Transmission component assembly

Abstract

A transmission component assembly comprises a transmission module, a short-distance ultrasonic sensor and a microprocessor. The transmission module comprises a motor, a rotating shaft and a gear disc. The gear disc comprises a through hole and a plurality of tooth pieces, the rotating shaft is arranged in the through hole in a penetrating mode, the lengths of the tooth pieces are different, the tooth pieces correspond to the rotating angle of the rotating shaft, and the motor drives the rotating shaft and the gear disc to rotate. The short-distance ultrasonic sensor is arranged on one side of the gear disc, and the sensing distance between the short-distance ultrasonic sensor and the gear disc is smaller than 8 centimeters. The short-distance ultrasonic sensor generates an ultrasonic signal with the frequency higher than 500 KHz and receives an ultrasonic reflection signal reflected by the gear disc, the transmitting angle and the receiving angle of the short-distance ultrasonic sensor are smaller than 10 degrees, and the ultrasonic reflection signal is converted into a sensing signal and transmitted to the microprocessor. The microprocessor calculates a rotation angle according to the sensing signal and sends a driving signal to the motor.

Description

Technical Field

[0001] The present application relates to a transmission component, and more particularly to a transmission component assembly including ultrasonic sensing. Background Art

[0002] With the development of new technologies such as the Internet of Things, Industry 4.0, and electric vehicles in recent years, various sensors are combined with traditional machinery to gradually change the industrial ecology. Today's sensors include ultrasonic sensors, optical sensors, or lenses, etc. Generally speaking, optical sensors are the cheapest. They operate by blocking / reflecting or passing light to make sensing decisions. They are also often used for start / stop sensing on traditional robotic arms. However, this sensing method is more susceptible to interference from debris or noise, causing the entire device to crash.

[0003] The lens is an important sensor for various inspections and electric vehicles to sense the surrounding environment. However, the lens captures images. For image analysis, the computing unit and software required are relatively expensive, and even artificial intelligence training is required to achieve accurate judgment. In addition, in an environment with insufficient light, it is easy to make inaccurate judgments. Summary of the invention

[0004] In order to solve the problems faced by the prior art, a transmission component assembly is provided herein. The transmission component assembly includes a transmission module, a short-range ultrasonic sensor, and a microprocessor. The transmission module includes a motor, a rotating shaft, and a gear plate. The motor is connected to the rotating shaft, the gear plate includes a perforation and a plurality of teeth, the rotating shaft is penetrated in the perforation, the lengths of the teeth are not equal, and the teeth correspond to the rotation angle of the rotating shaft, and the motor drives the rotating shaft and the gear plate to rotate. The short-range ultrasonic sensor is arranged on one side of the gear plate to generate an ultrasonic signal, the frequency of the ultrasonic signal is higher than 500KHz, and the emission angle of the short-range ultrasonic sensor is less than 10 degrees, and the sensing distance between the short-range ultrasonic sensor and the gear plate is less than 8 cm. The short-range ultrasonic sensor also receives the ultrasonic reflection signal reflected by the gear plate, the receiving angle is less than 10 degrees, and converts it into a sensing signal and sends it out. The microprocessor is electrically connected to the motor and the short-range ultrasonic sensor, receives the sensing signal, calculates the corresponding rotation angle according to the sensing signal, and sends a driving signal to the motor according to the rotation angle.

[0005] In some embodiments, the frequency of the ultrasonic signal is 600 KHz to 1200 MHz, the transmission angle and the receiving angle are 2 to 7 degrees, and the sensing distance is 0.2 to 4 centimeters.

[0006] More specifically, in some embodiments, the frequency of the ultrasonic signal is 650 KHz to 800 MHz, the transmission angle and the receiving angle are 3 to 5 degrees, and the sensing distance is 0.3 to 3 centimeters.

[0007] In some embodiments, the short-range ultrasonic sensor includes an ultrasonic transmitting module and an ultrasonic receiving module, and the ultrasonic transmitting module and the ultrasonic receiving module include at least one piezoelectric micromachined ultrasonic transducer (PMUT).

[0008] More specifically, in some embodiments, the ultrasonic transmitting module and the ultrasonic receiving module each include a plurality of piezoelectric micro-electro-mechanical transducers, and the piezoelectric micro-electro-mechanical transducers are arranged in an array.

[0009] In some embodiments, the motor is a brushless DC motor. In more detail, in some embodiments, the motor is a stepper motor.

[0010] In some embodiments, the motor is a servo motor.

[0011] In some embodiments, the gear plate is an eccentric gear plate.

[0012] In some embodiments, the rotating shaft is a ball screw.

[0013] As shown in the aforementioned embodiments, the transmission component assembly can confirm the rotation angle at the rotation point of various machines through the design of a short-range ultrasonic sensor and a gear plate with teeth of different lengths, making the operation more precise and applicable to environments with lack of light while reducing the overall equipment cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A side view of an embodiment of a transmission component assembly.

[0015] Figure 2 A partial top view of an embodiment of a transmission component assembly.

[0016] Figure 3 A circuit block diagram of an embodiment of a transmission component assembly.

[0017] Figure 4 It is a partial top view of another embodiment of the transmission component assembly.

[0018] Description of reference numerals:

[0019] 1: Transmission component assembly;

[0020] 10: Transmission module;

[0021] 11: Motor;

[0022] 13: Rotation axis;

[0023] 15: gear plate;

[0024] 151: perforation;

[0025] 153: tooth piece;

[0026] 20: short-range ultrasonic sensor;

[0027] 21: Ultrasonic emission module;

[0028] 211: piezoelectric micro-electromechanical transducer;

[0029] 23: Ultrasonic receiving module;

[0030] 231: piezoelectric micro-electromechanical transducer;

[0031] 30: microprocessor;

[0032] C: instructions;

[0033] D: driving signal;

[0034] S: sensing signal;

[0035] Ut: ultrasonic signal;

[0036] Ur: Ultrasonic reflection signal. DETAILED DESCRIPTION

[0037] It should be understood that when a component is referred to as being "disposed" on another component, it may mean that the component is directly located on the other component, or there may be an intermediate component through which the component and the other component are connected. Conversely, when a component is referred to as being "directly disposed on another component" or "directly disposed to another component", it should be understood that it is clearly defined that there are no intermediate components.

[0038] Figure 1 A side view of an embodiment of a transmission component assembly. Figure 2 A partial top view of an embodiment of a transmission component assembly. Figure 3 FIG. 1 is a circuit block diagram of an embodiment of a transmission component assembly. For clarity, Figure 2 and Figure 3 Some components are omitted. Figures 1 to 3 As shown, the transmission component assembly 1 includes a transmission module 10, a short-range ultrasonic sensor 20, and a microprocessor 30. The transmission module 10 includes a motor 11, a rotating shaft 13, and a gear plate 15. The motor 11 is connected to the rotating shaft 13, and the gear plate 15 includes a through hole 151 and a plurality of tooth plates 153. The rotating shaft 13 is inserted into the through hole 151. The lengths of the tooth plates 153 are not equal, and the tooth plates 153 correspond to the rotation angle of the rotating shaft 13. The motor 11 drives the rotating shaft 13 and the gear plate 15 to rotate.

[0039] The close-range ultrasonic sensor 20 is disposed on one side of the gear plate 15, and generates an ultrasonic signal Ut, the frequency of which is higher than 500KHz, and the emission angle of the close-range ultrasonic sensor 20 is less than 10 degrees, and the sensing distance between the close-range ultrasonic sensor 20 and the gear plate 15 is less than 8 centimeters. The close-range ultrasonic sensor 20 also receives the ultrasonic reflection signal Ur reflected by the gear plate 15, the receiving angle is less than 10 degrees, and converts it into a sensing signal S and sends it out. Here, it is the encoding of converting the ultrasonic reflection signal Ur into an electrical signal. Preferably, in some embodiments, the ultrasonic signal Ut is 600KHz to 1200MHz, the emission angle and the receiving angle are 2 to 7 degrees, and the sensing distance is 0.2 to 4 centimeters. More preferably, in some embodiments, the frequency of the ultrasonic signal Ut is 650KHz to 800MHz, the emission angle and the receiving angle are 3 to 5 degrees, and the sensing distance is 0.3 to 3 centimeters. Here, the short-range ultrasonic sensor 20 achieves high directivity by using high frequency and limiting transmission / reception, thereby avoiding interference from noise and refracted waves.

[0040] The microprocessor 30 is electrically connected to the motor 11 and the short-range ultrasonic sensor 20. First, a command C is issued to start the short-range ultrasonic sensor 20 to generate an ultrasonic signal Ut. Then, after receiving the sensing signal S, the corresponding rotation angle is calculated according to the sensing signal S. Here, mainly because the lengths of the teeth 153 are different, the short-range ultrasonic sensor 20 receives the ultrasonic reflection signal Ur at different times. In this way, the distance can be calculated, and the corresponding tooth 153 can be calculated. The corresponding rotation angle of the rotating shaft 13 can also be obtained by looking up a table. The microprocessor 30 then sends a drive signal D to the motor 11 according to the rotation angle and the desired rotation angle.

[0041] The transmission component assembly 1 can be mainly installed in various robots, such as mechanical arms, sweeping robots, and service robots, where the joints are rotated and bent, to achieve more delicate operations. The short-range ultrasonic sensor 20 has high directivity and is not easily disturbed by ambient light, so it can also be used to effectively judge in environments with insufficient light sources.

[0042] See again Figure 3 The short-range ultrasonic sensor 20 includes an ultrasonic transmitter module 21 and an ultrasonic receiver module 23. The ultrasonic transmitter module 21 is used to transmit an ultrasonic signal Ut, and the ultrasonic receiver module 23 is used to receive an ultrasonic reflection signal Ur. The ultrasonic transmitter module 21 and the ultrasonic receiver module 23 may include at least one piezoelectric micro-electromechanical transducer 211 / 231. In this embodiment, two piezoelectric micro-electromechanical transducers 211 / 231 are used, but in fact, one or more piezoelectric micro-electromechanical transducers may be used, which may be determined according to the actual operating environment.

[0043] Figure 4 FIG. 2 is a partial top view of another embodiment of a transmission component assembly. Figure 4 As shown, the gear plate 15 is an eccentric gear plate. Further, at each position of the gear plate 15, the corresponding distance is different, and more detailed detection can be achieved, but this is only an example and not intended to be limiting.

[0044] The transmission component assembly 1 can be used in different environments, and different motors 11 can be used according to requirements and specifications. For example, when used in battery-powered household appliances such as sweeping robots, the motor 11 can use a DC brushless motor. Preferably, in some embodiments, the motor 11 can be a stepper motor. When used in a large robotic arm powered by AC power, the motor 11 can be a servo motor, or a stepper motor can be used after converting AC power into DC power. Here, the motor 11 can be selected according to the actual product specifications, space, precision and function. This is only an example and not a limitation.

[0045] In addition, in some embodiments, the rotating shaft 13 can be a screw, for example, a ball screw, which is mainly used for lifting or linear transmission. However, again, the above is only an example and not a limitation. As long as the rotating shaft can achieve the rotation effect, it can be used, depending on the actual product specifications.

[0046] In summary, the transmission component assembly 1 is designed through a short-range ultrasonic sensor 20 and a gear plate 15 with teeth 153 of different lengths. It can confirm the rotation angle at the rotation point of various machines, making the operation more precise and applicable to environments with lack of light, while reducing the overall equipment cost.

[0047] Although the technical contents of this application have been disclosed as above in the preferred embodiments, they are not intended to limit this application. Any slight changes and modifications made by anyone skilled in the art without departing from the spirit of this application should be included in the scope of this application. Therefore, the scope of protection of this application shall be based on the scope defined by the attached patent application.

Claims

1. A transmission component assembly, characterized in that: Include: A transmission module, comprising a motor, a rotating shaft, and a gear plate, wherein the motor is connected to the rotating shaft, the gear plate comprises a through hole and a plurality of teeth, the rotating shaft is passed through the through hole, the lengths of the teeth are unequal, and each of the teeth corresponds to the rotation angle of the rotating shaft, and the motor drives the rotating shaft and the gear plate to rotate; A short-range ultrasonic sensor is arranged on one side of the gear plate, generating an ultrasonic signal, the frequency of which is higher than 500KHz, and the emission angle of the short-range ultrasonic sensor is less than 10 degrees, the sensing distance between the short-range ultrasonic sensor and the gear plate is less than 8 centimeters, and the short-range ultrasonic sensor also receives the ultrasonic reflection signal reflected by the gear plate, the receiving angle is less than 10 degrees, and converts it into a sensing signal before sending it out; as well as The microprocessor is electrically connected to the motor and the short-range ultrasonic sensor, receives the sensing signal, calculates the corresponding rotation angle according to the sensing signal, and sends a driving signal to the motor according to the rotation angle.

2. The transmission component assembly according to claim 1, characterized in that: The frequency of the ultrasonic signal is 600 KHz to 1200 MHz, the emission angle and the receiving angle are 2 to 7 degrees, and the sensing distance is 0.2 to 4 centimeters.

3. The transmission component assembly according to claim 2, characterized in that: The frequency of the ultrasonic signal is 650 KHz to 800 MHz, the emission angle and the receiving angle are 3 to 5 degrees, and the sensing distance is 0.3 to 3 centimeters.

4. The transmission component assembly according to claim 1, characterized in that: The short-range ultrasonic sensor comprises an ultrasonic transmitting module and an ultrasonic receiving module, and the ultrasonic transmitting module and the ultrasonic receiving module comprise at least a piezoelectric micro-electromechanical transducer.

5. The transmission component assembly according to claim 4, characterized in that: The ultrasonic transmitting module and the ultrasonic receiving module respectively include a plurality of piezoelectric micro-electro-mechanical transducers, and the piezoelectric micro-electro-mechanical transducers are arranged in an array.

6. The transmission component assembly according to claim 1, characterized in that: The motor is a brushless DC motor.

7. The transmission component assembly according to claim 6, characterized in that: The motor is a stepping motor.

8. The transmission component assembly according to claim 1, characterized in that: The motor is a servo motor.

9. The transmission component assembly according to claim 1, characterized in that: The gear plate is an eccentric gear plate.

10. The transmission component assembly according to claim 1, characterized in that: The rotating shaft is a ball screw.

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