M323884 八、新型說明： 【新型所屬之技術領域】 本新型係-種碰撞感測器，特別是指—種全方位碰撞感測器，立 耐用度高，且可以進行全方㈣精準碰撞感應，更姻多峽衝器可 以有效保護各元件。 【先前技術】 • 目前常見的自動位移設備上皆免不了安裝感應碰撞的設備，無論 是採用光學感測器、近接感測器或影像感測器喊備，都會有感應方 向無法全面進行的問題； - 例如，市場上開始出現的自走式吸塵裝置就是前述鋪的-種， 、但找_產品卻並未設計碰撞感應魏，㈣單純聊機構受阻後 的自動轉向功能_空断礙，但是，此種制設計卻—直存在無法 精準閃避複雜空間障礙及不具感應能力的問題，不但整個裝置容易撞 癱_知損壞，更$見自走式吸塵裝置被困在複雜空間之内。 為了解決上述問題，市場上出現了如第工圖所述的「一種具碰撞 感測杰的自走式吸塵裝置」產品設計，此具碰撞感測器之產品包含有 -具軸件（1G1)的轉本體⑽）、—外罩（11)與若干個近接感測器 (12)，其利用不同方向的近接感測器(12)朝外相應外罩（11)的内壁 面，另在位移本體（10)與外罩（u)置放若干塊狀緩衝墊（13)，當自走 '式及塵衣置碰^里到空間卩早礙時，該外罩（11)晃擺碰觸到近接感測器 M323884 -(12)，而被碰觸到的近接感測器（12)就傳出訊號告知控制系統該方向 有障礙，再運用預設之程式運作閃避該近接感測器（12)方向的空間障 礙。但是，前述具碰撞感測器的自走式吸塵裝置實用後仍有下列問題·· 其一，此具碰撞感測器之產品雖然具有若干個近接感測器（12)， 但是可感應的方向仍視近接感測器（12)朝外相應方向而定，有幾個近 .接感測器（12)就代表幾個有限的感應角度，當自走式吸塵裝置碰撞到 ，沒有正對近接感測器（12)的空間障礙時，該外罩（11)晃擺可能碰觸不 到近接感測^§ (12)或同時碰觸二個近接感測器（12) ’而造成感應誤差； 其二，由於習用設計在位移本體（10)與外罩（11)置放若干塊狀緩 衝墊（13)，但是同樣只有設置正對塊狀緩衝墊（13)的方向能有緩衝效 • 果’其他方向的碰撞力量幾乎都會傳遞給近接感測器（12)或位移本體 (1〇)，造成設備元件容易損壞的問題； 其二，近接感測器（12)的感應次數若是過多，損壞率、故障率也 冒大幅提咼，加上近接感測器（丨2)的價格高、更換裝設不易，故此種 φ 習用的感應設備仍待改良。 為了旎夠有效解決前述相關議題，本新型創作人基於過去研發相 關自走没備及感應系統的技術與經驗，在改善前述問題的目標下研發 設計及實驗，終於發展出—種全_全綠雌感測器。 【新型内容】 ' 本新型之首要目的係提供一種全方位碰撞感測器； M323884 繞配置至本新型之全方位碰撞感測器的位移本體周緣環 % I且於娅撞外罩内緣相應處環繞配置銅帶，利用 環感應撞擊方向的外罩銅帶，由於電阻環感應不同方向的 ==同分電壓產生，故本創作能夠進行全⑽ 心H物路讀的—種，材質及設置形態並非僅限此一者 施例’例如間歐置或其他導電崎㈣為可行實施。 " 本新型之次-目的係提供一種具多向緩衝器保護各元件的全方 碰撞感測器； 為達成上述目的，本新型之全方位碰撞感測器的位移本體周緣配 置有若干多向緩衝器，該多向緩衝器不但可以隨著碰撞内罩的接觸位 置旋轉’且多向緩衝器上安裝有具吸震菁件的退縮桿；藉此可以旋轉、 退縮的多向緩衝器可以有效保護各元件。 馨 本新型之再-目的係提供一種耐用度較佳的全方位碰撞感測器] 為達成上述目的，本卿全方位碰撞感測^的感應是利用位移本 體周緣的電阻環及碰撞外罩内緣的銅帶，由於電阻環及銅帶較不容易 在碰撞下受損，故本創作的耐用度較佳。 在此要及明的疋本新型全方位碰撞感测器的感應訊號是利用銅 帶碰撞不·向㈣阻雜置，並且產生不同分麵值，再將此分電 壓值傳遞雜m騎彳，触控猶、_合驅減構改變前 M323884 且能立即進行閃避或 進方向，故本_補麟解顧障礙方向 程式預設的動作。 - 2創作另、—關鍵點在於：全方位碰測11的多向緩衝器包含有 、、論⑨騎件及—旋擺墊，魏縮桿配合吸震簧 座上，且退縮桿朝向碰撞外罩内壁的一端植設有一旋擺 猎此夕向緩衝益不但運用旋擺墊及旋轉座隨著碰撞内罩的接觸 :置旋轉，且多向緩衝器上安褒的退縮桿可利用吸震菁件緩衝吸收應 ，故本創作可以旋轉、退縮的多向緩衝器確能有效保護各元件。 【實施方式】 請參閱第2、3及4 _本新型實施例，本創作之全方位碰撞感測 器包括有-位移本體⑽、一碰撞外罩⑽、若干多向緩衝器⑽及 一控繼_0)，該婦本體⑽上絲有動力_元件⑽)及若干 驅動輪(61) ’該動力驅動元件⑽依控制帶動該驅動輪(⑴，其中： 該位移本體⑽，係一圓盤型板件，其周緣環繞配置—電 (21); " 該碰撞外罩（30)，係相應罩設於該位移本體⑽外的圓盤型罩 體，且碰撞外罩⑽外緣底部滑設魏紅，該碰撞外罩（3〇1内壁相 應該位移本體⑽，另在該碰撞外罩⑽内壁崎相_位移本^⑽ 的電阻環(21)處環繞配置一銅帶（31)(銅帶僅為短路元件的一種，材質 及設置形態並非僅限此一實施例，例如間隔設置或其他導電性材料皆 M323884 為可行實施）； 該多向緩衝器（40)，包含有一旋轉座（41)、一退縮桿(42)、一吸 震簧件(43)及一旋擺墊(44)，該旋轉座（41)以樞轴(411)樞配在位移本 體(20)等分角度週緣，在該旋轉座（41)的放射方向開設有一套孔 (412) ’該套孔(412)兩侧開口處製有擋緣(413) ’而該退縮桿(42)貫穿 滑設在該旋轉座（41)的套孔(412)，且退縮桿(42)相應套孔(412)位置 製設一環凸（421)，而二吸震簧件(43)分別安裝抵頂在環凸（421)二侧 及套孔(412)兩側擔緣(413)上，另在該退縮桿(42)朝向碰撞外罩（3〇) 内壁的一端以樞件(441)枢設有一方型旋擺墊(44)，該旋擺墊(44)抵推 於碰撞外罩（30)内壁，另在該退縮桿(42)另一端設有防脫凸塊(422); 該控制模組(50)，安裝在位移本體（2〇)上，且控制模組(5〇)連結 於该位移本體(20)的電阻環(21)，利用控制模組(5〇)取得該碰撞外罩 (30)的銅帶(31)碰撞電阻環(21)產生的不同分電壓值，再將此分電壓 值计异後配合控制動力驅動元件（6〇)或驅動輪(61); 以上所述’即為本創作貫施例各構件結構、組態及其相互關係的 說明。 為求清楚綱本新型之各種實财式，請配合本新型第5、6及7 圖所示進行說明： 本新型結構運俩，_婦核⑽上_力,_元件⑽依 控制模組⑽)控制帶_驅動輪(61)，並且使位移本體⑽作動，而 該碰撞外罩⑽在多向缓__推動下也以外緣底部滑設於地表 M323884 -上； 當任何一個方向碰撞到障礙物時，碰撞外罩（3〇)晃擺接近位移本 體(20)，且碰扣外罩（3〇)内壁抵推於多向緩衝器（4〇)的旋擺塾⑷） 外，而使吸震簣件(43)變形蓄力，若是吸震簧件(43)抵抗力無法推開 障礙物(球型物會容易推開），則碰撞外罩(3〇)内壁持續位移(持續壓縮 吸震簧件(43))，並且令銅帶(31)相對碰觸到該位移本體⑽的電阻環 (21)，此時，本創作的控制模組(5〇)取得該碰撞外罩（3〇)的銅帶 鲁碰撞電阻環(21)產生的不同分電壓值，再將此分電壓值計算後得到精 準的碰撞方向，並且再配合控制動力鶴元件⑽或鶴輪(61)閃避 或後退，同時’利用2吸震簧件(43)的蓄力平衡讓碰撞外罩⑽）先在 該碰撞後回彈，最後恢復正常行進狀態；藉此，本創作可以運用銅帶 (31)與電阻環⑻的全方位感應技術達成無感應死角的效果。 • 此外，本創作銅帶(31)與電阻環(21)的元件數量少、成本低，更 __由於電阻環⑻及銅帶⑻不料在碰撞下受損，故本創作的耐用度M323884 VIII, new description: [New technology field] This new type of collision sensor, especially refers to a kind of omnidirectional collision sensor, high durability, and can carry out the full (four) precision collision sensing, More in the multi-gorge punch can effectively protect the components. [Prior Art] • At present, the automatic shifting equipment is inevitably equipped with equipment for inductive collision. Whether it is an optical sensor, a proximity sensor or an image sensor, there is a problem that the sensing direction cannot be fully performed; - For example, the self-propelled vacuum cleaner that began to appear on the market is the kind of the above-mentioned shop, but the product is not designed to detect the collision, and (4) the automatic steering function after the simple chat mechanism is blocked. This kind of system design - there is a problem that can not accurately avoid complex space obstacles and non-inductive ability, not only the entire device is easy to hit _ know the damage, more than see the self-propelled vacuum device trapped in the complex space. In order to solve the above problems, the product design of "a self-propelled vacuum cleaner with collision sensing" as shown in the figure is presented on the market. The product with the collision sensor includes a shaft member (1G1). The rotating body (10)), the outer cover (11) and the plurality of proximity sensors (12), which use different proximity sensors (12) to face the inner wall surface of the corresponding outer cover (11), and the displacement body ( 10) Place a number of block cushions (13) with the outer cover (u). When the self-propelled type and the dust coat are placed in the space to the space, the cover (11) is swayed and touched to the proximity sensor. M323884 - (12), and the proximity sensor (12) that is touched sends a signal to inform the control system that there is an obstacle in the direction, and then operates with a preset program to evade the direction of the proximity sensor (12). Space barriers. However, the above-mentioned self-propelled dust suction device with a collision sensor still has the following problems after being practical. First, the product with the collision sensor has several proximity sensors (12), but the direction that can be sensed Still depending on the corresponding direction of the proximity sensor (12), there are several near-sensing sensors (12) that represent several limited sensing angles. When the self-propelled vacuum device collides, there is no direct proximity. When the space of the sensor (12) is disordered, the cover (11) may not touch the proximity sensing (12) or simultaneously touch the two proximity sensors (12) to cause an inductive error; Second, since the conventional design places a plurality of block cushions (13) on the displacement body (10) and the outer cover (11), but only the direction of the block cushion (13) can be buffered. Collision forces in other directions are almost always transmitted to the proximity sensor (12) or the displacement body (1〇), causing the device components to be easily damaged. Second, if the proximity sensor (12) has too many induction times, the damage rate The failure rate is also greatly improved, plus the proximity sensor (丨2) The high price and the replacement of the installation are not easy, so the φ conventional sensing equipment still needs to be improved. In order to effectively solve the above-mentioned related issues, the creators of this new type have developed and designed and experimented under the goal of improving the aforementioned problems based on the technology and experience of research and development of related self-propelled and inductive systems in the past, and finally developed a full-green Female sensor. [New content] 'The main purpose of this new type is to provide an all-round collision sensor; M323884 is arranged around the displacement body circumference ring % I of the omnidirectional collision sensor of the present invention and surrounds the inner edge of the cover The copper strip is arranged, and the copper strip of the outer cover is sensed by the ring. Since the resistance ring senses the == equal-divided voltage in different directions, the creation can perform all (10) heart H-path reading, and the material and setting form are not only Limitation of this one example 'for example, Inter-European or other conductive Saki (4) is feasible. " The second aspect of the present invention provides a full-body collision sensor with a multi-directional buffer to protect various components; to achieve the above object, the displacement sensor body of the present invention has a plurality of multidirectional directions a damper that not only rotates with the contact position of the collision inner cover, but also has a retracting lever with a shock absorbing member mounted on the multidirectional buffer; thereby, the multidirectional buffer that can be rotated and retracted can be effectively protected Each component. The new type of shinning-purpose is to provide a versatile collision sensor with better durability. To achieve the above objectives, the induction of the omnidirectional collision sensing is based on the resistance ring around the circumference of the displacement body and the inner edge of the collision cover. The copper strip is more durable because the resistor ring and the copper strip are less likely to be damaged under impact. In this case, the inductive signal of the new omnidirectional collision sensor is to use the copper belt to collide with the (four) resistance miscellaneous, and generate different sub-surface values, and then pass the voltage value to the hybrid m-cart. Touching, _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ - 2 Creation Another, the key point is: the multi-directional buffer of the all-round impact test 11 includes, the 9 riding parts and the swinging pad, the Wei shrink rod is matched with the shock absorber spring seat, and the retracting rod faces the inner wall of the collision cover. One end of the plant is equipped with a whirlpool. This is not only the use of the whirlpool pad and the rotating seat. The contact with the inner cover of the collision: the rotation, and the retracting rod of the multi-directional buffer can be absorbed by the shock absorbing material. Therefore, the multi-directional buffer that can be rotated and retracted by this creation can effectively protect each component. [Embodiment] Please refer to the second, third and fourth embodiments of the present invention. The omnidirectional collision sensor of the present invention comprises a displacement body (10), a collision cover (10), a plurality of multidirectional buffers (10) and a control _ 0), the body (10) has power _ element (10) and a plurality of driving wheels (61) 'The power driving element (10) drives the driving wheel according to the control ((1), wherein: the displacement body (10) is a disc plate The peripheral surround configuration - electric (21); " the collision cover (30) is a disc-shaped cover that is disposed outside the displacement body (10), and the bottom of the outer edge of the collision cover (10) is set to be Wei Hong. The collision cover (the inner wall of the 3〇1 corresponds to the displacement body (10), and a copper strip (31) is disposed around the resistance ring (21) of the inner wall of the collision cover (10). The copper strip is only a short-circuit element. One type, material and setting form is not limited to this embodiment. For example, the spacing or other conductive materials are all feasible.) The multi-directional buffer (40) includes a rotating base (41) and a retracting rod. (42), a shock absorbing spring member (43) and a swinging pad (44), the rotating seat (41) The pivot shaft (411) is pivotally disposed on the circumference of the displacement body (20), and a hole (412) is opened in the radial direction of the rotation seat (41). The sleeve hole (412) has a flange at the opening on both sides thereof. (413) 'The retracting rod (42) is slidably disposed in the sleeve hole (412) of the rotating base (41), and a ring protrusion (421) is formed at a position of the corresponding sleeve hole (412) of the retracting rod (42), and The two shock absorbing spring members (43) are respectively mounted on the two sides of the ring protrusion (421) and the rim (413) on both sides of the sleeve hole (412), and the retracting rod (42) faces the inner wall of the collision cover (3 〇). One end of the pivoting member (44) is pivotally provided with a one-side type swinging pad (44), and the swinging pad (44) is pushed against the inner wall of the collision cover (30), and the other end of the retracting rod (42) is protected. a debounce block (422); the control module (50) is mounted on the displacement body (2〇), and the control module (5〇) is coupled to the resistance ring (21) of the displacement body (20), and is controlled by The module (5〇) obtains different voltage values generated by the copper strip (31) of the collision cover (30) colliding with the resistance ring (21), and then combines the voltage values to control the power driving component (6〇) Or the drive wheel (61); Description of the structure, configuration and relationship of each other. In order to find out the various types of real financial formulas of the new type, please explain with the figure shown in Figures 5, 6 and 7 of this new type: The new structure of the two, _ women's nuclear (10) The upper _ force, the _ component (10) controls the belt _ drive wheel (61) according to the control module (10), and the displacement body (10) is actuated, and the collision outer cover (10) is slid on the bottom of the outer edge at the bottom of the outer y__ M323884 - Upper; When any direction collides with an obstacle, the collision cover (3〇) swings close to the displacement body (20), and the inner wall of the buckle cover (3〇) is pushed against the multidirectional buffer (4〇) Outside the swing 塾(4)), the shock absorbing member (43) is deformed and accumulating. If the shock absorbing spring member (43) is unable to push open the obstacle (the ball will be easily pushed open), the collision cover (3 〇) The inner wall is continuously displaced (continuously compressing the shock absorbing spring member (43)), and the copper strip (31) is relatively in contact with the resistive ring (21) of the displacement body (10). At this time, the control module (5〇) of the creation is obtained. The copper strip of the collision cover (3〇) collides with the different voltage values generated by the resistance ring (21), and then the voltage value is calculated to obtain accurate Collision direction, and then cooperate with the control power crane component (10) or the crane wheel (61) to dodge or retreat, and at the same time 'use the shock absorption balance of the 2 shock absorber spring (43) to let the collision cover (10) rebound first after the collision, and finally recover Normal travel state; by this, the creation can use the omnidirectional sensing technology of the copper strip (31) and the resistor ring (8) to achieve the effect of no induction dead angle. • In addition, the creation of the copper strip (31) and the resistor ring (21) has a small number of components and a low cost, and the durability of the creation is due to the resistance ring (8) and the copper strip (8) being damaged under collision.
較佳。 X 在此要說明的是，該多向緩衝器<^4〇)樞配在位移本體(2〇)等分角 度週緣，且该旋轉座(41)及旋擺墊(44)都會相應碰撞旋擺，故本創作 的多向緩衝器⑽也沒有緩衝死角，可以有效增力口本創作的順暢性及 耐用度。 M323884 - 在此重新總結本創作改良後的特徵功效於下： 1·本新型利用環繞的電阻環感應撞擊方向的外罩銅帶，由於電阻 環感應不同方向的銅帶會有精確的不同分電壓產生，故本創作能夠進 行全方位的精準感應。 • 2·本新型的位移本體周緣配置有若干多向緩衝器，該多向緩衝哭 不但可以隨著碰撞内罩的接觸位置旋轉，且多向緩衝器上安裝有具吸 春震簧件的退縮桿；藉此可以旋轉、退縮的多向緩衝器可以有效保護夂 元件。 ~ 口 3·本新型電阻環及銅帶較不容脉碰撞下受損，故本創作的 ’ 度較佳。 綜摘述，本案之續結構設計係包括有—位移本體、—碰撞外 2右干杨緩衝ϋ及—控侧，該位移本體周緣環繞配置至少_ 電阻環i且於碰撞外勒緣相應處環繞配置銅帶，另在位移本體艰 配置有右干夕向緩衝器；藉此電阻環及銅帶讓耐用度增加，且可以$ =方位的精準碰撞感應，更顧多向緩_有效保護各元件；咐 -j作之具有產業之可_性』應已毋庸置疑，除此 效，是故，本創作的：有不可輕忽· 祈請惠予_早日賜_』，縣德便:』都以合專利法規 11 M323884Preferably. X It should be noted that the multi-directional buffer <^4〇) is pivoted on the circumference of the displacement body (2〇), and the rotating seat (41) and the swing pad (44) will collide accordingly. Rotating, so the multi-directional buffer (10) of this creation does not buffer the dead angle, which can effectively enhance the smoothness and durability of the original creation. M323884 - Here is a summary of the improved features of this creation: 1. This new type of copper strip with a surrounding resistance ring to sense the direction of impact, because the resistance ring senses different directions of the copper strip will have a different differential voltage generation Therefore, this creation can carry out all-round accurate sensing. • 2. The displacement body of the present invention is provided with a plurality of multi-directional buffers, and the multi-directional buffer crying can not only rotate with the contact position of the collision inner cover, but also the retraction with the spring shock spring member mounted on the multi-directional buffer Rod; the multidirectional buffer that can be rotated and retracted can effectively protect the 夂 element. ~ Port 3. The new resistor ring and copper strip are less damaged under the collision of the pulse, so the creation degree is better. In summary, the continuation structure design of the present case includes a displacement body, a collision outer 2 right dry Yang buffer ϋ and a control side, and the displacement body is circumferentially arranged at least _ resistance ring i and surrounds the collision outer edge correspondingly The copper strip is arranged, and the right main damper buffer is arranged in the displacement body; the resistor ring and the copper strip increase the durability, and the accurate collision sensing of the $= azimuth can be more effective.咐-j has the industry's _ sexuality should be undoubtedly, except for this effect, it is the reason, the creation of this: there is no negligence · pray for the benefit of _ early _ 』, county de: "all Patent Regulation 11 M323884
【圖式簡單說明】 第1圖 係習用設計， 結構不意圖。 第2圖 係本創作實施例立體分解透視圖。 弟3圖 係本創作貫施例立體組合透視圖。 第4圖 係本創作多向緩衝器立體組合透視圖。 弟5圖 係本創作行進狀態局部組合剖視圖。 苐6圖 係本創作碰撞狀態局部組合剖視圖。 第7圖 係本創作碰撞後回彈狀態局部組合剖視圖。 【主要元件符號說明】 《習用》 位移本體（1〇) 外罩（11) 緩衝墊(13) 驅動件（101) 近接感測器（12) 《本創作》 位移本體(20) 電阻環(21) 碰撞外罩（30) 銅帶(31) 多向緩衝器（40) 旋轉座(41) 樞軸(411) 套孔(412) 擋緣(413) 退縮桿(42) M323884 防脫凸塊（422) 旋擺墊(44) 、 環凸（421) 吸震篑件(43) 柩件(441) 控制模組(50) 驅動輪（61) 動力驅動元件（60)[Simple description of the diagram] Figure 1 is a custom design, the structure is not intended. Fig. 2 is a perspective exploded perspective view of the present embodiment. The 3rd figure is a perspective view of the stereoscopic combination of the present embodiment. Figure 4 is a perspective view of a stereoscopic combination of multi-directional buffers. Figure 5 is a partial sectional view of the creative traveling state.苐6图 This is a partial sectional view of the collision state of this creation. Figure 7 is a partial sectional view of the rebound state after the collision of the creation. [Explanation of main component symbols] "Use" Displacement body (1〇) Cover (11) Cushion (13) Drive member (101) Proximity sensor (12) "This creation" Displacement body (20) Resistor ring (21) Collision cover (30) Copper strip (31) Multi-directional buffer (40) Rotating seat (41) Pivot (411) Sleeve (412) Retaining edge (413) Retracting rod (42) M323884 Anti-bumping lug (422) Swing pad (44), ring convex (421) Shock absorbing element (43) 柩 (441) Control module (50) Drive wheel (61) Power drive element (60)
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