Artificial wave machine ball

Abstract

The application relates to the field of amusement equipment and discloses an artificial wave machine ball, which comprises a ball body, a movement module, an elastic member and a control module, the ball body is internally provided with a sealed cavity structure frame, the sealed cavity structure frame comprises an upper seat, a lower seat, a framework and a pair of guide rods, a movable frame of the movement module is arranged on the guide rods, a power source of a driving unit is arranged on the movable frame, the power source is connected with the upper seat through a transmission mechanism, the movable frame is driven to reciprocate, the elastic member connects the framework and the movable frame, upward elastic force is applied, the control module is electrically connected with the power source, the center of gravity of the machine ball is made to fluctuate up and down to generate waves; therefore, the machine ball is independently put into a family swimming pool, a small water play pool and other lightweight scenes through the built-in structure without external dragging or matched traction equipment, the movable frame reciprocates along the guide rods in the vertical direction, the elastic member is stably reset, the center of gravity fluctuates and resonates with the water body, stable and wave-height-adjustable amusement waves are efficiently generated, the movement direction is good in consistency, and the wave-making efficiency is high.

Description

Technical Field

[0001] This invention relates to the field of amusement equipment technology, specifically to an artificial wave-generating robotic ball. Background Technology

[0002] Currently, most wave-making equipment used in water parks is large, external wave-making units. Smaller wave-making balls generally require external towing or traction devices to move the ball in the water and create waves. These external devices not only have demanding installation requirements, needing ample space and a fixed foundation, making them unsuitable for small recreational water play areas like home pools, but also significantly increase overall installation and operating costs. Even in medium-sized pools with suitable installation conditions, they present problems such as complexity and inconvenient maintenance, failing to meet the needs of home users for convenient wave generation in small pools. Furthermore, some existing wave-making products with built-in motion structures often use springs and counterweights for reciprocating motion, neglecting the fatigue and failure of springs under long-term stress. After a period of use, the spring's restoring force diminishes, directly leading to insufficient counterweight travel, a continuous decline in wave generation effect, and a shorter equipment lifespan, making it unable to reliably meet the requirements for continuous wave generation in swimming pools. Summary of the Invention

[0003] The purpose of this invention is to provide an artificial wave-generating robotic ball. Through an internal movable frame that can reciprocate along a guide rod, combined with elastic components and a drive unit, the center of gravity of the robotic ball fluctuates up and down in sync with the water's movement to generate controllable waves. This solves the problems of existing wave-generating balls relying on external equipment and having poor motion stability, and achieves low-cost, long-life, stable and reliable wave generation for home swimming pools.

[0004] This invention is achieved through the following technical solution:

[0005] An artificial wave-generating robotic ball, including

[0006] A sphere comprising a structural frame for forming a sealed cavity, wherein the structural frame includes an upper seat, a lower seat, a skeleton, and a guide rod, the upper seat and the lower seat being connected to both ends of the skeleton, and the guide rod being connected between the upper seat and the lower seat;

[0007] The motion module includes a movable frame and a drive unit. The movable frame slides through the guide rod. The drive unit includes a power source and a transmission mechanism. The power source is disposed on the movable frame. The transmission mechanism connects the power source and the upper seat and is used to drive the movable frame to reciprocate along the guide rod.

[0008] An elastic element, one end of which is connected to the movable frame and the other end of which is connected to the skeleton and / or the upper seat, applies an elastic force to the movable frame to move towards the upper seat;

[0009] The control module is electrically connected to the power source, causing the center of gravity of the machine ball to fluctuate up and down to generate waves.

[0010] In this solution, by adopting a built-in structural frame and independent motion module design, the artificial wave-generating robot ball can autonomously complete wave-generating actions without relying on external towing or matching traction equipment. This effectively reduces installation conditions and usage costs, and can be adapted to lightweight water play scenarios such as home swimming pools and small wading pools where traditional wave-generating equipment cannot be used. The overall structure is compact and reliably sealed, and can be directly placed in water for use. At the same time, the movable frame moves vertically back and forth along the paired guide rods, and with the help of elastic components to provide stable restoring force, it can smoothly change the overall center of gravity of the robot ball. Through the up and down fluctuation of the center of gravity and the undulation of the water, it forms a resonance, efficiently generating stable and adjustable play waves with good consistency in the direction of movement and high wave-generating efficiency.

[0011] As a further embodiment of the artificial wave-generating robotic ball, the control module includes a water level sensor for detecting the height of the robotic ball in the water, and a controller for controlling the output frequency of the power source. The controller is electrically connected to the water level sensor, enabling the controller to dynamically adjust the output frequency of the power source according to the relative water level of the robotic ball in real time. This drives the movement rhythm of the mobile frame to synchronize with the natural wave frequency of the water. This synchronization mechanism allows the fluctuation of the robotic ball's center of gravity to resonate with the inherent oscillation of the water. With the superposition of energy from each fluctuation, the amplitude of the waves gradually increases and maintains stable periodic surges, avoiding energy cancellation or wave turbulence caused by the asynchronous movement and water fluctuations. At the same time, the closed-loop feedback control of the water level sensor enables the robotic ball to adapt to the wave characteristics under different water depths, different water conditions, and different load conditions, and can continuously output efficient wave generation without human intervention.

[0012] As a further embodiment of the artificial wave-generating robotic ball, the robotic ball also includes a locking device. The locking device is located between the movable frame and the structural frame, and is used to lock the movable frame in the upper or lower position of the guide rod when not in operation. This allows for flexible selection of the locking state according to the actual usage scenario. When locked in the lower position after daily use, the movable frame is at its lowest point, and the overall center of gravity of the robotic ball is lowered to the lowest level, allowing it to float stably on the water surface without easily tipping over. At the same time, although the elastic element is in an extended state, it no longer repeatedly extends and retracts because the movable frame is fixed, avoiding continuous fatigue deformation of the elastic element. When it needs to be stored for a long time, such as in winter or when it is not for sale, it is locked in the upper position, so that the elastic element is stretched to the minimum, effectively preventing permanent failure of the elastic element due to long-term suspension of heavy objects. In addition, it can prevent the ball from tipping over when used with an external seat.

[0013] As a further solution to the artificial wave-generating robotic ball, to further ensure the lifespan of the elastic component and improve the safety and stability of the robotic ball in its non-operating state, the locking device includes:

[0014] A first de-energized electromagnet and a first adsorption part, wherein the first de-energized electromagnet is disposed on the movable frame and the first adsorption part is disposed on the upper part of the guide rod, wherein when the first de-energized electromagnet is de-energized, it is adsorbed onto the first adsorption part to lock the movable frame in the upper position.

[0015] And / or a second de-energized electromagnet and a second adsorption part, wherein the second de-energized electromagnet is disposed on the movable frame and the second adsorption part is disposed on the lower base, and the second de-energized electromagnet is adsorbed onto the second adsorption part when the power is off to lock the movable frame in the lower position.

[0016] As a further embodiment of the artificial wave-generating robotic ball, the transmission mechanism includes a crank and a rocker arm. One end of the crank is fixedly connected to the output shaft of the power source, and the other end of the crank is hinged to one end of the rocker arm. The other end of the rocker arm is pivotally connected to the upper seat. When the power source drives the crank to rotate, the circular motion of the crank is converted into the oscillation of the rocker arm because the upper end of the rocker arm is constrained by the upper seat. This, in turn, drives the power source and the movable frame fixedly connected to it to make vertical linear reciprocating motion along the guide rod, realizing the efficient conversion of rotational motion into linear motion. At the same time, the crank-rocker mechanism has a quick-return characteristic, which makes the speed of the movable frame rising and falling different, making it easier to achieve a better center of gravity fluctuation curve by cooperating with the elastic force of the elastic element.

[0017] As a further embodiment of the artificial wave-generating robotic ball, the elastic element is a coil spring, which is provided in multiple forms and symmetrically distributed along the circumference of the movable frame. One end of each coil spring is connected to the frame or the upper seat, or a portion of the coil spring is connected to the frame and the other portion is connected to the upper seat. The other end of each coil spring is connected to the movable frame. When the movable frame moves downward, the coil spring is stretched and stores elastic potential energy, applying a uniform and stable upward restoring force to the movable frame. This restoring force works together with the output force of the drive unit, so that the power source does not need to output a large torque throughout the entire process to drive the movable frame to reciprocate, thus reducing energy consumption.

[0018] As a further embodiment of the artificial wave-generating robotic ball, at least two guide rods are provided, symmetrically distributed on both sides of the vertical center line of the robotic ball; the movable frame includes a ring frame and a bridge frame disposed in the center of the ring frame, the bridge frame being slidably connected to the two guide rods; the power source is disposed on the bridge frame, the output shaft of the power source being perpendicular to the vertical center line and perpendicular to the line connecting the two guide rods, thereby enabling the robotic ball to maintain essentially longitudinal movement, facilitating the adjustment of the speed and direction of movement according to the height of the robotic ball in the water.

[0019] As a further embodiment of the artificial wave-generating robotic ball, the robotic ball also includes a power supply module, which includes a battery and a charging unit. The battery is located on the movable frame, so that the battery mass directly participates in the reciprocating motion of the motion module. When the movable frame moves up and down, the mass of the battery also moves accordingly, effectively increasing the range of change of the overall center of gravity of the robotic ball. The charging unit is located inside the ball and in the upper space, making it convenient for users or external charging devices to contact or sense charge.

[0020] As a further embodiment of the artificial wave-generating robotic ball, the robotic ball also includes a propulsion device located on both sides of the lower part of the ball and electrically connected to the control module. The propulsion device is used to drive the robotic ball to move or turn in the water, so that the robotic ball can be easily moved to the poolside for charging, maintenance or storage without having to go into the water to retrieve it.

[0021] As a further embodiment of the artificial wave-generating robotic ball, to ensure the robotic ball can work stably underwater for a long time, the ball includes an outer shell, an upper cover, and a lower cover. The outer shell covers the outer periphery of the skeleton, the upper cover detachably seals the upper seat, and the lower cover detachably seals the lower seat. The outer shell, upper cover, and lower cover together form the sealed cavity.

[0022] Compared with the prior art, the present invention has the following main advantages and beneficial effects:

[0023] 1. This invention integrates the drive unit, movable frame, elastic element and control module into the sealed sphere to form a completely independent wave-making unit. It does not require any external dragging or traction equipment, which solves the problems of existing wave-making balls relying on external supporting facilities, being unsuitable for small places such as home swimming pools and being costly.

[0024] 2. This invention utilizes the reciprocating motion of the movable frame along the guide rod, combined with the upward elastic force applied by the elastic element. Combined with closed-loop control using a water level sensor, the fluctuations of the center of gravity synchronize with the inherent undulations of the water body, efficiently generating stable and gradually increasing controllable waves, thus avoiding energy cancellation. Simultaneously, it employs multiple symmetrically distributed coil springs to ensure smooth movement and balanced force distribution. With the help of a de-energized electromagnet locking device, the movable frame can be locked in the upper or lower position when not in operation, effectively preventing permanent failure of the elastic element due to long-term stress or repeated expansion and contraction, significantly extending the overall service life of the machine, and overcoming the defects of traditional wave-generating ball springs that are prone to aging and failure. Attached Figure Description

[0025] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0026] Figure 1 This is a front view structural diagram of the present invention;

[0027] Figure 2 This is a schematic diagram of the structure of the present invention without the top cover, outer shell, and bottom cover installed;

[0028] Figure 3 This is a structural schematic diagram of the present invention from another perspective when the top cover, outer shell, and bottom cover are not installed.

[0029] Figure 4 for Figure 2 A schematic diagram of the structure marked A in the middle;

[0030] Figure 5 This is a schematic diagram of the structure of the present invention without the outer casing;

[0031] Figure 6 for Figure 5 A schematic diagram of the structure marked B in the middle;

[0032] Figure 7 This is a bottom view of the structure of the present invention without the outer casing;

[0033] Figure 8 This is a top view of the present invention without the top cover, outer shell, and bottom cover installed.

[0034] Figure 9 This is a front view of the present invention without the top cover, outer shell, and bottom cover installed.

[0035] Figure 10 This is a schematic diagram of the rear structure of the present invention without the top cover, outer shell, and bottom cover installed.

[0036] Figure 11 This is a schematic diagram showing the positions of the inlet and outlet water ports that are part of the propulsion device of this invention.

[0037] The attached diagram shows the markings and corresponding component names:

[0038] 1-Hanging ring, 2-Upper cover, 3-Outer shell, 4-Lower cover, 5-Charging unit, 6-Upper seat, 7-Frame, 8-Coil spring, 9-Modible frame, 10-Battery, 11-First adsorption part, 12-Lower seat, 13-Bridge frame, 14-Guide rod, 15-Horizontal frame, 16-First de-energized electromagnet, 17-Second adsorption part, 18-Vertical frame, 19-Ear plate, 20-First pivot point, 21-Rock arm, 22-Crank, 23-Second pivot point, 24-Coil spring connecting seat, 25-Second de-energized electromagnet, 26-Rock arm connecting seat, 27-First limiting component, 28-Second limiting component, 29-Drive assembly, 30-Inlet, 31-Outlet. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0040] Example 1

[0041] This embodiment 1 provides an artificial wave-generating robotic ball, such as Figures 1-3 As shown, it includes a sphere, a motion module, an elastic element, a control module, and a power supply module;

[0042] Among them, such as Figures 1-3 , Figure 5 , Figures 7-10As shown, the sphere includes an internal structural frame for forming a sealed cavity, and an external shell 3, an upper cover 2, and a lower cover 4. Specifically, the structural frame includes an upper seat 6, a lower seat 12, and a skeleton 7. The upper seat 6 and lower seat 12 are connected to both ends of the skeleton 7. The skeleton 7 includes at least four vertical frames 18 and at least one horizontal frame 15, forming an approximately spherical cage. The two ends of the four vertical frames 18 are respectively connected to the upper seat 6 and the lower seat 12. The horizontal frame 15 connects the four vertical frames 18 in series in the middle region. The shell 3 covers the outer periphery of the skeleton 7. The upper cover 2 seals the upper seat 6, and the lower cover 4 seals the lower seat 12. The shell 3, upper cover 2, and lower cover 4 together form a sealed cavity to prevent external water from entering the machine ball. Furthermore, a lifting ring 1 is detachably installed on the top of the upper cover 2 via a threaded connection for moving the machine ball. After the machine ball is placed in water, the lifting ring 1 can be removed and a cover can be installed to keep the spherical surface smooth and prevent scratches to the user.

[0043] Meanwhile, the aforementioned structural frame also includes guide rods 14, specifically, as shown in... Figure 2 As shown, the center of the spherical cage and the center of the machine ball are on the same vertical center line, which serves as a reference line. Guide rods 14 are connected in pairs between the upper seat 6 and the lower seat 12. In this embodiment, two guide rods 14 are provided, symmetrically distributed on both sides of the reference line (within the range shown). Figure 8 Taking the example shown, the four longitudinal frames are numbered 1, 2, 3, and 4 respectively. From a top-down view, lines connecting 1 and 3, and lines connecting 2 and 4, divide the entire machine ball into four quadrants. In this embodiment, guide rod 14 is located in the second and fourth quadrants. It is understood that the numbering and quadrants are for ease of structural description and do not restrict the numbering and division to starting from a specific longitudinal frame. Furthermore, the number of guide rods 14 is not limited; three or four are acceptable, and even a single rod can be used if a sliding groove is provided. Figure 9 and Figure 10 As shown, each guide rod 14 is provided with a first limiting member 27 near the upper seat 6 and a second limiting member 28 near the lower seat 12. In this embodiment, the first limiting member 27 is the base of the first adsorption part 11. In fact, the first adsorption part 11 cooperates with the first de-energized electromagnet 16 mentioned below to limit the stroke. The height of the base can be adjusted to limit the stroke of the movable frame 9 on the guide rod 14. Alternatively, the base can be used directly as a block, and the first adsorption part 11 can be installed higher than the base. It is not limited to the base or the adsorption part as the extreme position of the movement. The second limiting member 28 can be an annular block, a snap ring, or a positioning sleeve. There are no restrictions.

[0044] Please see Figures 2-4 and Figures 7-10As shown, the motion module comprises a movable frame 9 and a driving unit, the movable frame 9 is slidably arranged on the aforementioned guide rods 14 in a penetrating manner. Specifically, the outer periphery of the movable frame 9 is configured as an annular shape, with a bridge frame 13 arranged in the center, and the whole is in a shape of the Chinese character "ri" (meaning sun). The bridge frame 14 is penetrated by two guide rods through sliding holes, and the length direction of the bridge frame 13 is collinear with the connecting line direction of the two guide rods 14. The driving unit comprises a power source and a transmission mechanism. In this embodiment, the power source is a servo motor (i.e., a part of the driving assembly 29), which is arranged on the bridge frame 13 of the movable frame 9. The direction of the output shaft of the servo motor is perpendicular to the reference line and perpendicular to the connecting line direction of the two guide rods 14. The transmission mechanism connects the power source to the upper base 6, and is configured to drive the movable frame 9 to reciprocate along the guide rods 14. Specifically, the transmission mechanism is a crank-rocker mechanism, comprising a crank 22 and a rocker 21. One end of the crank 22 is fixedly connected to the output shaft of the servo motor, the other end of the crank 22 is hinged to one end of the rocker 21 through a second pivot point 23, and the other end of the rocker 21 is pivotally connected to the rocker connecting seat 26 on the upper base 6 through a first pivot point 20. When the servo motor operates, since the upper end of the rocker 21 is connected to the fixed upper base 6, the circular motion of the crank 22 is converted into the swinging motion of the rocker 21, which further drives the servo motor and the movable frame 9 fixedly connected thereto to perform linear reciprocating motion in the vertical direction along the guide rods 14. The crank-rocker mechanism has a quick-return characteristic, which makes the ascending and descending speeds of the movable frame 9 different, facilitating the realization of a more optimal center of gravity fluctuation curve in cooperation with the elastic force of the elastic member.

[0045] Please further refer to Figure 2 and Figure 4 , in this embodiment, the elastic member is a spiral spring 8, a plurality of which are provided and symmetrically distributed along the circumferential direction of the movable frame 9. Specifically, spiral springs 8 are installed on both sides of each vertical frame 18, and corresponding spiral spring connecting seats 24 are provided on the annular frame at the outer periphery of the movable frame 9, with a total of 8 spiral springs 8 symmetrically distributed. One end of each spiral spring 8 is connected to the vertical frame 18 of the framework 7, and the other end is connected to the spiral spring connecting seat 24 on the movable frame 9. The spiral spring 8 applies an elastic force to the movable frame 9 that moves towards the direction of the upper seat 6. When the movable frame 9 moves downward, the spiral spring 8 is stretched to store elastic potential energy, providing a uniform and stable upward restoring force, which acts together with the output force of the driving unit, so that the power source can drive the movable frame 9 to reciprocate without outputting a large torque throughout the whole process, reducing energy consumption. It can be understood that a spring can also be used as the elastic member, the spring can be installed according to the installation position of the spiral spring, or can be additionally arranged, for example, sleeved on the guide rod to provide assistance for the movement of the movable frame.

[0046] As shown in Figures 1-2 , Figure 8 and Figure 10As shown, the power supply module includes a battery 10 and a charging unit 5. The battery 10 is mounted on the movable frame 9. In this embodiment, two batteries 10 are symmetrically distributed on both sides of the reference line (basically in the first and third quadrants), allowing the battery mass to directly participate in the reciprocating motion of the motion module, eliminating the need for some counterweights or even eliminating the need for counterweights altogether. The charging unit 5 is located on the upper part of the sphere, specifically mounted on the upper cover 2. In this embodiment, the charging unit 5 is a wireless inductive charging coil, employing a wireless inductive charging method to prevent water from flowing into the sealed chamber during charging. The location of the charging unit on the upper cover is set as a planar area, which on the one hand conforms to the existing cooperation habits of wireless charging devices and external chargers, and on the other hand accurately indicates the charging area, facilitating identification by the user operating the charger or the robot itself.

[0047] In this embodiment, the control module is electrically connected to the power source and is used to cause the center of gravity of the robotic ball to fluctuate up and down to generate waves. The control module includes a controller (not shown separately in the figure) and a water level sensor (not shown separately in the figure). The controller is mounted on the movable frame 9 or the skeleton 7. In this embodiment, the skeleton 7 has an ear plate 19 as the base for mounting the controller and the water level sensor. The water level sensor is used to detect the height of the robotic ball in the water. The controller is electrically connected to the water level sensor and dynamically adjusts the output frequency of the servo motor according to the relative water level of the robotic ball in real time, thereby driving the movement rhythm of the movable frame 9 to synchronize with the natural fluctuation frequency of the water. This synchronization mechanism causes the fluctuation of the center of gravity of the robotic ball to resonate with the inherent oscillation of the water. With the energy superposition of each fluctuation, the wave amplitude gradually increases and maintains a stable periodic surge. The controller can also communicate with external terminals (such as mobile phones or computers), obtain the status information of the robotic ball through an APP, and set the working frequency of the servo motor to achieve wave generation of different wave heights. In addition, the APP can also obtain information such as battery level, so that users can determine whether charging is needed based on the remaining battery power.

[0048] like Figures 2-8As shown, this embodiment also includes a locking device, which is located between the movable frame 9 and the structural frame. This device locks the movable frame 9 to the upper or lower position of the guide rod 14 when not in operation. Specifically, the locking device includes a first de-energized electromagnet 16 and a first adsorption part 11, as well as a second de-energized electromagnet 25 and a second adsorption part 17. The first de-energized electromagnet 16 is located on the bridge frame 13 of the movable frame 9, and the first adsorption part 11 is located on the upper part of the guide rod 14 (in this embodiment, the first adsorption part 11 is located on the first limiting member 27). The second de-energized electromagnet 25 is located in the lower region of the bridge frame 13 of the movable frame 9, and the second adsorption part 17 is located on the lower seat 12. During normal wave generation operation, both the first de-energized electromagnet 16 and the second de-energized electromagnet 25 are energized and do not contact their respective adsorption parts, ensuring the free movement of the movable frame 9. After daily use, the controller controls the servo motor to drive the movable frame 9 downwards to its lower limit position, then de-energizes the second de-energized electromagnet 25, which then attaches to the second suction part 17, locking the movable frame 9 in the lower position. At this time, the machine ball has its lowest center of gravity, floats stably, and is not easy to tip over. Although the coil spring 8 is stretched, it no longer repeatedly extends and retracts because the movable frame is fixed, reducing fatigue deformation. When long-term storage is required (such as in winter or when not sold), the controller controls the servo motor to drive the movable frame 9 upwards to its upper limit position, de-energizing the first de-energized electromagnet 16, which then attaches to the first suction part 11, locking the movable frame 9 in the upper position. At this time, the coil spring 8 is stretched to its minimum, preventing failure due to prolonged suspension of heavy objects.

[0049] Workflow: First, the robotic ball is placed in water. The ball floats on the surface due to its own buoyancy. The sealed outer shell 3, upper cover 2, and lower cover 4 ensure that the internal electrical components are isolated from the water. After startup, the water level sensor in the control module detects the height of the robotic ball relative to the water in real time and transmits the signal to the controller. The controller, based on preset parameters or the frequency set by an external terminal (such as a mobile APP), controls the servo motor, which serves as the power source, to start working. The output shaft of the servo motor drives the crank 22 to rotate. The crank 22, through the hinged rocker arm 21, drives the movable frame 9 to perform vertical reciprocating motion along the paired guide rods 14. Simultaneously, symmetrically distributed coil springs 8 apply an upward elastic force to the movable frame 9, assisting the servo motor in driving the movable frame 9 up and down. Since the battery 10 is also installed on the movable frame 9, the entire mass of the motion module participates in the reciprocating motion, causing the overall center of gravity of the robotic ball to fluctuate periodically up and down along the reference line. Based on the feedback from the water level sensor, the controller dynamically adjusts the output frequency of the servo motor to adjust the movement rhythm of the movable frame 9. As the natural fluctuation frequency of the water gradually synchronizes, a resonance effect is formed. With the superposition of energy from each fluctuation of the center of gravity, the water generates surges and gradually increases in wave height, thus creating stable playful waves in the pool. After daily use, the controller controls the servo motor to drive the movable frame 9 to slide down to the lower limit position and de-energizes the second de-energized electromagnet 25, causing it to adhere to the second adsorption part 17 on the lower seat 12, locking the movable frame 9 in the lower position. At this time, the overall center of gravity of the machine ball is at its lowest, and it floats steadily on the water surface. Although the coil spring 8 is stretched, it no longer repeatedly extends and retracts because the movable frame is fixed. When long-term storage is required (such as in winter), the controller controls the servo motor to drive the movable frame 9 to slide up to the upper limit position and de-energizes the first de-energized electromagnet 16, causing it to adhere to the first adsorption part 11 on the upper part of the guide rod 14, locking the movable frame 9 in the upper position. At this time, the coil spring 8 is in the minimum tension state, effectively preventing the elastic element from failing due to long-term stress. Together with the external seat, it prevents the ball from tipping over, thereby extending the service life of the machine ball.

[0050] Example 2

[0051] This embodiment 2 adds a propulsion device to the original embodiment 1, enabling the robotic ball to move and turn actively. The rest of the structure is the same as in embodiment 1, except that:

[0052] like Figure 5 and Figure 7 As shown, the machine sphere also includes propulsion devices (not directly shown in the figure). The propulsion devices are located on both sides of the lower part of the sphere, that is, one propulsion device is located on each side of the lower half of the outer shell 3, and the two propulsion devices are symmetrically distributed about a reference line. Figure 11As shown, the sphere is equipped with an inlet 30 and an outlet 31 corresponding to each propulsion device, and contains an impeller or propeller driven by a motor. The main body of the propulsion device is embedded inside the sphere, with only the inlet and outlet protruding from the sphere's surface to avoid the protruding structure scratching the user. The propulsion device is electrically connected to the battery 10 and powered by the power supply module; simultaneously, the propulsion device is electrically connected to the control module, which can independently control the start, stop, speed, and forward and reverse rotation of the two propulsion devices. When linear movement is required, the controller controls the two propulsion devices to operate at the same speed and in the same direction; when turning is required, the controller controls the two propulsion devices to operate at different speeds or in opposite directions, achieving differential turning. Users can communicate with the controller via a remote terminal (such as a mobile APP) to control the robotic ball to move forward, backward, or turn, conveniently moving the robotic ball to the poolside for charging, maintenance, or storage without having to go into the water to retrieve it. In addition, the robotic ball can be equipped with external positioning markers or built-in sensors, enabling the controller to control the robotic ball to automatically move to a preset location (such as a charging area), achieving intelligent autonomous return.

[0053] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An artificial wave-generating robotic ball, characterized in that, include A sphere comprising a structural frame for forming a sealed cavity, wherein the structural frame comprises an upper seat (6), a lower seat (12), a skeleton (7), and a guide rod (14), the upper seat (6) and the lower seat (12) being connected to both ends of the skeleton (7), and the guide rod (14) being connected between the upper seat (6) and the lower seat (12). The motion module includes a movable frame (9) and a drive unit. The movable frame (9) is movably mounted on the guide rod (14). The drive unit includes a power source and a transmission mechanism. The power source is mounted on the movable frame (9). The transmission mechanism connects the power source to the upper seat (6) and is used to drive the movable frame (9) to reciprocate along the guide rod (14). An elastic element, one end of which is connected to the movable frame (9) and the other end of which is connected to the skeleton (7) and / or the upper seat (6), applies an elastic force to the movable frame (9) to move towards the upper seat (6); The control module is electrically connected to the power source.

2. The artificial wave-generating sphere according to claim 1, characterized in that, The control module includes a water level sensor for detecting the height of the robotic ball in the water, and a controller for controlling the output frequency of the power source. The controller is electrically connected to the water level sensor so that the movement of the movable frame (9) is synchronized with the fluctuation of the water.

3. The artificial wave-generating sphere according to claim 1, characterized in that, The machine ball also includes a locking device, which is disposed between the movable frame (9) and the structural frame, for locking the movable frame (9) at the upper or lower position of the guide rod (14) when not in operation.

4. The artificial wave-generating sphere according to claim 3, characterized in that, The locking device includes: The first de-energized electromagnet (16) and the first adsorption part (11) are provided on the movable frame (9) and the first adsorption part (11) is provided on the upper part of the guide rod (14). When the first de-energized electromagnet (16) is de-energized, it is adsorbed on the first adsorption part (11) to lock the movable frame (9) in the upper position. And / or a second de-energized electromagnet (25) and a second adsorption part (17), wherein the second de-energized electromagnet (25) is disposed on the movable frame (9) and the second adsorption part (17) is disposed on the lower seat (12), wherein when the second de-energized electromagnet (25) is de-energized, it is adsorbed onto the second adsorption part (17) to lock the movable frame (9) in the lower position.

5. The artificial wave-generating sphere according to claim 1, characterized in that, The transmission mechanism includes a crank (22) and a rocker arm (21). One end of the crank (22) is fixedly connected to the output shaft of the power source, and the other end of the crank (22) is hinged to one end of the rocker arm (21). The other end of the rocker arm (21) is pivotally connected to the upper seat (6).

6. The artificial wave-generating sphere according to claim 1, characterized in that, The elastic element is a coil spring (8), and there are multiple coil springs that are symmetrically distributed around the circumference of the movable frame (9). One end of each coil spring (8) is connected to the frame (7) or the upper seat, or some coil springs are connected to the frame and the other part of the coil springs are connected to the upper seat; the other end of each coil spring (8) is connected to the movable frame (9).

7. The artificial wave-generating sphere according to claim 1, characterized in that, The guide rod (14) has at least two rods, which are symmetrically distributed on both sides of the vertical center line of the machine ball; the movable frame (9) includes a ring frame and a bridge frame (13) set in the center of the ring frame, and the bridge frame (13) is slidably connected to the two guide rods (14); the power source is set on the bridge frame (13), and the output shaft of the power source is perpendicular to the vertical center line and perpendicular to the line connecting the two guide rods (14).

8. The artificial wave-generating sphere according to claim 1, characterized in that, The machine ball also includes a power supply module, which includes a battery (10) and a charging unit (5). The battery (10) is disposed on the movable frame (9), and the charging unit (5) is disposed inside the ball and in the upper space.

9. The artificial wave-generating sphere according to claim 1, characterized in that, The robotic ball also includes a propulsion device, which is located inside the ball and electrically connected to the control module, for driving the robotic ball to move forward, backward, or turn in the water.

10. The artificial wave-generating sphere according to claim 1, characterized in that, The sphere includes an outer shell (3), an upper cover (2) and a lower cover (4). The outer shell (3) covers the outer periphery of the skeleton (7). The upper cover (2) detachably seals the upper seat (6). The lower cover (4) detachably seals the lower seat (12). The outer shell (3), the upper cover (2) and the lower cover (4) together form the sealed cavity.

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