CN217260264U - Steering wheel moment compensation device and cleaning robot - Google Patents
Steering wheel moment compensation device and cleaning robot Download PDFInfo
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- CN217260264U CN217260264U CN202221135063.4U CN202221135063U CN217260264U CN 217260264 U CN217260264 U CN 217260264U CN 202221135063 U CN202221135063 U CN 202221135063U CN 217260264 U CN217260264 U CN 217260264U
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Abstract
The utility model belongs to the technical field of the steering wheel technique and specifically relates to a steering wheel moment compensation arrangement and cleaning machines people is related to alleviate the driver and need drive the unstable problem of steering wheel when sharp or small-amplitude degree turn of self-cleaning machines people. The steering wheel moment compensation device comprises a rotating disc, a rotating main shaft, a rotating base, a rotating damper and a linear damper; the upper end of the rotating main shaft is connected with the rotating disc, and the lower end of the rotating main shaft is connected with the rotating base; the rotary damper is arranged at the bottom of the rotary base and connected with the rotary main shaft; the linear damper is provided between the rotary disk and the rotary base in a posture in which both end portions are rotatably connected to the rotary disk and the rotary base, respectively, and an axis is parallel to an axis of the rotary main shaft in an initial state. The utility model provides a steering wheel moment compensation arrangement can produce the moment of torsion range when sharp or small amplitude turn to and when turning or promptly turning by a wide margin, make the steering wheel more stable.
Description
Technical Field
The utility model belongs to the technical field of the steering wheel technique and specifically relates to a steering wheel moment compensation arrangement and cleaning machines people are related to.
Background
With the development of automation technology and artificial intelligence, the demand of intelligent robots is more and more extensive. The coming of the robot era will revolutionize the existing production and manufacturing modes and the human life style. The intelligent cleaning robot is applied to various outdoor and large-scale indoor environments, such as squares, parks, communities, underground garages and roads of other closed areas, as an application product of an intelligent technology.
At present, an industrial automatic cleaning robot depends on an SLAM technology, and the autonomous construction, positioning navigation and obstacle avoidance functions of a robot map are realized through laser and a vision sensor, so that manual interference is not needed during automatic driving; however, if the cleaning robot is in a failure state and cannot be quickly handled or a work place needs to be changed, it is necessary to manually drive the cleaning robot to a predetermined position. In the driving operation process, most paths are straight lines or small-amplitude turning, and occasionally large-amplitude turning is needed, so that in the straight line or small-amplitude turning, the driving process is influenced because the operation amplitude is small and no torque amplitude exists, and in the large-amplitude turning or emergency turning, the steering wheel is unstable and is easy to cause accidents.
SUMMERY OF THE UTILITY MODEL
The utility model provides a steering wheel moment compensation arrangement and cleaning machines people to alleviate the driver and need drive automatic cleaning machines people do not have the moment of torsion range when sharp or little amplitude turn and the unstable problem of steering wheel when turning or promptly turning by a wide margin, still provide the cleaning machines people who has this steering wheel moment compensation arrangement simultaneously.
In order to alleviate above-mentioned technical problem, the utility model provides a technical scheme lies in:
in a first aspect, the utility model provides a steering wheel torque compensation device, include: the rotary damper comprises a rotary disc, a rotary main shaft, a rotary base, a rotary damper and a linear damper;
the upper end of the rotating main shaft is connected with the rotating disc, and the lower end of the rotating main shaft is connected with the rotating base;
the rotary damper is arranged at the bottom of the rotary base and is connected with the rotary main shaft;
the linear damper is provided between the rotary disk and the rotary base in a posture in which both end portions are rotatably connected to the rotary disk and the rotary base, respectively, and an axis is parallel to an axis of the rotary main shaft in an initial state.
In an alternative embodiment of the method of the present invention,
two linear dampers are arranged;
in an initial state, the two linear dampers are symmetrically arranged on two sides of the rotating main shaft, and the axes of the two linear dampers are parallel to the axis of the rotating main shaft;
in a rotating state, the rotating directions of the two linear dampers are opposite, and an angle is formed between the axis of the two linear dampers and the axis of the rotating main shaft.
In an alternative embodiment of the method of the invention,
the steering wheel moment compensation device also comprises a first universal joint;
the upper end part of the linear damper is rotatably connected with the rotating disc through the first universal joint.
In an alternative embodiment of the method of the present invention,
the first universal joint comprises a first connecting rod, a first connecting body and a first connecting shaft;
the upper end of the first connecting rod penetrates through a first round hole formed in the rotating disc to be connected with the rotating disc, and the lower end of the first connecting rod is connected with the first connecting main body;
the first connecting body is arranged into an inverted U-shaped structure;
the first connecting shaft penetrates through two side arms of the first connecting main body provided with a first through hole, and the upper end part of the linear damper is sleeved on the first connecting shaft.
In an alternative embodiment of the method of the present invention,
the first universal joint further comprises a first deep groove ball bearing;
the first deep groove ball bearing is arranged in the first circular hole, and the upper portion of the first connecting rod penetrates through the first deep groove ball bearing and is connected with the first deep groove ball bearing.
In an alternative embodiment of the method of the invention,
the steering wheel moment compensation device further comprises a second universal joint;
the lower end part of the linear damper is rotatably connected with the rotating base through the second universal joint.
In an alternative embodiment of the method of the present invention,
the second universal joint comprises a second connecting rod, a second connecting main body and a second connecting shaft;
the lower end part of the second connecting rod penetrates through a second round hole formed in the rotating base to be connected with the rotating base, and the upper end part of the second connecting rod is connected with the second connecting main body;
the second connecting body is of a U-shaped structure;
the second connecting shaft penetrates through two side arms of the second connecting main body provided with a second through hole, and the lower end part of the linear damper is sleeved on the second connecting shaft.
In an alternative embodiment of the method of the present invention,
the second universal joint further comprises a second deep groove ball bearing;
the second deep groove ball bearing is arranged in the second circular hole, and the lower portion of the second connecting rod penetrates through the second deep groove ball bearing and is connected with the second deep groove ball bearing.
In an alternative embodiment of the method of the invention,
the rotating base comprises a base bottom plate and a base cylinder;
the base cylinder is connected with the upper plate surface of the base bottom plate, and the base cylinder is sleeved on the rotating main shaft.
In an alternative embodiment of the method of the present invention,
and a third connecting rod is arranged on the lower plate surface of the base bottom plate, and the third connecting rod penetrates through a connecting piece arranged on the rotary damper to be connected with the lower plate surface of the base bottom plate.
In a second aspect, the present invention provides a cleaning robot, including the steering wheel moment compensation device.
The utility model discloses well steering wheel moment compensation arrangement's beneficial effect as follows:
a rotating main shaft and two linear dampers are connected between the rotating disc and the rotating base, the rotating main shaft is positioned between the two linear dampers, the lower end part of the rotating main shaft is connected with a rotary damper, when a driver needs to drive the automatic cleaning robot to do straight line driving or needs to turn in a small range, the adjustment range of the rotating disc is very small, a slight torque range is needed at the moment, when the driver needs to drive the automatic cleaning robot to turn in a large range or emergency, the rotating disc is needed to be stable, therefore, when the rotating disc rotates, the rotary damper can generate rotary damping force for preventing the rotating main shaft from rotating so as to ensure that certain resistance exists at the initial stage of rotation, and simultaneously when the rotating disc rotates, the linear dampers can generate linear damping force for preventing the rotating disc from rotating, an included angle exists between the linear damping force and the rotary damping force, and the torque increases along with the increase of the rotating angle, is positively correlated, and solves the problems that the driver does not have torque amplitude when turning in a straight line or in a small amplitude and the steering wheel is unstable when turning in a large amplitude or in an emergency.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention or the related art, the drawings required to be used in the description of the embodiments or the related art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of an overall structure of a steering wheel moment compensation device according to an embodiment of the present invention;
fig. 2 is a schematic view of the overall structure of the steering wheel moment compensation device at another viewing angle according to the embodiment of the present invention;
fig. 3 is a schematic view of an overall structure of another steering wheel torque compensation device according to an embodiment of the present invention;
fig. 4 is a bottom view of a steering wheel moment compensation device according to an embodiment of the present invention.
An icon:
100-rotating disc; 200-rotating the main shaft; 300-rotating the base; 310-a base floor; 311-a third connecting rod; 320-a base cylinder; 400-a rotary damper; 410-connecting pieces; 500-linear damper; 600-first universal joint; 610-a first connecting rod; 620-a first connection body; 630-a first connecting shaft; 640-a first deep groove ball bearing; 700-a second gimbal; 710-a second connecting rod; 720-a second connecting body; 730-a second connecting shaft; 740-second deep groove ball bearing.
Detailed Description
At present, in the process that an automatic cleaning robot needs to be manually driven, most paths are straight lines or small-amplitude turning, and occasionally large-amplitude turning is needed, so that the driving process is influenced due to small operation amplitude and no torque amplitude when the automatic cleaning robot is in straight lines or small-amplitude turning, and an accident is easily caused due to instable steering wheel when the automatic cleaning robot is in large-amplitude turning or emergency turning.
In view of this, the utility model provides a steering wheel moment compensation arrangement, include: a rotary disk 100, a rotary spindle 200, a rotary base 300, a rotary damper 400, and a linear damper 500; the upper end of the rotating main shaft 200 is connected with the rotating disc 100, and the lower end of the rotating main shaft 200 is connected with the rotating base 300; the rotary damper 400 is disposed at the bottom of the rotary base 300 and connected to the rotary spindle 200; the linear damper 500 is provided between the rotary disk 100 and the rotary base 300 in a posture in which both end portions are rotatably connected to the rotary disk 100 and the rotary base 300, respectively, and the axis is parallel to the axis of the rotary spindle 200 in the initial state.
A rotation main shaft 200 and two linear dampers 500 are connected between the rotation disc 100 and the rotation base 300, the rotation main shaft 200 is located between the two linear dampers 500, a rotary damper 400 is connected to the lower end of the rotation main shaft 200, when a driver needs to drive the automatic cleaning robot to do straight running or needs to turn with a small angle, the adjustment range of the rotation disc 100 is small, a slight torque range is needed, when the driver needs to drive the automatic cleaning robot to do a large-range turning or an emergency turning, the rotation disc 100 needs to be stable, therefore, when the rotation disc 100 rotates, the rotary damper 400 can generate a rotary damping force for preventing the rotation main shaft 200 from rotating, so as to ensure that a certain resistance exists at the initial stage of rotation, and when the rotation disc 100 rotates, the linear damper 500 can generate a linear damping force for preventing the rotation disc 100 from rotating, and an included angle exists between the direction of the linear damping force and the direction of the rotary damping force, the torque is increased along with the increase of the rotation angle and is positively correlated, so that the problem that a steering wheel is unstable when a driver does not have torque amplitude and turns greatly or turns emergently when needing to drive the automatic cleaning robot to turn linearly or in a small amplitude is solved.
Regarding the shape and structure of the linear damper 500, in detail:
as shown in fig. 1 and 3, the upper end of the linear damper 500 is connected to the rotating disc 100, the lower end of the linear damper 500 is connected to the rotating base 300, and the rotating main shaft 200 is further provided between the rotating disc 100 and the rotating base 300.
Specifically, the upper end of the linear damper 500 is rotatably connected to the rotary disc 100 through a first universal joint 600, and the first universal joint 600 includes a first connection rod 610, a first connection body 620, a first connection shaft 630, and a first deep groove ball bearing 640. The rotating disc 100 is provided with a first circular hole, a first deep groove ball bearing 640 is arranged in the first circular hole, the upper portion of the first connecting rod 610 penetrates through the first deep groove ball bearing 640 and is connected with the first deep groove ball bearing 640, and the lower end portion of the first connecting rod 610 is connected with a first connecting main body 620 which is arranged in an inverted U-shaped structure. The first connection body 620 has first through holes formed on both side walls thereof, the first connection shaft 630 passes through the first through holes, and the upper end of the linear damper 500 is fitted over the first connection shaft 630.
Specifically, the lower end of the linear damper 500 is rotatably coupled to the rotary disk 100 through a second universal joint 700, and the second universal joint 700 includes a second connecting rod 710, a second connecting body 720, a second connecting shaft 730, and a second deep groove ball bearing 740. The rotating disc 100 is provided with a second circular hole, a second deep groove ball bearing 740 is arranged in the second circular hole, the upper portion of the second connecting rod 710 passes through the second deep groove ball bearing 740 and is connected with the second deep groove ball bearing 740, and the lower end portion of the second connecting rod 710 is connected with a second connecting main body 720 which is arranged in an inverted U-shaped structure. The two side walls of the second connecting body 720 are provided with second through holes, the second connecting shaft 730 passes through the second through holes, and the lower end of the linear damper 500 is sleeved on the second connecting shaft 730.
In this embodiment, two linear dampers 500 are provided, and in an initial state, the two linear dampers 500 are symmetrically provided at two sides of the rotating main shaft 200, and the axes of the two linear dampers 500 are parallel to the axis of the rotating main shaft 200; in the rotating state, the two linear dampers 500 rotate in opposite directions, and the axes of the two linear dampers 500 have an angle with the axis of the rotating main shaft 200, and the two linear dampers 500 are arranged in an X-shape.
By utilizing the bi-directional damping characteristics of the linear damper 500, a damping force exists whether the linear damper 500 is compressed or pulled. The linear damper 500 may generate a linear damping force that prevents the rotation of the rotary disk 100, a direction of the linear damping force is a direction of an axis of the linear damper 500, and a direction of the linear damping force forms a certain angle with the axis of the rotary spindle 200.
Since the axes of the two linear dampers 500 are parallel to the axis of the rotary main shaft 200 in the initial state, that is, the damping force generated by the two linear dampers 500 is zero, it is necessary to add the rotary damper 400 to ensure that a certain resistance value exists at the initial stage of rotation. The steering wheel moment compensation device further includes a rotation damper 400.
Regarding the shape and structure of the rotary damper 400, in detail:
as shown in fig. 2 and 4, the rotary damper 400 is located at the bottom of the turning base 300 and is connected to the turning spindle 200. Specifically, the rotating base 300 includes a base bottom plate 310 and a base cylinder 320, the base cylinder 320 is connected to the upper plate surface of the base bottom plate 310, and the base cylinder 320 is sleeved on the rotating spindle 200. The lower plate surface of the base chassis 310 is provided with a third connection rod 311, and the third connection rod 311 is connected to the lower plate surface of the base chassis 310 through a connection piece 410 provided on the rotary damper 400.
The rotary damper 400 is used for generating a rotary damping force for preventing the rotation of the rotary main shaft 200, and an included angle exists between the direction of the linear damping force generated by the linear damper 500 and the direction of the rotary damping force. In actual use, the range of the rotation angle of the rotating disc 100 is: the rotary disk 100 is rotated clockwise by 90 degrees from the initial state to the rotary disk 100 is rotated counterclockwise by 90 degrees from the initial state. The angle between the linear damping force and the rotational damping force varies with the rotation angle, and the torque increases with the increase of the rotation angle of the turn plate 100, and is in positive correlation.
In an alternative of this embodiment, preferably, when the cleaning robot needs to be manually driven, the driver operates the rotary plate 100 to drive, during driving, when the cleaning robot makes a straight or small-amplitude turn, the driver may temporarily not need to rotate the rotary plate 100 or may slightly rotate the rotary plate 100, and at the initial stage of rotation, since the rotation angle of the rotary plate 100 is very small and is substantially close to zero, the damping force generated by the linear damper 500 is also substantially close to zero, and at this time, the rotary damper 400 may generate a rotary damping force that prevents the rotary plate 100 from driving the rotary main shaft 200 to rotate, and therefore, at the initial stage of rotation, there is a certain resistance, and as the rotation angle increases, the rotary damping force also increases; in the driving process, when the vehicle turns greatly or in an emergency, the rotation angle of the rotating disc 100 is obviously increased, the torque is increased along with the increase of the rotation angle, at the moment, the linear damper 500 generates a linear damping force for preventing the rotating disc 100 from rotating, namely, the rotating main shaft 200 rotates through the driving of the rotating shaft, the rotating main shaft 200 drives the linear damper 500 in the rotating process to realize a reaction damping force, and similarly, along with the increase of the rotation angle, the damping force is increased. The present embodiment utilizes the characteristics of the linear damper 500 and the rotary damper 400, and simultaneously utilizes the angle change generated when the rotary dial 100 is rotated, to react the damping force generated by the linear damper 500 and the rotary damper 400 to the resistance of the rotary dial 100, thereby satisfying the driving habit of the driver, increasing the driving safety, and avoiding the accident caused by the instability of large-scale turning.
Finally, the utility model provides a cleaning robot contains above-mentioned steering wheel moment compensation arrangement. Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; such modifications or substitutions do not depart from the scope of the embodiments of the present invention.
Claims (10)
1. A steering wheel torque compensation device, comprising: a rotating disk (100), a rotating main shaft (200), a rotating base (300), a rotary damper (400) and a linear damper (500);
the upper end of the rotating main shaft (200) is connected with the rotating disc (100), and the lower end of the rotating main shaft (200) is connected with the rotating base (300);
the rotary damper (400) is arranged at the bottom of the rotating base (300) and is connected with the rotating main shaft (200);
the linear damper (500) is provided between the rotary disk (100) and the rotary base (300) in a posture in which both end portions are rotatably connected to the rotary disk (100) and the rotary base (300), respectively, and an axis thereof is parallel to an axis of the rotary main shaft (200) in an initial state.
2. Steering wheel torque compensation device according to claim 1,
two of the linear dampers (500) are provided;
in an initial state, the two linear dampers (500) are symmetrically arranged on two sides of the rotating main shaft (200), and the axes of the two linear dampers (500) are parallel to the axis of the rotating main shaft (200);
in the rotating state, the rotating directions of the two linear dampers (500) are opposite, and the axes of the two linear dampers (500) and the axis of the rotating main shaft (200) have an angle.
3. The steering wheel moment compensation device of claim 2, further comprising a first gimbal (600);
the upper end of the linear damper (500) is rotatably connected with the rotary disc (100) through the first universal joint (600).
4. Steering wheel moment compensation device according to claim 3,
the first universal joint (600) comprises a first connecting rod (610), a first connecting body (620) and a first connecting shaft (630);
the upper end of the first connecting rod (610) penetrates through a first round hole formed in the rotating disc (100) to be connected with the rotating disc (100), and the lower end of the first connecting rod (610) is connected with the first connecting main body (620);
the first connecting body (620) is arranged into an inverted U-shaped structure;
the first connecting shaft (630) penetrates through two side arms of the first connecting main body (620) provided with first through holes, and the upper end part of the linear damper (500) is sleeved on the first connecting shaft (630).
5. Steering wheel torque compensation device according to claim 4,
the first gimbal (600) further comprises a first deep groove ball bearing (640);
the first deep groove ball bearing (640) is arranged in the first circular hole, and the upper part of the first connecting rod (610) penetrates through the first deep groove ball bearing (640) and is connected with the first deep groove ball bearing (640).
6. The steering wheel moment compensation device of claim 3, further comprising a second gimbal (700);
the lower end of the linear damper (500) is rotatably connected to the rotating base (300) through the second universal joint (700).
7. Steering wheel torque compensation device according to claim 6,
the second universal joint (700) includes a second connecting rod (710), a second connecting body (720), and a second connecting shaft (730);
the lower end of the second connecting rod (710) penetrates through a second round hole formed in the rotating base (300) to be connected with the rotating base (300), and the upper end of the second connecting rod (710) is connected with the second connecting main body (720);
the second connecting body (720) is arranged into a U-shaped structure;
the second connecting shaft (730) penetrates through two side arms of the second connecting body (720) provided with a second through hole, and the lower end part of the linear damper (500) is sleeved on the second connecting shaft (730).
8. Steering wheel moment compensation device according to claim 7,
the second gimbal (700) further comprises a second deep groove ball bearing (740);
the second deep groove ball bearing (740) is arranged in the second circular hole, and the lower part of the second connecting rod (710) penetrates through the second deep groove ball bearing (740) and is connected with the second deep groove ball bearing (740).
9. Steering wheel torque compensation device according to claim 8,
the rotating base (300) includes a base bottom plate (310) and a base cylinder (320);
the base cylinder (320) is connected with the upper plate surface of the base bottom plate (310), and the base cylinder (320) is sleeved on the rotating main shaft (200).
10. A cleaning robot comprising a steering wheel torque compensating device according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221135063.4U CN217260264U (en) | 2022-05-12 | 2022-05-12 | Steering wheel moment compensation device and cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221135063.4U CN217260264U (en) | 2022-05-12 | 2022-05-12 | Steering wheel moment compensation device and cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217260264U true CN217260264U (en) | 2022-08-23 |
Family
ID=82884495
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221135063.4U Active CN217260264U (en) | 2022-05-12 | 2022-05-12 | Steering wheel moment compensation device and cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217260264U (en) |
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2022
- 2022-05-12 CN CN202221135063.4U patent/CN217260264U/en active Active
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