CN111436862A - Robot detection trapping device - Google Patents
Robot detection trapping device Download PDFInfo
- Publication number
- CN111436862A CN111436862A CN201910040241.1A CN201910040241A CN111436862A CN 111436862 A CN111436862 A CN 111436862A CN 201910040241 A CN201910040241 A CN 201910040241A CN 111436862 A CN111436862 A CN 111436862A
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- China
- Prior art keywords
- driving
- module
- sensed
- robot
- shaft
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
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
Technical Field
The present invention relates to a detecting and trapping device for a robot, and more particularly, to a detecting and trapping device for detecting and trapping a robot by sensing a displacement of a sensed object through a sensor.
Background
Nowadays, robots are widely used in many different fields to assist or replace human beings to perform various tasks. However, the different demands are different, and the types of robots used are different, such as industrial robots or home-use robots.
Among the household robots, a floor sweeping robot is one of the common robots, and is applied to the related field of cleaning, so as to assist human beings to complete the cleaning work through the automatic cleaning function of the floor sweeping robot.
However, in the conventional sweeping robot, sensors are disposed around the robot to sense whether there is an obstacle on the path of the robot, so as to achieve the function of avoiding the obstacle. However, if the robot enters a narrow space and is trapped, the sensor cannot effectively sense that the robot is trapped and transmit related information to a user.
Therefore, it is a problem in the art to provide a device capable of sensing whether a robot is trapped or not.
Disclosure of Invention
In order to solve the above problems, an objective of the present invention is to provide a robot detecting and trapping device, which utilizes a shaft to drive a protrusion to rotate, and drives an attaching body to move up and down through the periphery of the protrusion and a protrusion, so as to make an object to be sensed disposed on a linking assembly move up and down.
To achieve the above object, the present invention provides a robot detecting and trapping device, comprising:
a drive module, comprising:
a wheel body;
a shaft body connected with the wheel body; and
at least one convex body, the convex body is connected with the shaft body and is connected with the shaft body for movement, and a convex part is arranged on the periphery of the convex body;
an inducted module, the inducted module is pivoted with the driving module, which includes:
a supporting component, which is pivoted with the shaft body; and
a linkage assembly, which is pivoted with the supporting assembly, and is provided with an inducted body on one surface adjacent to the driving module, and is provided with at least one binding body on one surface adjacent to the convex part, and the binding body is provided with a binding surface which is bound with the periphery of the convex part;
the induction module is connected with the supporting component, and an induction space is arranged between the induction module and the body to be induced so as to induce the body to be induced.
Preferably, the sensing module includes:
a base connected with the supporting component; and
the inductor is arranged on one surface of the base adjacent to the inducted body, and the induction space is arranged between the inductor and the inducted body so as to induce the inducted body.
Preferably, the base is connected to the supporting component, the linkage component and the sensed object are accommodated between the base and the supporting component, and a moving space is provided between the base and the supporting component for the linkage component to move up and down.
Preferably, the supporting component is extended to form a pivot portion, and the pivot portion passes through the linking component and the base to be pivotally connected with the interior of the robot.
Preferably, the sensor is a hall sensor.
Another objective of the present invention is to provide a robot detecting and trapping device, which utilizes a shaft to drive an object to be sensed to rotate, so that the object to be sensed can move up and down in a forward or backward direction, and then the object to be sensed can determine whether a robot stops moving after sensing the displacement change of the object.
To achieve the above object, the present invention further provides a robot trapping detection device, comprising:
a drive module, comprising:
a wheel body; and
a shaft body connected with the wheel body;
the inducted body is arranged on the periphery of the shaft body;
the sensing module is pivoted with the shaft body, and a sensing space is arranged between the sensing module and the sensed body so as to sense the sensed body.
Preferably, the sensing module includes:
a base, which is pivoted with the shaft body; and
the inductor is arranged on one surface of the base adjacent to the inducted body, and the induction space is arranged between the inductor and the inducted body so as to induce the inducted body.
In order to solve the above-mentioned problems, a further objective of the present invention is to provide a device for detecting a robot trapped in a room, wherein a sensed object is disposed on a periphery of a shaft portion, and when a driving body drives a driving gear to rotate, the shaft portion rotates correspondingly, so that the sensed object performs a forward rotation or a reverse rotation, and then the sensed object senses a displacement change of the sensed object, so that the sensed object can determine whether the robot has stopped moving.
To achieve the above-mentioned another object, the present invention further provides a robot trapping detection device, which includes:
a drive module, comprising:
a driving body having a driving portion; and
the driving gear comprises a shaft part and a tooth part, and the tooth part is meshed with the driving part so that the driving body drives the driving gear to rotate;
the sensed body is arranged on the periphery of the shaft part;
the sensing module is arranged on the adjacent position of the driving gear, and an sensing space is arranged between the sensing module and the sensed body so as to sense the sensed body.
Preferably, the drive gear is one of a spur gear, bevel gear, herringbone gear, face gear, staggered thread gear or hypoid gear.
Preferably, the driving body is a motor.
Drawings
FIG. 1 is a perspective view of a first embodiment of the present invention;
FIG. 2 is an exploded view of the first embodiment of the present invention;
FIG. 3 is a first operating state diagram of the linking assembly according to the first embodiment of the present invention;
FIG. 4 is a second operating state diagram of the linking assembly according to the first embodiment of the present invention;
FIG. 5 is a schematic internal view of an object to be sensed and an inductor according to a 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 numerals:
10-driving module, 11-shaft body, 12-wheel body, 13-convex body, 131-convex body, 20-sensed module, 21-supporting assembly, 211-pivot joint part, 22-linkage assembly, 221-contact body, 2211-contact surface, 23-sensed body, 30-sensing module, 31-sensing body, 32-base, 40-driving module, 41-shaft body, 42-wheel body, 50-sensed body, 60-sensing module, 61-sensing body, 62-base, 70-driving module, 71-driving body, 711-driving part, 72-driving gear, 721-shaft part, 80-sensed body and 90-sensing module.
Detailed Description
Specific examples are described below to illustrate embodiments of the invention, but are not intended to limit the scope of the invention.
Fig. 1 to 5 are a perspective view, an exploded view, a first usage state diagram, a second usage state diagram, and internal schematic views of an object to be sensed and an inductor according to a first embodiment of the present invention. As shown in the figures, the present invention mainly includes a driving module 10, a sensed module 20 and a sensing module 30, wherein the driving module 10 may be a driven wheel or a driving wheel, and in the first embodiment, the driven wheel is taken as an example, the driving module 10 includes a shaft body 11, a wheel body 12 and at least one protrusion 13, the shaft body 11 is connected to the wheel body 12, and two ends of the shaft body 11 protrude out of two sides of the wheel body 12, so that two ends of the shaft body 12 are respectively connected to one protrusion 13, and a protrusion 131 is disposed on the periphery of the protrusion 13, if the wheel body 12 rotates clockwise or counterclockwise, the wheel body 12 drives the shaft body 11 to rotate, and the shaft body 11 drives the protrusion 13 to rotate.
The sensed module 20 is composed of a supporting component 21, a linking component 22 and a sensed body 23, the supporting component 21 can be a support, and the supporting component 21 is pivoted with the shaft body 11, so that when a robot drives the supporting component 21 to move forward or backward, the wheel body 12 rotates forward or backward due to the friction force generated between the wheel body 12 and the ground and the pivot of the shaft body 11 and the supporting component 21, 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 surface of the supporting component 21 pivotally connected to the shaft 11. One side of the linkage assembly 22 is provided with a bonding body 221, the bonding body 221 can be a plate body or a C-shaped plate body, etc., the bottom end of the bonding body 221 is provided with a bonding surface 2211, the bonding surface 2211 is bonded with the periphery of the convex body 13, the other side of the linkage assembly 22 is provided with the sensed body 23, the sensed body 23 is specifically a magnet, and the magnet is clamped on one side of the linkage assembly 22. Thus, since the linking component 22 is pivotally connected to the supporting component 21, when the protruding body 13 is driven by the shaft 11 to rotate, the bonding surface 2211 of the bonding body 221 drives the linking component 22 to move up and down along the portion of the protruding portion 131 or the portion of the non-protruding portion 131 disposed on the periphery of the protruding body 13, and the sensed body 23 is caused by the up and down movement of the linking component 22 to generate a displacement change of moving up and down.
The sensing module 30 is composed of a sensing body 31 and a base 32, the base 32 is connected to the supporting component 21, and the linking component 22 and the sensed body 23 are accommodated between the base 32 and the supporting component 21, in addition, a moving space is provided between the base 32 and the supporting component 21 for the linking component 22 to move up and down, and the sensing body 31 is disposed on one surface of the base 32 adjacent to the sensed body 23, so that a sensing space is formed between the sensing body 31 and the sensed body 23, so as to sense the sensed body 23 through the sensing body 31. In addition, the supporting component 21 further extends to form a pivot portion 211, and the pivot portion 211 passes through the linking component 22 and the base 32 to be pivoted with the inside of the robot.
When the robot drives a set of driving wheels to rotate by a motor disposed inside the robot, so that the robot moves forward or backward, the driving module 10 rotates the wheel body 12 due to the movement of the robot, and the shaft body 11 drives the protrusion 13 to rotate, so that when the protrusion 13 rotates, the attaching body 221 follows the protrusion 131 or the non-protrusion 131 portion disposed on the periphery of the protrusion 13 to drive 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 sensor 31 senses the displacement change of the sensed object 23, when the sensor 31 senses that the sensed object 23 moves up and down continuously, the sensor 31 can determine that the robot is not trapped.
However, when the robot is trapped and cannot move, the shaft 11 will not drive the protrusion 13 to rotate, and correspondingly, the attachment body 221 will not drive the linking component 22 to move up and down, so that when the sensed body 23 stops moving, the sensor 31 will sense that the sensed body 23 does not move any more, and further determine that the robot is trapped.
Please refer to fig. 6, which is a schematic structural configuration diagram according to a second embodiment of the present invention. As shown in the drawings, a driving module 40 of the present invention may also include a shaft 41 and a wheel 42, the shaft 41 is connected to the wheel 42, and a sensed object 50 is disposed on the periphery of the shaft 41, such that when the shaft 41 rotates due to a robot moving, the sensed object 50 is driven by the shaft 41 to move along a clockwise or counterclockwise track.
A sensing module 60 is pivotally connected to the shaft 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 41, the sensing body 61 is disposed on a surface of the base 62 adjacent to the sensed body 50, and the sensing space is provided between the sensing body 61 and the sensed body 50 to sense the sensed body 50. Thus, when the sensed object 50 moves along a clockwise or counterclockwise track, the sensing object 61 senses the movement change of the sensed object 50 to determine that the robot is not trapped. However, if the sensor 61 senses the displacement change of the sensed object 50, the sensor 61 will determine that the robot is trapped.
Please refer to fig. 7, which is a schematic structural configuration diagram according to a third embodiment of the present invention. As shown in the figure, the driving module 70 may also include a driving body 71 and a driving gear 72, the driving body 71 is extended to form a driving portion 711, the driving body 71 is specifically a motor, the driving portion 711 is a screw rod driven by the driving body 71 to rotate, the driving gear 72 may be one of a spur gear, a bevel gear, a herringbone gear, a face gear, a staggered helical gear or an hypoid gear, the driving gear 72 includes a shaft portion 721 and a tooth portion, the driving portion 711 is engaged with the tooth portion, and the shaft portion 721 is provided with a sensed body 80 on the periphery thereof. When the driving body 71 drives the driving part 711 to rotate, the driving part 711 drives the driving gear 72 to rotate due to being meshed with the tooth part, and when the driving gear 72 rotates, the shaft part 721 also rotates relatively, so that the sensed object 80 moves on the shaft part 721 along a clockwise or counterclockwise track, in addition, a sensing module 90 is disposed adjacent to the driving gear 72, and a sensing space is formed between the sensing module 90 and the sensed object 80, so that when the sensed object 80 moves along the clockwise or counterclockwise track, the sensing module 90 senses the displacement change of the sensed object 80, thereby determining that a robot is not trapped. However, if the sensing module 90 senses the displacement change of the sensed object 80, the sensing module 90 can determine that the robot is trapped.
After the judgment is completed, if the induction module judges that the robot is trapped, the induction module can transmit the obtained judgment information to a receiving module so that a user can know that the robot is trapped and cannot move, and further relevant elimination actions are carried out.
Through the technical characteristics disclosed above, the invention can effectively achieve the purpose of detecting whether the robot is trapped or not, and if the inductor judges that the robot is trapped, the inductor can provide related judgment information for a user so as to be beneficial to the user to perform related removal actions and the like.
In the description of the present invention, it is to be understood that the terms "center", "lateral", "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or component being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
The above detailed description is specific to one possible embodiment of the present invention, but the embodiment is not intended to limit the scope of the present invention, and equivalent implementations or modifications without departing from the technical spirit of the present invention should be included in the scope of the present invention.
Claims (10)
1. A device for detecting trapping of a robot, comprising:
a drive module, comprising:
a wheel body;
a shaft body connected with the wheel body; and
at least one convex body, the convex body is connected with the shaft body and is connected with the shaft body for movement, and a convex part is arranged on the periphery of the convex body;
an inducted module, the inducted module is pivoted with the driving module, which includes:
a supporting component, which is pivoted with the shaft body; and
a linkage assembly, which is pivoted with the supporting assembly, and is provided with an inducted body on one surface adjacent to the driving module, and is provided with at least one binding body on one surface adjacent to the convex part, and the binding body is provided with a binding surface which is bound with the periphery of the convex part;
the induction module is connected with the supporting component, and an induction space is arranged between the induction module and the body to be induced so as to induce the body to be induced.
2. The device of claim 1, wherein the sensing module comprises:
a base connected with the supporting component; and
the inductor is arranged on one surface of the base adjacent to the inducted body, and the induction space is arranged between the inductor and the inducted body so as to induce the inducted body.
3. The device of claim 2, wherein the base is connected to the supporting member, and the linking member and the sensed object are accommodated between the base and the supporting member, and a moving space is provided between the base and the supporting member for the linking member to move up and down.
4. The device of claim 2, wherein the supporting member extends to form a pivot portion, the pivot portion passing through the linking member and the base to pivotally connect with an interior of the robot.
5. The robot detecting device of claim 1, wherein the sensor is a hall sensor.
6. A device for detecting trapping of a robot, comprising:
a drive module, comprising:
a wheel body; and
a shaft body connected with the wheel body;
the inducted body is arranged on the periphery of the shaft body; and
the sensing module is pivoted with the shaft body, and a sensing space is arranged between the sensing module and the sensed body so as to sense the sensed body.
7. The device of claim 6, wherein the sensing module comprises:
a base, which is pivoted with the shaft body; and
the inductor is arranged on one surface of the base adjacent to the inducted body, and the induction space is arranged between the inductor and the inducted body so as to induce the inducted body.
8. A device for detecting trapping of a robot, comprising:
a drive module, comprising:
a driving body having a driving portion; and
the driving gear comprises a shaft part and a tooth part, and the tooth part is meshed with the driving part so that the driving body drives the driving gear to rotate;
the sensed body is arranged on the periphery of the shaft part; and
the sensing module is arranged on the adjacent position of the driving gear, and an sensing space is arranged between the sensing module and the sensed body so as to sense the sensed body.
9. The robot detecting and trapping device of claim 8, wherein the driving gear is one of a spur gear, bevel gear, herringbone gear, face gear, staggered thread gear, or hypoid gear.
10. The device of claim 8, wherein the driving body is a motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910040241.1A CN111436862A (en) | 2019-01-16 | 2019-01-16 | Robot detection trapping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910040241.1A CN111436862A (en) | 2019-01-16 | 2019-01-16 | Robot detection trapping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111436862A true CN111436862A (en) | 2020-07-24 |
Family
ID=71626629
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910040241.1A Pending CN111436862A (en) | 2019-01-16 | 2019-01-16 | Robot detection trapping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111436862A (en) |
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| CN204445707U (en) * | 2015-03-16 | 2015-07-08 | 苏州爱普电器有限公司 | Sweeping robot |
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| CN106419744A (en) * | 2016-12-07 | 2017-02-22 | 厦门视贝智能电器有限公司 | Velocity-measuring mechanical wheel |
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| CN207851618U (en) * | 2017-02-15 | 2018-09-11 | 苏州宝时得电动工具有限公司 | From mobile device |
| CN109093651A (en) * | 2018-09-28 | 2018-12-28 | 珠海市微半导体有限公司 | A kind of blocking detection device and block detection method based on robot universal wheel |
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2019
- 2019-01-16 CN CN201910040241.1A patent/CN111436862A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201604157U (en) * | 2009-05-19 | 2010-10-13 | 泰怡凯电器(苏州)有限公司 | Detection device for robot running state and self-moving robot employing same |
| CN201932254U (en) * | 2010-12-30 | 2011-08-17 | 深圳市银星智能电器有限公司 | Mobile robot capable of detecting motion state of driven wheel |
| CN103852267A (en) * | 2012-12-03 | 2014-06-11 | 金宝电子工业股份有限公司 | Tire detection device |
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| CN106419744A (en) * | 2016-12-07 | 2017-02-22 | 厦门视贝智能电器有限公司 | Velocity-measuring mechanical wheel |
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Application publication date: 20200724 |