CN115320738B

CN115320738B - Amphibious spherical robot with external operation function

Info

Publication number: CN115320738B
Application number: CN202210916842.6A
Authority: CN
Inventors: 马龙; 付元; 王乐军; 张德胜; 荣庆丰; 张维振; 黄增波; 赵云龙; 郑杰; 马玉亮
Original assignee: CCTEG China Coal Research Institute
Current assignee: CCTEG China Coal Research Institute
Priority date: 2022-08-01
Filing date: 2022-08-01
Publication date: 2023-09-29
Anticipated expiration: 2042-08-01
Also published as: CN115320738A

Abstract

The invention discloses an amphibious spherical robot with an external operation function, which comprises a shell, a frame, a rotor assembly and a mechanical arm, wherein the shell comprises a spherical crown and a rotating shell, the rotating shell is provided with an annular groove, the annular groove extends along the circumferential direction of the rotating shell in a closed manner, the spherical crown comprises a first crown and a second crown, and the rotating shell is positioned between the first crown and the second crown; the rack is arranged in the inner cavity of the rotary shell; the rotor wing assembly is arranged on the frame and is provided with a folding shape and a flying shape, and in the flying shape, the rotor wing assembly extends from the annular groove to the outer side of the rotating shell so as to be suitable for driving the amphibious spherical robot to fly; the mechanical arm is arranged on the frame and positioned between the rotating shell and the spherical crown, and has an operation mode and a shrinkage mode. The amphibious spherical robot with the external operation function has the advantage of being capable of operating externally while moving.

Description

Amphibious spherical robot with external operation function

Technical Field

The invention relates to the technical field of robots, in particular to an amphibious spherical robot with an external operation function.

Background

The spherical shell of the amphibious spherical robot can enable the amphibious spherical robot to quickly and stably move without overturning in the task execution process, the spherical closed space can protect an internal mechanism from being damaged by the interference of various complex terrains and road conditions, and the spherical shell is in point contact with the ground in the sphere movement process, so that the amphibious spherical robot has small movement resistance. The amphibious spherical robot in the related art cannot operate outwards while moving, and is low in working efficiency.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, the embodiment of the invention provides the amphibious spherical robot with the external operation function, and the amphibious spherical robot with the external operation function has the advantage of being capable of operating externally while moving.

The amphibious spherical robot with the external operation function comprises a shell, wherein the shell comprises a spherical crown and a rotating shell, the rotating shell is provided with an annular groove, the annular groove extends along the circumferential direction of the rotating shell in a closed mode, the spherical crown comprises a first crown and a second crown, the rotating shell is positioned between the first crown and the second crown, the first crown can be connected with and separated from the rotating shell, and the second crown can be connected with and separated from the rotating shell; the rack is arranged in the inner cavity of the rotating shell, the rotating shell can rotate around a first direction relative to the rack, and the spherical crown is arranged on the rack; the rotor wing assembly is arranged on the frame and has a folding shape and a flying shape, the rotor wing assembly is contained in the rotating shell in the folding shape, and the rotor wing assembly extends from the annular groove to the outer side of the rotating shell in the flying shape so as to be suitable for driving the amphibious spherical robot to fly; the mechanical arm is arranged on the frame and is positioned between the rotating shell and the spherical crown, and the mechanical arm is provided with an operation mode and a shrinkage mode, wherein in the operation mode, the spherical crown is separated from the rotating shell so that the mechanical arm can extend out of the shell, and in the shrinkage mode, the spherical crown is closed with the rotating shell so that the mechanical arm can be contained in the shell.

The amphibious spherical robot with the external operation function has the advantage of being capable of operating externally while moving.

In some embodiments, the rotor assembly comprises a base arm, a folding arm, and a rotor, the base arm is fixedly connected to the frame, the folding arm is rotatably connected to the base arm, the rotor is connected to the folding arm in the folded configuration, the folding arm rotates to be parallel to the base arm to reduce the space occupied by the rotor assembly, and in the flying configuration, the folding arm rotates to be parallel to the base arm to extend the rotor out of the housing.

In some embodiments, the rotor assembly includes a driver having one end rotatably coupled to the base arm and the other end rotatably coupled to the folding arm, the length of the driver being adjustable to drive the rotor assembly between the flying configuration and the folded configuration.

In some embodiments, the rotor assemblies include a first rotor assembly and a second rotor assembly, the first rotor assembly and the second rotor assembly being symmetrically arranged along a width direction of the frame.

In some embodiments, the drive motor comprises a first drive motor and a second drive motor, the first drive motor is connected between the rotating shell and one end of the frame, the first drive motor is suitable for driving the rotating shell to rotate around the frame, the second drive motor is connected between the rotating shell and the other end of the frame, and the second drive motor is suitable for driving the rotating shell to rotate around the frame.

In some embodiments, the driving motor includes a rotor part and a stator part, the rotor part of the driving motor is rotationally matched with the stator part of the driving motor, the stator part of the driving motor is connected with the frame, the rotor part of the driving motor is connected with the rotating shell, the rotor part of the driving motor can rotate relative to the stator part of the driving motor to drive the rotating shell to rotate relative to the frame, the frame includes a connecting shaft, the rotor part of the driving motor is rotationally assembled on the outer peripheral side of the connecting shaft, and one end of the connecting shaft extends to the outer side of the rotating shell and is connected with the mechanical arm.

In some embodiments, the amphibious spherical robot with external operation function comprises a weight assembly, wherein the weight assembly is arranged on the frame, and the weight assembly is suitable for adjusting the gravity center of the robot to adjust the advancing direction of the robot or improve the stability.

In some embodiments, the weight assembly includes a first assembly, a second assembly and a counterweight, the first assembly is disposed on the frame, one end of the second assembly is rotatably assembled with the first assembly, the counterweight is disposed on the other end of the second assembly, the first assembly is adapted to drive the second assembly to swing so as to adjust an inclination angle of the counterweight, and the second assembly is adapted to drive the counterweight to translate so as to adjust a distance between the counterweight and the first assembly.

In some embodiments, the first assembly includes a first swing motor, a second swing motor, and a turret connected between the first swing motor and the second swing motor, the first swing motor and the second swing motor being coaxially arranged to drive the turret to rotate, and the second assembly being connected to the turret and extending in a radial direction of the turret.

In some embodiments, the second assembly comprises an adjustment motor, an adjustment screw, a first guide rod and a second guide rod, the adjustment motor is fixedly connected to the rotating frame, the adjustment motor is connected with the adjustment screw to drive the adjustment screw to rotate, the first guide rod and the second guide rod are arranged at intervals parallel to the adjustment screw, the adjustment screw is located between the first guide rod and the second guide rod, the counterweight is in sliding fit with the first guide rod and the second guide rod, and the adjustment screw is in threaded fit connection with the counterweight to drive the counterweight to move along the bidirectional screw.

Drawings

Fig. 1 is a schematic view of a rotor assembly of an amphibious spherical robot with external operation according to an embodiment of the present invention in a folded configuration.

Fig. 2 is a schematic view of a rotor assembly of an amphibious spherical robot with external operation according to an embodiment of the present invention in a flying configuration.

Fig. 3 is a schematic diagram of an opening and closing assembly of an amphibious spherical robot with external operation function according to an embodiment of the present invention.

Fig. 4 is a schematic structural view of a rotor assembly of an amphibious spherical robot having an external operation function according to an embodiment of the present invention.

Fig. 5 is a schematic structural view of a weight assembly of an amphibious spherical robot with external operation function according to an embodiment of the present invention.

Fig. 6 is a schematic cross-sectional view of a weight assembly of an amphibious spherical robot having an external operation function according to an embodiment of the present invention.

Fig. 7 is a schematic plan view of an amphibious spherical robot having an external operation function according to an embodiment of the present invention.

Fig. 8 is a partial enlarged view at a in fig. 7.

Fig. 9 is a schematic diagram of a robot arm of an amphibious spherical robot with external operation function in a contracted configuration according to an embodiment of the present invention.

Fig. 10 is a schematic diagram of an operation mode of a mechanical arm of an amphibious spherical robot with an external operation function according to an embodiment of the present invention.

Reference numerals:

a housing 1; a rotating shell 11; a first case 111; a second case 112; a spherical cap 12; a first crown 121; second crown 122;

a frame 2; a connecting shaft 21;

a mechanical arm 3; a first mechanical arm 301; a second robotic arm 302; a first joint drive 31; a turret 32; a second joint drive 33; a first arm 34; a fixed section 341; a free section 342; a slide bar 343; a first slide bar 3431; a second slide bar 3432; a carriage 344; a first carriage 3441; a second carriage 3442; a third joint drive 35; a second arm 36; a first plate 361; a second plate 362; a clamping jaw 37;

a rotor assembly 4; a first rotor assembly 401; a second rotor assembly 402; a base arm 41; a folding arm 42; a first section 421; a second section 422; a driver 43; rotor 44; a flying motor 441; a first wing 4421; a second wing 4422; a folder 443;

a weight assembly 5; a first component 51; a first swing motor 511; a second swing motor 512; swing frame 513; a first portion 5131; a second portion 5132; a connection portion 5133; a first projection 5134; a second projection 5135; a second component 52; an adjustment motor 521; adjusting the screw 522; a first guide rod 523; a second guide bar 524; a counterweight 53; the avoidance groove 531; an end plate 54;

a drive motor 6; a first driving motor 601; a second drive motor 602;

An opening and closing assembly 7; an opening and closing drive 71; an opening and closing guide rod 72; a first opening and closing guide 721; a second opening and closing guide 722; a guide sleeve 73; a first guide sleeve 731; second guide sleeve 732.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

An amphibious spherical robot having an external operation function according to an embodiment of the present invention will be described with reference to fig. 1 to 10.

The amphibious spherical robot with the external operation function comprises a shell 1, a frame 2, a mechanical arm 3 and a rotor wing assembly 4.

The housing 1 includes a spherical crown 12 and a rotary shell 11, the rotary shell 11 is provided with an annular groove, the annular groove extends along the circumferential direction of the rotary shell 11 in a closed manner, the spherical crown 12 includes a first crown 121 and a second crown 122, the rotary shell 11 is positioned between the first crown 121 and the second crown 122, the first crown 121 is engageable with and disengageable from the rotary shell 11, and the second crown 122 is engageable with and disengageable from the rotary shell 11.

Specifically, the rotation shaft of the rotary case 11 extends in the left-right direction, the rotary case 11 has an inner cavity, the rotary case 11 is provided with an annular groove which is a through groove, the annular groove extends along the circumferential direction of the rotary case 11 in a closed manner and communicates the inner cavity of the rotary case 11 with the outside of the case 1, the annular groove divides the rotary case 11 into a first case 111 and a second case 112, the first case 111 and the second case 112 are symmetrically arranged in the left-right direction, and a set interval is provided between the first case 111 and the second case 112 to form the annular groove.

The first crown 121 and the first shell 111 may be split into a hemispherical shape, the second crown 122 and the second shell 112 may be split into a hemispherical shape, the first crown 121 and the second crown 122 are symmetrically arranged in the left-right direction, a first side cavity is formed between the first crown 121 and the first shell 111 when the first crown 121 and the first shell 111 are coupled, a second side cavity is formed between the second crown 122 and the second shell 112 when the second crown 122 and the second shell 112 are coupled, and the first side cavity and the second side cavity are adapted to receive the mechanical arm 3.

The frame 2 is arranged in the inner cavity of the rotary shell 11, the rotary shell 11 can rotate around a first direction relative to the frame 2, and the spherical crown 12 is arranged on the frame 2.

Specifically, the frame 2 extends along a left-right direction, the first direction is the extending direction of the frame 2, the left end of the frame 2 is rotatably connected with the second shell 112, and the right end of the frame 2 is rotatably connected with the first shell 111, so that the first shell 111 and the second shell 112 can synchronously rotate or relatively rotate, and the amphibious spherical robot with external operation function in the embodiment of the invention is driven to roll on the ground.

The rotor assembly 4 is arranged on the frame 2, the rotor assembly 4 has a folded configuration in which the rotor assembly 4 is accommodated in the rotor case 11, and a flying configuration in which the rotor assembly 4 extends from the annular groove to the outside of the rotor case 11 to be suitable for driving the amphibious spherical robot with external operation function according to the embodiment of the present invention to fly.

Specifically, in the folded configuration, the rotor assembly 4 is received into the rotor case 11 to prevent the rotor assembly 4 from contacting with an object outside the housing 1, so as to protect the rotor assembly 4 during rolling travel, and in the flying configuration, a part of the rotor assembly 4 extends out of the housing 1, and a part of the rotor assembly 4 extending out of the housing 1 can generate lift force to drive the amphibious spherical robot having an external operation function according to the embodiment of the present invention to fly.

The arm 3 is arranged between the rotating shell 11 and the spherical cap 12 on the frame 2, and the arm 3 has an operating mode in which the spherical cap 12 is separated from the rotating shell 11 so that the arm 3 can extend out of the shell 1, and a contracted mode in which the spherical cap 12 is closed with the rotating shell 11 so that the arm 3 can be accommodated in the shell 1.

Specifically, when the mechanical arm 3 is in the contracted configuration, the spherical cap 12 can be engaged with the rotary shell 11 and the mechanical arm 3 is accommodated in a side cavity formed by surrounding between the spherical cap 12 and the rotary shell 11, and when the mechanical arm 3 is in the operating configuration, a set distance is provided between the spherical cap 12 and the rotary shell 11, and the mechanical arm 3 passes through the set distance to enable part of the mechanical arm 3 to be located on the outer peripheral side of the housing 1 for operation.

Therefore, on one hand, the spherical cap 12 can protect the mechanical arm 3 in a contracted form, and the mechanical arm 3 is prevented from being damaged due to contact with the outside when the amphibious spherical robot with the external operation function moves.

According to the amphibious spherical robot with the external operation function, the mechanical arm 3 is directly connected with the frame 2, the shell 1 rotates relative to the frame 2 to drive the spherical robot to move, when the spherical robot rolls, the frame 2 does not roll relative to the ground in a translation mode, therefore, when the spherical robot rolls, the mechanical arm 3 does not rotate along with the shell 1, the mechanical arm 3 can operate outwards when the spherical robot rolls and moves, external operation and rolling of the spherical robot can be synchronously performed, and therefore the working efficiency of the spherical robot is improved, and the spherical robot has the advantage that the spherical robot can operate outwards when rolling and moving.

The rotating shell 11 of the amphibious spherical robot with external operation function of the embodiment of the invention comprises the first shell 111 and the second shell 112 which are separated, on one hand, when the amphibious spherical robot with external operation function of the embodiment of the invention rolls and advances on the ground, the first shell 111 and the second shell 112 are respectively contacted with the ground, and by increasing the number of contact points between the amphibious spherical robot with external operation function and the ground, the stability of the amphibious spherical robot with external operation function of the embodiment of the invention during rolling and advancing is improved, on the other hand, the rotating speeds of the first shell 111 and the second shell 112 relative to the frame 2 during rolling and advancing of the amphibious spherical robot with external operation function of the embodiment of the invention can have rotating speed differences so as to drive the amphibious spherical robot with external operation function of the embodiment of the invention to turn on the ground, thereby improving the maneuverability of the amphibious spherical robot with external operation function of the embodiment of the invention during rolling and advancing on the ground.

In some embodiments, rotor assembly 4 comprises a base arm 41, a folding arm 42, and a rotor, base arm 41 being fixedly connected to frame 2, folding arm 42 being rotatably connected to base arm 41, the rotor being connected to folding arm 42 in a folded configuration, folding arm 42 being rotated parallel to base arm 41 to reduce the space taken up by rotor assembly 4, and in a flying configuration, folding arm 42 being rotated parallel to base arm 41 to extend the rotor out of housing 1.

Specifically, as shown in fig. 4, the base arm 41 extends in the up-down direction, the folding arm 42 is rotatably connected to the upper end of the base arm 41, and the rotation axis of the folding arm 42 extends in the left-right direction, so that the folding arm 42 can swing in a plane perpendicular to the left-right direction, and a rotor 44 is provided on the side of the folding arm 42 facing away from the base arm 41.

Rotor 44 is foldable rotor 44, and in the folded configuration, the plurality of radial arms are folded and received in folding arm 42, and at this time, the plurality of radial arms extend along a direction substantially parallel to folding arm 42, and the plurality of radial arms abut against a side of folding arm 42 facing away from the base arm to reduce a width of the plurality of radial arms, thereby reducing a width of rotor assembly 4, and a width of rotor assembly 4 is smaller than a distance between first shell 111 and second shell 112, thereby rotor assembly 4 can be received into housing 1 from an outside of housing 1 in the folded configuration.

In some embodiments, rotor 44 is located at an end of folding arm 42 remote from base arm 41, rotor 44 includes a plurality of radial arms and a flight motor 441, flight motor 441 is connected to the plurality of radial arms to be adapted to drive the rotation of the radial arms to generate lift, in a flight configuration, the plurality of radial arms are evenly spaced along the circumference of flight motor 441 to maintain rotor assembly in dynamic balance when rotated, and in a folded configuration, the plurality of radial arms extend along the length of folding arm 41 for retraction of the rotor assembly into housing 1.

In the flying configuration, the folding arm 42 moves the rotor assembly 4 to the outside of the casing 1, and the flying motor 441 drives the plurality of radial arms to rotate around the axis of the flying motor 441 to generate lift force, and the plurality of radial arms are arranged at equal intervals along the outer circumferential side of the flying motor 441, so that the masses of the plurality of rotors 44 are uniformly distributed along the circumferential direction of the flying motor 441, thereby maintaining dynamic balance of the rotor assembly 4 in flying.

Therefore, the flying motor 441 is located at one end of the folding arm 42 far away from the base arm, the rotor wing 44 is a foldable rotor wing 44, on one hand, the length of a plurality of rotor arms is increased, so that the rotor wing assembly 4 can provide larger lifting force in a flying mode, on the other hand, the length of a moment arm of lifting moment of the rotor wing assembly 4 in the flying mode is increased, and therefore the stability of the amphibious spherical robot with external operation functions in the flying mode is improved.

In some embodiments, the plurality of radial arms includes a first wing 4421 and a second wing 4422, one end of an output shaft of the flying motor 441 is provided with a folder 443, the folder 443 includes a first drive and a second drive, a rotation axis of the first drive is arranged in parallel with a rotation axis of the flying motor 441, a rotation axis of the second drive is arranged in parallel with a rotation axis of the flying motor 441, the first drive and the second drive are symmetrically arranged along the rotation axis of the flying motor 441, the first drive is connected with the first wing 4421, and the second drive is connected with the second wing 4422.

Specifically, as shown in fig. 4, the radial arm has two, the first wing 4421 and the second wing 4422 are connected to the output shaft of the flying motor 441 through a folder 443, the folder 443 is connected to the output shaft of the flying motor 441, when the output shaft of the flying motor 441 rotates, the folder 443 rotates with the output shaft of the flying motor 441 relative to the second portion 5132, the folder 443 includes a first drive and a second drive, the first drive and the second drive are arranged at equal intervals along the circumferential direction of the output shaft of the first motor, the first drive is connected to one end of the first wing 4421, and the second drive is connected to one end of the second wing 4422.

Thus, on the one hand, the two arms facilitate folding all of rotor 44 to extend along the length of second portion 5132, and on the other hand, the first drive may drive first wing 4421 to rotate relative to folder 443, and the second drive may drive second wing 4422 to rotate relative to folder 443, thereby driving rotor 44 to switch between the folded and unfolded configurations.

In some embodiments, rotor assembly 4 includes a driver 43, one end of driver 43 is rotatably coupled to base arm 41, the other end of driver 43 is rotatably coupled to folding arm 42, and the length of driver 43 is adjustable to drive rotor assembly 4 between the flying configuration and the folded configuration.

Specifically, one end of the driver 43 is rotatably connected to the middle section of the folding arm 42 and forms a first connection position, and the other end of the driver 43 is rotatably connected to the middle section of the base arm 41 and forms a second connection position.

Thus, when the folding arm 42 swings from the folded configuration to the flying configuration, the distance between the first connection position and the second connection position increases, on the one hand, the length of the actuator 43 is adjustable to accommodate the change in the distance between the first connection position and the second connection position, and on the other hand, the length of the actuator 43 is adjustable to increase the distance between the first connection position and the second connection position, thereby switching the folding arm 42 between the flying configuration and the folded configuration.

In some embodiments, the folding arm 42 includes a first section 421 and a second section 422, where the first section 421 and the second section 422 form an included angle, one end of the first section 421 is rotationally connected to the top end of the base arm 41, and the other end of the first section 421 is connected to the second section 422, and in the folded configuration, the second section 422 and the base arm 41 are located on the same side of the first section 421, and in the flying configuration, the extending directions of the first section 421 and the base arm 41 are consistent.

Specifically, the first section 421 and the second section 422 are both of an elongated flat plate structure, the base arm 41 extends in a vertical direction, one end of the first section 421 is connected to one end of the second section 422, and the extending direction of the first section 421 is perpendicular to the extending direction of the second section 422, and the other end of the first section 421 is rotatably connected to the upper end of the base arm 41, so that the folding arm 42 can rotate around the upper end of the base arm 41.

In the folded configuration, the first section 421 is perpendicular to the base arm 41, the second section 422 is arranged parallel to the base arm 41, and the base arm 41 is located at the lower side of the first section 421, the second section 422 is located at the lower side of the first section 421, in the flying configuration, the first section 421 extends in the vertical direction, the second section 422 is located at the upper side of the first section 421, and the second section 422 extends in the horizontal direction.

The rotor assembly 4 is configured such that, in a flight configuration, the base arm 41 and the first section 421 extend in a vertical direction by providing the first section 421 and the second section 422 perpendicular to each other, and in a folded configuration, the first section 421 is perpendicular to the base arm 41 such that a predetermined gap is provided between the second section 422 and the base arm 41, thereby receiving the rotor assembly 4 in the folded configuration, and converting a portion of the height of the rotor assembly 4 in the flight configuration into a thickness of the rotor assembly 4 in the folded configuration.

Thus, when the folding arm 42 swings from the flying configuration to the folded configuration, a part of the height dimension of the rotor assembly 4 in the flying configuration is converted into the width dimension of the rotor assembly 4 in the folded configuration, so that the rotor assembly 4 has a large height difference before and after folding to facilitate storage, and when the folding configuration, a set interval having a thickness equal to the length dimension of the first section 421 is provided between the second section 422 and the base arm 41, so that the driver 43 can be conveniently stored in the set interval. Thereby rotor assembly 4 has the advantage of the profile size after folding is less, the accomodation of being convenient for.

In some embodiments, rotor assembly 4 includes a first rotor assembly 401 and a second rotor assembly 402, first rotor assembly 401 and second rotor assembly 402 being symmetrically arranged along the width direction of frame 2.

Specifically, as shown in fig. 2, the first rotor assembly 401 and the second rotor assembly 402 are symmetrical along the front-rear direction, and the first rotor assembly 401 and the second rotor assembly 402 move synchronously, that is, when one of the first rotor assembly 401 and the second rotor assembly 402 is converted from the flying configuration to the folded configuration, the other of the first rotor assembly 401 and the second rotor assembly 402 is also converted from the flying configuration to the folded configuration.

Therefore, on one hand, the first rotor wing assembly 401 and the second rotor wing assembly 402 are symmetrically arranged along the front-rear direction, so that the amphibious spherical robot with the external operation function in the embodiment of the invention has uniform weight distribution along the front-rear direction, and the gravity center of the robot in a static state is stabilized in the vertical geometric central axis of the robot; on the other hand, the first rotor wing assembly 401 and the second rotor wing assembly 402 are symmetrically arranged along the front-rear direction, so that in the amphibious spherical robot with the external operation function, in the flying mode, the lifting moment generated by the first rotor wing assembly 401 is balanced with the lifting moment generated by the second rotor wing assembly 402, and the flying mode of the robot is stable.

In some embodiments, the amphibious spherical robot with external operation function of the embodiment of the invention comprises a driving motor 6, the driving motor 6 comprises a first driving motor 601 and a second driving motor 602, the first driving motor 601 is connected between the first shell 111 and the frame 2, the first driving motor 601 is suitable for driving the first shell 111 to rotate around the frame 2, the second driving motor 602 is connected between the second shell 112 and the frame 2, and the second driving motor 602 is suitable for driving the second shell 112 to rotate around the frame 2.

Specifically, the rotation shafts of the first driving motor 601 and the second driving motor 602 extend in the left-right direction, one end of the first driving motor 601 is connected to the first housing 111, the other end of the first driving motor 601 is connected to the frame 2, one end of the second driving motor 602 is connected to the second housing 112, and the other end of the second driving motor 602 is connected to the frame 2.

Thus, the first driving motor 601 can drive the first shell 111 to rotate relative to the frame 2, and the second driving motor 602 can drive the second shell 112 to rotate relative to the frame 2, so that the first shell 111 and the second shell 112 rotate relative to the frame 2 to drive the amphibious spherical robot with external operation function to roll.

In some embodiments, the driving motor 6 includes a rotor portion and a stator portion, the rotor portion of the driving motor 6 is rotationally fitted to the stator portion of the driving motor 6, the stator portion of the driving motor 6 is connected to the frame 2, the rotor portion of the driving motor 6 is connected to the housing 1, the rotor portion of the driving motor 6 is rotatable relative to the stator portion of the driving motor 6 to drive the housing 1 to rotate relative to the frame 2, the frame 2 includes a coupling shaft 26, the rotor portion is rotationally fitted on an outer peripheral side of the coupling shaft 26, and one end of the coupling shaft 26 extends to an outside of the first housing 111 and is connected to the mechanical arm 3.

Specifically, as shown in fig. 8, one end of the stator portion of the driving motor 6 is connected to the frame 2, the right half portion of the rotor portion of the driving motor 6 is rotatably fitted in the stator portion of the driving motor 6, and the rotation shaft of the rotor portion of the driving motor 6 extends in the left-right direction, the right end of the rotor portion of the driving motor 6 is provided with a bearing housing, and the bearing housing is connected to the left end of the first case 111.

The rotor part is provided with a through hole, the connecting shaft 21 is matched in the through hole, one end of the connecting shaft 21 is connected with the left end of the frame 2, the right end of the connecting shaft 21 extends to the left end face of the bearing seat, and a bearing is arranged between the connecting shaft 21 and the bearing seat to support the bearing seat.

Therefore, when the driving motor 6 drives the rotating shell 11 to rotate, the connecting shaft 21 and the mechanical arm 3 do not rotate along with the rotating shell 11, so that the amphibious spherical robot with the external operation function does not influence the operation of the mechanical arm 3 when moving, and the mechanical arm 3 is connected with the frame 2 through the connecting shaft 21, so that the radial bearing capacity of the joint of the frame 2 and the mechanical arm 3 is improved.

In some embodiments, the mechanical arm 3 includes a first arm 34 and a second arm 36, one end of the first arm 34 is rotatably connected to the frame 2 and has a first set interval with the rotating shell 11, the other end of the first arm 34 is rotatably connected to one end of the second arm 36, in the contracted configuration, at least part of the second arm 36 is received in the first set interval, and the second arm 36 extends along the length direction of the first arm 34 to reduce the outline size of the mechanical arm 3.

Specifically, the first arm 34 extends in the radial direction of the frame 2, and one end of the first arm 34 is rotatably connected to the frame 2, the first arm 34 rotates about the extending direction of the frame 2, the other end of the first arm 34 is rotatably connected to one end of the second arm 36, and the second arm 36 rotates relative to the first arm 34, so that the other end of the second arm 36 can rotate relative to the first arm 34, so that the free end of the mechanical arm 3 can extend to the set position.

In the contracted configuration, the first arm 34 extends in the vertical up-down direction, the second arm 36 extends in the vertical up-down direction, one end of the first arm 34 is connected to the chassis 2, the other end of the first arm 34 extends vertically downward, the first arm 34 is located between the second arm 36 and the chassis 2, and the projection of the second arm 36 in the left-right direction coincides with the projection of the first arm 34 in the left-right direction.

In this way, in the contracted configuration, the second arm 36 is received in the first set interval between the first arm 34 and the rotating shell 11, so that the outline dimension of the mechanical arm 3 in the left-right direction in the contracted configuration is reduced, and the projections of the first arm 34 and the second arm 36 in the left-right direction are approximately overlapped, so that the outline dimension of the mechanical arm 3 in the vertical direction in the contracted configuration is reduced, and the mass distribution of the mechanical arm 3 in the contracted configuration is more concentrated, so that the stability of the amphibious spherical robot with the external operation function in the embodiment of the invention in movement is improved.

In some embodiments, the mechanical arm 3 includes a first joint drive 31, a second joint drive 33, a third joint drive 35, and a rotating frame 32, the first joint drive 31 being connected between the rotating frame 32 and the frame 2 to drive the rotating frame 32 to rotate, the second joint drive 33 being connected between the rotating frame 32 and the first arm 34 to drive the first arm 34 to rotate, and the third joint drive 35 being provided between the first arm 34 and the second arm 36 to drive the second arm 36 to rotate.

Specifically, the mechanical arm 3 includes a first joint drive 31, a rotating frame 32, a second joint drive 33, a first arm 34, a third joint drive 35 and a second arm 36 connected in sequence, one end of the first joint drive 31 is connected with the frame 2, a rotating shaft of the first joint drive 31 extends along the length direction of the frame 2, the other end of the first joint drive 31 is connected with the rotating frame 32 to drive the rotating frame 32 to rotate, the second joint drive 33 is connected between the rotating frame 32 and the first arm 34 and is suitable for driving the first arm 34 to swing, the third joint drive 35 is connected between the first arm 34 and the second arm 36 and is suitable for driving the second arm 36 to swing, the length of the first arm 34 is adjustable to adjust the distance between the second joint drive 33 and the third joint drive 35, and the mechanical arm is arranged at the free end of the second arm 36.

The stator of the first joint driving 31 is connected with the frame 2 through a fastener, the rotor of the first joint driving 31 is connected with the rotating frame 32, the stator of the first joint driving 31 and the rotor of the first joint driving 31 are in running fit and rotate relative to the rotating shaft of the first joint driving 31, so that the rotating frame 32 is driven to rotate around the rotating shaft of the first joint driving 31, and the rotating shaft of the first joint driving 31 extends along the length direction of the frame 2.

Thus, the rotation axis of the third joint drive 35 extends in the radial direction of the second joint drive 33, and when the second joint drive 33 rotates, the rotation axis of the third joint drive 35 is adjusted accordingly, thereby adjusting the swinging direction of the second arm 36, and one end of the second arm 36 is connected to the third joint drive 35. Thereby, the degree of freedom of the free end of the second arm 36 is increased, facilitating the operation of the free end of the second arm 36 to the outside.

In some embodiments, the axis of rotation of the first articulation drive 31 extends along the length of the frame 2, the axis of rotation of the second articulation drive 33 extends along the radial direction of the first articulation drive 31, and the axis of rotation of the third articulation drive 35 extends along the radial direction of the second articulation drive 33.

Specifically, the rotation axis of the first joint drive 31 extends in the left-right direction, the stator portion of the second joint drive 33 is connected to the rotor portion of the first joint drive 31, and the rotation axis of the second joint drive 33, relative to the rotor portion of the second joint drive 33, extends in the radial direction of the first joint drive 31, and the first arm 34 is connected to the rotor portion of the second joint drive 33, so that the first arm 34 is driven to rotate along the Zhou Xiangzuo circumference of the first joint drive 31 while the first arm 34 is also rotatable along the axis of the second joint drive 33.

The axis of the third joint drive 35 extends in the radial direction of the first arm 34, i.e. the stator part of the third joint drive 35 is connected to the first arm 34, the rotor part of the third joint drive 35 is connected to the second arm 36, the rotor part of the third joint drive 35 extends in the radial direction of the first arm 34 relative to the rotational axis of the stator part of the third joint drive 35, so that the third joint drive 35 drives the second arm 36 to rotate relative to the free end of the first arm 34, thereby increasing the swing range of the free end of the mechanical arm 3, i.e. the working range of the mechanical arm 3.

In some embodiments, the mechanical arm 3 includes a clamping jaw 37, the clamping jaw 37 is rotatably connected to the other end of the second arm 36, and a rotation axis of the clamping jaw 37 relative to the rotation of the second arm 36 extends in the axial direction of the third joint drive 35.

Specifically, the clamping jaw 37 is provided at the free end of the second arm 36, the clamping jaw 37 rotates relative to the free end of the second arm 36, and the extending direction of the rotating shaft of the clamping jaw 37 rotating relative to the second arm 36 is the same as the extending direction of the rotating shaft of the third joint drive 35.

Thereby, the holding jaw 37 is rotatable with respect to the second arm 36, and the holding jaw 37 can perform an external operation work, so that when the free end of the second arm 36 swings with respect to the frame 2, the holding jaw 37 extends to a set position with the swing of the second arm 36 to perform the external operation work.

In some embodiments, second arm 36 includes a first plate 361 and a second plate 362, first plate 361 being coupled to third joint drive 35, second plate 362 being positioned on a side of first plate 361 adjacent first arm 34, and second plate 362 having a second set spacing between second plate 362 and first plate 361, in the contracted configuration, jaws 37 being positioned within the second set spacing to clear first joint drive 31.

Specifically, the first plate 361 and the second plate 362 are spaced apart, and the second plate 362 is positioned on a side of the first plate 361 adjacent to the first arm 34 such that the thickness dimension of the second arm 36 coincides with the axial dimension of the third joint driver 35, whereby a portion of the second arm 36 is positioned on the outer peripheral side of the third joint driver 35, thereby reducing the thickness of the third joint driver 35 and the second arm 36 combination, facilitating the accommodation of the second arm 36 within the first set interval.

In some embodiments, the second arm 36 is symmetrically disposed along the radial direction of the third articulation drive 35, and in the contracted configuration, the first plate 361 and the second plate 362 are disposed perpendicular to the frame 2 axis.

Specifically, the second plate 362 is located on the side of the first plate 361 facing the third joint drive 35, the second plate 362 and the first plate 361 are arranged in parallel with the axial direction of the third joint drive 35 with a second set interval therebetween, the gripping claw 37 is rotated relative to the second arm 36 into the second set interval when the mechanical arm 3 is switched from the operation configuration to the contracted configuration, so that the gripping claw 37 is accommodated between the first plate 361 and the second plate 362, and in the contracted configuration, the gripping claw 37 is symmetrically arranged in the front-rear direction.

In this way, the clamping jaw 37 is stored in the second set interval in the contracted state, so that the length of the combination of the second arm 36 and the clamping jaw 37 is reduced, the combination of the second arm 36 and the clamping jaw 37 is conveniently stored in the first set interval, and the mass distribution of the clamping jaw 37 and the second arm 36 is more concentrated, so that the stability of the amphibious robot with an external operation function in movement is improved.

In some embodiments, the first arms 34 are symmetrically arranged along the radial direction of the second joint drive 33, and the length of the first arms 34 is adjustable to adjust the spacing of the second joint drive 33 and the third joint drive 35.

Specifically, the rotating frame 32 is connected to the second joint driving 33, the rotating shaft of the second joint driving 33 extends along the radial direction of the first joint driving 31, so as to drive the first arm 34 to rotate around the rotating shaft of the second joint driving 33, the first arm 34 includes a fixed section 341 and a free section 342, the free section 342 of the first arm 34 is connected to the fixed section 341 of the first arm 34 in a sliding fit manner, one end of the fixed section 341 of the first arm 34 is connected to the second joint driving 33, the other end of the fixed section 341 of the first arm 34 is connected to one end of the free section 342 of the first arm 34 in a sliding fit manner, the other end of the free section 342 of the first arm 34 is connected to the third joint driving 35, the positions of the fixed section 341 of the first arm 34 and the free section 342 of the first arm 34 are adjustable, the distance between the second joint driving 33 and the third joint driving 35 is changed along with the change of the length of the first arm 34, so as to adjust the length of the mechanical arm 3.

Therefore, the length of the first arm 34 is adjustable, and the maximum distance between the free end of the second arm 36 and the frame 2 can be adjusted by adjusting the length of the first arm 34 in the operation mode, so that the amphibious spherical robot with external operation function in the embodiment of the invention has a larger external operation range.

In some embodiments, the first arm 34 includes a fixed segment 341, a free segment 342, a slide bar 343, and a carriage 344, the free segment 342 is in guided engagement with the fixed segment 341, the carriage 344 is connected to the free segment 342, the slide bar 343 is connected to the fixed segment 341, and the slide bar 343 is in guided engagement with the carriage 344.

Specifically, the slide bar 343 includes a first slide bar 3431 and a second slide bar 3432, the first slide bar 3441 includes a first slide bar 3441 and a second slide bar 3442, one end of the fixed section 341 is connected to the rotor portion of the second joint drive 33, one end of the free section 342 is connected to the stator portion of the third joint drive 35, the other end of the free section 342 is guide-fitted to the other end of the fixed section 341, the first slide bar 3431 and the second slide bar 3432 are connected to the rotor portion of the second joint drive 33, the first slide bar 3441 and the second slide bar 3442 are connected to the stator portion of the third joint drive 35, the first slide bar 3431 is guide-fitted to the first slide bar 3441, the second slide bar 3432 is guide-fitted to the second slide bar 3442, the first slide bar 3431 and the second slide bar 3432 are symmetrically arranged in the width direction of the first arm 34, and the first slide bar 3441 and the second slide bar 3442 are symmetrically arranged in the width direction of the first arm 34.

Thus, on the one hand, the free section 342 and the fixed section 341 are in guiding engagement and the free section 342 is slidable relative to the fixed section 341 along the length direction of the first arm 34, so that the length dimension of the first arm 34 is adjusted, the swing range of the mechanical arm is increased, and on the other hand, the sliding rod 343 and the sliding frame 344 are engaged to improve the radial bearing capacity of the first arm 34 while improving the guiding ability of the free section 342 to slide relative to the fixed section 341. In addition, the first and second slide bars 3431 and 3432 are symmetrically arranged in the width direction of the first arm 34, and the first and second carriages 3441 and 3442 are symmetrically arranged in the width direction of the first arm 34 so that the masses of the first arm 34 are symmetrically arranged in the width direction of the first arm 34.

In some embodiments, the amphibious spherical robot with external operation function comprises a weight assembly 5, wherein the weight assembly 5 is arranged on the frame 2, and the weight assembly 5 is suitable for adjusting the gravity center of the robot to adjust the travelling direction of the robot or improve the stability.

Specifically, the weight swing assembly 5 is located at the lower side of the frame 2, and the weight swing assembly 5 is stabilized at the lower side of the frame 2 under the action of gravity, so that the posture of the frame 2 is kept stable when the amphibious spherical robot with the external operation function in the embodiment of the invention rolls and advances.

When the amphibious spherical robot with the external operation function rolls, the gravity center adjusting and shifting device of the amphibious spherical robot with the external operation function can shift the gravity center of the amphibious spherical robot with the external operation function to the left side and the right side, so that the shell 1 rolls towards the side with the shifted gravity center, and the robot is driven to turn.

When the amphibious spherical robot with the external operation function is in the flying mode, the gravity center of the robot is moved towards the rotor wing assembly 4 by the gravity pendulum assembly 5 so that the gravity center of the robot is close to the rotor wing assembly 4, and therefore the stability of the amphibious spherical robot with the external operation function in the flying mode is improved.

In some embodiments, the weight assembly 5 includes a first assembly 51, a second assembly 52 and a counterweight 53, the first assembly 51 is disposed on the frame 2, one end of the second assembly 52 is rotatably assembled with the first assembly 51, the counterweight 53 is disposed on the other end of the second assembly 52, the first assembly 51 is adapted to drive the second assembly 52 to swing to adjust the inclination angle of the counterweight 53, and the second assembly 52 is adapted to drive the counterweight 53 to translate to adjust the distance between the counterweight 53 and the first assembly 51.

Specifically, as shown in fig. 5, the first assembly 51 is arranged in the front-rear direction, the second assembly 52 is arranged in the radial direction of the first assembly 51, the weight 53 is located at an end of the second assembly 52 remote from the first assembly 51, and the first assembly 51 is rotatable relative to the frame 2 to adjust the extending direction of the second assembly 52, thereby adjusting the position of the weight 53 in the circumferential direction of the first assembly 51. The second component 52 drives the counterweight 53 to move along the extending direction of the second component 52 so as to adjust the distance between the counterweight 53 and the first component 51, thereby adjusting the gravity center position of the amphibious spherical robot with external operation function in the embodiment of the invention.

Thus, when the amphibious spherical robot with the external operation function in the embodiment of the invention rolls, the first component 51 drives the counterweight 53 to swing left and right, so that the gravity center of the amphibious spherical robot with the external operation function in the embodiment of the invention moves left and right, and the robot tilts towards the direction of the gravity center movement to adjust the rolling direction of the robot. When the amphibious spherical robot with the external operation function is in flight, the second component 52 adjusts the position of the counterweight 53 in the up-down direction, so that the gravity center of the robot is close to the arm of force of lift force generated by the rotor component 4, and the stability of the robot in flight is improved.

In some embodiments, first assembly 51 includes a first swing motor 511, a second swing motor 512, and a swing frame 513, swing frame 513 is connected between first swing motor 511 and second swing motor 512, first swing motor 511 and second swing motor 512 are coaxially arranged to drive swing frame 513 for rotation, and second assembly 52 is connected to swing frame 513 and extends in a radial direction of swing frame 513.

Specifically, as shown in fig. 6, the front end of the first swing motor 511 is connected to the frame 2, the rear end of the first swing motor 511 is connected to the swing frame 513, the front end of the second swing motor 512 is connected to the swing frame 513, the rear end of the second swing motor 512 is connected to the frame 2, the first swing motor 511 and the second swing motor 512 are symmetrically arranged in the front-rear direction, the first swing motor 511 and the second swing motor 512 are synchronously rotated to drive the swing frame 513 to rotate in a plane perpendicular to the front-rear direction, and the rotation shaft of the swing frame 513 extends in the front-rear direction, thereby changing the position of the counterweight 53 in the left-right direction.

Thus, on one hand, the first swing motor 511 and the second swing motor 512 are symmetrically arranged in the front-rear direction, so that the mass of the first component 51 is symmetrically distributed in the front-rear direction, the center of gravity of the amphibious spherical robot with the external operation function in the embodiment of the invention is kept stable in the front-rear direction, and on the other hand, the first swing motor 511 and the second swing motor 512 are coaxially arranged, the torque output by the first swing motor 511 and the second swing motor 512 is improved, and therefore the second component 52 and the counterweight 53 are conveniently swung.

In some embodiments, the second assembly 52 includes an adjustment motor 521, an adjustment screw 522, a first guide rod 523 and a second guide rod 524, the adjustment motor 521 is fixedly connected to the swing frame 513, the adjustment motor 521 is connected to the adjustment screw 522 to drive the adjustment screw 522 to rotate, the first guide rod 523 and the second guide rod 524 are arranged in parallel with the adjustment screw 522 at intervals, the adjustment screw 522 is located between the first guide rod 523 and the second guide rod 524, the counterweight 53 is in sliding fit with the first guide rod 523 and the second guide rod 524, and the adjustment screw 522 is in threaded fit with the counterweight 53 to drive the counterweight 53 to move along the bidirectional screw 211.

Specifically, as shown in fig. 6, an adjustment motor 521 is connected to the swing frame 513, an adjustment screw 522 extends along a radial direction of a rotation shaft of the swing frame 513, a first guide 523 and a second guide 524 are arranged in parallel with the adjustment screw 522 at intervals, and the adjustment motor 521 is connected to the adjustment screw 522 to drive the adjustment screw 522 to rotate along a circumferential direction of the adjustment screw 522.

When the adjusting screw rod 522 rotates, the counterweight 53 moves along the axial direction of the adjusting screw rod 522 to adjust the distance between the counterweight 53 and the first mechanism, so that the mass distribution of the amphibious spherical robot with the external operation function is closer to the rotor assembly 4, and therefore, in the flying mode, when the first assembly 51 adjusts the position of the counterweight 53 in the left-right direction, the torsion moment applied by the counterweight 53 to the robot is smaller, and the stability of the robot in the flying mode is improved.

In some embodiments, the swing frame 513 includes a first portion 5131, a second portion 5132, and a connection portion 5133, where the first portion 5131 and the second portion 5132 are arranged in parallel and spaced apart, the first portion 5131 is connected to the first swing motor 511, the second portion 5132 is connected to the second swing motor 512, the connection portion 5133 is connected between the first portion 5131 and the second portion 5132, and a groove is formed between the first portion 5131, the second portion 5132, and the connection portion 5133.

Specifically, the swing frame 513 is in a C-shaped structure, the first portion 5131 and the second portion 5132 are parallel to each other and the first portion 5131 and the second portion 5132 are arranged at intervals in the front-rear direction, a set interval is provided between the first portion 5131 and the second portion 5132 to limit the assembly space, the first portion 5131 is located at the front side of the second portion 5132, the connecting portion 5133 is horizontally arranged and the front end of the connecting portion 5133 is connected with the upper end of the first portion 5131, and the rear end of the connecting portion 5133 is connected with the upper end of the second portion 5132.

In some embodiments, the first portion 5131, the second portion 5132, and the connection portion 5133 are of rectangular plate-shaped structure, the front end of the first swing motor 511 is connected to the rear side of the first portion 5131, the rear end of the second swing motor 512 is connected to the front end of the second portion 5132, and the connection portion 5133 is located on the upper side of the first swing motor 511 and the second swing motor 512 to connect the first portion 5131 and the second portion 5132.

Therefore, the first portion 5131 and the second portion 5132 are vertically arranged plate-shaped structures, the first swing motor 511 is connected with the rear side surface of the first portion 5131, the second swing motor 512 is connected with the front side surface of the second portion 5132, and the contact area of the connection part between the swing motor and the frame 2 is increased, so that the bearing capacity of the swing motor when driving the counterweight 53 to swing is improved.

In some embodiments, the first swing motor 511 includes a rotor portion and a stator portion, the second swing motor 512 includes a rotor portion and a stator portion, the stator portion of the second swing motor 512 is connected to the frame 2, one end of the rotor portion of the second swing motor 512 is in running fit with the stator portion of the second swing motor 512, the other end of the rotor portion of the second swing motor 512 is connected to the second portion 5132, the stator portion of the first swing motor 511 is connected to the frame 2, one end of the rotor portion of the first swing motor 511 is in running fit with the stator portion of the first swing motor 511, and the other end of the rotor portion of the first swing motor 511 is connected to the first portion 5131.

Specifically, the first swing motor 511 and the second swing motor 512 each include a rotor portion and a stator portion, the stator portion of the first swing motor 511 is located at a front side of the rotor portion of the first swing motor 511, a front end of the stator portion of the first swing motor 511 is connected to a rear side surface of the first portion 5131, a rear end of the rotor portion of the first swing motor 511 is connected to a front end of the swing frame 513, the rotor portion of the first swing motor 511 is rotatably fitted to the stator portion of the first swing motor 511, and the rotor portion of the first swing motor 511 and the stator portion of the first swing motor 511 are rotatable relative to each other.

The stator portion of the second swing motor 512 is located at the rear side of the rotor portion of the second swing motor 512, and the rear end of the stator portion of the second swing motor 512 is connected to the second portion 5132, the front end of the rotor portion of the second swing motor 512 is connected to the rear end of the swing frame 513, the rotor portion of the second swing motor 512 is rotatably fitted to the stator portion of the second swing motor 512, and the rotor portion of the second swing motor 512 is rotatable with respect to the stator portion of the second swing motor 512.

Accordingly, when the rotor part of the second swing motor 512 rotates relative to the stator part of the second swing motor 512 and the rotor part of the first swing motor 511 rotates relative to the stator part of the first swing motor 511, and when the rotor part of the second swing motor 512 rotates relative to the stator part of the second swing motor 512, the rotor part of the second swing motor 512 drives the swing frame 513 to rotate along the axis of the swing motor, and when the rotor part of the first swing motor 511 rotates relative to the stator part of the first swing motor 511, the rotor part of the first swing motor 511 drives the swing frame 513 to rotate along the axis of the swing motor, so that the first swing motor 511 and the second swing motor 512 synchronously drive the swing frame 513 to swing, thereby improving the capability of the weight swing assembly 5 to adjust the center of gravity of the amphibious spherical robot with the external operation function in the embodiment of the invention.

In some embodiments, the first portion 5131 is provided with a first protrusion 5134, the second portion 5132 is provided with a second protrusion 5135, the first protrusion 5134 and the second protrusion 5135 are symmetrically arranged along the width direction of the swing frame 513, a part of the first protrusion 5134 is rotationally matched with the rotor portion of the first swing motor 511, and a part of the second protrusion 5135 is rotationally matched with the rotor portion of the second swing motor 512.

Specifically, the first projection 5134 projects forward from the front end face of the first portion 5131, the second projection 5135 projects rearward from the rear end face of the second portion 5132, the first projection 5134 is fitted into the rotor portion of the rotor portion, and the second projection 5135 is fitted into the rotor portion of the second swing motor 512.

The rotor portion of the first swing motor 511 is of a cylindrical structure, the stator portion of the first swing motor 511 is rotatably assembled in the inner cylinder of the rotor portion of the first swing motor 511, the first protrusion 5134 is in interference fit in the rotor portion of the first swing motor 511, the rotor portion of the second swing motor 512 is of a cylindrical structure, the stator portion of the second swing motor 512 is rotatably assembled in the inner cylinder of the rotor portion of the second swing motor 512, and the second protrusion 5135 is in interference fit in the rotor portion of the second swing motor 512.

Thus, part of the first protrusions 5134 are assembled in the rotor part of the first swing motor 511, and part of the second protrusions 5135 are assembled in the rotor part of the second swing motor 512, so that the radial bearing capacity of the connection part between the swing frame 513 and the first swing motor 511 and the second swing motor 512 is improved, and the swing frame 513 and the swing motor can bear the counterweight 53 with a large weight.

In some embodiments, the adjusting motor 521 includes a rotor portion and a stator portion, the stator portion is connected to the connection portion 5133, the rotor portion is sleeved on the outer peripheral side of the adjusting screw 522 and connected to the adjusting screw 522, the rotor portion is rotationally matched with the stator portion to drive the adjusting screw 522 to rotate, and the adjusting screw 522 is in threaded matched connection with the counterweight 53 to drive the counterweight 53 to move along the bidirectional screw 211.

Specifically, the rotation shaft of the adjustment motor 521 extends in the up-down direction, the upper end of the stator portion of the adjustment motor 521 is connected to the lower end surface of the connection portion 5133 of the swing frame 513, the rotor portion of the adjustment motor 521 is rotatably fitted in the stator portion of the adjustment motor 521, and the adjustment screw 522 is fitted in the rotor portion of the adjustment motor 521 and connected to the rotor portion of the adjustment motor 521.

The weight 53 is provided with a screw hole extending in the up-down direction and penetrating the weight 53, and a guide hole extending in the same direction as the screw hole and penetrating the weight 53, and the adjustment screw 522 is screw-fitted into the screw hole.

Thus, when the rotor portion of the adjustment motor 521 rotates relative to the stator portion of the adjustment motor 521, the adjustment screw 522 is driven to rotate in the circumferential direction of the adjustment motor 521, so that the weight 53 is translated in the axial direction of the adjustment screw 522 to change the distance between the weight 53 and the swing frame 513.

The upper end of the adjustment screw 522 protrudes from the rotor portion of the adjustment motor 521 and forms an extension portion rotatably fitted to the connection portion 5133 of the swing frame 513 through the first bearing. Thus, when the adjustment screw 522 receives a torsional moment rotating with respect to the swing frame 513, the first bearing between the extension and the connection 5133 receives a radial moment of the adjustment screw 522, thereby reducing the radial moment received by the adjustment motor 521.

In some embodiments, the weight assembly 5 includes an end plate 54, one end of the adjusting screw 522 is rotatably coupled to the connection portion 5133, the other end of the adjusting screw 522 is rotatably coupled to the end plate 54, the first guide rod 523 is connected between the end plate 54 and the connection portion 5133, and the second guide rod 524 is connected between the end plate 54 and the connection portion 5133.

Specifically, the first guide rod 523 and the second guide rod 524 are disposed along an axis symmetry axis of the adjusting screw rod 522, the first guide rod 523 and the second guide rod 524 are located at left and right sides of the adjusting screw rod 522, the end plate 54 extends in a left and right direction, the end plate 54 is disposed at a lower end of the adjusting screw rod 522, the end plate 54 is connected to lower ends of the first guide rod 523 and the second guide rod 524, the adjusting screw rod 522 is rotatably assembled to the end plate 54 through a second bearing, and lower ends of the first guide rod 523 and the second guide rod 524 are fixedly connected to the end plate 54.

Thus, the end plate 54 connects the lower ends of the first guide rod 523 and the second guide rod 524 with the lower end of the adjustment screw 522, which improves the structural strength of the combination of the first guide rod 523, the second guide rod 524, the adjustment screw 522, and the counterweight 53, on the one hand, and improves the guiding accuracy of the first guide rod 523 and the second guide rod 524 to the counterweight 53 when the counterweight 53 translates in the axial direction of the first guide rod 523 and the second guide rod 524, on the other hand.

In some embodiments, the counterweight 53 is provided with relief slots 531, the relief slots 531 extending along the length of the adjustment screw 522, the relief slots 531 adapted to relief the end plate 54.

Specifically, the escape groove 531 is located at the lower side of the counterweight 53 and extends in the left-right direction, the width dimension of the escape groove 531 is larger than the width dimension of the end plate 54, the lower end of the threaded hole of the counterweight 53 is communicated with the escape groove 531, and the lower end of the guide hole of the counterweight 53 is communicated with the escape groove 531.

Thus, at least a portion of the adjustment screw 522 and at least a portion of the guide bar are positioned within the relief groove 531, and as the weight 53 translates downward, the end plate 54 may move into the relief groove 531, thereby increasing the travel of the weight 53 in the axial direction of the adjustment screw 522.

In some embodiments, the counterweight 53 has an interior cavity adapted to receive a counterweight. Specifically, the counterweight 53 is a hollow structure. Therefore, the components with larger density such as the battery of the amphibious spherical robot with the external operation function in the embodiment of the invention can be arranged in the counterweight 53, on one hand, the mass of the counterweight 53 is larger, so that the gravity center position of the amphibious spherical robot with the external operation function in the embodiment of the invention can be adjusted, and on the other hand, the volume of the amphibious spherical robot with the external operation function in the embodiment of the invention can be reduced by installing the components such as the battery in the inner cavity.

In some embodiments, the amphibious spherical robot with external operation function according to the embodiment of the invention comprises an opening and closing assembly 7, the opening and closing assembly 7 comprises an opening and closing driving part 71, an opening and closing guide rod 72 and a guide sleeve 73, one end of the opening and closing driving part 71 is connected with a rotating frame 32, the other end of the opening and closing driving part 71 is connected with a spherical crown 12, the length of the opening and closing driving part 71 is adjustable to be suitable for adjusting the distance between the spherical crown 12 and a rotating shell 11, one of the opening and closing guide rod 72 and the guide sleeve 73 is connected with the rotating frame 32, the other spherical crown 12 is connected, and the opening and closing guide rod 72 is in guide fit in the guide sleeve 73.

Specifically, the opening and closing member 7 includes a first opening and closing member connected between the first crown 121 and the first shell 111, and a second opening and closing member connected between the second crown 122 and the second shell 112.

The opening and closing guide 72 includes a first opening and closing guide 721 and a second opening and closing guide 722, the guide sleeve 73 includes a first guide sleeve 731 and a second guide sleeve 732, the first opening and closing guide 721 and the second opening and closing guide 722 are symmetrically arranged along the front-rear direction, and the extending directions of the first opening and closing guide 721 and the second opening and closing guide 722 are the same, the first opening and closing guide 721 is matched in the first guide sleeve 731, and the second opening and closing guide 722 is matched in the second guide sleeve 732.

Therefore, the fixing portion of the opening and closing drive 71 and the driving portion of the opening and closing drive 71 slide relatively to enable the length of the opening and closing drive 71 to be adjustable, the distance between the first spherical crown 12 and the mechanical arm 3 changes along with the change of the length of the opening and closing drive 71, so that the opening and closing drive 71 changes the distance between the spherical crown 12 and the rotating shell 11 to open and close the spherical crown 12, the opening and closing guide rod 72 and the guide sleeve 73 cooperate to improve the guidance quality of the spherical crown 12 when sliding relative to the mechanical arm 3, and the first opening and closing guide rod 721 and the second opening and closing guide rod 722 are symmetrically arranged along the front and rear direction to enable the stress of the spherical crown 12 to be uniform, and uneven stress along the front and rear directions is avoided.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", 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 invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

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 at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

For purposes of this disclosure, the terms "one embodiment," "some embodiments," "example," "a particular example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While the above embodiments have been shown and described, it should be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations of the above embodiments may be made by those of ordinary skill in the art without departing from the scope of the invention.

Claims

1. An amphibious spherical robot with external operation function, comprising:

A housing comprising a spherical crown and a rotating shell, the rotating shell being provided with an annular groove extending in a circumferential direction of the rotating shell in a closed manner, the spherical crown comprising a first crown and a second crown, the rotating shell being located between the first crown and the second crown, the first crown being engageable with and disengageable from the rotating shell, the second crown being engageable with and disengageable from the rotating shell;

the rack is arranged in the inner cavity of the rotating shell, the rotating shell can rotate around a first direction relative to the rack, and the spherical crown is arranged on the rack;

the rotor wing assembly is arranged on the frame and has a folding shape and a flying shape, the rotor wing assembly is contained in the rotating shell in the folding shape, and the rotor wing assembly extends from the annular groove to the outer side of the rotating shell in the flying shape so as to be suitable for driving the amphibious spherical robot to fly;

a robotic arm disposed on the frame between the rotor and the spherical cap, the robotic arm having an operational configuration in which the spherical cap is separated from the rotor such that the robotic arm can extend outside of the housing, and a collapsed configuration in which the spherical cap is closed with the rotor such that the robotic arm can be received within the housing;

The rotor wing assembly comprises a base arm, a folding arm and a rotor wing, wherein the base arm is fixedly connected with the frame, the folding arm is rotatably connected with the base arm, the rotor wing is connected with the folding arm, in the folding state, the folding arm rotates to be parallel to the base arm so as to reduce the space occupied by the rotor wing assembly, and in the flying state, the folding arm rotates to be perpendicular to the base arm so as to extend the rotor wing out of the shell;

the rotor assembly includes a driver having one end rotatably coupled to the base arm and the other end rotatably coupled to the folding arm, the length of the driver being adjustable to drive the rotor assembly between the flight configuration and the folded configuration.

2. The amphibious spherical robot with external operation function according to claim 1, wherein the rotor assembly comprises a first rotor assembly and a second rotor assembly, which are symmetrically arranged along the width direction of the frame.

3. The amphibious spherical robot with external operation function according to claim 2, comprising a driving motor, wherein the driving motor comprises a first driving motor and a second driving motor, the first driving motor is connected between the rotating shell and one end of the frame, the first driving motor is suitable for driving the rotating shell to rotate around the frame, the second driving motor is connected between the rotating shell and the other end of the frame, and the second driving motor is suitable for driving the rotating shell to rotate around the frame.

4. The amphibious spherical robot with external operation function according to claim 3, wherein the driving motor comprises a rotor part and a stator part, the rotor part of the driving motor is in running fit with the stator part of the driving motor, the stator part of the driving motor is connected with the frame, the rotor part of the driving motor is connected with the rotating shell, the rotor part of the driving motor can rotate relative to the stator part of the driving motor to drive the rotating shell to rotate relative to the frame, the frame comprises a connecting shaft, the rotor part of the driving motor is rotatably assembled on the outer peripheral side of the connecting shaft, and one end of the connecting shaft extends to the outer side of the rotating shell and is connected with the mechanical arm.

5. The amphibious spherical robot with external operation function according to any one of claims 1-4, comprising a weight assembly provided to the frame, the weight assembly being adapted to adjust the center of gravity of the robot to adjust the direction of travel of the robot or to improve stability.

6. The amphibious spherical robot with the external operation function according to claim 5, wherein the weight swing assembly comprises a first assembly, a second assembly and a counterweight, the first assembly is arranged on the frame, one end of the second assembly is rotatably assembled with the first assembly, the counterweight is arranged on the other end of the second assembly, the first assembly is suitable for driving the second assembly to swing so as to adjust the inclination angle of the counterweight, and the second assembly is suitable for driving the counterweight to translate so as to adjust the distance between the counterweight and the first assembly.

7. The amphibious spherical robot with external operation function according to claim 6, wherein the first component comprises a first swing motor, a second swing motor and a rotating frame, the rotating frame is connected between the first swing motor and the second swing motor, the first swing motor and the second swing motor are coaxially arranged to drive the rotating frame to rotate, and the second component is connected with the rotating frame and extends along the radial direction of the rotating frame.

8. The amphibious spherical robot with the external operation function according to claim 7, wherein the second component comprises an adjusting motor, an adjusting screw rod, a first guide rod and a second guide rod, the adjusting motor is fixedly connected to the rotating frame, the adjusting motor is connected with the adjusting screw rod to drive the adjusting screw rod to rotate, the first guide rod and the second guide rod are arranged at intervals parallel to the adjusting screw rod, the adjusting screw rod is located between the first guide rod and the second guide rod, the balance weight is in sliding fit with the first guide rod and the second guide rod, and the adjusting screw rod is in threaded fit connection with the balance weight to drive the balance weight to move along the adjusting screw rod.