阅读说明：本技术 一种球形足式两用机器人 (Spherical foot type dual-purpose robot ) 是由 李冀川 段永海 沈宏城 索旭东 刘兴杰 于 2021-09-18 设计创作，主要内容包括：本发明公开了一种球形足式两用机器人,包括球形壳体、球形电机、骨架板、驱动电机以及多自由度支撑腿,所述球形壳体包括半球形的上半壳体和与所述上半壳体组合形成球状的半球形下半壳体,所述下半壳体包括多块可分离出去的子壳体,多块所述子壳体沿所述下半壳体的圆周向方向均匀间隔设置,所述球形电机通过所述骨架板安装于所述球形壳体的球心位置,所述驱动电机固设于所述骨架板上,每块所述子壳体分别通过所述多自由度支撑腿与所述驱动电机连接。本发明的有益效果在于：能够快速通过障碍,还可以在原地具有更好的调整姿态角度,从而能更好的适用在任何复杂环境下的应用场景适用。(The invention discloses a spherical foot type dual-purpose robot, which comprises a spherical shell, a spherical motor, a framework plate, a driving motor and multiple-degree-of-freedom supporting legs, wherein the spherical shell comprises a hemispherical upper half shell and a spherical hemispherical lower half shell combined with the hemispherical upper half shell, the lower half shell comprises a plurality of sub-shells which can be separated, the sub-shells are uniformly arranged at intervals along the circumferential direction of the lower half shell, the spherical motor is arranged at the position of the sphere center of the spherical shell through the framework plate, the driving motor is fixedly arranged on the framework plate, and each sub-shell is respectively connected with the driving motor through the multiple-degree-of-freedom supporting legs. The invention has the beneficial effects that: the device can quickly pass through obstacles, and can better adjust the attitude angle in situ, thereby being better suitable for application scenes in any complex environment.)

1. A spherical foot type dual-purpose robot is characterized by comprising a spherical shell, a spherical motor, a framework plate, a driving motor and multiple degrees of freedom supporting legs, wherein the spherical shell comprises a hemispherical upper half shell and a spherical hemispherical lower half shell combined with the upper half shell, the lower half shell comprises a plurality of sub-shells which can be separated, the sub-shells are uniformly arranged at intervals along the circumferential direction of the lower half shell, the spherical motor is installed at the spherical center of the spherical shell through the framework plate, the driving motor is fixedly arranged on the framework plate, and each sub-shell is respectively connected with the driving motor through the multiple degrees of freedom supporting legs.

2. The spherical legged dual-purpose robot according to claim 1, characterized in that: the number of the sub-shells is four.

3. The spherical legged dual-purpose robot according to claim 1, characterized in that: the framework plates are oval, and are arranged in a mode of overlapping with the planes where the upper half shell and the lower half shell are connected.

4. The spherical legged dual-purpose robot according to claim 1, characterized in that: the spherical motor comprises a spherical motor shell and a rotor arranged in the spherical motor shell, the spherical motor shell is fixed with the framework plate, and the gravity center of the rotor is larger than the weight of the spherical foot type dual-purpose robot.

5. The spherical legged dual-purpose robot according to claim 1, characterized in that: the multi-degree-of-freedom support leg has three degrees of freedom.

6. The spherical legged dual-purpose robot according to claim 1 or 5, characterized in that: the number of the driving motors and the multiple-degree-of-freedom supporting legs is consistent with that of the sub-shells.

Technical Field

The invention relates to the technical field of robots, in particular to a spherical foot type dual-purpose robot.

Background

The spherical foot type robot is a robot which is positioned in a spherical shell (or a sphere) in a driving mode (eccentric moment driving and angular momentum conservation driving) and realizes the movement of the sphere in an internal driving mode so as to realize the omnidirectional rolling capability. Simply speaking, scrolling is performed by modifying the position of the internal center of gravity. The spherical foot robot has the advantages that: all parts can be contained in the ball body, certain sealing performance can be achieved, and the ball body is not easily affected by external environmental factors to cause failure under the protection of the ball body.

At present, the spherical foot type robot cannot move on an uneven road surface and get over obstacles because of only a rolling walking mode and a driving mode of modifying the internal gravity center, and cannot be well applied to obstacles such as slopes, stairs and the like or fields of uneven road surfaces. Therefore, the existing spherical foot type robot has the following disadvantages:

1. the movement stability is not high, and the walking vehicle can only walk on a plane road surface and cannot walk on a concave-convex road surface;

2. no obstacle crossing, climbing ability (slope, stairs, etc.);

3. the in-situ stable attitude angle adjustment cannot be realized;

4. at high speeds of motion, but encountering a little uneven road surface, can cause the internal pendulum drive system to be confused.

Disclosure of Invention

The invention discloses a spherical foot type dual-purpose robot which can effectively solve the technical problems related to the background technology.

In order to achieve the purpose, the technical scheme of the invention is as follows:

a spherical foot type dual-purpose robot comprises a spherical shell, a spherical motor, a framework plate, a driving motor and multiple degrees of freedom supporting legs, wherein the spherical shell comprises a hemispherical upper half shell and a hemispherical lower half shell combined with the upper half shell to form a spherical shape, the lower half shell comprises a plurality of sub-shells which can be separated, the sub-shells are uniformly arranged at intervals along the circumferential direction of the lower half shell, the spherical motor is installed at the spherical center of the spherical shell through the framework plate, the driving motor is fixedly arranged on the framework plate, and each sub-shell is connected with the driving motor through the multiple degrees of freedom supporting legs.

As a preferred refinement of the invention, the number of the sub-housings is four.

As a preferable improvement of the present invention, the skeleton plate is elliptical, and a plane joining the upper half shell and the lower half shell is mounted in an overlapping manner.

As a preferable improvement of the present invention, the spherical motor includes a spherical motor housing and a rotor disposed in the spherical motor housing, the spherical motor housing is fixed to the frame plate, and a center of gravity of the rotor is greater than a weight of the spherical legged dual-purpose robot.

As a preferable improvement of the invention, the multi-degree-of-freedom support leg has three degrees of freedom.

As a preferable improvement of the present invention, the number of the drive motors and the multiple degrees of freedom support legs is the same as the number of the sub-housings.

The invention has the following beneficial effects: control as the form of supporting leg through set up the sub-casing that can stretch out on spherical sufficient formula robot, when touchhing the obstacle (unsmooth road surface, slope, stair), if spherical form is unable to pass through, then warp and stretch out the supporting leg and remove, can pass through the obstacle fast, can also have better adjustment gesture angle in situ to application scene under any complex environment that can be better is suitable for.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:

FIG. 1 is a schematic view of the overall structure of a spherical foot type dual-purpose robot according to the present invention;

FIG. 2 is a schematic structural view of the spherical legged dual-purpose robot with the sub-housing and the multi-degree-of-freedom support legs extended out;

FIG. 3 is a schematic cross-sectional view of a spherical shell of the spherical foot type dual-purpose robot of the present invention;

fig. 4 is a schematic structural view of the spherical foot type dual-purpose robot of the present invention with the spherical shell removed.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the following embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1 to 4, the present invention provides a spherical legged dual-purpose robot, including a spherical shell 1, a spherical motor 2, a skeleton plate 3, a driving motor 4, and multiple degrees of freedom support legs 5, where the spherical shell 1 includes a hemispherical upper half shell 11 and a hemispherical lower half shell 12 combined with the upper half shell 11 to form a spherical shape, the lower half shell 12 includes a plurality of separable sub-shells 121, the plurality of sub-shells 121 are uniformly spaced along a circumferential direction of the lower half shell 12, and the sub-shells 121 can be used as support legs for the robot to walk.

The spherical motor 2 is mounted at the center of the sphere of the spherical shell 1 through the framework plate 3, specifically, the spherical motor 2 includes a spherical motor housing 21 and a rotor (not shown) disposed in the spherical motor housing 21, the spherical motor housing 21 is fixed to the framework plate 3, and the gravity center of the rotor is greater than the weight of the spherical legged dual-purpose robot. Because the spherical motor casing 21 is fixed with the framework plate 3, when the rotor rotates, the rotor does not move according to the conservation of momentum because the gravity center of the rotor is larger than the weight of the spherical foot type dual-purpose robot, and the spherical motor casing 21 rotates, and the spherical motor casing 21 is fixedly connected with the spherical casing 1, so that the robot which is used as a whole is driven to roll.

The driving motor 4 is fixedly arranged on the framework plate 3, the framework plate 3 is oval, and the framework plate 3 is overlapped with the joint plane of the upper half shell 11 and the lower half shell 12.

Each sub-housing 121 is connected with the driving motor 4 through the multiple-degree-of-freedom supporting leg 5. The number of the driving motors 4 and the multiple-degree-of-freedom support legs 5 is the same as the number of the sub-housings 121, and it is further described that, in the specific embodiment of the present invention, the number of the sub-housings 121 is four, and four driving motors 4 are annularly arranged on the peripheral side of the spherical motor 2 and symmetrically arranged about the center line of the skeleton plate 3.

In the embodiment of the present invention, the multi-degree-of-freedom support leg 5 has three degrees of freedom, so that the sub-housing 121 as a support leg can be flexibly moved. When a plurality of the supporting legs 5 with multiple degrees of freedom are controlled to extend out, the spherical motor 2 can control the upper half shell 11 to rotate, and the supporting legs 5 with multiple degrees of freedom can control the lower half shell 12 to rotate, so that the lower half shell 12 can move by being matched with the spherical motor 2, and meanwhile, the upper half shell 11 can be kept stable and still. Therefore, by arranging the multi-degree-of-freedom support legs 5, the movement of the spherical foot type robot can be controlled, the posture and the angle can be adjusted, the shaking caused by external factors can be reduced, and in the process of high-speed movement, the multi-degree-of-freedom support legs 5 are controlled to stretch out of the sub-shell 121 to stop rolling rapidly.

The invention has the following beneficial effects: control as the form of supporting leg through set up the sub-casing that can stretch out on spherical sufficient formula robot, when touchhing the obstacle (unsmooth road surface, slope, stair), if spherical form is unable to pass through, then warp and stretch out the supporting leg and remove, can pass through the obstacle fast, can also have better adjustment gesture angle in situ to application scene under any complex environment that can be better is suitable for.

While embodiments of the invention have been disclosed above, it is not limited to the applications set forth in the specification and the embodiments, which are fully applicable to various fields of endeavor for which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.