CN114655301A - Clutch steering device for robot - Google Patents
Clutch steering device for robot Download PDFInfo
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- CN114655301A CN114655301A CN202210243959.2A CN202210243959A CN114655301A CN 114655301 A CN114655301 A CN 114655301A CN 202210243959 A CN202210243959 A CN 202210243959A CN 114655301 A CN114655301 A CN 114655301A
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- gear
- connecting rod
- robot
- module
- support frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of power-assisted steering systems, in particular to a clutch steering device for a robot, which comprises a control module, a transmission module, a driving module and a bracket, wherein the control module comprises a support frame, a connecting piece and a first air cylinder arranged on the bracket, the transmission module comprises a power assembly fixed on the support frame, the connecting piece is rotatably connected with the bracket, the support frame is connected with the connecting piece, one end of the first air cylinder is connected with the bracket and drives the support frame to move when driving the bracket to rotate, so that the support frame drives the power assembly to be separated from or connected with the driving module. When the robot needs to turn, the first air cylinder pushes the supporting frame through the connecting piece, so that the power assembly is combined with the traveling module, the traveling module is controlled by the power assembly to change the direction of the traveling module, the steering function of the robot is realized, when the function only needs to be moved, the power assembly is separated from the traveling module through the first air cylinder, the action direction of the traveling module is not changed, and the robot only has the traveling function.
Description
Technical Field
The invention relates to the technical field of power-assisted steering systems, in particular to a clutch steering device for a robot.
Background
When the robot runs in an environment with complex terrain, the uneven ground usually needs to use a traction mechanism to drive the robot to run, and in the traction process, the robot is in a state that a clutch is not needed but a steering function is needed, and the use of the clutch function even hinders the use of the steering function, so that the moving function and the steering function of the robot need to be divided through one device.
Disclosure of Invention
The present invention provides a clutch steering device for a robot, which can divide a moving function and a steering function.
The technical scheme of the invention is as follows: the utility model provides a separation and reunion turns to device for robot, includes control module, transmission module, the module and the support of traveling, control module include support frame, connecting piece and install in the first cylinder of support, transmission module is including being fixed in the power component of support frame, the connecting piece with the leg joint is rotated, the support frame with the connecting piece is connected, the one end of first cylinder with leg joint and drive during the leg joint the support frame removes, so that the support frame drives power component with the module separation or the joint of traveling.
Optionally, the control module includes a control assembly, the transmission module further includes a first gear, the control assembly is electrically connected to the power assembly, the first gear is disposed between the output end of the power assembly and the traveling module, and the first gear is driven by the power assembly to rotate.
Optionally, the driving module includes a second gear, a first connecting rod and a roller, the rotation centers of the second gear and the roller are both mounted on the first connecting rod, and when the transmission module is combined with the driving module, the first gear is engaged with the second gear.
Optionally, the module of traveling still includes first backup pad, the second gear with first connecting rod all with first backup pad fixed connection, the gyro wheel is 2 at least and install respectively in the both ends of first connecting rod.
Optionally, the driving module further includes a reset component and a locking component, and both the reset component and the locking component are connected to the second gear.
Optionally, the reset assembly includes an elastic member, the locking assembly includes a first latch, the elastic member is disposed in the center of the second gear, and the first latch is disposed above the second gear and can be inserted into the teeth of the second gear.
Optionally, the control module further includes a first fixing member, the connecting member includes a second connecting rod, the first fixing member is fixedly mounted on the bracket, the second connecting rod is in a boomerang shape, the center of the second connecting rod is hinged to the first fixing member, and the first end of the second connecting rod is hinged to the output end of the first cylinder.
Optionally, the control module further includes a second fixing member, the connecting member includes a third connecting rod, the second fixing member is fixedly mounted on the support, one end of the third connecting rod is hinged to the second end of the second connecting rod, the other end of the third connecting rod is connected to the support frame, when the output end of the first cylinder extends out, the third connecting rod is hinged to the second connecting rod, the second fixing member is abutted to the hinged position of the second connecting rod, and the extending direction of the third connecting rod is parallel to the sliding direction of the support frame.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
according to the clutch steering device for the robot, when steering is needed, the first air cylinder pushes the support frame through the connecting piece, so that the power assembly is combined with the traveling module, the traveling module is controlled by the power assembly to change the direction of the traveling module, the steering function of the robot is achieved, when the robot only needs to move, the power assembly is separated from the traveling module through the first air cylinder, the action direction of the traveling module is not changed, and the robot only has the traveling function.
Drawings
Fig. 1 is a front view of a clutch steering apparatus for a robot according to an embodiment of the present invention in a movement function state.
Fig. 2 is a front view of the clutch steering device for a robot according to the embodiment of the present invention in a steering state.
Fig. 3 is a top view of a clutch steering apparatus for a robot according to an embodiment of the present invention.
Description of reference numerals:
100. a clutch steering device for a robot,
1. a control module 11, a first cylinder 12, a support frame 13, a second connecting rod 14, a third connecting rod 15, a first fixing piece 16 and a second fixing piece,
2. a transmission module 21, a power assembly 22, a first gear,
3. a driving module 31, a second gear 32, a first connecting rod 33, a roller 34, a first supporting plate 35, a reset component 36 and a locking component,
4. and (3) a bracket.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In addition, the terms "first", "second", and the like are used in the present invention to describe various information, but the information should not be limited to these terms, which are used only to distinguish the same type of information from each other. For example, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information, without departing from the scope of the present invention.
Referring to fig. 1, 2 and 3, the present embodiment provides a clutch steering apparatus 100 for a robot, including a control module 1, a transmission module 2, a traveling module 3 and a support 4, where the control module 1 includes a support frame 12, a connecting member and a first cylinder 11 installed on the support 4, the transmission module 2 includes a power assembly 21 fixed on the support frame 12, the connecting member is rotatably connected to the support 4, the support frame 12 is connected to the connecting member, one end of the first cylinder 11 is connected to the support 4 and drives the support frame 12 to move when the support frame 4 rotates, so that the support frame 12 drives the power assembly 21 to separate from or join with the traveling module 3. When the robot needs to turn, the first air cylinder 11 pushes the support frame 12 through the connecting piece, so that the power assembly 21 is combined with the traveling module 3, the traveling module 3 is controlled by the power assembly 21 to change the direction of the traveling module 3, the steering function of the robot is realized, when the robot only needs to move, the power assembly 21 is separated from the traveling module 3 through the first air cylinder 11, the action direction of the traveling module 3 is not changed, and the robot only has the traveling function.
Preferably, referring to fig. 1, in the present embodiment, the control module 1 includes a control component (the control component is not shown in the figure), the transmission module 2 further includes a first gear 22, the control component is electrically connected to the power component 21, the first gear 22 is disposed between the output end of the power component 21 and the traveling module 3, and the power component 21 drives the first gear 22 to rotate. The driving module 3 includes a second gear 31, a first link 32 and a roller 33, the rotation centers of the second gear 31 and the roller 33 are mounted on the first link 32, and when the transmission module 2 is combined with the driving module 3, the first gear 22 is engaged with the second gear 31. The driving module 3 further includes a first supporting plate 34, the second gear 31 and the first connecting rod 32 are both fixedly connected to the first supporting plate 34, and the number of the rollers 33 is at least 2 and are respectively mounted at two ends of the first connecting rod 32. The traveling direction of the robot is controlled by rollers 33 respectively located at both ends of the robot. When the robot only needs a moving function, the robot is driven to run through the roller 33; when the robot needs to move, the first cylinder 11 pushes the support frame 12 to slide so that the first gear 22 is meshed with the second gear 31, the control component drives the first gear 22 to rotate according to the angle that the robot needs to rotate, and under the action of the first gear 22, the second gear 31 drives the roller 33 to rotate along the center of the second gear 31, so that the robot is driven to rotate. In other embodiments, the control assembly may also be provided on the transmission module 2 or on the body of the robot.
Preferably, in fig. 1, 2 and 3, in this embodiment, the traveling module 3 further includes a reset component 35 and a locking component 36, and both the reset component 35 and the locking component 36 are connected to the second gear 31. Specifically, in this embodiment, the reset component 35 includes an elastic member, the locking component 36 includes a first latch, the elastic member is disposed at the center of the second gear 31, and the first latch is disposed above the second gear 31 and can be inserted into the teeth of the second gear 31. After the first gear 22 and the second gear 31 are separated, the second gear 31 drives the roller 33 to return to the initial position through the elastic member, and the possibility of misoperation is reduced. After the angle between the second gear 31 and the roller 33 is rotated to a desired position, the first latch may be inserted into the teeth of the second gear 31, the second gear 31 may be fixed, and the robot may travel in the changed direction after the first gear 22 and the second gear 31 are separated.
Preferably, referring to fig. 1, 2 and 3, in this embodiment, the connecting member includes a second connecting rod 13 and a third connecting rod 14, the control module 1 further includes a first fixing member 15 and a second fixing member 16, the first fixing member 15 and the second fixing member are fixedly mounted on the bracket 4, the second connecting rod 13 is in a boomerang shape, the center of the second connecting rod 13 is hinged to the first fixing member 15, and the first end of the second connecting rod 13 is hinged to the output end of the first cylinder 11. One end of the third connecting rod 14 is hinged to the second end of the second connecting rod 13, the other end of the third connecting rod is connected to the support frame 12, when the output end of the first cylinder 11 extends out, the hinged position of the third connecting rod 14 and the second connecting rod 13 is abutted to the second fixing piece 16, and the extending direction of the third connecting rod 14 is parallel to the sliding direction of the support frame 12. Specifically, in the present embodiment, the output end of the first cylinder 11 is disposed obliquely. When the robot needs to rotate, the output end of the first cylinder 11 extends out, the second connecting rod 13 and the third connecting rod 14 rotate until the hinged position of the second connecting rod 13 and the third connecting rod 14 is abutted to the second fixing piece 16, the extending direction of the third connecting rod 14 is parallel to the sliding direction of the support frame 12, and the third connecting rod 14 pushes the support frame 12 to enable the transmission module 2 and the traveling module 3 to be combined. The power output by the first cylinder 11 is transmitted to the transmission module 2 through the second connecting rod 13 and the third connecting rod 14 to push the transmission module 2 to move, on one hand, when the hinged position of the second connecting rod 13 and the third connecting rod 14 is abutted with the second fixing piece 16, the action of the first cylinder 11 can be stopped immediately, the situation that the transmission module 2 and the running module 3 can not be separated or combined immediately when the first cylinders 11 with different specifications or errors are used is avoided, thereby avoiding the reduction of the control effect of the control module 1, on the other hand, in the design stage and the assembly stage of the robot, the transmission module 2 and the driving module 3 can be completed preferentially, and then the control module 1 is completed, wherein, the inclination angle of the first cylinder 11 can be adjusted to eliminate the error between each component, thereby improving the sensitivity of the combination and separation between the transmission module 2 and the driving module 3.
According to the clutch steering device 100 for the robot provided by the embodiment, when the robot needs a steering function, the output end of the first cylinder 11 extends out to push the second connecting rod 13 to rotate, so that the third connecting rod 14 rotates until the hinged position of the second connecting rod 13 and the third connecting rod 14 is abutted to the second fixing piece 16, the third connecting rod 14 pushes the support frame 12 to move so that the first gear 22 is hinged to the second gear 31, the angle required for rotation is determined according to the control component, the first gear 22 drives the second gear 31 to rotate under the action of the power component 21, the direction of the roller 33 is changed, and the first bolt is inserted into the teeth of the second gear 31, so that the steering function is realized, and the purpose of changing the moving direction of the robot is achieved; when the moving function is needed, the output end of the first air cylinder 11 retracts, so that the first gear 22 and the second gear 31 are separated, and at the moment, the robot only has the running function, so that the running function and the steering function are separated.
The clutch steering device 100 for the robot of the embodiment has the following beneficial effects:
when the robot needs to turn, the first air cylinder 11 pushes the support frame 12 through the connecting piece, the power assembly 21 is combined with the traveling module 3, the traveling module 3 is controlled by the power assembly 21 to change the direction of the traveling module 3, the steering function of the robot is realized, when the robot only needs to move, the power assembly 21 is separated from the traveling module 3 through the first air cylinder 11, the action direction of the traveling module 3 is not changed, and the robot only has the traveling function.
Secondly, when the robot only needs to move, the robot is driven to run through the roller 33; when the robot needs to move, the first cylinder 11 pushes the support frame 12 to slide so that the first gear 22 is meshed with the second gear 31, the control assembly drives the first gear 22 to rotate according to the angle that the robot needs to rotate, and under the action of the first gear 22, the second gear 31 drives the roller 33 to rotate along the center of the second gear 31, so that the robot is driven to rotate.
Thirdly, after the first gear 22 and the second gear 31 are separated from each other through the elastic member, the second gear 31 drives the roller 33 to return to the initial position, and the possibility of misoperation is reduced. After the angle between the second gear 31 and the roller 33 is rotated to a desired position, the first latch may be inserted into the teeth of the second gear 31, the second gear 31 may be fixed, and the robot may travel in the changed direction after the first gear 22 and the second gear 31 are separated.
Fourthly, the power output by the first cylinder 11 is transmitted to the transmission module 2 through the second connecting rod 13 and the third connecting rod 14 so as to push the transmission module 2 to move, on one hand, when the hinged position of the second connecting rod 13 and the third connecting rod 14 is abutted with the second fixing piece 16, the action of the first cylinder 11 can be stopped immediately, the situation that the transmission module 2 and the running module 3 can not be separated or combined immediately when the first cylinders 11 with different specifications or errors are used is avoided, thereby avoiding the reduction of the control effect of the control module 1, on the other hand, in the design stage and the assembly stage of the robot, the transmission module 2 and the driving module 3 can be completed preferentially, and then the control module 1 is completed, wherein, the inclination angle of the first cylinder 11 can be adjusted to eliminate the error between each component, thereby improving the sensitivity of the combination and separation between the transmission module 2 and the driving module 3.
The foregoing is directed to the preferred embodiment of the present invention, and it is understood that various changes and modifications may be made by one skilled in the art without departing from the spirit of the invention, and it is intended that such changes and modifications be considered as within the scope of the invention.
Claims (8)
1. The utility model provides a separation and reunion turns to device for robot, its characterized in that includes control module, transmission module, the module and the support of traveling, control module include support frame, connecting piece and install in the first cylinder of support, transmission module is including being fixed in the power component of support frame, the connecting piece with the leg joint is rotated, the support frame with the connecting piece is connected, the one end of first cylinder with leg joint and drive the support frame drives when rotating the support frame removes, so that the support frame drives power component with the module separation or the joint of traveling.
2. The clutched steering device for the robot of claim 1, wherein the control module comprises a control component, the transmission module further comprises a first gear, the control component is electrically connected with the power component, the first gear is arranged between an output end of the power component and the traveling module, and the first gear is driven to rotate by the power component.
3. The clutched steering device for the robot of claim 2, wherein the traveling module comprises a second gear, a first link, and a roller, rotation centers of the second gear and the roller are both mounted to the first link, and the first gear is engaged with the second gear when the transmission module is combined with the traveling module.
4. The clutched steering device for the robot of claim 3, wherein the driving module further comprises a first supporting plate, the second gear and the first connecting rod are both fixedly connected with the first supporting plate, and the number of the rollers is at least 2 and the rollers are respectively mounted at two ends of the first connecting rod.
5. The clutched steering device for a robot of claim 3, wherein the travel module further comprises a reset assembly and a locking assembly, both the reset assembly and the locking assembly being connected to the second gear.
6. The clutched steering device for the robot of claim 5, wherein the reset component comprises an elastic member, the locking component comprises a first latch, the elastic member is arranged at the center of the second gear, and the first latch is arranged above the second gear and can be inserted into the teeth of the second gear.
7. The clutched steering device for the robot of claim 1, wherein the control module further comprises a first fixing piece, the connecting piece comprises a second connecting rod, the first fixing piece is fixedly mounted on the bracket, the second connecting rod is in a boomerang shape, the center of the second connecting rod is hinged to the first fixing piece, and the first end of the second connecting rod is hinged to the output end of the first cylinder.
8. The clutch steering device for the robot as claimed in claim 7, wherein the control module further comprises a second fixing member, the connecting member comprises a third connecting rod, the second fixing member is fixedly mounted on the bracket, one end of the third connecting rod is hinged to the second end of the second connecting rod, the other end of the third connecting rod is connected to the support frame, when the output end of the first cylinder extends out, the hinged position of the third connecting rod and the second connecting rod is abutted to the second fixing member, and the extending direction of the third connecting rod is parallel to the sliding direction of the support frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210243959.2A CN114655301A (en) | 2022-03-11 | 2022-03-11 | Clutch steering device for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210243959.2A CN114655301A (en) | 2022-03-11 | 2022-03-11 | Clutch steering device for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114655301A true CN114655301A (en) | 2022-06-24 |
Family
ID=82029872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210243959.2A Pending CN114655301A (en) | 2022-03-11 | 2022-03-11 | Clutch steering device for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114655301A (en) |
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2022
- 2022-03-11 CN CN202210243959.2A patent/CN114655301A/en active Pending
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