CN211568139U

CN211568139U - Wireless control rolling spherical robot with transportation function

Info

Publication number: CN211568139U
Application number: CN201922286830.6U
Authority: CN
Inventors: 田君; 张智诚; 石子琼; 彭敏聪
Original assignee: Dongguan University of Technology
Current assignee: Dongguan University of Technology
Priority date: 2019-12-18
Filing date: 2019-12-18
Publication date: 2020-09-25
Anticipated expiration: 2029-12-18

Abstract

The utility model discloses a wireless control rolling spherical robot with transportation function, including the spherical shell, the inside of spherical shell is equipped with the support, the reduction gear box and the drive wheel of installing the motor are being connected to the both sides of support, the first universal ball is connected at the both ends of support, the bottom of support is connected with the bottom plate through the nylon double-screw bolt, the bottom of support is installed the group battery, install the circuit board on the support, install the steering wheel on the circuit board, connect the rocking arm on the steering wheel, the rocking arm passes through the magnet seat and connects magnet, the spherical shell passes through the bearing carousel and connects the tray, the tray base bottom of tray installs neodymium magnet; the utility model adopts the spherical shell for isolation protection, which is not easy to be involved with dust, dirt, knitting wool and the like; the spherical shell is not easy to scratch children or pets; the self-protection type automatic control device can also realize self-protection when collision and rolling happen, ensures that internal electronic elements are not damaged, and automatically restores balance under the action of gravity.

Description

Wireless control rolling spherical robot with transportation function

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to wireless control rolling spherical robot with transportation function.

Background

The existing household robot provides great convenience in life, great comfort is added to life, the existing common robot is a traditional wheeled or crawler-type mobile robot, structural equipment of the robot is directly exposed outside, and the robot is easy to wind hair or other strip-shaped articles in the family so that the structural equipment cannot run; and the existing robot is generally in various shapes, so that when the robot collides with furniture or a user, the furniture and the user are easily damaged to a certain extent, the robot is damaged, the robot cannot operate, children and pets are easily scratched when playing, and the robot cannot automatically return when toppling over and the like.

Compared with the existing robot, the rolling transportation spherical robot is novel in structural shape and motion mechanism, and also has a plurality of unique advantages in practical application, such as strong advantages in steering, flexible steering capability with a turning radius approximate to zero, and capability of quickly adjusting to a proper posture for continuous work without overturning phenomenon frequently occurring in other moving modes when high-altitude falling and other conditions occur. When collision with obstacles or other robots occurs, the spherical robot has strong protection capability in a smooth corner-free shape, and has small rolling friction force and small energy loss in motion. Through wireless mobile phone control, realize carrying, transporting and the goods handling of article, the protection of ball-type casing oneself can not damage furniture and user, can not scratch children and pet when playing with children's pet.

Therefore, the wireless control rolling spherical robot with the transportation function is provided to solve the problems in the prior art, the robot can be protected by self when in collision, the spherical shell cannot damage furniture or a user, pets and children cannot be scratched, and the closed spherical shell cannot collect dust or belts such as hairs and is restored through gravity balance.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a wireless control rolling spherical robot with transportation function to not only work efficiency is low among the prior art of proposing in solving above-mentioned background art, extravagant a large amount of manpower's problem moreover.

In order to achieve the purpose, the utility model adopts the following technical scheme:

a wireless control rolling spherical robot with a transportation function comprises a spherical shell, wherein a support is arranged in the spherical shell, a reduction gear box is fixedly connected in the middle of two sides of the support, a motor is connected to the upper portion of the reduction gear box in a transmission manner, driving wheels are movably connected to the side edges of the reduction gear box and movably attached to the spherical shell, first universal balls are fixedly connected to the front end and the rear end of the support and movably attached to the inner wall of the spherical shell, four groups of nylon studs are fixedly mounted at the bottom of the support and fixed at the four corners of the support, a bottom plate is fixedly connected to the top ends of the nylon studs, a battery pack is fixedly mounted at the bottom of the support and fixedly arranged on the inner side of the nylon studs, a circuit board is fixedly mounted on the upper surface of the support, and a steering engine is fixedly mounted on the upper portion of the circuit board, the steering engine is movably connected with a rocker arm, the top of the rocker arm is fixedly provided with a magnet seat, the magnet seat is fixedly provided with a magnet, the upper part of the spherical shell is movably connected with a bearing turntable, the upper part of the bearing turntable is fixedly connected with a tray, the middle of the tray is fixedly provided with a tray base, and the bottom of the tray base is fixedly provided with a neodymium magnet;

be equipped with bluetooth module, arduino singlechip, L298N motor drive module voltage stabilizing module on the circuit board, bluetooth module is HC-05, forms the serial ports communication with four pins of vcc, gnd, txd and rxd and arduino singlechip, and through arduino singlechip to bluetooth module power supply 5v, motor electric connection group battery, so the group battery provides 12v voltage for the motor, motor electric connection has L298N motor drive module, L298N motor drive module and arduino singlechip electric connection for the operation of control motor, the arduino singlechip gives L298N motor drive module output signal control motor through the IO mouth, steering wheel electric connection has voltage stabilizing module, voltage stabilizing module and group battery electric connection, voltage stabilizing module is with voltage stabilization at 5v for the steering wheel power supply.

Preferably, the bottom plate or the bottom of the bottom plate is fixedly provided with the assembling blocks, and at least two groups of balancing weights are arranged and are respectively positioned at two ends of the bottom plate.

Preferably, the output shaft of the motor is in transmission connection with the reduction gear box, and a conical gear is arranged in the reduction gear box and is in transmission connection with a driving wheel.

Preferably, at least two groups of magnets are arranged on the magnet seat, and the two groups of magnets are fixedly arranged at two ends of the magnet seat respectively.

Preferably, the bottom of the tray base is at least provided with two groups of neodymium magnets, and the two groups of neodymium magnets are in magnetic connection with the magnets on the magnet seats in positions corresponding to each other.

Preferably, the bottom of the bearing turntable is at least provided with four groups of second universal balls, the four groups of second universal balls are movably arranged at four corners of the bearing turntable, and the second universal balls are attached to the ball shell.

Preferably, bluetooth module receives outside mobile device's control signal, bluetooth module transmits control signal for arduino singlechip and realizes the control to the robot.

Preferably, the steering wheel passes through the rocking arm and realizes the control to the tray, prevents that the tray from empting, and the rocking arm whipping can keep the equilibrium of robot.

Preferably, the differential motion of the driving wheels may realize steering operation of the robot.

This practical technological effect and advantage: the utility model provides a wireless control rolling spherical robot with transportation function compares with prior art, has following advantage:

the spherical shell is adopted for isolation and protection, so that dust, dirt, knitting wool and the like are not easily drawn into the inner structure of the robot, and the service life of the robot is prolonged; meanwhile, children or pets are not easy to scratch in places with the children or the pets; the spherical shell also plays an effective protection role when encountering collision and rolling, ensures that internal electronic elements are not damaged, and utilizes the action of gravity to ensure that the internal structure can automatically return to balance so as to continue working.

Drawings

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a schematic side view of the present invention;

FIG. 3 is a flow chart of the program operation of the present invention;

FIG. 4 is a diagram of a system circuit control of the present invention;

FIG. 5 is a left side three-dimensional schematic view of the present application;

FIG. 6 is a right three-dimensional schematic view of the present application;

fig. 7 is a bottom three-dimensional schematic view of the present invention.

In the figure: 1. a support; 2. a nylon stud; 3. a base plate; 4. a reduction gear box; 5. a motor; 6. a drive wheel; 7. a steering engine; 8. a rocker arm; 9. a magnet base; 10. a magnet; 11. a spherical shell; 12. a load bearing turntable; 13. a tray; 14. a tray base; 15. a neodymium magnet; 16. a circuit board; 17. a first universal ball; 18. a battery pack; 19. a second ball gimbal.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The specific embodiments described herein are merely illustrative of the present application and do not limit the present application. All other embodiments obtained by persons skilled in the art based on the embodiments in the present application without any creative work belong to the protection scope of the present application.

The utility model provides a wireless control rolling spherical robot with transportation function, which comprises a spherical shell 11;

according to the figures 1, 2, 5, 6 and 7, in order to realize the equipment installation of the robot, a support 1 is arranged inside a spherical shell 11, in order to realize the movement of the robot, a reduction gear box 4 is fixedly connected in the middle of two sides of the support 1, a motor 5 is connected on the upper part of the reduction gear box 4 in a transmission way, a driving wheel 6 is movably connected on the side edge of the reduction gear box 4, the output shaft of the motor 5 is connected in the reduction gear box 4 in a transmission way, a conical gear is connected in the reduction gear box 4 in a transmission way, the driving wheel 6 is movably jointed and connected with the spherical shell 11, in order to realize the steering operation, the steering operation of the robot can be realized through the differential operation of the driving wheel 6, in order to keep the balance of the robot equipment in the spherical shell 11, first universal balls 17 are fixedly connected at the front end and the rear end of the support 1, the first universal balls 17, in order to install the matching block, so that the robot can want to be the same as a tumbler on the spherical shell 11, four groups of nylon studs 2 are fixedly installed at the bottom of the bracket 1, the four groups of nylon studs 2 are fixed at four corners of the bracket 1, the top end of each nylon stud 2 is fixedly connected with a bottom plate 3, the matching block is fixedly installed on the bottom plate 3 or at the bottom, at least two groups of balancing weights are arranged at two ends of the bottom plate 3 respectively, in order to supply power to the robot, a battery pack 18 is fixedly installed at the bottom of the bracket 1, the battery pack 18 is fixedly arranged at the inner side of each nylon stud 2, in order to realize operation control of the robot, a circuit board 16 is fixedly installed on the upper surface of the bracket 1, in order to realize connection of a tray 13 and a bearing turntable 12 and keep balance of the robot, a steering engine 7 is fixedly installed on the upper part of the circuit board 16, in order to realize the connection of the object bearing disc 13, a magnet seat 9 is fixedly installed at the top of the rocker arm 8, a magnet 10 is fixedly installed on the magnet seat 9, at least two groups of magnets 10 are arranged on the magnet seat 9, the two groups of magnets 10 are respectively and fixedly installed at two ends of the magnet seat 9, the steering engine 7 controls the object bearing disc 13 through the rocker arm 8 to prevent the object bearing disc 13 from toppling over, the rocker arm 8 swings to keep the balance of the robot, in order to carry objects and realize transportation, a bearing rotary disc 12 is movably connected to the upper part of the ball shell 11, in order to enable the bearing rotary disc 12 to rotate on the ball shell 11, at least four groups of second universal balls 19 are arranged at the bottom of the bearing rotary disc 12, the four groups of second universal balls 19 are movably installed at four corners of the bearing rotary disc 12, the second universal balls 19 are attached to the ball shell 11, the object bearing disc 13 is fixedly connected to the upper part of the bearing rotary disc 12, in order to enable the object bearing, a tray base 14 is fixedly arranged in the middle of the tray 13, neodymium magnets 15 are fixedly arranged at the bottom of the tray base 14, at least two groups of neodymium magnets 15 are arranged at the bottom of the tray base 14, and the two groups of neodymium magnets 15 are in magnetic connection with the magnets 10 on the magnet base 9 in a corresponding manner;

according to fig. 4, in order to realize the control of the system, a bluetooth module, an arduino single chip microcomputer, an L298N motor driving module and a voltage stabilizing module are arranged on the circuit board 16, in order to realize the transmission connection of information, the bluetooth module is HC-05, serial port communication is formed by four pins of vcc, gnd, txd and rxd with the arduino single chip microcomputer, 5v power is supplied to the bluetooth module through the arduino single chip microcomputer, the bluetooth module receives the control signal of the external mobile device, the bluetooth module transmits the control signal to the arduino single chip microcomputer to realize the control of the robot, in order to realize the power supply to the movement of the robot, the motor 5 is electrically connected with the battery pack 18, so the battery pack 18 supplies 12v voltage to the motor 5, in order to generate a control command to the motor 5, the L298N motor driving module is electrically connected to the motor 5, the L298N motor driving module is electrically connected to the arduino single chip microcomputer for controlling the operation of the motor 5, the arduino singlechip gives L298N motor drive module output signal control motor 5 through the I/O mouth for the control of steering wheel, for steering wheel 7 electric connection has voltage stabilizing module, voltage stabilizing module and 18 electric connection of group battery, and voltage stabilizing module is stabilized at 5v with voltage and is supplied power for steering wheel 7.

According to fig. 3, the system runs the program as follows:

the working principle is as follows: and carrying out Bluetooth connection with the spherical robot by using a mobile phone, downloading a Bluetooth serial port assistant, and setting a control character corresponding to the code to operate the spherical robot through the mobile phone. The rotation speed of the motor 5 is controlled by using pwn voltage control method. When the forward key is pressed, the motor 5 voltage is increased by 12/256V every 10ms from 0 until a predetermined voltage is reached. Therefore, the spherical shell 11 is slowly accelerated and started until the spherical shell advances at a constant speed, and meanwhile, the rocker arm 8 swings forwards for 20 degrees in the uniform acceleration process, so that the object tray 13 is kept stable. Before stopping moving, the spherical shell 11 can do slow uniform deceleration and the rocker arm 8 swings backwards until the rocker arm 8 is stopped to reset. When unloading goods, the rocker arm 8 can be independently controlled to pitch and tilt the goods forwards and backwards. The two driving wheels 6 enable the spherical shell 11 to turn or rotate in place through a differential method.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes, modifications, equivalents, and improvements may be made without departing from the spirit and scope of the present invention.

Claims

1. A wireless control rolling spherical robot with transportation function, includes spherical shell (11), its characterized in that: the inside of spherical shell (11) is equipped with support (1), fixedly connected with reduction gear box (4) in the middle of the both sides of support (1), the upper portion transmission of reduction gear box (4) is connected with motor (5), the side swing joint of reduction gear box (4) has drive wheel (6), drive wheel (6) are connected with spherical shell (11) movable laminating, the first universal ball (17) of both ends fixedly connected with around support (1), first universal ball (17) and spherical shell (11) inner wall laminating swing joint, the bottom fixed mounting of support (1) has four groups of nylon double-screw bolts (2), and four groups of nylon double-screw bolts (2) are fixed in the four corners department of support (1), the top fixedly connected with bottom plate (3) of nylon double-screw bolt (2), the bottom fixed mounting of support (1) has group battery (18), the battery pack (18) is fixedly arranged on the inner side of the nylon stud (2), a circuit board (16) is fixedly mounted on the upper surface of the support (1), a steering engine (7) is fixedly mounted on the upper portion of the circuit board (16), a rocker arm (8) is movably connected onto the steering engine (7), a magnet seat (9) is fixedly mounted at the top of the rocker arm (8), a magnet (10) is fixedly mounted on the magnet seat (9), a bearing rotary disc (12) is movably connected onto the upper portion of the spherical shell (11), a tray (13) is fixedly connected onto the upper portion of the bearing rotary disc (12), a tray base (14) is fixedly arranged in the middle of the tray (13), and a neodymium magnet (15) is fixedly mounted at the bottom of the tray base (14);

the circuit board (16) is provided with a Bluetooth module, an arduino singlechip, an L298N motor driving module and a voltage stabilizing module, the Bluetooth module is HC-05, serial port communication is formed between four pins of vcc, gnd, txd and rxd and the arduino singlechip, the Bluetooth module is powered by 5v through the arduino single chip microcomputer, the motor (5) is electrically connected with the battery pack (18), therefore, the battery pack (18) provides 12v voltage for the motor (5), the motor (5) is electrically connected with an L298N motor driving module, the L298N motor driving module is electrically connected with the arduino singlechip, used for controlling the operation of the motor (5), the arduino singlechip outputs a signal to the L298N motor driving module through an I/O port to control the motor (5), steering wheel (7) electric connection has the voltage stabilizing module, voltage stabilizing module and group battery (18) electric connection, voltage stabilizing module is stabilized at 5v and is the steering wheel (7) power supply.

2. The wireless controlled rolling sphere robot with transportation function according to claim 1, wherein: the bottom plate (3) is provided with an assembling block or the bottom of the bottom plate is fixedly provided with at least two groups of balancing weights which are respectively arranged at two ends of the bottom plate (3).

3. The wireless controlled rolling sphere robot with transportation function according to claim 1, wherein: the output shaft of the motor (5) is connected in the reduction gear box (4) in a transmission manner, and a conical gear is arranged in the reduction gear box (4) and is connected with a driving wheel (6) in a transmission manner.

4. The wireless controlled rolling sphere robot with transportation function according to claim 1, wherein: the magnet seat (9) is at least provided with two groups of magnets (10), and the two groups of magnets (10) are respectively and fixedly arranged at two ends of the magnet seat (9).

5. The wireless controlled rolling sphere robot with transportation function according to claim 1, wherein: the bottom of the tray base (14) is at least provided with two groups of neodymium magnets (15), and the two groups of neodymium magnets (15) are in magnetic connection with the magnets (10) on the magnet seat (9) in a mutually corresponding mode.

6. The wireless controlled rolling sphere robot with transportation function according to claim 1, wherein: the bottom of tray (13) is equipped with four groups of universal balls of second (19) at least, four groups universal ball of second (19) movable mounting are in the four corners department of tray (13), universal ball of second (19) laminating is on spherical shell (11).

7. The wireless controlled rolling sphere robot with transportation function according to claim 1, wherein: bluetooth module receives outside mobile device's control signal, Bluetooth module gives control signal transmission for arduino singlechip and realizes the control to the robot.

8. The wireless controlled rolling sphere robot with transportation function according to claim 1, wherein: the steering wheel (7) realizes the control of the object tray (13) through the rocker arm (8), prevents the object tray (13) from toppling over, and the rocker arm (8) swings to keep the balance of the robot.

9. The wireless controlled rolling sphere robot with transportation function according to claim 1, wherein: the differential motion of the driving wheels (6) can realize the steering operation of the robot.