TWM565104U - Spherical robot - Google Patents

Abstract

A ball type robot includes a ball shell, a frame body, a driving module and at least one pressing wheel. The frame body, the driving module and the pressing wheel are all located in the spherical shell. The drive module includes two power sources and two rollers. The two power sources are disposed on the frame body and each has an output shaft. The two rollers are respectively fixed to the two output shafts, and the two rollers abut against the spherical shell. The pressing wheel is rotatably disposed on the frame body and presses against the spherical shell. Wherein, the pressing wheel and the roller respectively abut against opposite sides of the spherical shell.

Description

Spherical robot

This new type relates to a robot, especially a ball type robot.

With the development of technology, the functions of robots are becoming more diverse and powerful. In recent years, robots have been able to replace humans in many fields, especially dangerous work has been gradually implemented by robots, such as space exploration, military reconnaissance, explosive demolition, and detection of dangerous environments such as mines and disaster areas. Wait. By using a robot to perform work in the aforementioned environment, it is possible to avoid the risk of casualties being caused by dispatching personnel to the site in the past.

Generally speaking, in disaster areas such as fires or earthquakes, it is often difficult to enter the disaster site due to the destruction and collapse of buildings, which makes it difficult to search and rescue. Therefore, in disaster relief, it is often necessary to use robots to reach areas where ordinary people cannot enter to explore and assist rescue missions. In response to the complex terrain and small space in the disaster area, disaster relief robots are constantly improving on the move and appearance.

Among the many disaster relief robots, the spherical robot has better terrain adaptability because of its spherical design, which can overcome many terrain limitations. A general spherical robot is provided with a driving device having wheels in a spherical shell, and the center of gravity is changed by rotating the wheel to move the driving device relative to the spherical shell, thereby driving the spherical shell to rotate. However, when the spherical robot encounters a more severe terrain, the driving device may be idling due to insufficient friction between the wheel and the spherical shell, which may cause the spherical robot to fail to advance, thereby causing an error in the calculation of the moving distance. Therefore, in order to overcome the lack of friction between the wheel and the spherical shell, the overall weight of the driving device is increased, thereby improving the friction. However, if the weight of the drive unit is too heavy, it may affect the efficiency of the movement of the ball type robot. Therefore, how to balance the friction between the wheel and the spherical shell and control the overall weight of the spherical robot is a problem that needs to be discussed by the relevant field personnel.

The present invention provides a ball type robot for solving the problem that the driving device is idling due to insufficient friction between the wheel and the ball shell of the prior art.

The ball type robot disclosed in one embodiment of the present invention comprises a ball shell, a frame body, a driving module and at least one pressing wheel. The frame body, the driving module and the pressing wheel are all located in the spherical shell. The drive module includes two power sources and two rollers. The two power sources are disposed on the frame body and each has an output shaft. The two rollers are respectively fixed to the two output shafts, and the two rollers abut against the spherical shell. The pressing wheel is rotatably disposed on the frame body and presses against the spherical shell. Wherein, the pressing wheel and the roller respectively abut against opposite sides of the spherical shell.

According to the ball type robot disclosed in the above embodiment, the pressing wheel is added to the ball housing, and the pressing wheel and the roller respectively abut against the opposite sides of the spherical shell, and the force of the pressing wheel to press the spherical shell is The positive force of the roller against the spherical shell can be increased, thereby improving the friction between the roller and the spherical shell, so as to improve the problem that the spherical robot is easy to idling on the more severe terrain.

The above description of the present invention and the following description of the embodiments are intended to illustrate and explain the principles of the present invention and to provide a further explanation of the scope of the present application.

The detailed features and advantages of the embodiments of the present invention are set forth in the detailed description of the embodiments of the present invention. The content, the scope of the patent application and the drawings, any one of ordinary skill in the art can easily understand the related objects and advantages of the present invention. The following examples are intended to describe the present invention in further detail, but do not limit the scope of the present invention in any way.

1 is a perspective view of a ball type robot according to a first embodiment of the present invention, and FIG. 2 is a perspective view of another perspective view of the ball type robot of FIG. 1 is a schematic exploded view of a spherical robot, FIG. 4 is a partial schematic view of FIG. 3, and FIG. 5 is a plan view of the spherical robot of FIG.

The ball type robot 1 of the embodiment includes a ball shell 10, a frame body 15, a driving module 20, a circuit board 25, a power module 30, a camera module 35, a detector 40, and a balance. The control module 45, a wireless transmission module 50, a wireless switch module 52, a weighting element 55, two elastic members 60, two support rods 65, a bracket 70 and two pressing wheels 75.

The spherical shell 10 includes an upper casing 110 and a lower casing 120, and the upper casing 110 is detachably mounted to the lower casing 120.

The frame 15 is located inside the spherical shell 10. In the present embodiment, four spherical abutting protrusions 151 are distributed around the frame body 15 for abutting the spherical shell 10 to stabilize the frame body 15.

The driving module 20 includes two power sources 210 and two rollers 220. The two power sources 210 are all disposed on the frame body 15 and each have an output shaft 211. The two rollers 220 are respectively fixed to the two output shafts 211, and the two rollers 220 abut against the spherical shell 10 for moving the driving module 20 relative to the spherical shell 10 when rotating.

The circuit board 25 and the power module 30 are all disposed on the frame body 15. The power source 210 and the power module 30 are electrically connected to the circuit board 25.

The power module 30 includes a battery 310, a wireless power supply component 320, and a wireless charging control component 330 electrically connected to each other. The battery 310 is used to provide component power such as the power source 210, the camera module 35, the detector 40, the balance control module 45, and the wireless transmission module 50. The wireless power supply component 320 is configured to sense current with an external charging stand (not shown), and the wireless charging control component 330 is configured to control the current generated by the wireless power supply component 320 to charge the battery 310. In this embodiment, the wireless power supply component 320 is a magnetically coupled resonant wireless power supply component, and the wireless charging control component 330 is a TP4056 lithium ion battery charging control component.

The camera module 35 is disposed on the frame 15 and electrically connected to the circuit board 25 for capturing ambient environmental images.

The detector 40 is disposed on the frame 15 and electrically connected to the circuit board 25 for detecting an external environment, such as detecting water, electromagnetic waves or vital signs.

The balance control module 45 is disposed on the frame 15 and electrically connected to the circuit board 25 for controlling the power source 210 and further driving the roller 220 to balance the driving module 20 . In the present embodiment, the balance control module 45 includes a GY-87 type sensor.

The wireless transmission module 50 is disposed on the frame 15 and electrically connected to the circuit board 25 for communicating with an external remote control device (not shown). In this embodiment, the wireless transmission module 50 is a WiFi module, which can increase the stability of the signal and reduce the delay.

The wireless switch module 52 is disposed on the frame 15 and electrically connected to the circuit board 25 for non-contact start or stop of the ball type robot 1. In this embodiment, the wireless switch module 52 is an NTZK CM-12 module.

The weighting element 55 is disposed on the frame body 15 to increase the positive force of the roller 220 on the spherical shell 10, thereby increasing the friction between them.

In the present embodiment, the elastic member 60 is a compression spring, and the support rod 65 is a bolt. The support bars 65 each include a head 651 and a stud portion 652. The head 651 is disposed at one end of the stud portion 652, and the diameter D1 of the head portion 651 is larger than the diameter D2 of the stud portion 652.

The bracket 70 has two perforations 700, and the diameter D3 of the perforations 700 is between the diameter D1 of the head 651 and the diameter D2 of the stud portion 652. The stud portion 652 of each of the support rods 65 sequentially passes through the through hole 700 and the elastic member 60 and is locked to the frame body 15, so that the bracket 70 is movably sleeved on the support rod 65, and the elastic member 60 is sandwiched between the brackets. The bracket 70 is biased in a direction away from the frame 15 by the elastic member 60 between the frame 70 and the frame body 15. In addition, the head 651 of the support rod 65 can stop the bracket 70 to prevent the bracket 70 from coming off the support rod 65.

Two pressing rollers 75 are rotatably disposed at opposite ends of the bracket 70, and two supporting rods 65 are located between the two pressing rollers 75.

As shown in FIG. 1 to FIG. 3, the pressing wheel 75 and the roller 220 are respectively abutted against opposite sides of the spherical shell 10, and the pressing force of the spherical shell 10 is pressed against the pressing wheel 75, so that the roller 220 can be abutted. The positive force on the spherical shell 10, in turn, enhances the friction between the roller 220 and the spherical shell 10, improving the problem that the spherical robot 1 is idling easily on the more severe terrain. In addition, the force of the bracket 70 in the direction away from the frame body 15 by the elastic member 60 can provide the force of the pressing wheel 75 against the spherical shell 10 on the one hand, and avoid the manufacturing tolerance on the other hand, thereby preventing the pressing wheel 75 from contacting. To the case of the spherical shell 10.

The support rod 65 and the frame body 15 of the embodiment are two separate components, but the present invention is not limited thereto. In other embodiments, the support bar can be integrally formed with the frame body according to actual needs, and is locked with an additional nut to the end of the support bar away from the frame body, thereby providing a stop for the bracket to move on the support rod.

According to the ball type robot of the above embodiment, by adding a pressing wheel to the spherical shell, the pressing wheel and the roller respectively abut against the opposite sides of the spherical shell, and the force of the pressing wheel against the spherical shell can be increased. The positive force of the roller against the spherical shell can enhance the friction between the roller and the spherical shell to improve the problem that the spherical robot can easily idling on the more severe terrain. In addition, the force of the bracket to move away from the frame by the elastic member can provide the force of the pressing wheel against the spherical shell on the one hand, and avoid the manufacturing tolerance and the contact of the pressing wheel with the spherical shell on the other hand.

Although the present invention has been described above in terms of the preferred embodiments thereof, it is not intended to limit the present invention, and it is intended that those skilled in the art can make some modifications and refinements without departing from the spirit and scope of the present invention. The scope of the new patent protection shall be subject to the definition of the scope of the patent application attached to this specification.

1‧‧‧Spherical robot
10‧‧‧Spherical shell
110‧‧‧Upper casing
120‧‧‧lower casing
15‧‧‧ ‧ body
151‧‧‧Abut the bump
20‧‧‧Drive Module
210‧‧‧Power source
211‧‧‧ Output shaft
220‧‧‧Roller
25‧‧‧ boards
30‧‧‧Power Module
310‧‧‧Battery
320‧‧‧Wireless power supply components
330‧‧‧Wireless charging control unit
35‧‧‧ camera module
40‧‧‧Detector
45‧‧‧Balance Control Module
50‧‧‧Wireless Transmission Module
52‧‧‧Wireless switch module
55‧‧‧Heading components
60‧‧‧Flexible parts
65‧‧‧Support rod
651‧‧‧ head
652‧‧‧ Stud section
70‧‧‧ bracket
75‧‧‧Resistance wheel
D1‧‧‧ diameter of the head
D2‧‧‧ diameter of the stud
D3‧‧‧ diameter of perforation

1 is a perspective view of a ball type robot according to a first embodiment of the present invention. 2 is a perspective view of another perspective view of the ball type robot of FIG. 1. 3 is an exploded perspective view of the ball type robot of FIG. 1. Figure 4 is a partial schematic view of Figure 3. FIG. 5 is a plan view of the ball type robot of FIG. 1. FIG.

Claims (15)

A ball type robot comprising: a ball shell; a frame body located in the ball shell; a driving module located in the ball shell, the driving module comprising: a second power source disposed on the frame body, and the The two power sources each have an output shaft; and two rollers are respectively fixed to the output shafts, and the two rollers abut against the spherical shell; and at least one pressing wheel is located in the spherical shell, the at least one pressing wheel The at least one pressing wheel is rotatably disposed on the frame body, and the at least one pressing wheel and the two rollers respectively abut against opposite sides of the spherical shell. The ball type robot of claim 1, further comprising at least one elastic member, wherein the at least one elastic member is interposed between the at least one pressing wheel and the frame body to transmit the at least one elastic member The at least one pressing wheel is biased in a direction away from the frame body. The ball type robot of claim 2, further comprising at least one support rod and a bracket, wherein the at least one support rod is fixed to the frame body, and the bracket is movably sleeved on the at least one support rod. The at least one pressing wheel is rotatably disposed on the bracket, and the at least one elastic member is sleeved on the at least one supporting rod and sandwiched between the bracket and the frame body. The ball type robot according to claim 3, wherein the at least one elastic member is a compression spring, the at least one support rod is a bolt, and the at least one support rod comprises a head and a stud portion, the head portion Provided at one end of the stud portion and having a diameter larger than a diameter of the stud portion, the bracket has a through hole and a diameter of the through hole is between a diameter of the head portion and a diameter of the stud portion, The stud portion sequentially passes the through hole and the at least one elastic member and is locked to the frame body. The ball-type robot of claim 3, wherein the number of the at least one elastic member is two, and the number of the at least one supporting rod is two, and the two elastic members are respectively sleeved on the two supporting rods. The ball type robot according to claim 3, wherein the number of the at least one pressing wheel is two, and the at least one supporting rod is located between the two pressing wheels. The ball-type robot of claim 1, further comprising a circuit board and a power module, wherein the circuit board and the power module are disposed on the frame, the two power sources and the power module Both are electrically connected to the board. The ball type robot of claim 7, wherein the power module comprises a battery electrically connected to each other, a wireless power supply component, and a wireless charging control component, wherein the battery is used to provide power of the two power sources. The wireless power supply component is disposed on a side of the frame opposite the at least one pressing wheel for sensing with an external charging base to generate a current, and the wireless charging control component is configured to control a current generated by the wireless power supply component to The battery is charged. The ball type robot of claim 7, further comprising a camera module, wherein the camera module is disposed on the frame and electrically connected to the circuit board. The ball-type robot of claim 7, further comprising a detector, wherein the detector is disposed on the frame and electrically connected to the circuit board for detecting an external environment. The ball type robot of claim 7, further comprising a balance control module, wherein the balance control module is disposed on the frame body and electrically connected to the circuit board for controlling the two power sources and driving The two rollers balance the drive module. The ball-type robot of claim 7, further comprising a wireless transmission module, wherein the wireless transmission module is disposed on the frame and electrically connected to the circuit board for communicating with an external remote control device. The ball-type robot of claim 7, further comprising a wireless switch module, wherein the wireless switch module is disposed on the frame and electrically connected to the circuit board. The ball type robot according to claim 1, wherein the frame body is provided with a plurality of abutting protrusions, and the abutting protrusions abut the ball case. The ball type robot according to claim 1, further comprising a weighting element, wherein the weighting element is disposed on a side of the frame opposite the at least one pressing wheel.