CN206492163U - Automatically roller ball is followed - Google Patents
Automatically roller ball is followed Download PDFInfo
- Publication number
- CN206492163U CN206492163U CN201720187136.7U CN201720187136U CN206492163U CN 206492163 U CN206492163 U CN 206492163U CN 201720187136 U CN201720187136 U CN 201720187136U CN 206492163 U CN206492163 U CN 206492163U
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- China
- Prior art keywords
- motor
- support
- wheel
- driving wheel
- gear
- 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.)
- Expired - Fee Related
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Abstract
Roller ball is followed disclosed in the utility model automatically, being intended to overcome existing toy to exist, very flexible, automatic tracking capability be poor, the poor problem of collision resistance, follows toy ball to include spherical shell, driving wheel case, drive hub, driven fluted disc, live axle, driving wheel carrier, travelling gear, power transmission shaft, motor driven gear, motor gear, motor, drive axle support, control unit, auxiliary wheel carrier, auxiliary wheel shaft, auxiliary wheel hub, auxiliary wheel case, support wheel, support wheel carrier, support bar automatically.Drive hub, driven fluted disc are fixedly connected with live axle, live axle is rotated with driving wheel carrier and is connected, power transmission shaft is fixedly connected with travelling gear, motor driven gear, driving wheel is rolled with spherical housing and is connected, motor is fixed on drive axle support, control unit is fixed on drive axle support, and support wheel carrier is rotated with support bar and is connected.
Description
Technical field
What the utility model was related to follows roller ball automatically, more precisely, can the utility model relates to one kind
Automatic measurement and the distance of target object and the toy ball that can be followed in real time.
Background technology
Automatically the space orientation that moving target can be provided, posture, structure behavior and performance are followed, is many work(of moving target
Can automatically it be followed by position sensor, signal processing system, servo-drive system and track frame with high-precision tracking and measurement means
Constituted Deng part.The signal strength measurement that automatic tracking apparatus can be sent according to target object goes out the distance with target object
And realize tracking.
Using following control technology can automatically：
1. to follow ball hommization；
2. it is favorably improved the controllability for following ball；
Toy for children majority can only realize artificially remote control both at home and abroad at present, and the type toy requires that children have certain operation
Ability can only be used under the accompanying of adult, and movement angle underaction.Current remote control follows toy mostly
It is remote control car, remotely-piloted vehicle, type is relatively simple, and easily damaged in collision.
Utility model content
Technical problem to be solved in the utility model is to overcome existing toy to have very flexible, automatic tracking capability
The problem of difference and poor collision resistance, follows roller ball automatically there is provided one kind.
In order to solve the above technical problems, the utility model adopts the following technical scheme that realization：
It is described in the utility model to follow roller ball to include a spherical shell, two driving wheel cases, two driving wheels automatically
Hub, two driven fluted discs, two live axles, two driving wheel carriers, two travelling gears, two power transmission shafts, two motor
Driven gear, two motor gears, two motor, two drive axle supports, control unit, two auxiliary wheel carriers,
Two auxiliary wheel shafts, two auxiliary wheel hubs, two auxiliary wheel cases, support wheel, support wheel carrier, a support bars, its
It is characterised by：
Support wheel, driving wheel case and auxiliary wheel case are all directly contacted with spherical housing, and driving wheel case is enclosed on drive hub,
Auxiliary wheel case is enclosed on 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, driving wheel carrier is rotated with live axle and is connected, and driven fluted disc is meshed with travelling gear, travelling gear
It is fixed on power transmission shaft, power transmission shaft two ends are rotated and are 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 support wheel carrier with coaxial line.
Automatically roller ball is followed, it is characterised in that described spherical housing is hollow sphere structural member, driving wheel case, auxiliary
Wheel case and support wheel is helped to be in contact with interior spherical shell, driving wheel, which is rotated, 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 roller ball is followed, it is characterised in that described driven fluted disc is meshed with travelling gear, travelling gear is with passing
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 unlimited transceiver in power supply, single-chip microcomputer and wireless transceiver, toy ball and send WiFi letters
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 control the realization of drive circuit motor to follow by single-chip microcomputer.The control in orientation is followed to pass through control two
The rotating ratio of driving wheel is realized.
It is than the beneficial effects of the utility model with existing toys photo：
1. it is described in the utility model it is automatic follow toy ball by installing the detection means of radiofrequency signal additional in spheroid, it is real
Now from motion tracking, more hommization.
Automatic toy ball is followed because employing spherical housing so that toy ball can be along appointing 2. described in the utility model
Meaning direction is rolled, and more flexibly, collision energy is born with stronger.
, can be certainly 3. described in the utility model follow toy ball to have operational capacity from the motion tracking person of not requiring the use of automatically
It is dynamic to follow.
Brief description of the drawings
The utility model is further described below in conjunction with the accompanying drawings：
Fig. 1 is the automatic full sectional view followed on roller ball structure composition top view described in the utility model；
Fig. 2 is the automatic projection view for following roller ball front view described in the utility model；
Fig. 3 is described in the utility model to follow roller ball driving wheel assembling front view automatically；
Fig. 4 is the automatic auxiliary wheel sectional arrangement drawing for following roller ball described in the utility model
Fig. 5 is the automatic driven fluted disc front view for following roller ball described in the utility model；
Fig. 6 is the automatic travelling gear front view for following roller ball described in the utility model；
Fig. 7 is the front view of the motor gear described in the utility model for following roller ball automatically；
Fig. 8-a are the front views of the automatic motor driven gear for following roller ball to be used described in the utility model；
Fig. 8-b are the side views of the automatic motor driven gear for following roller ball to be used described in the utility model；
Fig. 9-a are described in the utility model to follow the drive end wheel carrier front view that roller ball is used automatically；
Fig. 9-b are described in the utility model to follow the drive end wheel carrier side view that roller ball is used automatically；
Figure 10 is described in the utility model to follow the system for tracking structure chart that roller ball is used automatically；
Figure 11 is described in the utility model automatic to follow what roller ball used to follow card system construction drawing；
In figure：1. spherical shell, 2. driving wheel cases, 3. drive hubs, 4. driven fluted discs, 5. live axles, 6. driving wheels
Frame, 7 travelling gears, 8. power transmission shafts, 9. motor driven gears, 10. motor gears, 11. motor, 12. drive axle supports,
13. control unit, 14. auxiliary wheel carriers, 15. auxiliary wheel shafts, 16. auxiliary wheel hubs, 17. auxiliary wheel cases, 18. support wheels, 19. supports
Wheel carrier, 20. support bars.
Embodiment
The utility model is explained in detail below in conjunction with the accompanying drawings：
It is described in the utility model to follow roller ball to include spherical shell 1, driving wheel case 2, driving wheel automatically refering to Fig. 1
Hub 3, driven fluted disc 4, live axle 5, driving wheel carrier 6, travelling gear 7, power transmission shaft 8, motor driven gear 9, motor tooth
Wheel 10, motor 11, drive axle support 12, control unit 13, auxiliary wheel carrier 14, auxiliary wheel shaft 15, auxiliary wheel hub 16, auxiliary wheel
Set 17, support wheel 18, support wheel carrier 19 and support bar 20.
Refering to Fig. 1 and Fig. 2, toy ball is divided into spherical housing 1, three parts of drive device and supporting construction, 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 that motivation driven gear 9 is constituted passes to power transmission shaft 8, and power is delivered to drive gear 7 through power transmission shaft 8, then reach from
Active toothed disk 4 so as to driving live axle 5 to rotate, gear shaft 5, driving wheel (including drive hub 3 and driving wheel case 2) and from
Active toothed disk is relatively fixed, and is revolute pair connection between live axle 5 and driving wheel carrier, 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, logical, live axle 5 and driven fluted disc between described live axle 5 and drive hub 3
It is relatively fixed between 4 by spline, power transmission shaft 8 is arranged on drive axle support 12 and driving wheel carrier 6, power transmission shaft 8 and power transmission shaft
Support 12, the driving formation revolute pair of wheel carrier 6.
Refering to Fig. 1, Fig. 5 and Fig. 6, driven fluted disc 4 is engaged with travelling gear 7, and changing power by driven fluted disc 4 transmits
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, driving wheel carrier 6 is fixedly connected with drive axle support 12,8 groups of driving wheel carrier 6 and power transmission shaft
Into revolute pair.
Refering to Fig. 1, two motor are by control unit control.
Refering to Figure 10 and Figure 11, system for tracking also include using single-chip microcomputer as core 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 drive hub 3 and driving wheel case 2 are included) and auxiliary wheel (including auxiliary
Wheel hub 16 and auxiliary wheel case 17) one direction of control, another pair wheel control direction normal thereto, two groups of wheels are rotated simultaneously to be passed through
Rotating speed distribution can realize that, to arbitrary directional rolling, support wheel is played a supporting role, and prevents drive device from turning on one's side.
Refering to Fig. 1, Figure 10 and Figure 11, when toy ball is with following the distance of card to exceed pre-determined distance, toy ball wireless receiving and dispatching
Device, which sends wireless signal and follows card to receive, to be sent wifi signal toy ball wireless transceivers and receives signal, received according to two after signal
The distance measurement value of device knows the relative bearing of tracked target by location algorithm, and then controls drive circuit to drive by single-chip microcomputer
Motor is realized and followed.The control in orientation is followed by controlling the rotating ratio of two driving wheels to realize.
Claims (5)
1. follow roller ball automatically, it is characterised in that described follows roller ball to include spherical shell (1), driving wheel case automatically
(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 driving wheel cases (2) and two auxiliary wheel cases (17) all directly contact with spherical housing (1), drive
Wheel case (2) is enclosed on drive hub (3), and auxiliary wheel case (17) is enclosed on 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, driving wheel carrier (6) is with driving
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 and are connected with drive axle support (12), driving wheel carrier (6) 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)
Rotated with coaxial line.
2. follow roller ball automatically according to described in claim 1, it is characterised in that described spherical housing (1) is hollow ball
Shape structural member, driving wheel case (2), auxiliary wheel case (17) and support wheel (18) are in contact with interior spherical shell, and driving wheel, which is rotated, to be driven
Spherical housing (1) is moved.
3. follow roller ball 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) has identical axis of rotation, live axle (5) and driven fluted disc (4) with driven fluted disc (4)
It is fixedly connected.
4. follow roller ball 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. follow roller ball automatically according to described in claim 1, it is characterised in that described control unit (13) includes 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 controls the realization of drive circuit motor to follow by single-chip microcomputer,
The control in orientation is followed by controlling the rotating ratio of two driving wheels to realize.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720187136.7U CN206492163U (en) | 2017-02-28 | 2017-02-28 | Automatically roller ball is followed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720187136.7U CN206492163U (en) | 2017-02-28 | 2017-02-28 | Automatically roller ball is followed |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206492163U true CN206492163U (en) | 2017-09-15 |
Family
ID=59806078
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720187136.7U Expired - Fee Related CN206492163U (en) | 2017-02-28 | 2017-02-28 | Automatically roller ball is followed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206492163U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106621234A (en) * | 2017-02-28 | 2017-05-10 | 吉林大学 | Auto-followup rolling ball |
| CN110090408A (en) * | 2019-04-18 | 2019-08-06 | 姜星宇 | A kind of naughty ball |
-
2017
- 2017-02-28 CN CN201720187136.7U patent/CN206492163U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106621234A (en) * | 2017-02-28 | 2017-05-10 | 吉林大学 | Auto-followup rolling ball |
| CN110090408A (en) * | 2019-04-18 | 2019-08-06 | 姜星宇 | A kind of naughty ball |
| CN110090408B (en) * | 2019-04-18 | 2021-05-07 | 姜星宇 | Naughty leather ball |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170915 Termination date: 20210228 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |