade 35 is folded when formula to be adsorbed on blade absorber 322；When ball shape robot is in offline mode, electromagnet power-off folds
Blade 35 is opened from blade absorber 322.
Self-locking flexible mechanism 33 includes stepper motor 331, and stepper motor 331 is set to the center meta position of flight supporting plate 31
It sets, the output shaft of stepper motor 331 is fixedly connected with the centre position of crank slide bar 332, and crank slide bar 332 is in cross, bent
The middle part of handle slide bar 332 is hinged by shaft with end, and the end of crank slide bar 332 is four quarter butts, the end of quarter butt with it is flexible
Truss 333 is hinged；The rotation for driving crank slide bar 332 is rotated by stepper motor 331, to control stretching for the truss 333 that stretches
Contracting；The truss 333 that stretches when ball shape robot is in rolling mode is in contraction state, when ball shape robot is in offline mode
When flexible truss 333 be in extended state.
There are four flexible truss 333 is total, and it is centrosymmetric around the output shaft of stepper motor 331, the one of flexible truss 333
End is fixedly connected with flight supporting plate 31, and the other end is connect with flight motor 34, output shaft and the folding blade 35 of flight motor 34
Connection.
Ball shape robot of the present invention is generally in following two motion states：PURE ROLLING pattern and flight mould
Formula, wherein offline mode are divided into as throwing type offline mode, land VTOL formula offline mode；It can be by remote control or from master control
The mode of system, to realize the switching of three kinds of motor patterns of ball shape robot.
Here is the operation principle explanation of each motor pattern：
One, PURE ROLLING pattern：
When for being moved in relatively flat landform, using PURE ROLLING pattern, using the centre of sphere as origin, using standard flute
Karr three-dimensional coordinate system；Regulation rotates clockwise the rotating forward that direction is motor.
In this mode, the basic exercise process of robot is as follows：
Ground, power supply are placed by robot.System restPoses, that is, rolls planker 21 and be in, ballast box parallel with Y-axis
25 is parallel with Z axis；Four upper ball valve films 14 are in closed state, and micromotor 16 is in locking state, it is ensured that are rolling
Uneven place is encountered in dynamic process, four upper ball valve films 14 will not be knocked and stretch out.
When linear motion, the 242 output driving torque of the second steering motor is rotated by the fixed gear 231 of drive, and then band
The dynamic planker 21 that rolls is rotated around Y-axis, to drive the entire transfer 2 that rolls to be rotated around Y-axis.In Y-axis rotary course, by
Position of centre of gravity is caused to change in rolling fixed weight case 25 on planker 21, i.e., focus point also rotates around Y-axis, so logical
Change position of centre of gravity is crossed to drive spherical shell and ground friction, to allow ball shape robot along the linear motion of X-direction.
At this point, the first steering motor 241, deflection motor 243 are in locking state；Due to there is the work of limit connector 223
With rolling transfer 2 can't drive horizontal conveyor gear 221 to rotate when being rotated around Y-axis；Because of the first steering motor
241 and second steering motor 242 backwards to being arranged, forward direction on the contrary, when i.e. the second steering motor 242 is in rotating forward state, when
When gear on first steering motor, 241 output shaft is in inverted status, limit connector 223 is in locking state, to not
Rolling transfer 2 can be driven to rotate about the z axis.
When divertical motion, the first steering motor 241, the second steering motor 242 keep working condition, pass through deflection motor
243 output driving torques adjust ballast box 25 and roll the angle of planker 21, change position of centre of gravity, ballast box 25 is made to be put around X-axis
Dynamic certain angle, track when to make the position of centre of gravity of ball shape robot deviate linear motion, realizes the purpose of steering.
When curvilinear motion, the second steering motor 242, deflection motor 243 keep working condition, can pass through the first steering motor
241 output driving torques make rolling by limiting connector 223, horizontal conveyor gear 221 and 121 relative motion of ring gear
Transfer 2 moves about the z axis while being moved around Y-axis, X-axis is swung；By the way that the position of centre of gravity of ball shape robot is moved to
A bit for deviateing original center of gravity on sphere, you can control ball shape robot moves along a curved path.
Two, land VTOL formula offline mode：
If ball shape robot in rolling movement, receives the control instruction of land VTOL offline mode, then whole
A system restPoses, that is, rolls planker 21 and be in parallel with Y-axis, ballast box 25 is parallel with Z axis；Four upper ball valves
Film 14 is in closed state, and micromotor 16 is in locking state, it is ensured that encounter uneven place during rolling, four
A upper ball valve film 14, which will not be knocked, stretchs out.
At this point, the first steering motor 241, the second steering motor 242, deflection motor 243 are in locking state；Micromotor
16 output driving torques drive turbine and worm mechanism 15 to rotate, to which four upper ball valve films 14 of control open；Leaf is given simultaneously
The electromagnet of piece absorber 322 powers off, and folds blade 35 and is opened from blade absorber 322；The stepping of Self-locking flexible mechanism 33
331 output driving torque of motor drives slide crank bar 332 to rotate, to which the flexible truss 333 of control stretches out.
When flexible truss 333 is fully extended, stepper motor 331 stops output driving torque, but does not cut off the power；Four
The driving torque Foldable blade 35 that flight motor 34 exports high speed rotates, to drive ball shape robot to take off；It is micro- simultaneously
Type motor 16 exports reversed driving torque and turbine and worm mechanism 15 is driven to rotate, to which four upper ball valve films 14 of control close
It closes.
When ball shape robot is in landing state, 16 output driving torque of micromotor drives turbine and worm mechanism 15 to revolve
Turn, to which four upper ball valve films 14 of control open；Flight motor 34 weakens output driving torque simultaneously, makes folding blade 35
Rotary speed reduce.
When ball shape robot lands, flight motor 34 stops output driving torque, 331 output driving torque of stepper motor
Crank slide bar 332 is driven to rotate, to which the flexible truss 333 of control is shunk；When flexible truss 333 is shunk completely, stepper motor
331 stop output driving torque, but keep power supply；Micromotor 16 exports reverse drive torque and drives turbine and worm mechanism at this time
15 rotations are closed to control upper ball valve film 14.
Three, throwing type offline mode：
When being in an emergency, airborne aircraft ball shape robot of dishing out is needed to carry out rescue detecting, then spherical shape of dishing out
State when robot is system initial state.
By 243 output driving torque of deflection motor, ballast box 25 is adjusted with the angle for rolling planker 21 and changes center of gravity position
It sets, ballast box 25 is made to swing certain angle around X-axis；Subsequent deflection motor 243 exports reverse drive torque, keeps ballast box 25 reversed
Identical angle is swung, is returned to and Z axis parastate；Which allows is in surface with upper ball valve film 14.
At this point, 16 output driving torque of micromotor drives turbine and worm mechanism 15 to rotate, to control upper ball valve
Film 14 opens；It is powered off simultaneously to the electromagnet of blade absorber 322, folds blade 35 and opened from blade absorber 322；Self-locking
The 331 output driving torque of stepper motor of telescoping mechanism 33 drives crank slide bar 332 to rotate, and is stretched to control the truss 333 that stretches
Go out.
When flexible truss 333 is fully extended, stepper motor 331 stops output driving torque, keeps power supply；Flight motor
The driving torque Foldable blade 35 of 34 output high speeds rotates, to drive ball shape robot to fly；Then micromotor 16
Reversed driving torque is exported, turbine and worm mechanism 15 is driven to rotate, is closed to control upper ball valve film 14.
The specific implementation mode of the present invention is described above, in order to facilitate understanding by those skilled in the art this hair
It is bright, it should be apparent that the present invention is not limited to the ranges of specific implementation mode, for those skilled in the art,
As long as various change is in the spirit and scope of the present invention that the attached claims limit and determine, these variations are aobvious and easy
See, all are using the innovation and creation of present inventive concept in the row of protection.
Claims (10)
1. a kind of land and air double-used ball shape robot, which is characterized in that including spherical shell (1), the spherical shell (1) includes lower hemisphere shell
(11), intermediate guiding mechanism (12) is installed, intermediate guiding mechanism (12) is connected with solid on the inside of the upper end of lower hemisphere shell (11)
Determine steelframe (13), the top of fixed steelframe (13) is provided with mounting groove (131), micromotor is provided in mounting groove (131)
(16), the output shaft of micromotor (16) is connected with several upper ball valve films (14) respectively by worm gear mechanism (15)
It connects；Several upper ball valve films (14) collectively constitute upper hemispherical shell, and collectively form complete ball with lower hemisphere shell (11)
Shape；
The intermediate guiding mechanism (12), which is connected with, rolls transfer (2), and the rolling transfer (2) includes being connected with each other
Servo motor (24), battery and control cabinet (26), roll and flight instruments (3) be installed on transfer (2), the flight fills
Set including Self-locking flexible mechanism (33), flight motor (34) be installed in Self-locking flexible mechanism (33), flight motor (34) it is defeated
Shaft is connect with blade (35) is folded；
The battery and control cabinet (26) are connect with servo motor (24), micromotor (16), flight motor (34) respectively.
2. land and air double-used ball shape robot according to claim 1, which is characterized in that intermediate guiding mechanism (12) packet
The ring gear (121) being set on the inside of lower hemisphere shell (11) upper end is included, the lower part of ring gear (121) is provided with annular groove
(122)。
3. land and air double-used ball shape robot according to claim 2, which is characterized in that rolling transfer (2) packet
Include and roll supporting plate (21), roll and servo motor (24) is installed on planker (21), the output shaft of servo motor (24) respectively with water
Flat steering mechanism (22), vertical steering mechanism (23) and ballast box (25) connection, the lower surface for rolling supporting plate (21) are fixedly mounted
There is control cabinet (26).
4. land and air double-used ball shape robot according to claim 3, which is characterized in that the servo motor (24) includes the
The output shaft of one steering motor (241), the first steering motor (241) is connected with limit connector (223), limits connector
(223) connection is engaged with horizontal conveyor gear (221), horizontal conveyor gear (221) engages connection with ring gear (121)；
The horizontal steering mechanism (22) includes horizontal fixed frame (224), and horizontal fixed frame (224) is arched, horizontal fixed frame
(224) through-hole is offered in the middle part of, the limit connector (223) is socketed in through-hole, and the horizontal conveyor gear (221) sets
It is placed in through-hole；The both ends of horizontal fixed frame (224) are respectively arranged with the idler wheel (222) being connected with annular groove (122).
5. land and air double-used ball shape robot according to claim 3, which is characterized in that the servo motor (24) includes the
The output shaft of two steering motors (242), the second steering motor (242) is fixedly connected with a gear；
The vertical steering mechanism (23) includes vertical fixed frame (232), and vertical fixed frame (232) is arched, fixed frame (232)
Both ends be respectively arranged with annular groove (122) be connected idler wheel (222)；The middle part of the vertical fixed frame (232) is adjacent
The nearly side for rolling supporting plate (21) is provided with fixed gear (231), the fixed gear (231) and the second steering motor (242)
Gear engagement connection on output shaft.
6. land and air double-used ball shape robot according to claim 3, which is characterized in that the servo motor (24) includes inclined
The output shaft of rotating motor (243), deflection motor (243) is fixedly connected with a gear；
The ballast box (25) includes the wobble gear (251) that connection is engaged with the gear on deflection motor (243) output shaft, pendulum
Moving gear (251) is fixedly connected with the upper end of fixed frame (253), and the lower end of fixed frame (253) is connected with babinet (252), described
Battery is set in babinet (252).
7. land and air double-used ball shape robot according to claim 3, which is characterized in that be provided in the control cabinet (26)
Sequentially connected controller, motor drive ic, data collector, sensor and communicator.
8. land and air double-used ball shape robot according to claim 1, which is characterized in that the flight instruments (3) include flying
Row supporting plate (31) is equipped with electronic speed regulation box (32) on flight supporting plate (31), and electronic speed regulation box is mutually perpendicular between (32), it is described from
Lock telescoping mechanism (33) is installed on the inside of electronic speed regulation box (32).
9. land and air double-used ball shape robot according to claim 8, which is characterized in that the electronic speed regulation box (32) includes
Blade absorber (322) and the electron speed regulator (321) being electrically connected with flight motor (34), the blade absorber (322) set
It is placed in electronic speed regulation box (32) both sides.
10. land and air double-used ball shape robot according to claim 8, which is characterized in that the Self-locking flexible mechanism (33)
Including stepper motor (331), stepper motor (331) is set to the middle position of flight supporting plate (31), stepper motor (331)
Output shaft is fixedly connected with the centre position of crank slide bar (332), hinged by shaft with end in the middle part of crank slide bar (332),
The end of crank slide bar (332) is quarter butt, and the end of quarter butt is hinged with flexible truss (333)；
The flexible truss (333) is centrosymmetric around the output shaft of stepper motor (331), stretch truss (333) one end with
Flight supporting plate (31) is fixedly connected, and the other end is connect with flight motor (34).
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| CN201810364783.XA CN108556577B (en) | 2018-04-23 | 2018-04-23 | Air-ground dual-purpose spherical robot |
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| CN201810364783.XA CN108556577B (en) | 2018-04-23 | 2018-04-23 | Air-ground dual-purpose spherical robot |
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| CN108556577B CN108556577B (en) | 2020-07-14 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110917525A (en) * | 2019-10-28 | 2020-03-27 | 南京航空航天大学 | Tilting-rotating-force deformation aircraft for high-rise rescue |
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| CN112706952B (en) * | 2020-12-17 | 2021-11-02 | 哈尔滨工业大学 | Spherical lander and planet landing method using spherical lander |
| CN113276977A (en) * | 2021-06-28 | 2021-08-20 | 西南科技大学 | Multi-freedom-degree spherical robot |
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