CN106621234A - Auto-followup rolling ball - Google Patents
Auto-followup rolling ball Download PDFInfo
- Publication number
- CN106621234A CN106621234A CN201710114852.7A CN201710114852A CN106621234A CN 106621234 A CN106621234 A CN 106621234A CN 201710114852 A CN201710114852 A CN 201710114852A CN 106621234 A CN106621234 A CN 106621234A
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- CN
- China
- Prior art keywords
- motor
- wheel
- support
- gear
- drive
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- 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.)
- Pending
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Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B43/00—Balls with special arrangements
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Toys (AREA)
Abstract
The invention discloses an auto-followup rolling ball and is intended to solve the problem that an existing toy has poor flexibility, poor auto-tracking capacity and poor anti-collision capacity; the auto-followup rolling ball, an auto-followup toy ball, comprises a spherical shell, a driving wheel sleeve, a driving wheel hub, a driven gear disc, a driving wheel shaft, a driving wheel carrier, a transmission gear, a transmission shaft, a motor driven gear, a motor gear, a motor, a transmission shaft support, a control unit, an auxiliary wheel carrier, an auxiliary wheel shaft, an auxiliary wheel hub, an auxiliary wheel sleeve, a support wheel, a support wheel carrier, and a support rod; the driving wheel hub and the driven gear disc are fixedly connected to the driving wheel shaft, the driving wheel shaft is in rotational connection to the driving wheel carrier, the transmission shaft is fixedly connected to the transmission gear and the motor driven gear, the driving wheel is in rolling connection to the spherical shell, the motor is fixed to the transmission shaft support, the control unit is fixed to the transmission shaft support, and the support wheel carrier is in rotational connection to the support rod.
Description
Technical field
It is according to the present invention to follow roller ball automatically, it more particularly relates to be that one kind being capable of automatic measurement
With the distance of target object and the toy ball that can follow in real time.
Background technology
Automatically following can provide space orientation, attitude, structure behavior and the performance of moving target, be many work(of moving target
Can automatically follow by position sensor, signal processing system, servo-drive system and track frame with high-precision tracking and measurement means
Constitute Deng part.Automatic tracking apparatus can go out the distance with target object according to the signal strength measurement that target object is sent
And realize tracking.
Using following the control technology can automatically：
1. cause to follow ball hommization；
2. the controllability for following ball is favorably improved；
At present both at home and abroad toy for children majority can only realize artificially remote control, and the type toy requires that children have certain operation
Ability can only be used under the accompanying of adult, and movement angle underaction.Remote control at present follows toy mostly
It is remote control car, remotely-piloted vehicle, type is relatively simple, and easily damaged in collision.
The content of the invention
The technical problem to be solved be overcome existing toy exist very flexible, automatic tracking capability difference with
The problem of collision resistance difference, there is provided one kind follows roller ball automatically.
To solve above-mentioned technical problem, the present invention adopts the following technical scheme that realization：
It is of the present invention follow automatically roller ball include spherical shell, two drive wheel case, two drive hubs, two
Individual driven fluted disc, two live axles, two driving wheel carriers, two travelling gears, two power transmission shafts, two motor driven tooths
Wheel, two motor gears, two motor, two drive axle supports, control unit, two auxiliary wheel carriers, two it is auxiliary
Wheel shaft, two auxiliary wheel hubs, two auxiliary wheel cases, support wheel, support wheel carrier, a support bars, its feature are helped to exist
In：
Support wheel, drive wheel case and auxiliary wheel case all with spherical housing directly contact, drive wheel case be enclosed within drive hub,
Auxiliary wheel case is enclosed within auxiliary wheel hub, and drive hub is fixedly connected with live axle by spline, driven fluted disc and live axle
It is fixedly connected by spline, drives wheel carrier to rotate with live axle and be connected, driven fluted disc is meshed with travelling gear, travelling gear
It is fixed on power transmission shaft, power transmission shaft two ends rotate and be connected with drive axle support, driving wheel carrier respectively, and motor driven gear is fixed
On power transmission shaft, motor driven gear is meshed with motor gear, and motor is fixed in frame, and control unit is fixed on
In frame, support bar is fixed in frame, and support bar can be rotated with wheel carrier is supported with coaxial line.
Automatically roller ball is followed, it is characterised in that described spherical housing is hollow sphere structural member, drives wheel case, auxiliary
Wheel case and support wheel is helped to contact with interior spherical shell, driving wheel is rotated and drives spherical housing motion.
Automatically follow roller ball, it is characterised in that described driving wheel case is fixedly connected with drive hub, drive hub with
Live axle has identical axis of rotation drive hub to be fixedly connected with live axle, and live axle has identical with driven fluted disc
Axis of rotation, live axle is fixedly connected with driven fluted disc.
Automatically follow roller ball, it is characterised in that described driven fluted disc is meshed with travelling gear, travelling gear with pass
Moving axis has identical axis of rotation, and travelling gear is fixedly connected with power transmission shaft, and motor driven gear is mutually nibbled with motor gear
Close, motor is fixed in frame.
Automatically roller ball is followed, it is characterised in that described control unit includes power supply, single-chip microcomputer, wireless transceiver, drive
Dynamic circuit and motor, follow card to include power supply, single-chip microcomputer and wireless transceiver, and unlimited transceiver sends WiFi letters in toy ball
Number, follow card wireless transceiver to receive signal, tracked target is known by location algorithm according to the distance measurement value of two receivers
Relative bearing, and then realize following by Single-chip Controlling drive circuit motor.The control in orientation is followed by control two
The rotating ratio of driving wheel is realized.
With existing toys photo ratio the invention has the beneficial effects as follows：
1. it is of the present invention to follow toy ball by installing the detection means of radiofrequency signal additional in spheroid automatically, realize certainly
Motion tracking, more hommization.
2. it is of the present invention to follow toy ball automatically because employing spherical housing so that toy ball can be along any side
To rolling, more flexibly, with higher collision energy is born.
3. it is of the present invention to follow toy ball to have operational capacity from the motion tracking person of not requiring the use of automatically, can automatically with
With.
Description of the drawings
Below in conjunction with the accompanying drawings the present invention is further illustrated：
Fig. 1 is the full sectional view followed automatically on roller ball structure composition top view of the present invention；
Fig. 2 is the projection view for following roller ball front view automatically of the present invention；
Fig. 3 is of the present invention to follow roller ball driving wheel assembling front view automatically；
Fig. 4 is the auxiliary wheel sectional arrangement drawing for following roller ball automatically of the present invention
Fig. 5 is the driven fluted disc front view for following roller ball automatically of the present invention；
Fig. 6 is the travelling gear front view for following roller ball automatically of the present invention；
Fig. 7 is the front view of the motor gear for following roller ball automatically of the present invention；
Fig. 8-a are the front views of the motor driven gear for following roller ball to be adopted automatically of the present invention；
Fig. 8-b are the side views of the motor driven gear for following roller ball to be adopted automatically of the present invention；
Fig. 9-a are the drive end wheel carrier front views for following roller ball to be adopted automatically of the present invention；
Fig. 9-b are the drive end wheel carrier side views for following roller ball to be adopted automatically of the present invention；
Figure 10 is the system for tracking structure chart for following roller ball to be adopted automatically of the present invention；
Figure 11 is of the present invention to follow what roller ball adopted to follow card system construction drawing automatically；
In figure：1. spherical shell, 2. drives wheel case, 3. drive hub, 4. driven fluted disc, 5. live axle, 6. driving wheel
Frame, 7 travelling gears, 8. power transmission shaft, 9. motor driven gear, 10. motor gear, 11. motor, 12. drive axle supports,
13. control units, 14. auxiliary wheel carriers, 15. auxiliary wheel shafts, 16. auxiliary wheel hubs, 17. auxiliary wheel cases, 18. support wheels, 19. support
Wheel carrier, 20. support bars.
Specific embodiment
The present invention is explained in detail below in conjunction with the accompanying drawings：
Refering to Fig. 1, it is of the present invention follow automatically roller ball include spherical shell 1, drive wheel case 2, drive hub 3,
Driven fluted disc 4, live axle 5, drive wheel carrier 6, travelling gear 7, power transmission shaft 8, motor driven gear 9, motor gear 10,
Motor 11, drive axle support 12, control unit 13, auxiliary wheel carrier 14, auxiliary wheel shaft 15, auxiliary wheel hub 16, auxiliary wheel case 17,
Support wheel 18, support wheel carrier 19 and support bar 20.
Refering to Fig. 1 and Fig. 2, toy ball is divided into into three parts of spherical housing 1, driving means and supporting construction, is driven
Device has the auxiliary wheel of driving wheel two of four wheels two, and drive part motor 11 exports power by motor gear 10 and electricity
The gear pair of the composition of motivation driven gear 9 passes to power transmission shaft 8, and power Jing power transmission shafts 8 are delivered to drive gear 7, then reach from
Active toothed disk 4 so as to drive live axle 5 to rotate, gear shaft 5, driving wheel (including drive hub 3 and drive wheel case 2) and from
Active toothed disk is relatively fixed, and is to rotate secondary connection between live axle 5 and driving wheel carrier, and the other end is auxiliary wheel carrier 15 and auxiliary wheel
(including auxiliary wheel hub 16 and auxiliary wheel case 17), supporting construction is made up of support wheel 18, support wheel carrier 19 and support bar 20,.
Refering to Fig. 1, Fig. 3 and Fig. 4, lead between described live axle 5 and drive hub 3, live axle 5 and driven fluted disc
It is relatively fixed by spline between 4, power transmission shaft 8 is arranged on drive axle support 12 and drives on wheel carrier 6, power transmission shaft 8 and power transmission shaft
Support 12, driving wheel carrier 6 are formed and rotate secondary.
Refering to Fig. 1, Fig. 5 and Fig. 6, driven fluted disc 4 is engaged with travelling gear 7, and by driven fluted disc 4 power transmission is changed
Direction, driven fluted disc 4 is splined with live axle 5, is relatively fixed.
Refering to Fig. 7, Fig. 8-a and Fig. 8-b, the power of motor is made up of motor gear 10 with motor driven gear 9
Gear pair is exported.
Refering to Fig. 9-a and Fig. 9-b, drive wheel carrier 6 to be fixedly connected with drive axle support 12, drive 8 groups of wheel carrier 6 and power transmission shaft
It is secondary into rotating.
Refering to Fig. 1, two motor are by control unit control.
Refering to Figure 10 and Figure 11, system for tracking with single-chip microcomputer as core also include wireless transceiver, power supply, drive module and
Two motor, follow card to be mainly made up of power supply, single-chip microcomputer and wireless transceiver.
Automatically the operation principle of roller ball is followed：
Refering to Fig. 1, roller ball is followed there are two driving wheels, two auxiliary wheels automatically, driving wheel is driven outside spherical by rotating
The movement of the scrolling realization toy ball of shell, driving wheel (including including drive hub 3 and driving wheel case 2) and auxiliary wheel are (including auxiliary
Wheel hub 16 and auxiliary wheel case 17) one direction of control, another to control wheel direction normal thereto, two groups of wheels are rotated and passed through simultaneously
Rotating speed distribution can realize that to arbitrary directional rolling, support wheel is played a supporting role, and prevents driving means from turning on one's side.
Refering to Fig. 1, Figure 10 and Figure 11, when toy ball exceeds predeterminable range, toy ball wireless receiving and dispatching with the distance for following card
Device sends wireless signal and follows card to receive and send after signal wifi signal toy ball wireless transceivers and receive signal, receive according to two
The distance measurement value of device knows the relative bearing of tracked target by location algorithm, and then is driven by Single-chip Controlling drive circuit
Motor is realized following.The control for following orientation is realized by the rotating ratio of two driving wheels of control.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710114852.7A CN106621234A (en) | 2017-02-28 | 2017-02-28 | Auto-followup rolling ball |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710114852.7A CN106621234A (en) | 2017-02-28 | 2017-02-28 | Auto-followup rolling ball |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106621234A true CN106621234A (en) | 2017-05-10 |
Family
ID=58846716
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710114852.7A Pending CN106621234A (en) | 2017-02-28 | 2017-02-28 | Auto-followup rolling ball |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106621234A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129420A (en) * | 2018-08-29 | 2019-01-04 | 西南石油大学 | A kind of novel omnidirectional moving spherical robot |
| CN113577744A (en) * | 2021-08-05 | 2021-11-02 | 山东财经大学 | Tennis training device based on Internet of things and using method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2491342A1 (en) * | 1980-10-03 | 1982-04-09 | Ferrand Daniel | Ball moved by electric vehicle inside it - has front guiding wheel and two fixed wheels driven by motor |
| DE19809168A1 (en) * | 1998-02-26 | 1999-09-09 | Riesen | Ball-shaped hollow toy |
| DE102010053443A1 (en) * | 2010-12-06 | 2012-06-06 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Robot e.g. ball robot, for moving on ground, has drive wheel rolling on running surface, and spinner device with spinner, where rotation axle of spinner runs in main plane in radial direction to curvature of rolling surface |
| CN203264284U (en) * | 2013-04-03 | 2013-11-06 | 张晓龙 | Remote control toy ball |
| CN105045265A (en) * | 2014-08-13 | 2015-11-11 | 斯飞乐有限公司 | Magnetically coupled accessory for a self-propelled device |
| US9394016B2 (en) * | 2011-01-05 | 2016-07-19 | Sphero, Inc. | Self-propelled device for interpreting input from a controller device |
| CN206492163U (en) * | 2017-02-28 | 2017-09-15 | 吉林大学 | Automatically roller ball is followed |
-
2017
- 2017-02-28 CN CN201710114852.7A patent/CN106621234A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2491342A1 (en) * | 1980-10-03 | 1982-04-09 | Ferrand Daniel | Ball moved by electric vehicle inside it - has front guiding wheel and two fixed wheels driven by motor |
| DE19809168A1 (en) * | 1998-02-26 | 1999-09-09 | Riesen | Ball-shaped hollow toy |
| DE102010053443A1 (en) * | 2010-12-06 | 2012-06-06 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Robot e.g. ball robot, for moving on ground, has drive wheel rolling on running surface, and spinner device with spinner, where rotation axle of spinner runs in main plane in radial direction to curvature of rolling surface |
| US9394016B2 (en) * | 2011-01-05 | 2016-07-19 | Sphero, Inc. | Self-propelled device for interpreting input from a controller device |
| CN203264284U (en) * | 2013-04-03 | 2013-11-06 | 张晓龙 | Remote control toy ball |
| CN105045265A (en) * | 2014-08-13 | 2015-11-11 | 斯飞乐有限公司 | Magnetically coupled accessory for a self-propelled device |
| CN206492163U (en) * | 2017-02-28 | 2017-09-15 | 吉林大学 | Automatically roller ball is followed |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129420A (en) * | 2018-08-29 | 2019-01-04 | 西南石油大学 | A kind of novel omnidirectional moving spherical robot |
| CN113577744A (en) * | 2021-08-05 | 2021-11-02 | 山东财经大学 | Tennis training device based on Internet of things and using method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170510 |