CN207432215U - A kind of ball shape robot with WiFi function - Google Patents
A kind of ball shape robot with WiFi function Download PDFInfo
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- CN207432215U CN207432215U CN201721182816.6U CN201721182816U CN207432215U CN 207432215 U CN207432215 U CN 207432215U CN 201721182816 U CN201721182816 U CN 201721182816U CN 207432215 U CN207432215 U CN 207432215U
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Abstract
The utility model discloses a kind of ball shape robot with WiFi function, the ball shape robot includes a spherical housing, two positioning columns in the spherical housing, driving device, buffer unit, CCD camera assembly and WiFi components, the positioning column includes fixed part, the buffer part that extends through fixed part and straight down and the connecting portion for being fixed on buffer part lower end, the peripheral side of the buffer part is arranged with spring and the upper and lower ends of spring are respectively held against the bottom surface of fixed part and the top surface of connecting portion, the driving device is arranged on the bottom of positioning column and driving device flexibility is propped up in spherical housing inner wall, the CCD camera assembly includes camera and camera pcb board, camera is arranged on the front end of buffer unit；The WiFi components include microcontroller, MOS switch, WiFi antennas, WiFi chip and storage unit, and the MOS switch, WiFi antennas, WiFi chip and storage unit are connected with the microcontroller, and the WiFi components are arranged on camera pcb board.
Description
Technical field
The utility model is related to robot field more particularly to a kind of ball shape robots with WiFi function.
Background technology
Robot (Robot) is the installations of automated execution work, it can not only receive mankind commander, but also can run
The program of advance layout, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as the work of production industry, construction industry or danger.
The application field of robot is more and more in recent years, and the figure of robot, machine can be seen in many environment
The forms of motion of device people is also more diversified.Ball shape robot because of the closure of its structure, the ability of omnidirectional moving, will not turn on one's side
Etc. features, suitable for moist, more dirt and rugged environment.
Existing ball shape robot is usually used bluetooth and is controlled, but the mode of Bluetooth control has certain lack
It falls into, such as command range is short, scope is small etc..
Therefore, the prior art has yet to be improved and developed.
Utility model content
In view of above-mentioned deficiencies of the prior art, the purpose of this utility model is to provide a kind of spherical shapes with WiFi function
Robot, it is intended to solve the problems, such as that existing ball shape robot does not have WiFi function.
The technical solution of the utility model is as follows：
A kind of ball shape robot with WiFi function, the ball shape robot include a spherical housing, positioned at the ball
Two positioning columns, driving device, buffer unit and CCD camera assembly in shape shell, the positioning column include fixed part, pass through
Fixed part and the buffer part extended straight down and the connecting portion for being fixed on buffer part lower end, the peripheral side set of the buffer part
Upper and lower ends equipped with spring and spring are respectively held against the bottom surface of fixed part and the top surface of connecting portion, wherein, the driving device
It is arranged on the bottom of positioning column and driving device flexibility is propped up in spherical housing inner wall, the driving device includes motor box, sets
Put the motor inside motor box, battery case, the battery and driving wheel for being arranged on battery inside；Motor box, which is located at, to be driven
The bottom of device, battery case are located at the top of motor box, and driving wheel is located at the both sides of motor box；The buffer unit is arranged on fixed
The top of position column and buffer unit flexibility are propped up in spherical housing inner wall, and the buffer unit includes buffering stand and buffering wheel,
Buffering wheel is arranged on the both sides of buffering stand；The CCD camera assembly includes camera and camera pcb board, camera are arranged on
The front end of buffer unit；Camera pcb board is arranged between two positioning columns；The WiFi components include microcontroller, MOS is opened
Pass, WiFi antennas, WiFi chip and storage unit, the MOS switch, WiFi antennas, WiFi chip and storage unit are equal
It is connected with the microcontroller, the WiFi components are arranged on camera pcb board.
The ball shape robot with WiFi function, wherein, the buffer unit and driving device pass through flexibility
Gasket flexibility is propped up in spherical housing inner wall.
The ball shape robot with WiFi function, wherein, the flexible gasket is flexible rubber material.
The ball shape robot with WiFi function, wherein, the buffering stand includes a rack platform and setting
Support plate in rack platform both sides, the fixed part of the positioning column are arranged on support plate close to the one side of rack platform, and solid
The upper and lower side for determining portion protrudes from support plate.
The ball shape robot with WiFi function, wherein, one side of the support plate away from rack platform is set
There is the accommodation space of a hollow out, the both sides of the accommodation space are set there are two convex block, and the buffering wheel is located in accommodation space
And pass through a connecting shaft and be rotatably fixed between two convex blocks.
The ball shape robot with WiFi function, wherein, the bottom surface of the rack platform is higher than the top of support plate
Face.
The ball shape robot with WiFi function, wherein, the one side of the driving wheel towards motor is provided with one
Gear skeleton and the first gear for being fixed on gear skeleton peripheral side, the peripheral side of the rotation axis of motor are fixed with the second tooth
Wheel, first gear and second gear cooperate.
The ball shape robot with WiFi function, wherein, two driving wheels pass through a transverse axis connection gear skeleton
And transverse axis passes through gear skeleton, and it is fixed on the top central region of motor box.
Advantageous effect：Add WiFi module inside ball shape robot in the utility model, and WiFi module is set
It is reasonable to count position, takes full advantage of original space, the ball shape robot of the utility model adds command range and scope.
Description of the drawings
Fig. 1 is a kind of positive structure diagram of the preferred embodiment of ball shape robot of the utility model；
Fig. 2 is the positioning column structure diagram of the preferred embodiment of the ball shape robot of the utility model；
Fig. 3 is the side structure schematic view of the preferred embodiment of the ball shape robot of the utility model；
Fig. 4 is the inside primary structure front schematic view of the preferred embodiment of the ball shape robot of the utility model；
Fig. 5 is the inside primary structure side schematic view of the preferred embodiment of the ball shape robot of the utility model.
Specific embodiment
The utility model provides a kind of ball shape robot with WiFi function, to make the purpose of this utility model, technology
Scheme and effect are clearer, clear and definite, and the utility model is further described below.It is it should be appreciated that described herein
Specific embodiment is only used to explain the utility model, is not used to limit the utility model.
It please refers to Fig.1 to Fig. 5, the ball shape robot 1 of the utility model includes the spherical housing 10 of sealed transparent and sets
Positioning column 11, driving device 12, buffer unit 13, CCD camera assembly 14 and the WiFi components in spherical housing 10 are put (in figure
It is not shown).
The positioning column 11 is arranged on the middle part in spherical housing 10, and the positioning column 11 includes fixed part 111, through admittedly
The buffer part 112 determining portion 111 and extend straight down and the connecting portion 113 for being fixed on 112 lower end of buffer part, buffer part 112
Peripheral side be arranged with spring and the upper and lower ends of spring are respectively held against the bottom surface of fixed part 111 and the top surface of connecting portion 113.
Specifically, fixed part 111 be circle ring column shape, the buffer part 112 through fixed part 111 inner ring through hole and with
111 movable contact of fixed part, and peripheral cross-section product the cutting more than the inner ring through hole of fixed part 111 on the top of buffer part 112
Area；The top of the connecting portion 113 is flange cap end, and the middle-end of the connecting portion 113 is cylindric, the connecting portion 113
Bottom to be convex hemispherical, wherein the top periphery lateral section product of connecting portion 113 is more than the peripheral side sectional area of middle-end, connecting portion
113 are an integral molding structure.It is, moreover, an optional that consider that, in the economy and practicability of buffer part 112, buffer part 112 is a tool
There is the limited screw at flange cap end.
The driving device 12 is arranged on the bottom of positioning column 11 and 12 flexibility of driving device is propped up in spherical housing 10
Wall including motor box 121, the motor being arranged on inside motor box 121 124, battery case 122, is arranged on inside battery case 122
Battery 125 and driving wheel 123；Motor box 121 is located in the bottom of driving device 12, and battery case 122 is located at motor box 121
Top, driving wheel 123 is located at the both sides of motor box 121.
The buffer unit 13 is arranged on the top of positioning column 11 and 13 flexibility of buffer unit is propped up in spherical housing 10
Wall, including buffering stand 131 and buffering wheel 132, buffering wheel 132 is arranged on the both sides of buffering stand 131.
The CCD camera assembly 14, including camera 141 and camera pcb board 142, camera 141 is arranged on buffering dress
Put 13 front end；Camera pcb board 142 is arranged between positioning column 11.
The WiFi components include microcontroller, MOS switch, WiFi antennas, WiFi chip and storage unit, the MOS
Switch, WiFi antennas, WiFi chip and storage unit are connected with the microcontroller, and the WiFi components are arranged at camera
On pcb board.
Memory cell is used for storing the transmission data of WiFi chip.MOS switch connects a key switch, user
It can voluntarily select to close MOS switch so as to which WiFi module be closed, to save energy consumption.In addition, in the WiFi antennas and
Matcoveredn is coated on WiFi chip, the effect of the protective layer is leaked out for anti-stop signal, the protective layer
Material is metal material, such as copper, and the thickness of the protective layer is preferably 0.2~1mm, such as 0.5mm.
The WiFi antennas include conductor, the first insulating layer, ground plane and second insulating layer, and conductor is located at WiFi antennas
Central axis, the first insulating layer are wrapped on conductor, and ground plane is wrapped on the first insulating layer, and second insulating layer is wrapped in ground connection
On layer.First insulating layer and second insulating layer are rubber insulation, such as nitrile rubber.
Wherein, camera 141 is connected with camera pcb board 142 by flexible PCB, and fixed part 111 is positioning column 11
Top, connecting portion 113 is the bottom of positioning column 11, and fixed part 111 is fixedly connected with the both sides of buffering stand 131, connecting portion
113 with the both sides grafting at the top of battery case 122.Optionally, fixed part 111 is an integral molding structure with buffering stand 131.
Specifically, the both sides at 122 top of battery case are provided with location hole, the connecting portion 113 of positioning column 11 is plugged in positioning
In hole and location hole is protruded from, and fits in the inner wall of location hole；Buffering stand 131 includes a rack platform 1311 and is arranged on
The support plate 1312 of 1311 both sides of rack platform, the fixed part 111 of positioning column 11 are arranged on support plate 1312 close to rack platform
1311 one side, and the upper and lower side of fixed part 111 protrudes from support plate 1312.
In the preferred embodiment, CCD camera assembly 14, which further includes a top, has the stent 143 of the first camera card slot,
Stent 143 is vertically fixed on the front top of battery case 122, and camera 141 is fixed in the first camera card slot and is located at
The front end of buffer unit 13, specifically, camera 141 sets the front of the rack platform 1311 of buffering stand 131.In order to make
Camera 141 it is more stable, optionally, stent 143 is an integral molding structure with battery case 122.
The driving wheel 123 sets a gear skeleton 1232 towards the one side of motor 124 and is fixed on gear skeleton
The first gear 1231 of 1232 outer circumferential sides, the outer circumferential sides of 124 rotation axis of motor are fixed with second gear 1241, first gear
1231 and second gear 1241 cooperate, in order to enable the movement of this preferred embodiment is more accurate, first gear 1231
Peripheral side sectional area is more than the peripheral side sectional area of second gear 1241.In this way, after second gear 1241 rotates multi-turn, it could band
Dynamic first gear 1231 rotates a circle.
Two driving wheels 123 are rotatable through gear skeleton 1232 and to be fixed on motor by transverse axis connection and transverse axis
The top central region of box 121.
In the preferred embodiment, one side of the support plate 1312 away from rack platform 1311 is provided with the receiving sky of a hollow out
Between, the both sides of accommodation space are set there are two convex block, and buffering wheel 133 is located at that accommodation space is interior and to pass through a connecting shaft rotatable
It is fixed between two convex blocks.
Further, since camera pcb board 142 the upper surface of can the corresponding electronic component of mounting arrangements, in order to allow electronic component
There can be enough space installations, in the preferred embodiment, the bottom surface of rack platform 1311 is higher than the top surface of support plate 1312, takes the photograph
As the rear end of head pcb board 142 is fixedly connected with the rear end of battery case 122 by connecting pole.
It is understood that this preferred embodiment, during movement, buffer unit 13 plays one to driving device 12
The effect of a stable operation, specifically, since buffer unit 13 and driving device 12 prop up the inner wall of spherical housing 10, and it is slow
Flushing device 13 passes through 11 times hydraulic drivers of positioning column 12 so that when moving, driving device 12 becomes this preferred embodiment always
In stable state.
In addition, when this preferred embodiment runs into impact or falls on the move, due to the work of the spring in positioning column 11
With, and buffer unit 13 and driving device 12 prop up the inner wall of spherical housing 10 again so that this preferred embodiment shakes in generation
When swinging, buffer unit 13 generates driving device 12 by the spring of positioning column 11 effect of a buffering, so as to avoid drive
Dynamic device 12 is impaired.
The outside of the driving wheel 123 is adapted, the motor to be obliquely installed with 10 inner wall shape of spherical housing
There are two 124 settings and is decelerating motor, is respectively used to drive described two driving wheels 123；The battery 125 with it is described two
Motor 124 is electrically connected, and the motor 124 rotates after starting drives the driving wheel 123 to rotate, and the driving wheel 123 passes through
Frictional force drives spherical housing 10 moves.
The driving wheel 123 is shaped to be adapted with 10 inner wall shape of spherical housing, and driving wheel 123 can be made complete
It is close to 10 inner wall of spherical housing entirely, so as to increase the friction of driving wheel 123 and 10 inner wall of spherical housing, and then makes spherical machine
People can timely respond the drive actions of driving wheel 123 and carry out the actions such as various forward, retrogressings.While driving wheel 123
Shape is adapted with 10 inner wall shape of spherical housing, so the motion process of driving wheel 123 can be completely transferred to outside spherical shape
On shell 10, so situations such as the motion process of ball shape robot can be made more stable, rock, shake without generation.
In addition, hollow out shape can also be made in the driving wheel 123, to reduce weight, rotational efficienty is improved.
Preferably, the driving device 12 is propped up by flexible gasket flexibility in 10 inner wall of spherical housing, the flexible pad
Piece can be made into the shape consistent with driving wheel 123, i.e., wraps up the driving wheel 123 using flexible gasket, so as to driving wheel 123
Rotation process into row buffering, it is preferred that the flexible gasket can wrap the side of driving wheel 123, i.e., with spherical housing 10
The bevel edge (non-directional bevel edge, but with cambered bevel edge, radian matches with spherical housing 10) of inner wall contact, such institute
It states flexible gasket and forms the circular ring structure that outside is tilted shape, the thickness of the flexible gasket can be 0.2mm~2mm, example
Such as 0.5mm, to realize optimal cushioning effect, while the conductive process of rotation is nor affected on.Further, flexible gasket is rubber
The flexible material of material, such as nitrile rubber.
The width of the driving wheel 123 is preferably 2mm~10mm, is, for example, 8mm, to be use up with 10 inner wall of spherical housing
There may be larger contact area, while can also improve drive efficiency.The radius of the driving wheel 123 can be 10mm~
30mm, such as 20mm can specifically be determined according to the radius of ball shape robot, such as the radius of driving wheel 123 can be ball
The 1/4~1/2 of anthropomorphic robot radius, such as 1/3, to make ball shape robot movement more stable.
Preferably, the buffer unit 13 is propped up by flexible gasket flexibility in 10 inner wall of spherical housing, the flexible pad
Piece can be made into the shape consistent with the buffering wheel 133, i.e., wraps up the buffering wheel 133 using flexible gasket, so as to described
And ball the rotation process of buffering wheel 133 is into row buffering, it is preferred that the flexible gasket can wrap the side of buffering wheel 133, i.e.,
Bevel edge (the non-directional bevel edge, but with cambered bevel edge, radian and 10 phase of spherical housing of 10 inner wall of shape shell contact
With), so described flexible gasket forms the circular ring structure that outside is tilted shape, and the thickness of the flexible gasket can be
0.2mm~2mm, such as 0.5mm to realize optimal cushioning effect, while nor affect on the conductive process of rotation.Further,
Flexible gasket is the flexible material of rubber material, such as nitrile rubber.
The width of the buffering wheel 133 is preferably 2mm~10mm, is, for example, 8mm, to be use up with 10 inner wall of spherical housing
There may be larger contact area, while can also improve drive efficiency.The radius of the buffering wheel 133 can be 10mm~
30mm, such as 20mm can specifically be determined according to the radius of ball shape robot, such as the radius of buffering wheel 133 can be ball
The 1/4~1/2 of anthropomorphic robot radius, such as 1/3, to make ball shape robot movement more stable.
The operation principle of this preferred embodiment is：
First, open power supply and start driving device 12, the motor 124 in driving device 12 comes into operation, motor 124
Rotation axis driving second gear 1241 rotates, and second gear 1241 drives the first gear being engaged vertically with second gear 1241
1231 operatings, first gear 1231 drive driving wheel 123 to rotate；
Then, driving wheel 123 and the spherical housing 10 contacted with each other generate frictional force, so that driving wheel 123 drives
Spherical shell 10 moves in ground or water；
In the process, buffer unit 13 plays driving device 12 stable effect, on the one hand, buffer unit 13 pushes
Driving device 12 so that 12 all-the-time stable of driving device be in spherical shell 10 bottom, on the other hand, buffering wheel 133 with
Driving wheel is corresponding about 123 and is vertically arranged so that this preferred embodiment inner structural integrity tends to balance and stablizes；
Secondly, when this preferred embodiment needs to turn, two motors 124 take counter-rotational mode to rotate；
Finally, when this preferred embodiment catches the image for catching needs, just stop movement, make way for buffering stand 131
The camera 141 in 1311 front of rack platform is shot.
It should be appreciated that the application of the utility model is not limited to above-mentioned citing, those of ordinary skill in the art are come
It says, can be improved or converted according to the above description, all these modifications and variations should all belong to the appended power of the utility model
The protection domain of profit requirement.
Claims (8)
1. a kind of ball shape robot with WiFi function, the ball shape robot includes a spherical housing, positioned at the spherical shape
Two positioning columns, driving device, buffer unit, CCD camera assembly and WiFi components in shell, the positioning column include fixing
Portion, through fixed part and the buffer part extended straight down and the connecting portion for being fixed on buffer part lower end, the buffer part
Peripheral side is arranged with spring and the upper and lower ends of spring are respectively held against the bottom surface of fixed part and the top surface of connecting portion, and feature exists
In the driving device is arranged on the bottom of positioning column and driving device flexibility is propped up in spherical housing inner wall, the driving dress
It puts including motor box, the motor being arranged on inside motor box, battery case, the battery and driving wheel for being arranged on battery inside；
Motor box is located in the bottom of driving device, and battery case is located at the top of motor box, and driving wheel is located at the both sides of motor box；It is described
Buffer unit is arranged on the top of positioning column and buffer unit flexibility is propped up in spherical housing inner wall, and the buffer unit includes slow
Stent and buffering wheel are rushed, buffering wheel is arranged on the both sides of buffering stand；The CCD camera assembly includes camera and camera PCB
Plate, camera are arranged on the front end of buffer unit；Camera pcb board is arranged between two positioning columns；The WiFi components bag
Include microcontroller, MOS switch, WiFi antennas, WiFi chip and storage unit, the MOS switch, WiFi antennas, WiFi chip
And storage unit is connected with the microcontroller, the WiFi components are arranged on camera pcb board.
2. the ball shape robot according to claim 1 with WiFi function, which is characterized in that the buffer unit and drive
Dynamic device is propped up by flexible gasket flexibility in spherical housing inner wall.
3. the ball shape robot according to claim 2 with WiFi function, which is characterized in that the flexible gasket is soft
Property rubber material.
4. the ball shape robot according to claim 1 with WiFi function, which is characterized in that the buffering stand includes
One rack platform and the support plate for being arranged on rack platform both sides, the fixed part of the positioning column are arranged on support plate close to stent
The one side of platform, and the upper and lower side of fixed part protrudes from support plate.
5. the ball shape robot according to claim 4 with WiFi function, which is characterized in that the support plate is away from branch
The one side of body panel is provided with the accommodation space of a hollow out, and there are two convex block, the bufferings for the both sides setting of the accommodation space
Wheel, which is located in accommodation space and passes through a connecting shaft, to be rotatably fixed between two convex blocks.
6. the ball shape robot according to claim 4 with WiFi function, which is characterized in that the bottom of the rack platform
Face is higher than the top surface of support plate.
7. the ball shape robot according to claim 1 with WiFi function, which is characterized in that the driving wheel direction electricity
The one side of machine is provided with a gear skeleton and is fixed on the first gear of gear skeleton peripheral side, the periphery of the rotation axis of motor
Side is fixed with second gear, and first gear and second gear cooperate.
8. the ball shape robot according to claim 7 with WiFi function, which is characterized in that two driving wheels pass through one
Transverse axis connection gear skeleton and transverse axis are fixed on the top central region of motor box through gear skeleton.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721182816.6U CN207432215U (en) | 2017-09-14 | 2017-09-14 | A kind of ball shape robot with WiFi function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721182816.6U CN207432215U (en) | 2017-09-14 | 2017-09-14 | A kind of ball shape robot with WiFi function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207432215U true CN207432215U (en) | 2018-06-01 |
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ID=62301480
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721182816.6U Active CN207432215U (en) | 2017-09-14 | 2017-09-14 | A kind of ball shape robot with WiFi function |
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| CN (1) | CN207432215U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109213043A (en) * | 2018-09-26 | 2019-01-15 | 南京工程学院 | A kind of Amphibious spherical monitoring measuring table based on LoRa Internet of Things |
| CN112896352A (en) * | 2021-03-23 | 2021-06-04 | 合肥工业大学 | Spherical robot |
-
2017
- 2017-09-14 CN CN201721182816.6U patent/CN207432215U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109213043A (en) * | 2018-09-26 | 2019-01-15 | 南京工程学院 | A kind of Amphibious spherical monitoring measuring table based on LoRa Internet of Things |
| CN112896352A (en) * | 2021-03-23 | 2021-06-04 | 合肥工业大学 | Spherical robot |
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