阅读说明：本技术 一种转弯控制装置 (Turning control device ) 是由 段付德 张智玮 宋飞 张世刚 陈诚 杨硕 薛佳斌 杨伟智 于 2021-08-27 设计创作，主要内容包括：本发明公开了一种转弯控制装置,包括底盘、第一滚轮、第二滚轮、方向调节机构和驱动机构；所述底盘的一端外侧对称设置有第一滚轮,所述底盘的另一端外侧对称设置有第二滚轮；所述方向调节机构与第一滚轮相连,且能够调节第一滚轮的转动方向；所述驱动机构包括传动组件和变速组件,所述传动组件与两个第二滚轮相连,所述变速组件与传动组件相连,且能够通过传动组件对第二滚轮进行转速调节。本发明实用性强,方向调节灵活、驱动稳定、变速灵活且操作方便。(The invention discloses a turning control device, which comprises a chassis, a first roller, a second roller, a direction adjusting mechanism and a driving mechanism, wherein the chassis is provided with a first roller and a second roller; the outer side of one end of the chassis is symmetrically provided with first rollers, and the outer side of the other end of the chassis is symmetrically provided with second rollers; the direction adjusting mechanism is connected with the first roller and can adjust the rotating direction of the first roller; the driving mechanism comprises a transmission assembly and a speed change assembly, the transmission assembly is connected with the two second rollers, the speed change assembly is connected with the transmission assembly, and the second rollers can be subjected to rotation speed adjustment through the transmission assembly. The invention has strong practicability, flexible direction adjustment, stable driving, flexible speed change and convenient operation.)

1. A turning control device is characterized by comprising a chassis, a first roller, a second roller, a direction adjusting mechanism and a driving mechanism;

the outer side of one end of the chassis is symmetrically provided with first rollers, and the outer side of the other end of the chassis is symmetrically provided with second rollers;

the direction adjusting mechanism is connected with the first roller and can adjust the rotating direction of the first roller;

the driving mechanism comprises a transmission assembly and a speed change assembly, the transmission assembly is connected with the two second rollers, the speed change assembly is connected with the transmission assembly, and the second rollers can be subjected to rotation speed adjustment through the transmission assembly.

2. The turning control device according to claim 1, wherein the direction adjustment mechanism includes a connection member and an angle adjustment member which are provided inside the chassis, the connection member being connected to the two first rollers, the angle adjustment member being connected to the connection member and being capable of adjusting a rotation angle of the first rollers through the connection member.

3. The turning control device according to claim 2, wherein the connecting assembly comprises a fixed cylinder, a vertical rod rotatably arranged in the fixed cylinder, cross rods symmetrically arranged at two sides of the vertical rod and swing rods rotatably connected with the cross rods; the swing rod is rotatably connected with the first roller; the fixed cylinder is fixedly arranged inside the chassis, and the center of the fixed cylinder is collinear with the center of the first roller.

4. The turning control device of claim 3, wherein the connecting assembly further comprises a connecting bolt fixedly arranged inside the chassis and a fixing rod fixedly arranged on a side wall of the chassis, the cross rod and the swing rod are rotatably connected through the connecting bolt, and the swing rod is sleeved outside the fixing rod and can rotate relative to the fixing rod.

5. The turning control device according to claim 3, wherein the angle adjusting assembly comprises a swing motor, a lead screw, a thread block and a groove plate, the swing motor is fixedly installed on one side wall of the chassis, one end of the lead screw is connected with an output end of the swing motor, the other end of the lead screw is connected with the other side wall of the chassis, the thread block is sleeved outside the lead screw in a threaded manner, one end of the groove plate is fixedly connected with the upright rod, and the other end of the groove plate is movably connected with the thread block.

6. The turning control device of claim 5, wherein one end of the slot plate is fixedly connected with the outer wall of the upright post, and the other end of the slot plate is provided with an elongated sliding slot; the thread block is vertically connected with a sliding rod, and the sliding rod penetrates through the sliding groove to be installed so that the sliding rod and the groove plate can rotate and slide relatively.

7. The turn control device of claim 1 wherein the transmission assembly comprises a rotary rod and a driven gear; the rotating rod is rotatably arranged on the side wall of the chassis, and two ends of the rotating rod are connected with the two second rollers; a plurality of driven gears are sleeved outside the rotating rod, and the number of teeth of the driven gears is increased from left to right in sequence.

8. The turning control device according to claim 7, wherein a position of the side wall of the chassis where the rotating rod is mounted is provided with a limiting groove, a rotatable limiting disc is arranged in the limiting groove, and the limiting disc is sleeved outside the rotating rod.

9. The turn control device of claim 7 wherein the transmission assembly comprises a drive motor, a shaft, a drive gear and a slip drive assembly;

the driving motor is arranged on the chassis in a sliding manner, and the output end of the driving motor is connected with one end of the rotating shaft;

the driving gear is meshed with the driven gear, and the space between the driving gears is different from the space between the driven gears, so that only one group of corresponding driving gears is meshed with the driven gears each time;

the sliding driving assembly is connected with the other end of the rotating shaft and can drive the rotating shaft to drive the driving gear and the driving motor to move, so that the driving gears and the driven gears of different groups are meshed.

10. The turning control device according to claim 9, wherein the sliding driving assembly comprises a box, and an electric telescopic rod, a sliding block and a plurality of guide rods arranged in the box, the guide rods are symmetrically arranged at two ends of the electric telescopic rod, the sliding block is sleeved outside the guide rods, one end of the sliding block is connected with the electric telescopic rod, the other end of the sliding block is connected with the rotating shaft, and the electric telescopic rod can drive the sliding block to move along the guide rods.

Technical Field

The invention belongs to the technical field of machinery, and particularly relates to a turning control device.

Background

In recent years, unmanned equipment such as an unmanned automobile is a kind of intelligent automobile, also called a wheeled mobile robot, and mainly depends on an intelligent driver in the automobile, mainly including a computer system, to achieve the purpose of unmanned driving. Although the existing unmanned equipment can perform turning operation, the running speed is difficult to adjust in the turning process, and the high-speed turning is easy to cause side turning, so that traffic accidents are easy to cause, and the unmanned equipment is difficult to popularize and apply.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provides a turning control device which is high in practicability, flexible in direction adjustment, stable in driving, flexible in speed change and convenient to operate.

The invention provides the following technical scheme:

a turning control device comprises a chassis, a first roller, a second roller, a direction adjusting mechanism and a driving mechanism;

the outer side of one end of the chassis is symmetrically provided with first rollers, and the outer side of the other end of the chassis is symmetrically provided with second rollers;

the direction adjusting mechanism is connected with the first roller and can adjust the rotating direction of the first roller;

the driving mechanism comprises a transmission assembly and a speed change assembly, the transmission assembly is connected with the two second rollers, the speed change assembly is connected with the transmission assembly, and the second rollers can be subjected to rotation speed adjustment through the transmission assembly.

Further, direction adjustment mechanism is including locating inside coupling assembling and the angle modulation subassembly in chassis, coupling assembling links to each other with two first gyro wheels, the angle modulation subassembly links to each other with coupling assembling, and can adjust the turned angle of first gyro wheel through coupling assembling.

Furthermore, the connecting assembly comprises a fixed cylinder, a vertical rod rotatably arranged in the fixed cylinder, cross rods symmetrically arranged at two sides of the vertical rod and swing rods rotatably connected with the cross rods; the swing rod is rotatably connected with the first roller; the fixed cylinder is fixedly arranged inside the chassis, and the center of the fixed cylinder is collinear with the center of the first roller.

Furthermore, coupling assembling still includes the fixed connecting bolt who locates the chassis inside and the fixed dead lever of locating on the chassis lateral wall, horizontal pole and pendulum rod pass through connecting bolt and rotate the connection, the pendulum rod cover is outside just can rotate relative dead lever in the dead lever.

Further, the angle adjusting assembly comprises a swing motor, a lead screw, a thread block and a groove plate, the swing motor is fixedly installed on one side wall of the chassis, one end of the lead screw is connected with the output end of the swing motor, the other end of the lead screw is connected with the other side wall of the chassis, the thread block is sleeved on the outside of the lead screw, one end of the groove plate is fixedly connected with the vertical rod, and the other end of the groove plate is movably connected with the thread block.

Furthermore, one end of the groove plate is fixedly connected with the outer wall of the upright stanchion, and the other end of the groove plate is provided with a strip-shaped sliding groove; the thread block is vertically connected with a sliding rod, and the sliding rod penetrates through the sliding groove to be installed so that the sliding rod and the groove plate can rotate and slide relatively.

Further, the transmission assembly comprises a rotating rod and a driven gear; the rotating rod is rotatably arranged on the side wall of the chassis, and two ends of the rotating rod are connected with the two second rollers; a plurality of driven gears are sleeved outside the rotating rod, and the number of teeth of the driven gears is increased from left to right in sequence.

Furthermore, a limiting groove is formed in the position, where the rotating rod is mounted, of the side wall of the chassis, a limiting disc capable of rotating is arranged in the limiting groove, and the limiting disc is sleeved outside the rotating rod.

Furthermore, the speed change assembly comprises a driving motor, a rotating shaft, a driving gear and a sliding driving assembly; the driving motor is arranged on the chassis in a sliding manner, and the output end of the driving motor is connected with one end of the rotating shaft; the driving gear is meshed with the driven gear, and the space between the driving gears is different from the space between the driven gears, so that only one group of corresponding driving gears is meshed with the driven gears each time; the sliding driving assembly is connected with the other end of the rotating shaft and can drive the rotating shaft to drive the driving gear and the driving motor to move, so that the driving gears and the driven gears of different groups are meshed.

Further, the driving component that slides includes the box and locates electric telescopic handle, slider and a plurality of guide arm in the box, electric telescopic handle's both ends are located to the guide arm symmetry, the guide arm outside is located to the slider cover and one end links to each other with electric telescopic handle, and the other end links to each other with the pivot, electric telescopic handle can drive the slider and remove along the guide arm.

Compared with the prior art, the invention has the beneficial effects that:

according to the invention, the advancing direction of the first roller can be correspondingly and flexibly adjusted through the direction adjusting mechanism, so that the direction of the equipment can be conveniently adjusted in the turning process; the driving mechanism is used for providing power for the forward movement of the equipment and flexibly adjusting the forward speed of the equipment; the invention has strong practicability, flexible direction adjustment, stable driving, flexible speed change and convenient operation.

Drawings

FIG. 1 is a schematic structural view of the present invention;

labeled as: 1-chassis, 2-first roller, 3-second roller, 4-fixed rod, 5-swing rod, 6-fixed cylinder, 7-vertical rod, 8-cross rod, 9-connecting bolt, 10-groove plate, 11-swing motor, 12-lead screw, 13-thread block, 14-slide rod, 15-slide groove, 16-rotating rod, 17-limit groove, 18-limit disk, 19-driven gear, 20-box, 21-guide rod, 22-electric telescopic rod, 23-slide block, 24-rotating shaft, 25-driving gear, 26-driving motor, 27-moving plate, 28-guide plate.

Detailed Description

The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

It should be noted that in the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention but do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

Example 1

As shown in fig. 1, the present embodiment provides a turning control device, which includes a chassis 1, a first roller 2, a second roller 3, a direction adjustment mechanism, and a driving mechanism; the outer side of one end of the chassis 1 is symmetrically provided with first rollers 2, and the outer side of the other end of the chassis 1 is symmetrically provided with second rollers 3; the direction adjusting mechanism is connected with the first roller 2 and can adjust the rotating direction of the first roller 2; the driving mechanism comprises a transmission assembly and a speed change assembly, the transmission assembly is connected with the two second rollers 3, the speed change assembly is connected with the transmission assembly, and the second rollers 3 can be subjected to rotation speed adjustment through the transmission assembly.

The direction adjusting mechanism comprises a connecting assembly and an angle adjusting assembly which are arranged inside the chassis 1, the connecting assembly is connected with the two first idler wheels 2, the angle adjusting assembly is connected with the connecting assembly, and the rotating angle of the first idler wheels 2 can be adjusted through the connecting assembly.

The connecting assembly comprises a fixed cylinder 6, a vertical rod 7 rotatably arranged in the fixed cylinder 6, cross rods 8 symmetrically arranged at two sides of the vertical rod 7 and a swing rod 5 rotatably connected with the cross rods 8; the swing rod 5 is rotationally connected with the first roller 2; the fixed cylinder 6 is fixedly arranged inside the chassis 1, and the center thereof is collinear with the center of the first roller 2. The connecting assembly further comprises a connecting bolt 9 fixedly arranged inside the chassis 1 and a fixing rod 4 fixedly arranged on the side wall of the chassis 1, the cross rod 8 and the swing rod 5 are rotatably connected through the connecting bolt 9, and the swing rod 5 is sleeved outside the fixing rod 4 and can rotate relative to the fixing rod 4.

The angle adjusting assembly comprises a swing motor 11, a lead screw 12, a thread block 13 and a groove plate 10, the swing motor 11 is fixedly installed on one side wall of the chassis 1, one end of the lead screw 12 is connected with the output end of the swing motor 11, the other end of the lead screw is connected with the other side wall of the chassis 1, the thread block 13 is sleeved on the outer portion of the lead screw 12, one end of the groove plate 10 is fixedly connected with the vertical rod 7, and the other end of the groove plate is movably connected with the thread block 13. One end of the trough plate 10 is fixedly connected with the outer wall of the upright post 7, and the other end of the trough plate 10 is provided with a strip-shaped sliding chute 15; the screw block 13 is vertically connected with a sliding rod 14, and the sliding rod 14 penetrates through a sliding groove 15 to be installed so that the sliding rod 14 and the groove plate 10 can rotate and slide relatively.

The transmission assembly of the driving mechanism is arranged in the chassis 1 and comprises a rotating rod 16 and a driven gear 19; the rotating rod 16 is rotatably arranged on the side wall of the chassis 1, and two ends of the rotating rod are connected with the two second rollers 3; a plurality of driven gears 19 are sleeved outside the rotating rod 16, and the number of teeth of the driven gears 19 is increased from left to right. The position of chassis 1 lateral wall installation bull stick 16 is equipped with spacing groove 17, is equipped with spacing dish 18 that can rotate in the spacing groove 17, and the outside of bull stick 16 is located to spacing dish 18 cover, and spacing dish 18 is fixed the position of bull stick 16 with the cooperation of spacing groove 17.

The speed change assembly of the driving mechanism is arranged in the chassis 1 and comprises a driving motor 26, a rotating shaft 24, a driving gear 25 and a sliding driving assembly; the driving motor 26 is slidably mounted on the chassis 1, and the output end of the driving motor 26 is connected with one end of the rotating shaft 24; a plurality of driving gears 25 are sleeved outside the rotating shaft 24, the number of teeth of the driving gears 25 is sequentially reduced from left to right, each driving gear 25 can be respectively meshed with the corresponding driven gear 19, and the space between each driving gear 25 is different from the space between each driven gear 19, so that only one group of corresponding driving gears and one group of corresponding driven gears are meshed each time; the sliding driving assembly is connected with the other end of the rotating shaft 24 and can drive the rotating shaft 24 to drive the driving gear 25 and the driving motor 26 to move, so that the driving gears 25 and the driven gears 19 of different groups are meshed.

Example 2

As shown in fig. 1, the present embodiment provides a turning control device including the structure in embodiment 1.

The driving assembly that slides includes box 20 and locates electric telescopic handle 22, slider 23 and a plurality of guide arm 21 in box 20, and electric telescopic handle 22's both ends are located to the guide arm 21 symmetry, and the outside and one end of guide arm 21 are located to the slider 23 cover and link to each other with electric telescopic handle 22, and the other end links to each other with pivot 24, and electric telescopic handle 22 can drive slider 23 and remove along guide arm 21.

The sliding driving assembly further comprises a guide plate 28 and a moving plate 27, the guide plate 28 is mounted on the chassis 1 below the driving motor 26, one end of the moving plate 27 is fixedly connected with the driving motor 26, the other end of the moving plate is sleeved outside the guide plate 28 and can move along the guide plate 28, and therefore the moving stability of the driving motor 26 is improved conveniently.

The working principle of the invention is as follows:

when the swing motor 11 works in the forward direction, the screw rod 12 rotates clockwise, the thread block 13 moves in the direction away from the swing motor 11, and the slide rod 14 slides in the slide groove 15 of the groove plate 10, so that the groove plate 10 drives the upright rod 7 to rotate clockwise, further the cross rod 8 is driven to rotate, the swing rod 5 rotates around the fixed rod 4, and the direction adjustment of the first roller 2 towards one side is realized; when the swing motor 11 works reversely, the screw rod 12 rotates anticlockwise, the thread block 13 moves towards the direction close to the swing motor 11, the direction adjustment of the first roller 2 towards the other side can be realized, the forward direction of the first roller 2 can be flexibly adjusted by controlling the forward and reverse rotation of the swing motor 11, and the equipment can turn conveniently.

When the driving motor 26 works in the forward direction, the rotating shaft 24 rotates clockwise, the driving gear 25 rotates synchronously, the driven gear 19 is driven to rotate in a gear meshing mode, the rotating rod 16 rotates anticlockwise, the second roller 3 is driven to rotate, and the equipment advances; when the driving motor 26 is operated in reverse, the rotating shaft 24 rotates counterclockwise, and the backward movement of the device can be realized.

In addition, by controlling the extension and contraction of the electric telescopic rod 22, the rotating shaft 24 can be driven to drive the driving gear 25 and the driving motor 26 to move, so that the driving gear 25 and the driven gear 19 at different positions (i.e. different corresponding groups of teeth) are engaged, the advancing speed of the equipment is adjusted, and the speed change function is realized.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.