CN111436862A - Robot detection trapping device - Google Patents

Abstract

The invention provides a robot detecting and trapping device, which mainly utilizes a shaft body to drive a convex body to rotate, wherein a convex part is arranged on the periphery of the convex body, so that when a binding surface of a binding body is stuck on the convex body and the convex body rotates to the position of the convex part, the binding body can be upwards driven, and then when the convex body rotates to a position which is not arranged on the convex part, the binding body can downwards move, so that a sensed body arranged on a linkage component can be driven by the linkage component to vertically move, and a sensing body can sense the displacement change of the sensed body, thereby judging whether the robot stops moving or not.

Description

Robots detect trapped devices

technical field

The present invention provides a robot detecting trapping device, especially a detecting trapping device that senses the displacement change of a sensed body through a sensing body to determine whether a robot has stopped moving.

Background technique

With the rapid advancement of technology, robots have been widely used in many different fields to assist or replace humans in various tasks. However, due to their different needs, the types of robots used are also different, such as industrial robots or household robots.

Among them, among household robots, a sweeping robot is one of the common robots, which is used in cleaning related fields to assist humans in completing the sweeping and cleaning work through the automatic cleaning function of the sweeping robot.

However, although the conventional sweeping robot is provided with sensors around the robot to sense whether there is an obstacle on the walking route of the robot, so as to achieve the function of avoiding the obstacle. However, if the robot enters a small space and is trapped, the sensors provided in it cannot effectively sense that the robot is trapped, and transmit relevant information to the user.

In this way, it is an urgent problem to provide a device that can sense whether the robot is trapped or not in the art.

SUMMARY OF THE INVENTION

In order to solve the above problems, an object of the present invention is to provide a robot detecting trapping device, which uses a shaft to drive a convex body to rotate, and drives a fitting body to move up and down through the periphery of the convex body and a convex portion. , and then make a sensed body disposed on a linkage component move up and down, so that a sensing body will sense the displacement change of the sensed body to determine whether a robot has stopped moving.

In order to achieve the above object, the present invention provides a robot detection trapping device, which includes:

A drive module, which includes:

a round body

a shaft body, the shaft body is connected with the wheel body; and

at least one protruding body, the protruding body is connected with the shaft body, and is connected with the shaft body, and a protruding part is arranged on the periphery of the protruding body;

A sensed module, the sensed module is pivotally connected with the drive module, which includes:

a support assembly, the support assembly is pivotally connected with the shaft body; and

a linking component, the linking component is pivotally connected with the supporting component, and a sensed body is provided on the side of the linking component adjacent to the driving module, and the linking component is in contact with the protruding part At least one fitting body is provided on one side of the adjacent part, and the fitting body has a fitting surface, and the fitting surface is fitted with the periphery of the convex body;

a sensing module, the sensing module is connected with the supporting component, and there is a sensing space between the sensing module and the sensed body to sense the sensed body.

Preferably, the sensing module includes:

a base connected to the support assembly; and

A sensing body, the sensing body is arranged on one side of the base adjacent to the sensing body, and there is the sensing space between the sensing body and the sensing body to sense the sensing body.

Preferably, the base is connected with the support component, and the linkage component and the sensed body are accommodated between the base and the support component, and there is a movement space between the base and the support component , for the linkage assembly to move up and down.

Preferably, the support element is extended with a pivot portion, and the pivot portion passes through the linkage element and the base to be pivotally connected to the interior of a robot.

Preferably, the sensing body is a Hall sensor.

In order to solve the problems of the prior art, another object of the present invention is to provide a robot detecting and trapping device, which utilizes a shaft to drive a sensed body to rotate, thereby making the sensed body move up and down in a forward or reverse direction , and after sensing the displacement change of the body to be sensed through a sensing body, the sensing body can determine whether a robot has stopped moving.

In order to achieve the above-mentioned another object, the present invention further provides a robot detecting trapped device, which includes:

A drive module, which includes:

a round body; and

a shaft body, the shaft body is connected with the wheel body;

a body to be sensed, the body to be sensed is arranged on the periphery of the shaft body;

a sensing module, the sensing module is pivotally connected with the shaft body, and a sensing space is arranged between the sensing module and the sensing body to sense the sensing body.

Preferably, the sensing module includes:

a base, the base is pivotally connected with the shaft; and

A sensing body, the sensing body is arranged on one side of the base adjacent to the sensing body, and there is the sensing space between the sensing body and the sensing body to sense the sensing body.

In order to solve the problems of the prior art, another object of the present invention is to provide a robot detecting trapping device, which utilizes a body to be sensed on the periphery of a shaft portion, when a driving body drives a driving gear to rotate, the The shaft will rotate correspondingly, so that the sensed body can move up and down in a forward or reverse direction. After sensing the displacement change of the sensed body through a sensing body, the sensing body can judge whether a robot has stopped moving. .

In order to achieve the above-mentioned purpose, the present invention further provides a robot detecting and trapping device, which includes:

A drive module, which includes:

a driving body, the driving body has a driving part; and

a driving gear, the driving gear includes a shaft portion and a tooth portion, the tooth portion is engaged with the driving portion, so that the driving body drives the driving gear to rotate;

a body to be sensed, the body to be sensed is arranged on the periphery of the shaft portion;

a sensing module, the sensing module is arranged on the adjacent part of the driving gear, and there is a sensing space between the sensing module and the sensing body to sense the sensing body.

Preferably, the driving gear is one of a spur gear, a bevel gear, a herringbone gear, a face gear, a staggered thread gear or a halberd gear.

Preferably, the driving body is a motor.

Description of drawings

1 is a perspective view of a first embodiment of the present invention;

2 is an exploded view of the first embodiment of the present invention;

FIG. 3 is a first use state diagram of the linkage assembly according to the first embodiment of the present invention;

FIG. 4 is a second use state diagram of the linkage assembly according to the first embodiment of the present invention;

FIG. 5 is an internal schematic diagram of the sensed body and the sensing body according to the first embodiment of the present invention;

FIG. 6 is a schematic structural configuration diagram of a second embodiment of the present invention;

FIG. 7 is a schematic structural configuration diagram of a third embodiment of the present invention.

Description of reference numbers:

10-drive module, 11-shaft body, 12-wheel body, 13-convex body, 131-convex part, 20-inducted module, 21-support assembly, 211-pivot part, 22-linkage assembly, 221- Fitting body, 2211-fitting surface, 23-sensing body, 30-sensing module, 31-sensing body, 32-base, 40-driving module, 41-shaft body, 42-wheel body, 50-sensing body , 60-induction module, 61-induction body, 62-base, 70-drive module, 71-drive body, 711-drive part, 72-drive gear, 721-shaft part, 80-inducted body, 90-induction module.

Detailed ways

Specific embodiments will be described below to illustrate the implementation of the present invention, but are not intended to limit the scope of the present invention.

Please refer to FIG. 1 to FIG. 5 , which are a perspective view, an exploded view, a first use state view, a second use state view, and an internal schematic diagram of the sensed body and the sensing body according to the first embodiment of the present invention. As shown in the figure, the present invention is mainly composed of a driving module 10, a sensed module 20 and a sensing module 30, wherein the driving module 10 can be a driven wheel or a driving wheel. Take a driven wheel as an example, the driving module 10 includes a shaft body 11 , a wheel body 12 and at least one convex body 13 , the shaft body 11 is connected with the wheel body 12 , and both ends of the shaft body 11 protrude from the wheel body 12, so that the two ends of the shaft body 12 are connected with a convex body 13, and a convex part 131 is provided on the periphery of the convex body 13. If the wheel body 12 rotates in a forward or reverse direction , the wheel body 12 will drive the shaft body 11 to rotate, and the shaft body 11 will drive the convex body 13 to rotate.

The sensed module 20 is composed of a support component 21 , a linkage component 22 and a sensed body 23 . The support component 21 can be a bracket, and the support component 21 is pivotally connected with the shaft body 11 , so when When a robot drives the support element 21 to move forward or backward, due to the frictional force generated between the wheel body 12 and the ground, and because the shaft body 11 and the support element 21 are pivotally connected, the The wheel body 12 is rotated forward or backward, thereby driving the shaft body 11 to rotate. The linking component 22 is pivotally connected to the supporting component 21 . Specifically, the linking component 22 is pivotally connected to the other side of the supporting component 21 that is pivotally connected to the shaft body 11 . One side of the linking component 22 is provided with a fitting body 221 . The fitting body 221 can be a board body or a C-shaped board body, and the bottom end of the fitting body 221 is provided with a fitting surface 2211 . 2211 is in contact with the periphery of the protruding body 13 , and the sensing body 23 is arranged on the other side of the linking component 22 . The sensing body 23 is specifically a magnet, and the magnet is engaged with the linking component 22 on the side. In this way, since the linking component 22 is pivotally connected with the supporting component 21 , when the protruding body 13 is rotated due to the driving of the shaft body 11 , the abutting surface 2211 of the fitting body 221 will follow the protruding body 221 . The protruding portion 131 or the non-protruding portion 131 provided on the periphery of the body 13 drives the interlocking component 22 to move up and down, and the sensed body 23 is caused by the up and down movement of the interlocking component 22. Movement displacement change.

The sensing module 30 is composed of a sensing body 31 and a base 32 , the base 32 is connected with the supporting element 21 , and the linking element 22 and the sensed body 23 are accommodated in the base 32 and the supporting element 21 . Between the supporting components 21 , in addition, there is a moving space between the base 32 and the supporting component 21 for the linkage component 22 to move up and down, and the sensing body 31 is arranged adjacent to the sensing body 23 On one side of the base 32 , a sensing space is formed between the sensing body 31 and the sensing body 23 , so that the sensing body 31 can sense the sensing body 23 . In addition, the support element 21 is further extended with a pivot portion 211 , and the pivot portion 211 passes through the linkage element 22 and the base 32 to be pivotally connected to the inside of the robot.

When the robot drives a set of driving wheels to rotate through the motor provided inside, so that the robot moves forward or backward to move, the driving module 10 will cause the wheel body 12 to move due to the movement of the robot. The shaft 11 will drive the convex body 13 to rotate, so when the convex body 13 rotates, the fitting body 221 will follow the convex part 131 or the convex part 131 along the periphery of the convex body 13. The part other than the protruding part 131 drives the linking component 22 to move up and down, and the sensed body 23 is also driven by the linking component 22 to move up and down. At this time, since the sensing body 31 senses the displacement change of the sensing body 23 , when the sensing body 31 senses that the sensing body 23 is continuously moving up and down, the sensing body 31 will judge the robot and There is no trapped situation.

However, when the robot is trapped and cannot move, the shaft body 11 will not drive the protruding body 13 to rotate. On the contrary, the fitting body 221 will not drive the linkage assembly 22 to move up and down. Therefore, when the sensed body 23 stops, the sensed body 31 senses that the sensed body 23 no longer changes in displacement, and further determines that the robot is trapped.

Please refer to FIG. 6 , which is a schematic structural configuration diagram of the second embodiment of the present invention. As shown in the figure, a driving module 40 of the present invention can also be composed of a shaft body 41 and a wheel body 42 , the shaft body 41 is connected with the wheel body 42 , and a sensed body 50 is arranged on the shaft body 41 . In this way, when the shaft 41 rotates due to the movement of a robot, the sensed body 50 will be driven by the shaft 41 and move along a clockwise or counterclockwise trajectory.

A sensing module 60 is pivotally connected to the shaft body 41 , and the sensing module 60 includes a sensing body 61 and a base 62 , wherein the base 62 is pivotally connected to the shaft body 41 , and the sensing body 61 is provided with The sensing space is provided between the sensing body 61 and the sensing body 50 on one side of the base 62 adjacent to the sensing body 50 to sense the sensing body 50 . In this way, when the sensed body 50 is displaced along a clockwise or counterclockwise trajectory, the sensing body 61 will sense the displacement change of the sensed body 50 to determine that the robot is not trapped. However, if the sensing body 61 senses the displacement change of the sensing body 50 , the sensing body 61 will determine that the robot is trapped.

Please refer to FIG. 7 , which is a schematic structural configuration diagram of a third embodiment of the present invention. As shown in the figure, the driving module 70 can also be composed of a driving body 71 and a driving gear 72. The driving body 71 is extended with a driving portion 711, and the driving body 71 is specifically a motor, and the driving portion 711 is It is a screw driven by the driving body 71 to rotate. The driving gear 72 can be one of a spur gear, a bevel gear, a herringbone gear, a face gear, a staggered thread gear or a halberd gear. The driving gear 72 includes a shaft. A portion 721 and a tooth portion, the driving portion 711 is engaged with the tooth portion, and a body to be sensed 80 is disposed on the periphery of the shaft portion 721 . When the driving body 71 drives the driving part 711 to rotate, the driving part 711 will drive the driving gear 72 to rotate due to meshing with the tooth part, and when the driving gear 72 rotates, the shaft part 721 also rotates. It rotates relatively, so that the body 80 to be sensed moves on the shaft portion 721 in a clockwise or counterclockwise trajectory. In addition, a sensing module 90 is arranged on the adjacent part of the driving gear 72, and the sensing There is a sensing space between the module 90 and the sensed body 80 . Therefore, when the sensed body 80 moves along a clockwise or counterclockwise trajectory, the sensing module 90 will sense the displacement of the sensed body 80 Variation to judge a situation where a robot is not trapped. However, if the sensing module 90 senses the displacement change of the sensed body 80 , the sensing module 90 will determine that the robot is trapped.

After completing the above judgment, if the sensing module judges that the robot is trapped, the sensing module can transmit the obtained judgment information to a receiving module, so that the user can know that the robot has been trapped and cannot move. Then carry out the relevant exclusion action.

Through the technical description features disclosed above, the present invention can effectively detect whether the robot is trapped. The user performs related exclusion actions, etc.

In the description of the present invention, it should be understood that the terms "center", "lateral", "top", "bottom", "left", "right", "top", "bottom", "inner", " The orientation or positional relationship indicated by "outside" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or component must have a specific orientation, so as to The specific orientation configuration and operation are therefore not to be construed as limitations of the present invention.

The above detailed description is a specific description of a feasible embodiment of the present invention, but this embodiment is not intended to limit the protection scope of the present invention. Any equivalent implementation or modification that does not depart from the technical spirit of the present invention shall be included in the within the protection scope of the present invention.

Claims (10)

1. A robot detection trapping device is characterized in that, comprising: A drive module, including: a round body a shaft body, the shaft body is connected with the wheel body; and at least one protruding body, the protruding body is connected with the shaft body, and is connected with the shaft body, and a protruding part is arranged on the periphery of the protruding body; A sensed module, the sensed module is pivotally connected with the drive module, which includes: a support assembly, the support assembly is pivotally connected with the shaft body; and a linking component, the linking component is pivotally connected with the supporting component, and a sensed body is provided on the side of the linking component adjacent to the driving module, and the linking component is in contact with the protruding part At least one fitting body is arranged on one side of the adjacent part, and the fitting body has a fitting surface, and the fitting surface is fitted with the periphery of the convex body; a sensing module, the sensing module is connected with the supporting component, and there is a sensing space between the sensing module and the sensed body to sense the sensed body. 2. The robot detection trapping device according to claim 1, wherein the sensing module comprises: a base connected to the support assembly; and A sensing body, the sensing body is arranged on one side of the base adjacent to the sensing body, and there is the sensing space between the sensing body and the sensing body to sense the sensing body. 3 . The robot detecting trapping device according to claim 2 , wherein the base is connected with the support element, and the linkage element and the sensed body are accommodated in the base and the support element. 4 . There is a moving space between the base and the support assembly for the linkage assembly to move up and down. 4 . The robot detecting trapping device according to claim 2 , wherein the support element is extended with a pivot portion, and the pivot portion passes through the linkage element and the base to communicate with an interior of the robot. 5 . pivoted. 5 . The robot detecting trapping device of claim 1 , wherein the sensing body is a Hall sensor. 6 . 6. A robot detection trapping device, characterized in that, comprising: A drive module, which includes: a round body; and a shaft body, the shaft body is connected with the wheel body; a body to be sensed, the body to be sensed is arranged on the periphery of the shaft body; and a sensing module, the sensing module is pivotally connected with the shaft body, and a sensing space is arranged between the sensing module and the sensing body to sense the sensing body. 7. The robot detecting trapping device according to claim 6, wherein the sensing module comprises: a base pivotally connected to the shaft; and A sensing body, the sensing body is arranged on one side of the base adjacent to the sensing body, and there is the sensing space between the sensing body and the sensing body to sense the sensing body. 8. A robot detection trapping device, characterized in that, comprising: A drive module, including: a driving body, the driving body has a driving part; and a driving gear, the driving gear includes a shaft portion and a tooth portion, the tooth portion is engaged with the driving portion, so that the driving body drives the driving gear to rotate; a body to be sensed, the body to be sensed is disposed on the periphery of the shaft portion; and a sensing module, the sensing module is arranged on the adjacent part of the driving gear, and there is a sensing space between the sensing module and the sensing body to sense the sensing body. 9 . The robot detecting trapping device according to claim 8 , wherein the driving gear is one of a spur gear, a bevel gear, a herringbone gear, a face gear, a cross-threaded gear or a halberd gear. 10 . 10 . The robot detecting trapping device according to claim 8 , wherein the driving body is a motor. 11 .

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