CN112775988A - Spherical robot - Google Patents
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- CN112775988A CN112775988A CN202110014479.4A CN202110014479A CN112775988A CN 112775988 A CN112775988 A CN 112775988A CN 202110014479 A CN202110014479 A CN 202110014479A CN 112775988 A CN112775988 A CN 112775988A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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Abstract
The present invention relates to a spherical robot, comprising: a plurality of spherical shells; the wheel type travelling mechanism comprises a trolley bottom plate, and driving wheels and steering wheels which are arranged at the bottom of the trolley bottom plate, wherein the driving wheels are arranged on two sides of the bottom plate, and the steering wheels are arranged on the front sides of the two driving wheels; the plurality of form conversion mechanisms are uniformly arranged on the trolley bottom plate along the circumferential direction, correspond to the plurality of spherical shells one by one, are fixedly connected with one spherical shell at the free end of each form conversion mechanism, and are used for opening the plurality of spherical shells, enabling the wheel type travelling mechanism to travel in a grounding mode or closing the plurality of spherical shells into one ball and wrapping the wheel type travelling mechanism in the ball. The spherical robot combines the advantages of spherical robot motion and wheeled robot motion, and the motion is stable and reliable.
Description
Technical Field
The present invention relates to a self-protection structure, a form change structure, and a wheel type traveling structure of a robot.
Background
With the development of artificial intelligence technology, robots are widely applied in the fields of remote detection, target identification, field operation, polar exploration, mineral exploration, emergency rescue and the like. At present, in a general environment, under the demand of detecting and tracking living bodies, how to realize tracking motion of a robot and self-protection behavior after being discovered by living bodies is a research problem in the field of robot research.
Robots are classified according to mobility and classified into fixed robots and mobile robots. Among them, mobile robots have gained widespread attention from countries in the world as one of the most active fields of scientific and technological development at present. Mobile robots are mainly classified into wheel/crawler type mobile robots and legged type robots according to the moving manner. The wheel type/crawler type robot has the advantages of large bearing capacity and high moving speed, but the motion stability and the adaptability to the environment are poor; the legged robot has good cross-country performance, but has the defects of more freedom degrees of a motion mechanism and complex control. Therefore, the mobile robot with high walking speed and good cross-country performance is designed, can move quickly like a wheel type robot, can adapt to rugged environments like a leg-foot type robot, and is obviously a topic with great research value.
The ball is a natural high-quality rolling body in the nature, and has the biggest characteristic of omnidirectional rolling, and the spherical shell enables the robot to have self-stability after instability and also enables the robot to have natural self-protection characteristic.
Disclosure of Invention
In view of the above, there is a need to provide a spherical robot to solve the problem of the prior art that the adaptive capacity, the moving speed and the control performance are not compatible.
The technical scheme of the invention provides a spherical robot, which comprises:
a plurality of spherical shells;
the wheel type travelling mechanism comprises a trolley bottom plate, and driving wheels and steering wheels which are arranged at the bottom of the trolley bottom plate, wherein the driving wheels are arranged on two sides of the bottom plate, and the steering wheels are arranged on the front sides of the two driving wheels;
the plurality of form conversion mechanisms are uniformly arranged on the trolley bottom plate along the circumferential direction, correspond to the plurality of spherical shells one by one, are fixedly connected with one spherical shell at the free end of each form conversion mechanism, and are used for opening the plurality of spherical shells, enabling the wheel type travelling mechanism to travel in a grounding mode or closing the plurality of spherical shells into one sphere and wrapping the wheel type travelling mechanism in the sphere.
Furthermore, the plurality of spherical shells comprise a top shell and a plurality of bottom shells positioned below the top shell, the plurality of bottom shells correspond to the plurality of form conversion mechanisms one by one, and a free end of each form conversion mechanism is correspondingly connected with one bottom shell; the spherical robot also comprises a connecting rod mechanism, the connecting rod mechanism comprises a connecting rod, the bottom of the connecting rod is fixed at the midpoint of the bottom plate of the trolley, and the top of the connecting rod is fixedly connected with the bottom of the top shell; when the plurality of form conversion mechanisms drive the plurality of bottom shells to be opened, the wheel type travelling mechanism walks in a grounding mode, and when the plurality of form conversion mechanisms are closed, the plurality of bottom shells and the top shells form a sphere.
Further, the bottom shell comprises a left side shell and a right side shell, the form switching mechanism comprises a left form switching mechanism and a right form switching mechanism, the left form switching mechanism and the right form switching mechanism are symmetrically installed on the left side and the right side of the trolley bottom plate, the free end of the left form mechanism is fixedly connected with the left side shell, and the right side shell is fixedly connected with the free end of the right form switching mechanism.
Further, the driving wheel comprises a first motor mounting frame, a first direct current motor, a left driving wheel, a second motor mounting frame, a second direct current motor and a right driving wheel; first motor mounting bracket and second motor mounting bracket fixed mounting be in the both sides of dolly bottom plate, first direct current motor fixed mounting be in on the first motor mounting bracket, second direct current motor fixed mounting be in on the second motor mounting bracket, left side drive wheel, right drive wheel respectively with first direct current motor and second direct current motor's output shaft fixed connection.
Furthermore, the steering wheel comprises four connecting copper columns and universal wheels, and the universal wheels are fixedly connected with the trolley bottom plate through the four connecting copper columns.
The left form switching mechanism comprises a first steering engine side cover, a first steering engine, a first output shaft side steering wheel, a first smooth shaft side steering wheel, a first large U component, a first small U component, a second steering engine, a second output shaft side steering wheel, a second smooth shaft side steering wheel, a second large U component and a first groove-shaped connecting piece; the first steering engine side cover is fixed on the left side of the steering engine mounting frame, and the first steering engine is fixed with the first steering engine side cover; the first large U component is connected with a torque output shaft and a smooth fixed shaft of a first steering engine respectively through a first output shaft side steering wheel and a first smooth shaft side steering wheel; the first big U component and the first small U component are fixedly connected back to back; the second steering engine is fixedly connected with the first small U-shaped component; the second large U component is connected with a torque output shaft and a smooth fixed shaft of a second steering engine through a second output shaft side steering wheel and a second smooth shaft side steering wheel respectively; the second large U-shaped component is fixed with the first groove-shaped connecting piece, and the left shell is fixed on the first groove-shaped connecting piece.
Furthermore, the first steering engine, the second steering engine, the third steering engine and the fourth steering engine are all provided with an initial angle and a rotation angle, and the global robot is in a closed state through the initial angle; and opening the spherical shell of the spherical robot through the rotation angle, and simultaneously enabling the wheel type walking mechanism to touch the ground.
Furthermore, the bottom of the top shell is provided with a limiting groove, the tops of the left shell and the right shell are provided with a protrusion matched with the groove, and the left shell of the left shell and the left shell of the right shell are provided with a limiting groove and a protrusion matched with each other.
Further, the connecting rod is a telescopic rod.
Further, the first groove-shaped connecting piece and the second groove-shaped connecting piece are identical in structure and respectively comprise a first mounting plate, a second mounting plate and a connecting plate for connecting the first mounting plate and the second mounting plate, the first mounting plate is fixedly connected with the second large U-shaped member or the fourth large U-shaped member, the second mounting plate is fixedly connected with the left shell or the right shell, and the second mounting plate is obliquely arranged.
Compared with the prior art, the invention can achieve the following technical effects:
1. the spherical robot provided by the invention has stronger adaptability to different environments, can be thrown out by an operator to freely roll to an area for executing tasks, then opens the left and right spherical shells under the rotation of the four steering engines of the form conversion mechanism, enables the wheel type walking mechanism to walk to the ground to execute the tasks, folds the spherical shells by the form conversion mechanism after the tasks are completed, and wraps the wheel type walking mechanism, and enables the robot to freely convert between a self-protection state and a wheel type walking state to complete specific tasks by the form conversion mechanism, so that the advantages of the movement of the spherical robot and the movement of the wheel type robot are combined, and the movement is stable and reliable; because the full-spherical shell is adopted, the self-protection device has a better self-protection function on the internal structure of the object;
2. the spherical robot fully utilizes the narrow space in the spherical robot, exerts the functions of all parts to the maximum extent, realizes specific functions, saves resources, has compact structure, strong function expansibility, convenient control and low energy consumption, and has higher use value and popularization value.
Drawings
FIG. 1 is a schematic view of an embodiment of the spherical robot provided by the present invention in an open state;
FIG. 2 is a schematic structural view of the spherical robot of FIG. 1 in a closed state;
figure 3 is a front view of one embodiment of the wheeled mobility mechanism of figure 1;
figure 4 is a rear view of one embodiment of the wheeled mobility mechanism of figure 1;
FIG. 5 is a schematic structural view of one embodiment of the linkage mechanism of FIG. 1;
FIG. 6 is a schematic diagram of an embodiment of the form altering mechanism of FIG. 1;
FIG. 7 is a schematic diagram of the left form shifting mechanism of FIG. 5 in accordance with one embodiment;
FIG. 8 is a schematic diagram of the right form shifting mechanism of FIG. 5 in one embodiment;
FIG. 9 is a schematic diagram of the spherical shell structure of the spherical robot provided by the present invention
FIG. 10 is a schematic diagram of the process transition from 2 closing to 2 opening of the spherical shell of the spherical robot provided by the present invention; wherein, FIG. 10a is a schematic diagram of the closed state of the spherical robot before the spherical robot performs the task; FIG. 10b is a state transition diagram of the present invention; FIG. 10c is a diagram of the tasks performed by the present invention; FIG. 10d is a schematic diagram of the invention in a closed state after performing a task;
in the figure:
1-wheeled walking mechanism, 2-form switching mechanism, 3-spherical shell, 4-link mechanism, 11-trolley bottom plate, 12-right driving wheel, 13-left driving wheel, 14-steering wheel, 15-first motor mounting rack, 16-first direct current motor, 17-second motor mounting rack, 18-second direct current motor, 19-connecting copper column, 31-left side shell, 32-right side shell, 33-top shell, 41-connecting rod, 42-flange plate, 201-steering engine mounting rack, 202-first steering engine, 203-first steering engine, 204-first output shaft side steering wheel, 205-first smooth shaft side steering wheel, 206-first large steering wheel component, 207-first small U component, 208-second steering engine, 209-second output shaft side steering wheel, 210-a second smooth shaft side steering wheel, 211-a second large U component, 212-a first groove-shaped connecting piece, 213-a second steering wheel side cover, 214-a third steering wheel, 215-a third output shaft side steering wheel, 216-a third smooth shaft side steering wheel, 217-a third large U component, 218-a second small U component, 219-a fourth steering wheel, 220-a fourth output shaft side steering wheel, 221-a fourth smooth shaft side steering wheel, 222-a fourth large U component, 225-a second groove-shaped connecting piece, 2231-a first mounting plate, 2232-a second mounting plate and 2233-a connecting plate.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
As shown in fig. 1 and 2, an embodiment of the present invention provides a spherical robot including a wheel type traveling mechanism 1, a plurality of form transforming mechanisms 2, and a plurality of spherical shells 3. One end of each of the plurality of form conversion mechanisms 2 is fixedly installed on the wheel type travelling mechanism 1, the other end of each of the plurality of form conversion mechanisms 2 is fixedly connected with the corresponding spherical shell 3, when the spherical robot needs to quickly roll to a needed service area, the plurality of spherical shells 3 are driven by the form conversion mechanisms 2 to be closed into a sphere, the wheel type travelling mechanism 2 is wrapped in the sphere, and an operator throws out the sphere and freely rolls to a target area. When the spherical robot reaches the service area, the corresponding spherical shell is opened by the form conversion mechanism 2, and the wheel type traveling mechanism 2 travels to the ground, thereby completing a predetermined task.
As shown in fig. 3 and 4, the wheel type traveling mechanism 2 includes a trolley bottom plate 11, a first motor mounting bracket 15 mounted at the bottom of the trolley bottom plate 11, a first dc motor 16, a left driving wheel 13, a second motor mounting bracket 17, a second dc motor 18, a right driving wheel 12, a connecting copper column 19, and a steering wheel 14. The first motor mounting frame 15 and the second motor mounting frame 17 are respectively fixed on two sides of the trolley bottom plate 11 through bolts. The first direct current motor 16 and the second direct current motor 18 are fixed on the sides of the first motor mounting frame 18 and the second motor mounting frame 17 through bolts respectively. The left driving wheel 13 and the right driving wheel 14 are connected to output shafts of a first direct current motor 16 and a second direct current motor 18, respectively, in an interference fit manner. The steering wheel 14 is fixedly connected with the trolley bottom plate 11 through four connecting copper columns 19.
It should be noted that, in order to achieve better steering, the steering wheel 14 is preferably a universal wheel. The first motor mounting bracket 15 and the second motor mounting bracket 17 can also be fixed on both sides of the trolley bottom plate 11 by welding and other fixed connection modes. Similarly, the first dc motor 16 and the second dc motor 18 may also be fixed to the sides of the first motor mounting bracket 15 and the second motor mounting bracket 17 by welding or bonding. The left driving wheel 13 and the right driving wheel 14 can also be connected to the output shafts of the first dc motor 16 and the second dc motor 18 respectively by using bolts or welding or other fixing methods.
When the wheel type traveling mechanism 2 needs to turn left, the first direct current motor 16 of the left driving wheel 13 is decelerated, so that a differential speed is formed between the left driving wheel 13 and the right driving wheel 14, and thus, left turning is realized. When the spherical mechanism needs to rotate to the right, the speed difference is formed by reducing the speed of the second direct current motor 18 of the right driving wheel 14, so that the right rotation is realized.
As shown in fig. 1 and 5, the plurality of spherical shells 3 include a top shell 33 and two bottom shells located below the top shell 33, the two bottom shells include a left shell 31 and a right shell 32, the form switching mechanism 2 includes a left form switching mechanism and a right form switching mechanism, the left form switching mechanism and the right form switching mechanism are symmetrically installed on the left side and the right side of the cart bottom plate, the free end of the left form mechanism is fixedly connected to the left shell 31, and the right shell 32 is fixedly connected to the free end of the right form switching mechanism. The spherical robot further comprises a link mechanism 4, the link mechanism 4 comprises a connecting rod 41, the bottom of the connecting rod 41 is fixed at the midpoint of the trolley bottom plate 11, and the top of the connecting rod 41 is fixedly connected with the bottom of the top shell 33. When the two form conversion mechanisms drive the corresponding left side shell 31 and right side shell 32 to open, the wheel type traveling mechanism 2 travels to touch the ground, and when the plurality of form conversion mechanisms are closed, the plurality of bottom shells and the plurality of top shells 33 form a sphere, and the wheel type traveling mechanism 2 is wrapped in the sphere.
As another embodiment of the present invention, the plurality of bottom cases may include three or more bottom cases, and one form switching mechanism is connected to each of the three or more bottom cases in a one-to-one correspondence manner. The tops of the bottom shells are matched with the top shell 33, the bottom shells are matched with each other, and when the form conversion mechanisms are folded, the bottom shells and the top shell 33 are closed to form a sphere.
As another embodiment of the present invention, the plurality of spherical shells 3 may be configured not to include the top shell 33 but to include a plurality of side shells, the form converting mechanisms 2 are respectively connected to one side shell in a one-to-one correspondence, and when the spherical robot needs to be opened, the plurality of form converting mechanisms open the corresponding side shells; when the spherical robot needs to be closed and the wheel machine walking mechanism 1 is wrapped in the spherical robot, a plurality of spherical shells are closed into a sphere. The number of the side casings is not particularly limited, and may be determined as required. When the form converting mechanism is provided in plurality, the plurality of form converting mechanisms are arranged uniformly in the circumferential direction.
Wherein, further, in order to enable the top case 33 to be better matched with the bottom case located at the bottom, the connecting rod 41 may be configured as a telescopic rod.
As shown in fig. 6 and 8, a steering engine mounting frame 201 is fixedly mounted on the cart bottom plate 11, the left form conversion mechanism and the right form conversion mechanism are symmetrically mounted on the left side and the right side of the steering engine mounting frame 201, and the left form conversion mechanism includes a first steering engine side cover 202, a first steering engine 203, a first output shaft side steering wheel 204, a first smooth shaft side steering wheel 205, a first large U member 206, a first small U member 207, a second steering engine 208, a second output shaft side steering wheel 209, a second smooth shaft side steering wheel 210, a second large U member 211, and a first groove-shaped connecting member 212;
the right form conversion mechanism comprises a second steering engine side cover 213, a third steering engine 214, a third output shaft side steering wheel 215, a third smooth shaft side steering wheel 216, a third large U-shaped member 217, a second small U-shaped member 218, a fourth steering engine 219, a fourth output shaft side steering wheel 220, a fourth smooth shaft side steering wheel 221, a fourth large U-shaped member 222 and a second groove-shaped connecting piece 223. The first steering engine side cover 202 and the second steering engine side cover 213 are respectively fixed on the steering engine mounting frame 201 through bolts; the first steering engine 203 is fixed with the first steering engine side cover 202 through screws; a first large U-shaped member 206 is connected with a torque output shaft and a smooth fixed shaft of a first steering engine 203 through a first output shaft side steering wheel 204 and a first smooth shaft side steering wheel 205 respectively; the first large U member 206 and the first small U member 207 are fixed by bolts and nuts; the second steering engine 208 is fixed with the first small U-shaped component 207 through a screw; the second large U-shaped member 206 is connected with a torque output shaft and a smooth fixed shaft of a second steering engine 208 through a second output shaft side steering wheel 209 and a second smooth shaft side steering wheel 210 respectively; the second large U-member 206 and the first channel connector 212 are secured by bolts and nuts.
The third steering engine 214 is fixed with a second steering engine side cover 213 through screws; the third large U-shaped member 217 is connected with a torque output shaft and a smooth fixed shaft of a third steering engine respectively through a third output shaft side steering wheel 215 and a third smooth shaft side steering wheel 216; the third large U-shaped member 217 and the second small U-shaped member 218 are fixed by bolts and nuts; the fourth steering engine 219 is fixed with the second small U member 218 through a screw; the fourth large U member 222 is connected to the torque output shaft and the smooth fixed shaft of the fourth steering engine 219 through a fourth output shaft side rudder disk 220 and a fourth smooth shaft side rudder disk 221; fourth large U-member 222 and second channel connector 225 are secured by bolts and nuts.
The members may be connected by other fixing means known in the art, such as welding, riveting, or bonding, in addition to the bolts or screws, and are not particularly limited.
The first and second slot type connectors 212 and 225 have the same structure, each of the first and second slot type connectors 212 and 225 includes a first mounting plate 2231, a second mounting plate 2232, and a connecting plate 2233 connecting the first and second mounting plates 2231 and 2232, the first mounting plate 2231 is fixedly connected to the second large U-shaped member 211 or the fourth large U-shaped member 222, the second mounting plate 2232 is fixedly connected to the left casing 31 or the right casing 32, and the second mounting plate 2232 is inclined.
In this example, the global robot is in a closed state by setting the initial angles of the first steering engine 203, the second steering engine 208, the third steering engine 214, and the fourth steering engine 219. When the spherical robot is switched from the closed state to the open state, the spherical robot is opened by controlling the rotating angles of the four steering engines so that the wheel type walking mechanism is in contact with the ground.
The bottom of the top shell 33 is provided with a limiting groove, the tops of the left shell 31 and the right shell 32 are provided with a protrusion matched with the groove, the right side of the left shell 31 and the left side of the right shell 32 are provided with a limiting groove and a protrusion matched with each other, and the grooves not only play a limiting role when the ball body is opened or closed, but also play a sealing and waterproof role.
When the scheme works specifically, as shown in fig. 9, 10a to 10 d: firstly, throwing the spherical robot to freely roll to a target area by an operator; then the global robot opens the left and right spherical shells under the rotation of the four steering engines of the form conversion mechanism, so that the wheel type walking mechanism 1 is contacted with the ground; the spherical robot realizes position movement under the motion of the wheel type walking mechanism 1 and completes the corresponding assigned task. And finally, the left spherical shell and the right spherical shell are closed under the rotation of the four steering engines of the form conversion mechanism.
The spherical robot provided by the invention can freely convert between a self-protection state and a wheel type walking state to complete a specific task, combines the advantages of spherical robot motion and wheel type robot motion, and has stable and reliable motion; because the full-spherical shell is adopted, the self-protection device has a better self-protection function on the internal structure of the object; the spherical robot fully utilizes the narrow space in the spherical robot, exerts the functions of all parts to the maximum extent, realizes specific functions, saves resources, has compact structure, strong function expansibility, convenient control and low energy consumption, and has higher use value and popularization value.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. A spherical robot, comprising:
a plurality of spherical shells;
the wheel type travelling mechanism comprises a trolley bottom plate, and driving wheels and steering wheels which are arranged at the bottom of the trolley bottom plate, wherein the driving wheels are arranged on two sides of the bottom plate, and the steering wheels are arranged on the front sides of the two driving wheels;
the plurality of form conversion mechanisms are uniformly arranged on the trolley bottom plate along the circumferential direction, correspond to the plurality of spherical shells one by one, are fixedly connected with one spherical shell at the free end of each form conversion mechanism, and are used for opening the plurality of spherical shells, enabling the wheel type travelling mechanism to travel in a grounding mode or closing the plurality of spherical shells into one sphere and wrapping the wheel type travelling mechanism in the sphere.
2. The spherical robot according to claim 1, wherein the plurality of spherical shells include a top shell and a plurality of bottom shells located below the top shell, the plurality of bottom shells are in one-to-one correspondence with the plurality of form-converting mechanisms, and a free end of each form-converting mechanism is connected to one of the bottom shells; the spherical robot also comprises a connecting rod mechanism, the connecting rod mechanism comprises a connecting rod, the bottom of the connecting rod is fixed at the midpoint of the bottom plate of the trolley, and the top of the connecting rod is fixedly connected with the bottom of the top shell; when the plurality of form conversion mechanisms drive the plurality of bottom shells to be opened, the wheel type travelling mechanism walks in a grounding mode, and when the plurality of form conversion mechanisms are closed, the plurality of bottom shells and the top shells form a sphere.
3. The spherical robot according to claim 2, wherein the bottom case comprises a left-side case and a right-side case, the form switching mechanism comprises a left form switching mechanism and a right form switching mechanism, the left form switching mechanism and the right form switching mechanism are symmetrically installed on the left and right sides of the cart base plate, the free end of the left form mechanism is fixedly connected to the left-side case, and the right-side case is fixedly connected to the free end of the right form switching mechanism.
4. The spherical robot of claim 1, wherein the drive wheels comprise a first motor mount, a first dc motor, a left drive wheel, a second motor mount, a second dc motor, and a right drive wheel; first motor mounting bracket and second motor mounting bracket fixed mounting be in the both sides of dolly bottom plate, first direct current motor fixed mounting be in on the first motor mounting bracket, second direct current motor fixed mounting be in on the second motor mounting bracket, left side drive wheel, right drive wheel respectively with first direct current motor and second direct current motor's output shaft fixed connection.
5. The spherical robot according to claim 4, wherein said steering wheel comprises four connecting copper posts and a universal wheel, said universal wheel is fixedly connected with the cart bottom plate through four said connecting copper posts.
6. The spherical robot according to claim 3, wherein the form switching mechanism comprises a steering engine mounting frame fixedly mounted on the bottom plate of the trolley, the left form switching mechanism and the right form switching mechanism are identical in structure and symmetrically mounted on two sides of the steering engine mounting frame, and the left form switching mechanism comprises a first steering engine side cover, a first steering engine, a first output shaft side steering wheel, a first smooth shaft side steering wheel, a first large U member, a first small U member, a second steering engine, a second output shaft side steering wheel, a second smooth shaft side steering wheel, a second large U member and a first groove-shaped connecting piece; the first steering engine side cover is fixed on the left side of the steering engine mounting frame, and the first steering engine is fixed with the first steering engine side cover; the first large U component is connected with a torque output shaft and a smooth fixed shaft of the first steering engine through a first output shaft side steering wheel and a first smooth shaft side steering wheel respectively, and the first large U component and the first small U component are fixedly connected back to back; the second steering engine is fixedly connected with the first small U-shaped component; the second large U component is connected with a torque output shaft and a smooth fixed shaft of a second steering engine through a second output shaft side steering wheel and a second smooth shaft side steering wheel respectively; the second large U-shaped component is fixed with the first groove-shaped connecting piece, and the left shell is fixed on the first groove-shaped connecting piece.
7. The spherical robot according to claim 6, wherein the first steering engine, the second steering engine, the third steering engine and the fourth steering engine are all provided with an initial angle and a rotation angle, and the spherical robot is in a closed state through the initial angle; and opening the spherical shell of the spherical robot through the rotation angle, and simultaneously enabling the wheel type walking mechanism to touch the ground.
8. The spherical robot as claimed in claim 3, wherein the top case is provided at the bottom thereof with a stopper recess, the top of the left and right cases is provided with a projection fitting with the recess, and the left and right cases are provided with a stopper recess and projection fitting with each other.
9. The spherical robot according to claim 2, wherein the connecting rod is a telescopic rod.
10. The spherical robot as claimed in claim 6, wherein the first and second slot-type links are identical in structure and each comprise a first mounting plate fixedly connected to the second or fourth large U member, a second mounting plate fixedly connected to the left or right casing, and a connecting plate connecting the first and second mounting plates, the second mounting plate being disposed obliquely.
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| Publication number | Publication date |
|---|---|
| CN112775988B (en) | 2022-09-13 |
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