CN106621234A - Auto-followup rolling ball - Google Patents

Abstract

The self-following rolling ball disclosed by the present invention aims to overcome the problems of poor flexibility, poor automatic tracking ability, and poor anti-collision ability existing in existing toys. , driving wheel shaft, driving wheel frame, transmission gear, transmission shaft, motor driven gear, motor gear, motor, transmission shaft bracket, control unit, auxiliary wheel frame, auxiliary wheel shaft, auxiliary wheel hub, auxiliary wheel sleeve, support wheel, support wheel Racks, support rods. The driving wheel hub, the driven gear plate are fixedly connected to the driving wheel shaft, the driving wheel shaft is connected to the driving wheel frame in rotation, the transmission shaft is fixedly connected to the transmission gear and the driven gear of the motor, the driving wheel is rollingly connected to the spherical shell, and the motor is fixed on the transmission shaft bracket , the control unit is fixed on the transmission shaft support, and the support wheel frame is connected to the support bar in rotation.

Description

Automatically follow the rolling ball

technical field

The invention relates to an automatic following rolling ball, more precisely, the invention relates to a toy ball which can automatically measure the distance from a target object and can follow in real time.

Background technique

Automatic tracking can provide the spatial positioning, attitude, structural behavior and performance of moving targets. It is a multi-functional and high-precision tracking and measurement method for moving targets. Automatic tracking is composed of position sensors, signal processing systems, servo systems and tracking frames. . The automatic following device can measure the distance to the target object and realize tracking according to the signal strength sent by the target object.

The use of automatic follow-up control technology can:

1. Make follow the ball humanized;

2. It helps to improve the maneuverability of following the ball;

At present, most children's toys at home and abroad can only be remotely controlled artificially. Such toys require children to have a certain operating ability or can only be used with the company of adults, and the movement angle is not flexible enough. At present, most of the remote control or following toys are remote control cars and remote control aircraft, which are of a single type and are easy to be damaged by collision.

Contents of the invention

The technical problem to be solved by the invention is to overcome the problems of poor flexibility, poor automatic tracking ability and poor anti-collision ability of existing toys, and provide an automatic following rolling ball.

In order to solve the problems of the technologies described above, the present invention is achieved by adopting the following technical solutions:

The self-following rolling ball of the present invention includes a spherical shell, two driving wheel sleeves, two driving hubs, two driven toothed discs, two driving wheel shafts, two driving wheel frames, two transmission gears, two Drive shaft, two motor driven gears, two motor gears, two electric motors, two drive shaft brackets, one control unit, two auxiliary wheel brackets, two auxiliary wheel axles, two auxiliary wheel hubs, two auxiliary wheel sleeves , a support wheel, a support wheel frame, and a support rod, characterized in that:

The supporting wheel, the driving wheel sleeve and the auxiliary wheel sleeve are all in direct contact with the spherical shell, the driving wheel sleeve is set on the driving hub, the auxiliary wheel sleeve is sleeved on the auxiliary hub, the driving hub and the driving wheel shaft are fixedly connected by splines, and the driven gear plate is connected to the driving hub. The wheel shaft is fixedly connected by splines, the driving wheel frame is rotatably connected to the driving wheel shaft, the driven gear plate is meshed with the transmission gear, the transmission gear is fixed on the transmission shaft, and the two ends of the transmission shaft are respectively connected to the transmission shaft bracket and the driving wheel frame in rotation. The driven gear of the motor is fixed on the transmission shaft, the driven gear of the motor is meshed with the gear of the motor, the motor is fixed on the frame, the control unit is fixed on the frame, the support rod is fixed on the frame, and the support rod and the support wheel frame can be Coaxial rotation.

The automatic following rolling ball is characterized in that the spherical shell is a hollow spherical structure, the driving wheel cover, the auxiliary wheel cover and the supporting wheel are in contact with the inner spherical shell, and the rotation of the driving wheel drives the movement of the spherical shell.

Automatically following the rolling ball, characterized in that the driving hub is fixedly connected to the driving hub, the driving hub and the driving hub have the same rotation axis, the driving hub is fixedly connected to the driving hub, and the driving hub and the driven gear have the same rotation axis, the drive wheel shaft is fixedly connected with the driven chainring.

Automatically follow the rolling ball, characterized in that the driven toothed disc meshes with the transmission gear, the transmission gear and the transmission shaft have the same rotation axis, the transmission gear and the transmission shaft are fixedly connected, and the driven gear of the motor meshes with the motor gear , the motor is fixed on the frame.

Automatically follow the rolling ball, characterized in that the control unit includes a power supply, a single-chip microcomputer, a wireless transceiver, a drive circuit and a motor, and the following card includes a power supply, a single-chip microcomputer and a wireless transceiver, and the wireless transceiver in the toy ball sends out a WiFi signal. The card wireless transceiver receives the signal, and according to the ranging value of the two receivers, obtains the relative orientation of the tracked target through the positioning algorithm, and then controls the driving circuit to drive the motor through the single-chip microcomputer to realize following. The control of the following orientation is realized by controlling the speed ratio of the two driving wheels.

Compared with existing toys, the beneficial effects of the present invention are:

1. The automatic following toy ball of the present invention realizes automatic tracking by installing a radio frequency signal detection device inside the ball, which is more humanized.

2. The self-following toy ball of the present invention adopts a spherical shell, so that the toy ball can roll in any direction, is more flexible, and has a stronger ability to withstand collisions.

3. The automatic tracking of the automatic following toy ball of the present invention does not require the user to have the ability to operate, and can automatically follow.

Description of drawings

Below in conjunction with accompanying drawing, the present invention will be further described:

Fig. 1 is a full sectional view on the top view of the automatic following rolling ball structure according to the present invention;

Fig. 2 is the projection view of the front view of the automatic following rolling ball according to the present invention;

Fig. 3 is an assembly front view of the driving wheel of the automatic following rolling ball according to the present invention;

Fig. 4 is an assembly sectional view of the auxiliary wheel automatically following the rolling ball according to the present invention

Fig. 5 is a front view of the driven chainring of the automatic following rolling ball according to the present invention;

Fig. 6 is a front view of the transmission gear of the present invention that automatically follows the rolling ball;

Fig. 7 is the front view of the motor gear that automatically follows the rolling ball according to the present invention;

Fig. 8-a is the front view of the motor driven gear adopted by the automatic following rolling ball according to the present invention;

Fig. 8-b is a side view of the motor driven gear adopted by the automatic following rolling ball of the present invention;

Fig. 9-a is a front view of the wheel frame at the driving end adopted by the automatic following rolling ball according to the present invention;

Fig. 9-b is a side view of the wheel frame at the driving end adopted by the automatic following rolling ball according to the present invention;

Fig. 10 is a structural diagram of the following system adopted by the automatic following rolling ball of the present invention;

Fig. 11 is a structural diagram of the following card system adopted by the automatic following rolling ball of the present invention;

In the figure: 1. Spherical shell, 2. Driving wheel sleeve, 3. Driving hub, 4. Driven toothed disc, 5. Driving wheel shaft, 6. Driving wheel frame, 7. Transmission gear, 8. Transmission shaft, 9. Motor Driven gear, 10. Motor gear, 11. Motor, 12. Transmission shaft bracket, 13. Control unit, 14. Auxiliary wheel frame, 15. Auxiliary wheel shaft, 16. Auxiliary wheel hub, 17. Auxiliary wheel sleeve, 18. Support wheel , 19. support wheel frame, 20. support bar.

detailed description

The present invention is described in detail below in conjunction with accompanying drawing:

Referring to Fig. 1, the self-following rolling ball of the present invention includes a spherical housing 1, a driving wheel sleeve 2, a driving hub 3, a driven gear plate 4, a driving wheel shaft 5, a driving wheel frame 6, a transmission gear 7, and a transmission shaft 8 , motor driven gear 9, motor gear 10, motor 11, transmission shaft bracket 12, control unit 13, auxiliary wheel frame 14, auxiliary wheel shaft 15, auxiliary wheel hub 16, auxiliary wheel cover 17, support wheel 18, support wheel frame 19 and Support rod 20.

Referring to Fig. 1 and Fig. 2, the toy ball is divided into three parts: a spherical shell 1, a driving device and a supporting structure. and the gear pair formed by the driven gear 9 of the motor is transmitted to the drive shaft 8, and the power is transmitted to the drive gear 7 through the drive shaft 8, and then to the driven gear plate 4 to drive the drive wheel shaft 5 to rotate, the drive gear shaft 5, the drive wheel ( Including driving wheel hub 3 and driving wheel sleeve 2) and driven toothed plate are relatively fixed, between driving wheel shaft 5 and driving wheel frame is a rotating pair connection, and the other end is auxiliary wheel frame 15 and auxiliary wheel (comprising auxiliary wheel hub 16 and auxiliary wheel Cover 17), support structure is made up of support wheel 18, support wheel frame 19 and support bar 20,.

Referring to Fig. 1, Fig. 3 and Fig. 4, the communication between the driving wheel shaft 5 and the driving hub 3, and the connection between the driving wheel shaft 5 and the driven gear plate 4 are relatively fixed by splines, and the transmission shaft 8 is installed on the transmission shaft bracket 12 And on the driving wheel frame 6, the power transmission shaft 8 forms a revolving pair with the transmission shaft support 12 and the driving wheel frame 6.

Referring to Fig. 1, Fig. 5 and Fig. 6, the driven toothed disc 4 is meshed with the transmission gear 7, and the direction of power transmission is changed through the driven toothed disc 4, and the driven toothed disc 4 and the driving wheel shaft 5 are connected by splines, which are relatively fixed .

Referring to Fig. 7, Fig. 8-a and Fig. 8-b, the power of the motor is output by a gear pair composed of the motor gear 10 and the motor driven gear 9.

Referring to Fig. 9-a and Fig. 9-b, the driving wheel frame 6 is fixedly connected with the transmission shaft bracket 12, and the driving wheel frame 6 and the transmission shaft 8 form a revolving pair.

Referring to Figure 1, both motors are controlled by a control unit.

Referring to Figure 10 and Figure 11, the follower system takes the single-chip microcomputer as the core and also includes a wireless transceiver, a power supply, a drive module and two motors, and the follower card is mainly composed of a power supply, a single-chip microcomputer and a wireless transceiver.

How Auto Follow Rolling Ball works:

Referring to Fig. 1, the automatic following rolling ball has two driving wheels and two auxiliary wheels. (including auxiliary wheel hub 16 and auxiliary wheel sleeve 17) controls one direction, and another pair of wheels controls the direction perpendicular to it. The two groups of wheels rotate at the same time and can roll in any direction through speed distribution. The supporting wheels play a supporting role to prevent driving Unit tipped over.

Refer to Figure 1, Figure 10 and Figure 11, when the distance between the toy ball and the following card exceeds the preset distance, the toy ball wireless transceiver sends out a wireless signal and the following card receives the signal, and then sends out a wifi signal. The ranging value of the receiver is used to obtain the relative orientation of the tracked target through the positioning algorithm, and then the driving circuit is controlled by the single-chip microcomputer to drive the motor to realize the following. The control of the following orientation is realized by controlling the speed ratio of the two driving wheels.

Claims (5)

1. roller ball is followed automatically, it is characterised in that the described roller ball that follows automatically includes spherical shell (1), drives wheel case (2), drive hub (3), driven fluted disc (4), live axle (5), driving wheel carrier (6), travelling gear (7), power transmission shaft (8), electricity Motivation driven gear (9), motor gear (10), motor (11), drive axle support (12), control unit (13), auxiliary wheel Frame (14), auxiliary wheel shaft (15), auxiliary wheel hub (16), auxiliary wheel case (17), support wheel (18), support wheel carrier (19), support bar (20)；

Support wheel (18), two drive wheel case (2) and two auxiliary wheel case (17) all with spherical housing (1) directly contact, driving Wheel case (2) is enclosed within drive hub (3), and auxiliary wheel case (17) is enclosed within auxiliary wheel hub (16), drive hub (3) and live axle (5) it is fixedly connected by spline, driven fluted disc (4) is fixedly connected with live axle (5) by spline, drives wheel carrier (6) and drive The axis of a movable block (5) rotates connection, and driven fluted disc (4) is meshed with travelling gear (7), and travelling gear (7) is fixed on power transmission shaft (8) On, power transmission shaft (8) two ends rotate with drive axle support (12), driving wheel carrier (6) be connected respectively, and motor driven gear (9) is solid It is scheduled on power transmission shaft (8), motor driven gear (9) is meshed with motor gear (10), motor (11) is fixed on frame On, control unit (13) is fixed in frame, and support bar (20) is fixed in frame, and support bar (20) can with support wheel carrier (19) With coaxial line rotation.

2. roller ball is followed automatically according to described in claim 1, it is characterised in that described spherical housing (1) is hollow ball Shape structural member, drives wheel case (2), auxiliary wheel case (17) and support wheel (18) to contact with interior spherical shell, and driving wheel is rotated and driven Spherical housing (1) is moved.

3. roller ball is followed automatically according to described in claim 1, it is characterised in that described driving wheel case (2) and driving wheel Hub (3) is fixedly connected, and drive hub (3) has identical axis of rotation drive hub (3) and live axle with live axle (5) (5) it is fixedly connected, live axle (5) and driven fluted disc (4) have an identical axis of rotation, live axle (5) and driven fluted disc (4) It is fixedly connected.

4. roller ball is followed automatically according to described in claim 1, it is characterised in that described driven fluted disc (4) and driving cog Wheel (7) is meshed, and travelling gear (7) has identical axis of rotation with power transmission shaft (8), and travelling gear (7) is fixed with power transmission shaft (8) Connection, motor driven gear (9) is meshed with motor gear (10), and motor (11) is fixed in frame.

5. roller ball is followed automatically according to described in claim 1, it is characterised in that described control unit (13) is including electricity Source, single-chip microcomputer, wireless transceiver, drive circuit and motor, follow card to include power supply, single-chip microcomputer and wireless transceiver, toy Unlimited transceiver sends WiFi signal in ball, follows card wireless transceiver to receive signal, is passed through according to the distance measurement value of two receivers Location algorithm knows the relative bearing of tracked target, and then realizes following by Single-chip Controlling drive circuit motor, The control for following orientation is realized by the rotating ratio of two driving wheels of control.