TWI571223B - Bi-directional round-trip structure - Google Patents
Bi-directional round-trip structure Download PDFInfo
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- TWI571223B TWI571223B TW104131611A TW104131611A TWI571223B TW I571223 B TWI571223 B TW I571223B TW 104131611 A TW104131611 A TW 104131611A TW 104131611 A TW104131611 A TW 104131611A TW I571223 B TWI571223 B TW I571223B
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Description
本發明係有關一種旋轉結構，係指一種能利用轉盤之圓周運動及其滑塊於連桿之直向滑槽滑動，並將連桿於基座內部作往復直線正弦運動，同時使具有嵌軸之傳動齒與連桿其橫向滑槽之齒條作往復雙向旋轉之雙向往返旋轉結構。 The invention relates to a rotating structure, which relates to a circular motion of a rotary disk and a slider thereof sliding in a straight sliding groove of a connecting rod, and a reciprocating linear sinusoidal movement of the connecting rod inside the base, and at the same time having an embedded shaft The gear teeth and the connecting rod of the transverse chute of the connecting rod are reciprocating and bidirectionally rotating in a two-way reciprocating rotating structure.
按一般習見掃地機器人，為提供其雷射及鏡頭能作360度旋轉測距及轉動且與握地機器人本體作電性連接，在測距模組中間設有轉軸，且於該轉軸上設有與掃地機器人本體其具有多數導線之接觸點連接導通之滑環，使得掃地機器人其雷射及鏡頭於360度旋轉時，該轉軸之滑環與接觸點仍能保持接觸，也避免了設於掃地機器人本體其導線打結，又習用品為了改善滑環與接觸點接觸導電率及降低高熱電阻，都會在滑環及接觸點上鍍金，故造了成本提高，又習用品結構複雜在組裝及維修上費工費時且不易，很容易發生滑環與接觸點脫離而故障，使得在實用性上大打折扣，此乃為業者及消費者極欲突破之處，本發明人以此點為考量進行發明，終成一能利用轉盤之圓周運動 及其滑塊於連桿之直向滑槽滑動，並將連桿於基座內部作往復直線正弦運動，同時使具有嵌軸之傳動齒與連桿其橫向滑槽之齒條作往復雙向旋轉；進達，不使用高成本及容易故障之鍍金滑環，而利用機構學原理將傳動齒於連桿上作測距360度旋轉，有效節省大量成本及提升運轉穩固確實性之雙向往返旋轉結構。 According to the general knowledge of the sweeping robot, in order to provide its laser and lens capable of 360 degree rotation ranging and rotation and electrically connected with the body of the gripping robot, a rotating shaft is arranged in the middle of the measuring module, and the rotating shaft is provided on the rotating shaft. The sliding ring is connected with the contact point of the sweeping robot body with a plurality of wires, so that when the sweeping robot rotates the laser and the lens rotates at 360 degrees, the slip ring of the rotating shaft can still maintain contact with the contact point, and the sweeping is avoided. In the robot body, the wires are knotted, and in order to improve the contactivity between the slip ring and the contact point and reduce the high thermal resistance, gold plating is applied to the slip ring and the contact point, so that the cost is increased, and the structure of the utility is complicated in assembly and maintenance. It takes time and difficulty to pay for the work, and it is easy to cause the slip ring to break away from the contact point, which makes the utility model greatly compromised. This is a place where the manufacturer and the consumer are eager to break through. The inventor has invented this point as a consideration. , can finally use the circular motion of the turntable The slider slides on the straight chute of the connecting rod, and reciprocates the sinusoidal movement of the connecting rod inside the base, and simultaneously reciprocates the rack with the embedded shaft and the transverse chute of the connecting rod. ; access, do not use high-cost and easy to fault gold-plated slip ring, and use the mechanism principle to drive the gear on the connecting rod for 360-degree rotation, effectively saving a lot of cost and improving the stability of the two-way reciprocating structure.
為解決上述之現有技術不足之處，本發明主要目的，在於提供一種雙向往返旋轉結構，能利用轉盤之圓周運動及其滑塊於連桿之直向滑槽滑動，並將連桿於基座內部作往復直線正弦運動，同時使具有嵌軸之傳動齒與連桿其橫向滑槽之齒條作往復雙向旋轉，以期克服現有技術中之難處。 In order to solve the above-mentioned deficiencies of the prior art, the main object of the present invention is to provide a bidirectional reciprocating rotating structure, which can utilize the circular motion of the turntable and its slider to slide in the straight chute of the connecting rod, and the connecting rod is mounted on the base. The internal reciprocating linear sinusoidal motion makes the reciprocating and bidirectional rotation of the gear with the embedded shaft and the transverse chute of the connecting rod, in order to overcome the difficulties in the prior art.
本發明次要目的，在於提供一種雙向往返旋轉結構，其不使用高成本及容易故障之鍍金滑環，而利用機構學原理將傳動齒於連桿上作測距360度旋轉。 A secondary object of the present invention is to provide a two-way reciprocating rotating structure that does not use a high-cost and trouble-prone gold-plated slip ring, and uses a mechanism principle to rotate the transmission teeth on the connecting rod by 360 degrees.
本發明又一目的，在於提供一種雙向往返旋轉結構，其有效節省大量成本及提升運轉穩固確實性。 It is still another object of the present invention to provide a two-way reciprocating rotating structure which is effective in saving a large amount of cost and improving operational stability.
本發明所欲解決之問題，係按一般習見掃地機器人，為提供其雷射及鏡頭能作360度旋轉測距及轉動且與握地機器人本體作電性連接，在測距模組中間設有轉軸，且於該轉軸上設有與掃地機器人本體其具有多數導線之接 觸點連接導通之滑環，使得掃地機器人其雷射及鏡頭於360度旋轉時，該轉軸之滑環與接觸點仍能保持接觸，也避免了設於掃地機器人本體其導線打結，又習用品為了改善滑環與接觸點接觸導電率及降低高熱電阻，都會在滑環及接觸點上鍍金，故造了成本提高，又習用品結構複雜在組裝及維修上費工費時且不易，很容易發生滑環與接觸點脫離而故障，使得在實用性上大打折扣。 The problem to be solved by the present invention is to provide a sweeping robot according to the general knowledge, in order to provide a 360 degree rotation and rotation of the laser and the lens, and to electrically connect with the body of the gripping robot, and the middle of the distance measuring module is provided. a rotating shaft, and the rotating shaft is provided with a plurality of wires connected to the body of the cleaning robot The contact is connected to the sliding ring, so that when the sweeping robot has its laser and the lens rotates at 360 degrees, the slip ring of the rotating shaft can still maintain contact with the contact point, and the wire of the body of the sweeping robot is prevented from being knotted. In order to improve the contactivity between the slip ring and the contact point and reduce the high thermal resistance, the product will be gold-plated on the slip ring and the contact point, so the cost is increased, and the structure of the utility is complicated. It is time-consuming and difficult to assemble and maintain, and it is easy. The failure of the slip ring to break away from the contact point causes a compromise in practicality.
解決問題之技術手段，為達上述之目的，本發明係提供一種雙向往返旋轉結構，尤指使用於掃地機器人測距之用，包括：一基座，於其內部中央設有凸出於上端開孔之一固定軸，該基座內部一側下端設有一透孔；一驅動端，係設於基座下端，該驅動端一端設有對應基座其透孔之一連接轉軸；一轉盤，係設於基座其內部一側且下端固定於驅動端之連接轉軸，該轉盤上端一側並設有凸出之一滑塊；一連桿，係設於基座內且一側位於轉盤上端，該連桿兩側分別設有一直向滑槽及一端具有齒條之一橫向滑槽，該直向滑槽設於轉盤其滑塊，該橫向滑槽設於基座其固定軸；一傳動齒，係套設於基座其固定軸且嚙合連桿其橫向滑槽之齒條，又該傳動齒上端設有凸出於基座其上端開孔 之一嵌軸。 The technical means for solving the problem, in order to achieve the above object, the present invention provides a two-way reciprocating rotating structure, in particular for the use of a sweeping robot for ranging, comprising: a base, which is provided at the center of the interior thereof and protrudes from the upper end. One of the holes is fixed to the shaft, and a lower end of the inner side of the base is provided with a through hole; a driving end is disposed at a lower end of the base, and one end of the driving end is provided with a corresponding base and one of the through holes is connected to the rotating shaft; The connecting shaft is disposed on the inner side of the base and the lower end is fixed to the connecting end of the driving end, and one side of the upper end of the rotating disc is provided with a protruding slider; a connecting rod is disposed in the base and one side is located at the upper end of the turntable. The two sides of the connecting rod are respectively provided with a sliding chute and a lateral chute having a rack at one end, the straight chute is disposed on the sliding block of the rotating disc, the transverse chute is disposed on the fixed shaft of the base; a sleeve that is sleeved on the base and that engages the transverse groove of the connecting rod, and the upper end of the transmission tooth is provided with a protrusion protruding from the upper end of the base One of the embedded axes.
更進一步，本發明傳動齒之嵌軸設有位於基座上端之一測距模組。 Furthermore, the insertion shaft of the transmission tooth of the present invention is provided with a distance measuring module at the upper end of the base.
對照先前技術之功效，藉此結構，本發明能利用轉盤之圓周運動及其滑塊於連桿之直向滑槽滑動，並將連桿於基座內部作往復直線正弦運動，同時使具有嵌軸之傳動齒與連桿其橫向滑槽之齒條作往復雙向旋轉；進達，不使用高成本及容易故障之鍍金滑環，而利用機構學原理將傳動齒於連桿上作測距360度旋轉，有效節省大量成本及提升運轉穩固確實性，符合產業上之利用、新穎及進步性。 In contrast to the prior art, by virtue of the structure, the present invention can utilize the circular motion of the turntable and its slider to slide in the straight chute of the connecting rod, and make the connecting rod reciprocating linear sinus motion inside the base, and at the same time The gear teeth of the shaft and the rack of the transverse chute of the connecting rod are reciprocating and bidirectionally rotating; the feeding does not use the gold-plated slip ring with high cost and easy failure, and the gear tooth is used for measuring 360 degrees on the connecting rod by using the mechanism principle. Rotation, effectively saving a lot of cost and improving the stability of operation, in line with the industrial use, novelty and progress.
1‧‧‧基座 1‧‧‧Base
10‧‧‧固定軸 10‧‧‧Fixed shaft
100‧‧‧開孔 100‧‧‧ openings
101‧‧‧透孔 101‧‧‧through hole
11‧‧‧驅動端 11‧‧‧Driver
111‧‧‧連接轉軸 111‧‧‧Connecting shaft
12‧‧‧轉盤 12‧‧‧ Turntable
121‧‧‧滑塊 121‧‧‧ Slider
13‧‧‧連桿 13‧‧‧ Connecting rod
131‧‧‧直向滑槽 131‧‧‧Direct chute
132‧‧‧橫向滑槽 132‧‧‧ transverse chute
133‧‧‧齒條 133‧‧‧racks
14‧‧‧傳動齒 14‧‧‧ drive teeth
141‧‧‧嵌軸 141‧‧‧Axis
15‧‧‧測距模組 15‧‧‧Ranging module
第一圖：為本發明之立體分解圖。 First Figure: An exploded perspective view of the present invention.
第二圖：為本發明之立體組合圖。 Second figure: a three-dimensional combination diagram of the present invention.
第三圖：為本發明之組合剖面圖。 Third Figure: A sectional view of the combination of the present invention.
第四圖：為本發明其傳動齒設有測距模組之實施例圖。 The fourth figure is a diagram of an embodiment of the measuring module provided with the measuring gear of the present invention.
第五圖：為本發明轉盤旋轉並使連桿向基座一側滑動之實施例圖。 Fig. 5 is a view showing an embodiment in which the turntable of the present invention is rotated and the link is slid to the side of the base.
為利貴審查員瞭解本發明之發明特徵、內容與優點及其所能達成之功效，茲將本發明配合附圖，並以實 施例之表達形式詳細說明如下，而於文中所使用之圖式，其主旨僅為示意及輔助說明書之用，未必為本發明實施後之真實比例與精準配置，故不應就所附之圖式的比例與配置關係侷限本發明於實際實施上的專利範圍，合先敘明。 In order to understand the features, contents and advantages of the invention, and the effects thereof, the present invention will be The expressions of the embodiments are described in detail below, and the drawings used in the text are only for the purpose of illustration and supplementary description, and are not necessarily true proportions and precise configurations after the implementation of the invention, and therefore should not be attached. The proportion of the formula and the configuration relationship are limited to the scope of patents in the actual implementation of the present invention.
請參閱第一圖、第二圖、第三圖所示，係為本發明之立體分解圖、本發明之立體組合圖、本發明之組合剖面圖；本發明之雙向往返旋轉結構於一較佳之實施例中，尤指使用於掃地機器人測距之用，包括：一基座1、一驅動端11、一轉盤12、一連桿13、一傳動齒14。 Please refer to the first, second and third figures, which are perspective exploded views of the present invention, a three-dimensional assembled view of the present invention, and a combined sectional view of the present invention; the two-way reciprocating rotating structure of the present invention is preferably used. In the embodiment, especially for the scope of the sweeping robot, the utility model comprises: a base 1, a driving end 11, a turntable 12, a connecting rod 13, and a transmission tooth 14.
前述之一基座1，於其內部中央設有凸出於上端開孔100之一固定軸10，該基座1內部一側下端設有一透孔101。 One of the bases 1 is provided with a fixing shaft 10 protruding from the upper end opening 100 at the center of the inner portion thereof, and a through hole 101 is formed at the lower end of the inner side of the base 1.
前述之一驅動端11，係設於基座1下端，該驅動端11一端設有對應基座1其透孔101之一連接轉軸111。 One of the driving ends 11 is disposed at a lower end of the base 1. One end of the driving end 11 is provided with a corresponding base 1 and one of the through holes 101 thereof is connected to the rotating shaft 111.
前述之一轉盤12，係設於基座1其內部一側且下端固定於驅動端11之連接轉軸111，該轉盤12上端一側並設有凸出之一滑塊121。 One of the aforementioned turntables 12 is disposed on the inner side of the base 1 and has a lower end fixed to the connecting shaft 111 of the driving end 11. The upper end side of the turntable 12 is provided with a protruding slider 121.
前述之一連桿13，係設於基座1內且一側位於轉盤12上端，該連桿13兩側分別設有一直向滑槽131及一端具有齒條133之一橫向滑槽132，該直向滑槽131設於轉盤12其滑塊121，該橫向滑槽132設於基座1其固定軸10。 One of the connecting rods 13 is disposed in the base 1 and has one side at the upper end of the turntable 12. The two sides of the connecting rod 13 are respectively provided with a straight sliding slot 131 and one end having a transverse sliding slot 132 of the rack 133. The straight chute 131 is disposed on the turntable 121 of the turntable 12, and the lateral chute 132 is disposed on the fixed shaft 10 of the base 1.
前述之一傳動齒14，係套設於基座1其固定軸10且嚙合連桿13其橫向滑槽132之齒條133，又該傳動齒14上端設有凸出於基座1其上端開孔100之一嵌軸141。 One of the driving teeth 14 is sleeved on the base 1 of the base 1 and the frame 133 of the transverse groove 132 of the connecting rod 13 is engaged, and the upper end of the transmission tooth 14 is protruded from the base 1 and the upper end thereof is opened. One of the holes 100 is fitted with an axis 141.
請參閱第四圖、第五圖所示，係為本發明其傳動齒設有測距模組之實施例圖、本發明轉盤旋轉並使連桿向基座一側滑動之實施例圖；更進一步，本發明傳動齒14之嵌軸141設有位於基座1上端之一測距模組15，該測距模組15係與傳動齒14之嵌軸141連動，即當傳動齒14順時針旋轉時，該測距模組15即會同樣以順時針旋轉；當傳動齒14逆時針旋轉時，該測距模組15即會同樣以逆時針旋轉(如第四圖所示)；又本發明使用時，利用驅動端11及其一端所設連接轉軸111旋轉，並帶動轉盤12圓周運動旋轉，設於轉盤12上端一側之滑塊121係套設於連桿13之直向滑槽131內，當轉盤12作圓周連動且滑塊121位於轉盤12其另側端，該連桿13會被推至另側(如第三圖所示)；當滑塊121滑至連桿13其直向滑槽131一端(即朝下面)時，連桿13會開始朝向基座1一側滑動，直至設於轉盤12之滑塊121旋轉至轉盤12一側時，滑塊121會依序由中央滑至直向滑槽131一端，再滑至直向滑槽131中央，該連桿13會被拉至基座1之一側(如第五圖所示)，設於基座1其固定軸10之傳動齒14也會朝向一方向旋轉。 Please refer to the fourth and fifth figures, which are diagrams of an embodiment of a measuring module provided with a measuring tooth of the present invention, and an embodiment of the rotating wheel of the present invention and sliding the connecting rod toward the base side; Further, the insertion shaft 141 of the transmission tooth 14 of the present invention is provided with a distance measuring module 15 at the upper end of the base 1, and the distance measuring module 15 is interlocked with the insertion shaft 141 of the transmission tooth 14, that is, when the transmission tooth 14 is clockwise When rotating, the distance measuring module 15 will also rotate clockwise; when the driving tooth 14 rotates counterclockwise, the distance measuring module 15 will also rotate counterclockwise (as shown in the fourth figure); When the invention is used, the connecting end 111 of the driving end 11 and one end thereof is rotated, and the rotary disk 12 is rotated in a circular motion. The slider 121 disposed on the upper end side of the turntable 12 is sleeved on the straight chute 131 of the connecting rod 13. Inside, when the turntable 12 is circumferentially linked and the slider 121 is located at the other side of the turntable 12, the link 13 is pushed to the other side (as shown in the third figure); when the slider 121 is slid to the connecting rod 13 straight When one end of the chute 131 (ie, facing downward), the link 13 starts to slide toward the side of the base 1 until the slider 121 provided on the turntable 12 rotates to the turn. On the 12 side, the slider 121 will slide from the center to the end of the straight chute 131, and then slide to the center of the straight chute 131, and the link 13 will be pulled to one side of the base 1 (such as the fifth As shown in the figure, the transmission teeth 14 of the fixed shaft 10 of the base 1 are also rotated in one direction.
當設於轉盤12之滑塊121繼續作圓周運動旋 轉時，滑塊121會滑至直向滑槽131另端(即朝上面)，連桿13會開始朝向基座1另側滑動，直至設於轉盤12之滑塊121旋轉至轉盤12另側，滑塊121會依序由第五圖中央滑至直向滑槽131另端，再滑至直向滑槽131中央(如第三圖所示)，該連桿13會被推至基座1之另側，設於基座1其固定軸10之傳動齒14也會朝另一方向旋轉，因此連桿13其往復最大行程係為轉盤12其圓周運動旋轉半徑的二倍，至於轉盤12其任意往復旋轉角度係等於(=)傳動齒14其齒數除以(/)連桿13其設於橫向滑槽132之齒條133之齒數再乘以(*)360度。 When the slider 121 provided on the turntable 12 continues to perform a circular motion rotation When turning, the slider 121 will slide to the other end of the straight chute 131 (ie, facing upward), and the connecting rod 13 will start to slide toward the other side of the base 1 until the slider 121 provided on the turntable 12 rotates to the other side of the turntable 12. The slider 121 will sequentially slide from the center of the fifth figure to the other end of the straight chute 131, and then slide to the center of the straight chute 131 (as shown in the third figure), the link 13 will be pushed to the base. On the other side of the first side, the transmission teeth 14 of the fixed shaft 10 of the base 1 are also rotated in the other direction, so that the maximum stroke of the connecting rod 13 is twice the radius of rotation of the circular motion of the rotary table 12, as for the turntable 12 The arbitrary reciprocating angle of rotation is equal to (=) the number of teeth of the gear teeth 14 divided by the number of teeth of the rack 133 of the link 13 which is disposed in the transverse chute 132 and multiplied by (*) 360 degrees.
藉此結構，本發明能利用利用轉盤12之圓周運動及其滑塊121於連桿13之直向滑槽131滑動，並將連桿13於基座1內部作往復直線正弦運動，同時使具有嵌軸141之傳動齒14與連桿13其橫向滑槽132之齒條133作往復雙向旋轉；進達，不使用高成本及容易故障之鍍金滑環，而利用機構學原理將傳動齒於連桿上作測距360度旋轉，有效節省大量成本及提升運轉穩固確實性，符合產業上之利用、新穎及進步性。 With this configuration, the present invention can utilize the circular motion of the turntable 12 and its slider 121 to slide in the straight sliding slot 131 of the connecting rod 13, and the connecting rod 13 is reciprocating linear sinusoidal motion inside the base 1 while having The gear teeth 14 of the insert shaft 141 and the rack 133 of the transverse sliding groove 132 of the connecting rod 13 are reciprocally and bidirectionally rotated; the access is made without using a gold-plated slip ring with high cost and easy failure, and the gear teeth are connected to the connecting rod by using the mechanism principle. The above-mentioned 360-degree rotation of the distance measurement effectively saves a lot of cost and improves the stability and stability of the operation, and is in line with the utilization, novelty and progress of the industry.
綜觀上述可知，本發明在突破先前之技術結構下，確實已達到所欲增進之功效，且也非熟悉該項技藝者所易於思及，再者，本發明申請前未曾公開，其所具之新穎性、進步性，顯已符合發明專利之申請要件，爰依法提 出發明申請，懇請 貴局核准本件發明專利申請案，以勵發明，至感德便。 As can be seen from the above, the present invention has achieved the desired effect under the prior art structure, and is not familiar to those skilled in the art. Moreover, the present invention has not been disclosed before the application, and it has Novelty and progress, which have been consistent with the application requirements of the invention patent, If you apply for an invention, you are requested to approve the application for the invention patent in order to invent the invention.
以上所述之實施例僅係為說明本發明之技術思想及特點，其目的在使熟習此項技藝之人士能夠瞭解本發明之內容並據以實施，當不能以之限定本發明之專利範圍，即大凡依本發明所揭示之精神所作之均等變化或修飾，仍應涵蓋在本發明之專利範圍內。 The embodiments described above are merely illustrative of the technical spirit and the features of the present invention, and the objects of the present invention can be understood by those skilled in the art, and the scope of the present invention cannot be limited thereto. That is, the equivalent variations or modifications made by the spirit of the present invention should still be included in the scope of the present invention.
1‧‧‧基座 1‧‧‧Base
10‧‧‧固定軸 10‧‧‧Fixed shaft
100‧‧‧開孔 100‧‧‧ openings
101‧‧‧透孔 101‧‧‧through hole
11‧‧‧驅動端 11‧‧‧Driver
111‧‧‧連接轉軸 111‧‧‧Connecting shaft
12‧‧‧轉盤 12‧‧‧ Turntable
121‧‧‧滑塊 121‧‧‧ Slider
13‧‧‧連桿 13‧‧‧ Connecting rod
131‧‧‧直向滑槽 131‧‧‧Direct chute
132‧‧‧橫向滑槽 132‧‧‧ transverse chute
133‧‧‧齒條 133‧‧‧racks
14‧‧‧傳動齒 14‧‧‧ drive teeth
141‧‧‧嵌軸 141‧‧‧Axis
Claims (2)
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| Application Number | Priority Date | Filing Date | Title |
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| TW104131611A TWI571223B (en) | 2015-09-24 | 2015-09-24 | Bi-directional round-trip structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW104131611A TWI571223B (en) | 2015-09-24 | 2015-09-24 | Bi-directional round-trip structure |
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| Publication Number | Publication Date |
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| TWI571223B true TWI571223B (en) | 2017-02-21 |
| TW201711622A TW201711622A (en) | 2017-04-01 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110173187A (en) * | 2019-05-29 | 2019-08-27 | 上海大漠电子科技股份有限公司 | A kind of translation door machine core and its control method |
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| EP2631730A1 (en) * | 2012-02-24 | 2013-08-28 | Samsung Electronics Co., Ltd | Sensor assembly and robot cleaner having the same |
| CN104655161A (en) * | 2013-11-21 | 2015-05-27 | 科沃斯机器人科技(苏州)有限公司 | Distance measuring device and method of distance measuring device to find distance measuring initial point |
| TWI498584B (en) * | 2014-01-27 | 2015-09-01 | Jason Yan | Range detection device |
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| TWI391597B (en) * | 2010-09-02 | 2013-04-01 | ||
| EP2631730A1 (en) * | 2012-02-24 | 2013-08-28 | Samsung Electronics Co., Ltd | Sensor assembly and robot cleaner having the same |
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| TW201711622A (en) | 2017-04-01 |
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