CN110861725B - Wireless control rolling spherical robot with transportation function - Google Patents
Wireless control rolling spherical robot with transportation function Download PDFInfo
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- CN110861725B CN110861725B CN201911311946.9A CN201911311946A CN110861725B CN 110861725 B CN110861725 B CN 110861725B CN 201911311946 A CN201911311946 A CN 201911311946A CN 110861725 B CN110861725 B CN 110861725B
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- robot
- tray
- support
- groups
- spherical shell
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- 238000005096 rolling process Methods 0.000 title claims abstract description 21
- 230000009467 reduction Effects 0.000 claims abstract description 17
- 239000004677 Nylon Substances 0.000 claims abstract description 15
- 229920001778 nylon Polymers 0.000 claims abstract description 15
- 229910001172 neodymium magnet Inorganic materials 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000000087 stabilizing effect Effects 0.000 claims description 7
- 238000010030 laminating Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 239000000428 dust Substances 0.000 abstract description 3
- 230000005484 gravity Effects 0.000 abstract description 3
- 230000009471 action Effects 0.000 abstract description 2
- 238000002955 isolation Methods 0.000 abstract description 2
- 238000009940 knitting Methods 0.000 abstract description 2
- 210000002268 wool Anatomy 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 210000004209 hair Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
Abstract
The invention discloses a wireless control rolling spherical robot with a transportation function, which comprises a spherical shell, wherein a support is arranged in the spherical shell, a reduction gear box and a driving wheel which are provided with motors are connected to two sides of the support, two ends of the support are connected with first universal balls, the bottom of the support is connected with a bottom plate through nylon studs, a battery pack is arranged at the bottom of the support, a circuit board is arranged on the support, a steering engine is arranged on the circuit board, a rocker arm is connected to the steering engine, the rocker arm is connected with a magnet through a magnet seat, the spherical shell is connected with a tray through a bearing turntable, and a neodymium magnet is arranged at the bottom of a tray base of the tray; the invention adopts the spherical shell for isolation protection, so that dust, dirt, knitting wool and the like are not easy to be involved; the spherical shell is not easy to scratch children or pets; the device can also protect itself when encountering collision and rolling, so as to ensure that the internal electronic elements are not damaged, and automatically restore balance under the action of gravity.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a wireless control rolling spherical robot with a transportation function.
Background
The existing home robot provides great convenience in life, great comfort is increased for living, the conventional wheeled or crawler-type mobile robot is adopted as the common robot at present, and the structural equipment of the robot is directly exposed to the outside, so that the robot is easy to wind due to hair or other strip-shaped objects in the home, and the structural equipment cannot operate; the existing robots are generally of various shapes, so that the robots are easy to damage furniture and users when colliding with furniture or users, and the robots can be damaged, so that the robots can not run, children and pets are easy to scratch when playing, and the robots can not automatically recover 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 has a plurality of unique advantages in practical application, such as strong advantage in steering, flexible steering capacity similar to zero turning radius, and when high-altitude falling and the like occur, the rolling transportation spherical robot can be quickly adjusted to a proper posture to perform continuous work without the phenomenon of 'overturning' which is frequently caused by other moving modes. The rounded non-angular shape of the spherical robot has strong protection ability and small rolling friction force and small energy loss in movement when collision with obstacles or other robots occurs. Through wireless cell-phone control, realize carrying, transporting and loading and unloading goods of article, ball-type casing self-protection can not damage furniture and user, can not scratch children and pet when playing with children's pet.
Therefore, we propose a wireless control rolling spherical robot with a transportation function to solve the problems existing in the prior art, so that the robot can be self-protected when colliding, the spherical shell can not damage furniture or users, pets and children can not be scratched, and the sealing spherical shell can not collect dust or hair and other ribbons, and the robot returns through gravity balance.
Disclosure of Invention
The invention aims to provide a wireless control rolling spherical robot with a transportation function, which solves the problems that the prior art is low in working efficiency and wastes a large amount of manpower.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the utility model provides a wireless control rolling spherical robot with transportation function, includes the spherical shell, the inside of spherical shell is equipped with the support, fixedly connected with reduction gearbox in the middle of the both sides of support, reduction gearbox's upper portion transmission is connected with the motor, reduction gearbox's side swing joint has the drive wheel, the drive wheel is connected with the spherical shell activity laminating, the first universal ball of both ends fixedly connected with around the support, first universal ball is connected with spherical shell inner wall laminating swing joint, four nylon double-screw posts of bottom fixed mounting of support, and four nylon double-screw posts of group are fixed in the four corners department of support, nylon double-screw post's top fixedly connected with bottom plate, the bottom fixed mounting of support has the group battery, the group battery is fixed to the inboard of nylon double-screw post, the upper surface fixedly mounted of support has the circuit board, the upper portion fixedly mounted steering wheel of circuit board, swing joint has the rocking arm on the steering wheel, the top fixedly mounted of rocking arm has the magnet seat, the magnet on the magnet seat fixedly mounted, the upper portion swing joint of spherical shell has the carousel, the tray fixedly connected with the tray of tray fixedly connected with the base of tray fixedly arranged with the base of tray, the tray fixedly arranged on the bottom of tray.
Be equipped with bluetooth module, arduino singlechip, L298N motor drive module steady voltage module on the circuit board, bluetooth module is HC-05, forms serial communication with arduino singlechip with vcc, gnd, txd and rxd four pins, and supplies power 5v to bluetooth module through arduino singlechip, 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 is connected with arduino singlechip electric connection for the operation of control motor, arduino singlechip is for L298N motor drive module output signal control motor through the I/O mouth, steering wheel electric connection has steady voltage module, steady voltage module and group battery electric connection, steady voltage module is the steering wheel power supply with voltage stability at 5 v.
Preferably, the bottom plate or the bottom is fixedly provided with the assembly blocks, and the balancing weights are at least provided with two groups and are respectively positioned at two ends of the bottom plate.
Preferably, the output shaft of the motor is in transmission connection in a reduction gear box, and a conical gear is arranged in the reduction gear box and is in transmission connection with a driving wheel.
Preferably, the magnet seat is provided with at least two groups of magnets, and the two groups of magnets are respectively and fixedly arranged at two ends of the magnet seat.
Preferably, at least two groups of neodymium magnets are arranged at the bottom of the tray base, and the two groups of neodymium magnets are in corresponding magnetic connection with the magnets on the magnet base.
Preferably, at least four groups of second universal balls are arranged at the bottom of the bearing turntable, 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 spherical shell.
Preferably, the bluetooth module receives a control signal of the external mobile device, and the bluetooth module transmits the control signal to the arduino singlechip to realize the control of the robot.
Preferably, the steering engine controls the tray through the rocker arm to prevent the tray from toppling over, and the rocker arm swings to keep the balance of the robot.
Preferably, the differential operation of the driving wheels can realize the steering operation of the robot.
The invention has the technical effects and advantages that: compared with the prior art, the wireless control rolling spherical robot with the transportation function has the following advantages:
the invention adopts the spherical shell to perform isolation protection, the internal structure of the robot is not easy to be involved with dust, dirt, knitting wool and the like, which is beneficial to prolonging the service life of the robot; meanwhile, the children and the pets are not easy to scratch at the places where the children and the pets exist; the spherical shell also plays an effective protection role when encountering collision and rolling, so that the internal electronic element is not damaged, and the internal structure can automatically restore to balance by utilizing the action of gravity, so that the operation can be continued.
Drawings
FIG. 1 is a schematic diagram of the front structure of the present invention;
FIG. 2 is a schematic side view of the present invention;
FIG. 3 is a program flow chart of the present invention;
FIG. 4 is a system circuit control diagram of the present invention;
FIG. 5 is a left side three-dimensional schematic of the invention;
FIG. 6 is a right side three-dimensional schematic of the present invention;
fig. 7 is a bottom three-dimensional schematic of the present invention.
In the figure: 1. a bracket; 2. nylon studs; 3. a bottom plate; 4. a reduction gear box; 5. a motor; 6. a driving wheel; 7. steering engine; 8. a rocker arm; 9. a magnet base; 10. a magnet; 11. a spherical shell; 12. a carrying 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. and a second universal ball.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a wireless control rolling spherical robot with a transportation function, which is shown in figures 1-7, and comprises a spherical shell 11;
according to figures 1, 2, 5, 6 and 7, in order to realize the equipment installation of the robot, a bracket 1 is arranged in 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 bracket 1, a motor 5 is connected at the upper part of the reduction gear box 4 in a transmission way, a driving wheel 6 is movably connected at the side edge of the reduction gear box 4, an output shaft of the motor 5 is in transmission connection in the reduction gear box 4, a conical gear is arranged in the reduction gear box 4 in transmission way and is connected with the driving wheel 6, the driving wheel 6 is movably attached to the spherical shell 11, in order to realize the steering operation, the differential operation of the driving wheel 6 can realize the steering operation of the robot, in order to ensure that the robot equipment is balanced in the spherical shell 11, a first universal ball 17 is fixedly connected at the front end and the rear end of the bracket 1, the first universal ball 17 is attached to the inner wall of the spherical shell 11, in order to install the installation blocks, the robot can want the tumbler to be the same at 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 ends of the nylon studs 2 are fixedly connected with a bottom plate 3, the bottom plate 3 or the bottom is fixedly provided with the installation blocks, at least two groups of balancing weights are respectively arranged at two ends of the bottom plate 3, in order to realize power supply to the robot, the bottom of the bracket 1 is fixedly provided with a battery pack 18, the battery pack 18 is fixedly arranged at the inner side of the nylon studs 2, in order to realize operation control to the robot, the upper surface of the bracket 1 is fixedly provided with a circuit board 16, in order to realize connection between the tray 13 and the bearing turntable 12 and keep balance of the robot, the upper part of the circuit board 16 is fixedly provided with a steering engine 7, the steering engine 7 is movably connected with the rocker arm 8, in order to realize the connection of the tray 13, the top of the rocker arm 8 is fixedly provided with the magnet seat 9, the magnet seat 9 is fixedly provided with the magnet 10, the magnet seat 9 is at least provided with two groups of magnets 10, the two groups of magnets 10 are respectively fixedly arranged at two ends of the magnet seat 9, the steering engine 7 realizes the control of the tray 13 through the rocker arm 8 to prevent the tray 13 from toppling over, the rocker arm 8 can keep the balance of the robot, in order to realize the transportation of the bearing object, the upper part of the spherical shell 11 is movably connected with the bearing turntable 12, in order to enable the bearing turntable 12 to realize the rotation on the spherical shell 11, the bottom of the bearing turntable 12 is at least provided with four groups of second universal balls 19, the four groups of second universal balls 19 are movably arranged at four corners of the bearing turntable 12, the second universal balls 19 are attached to the spherical shell 11, the upper part of the bearing turntable 12 is fixedly connected with the tray 13, in order to enable the tray 13 to realize the magnetic connection with the magnets 10 on the magnet seat 9, the middle of the tray 13 is fixedly provided with the balance of the robot, in order to enable the tray 13 to realize the transportation of the bearing turntable 13, the bottom of the tray 14 is fixedly arranged in the middle of the position of the tray 14, and the two groups of magnets 15 are fixedly connected with the bottom of the tray 15, and the two groups of magnets 15 are correspondingly arranged with the bottom of the magnets 15;
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, four pins of vcc, gnd, txd and rxd are in serial communication with the arduino single-chip microcomputer, the arduino single-chip microcomputer supplies power to the bluetooth module by 5v, the bluetooth module receives the control signal of an 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 movement of the robot to provide power for the motor 5 to be electrically connected with the battery pack 18, so that the battery pack 18 provides 12v voltage for the motor 5, in order to generate a control instruction for the motor 5, the motor 5 is electrically connected with the L298N motor driving module, the L298N motor driving module is electrically connected with the arduno single-chip microcomputer for controlling the operation of the motor 5, the arduno single-chip microcomputer outputs the signal to the L298N motor driving module by the I/O port to control the motor 5, in order to realize the control of the steering engine, and in order to realize the control of the steering engine 7 is electrically connected with the voltage stabilizing module 18, and the voltage stabilizing module is electrically connected with the voltage stabilizing module 18.
According to fig. 3, the system operation program body is as follows:
working principle: the mobile phone is used for carrying out Bluetooth connection with the spherical robot, a Bluetooth serial port assistant is downloaded, and control characters corresponding to codes are set, so that the spherical robot can be controlled to operate through the mobile phone. The motor 5 rotation speed is controlled by means of pwn control voltage. When the forward button is pressed, the motor 5 voltage increases by 12/256V every 10ms from 0 until a predetermined voltage is reached. So that the spherical shell 11 is slowly and evenly accelerated to advance at a uniform speed, and meanwhile, the rocker arm 8 swings forward for 20 degrees in the evenly accelerating process, so that the tray 13 is kept stable. Before stopping the movement, the spherical shell 11 can slowly and evenly decelerate while the rocker arm 8 swings backwards until the rocker arm 8 stops to reset. The rocker arm 8 can be independently controlled to pitch back and forth to pour cargoes when cargoes are unloaded. The two driving wheels 6 rotate the spherical shell 11 in a turning or in-situ manner by means of differential speed.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present invention, and 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 modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present invention.
Claims (7)
1. Wireless control rolling spherical robot with transportation function, including spherical shell (11), its characterized in that: the inside of spherical shell (11) is equipped with support (1), fixedly connected with reduction gearbox (4) in the middle of the both sides of support (1), the upper portion transmission of reduction gearbox (4) is connected with motor (5), the side swing joint of reduction gearbox (4) has drive wheel (6), drive wheel (6) and spherical shell (11) activity laminating are connected, the front and back both ends fixedly connected with first universal ball (17) of support (1), first universal ball (17) and spherical shell (11) inner wall laminating swing joint, four groups of nylon double-screw bolts (2) are fixed in the bottom fixed mounting of support (1), 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 bolts (2), the bottom fixed mounting of support (1) has group of batteries (18), group of batteries (18) are fixedly arranged in the inboard of nylon double-screw bolts (2), the upper surface fixed mounting of support (1) has circuit board (16), the upper portion of circuit board (16) has four groups of nylon double-screw bolts (7), the fixed mounting of magnet (8) has on rocking arm (8), the fixed mounting of magnet (9) has on rocking arm (8), the upper part of the spherical shell (11) is movably connected with a bearing rotary table (12), the upper part of the bearing rotary table (12) is fixedly connected with a tray (13), a tray base (14) is fixedly arranged in the middle of the tray (13), and a neodymium magnet (15) is fixedly arranged at the bottom of the tray base (14); the circuit board (16) is provided with a Bluetooth module, an arduino single-chip microcomputer, an L298N motor driving module and a voltage stabilizing module, the Bluetooth module is HC-05, four pins vcc, gnd, txd and rxd are used for forming serial communication with the arduino single-chip microcomputer, the Bluetooth module is powered by 5v through the arduino single-chip microcomputer, the motor (5) is electrically connected with the battery pack (18), so the battery pack (18) provides 12v voltage for the motor (5), the motor (5) is electrically connected with the L298N motor driving module, the L298N motor driving module is electrically connected with the arduino single-chip microcomputer and is used for controlling the operation of the motor (5), the arduino single-chip microcomputer outputs signals to the L298N motor driving module through an I/O port to control the motor (5), the steering engine (7) is electrically connected with the voltage stabilizing module, and the voltage stabilizing module is electrically connected with the battery pack (18), and the voltage is stabilized at 5v to the steering engine (7); the bottom plate (3) or the bottom is fixedly provided with a fitting block, and the fitting block is at least provided with two groups and is respectively positioned at two ends of the bottom plate (3); the output shaft of the motor (5) is in transmission connection in the reduction gear box (4), and a conical gear is arranged in the reduction gear box (4) and is in transmission connection with a driving wheel (6).
2. A wireless controlled rolling ball robot with transport function according to claim 1, characterized in that: at least two groups of magnets (10) are arranged on the magnet seat (9), and the two groups of magnets (10) are respectively and fixedly arranged at two ends of the magnet seat (9).
3. A wireless controlled rolling ball robot with transport function according to claim 1, characterized in that: 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 corresponding magnetic connection with the magnets (10) on the magnet base (9).
4. A wireless controlled rolling ball robot with transport function according to claim 1, characterized in that: the bottom of the object tray (13) is at least provided with four groups of second universal balls (19), the four groups of second universal balls (19) are movably arranged at four corners of the object tray (13), and the second universal balls (19) are attached to the ball shell (11).
5. A wireless controlled rolling ball robot with transport function according to claim 1, characterized in that: the Bluetooth module receives a control signal of the external mobile device, and transmits the control signal to the arduino singlechip to control the robot.
6. A wireless controlled rolling ball robot with transport function according to claim 1, characterized in that: the steering engine (7) controls the tray (13) through the rocker arm (8), the tray (13) is prevented from toppling over, and the balance of the robot can be maintained by swinging the rocker arm (8).
7. A wireless controlled rolling ball robot with transport function according to claim 1, characterized in that: the differential operation of the drive wheels (6) enables steering of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911311946.9A CN110861725B (en) | 2019-12-18 | 2019-12-18 | Wireless control rolling spherical robot with transportation function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911311946.9A CN110861725B (en) | 2019-12-18 | 2019-12-18 | Wireless control rolling spherical robot with transportation function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110861725A CN110861725A (en) | 2020-03-06 |
| CN110861725B true CN110861725B (en) | 2024-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911311946.9A Active CN110861725B (en) | 2019-12-18 | 2019-12-18 | Wireless control rolling spherical robot with transportation function |
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| KR20160077935A (en) * | 2014-12-24 | 2016-07-04 | 레드원테크놀러지 주식회사 | structure of ball robot |
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| TWI551494B (en) * | 2014-05-07 | 2016-10-01 | 國立清華大學 | Three dimensional flywheel vehicle |
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2019
- 2019-12-18 CN CN201911311946.9A patent/CN110861725B/en active Active
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| CN110861725A (en) | 2020-03-06 |
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