CN205632712U - Amusement roll machine people of family - Google Patents
Amusement roll machine people of family Download PDFInfo
- Publication number
- CN205632712U CN205632712U CN201620261668.6U CN201620261668U CN205632712U CN 205632712 U CN205632712 U CN 205632712U CN 201620261668 U CN201620261668 U CN 201620261668U CN 205632712 U CN205632712 U CN 205632712U
- Authority
- CN
- China
- Prior art keywords
- body portion
- head
- steering wheel
- robot
- control circuit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Abstract
The utility model discloses an amusement roll machine people of family, tumbler form shell including pretext portion and body portion constitution, be equipped with head steering wheel and head control circuit board in the head, the fuselage and the head fixed connection of head steering wheel, output shaft and the fixed connection of body portion, it returns helm steering machine, the pendulum helm steering of body portion machine, group battery and the control circuit board of body portion to be equipped with body portion in the body portion, output shaft that the helm steering machine returned in body portion is connected with the upper portion of body portion, and the central line coincidence of the axis of this output shaft and robot, and the fuselage that the helm steering machine returned in body portion passes through the connecting rod series connection with the fuselage of the pendulum helm steering of body portion machine to be fixed, the central line of the pendulum helm steering of body portion machine output shaft and the central line that helm steering machine output shaft returned in body portion intersect vertically in the geometric centre of body portion, and the pendulum helm steering of body portion machine output shaft passes through the pendulum rod and is connected with the group battery. The utility model discloses an amusement roll machine people of family has advantages such as simple structure, low cost, small and exquisite lovely, flexible.
Description
Technical field
This utility model relates to robot and toy art, is specifically related to a kind of home entertaining rolling robot.
Background technology
Rolling robot is due to the particularity of its motion mode and mobility, it is adaptable to continuously ground, indoor and outdoor,
The complicated occasion such as landform, planetary detection work.Wherein, rolling robot simple shape, easily sealing, shifting
Energy efficiency is high, and motion flexibly, steadily without impact, thus receives much concern.Especially, the fortune of its novelty
The great interest of flowing mode so that rolling robot is especially suitable for home entertaining field.
Rolling robot can be divided into reaction wheeled and balancing weight formula.The former does not change the total of system when motion
Center of gravity, is rotated by the conjunction reaction torque cover of driver of three orthogonal reaction wheels, but for driver and controller
There is the highest performance requirement, thus be not suitable for home entertaining field.The latter is relatively common, by one
The balancing weight of internal motion changes total barycenter of system, carrys out driven machine people and rolls, needs bigger inside it
Space is moved for balancing weight.
Traditional rolling robot structure is complicated, and volume is huger, weight is relatively big, relatively costly high, and
Control complexity, be difficult to stablize, it is difficult to commercialization and entertainment orientation.On the other hand, traditional rolling robot is
Reduce as far as possible and control complexity, it is desirable to internal structure symmetric design as far as possible, control each parts center of gravity position
Putting, this degree of miniaturization making robot and robot moulding are restricted.Such as, existing Sphero ball
Anthropomorphic robot, uses the type of drive of bottom weight trolley type, if its shell has any projection (such as to use
In installing some sensor element), robot cannot avoid being rolled to the protruding housing region with collision on the ground,
Also the stability keeping rolling it is difficult to.Finally, it is limited to power cabling and the problem of signal of communication, tradition rolling
The electronic device of mobile robot can only be contained on rolling spherical shell or internal weights block so that installs sensor non-
Often difficulty.
Except structure complicated difficult is with commercialization, major part rolling robot interest is not enough.Motion underaction
Brisk, Ability of Resisting Disturbance is not enough, lack interaction capabilities be restriction its apply family's entertainment field main because of
Element.Child's user may be patted, promote robot, and this is accomplished by robot and can react rapidly, adjusts
Whole pose recovery is stable.Many rolling robots are for academic research field, it is desirable to user programming Control,
Robot lack of wisdom, uses complexity, is unfavorable for mutual with people..
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, it is provided that a kind of simple in construction, low cost
The rolling robot of the home entertaining of lovely, maneuverability honest and clean, small and exquisite.
The purpose of this utility model is realized by following technical scheme:
A kind of home entertaining rolling robot, including the roly-poly shape shell being made up of head and body portion, described
By can connecting around the rotational structure that robot center rotates between head and body portion；
Head steering wheel and head control circuit plate, the fuselage of described head steering wheel and head it is provided with in described head
Fixing connecting, output shaft is fixing with body portion to be connected, and the output shaft axis of head steering wheel and the center of robot
Line overlaps；
Body portion revolution steering wheel, body portion rotation steering wheel, set of cells and body portion control circuit it is provided with in described body portion
Plate；Described body portion revolution steering wheel, body portion rotation steering wheel and set of cells are arranged in body portion from top to bottom, wherein,
The output shaft of body portion revolution steering wheel is connected with the top in body portion, and the center of the axis of this output shaft and robot
Line overlaps, and the fuselage of body portion revolution steering wheel is connected fixing with the fuselage of body portion rotation steering wheel by connecting rod；Institute
State the centrage of body portion rotation steering wheel output shaft and the vertical and intersectant centerline of body portion revolution steering wheel output shaft in body
The geometric center in portion, rotation steering wheel output shaft in body portion is connected with set of cells, when robot is uprightly by fork
Under state, described set of cells is positioned at the lower section of body portion rotation steering wheel.
A preferred version of the present utility model, wherein, described head is by head upper cover, head bottom and face's screen
Curtain composition, is so easy to manufacture and install, and the effect of described face screen is to show different expression, plays
Video etc.；The fuselage of described head steering wheel is fixedly connected on a bottom, passes through ring between head bottom and body portion
The sliding bearing of shape connects, the rotational structure described in this sliding bearing composition so that head and body portion can phases
To rotation；
Be additionally provided with mike, photographic head and gesture identification sensor in described head, they all with head control
Circuit board processed connects.Wherein, described mike is used for receiving the phonetic control command of user, and then by head
Control circuit plate carries out Voice command to action or the expression of robot；Described photographic head be used for shooting photo,
Video etc.；Described gesture identification sensor is used for the gesture control instruction of perception user, and then by head control
Circuit board carries out gesture control to action or the expression of robot.
A preferred version of the present utility model, wherein, described body portion is combined by body and body bottom,
So that making and installing；The outfan of described body portion revolution steering wheel is fixing with body to be connected；Described body portion
Inside it is provided with loudspeaker, is used for playing music and human computer conversation etc..
A preferred version of the present utility model, wherein, the bottom in described body portion is provided with balancing weight.Due to machine
The middle and upper part of device people's shell connects the parts such as multiple steering wheels, and center of gravity is moved, by arranging described balancing weight,
The center of gravity of robot can be pulled down to the geometric center in body portion, and so, the change of robot center of gravity is by battery
Group controls on the sphere around body portion geometric center, is more beneficial for rolling robot and swinging the control of attitude
System.
A preferred version of the present utility model, wherein, the bottom in described body portion is provided with slip ring, powers and leads to
The structure of letter cabling is: power supply is supplied body portion control circuit plate by wire by set of cells；Body portion control circuit
Plate is provided with power interface and signaling interface, and described body portion revolution steering wheel and body portion rotation steering wheel are by wire even
It is connected on the power interface of body portion control circuit plate；The power interface of body portion control circuit plate and signaling interface are also
It is connected with the rotor of slip ring by rotor wire；The stator of described slip ring connects stator conductor, and this stator is led
Line is upwardly in head along the inwall in body portion, and the joint in described head and body portion is provided with and allows stator conductor
The notch passed；It is equipped with bluetooth module on described head control circuit plate and body portion control circuit plate, is used for
Carry out radio communication.
A preferred version of the present utility model, wherein, described body portion control circuit plate is arranged on the rotation of body portion
On the fuselage of steering wheel, this body portion control circuit plate is provided with IMU sensor, is used for feeding back robot pose,
System is carried out disturbance rejection control, makes robot motion's fast and stable.
Utility model works principle is:
Home entertaining rolling robot of the present utility model is capable of head in action and turns relative to body portion
Dynamic, robot Integral swinging and robot entirety roll, and these actions are worked independently by steering wheel or joined
Close work to realize, wherein:
Head is realized by head steering wheel relative to the rotational action in body portion, during the work of head steering wheel, with output shaft
The body portion geo-stationary connected, the head fixing with fuselage then turns around the centrage of robot relative to body portion
Dynamic action；
Robot Integral swinging and robot entirety roll two actions by body portion revolution steering wheel and the rotation of body portion
Steering wheel completes jointly.Specifically, when robot is in erectility, weight main in robot
Head steering wheel, body portion revolution steering wheel, body portion rotation steering wheel and set of cells are arranged on the centrage of robot,
Now the center of gravity of robot is positioned in robot center；When needs allow robot produce wobbling action, body
Rotation servo driving set of cells in portion's swings so that sheet set of cells deviates the centrage of robot, the machine being also
Everybody center offsets relative to centrage, and robot swings towards the direction of centre-of gravity shift, and set of cells is put
Dynamic amplitude is the biggest, and the amplitude that robot swings is the biggest, thus comes by controlling the deflection angle of set of cells
Control the amplitude of fluctuation of robot；Under robot is in beat state, turn round servo driving body by body portion
Portion's rotation steering wheel and set of cells rotate around the centrage of robot, can promote the center of gravity of robot also around
The centrage of robot rotates, thus driven machine people makees scroll actions.
This utility model compared with prior art has a following beneficial effect:
1, use and be similar to the moulding of tumbler (or snowman), in conjunction with head rotation, Integral swinging and
The overall action rolled so that robot of the present utility model can show various static state or dynamic form,
Action is enriched, charmingly naive, petite lovely, has friendliness, recreational extremely strong.
2, the set of cells in this utility model is both as power supply part, the most again as changing robot center of gravity
Weight member, dual-use material, simplify the internal structure of robot.
3, using steering wheel as actuator, cost is relatively low, easy for installation, it is easy to control.The closed loop of steering wheel is anti-
Feedback control makes robot can realize the most quickly motion, and Ability of Resisting Disturbance is strong.
4, robot architecture of the present utility model is simple, and volume is little, lightweight, it is simple to carry, and is suitable for joy
Happy.
Accompanying drawing explanation
Fig. 1 is the stereochemical structure of a detailed description of the invention of home entertaining rolling robot of the present utility model
Signal.
Fig. 2 is the sectional view of home entertaining rolling robot shown in Fig. 1.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, this utility model is described in further detail, but this utility model
Embodiment be not limited to this.
Seeing Fig. 1 and Fig. 2, home entertaining rolling robot of the present utility model includes being made up of head and body portion
Roly-poly shape shell, between described head and body portion by can around robot center rotate rotational structure
Connect.
See Fig. 1 and Fig. 2, be provided with head steering wheel 2 in described head and head control circuit plate (does not shows in figure
Show head control circuit plate), the fuselage of described head steering wheel 2 is fixing with head to be connected, output shaft and body portion
Fix and connect, and the output shaft axis of head steering wheel 2 overlaps with the centrage of robot.Described head steering wheel 2
Controlled by head control circuit plate.
See Fig. 1 and Fig. 2, in described body portion, be provided with the revolution of body portion steering wheel 6, body portion rotation steering wheel 10, battery
Group 11 and body portion control circuit plate 9；Described body portion revolution steering wheel 6, body portion rotation steering wheel 10 and set of cells
11 are arranged in body portion from top to bottom, and wherein, the output shaft of body portion revolution steering wheel 6 is connected with the top in body portion,
And the axis of this output shaft overlaps with the centrage of robot, the fuselage of body portion revolution steering wheel 6 and the rotation of body portion
The fuselage of steering wheel 10 is fixing by connecting rod 7 series connection；The centrage of described body portion rotation steering wheel 10 output shaft
The vertical and intersectant centerline of steering wheel 6 output shaft is turned round in the geometric center in body portion, body portion rotation steering wheel with body portion
10 output shafts are connected with set of cells 11 by fork 17, when robot in an erect condition, described set of cells
11 lower sections being positioned at body portion rotation steering wheel 10.Described body portion revolution steering wheel 6 and body portion rotation steering wheel 10 are by body
Portion's control circuit plate 9 is controlled；Described set of cells 11 is provided with battery 18.
Seeing Fig. 1 and Fig. 2, further, described head is by head upper cover 1, head bottom 22 and face's screen
23 compositions, are so easy to manufacture and install；The effect of described face screen 23 is to show different expression, broadcasts
Put video etc..The fuselage of described head steering wheel 2 is fixedly connected on a bottom 22, head bottom 22 and body portion
Between connected by ring-type sliding bearing, the outer ring 4 of this sliding bearing is fixed with head bottom 22, this slip
The inner ring 5 of bearing is fixed with body 21, this sliding bearing constitute described in rotational structure so that head and
Body portion can relatively rotate, and maximum rotation scope is 210 °.Mike, photographic head it is additionally provided with in described head
And gesture identification sensor, they are all connected with head control circuit plate.Wherein, described mike is used for
Receive the phonetic control command of user, and then by head control circuit plate, action or the expression of robot are carried out
Voice command；Described photographic head is used for shooting photo, video etc.；Described gesture identification sensor is used for perception
The gesture control instruction of user, and then by head control circuit plate, action or the expression of robot are carried out gesture
Control.
Seeing Fig. 1 and Fig. 2, further, described body portion is combined by body 21 and body bottom 23,
So that making and installing；The outfan of described body portion revolution steering wheel 6 is fixing with body 21 to be connected；Described
Being provided with two loudspeaker in body portion, two loudspeaker are symmetrically mounted on the both sides of body 21, are used for playing voice.
Seeing Fig. 1 and Fig. 2, the bottom in described body portion is provided with balancing weight 12.On in robot shells
Portion connects the parts such as multiple steering wheels, and center of gravity is moved, by arranging described balancing weight 12, and can be by robot
Center of gravity be pulled down to the geometric center in body portion, so, the change of robot center of gravity is controlled enclosing by set of cells 11
On the sphere of body portion geometric center, it is more beneficial for robot being rolled and swinging the control of attitude.
Seeing Fig. 1 and Fig. 2, the bottom in described body portion is provided with slip ring 15, and the structure with the cabling that communicates of powering is:
Power supply is supplied body portion control circuit plate 9 by wire 19 by set of cells 11, and this body portion control circuit plate 9 sets
Power interface and signaling interface, described body portion revolution steering wheel 6 and body portion rotation steering wheel 10 is had to control electricity with body portion
Road plate 9 is connected to the power interface of body portion control circuit plate 9 to obtain power supply by wire；Body portion controls electricity
Power interface and the signaling interface of road plate 9 are connected with the rotor 14 of slip ring 15 also by rotor wire 8；Institute
The stator connection stating slip ring 15 has stator conductor 3, and this stator conductor 3 is upwardly into head along the inwall in body portion
In portion, the joint in described head and body portion is provided with the notch allowing stator conductor 3 pass, and this notch is stator
Wire 3 provides activity space when head and body portion relatively rotate, and the power lead in stator conductor 3 is with logical
Letter wire is connected with head steering wheel 2 and head control circuit plate respectively.Described head control circuit plate and body
It is equipped with bluetooth module so that head control circuit plate can be by the side being wirelessly transferred on portion's control circuit plate
Formula sends control signals to body portion control circuit 9, such as, (when user is referred to by gesture instruction or sound
When order assigns some action commands to robot, such as rolling of lying down, rock, then need head control circuit
Plate receives subscriber signal by the corresponding sensor of head, converts thereof into corresponding signal and is sent out by bluetooth
Give body portion control circuit plate 9, body portion control circuit plate 9 control corresponding steering wheel and realize various action.Logical
Cross said structure, in the case of the battery component 11 in guaranteeing body portion is capable of 360 ° of rotations, also real
In having showed head and body portion, the power supply of each electronic apparatus parts is shared and communications between the two.
Seeing Fig. 1 and Fig. 2, described body portion control circuit plate 9 is arranged on the fuselage of body portion rotation steering wheel 10,
This body portion control circuit plate 9 is provided with IMU sensor, is used for feeding back robot pose, resists system
Disturbance controls, and makes robot motion's fast and stable.
See Fig. 1 and Fig. 2, below described balancing weight 12, be wound with induction coil 13, be used for carrying out wireless charging,
This induction coil 13 is externally provided with antifreeze plate 16, for guaranteeing the efficiency of charging, reduces electric energy loss.
Seeing Fig. 1 and Fig. 2, utility model works principle is:
Home entertaining rolling robot of the present utility model is capable of head in action and turns relative to body portion
Dynamic, robot Integral swinging and robot entirety roll, and these actions are worked independently by steering wheel or joined
Close work to realize, wherein:
Head is realized by head steering wheel 2 relative to the rotational action in body portion, when head steering wheel 2 works, with defeated
The body portion geo-stationary that shaft connects, the head fixing with fuselage then relative to body portion around the centrage of robot
Rotate action；
Robot Integral swinging and robot entirety roll two actions by body portion revolution steering wheel 6 and body portion pendulum
Machine 10 of coming about completes jointly.Specifically, when robot is in erectility, gravity main in robot
Fitting head steering wheel 2, body portion revolution steering wheel 6, body portion rotation steering wheel 10 and set of cells 11 are arranged in machine
On the centrage of people, now the center of gravity of robot is positioned in robot center；When needs allow robot produce
During wobbling action, body portion rotation steering wheel 10 drives set of cells 11 to swing so that sheet set of cells 11 deviates machine
The centrage of people, everybody center of the machine being also offsets relative to centrage, and robot is inclined towards center of gravity
The direction moved swings, and the amplitude that set of cells 11 swings is the biggest, and the amplitude that robot swings is the biggest, thus logical
Cross and control the deflection angle of set of cells 11 to control the amplitude of fluctuation of robot；It is in beat state in robot
Under, drive body portion rotation steering wheel 10 and set of cells 11 around in robot by body portion revolution steering wheel 6
Heart line rotates, and the center of gravity of robot can be promoted also to rotate around the centrage of robot, thus driven machine people
Make scroll actions.
Above-mentioned for this utility model preferably embodiment, but embodiment of the present utility model is not by above-mentioned
The restriction of content, other any without departing from the change made under spirit of the present utility model and principle,
Modify, substitute, combine, simplify, all should be the substitute mode of equivalence, be included in guarantor of the present utility model
Within the scope of protecting.
Claims (6)
1. a home entertaining rolling robot, it is characterised in that include not fallen by what head and body portion were constituted
Father-in-law's shape shell, by can connecting around the rotational structure that robot center rotates between described head and body portion；
Head steering wheel and head control circuit plate, the fuselage of described head steering wheel and head it is provided with in described head
Fixing connecting, output shaft is fixing with body portion to be connected, and the output shaft axis of head steering wheel and the center of robot
Line overlaps；
Body portion revolution steering wheel, body portion rotation steering wheel, set of cells and body portion control circuit it is provided with in described body portion
Plate；Described body portion revolution steering wheel, body portion rotation steering wheel and set of cells are arranged in body portion from top to bottom, wherein,
The output shaft of body portion revolution steering wheel is connected with the top in body portion, and the center of the axis of this output shaft and robot
Line overlaps, and the fuselage of body portion revolution steering wheel is connected fixing with the fuselage of body portion rotation steering wheel by connecting rod；Institute
State the centrage of body portion rotation steering wheel output shaft and the vertical and intersectant centerline of body portion revolution steering wheel output shaft in body
The geometric center in portion, rotation steering wheel output shaft in body portion is connected with set of cells, when robot is uprightly by fork
Under state, described set of cells is positioned at the lower section of body portion rotation steering wheel.
Home entertaining rolling robot the most according to claim 1, it is characterised in that described head by
Head upper cover, head bottom and face's screen composition；The fuselage of described head steering wheel is fixedly connected on a bottom,
It is connected by ring-type sliding bearing between head bottom and body portion, the rotational structure described in this sliding bearing composition；
Be additionally provided with mike, photographic head and gesture identification sensor in described head, they all with head control
Circuit board processed connects.
Home entertaining rolling robot the most according to claim 1 and 2, it is characterised in that described body
Portion is combined by body and body bottom；The outfan of described body portion revolution steering wheel is fixing with body to be connected；
It is provided with loudspeaker in described body portion.
Home entertaining rolling robot the most according to claim 3, it is characterised in that described body portion
Bottom is provided with balancing weight.
Home entertaining rolling robot the most according to claim 3, it is characterised in that described body portion
Bottom is provided with slip ring, and the structure with the cabling that communicates of powering is: power supply is supplied body portion by wire and controls by set of cells
Circuit board processed；Body portion control circuit plate is provided with power interface and signaling interface, described body portion revolution steering wheel and
Rotation steering wheel in body portion is connected on the power interface of body portion control circuit plate by wire；Body portion control circuit plate
Power interface and signaling interface be connected with the rotor of slip ring also by rotor wire；The stator of described slip ring is even
Being connected to stator conductor, this stator conductor is upwardly in head along the inwall in body portion, described head and body portion
Joint be provided with the notch allowing stator conductor pass；Described head control circuit plate and body portion control circuit plate
On be equipped with bluetooth module, be used for carrying out radio communication.
Home entertaining rolling robot the most according to claim 1, it is characterised in that described body portion is controlled
Circuit board processed is arranged on the fuselage of body portion rotation steering wheel, and this body portion control circuit plate is provided with IMU sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620261668.6U CN205632712U (en) | 2016-03-30 | 2016-03-30 | Amusement roll machine people of family |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620261668.6U CN205632712U (en) | 2016-03-30 | 2016-03-30 | Amusement roll machine people of family |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205632712U true CN205632712U (en) | 2016-10-12 |
Family
ID=57066074
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620261668.6U Withdrawn - After Issue CN205632712U (en) | 2016-03-30 | 2016-03-30 | Amusement roll machine people of family |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205632712U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105752180A (en) * | 2016-03-30 | 2016-07-13 | 广东工业大学 | Home entertainment rolling robot |
| US11490018B2 (en) * | 2017-07-06 | 2022-11-01 | Japan Aerospace Exploration Agency | Mobile image pickup device |
-
2016
- 2016-03-30 CN CN201620261668.6U patent/CN205632712U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105752180A (en) * | 2016-03-30 | 2016-07-13 | 广东工业大学 | Home entertainment rolling robot |
| US11490018B2 (en) * | 2017-07-06 | 2022-11-01 | Japan Aerospace Exploration Agency | Mobile image pickup device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161012 Effective date of abandoning: 20180123 |
|
| AV01 | Patent right actively abandoned |