Robot drive system

Abstract

A robotic steering system for rotating a vehicle steering wheel includes a frame configured to be fixed to the vehicle, a rotatable mount defining a steering axis and configured to be attached to the vehicle steering wheel such that the rotatable mount and the vehicle steering wheel rotate simultaneously about the steering axis, and a drive assembly including a steering motor coupled to the rotatable mount and configured to generate steering torque to rotate the rotatable mount about the steering axis to actuate the vehicle steering wheel. The robotic steering system also includes an auxiliary steering wheel, a rotatable mount, and an auxiliary steering wheel coupled to the rotatable mount such that the vehicle steering wheel rotates simultaneously about the steering axis. The auxiliary steering wheel is positioned for user involvement by the vehicle driver to disable the robotic steering system or to manually actuate the vehicle steering wheel.

Description

Technical Field

[0001] (Reference to Related Applications) This application claims the priority and all benefits of U.S. Provisional Application No. 63 / 597,806, filed Nov. 10, 2023, and U.S. Provisional Application No. 63 / 507,580, filed Jun. 12, 2023, which are hereby incorporated by reference in their entirety.

[0002] (Technical Field) The present disclosure generally relates to the field of robotic steering systems for vehicles, and particularly focuses on robotic steering systems configured to be mounted on existing vehicle steering wheels.

Background Art

[0003] Generally, it is becoming increasingly popular to employ robotic drive systems for field test vehicles without human input. These robotic drive systems may include an accelerator and / or brake actuator, and a robotic steering system coupled to the vehicle's steering wheel to operate the steering wheel of the vehicle. Existing robotic steering systems are cumbersome to install in a vehicle, do not easily interface with steering wheels having irregular shapes / sizes, and may not generate sufficient or precisely controllable torque to rotate the vehicle's steering wheel to a desired position. Thus, there is a need in the art for a robotic steering system that addresses the above problems.

Summary of the Invention

[0004] One general aspect of the present disclosure includes a robotic steering system for rotating a vehicle's steering wheel. The robotic steering system includes a frame configured to be fixed to the vehicle. The robotic steering system also includes a rotatable mount defining a steering axis, the rotatable mount configured to be attached to the vehicle's steering wheel such that the rotatable mount and the vehicle's steering wheel rotate simultaneously about the steering axis. The robotic steering system further includes a drive assembly supported by the frame, the drive assembly including a steering motor coupled to the rotatable mount and configured to generate steering torque that rotates the rotatable mount about the steering axis to actuate the vehicle's steering wheel. The robotic steering system further includes an auxiliary steering wheel, coupled to the rotatable mount such that the auxiliary steering wheel and the rotatable mount rotate simultaneously about the steering axis. The auxiliary steering wheel is positioned for user engagement by the driver of the vehicle.

[0005] Other advantages of this disclosure will be readily apparent, as they will be better understood by referring to the following detailed description when considered in relation to the attached drawings. [Brief explanation of the drawing]

[0006] [Figure 1] This is a front view of the robot steering system according to this disclosure, mounted on a vehicle steering wheel.

[0007] [Figure 2] This is a rear perspective view of the robot steering system.

[0008] [Figure 3] This is a rear perspective view of a robotic steering system mounted on a typical steering wheel.

[0009] [Figure 4] This is a front perspective view of a robotic steering system mounted on a typical steering wheel.

[0010] [Figure 5] This is a side view of a robotic steering system mounted on a typical steering wheel.

[0011] [Figure 6] This is an exploded view of one exemplary configuration of a rotatable mount for a robotic steering system, in which a mounting ring is coupled to a typical steering wheel, and a frame supporting a turntable, an auxiliary steering wheel, and a steering motor are coupled to the mounting ring.

[0012] [Figure 7A] This is a front view of a mounting ring attached to a typical steering wheel with a relatively small diameter.

[0013] [Figure 7B] This is a front view of a mounting ring attached to a typical steering wheel with a relatively large diameter.

[0014] [Figure 8] This is a front view of a mounting ring attached to a typical steering wheel with a non-circular shape.

[0015] [Figure 9A] This is a rear cross-sectional perspective view of a robotic steering system, showing a brace assembly that connects a rotatable mount to a typical steering wheel.

[0016] [Figure 9B] This is a front cross-sectional perspective view of a robotic steering system, showing a brace assembly that connects a rotatable mount to a typical steering wheel.

[0017] [Figure 10] Exploded view of one of a plurality of brace assemblies for a rotatable mount, the brace assembly including a lever arm and a clamp assembly for coupling a mounting ring to a steering wheel.

[0018] [Figure 11] Partial front perspective view of a robotic steering system showing the restraint configuration of one of one or more brace assemblies that engage a corresponding restraint mechanism of a rotatable mount to prevent translation of the brace assembly with respect to an adjustment slot defined by the rotatable mount.

[0019] [Figure 12] Exploded view of an exemplary clamp assembly of one or more brace assemblies.

[0020] [Figure 13] Cross-sectional view of the clamp assembly of FIG. 12 coupled to a representative steering wheel.

[0021] [Figure 14] Perspective view of another configuration of the clamp assembly.

[0022] [Figure 15] Partial cross-sectional view of the clamp assembly of FIG. 14.

[0023] [Figure 16A] Perspective view of the clamp assembly of FIG. 14 having a first joe member pivotable with respect to a second joe member for receiving a representative portion of a vehicle steering wheel.

[0024] [Figure 16B]Figure 14 is a perspective view of a clamp assembly having a clasp that engages with one of several detents to connect the clamp assembly to a typical part of the vehicle's steering wheel.

[0025] [Figure 16C] Figure 14 is a perspective view of a clamp assembly having a handle that pivots toward a first jaw member for connecting the clamp assembly to a typical portion of the vehicle's steering wheel.

[0026] [Figure 17] This is a front perspective view of the disassembled robot steering system frame, rotatable mount, and auxiliary steering wheel.

[0027] [Figure 18] This is a cross-sectional view of a robot steering system.

[0028] [Figure 19] This is a cross-sectional view of one configuration in which an auxiliary steering wheel is coupled to a rotatable mount.

[0029] [Figure 20] This is a cross-sectional view of an example belt tensioner.

[0030] [Figure 21] This is a front view of another configuration of the robot steering system.

[0031] [Figure 22] Figure 21 is a fragmentary cross-sectional view of the robot steering system showing another configuration of the belt tensioner.

[0032] [Figure 23A] This is a fragmentary front view of a robot steering system with a partially concealed frame to reveal the belt tensioner.

[0033] [Figure 23B] Figure 23A is a fragmentary front view of a robot steering system having a belt tensioner rotated to tension the belt of the robot steering system.

[0034] [Figure 24] A partial front perspective view of a robot steering system, including a load cell assembly.

[0035] [Figure 25] This is a partial front view of a load cell assembly.

[0036] [Figure 26] This is an exploded perspective view of the load assembly of a robot steering system, including a mechanical clearance joint.

[0037] [Figure 27] This is a free-form drawing of a load cell assembly according to the present disclosure, including a mechanical clearance joint.

[0038] [Figure 28] This is a perspective view of a robot drive system including a robot frame and a robot steering system, having a restraining member extending between the robot frame and the robot steering system.

[0039] [Figure 29] Figure 28 is a perspective view of the robot drive system mounted on a vehicle. [Modes for carrying out the invention]

[0040] Referring to the figures where similar numbers indicate similar parts across multiple figures, Figures 1 to 29 generally illustrate the robotic steering system 30 according to this disclosure for field testing of the vehicle 32 without human input to the vehicle 32 (however, a human driver may or may not be present in the vehicle 32 to supervise the test). Figure 1 shows the robotic steering system 30 coupled to the steering wheel 34 of the vehicle 32 so that the robotic steering system 30 can rotate the steering wheel 34 of the vehicle 32 with the same functionality as a human. For example, the robotic steering system 30 can actuate the steering wheel 34 of the vehicle 32 to perform typical driving-related tasks. Such tasks include, but are not limited to, turning the vehicle 32 into a parking space, navigating the vehicle 32 around corners, and changing the lane of the vehicle 32.

[0041] As shown in Figures 28 and 29, the robot steering system 30 may be included in a robot drive system 20 which also includes an accelerator actuator 22 configured to be coupled to the accelerator pedal 23 of the vehicle 32 and actuate the accelerator pedal 23 of the vehicle 32. The robot drive system 20 may further include a brake actuator 24 configured to be coupled to the brake pedal 25 of the vehicle 32 and actuate the brake pedal 25 of the vehicle 32. The robot drive system 20 can drive the vehicle 32 with the same functionality as a human. For example, the robot drive system 20 may include a controller configured to actuate the robot steering system 30, the accelerator actuator 22, and the brake actuator 24 to coordinate the operation of the steering wheel 34, accelerator pedal 23, and brake pedal 25 of the vehicle 32 and perform typical tasks related to driving. Such tasks include actinguating the steering wheel 34 to turn the vehicle 32 towards a parking spot, navigating the vehicle 32 around corners, and changing the lane of the vehicle 32.

[0042] Referring to Figures 1 to 5, the robot steering system 30 includes a frame 44 configured to be fixed to the vehicle 32 (described in more detail below). For example, the robot steering system 30 may include a restraining member 49 configured to be operably attached to the frame 44 and fixed to the vehicle 32 in order to restrain the frame 44 of the robot steering system 30 to the vehicle 32. Other configurations for fixing the frame 44 to the vehicle 32 are conceivable.

[0043] The robotic steering system 30 also includes a rotatable mount 35, which defines a steering axis 38 and is configured to be mounted on a vehicle steering wheel 34 such that the rotatable mount 35 and the vehicle steering wheel 34 rotate simultaneously about the steering axis 38. As will be described in more detail below, the rotatable mount 35 may be mounted on the steering wheel 34 using one or more brace assemblies 40. It should be understood that the vehicle steering wheel 34 shown throughout the figures is merely a representation intended to illustrate the cooperation between the robotic steering system 30 and the vehicle 32. In other words, the robotic steering system 30 according to this disclosure is generally configured to be mounted on a vehicle steering wheel 34 of different shapes and sizes, and therefore the illustrated vehicle steering wheel 34 is not limiting.

[0044] In the illustrated examples, the rotatable mount 35 includes a mounting ring 36, which defines a steering axis 38 and is configured to be mounted to the steering wheel 34 of a vehicle 32 such that the mounting ring 36 and the vehicle steering wheel 34 rotate simultaneously about the steering axis 38. In the illustrated examples, the rotatable mount 35 further includes a turntable 42 (described in more detail below) coupled to the mounting ring 36 to rotate the mounting ring 36 (and thus the steering wheel 34) about the steering axis 38. In these examples, a frame 44 rotatably supports the turntable 42 for rotation about the steering axis 38. In a configuration in which the rotatable mount 35 includes a mounting ring 36 and a turntable 42, as best shown in Figure 6, the mounting ring 36 may be mounted to the vehicle steering wheel 34, and the turntable 42 may be selectively coupled to the mounting ring 36 such that the remainder of the robot steering system 30 may be selectively separated from the mounting ring 36 and the vehicle steering wheel 34. Other configurations for the rotatable mount 35 are conceivable.

[0045] The robot steering system 30 further includes a drive assembly 37, which includes a steering motor 48 supported by a frame 44 and coupled to the rotatable mount 35. For example, the frame 44 may define a support projection 46 configured to support the steering motor 48. As will be described in more detail below, the steering motor 48 is coupled to the rotatable mount 35 (e.g., a turntable 42) and is configured to generate steering torque to rotate the mount 35 (e.g., a turntable 42, and thus a mounting ring 36) rotatable about a steering shaft 38, thereby acting as the steering wheel 34 of the vehicle 32, in order to perform typical tasks related to driving.

[0046] As best illustrated in Figures 4 and 5, the robotic steering system 30 may include an auxiliary steering wheel 50 coupled to a rotatable mount 35 (e.g., a mounting ring 36 and / or a turntable 42). One exemplary configuration of coupling the auxiliary steering wheel 50 to the rotatable mount 35 is described in more detail below in the context of Figure 19. The auxiliary steering wheel 50 may be located on the side of the rotatable mount 35 opposite to the vehicle steering wheel 34 and may be positioned for user engagement, allowing the driver of the vehicle 32 to engage with the auxiliary steering wheel 50 to override the robotic steering system 30 or to drive the vehicle 32 as usual (i.e., manually operate the steering wheel 34 of the vehicle 32) when the robotic steering system 30 is not actively steering the vehicle 32.

[0047] Various configurations of the rotatable mount 35 and one or more brace assemblies 40 are conceivable. Referring first to Figures 6 to 8, one or more brace assemblies 40 may be adjustable so that one or more brace assemblies 40 are configured to mount the rotatable mount 35 to vehicle steering wheels 34 having different shapes and sizes. For example, in the illustrated configuration, the mounting ring 36 may be of a standard size so that the mounting ring 36 cooperates with the turntable 42 regardless of the size of the steering wheel 34. In other words, one or more brace assemblies 40 are each configured to connect the mounting ring 36 to steering wheels 34 having different sizes and shapes. For example, Figure 7A shows the mounting ring 36 connected to a substantially circular steering wheel 34 having a relatively small diameter, while Figure 7B shows the mounting ring 36 connected to a substantially circular steering wheel 34 having a relatively large diameter. In addition, Figure 8 shows the mounting ring 36 connected to a steering wheel 34 having a non-circular shape (in this case substantially oval, but other shapes are conceivable).

[0048] One or more brace assemblies 40 facilitate the coupling of a rotatable mount 35 to a steering wheel 34 of various sizes and shapes. In the illustrated embodiment, one or more brace assemblies 40 include three brace assemblies 40, but additional or fewer brace assemblies 40 are conceivable. Each of the brace assemblies 40 may include a clamp assembly 52 (described in further detail below) configured to engage with the steering wheel 34 of the vehicle 32. Each of the brace assemblies 40 may also include a lever arm 54 extending between a first end 54A operably attached to the clamp assembly 52 and a second end 54B operably attached to the rotatable mount 35 (e.g., a mounting ring 36). Each of the brace assemblies 40 may further include a coupling fastener 56 for coupling the second end 54B of the lever arm 54 to the rotatable mount 35. Advantageously, as shown in Figures 6 to 8, each of the lever arms 54 may be configured to rotate relative to a rotatable mount 35 and / or its respective clamp assembly 52 so that each clamp assembly 52 engages with a steering wheel 34 having various sizes and shapes.

[0049] Figure 10 shows an exploded view of one or more brace assemblies 40 for a rotatable mount 35 (in this case, for a mounting ring 36). As shown in Figure 10, in some examples, the rotatable mount 35 (e.g., a mounting ring 36) defines one or more adjustment slots 58, each adjustment slot 58 configured to receive one of the coupling fasteners 56 to connect the second end 54B of one of the lever arms 54 to the rotatable mount 35. Each adjustment slot 58 may be defined as an arc shape (e.g., an arc concentric with the steering axis 38), but other shapes are possible. As best illustrated in Figure 11, the coupling fasteners 56 and the second ends 54B of the lever arms 54 may be configured to translate along each adjustment slot 58 so that each clamp assembly 40 is adjustable, allowing each clamp assembly 52 to reach a desired mounting point on the steering wheel 34 of the vehicle 32, and thus the location of each coupling fastener 56, and thus the location of each second end 54B of the lever arms 54

[0050] Advantageously, the adjustability of each lever arm 54 to the rotatable mount 35 and its respective clamp assembly 52 allows each lever arm 54 to be positioned between its respective clamp assembly 52 and the rotatable mount 35 in a position where the clamp assembly 52 can engage with a desired mounting point on the steering wheel 34. For example, referring to Figures 7A to 8, the first end 54A of each lever arm 54 is coupled to a clamp assembly 52 coupled to a desired mounting point on the steering wheel 34. The second end 54B of each lever arm 54 extends to its respective position along one of the adjustment slots 58 defined by the mounting ring 36, to receive its respective coupling fastener 56, thereby mounting the mounting ring 36 to the steering wheel 34. Thus, this configuration allows a standard-sized mounting ring 36 to be coupled to a steering wheel 34 of various sizes and shapes.

[0051] As best illustrated in Figures 9A to 11, the coupling fastener 56 may be a "toolless" coupling fastener 56. In other words, the coupling fastener 56 may include a threaded stud 60 configured to engage with the second end 54B of the lever arm 54, and a handle 62 configured for user involvement such as tightening the coupling fastener 56 against the second end 54B of the lever arm 54 without requiring additional tools, thereby improving the ease of mounting the mounting ring 36 to the steering wheel 34 of the vehicle 32. Other configurations for the coupling fastener 56 are conceivable. As best illustrated in Figure 11, in some examples, one or more brace assemblies 40 may include a constraint configuration 57, and a rotatable mount 35 (e.g., mounting ring 36) may define a corresponding constraint configuration 59. As shown in Figure 11, a constraint configuration 57 of one or more brace assemblies 40 is configured to engage with a corresponding constraint configuration 59 of the rotatable mount 35 to prevent translation of the one or more brace assemblies 40 relative to the adjustment slot 58 after the one or more brace assemblies 40 have been coupled to the rotatable mount 35. In the illustrated example, the constraint configuration 57 and the corresponding constraint configuration 59 define ridges configured to interlock to prevent translation of the one or more brace assemblies 40 relative to the adjustment slot 58. Other configurations for the constraint configuration 57 and the corresponding constraint configuration 59 are conceivable.

[0052] Figure 12 shows an exploded perspective view of one exemplary configuration of one or more brace assemblies 40. In this example, the lever arm 54 defines an arc shape between a first end 54A and a second end 54B. The illustrated version shows a threaded void 64 defined by the second end 54B to receive a threaded stud 60 of one of the coupling fasteners 56 for coupling the second end 54B of the lever arm 54 to a rotatable mount 35. The first end 54A of each lever arm of the lever arm 54 may define a coupling void 66 to facilitate coupling the first end 54A of each lever arm of the lever arm 54 to their respective clamp assemblies 52. In this example, bearings 68 (best shown in the exploded view of Figure 12) are located within each coupling void 66 to facilitate rotation of the lever arm 54 relative to their respective clamp assemblies 52.

[0053] Figures 12 and 13 show an exemplary configuration of one of the clamp assemblies 52. In the illustrated example, the clamp assembly 52 is generally a cam-type clamp, but it should be understood that other configurations of the clamp assembly 52 may be realized to connect the mounting ring 36 to the steering wheel 34. In the illustrated configuration, the clamp assembly 52 includes a first jaw member 70 and a second jaw member 72 rotatably coupled to the first jaw member 70, where the second jaw member 72 is rotatably coupled to the first end 54A of the lever arm 54. The first jaw member 70 may rotate relative to the second jaw member 72 to receive a portion of the steering wheel 34 of the vehicle 32 between them. The illustrated clamp assembly 52 further includes a cam handle 74 coupled to the second jaw member 72 for engagement with the first jaw member 70, such that the cam handle 74 may be tightened by the user to secure the clamp assembly 52 to the steering wheel 34. Specifically, referring to Figure 13, the cam handle 74 may be configured to contact the first jaw member 70, biasing the first jaw member 70 toward the second jaw member 72, thereby generating a clamping force between the first jaw member 70 and the second jaw member 72, and connecting the clamp assembly 52 to the steering wheel 34 of the vehicle 32. Advantageously, the illustrated clamp assembly 52 is also "toolless," thus improving the ease of mounting the robot steering system 30 to the vehicle 32. It should be understood that other configurations of the clamp assembly 52 may be implemented to connect the mounting ring 36 to the steering wheel 34.

[0054] Figures 14 to 16C show another exemplary configuration of one of the clamp assemblies 52. The illustrated clamp assembly 52 includes a first jaw member 170 and a second jaw member 172 pivotally coupled to the first jaw member 170, where the second jaw member 172 is operatively attached (e.g., rotatably coupled) to the first end 54A of the lever arm 54. The first jaw member 170 is pivotally coupled to the second jaw member 172 such that the first jaw member 170 may pivot relative to the second jaw member 172 to receive a portion of the steering wheel 34 of the vehicle 32 between them. The illustrated clamp assembly 52 further includes a handle 178 pivotally coupled to the first jaw member 170 and a clasp 174 pivotally coupled to the handle 178. In this example, the second jaw member 172 defines a plurality of engagement detents 176 for engaging with the clasp 174. The plurality of detents 176 may be positioned adjacent to one another so that the user may select which detent 176 to engage based on the thickness of the steering wheel 34. For example, if the steering wheel 34 is thicker, the user may engage the clasp 174 with one of the detents that allows a larger gap between the first jaw member 170 and the second jaw member 172. Referring to the sequence between Figures 16A and 16C, the first jaw member 170 may be pivoted relative to the second jaw member 172 to receive a portion of the steering wheel 34 of the vehicle 32 between them (Figure 16A). The user may then position the clasp 174 to engage with one of the clasps 176 (Figure 16B). Finally, the handle 178 is configured for user operation toward the first jaw member 170 so that the user may pivot the handle 178 toward the first jaw member 170 to connect (i.e., tighten) the clamp assembly 52 to the steering wheel 34 (Figure 16C). Advantageously, the illustrated clamp assembly 52 is "tool-less," thus improving the ease of mounting the robotic steering system 30 inside the vehicle 32.Furthermore, the illustrated clamp assembly 52 also offers the advantage of accommodating a wide variety of steering wheel thicknesses due to the multiple retainers 176.

[0055] The frame 44 may include a plurality of rollers 78 configured to support a rotatable mount 35 for rotation of the frame 44 about the steering axis 38. For example, referring first to Figure 17, the frame 44 of the robot steering system 30 may include a first portion 44A and a second portion 44B spaced apart from the first portion 44A. The first portion 44A and the second portion 44B may be coupled to each other via spacers 76 that space the first portion 44A and the second portion 44B apart from each other. In the illustrated example, the turntable 42 is supported between the first portion 44A and the second portion 44B of the frame 44 for rotation about the steering axis 38 relative to the frame 44. Specifically, the frame 44 supports a plurality of rollers 78, which are positioned between the first portion 44A and the second portion 44B and configured to engage with the lip 80 of the turntable 42 to support the turntable 42 for rotation about the steering axis 38. In some configurations, the rollers 78 may be adjustable relative to the frame 44 so that a rotatable mount 35 (e.g., a mounting ring 36 and / or a turntable 42) can be mounted to the frame 44 around the steering shaft 38. Other configurations are conceivable for rotatably supporting the rotatable mount 35 (e.g., a mounting ring 36 and / or a turntable 42) for rotation relative to the frame 44 around the steering shaft 38.

[0056] As best illustrated in Figure 18, in a configuration where the rotatable mount 35 is realized as two pieces, once the mounting ring 36 is coupled to the steering wheel 34 of the vehicle 32, the turntable 42 is configured to be coupled to the mounting ring 36 for simultaneous rotation with the mounting ring 36 around the steering shaft 38 in order to rotate the steering wheel 34 of the vehicle 32 around the steering shaft 38. For example, one of the mounting ring 36 and the turntable 42 may define a number of engagement gaps 82 configured to receive corresponding engagement projections 84 defined by the other of the mounting ring 36 and the turntable 42 in order to couple the mounting ring 36 and the turntable 42 to the turntable 42 so that they rotate simultaneously around the steering shaft 38. It should be understood that the engagement projections 84 may be integrally formed with the other of the mounting ring 36 and the turntable 42, or may be coupled with the other of the mounting ring 36 and the turntable 42. Notably, since the turntable 42 can be separated from the mounting ring 36, the robotic steering system 30 may include multiple mounting rings 36 coupled to the steering wheels 34 of multiple vehicles, so that the turntable 42 can be easily coupled in series to multiple vehicles without the need to remove the mounting ring 36 each time. In some examples, such as shown in Figure 17, the turntable 42 may include separate parts. For example, the turntable 42 may include a front part 42A and a rear part 42B. The front part 42A and the rear part 42B may be assembled together using fasteners to form the turntable 42.

[0057] Continuing to refer to Figure 18, the rotatable mount 35 (e.g., turntable 42) may further include a toothed portion 88. The toothed portion 88 may be a sprocket configured to work with a belt 90 operationally mounted to the steering motor 48 so that the belt 90 transmits steering torque from the steering motor 48 to the rotatable mount 35. Thus, the steering motor 48 may rotate the rotatable mount 35 around the steering shaft 38 via the belt 90 to actuate the steering wheel 34 of the vehicle 32 to perform typical tasks related to driving. Referring to Figure 17, in an example where the turntable 42 is formed from a front portion 42A and a rear portion 42B, the toothed portion 88 may be supported by one of the front portion 42A and the rear portion 42B and positioned between the front portion 42A and the rear portion 42B after the assembly of the turntable 42. Other configurations for transmitting steering torque generated by the steering motor 48 to the rotatable mount 35, such as gears, are conceivable.

[0058] Referring to Figures 18 and 20, the steering motor 48 may be supported by a frame 44 and may include an output shaft 104 coupled to a sprocket 106. The sprocket 106 may be coupled to a belt 90 to drive a mount 35 rotatable around a steering shaft 38, thereby acting on the steering wheel 34 of the vehicle 32 and performing typical tasks related to driving. As shown in Figures 18 and 20, in some configurations, the steering motor 48 may be coupled to a slide plate 108 configured to slide relative to the frame 44. The frame 44 may further support a belt tensioner 110, which is coupled to the slide plate 108 and configured to move the slide plate 108 (and thus the steering motor 48 and sprocket 106) away from the turntable 42, thereby applying tension to the belt 90 and ensuring proper transmission of steering torque from the steering motor 48 to the turntable 42. Advantageously, the use of a belt 90 to transmit torque from the steering motor 48 to the turntable 42 provides higher torque, reduced noise, and improved serviceability and design flexibility compared to previous configurations.

[0059] Another configuration of the belt tensioner 110 is shown in Figures 21 to 23B. Here, in contrast to using a sliding plate 108 to tension the belt 90, the steering motor 48 is fixed to the frame 44. To tension the belt 90, the robot steering system 30 shown in Figures 21 to 23B includes one or more eccentric belt tensioning assemblies 126. Each eccentric belt tensioning assembly 126 may include an eccentric member 128 positioned to selectively contact the belt 90 to generate tension in the belt 90. More specifically, the eccentric member 128 may be coupled to the frame 44 and supported for rotation around the shaft 130 (e.g., via bearings). Notably, the eccentric member 128 is not concentric with the shaft 130. Therefore, referring to the sequence between Figure 23A and Figure 23B, when the eccentric member 128 rotates about the shaft 130 (indicated by arrow 134), the eccentric member 128 may extend toward the belt 90, contact the belt 90, and cause tension in the belt 90 (indicated by arrow 136). Referring to Figures 21 and 23A to 23B, the knobs 132 are each coupled to one of the eccentric members 128, allowing a user to rotate the eccentric member 128 about the shaft 130 to tension the belt 90 without disassembling the robot steering system 30. For example, as shown in the sequence between Figure 23A and Figure 23B, when a user rotates the knob 132 toward the belt 90 (indicated by arrow 134), the eccentric member 128 rotates about the shaft 130 and contacts the belt 90, causing tension in the belt 90 (indicated by arrow 136). As best shown in Figures 23A and 23B, one or more eccentric belt tensioning assemblies 126 may each include a bolt-like locking member 138, which is positioned through a knob 132 and is configured to tighten so as to prevent the eccentric member 128 from rotating relative to the frame 44 once the belt 90 is tensioned.

[0060] Referring to Figure 19, in some examples, the auxiliary steering wheel 50 may be detachably coupled to a rotatable mount 35 (e.g., a mounting ring 36 and / or a turntable 42). For example, the auxiliary steering wheel 50 may include a latch mechanism 92. The latch mechanism 92 may extend from the auxiliary steering wheel 50 and be configured to releasably engage with a catch 94 defined by the rotatable mount 35 to couple the auxiliary steering wheel 50 to the rotatable mount 35. In some examples, such as those shown in Figure 19, the latch mechanism 92 and catch 94 may be recognized as a ball and a return mechanism, but other configurations are conceivable. In the illustrated configuration, the latch mechanism 92 may generally include a shaft 96 coupled to the auxiliary steering wheel 50, extending from the auxiliary steering wheel 50, supporting one or more latches 98 (e.g., balls 98) that are outwardly biased and arranged to engage with the catch 94 (e.g., a channel 100 defined by the mounting ring 36) to couple the auxiliary steering wheel 50 to the mounting ring 36 using any tool. To release the auxiliary steering wheel 50 from the mounting ring 36, the illustrated latch mechanism 92 includes a release button 102 (Schematically shown in Figure 19), which is operationally attached to one or more balls 98 and configured to retract one or more balls 98 inward in response to user engagement, thereby allowing the auxiliary steering wheel 50 to be detached from the mounting ring 36. Other configurations are conceivable for detachably coupling the auxiliary steering wheel 50 to a rotatable mount 35.

[0061] In some examples, an additional fastener 103 may be positioned through the auxiliary steering wheel 50 to connect the auxiliary steering wheel 50 to the rotatable mount 35, as best shown in Figure 17. The additional fastener 103 may be used where the latch mechanism 92 may not be able to withstand the torque received by the auxiliary steering wheel 50 and / or the rotatable mount 35 alone. In the illustrated example, the additional fastener is implemented as a threaded knob 103 that extends partially through the auxiliary steering wheel 50 to connect the auxiliary steering wheel 50 to the rotatable mount 35. Other configurations for the additional fastener 103 are conceivable.

[0062] As briefly described above, the robot steering system 30 may further include a restraint member 49 that is operationally mounted to the vehicle 32 and the frame 44 to restrain the robot steering system 30 against the vehicle 32. For example, as best shown in Figure 1, the restraint member 49 is operationally mounted to the frame 44 of the robot steering system 30 and to a rigid component of the vehicle 32 (e.g., the windshield of the vehicle 32, the driver's seat rails of the vehicle 32, the central console of the vehicle 32, the floor of the vehicle 32, etc.) to prevent the frame 44 from rotating about the steering axis 38. In some examples, the length of the restraint member 49 may be adjustable to reach a desired rigid component of the vehicle 32. As another example, referring to Figures 28 and 29, the robot drive system 20 may also include a robot frame 26 configured to be mounted to the vehicle 32. The robot frame 26 may include a base 28 configured to be mounted to the floor of the vehicle 32. Alternatively, the base 28 may be configured to be mounted to another location inside the vehicle 32, such as the rails supporting the driver's seat of the vehicle 32. In these examples, as shown in Figures 28 and 29, the frame 44 of the robot steering system 30 is fixed to the robot frame 26 (for example, via a restraining member 49) to secure the frame 44 to the vehicle 32. In addition, the accelerator actuator 22 and the brake actuator 24 may be mounted to the robot frame 26.

[0063] As best shown in Figures 24 to 27, the frame 44 may also support a load cell assembly 112. The load cell assembly 112 may be positioned between the frame 44 and a restraining member 49 at a distance D known from the steering axis 38 and includes a load sensor 114 for generating a load signal corresponding to a force F (shown in Figure 1) acting between the frame 44 and the restraining member 49.

[0064] As schematically shown in Figure 1, the robotic steering system 30 may further include a controller 116 that communicates with a steering motor 48 and a load sensor 114. The controller 116 may be configured to adjust the steering torque of the steering motor 48 based on a load signal corresponding to a force F and a known distance D from the steering axis 38. For example, the controller 116 can use the load signal as feedback to determine the required steering torque for the steering motor 48 to achieve a desired rotation of the steering wheel 34 of the vehicle 32, which may vary based on the vehicle's manufacture, model, speed, terrain, etc. In addition, the controller 116 may use the load signal to adjust the steering torque generated by the steering motor 48 to compensate for mechanical friction within the robotic steering system 30, as taught in U.S. Patent Application Publication No. 2021 / 0188239A1, entitled “System and method for force compensation in a robotic driving system,” which is incorporated herein by reference in its entirety.

[0065] As best shown in Figures 24-26, the load cell assembly 112 may include a coupling block 118 coupled to the frame 44. For example, the coupling block 118 generally has a joint end 118A and a coupling end 118B. An L-shaped member extending between the joint end and the joint end of the coupling block 118 may be defined. The load cell assembly 112 may also include a joint arm 120 extending between a swinging end 120A rotatably coupled to the joint end 118A of the coupling block 118 and a swinging end 120B positioned for rotation relative to the joint end 118A of the coupling block 118. A restraining member 49 may be coupled to the swinging end 120B of the joint arm 120 so as to receive a force F that the swinging end 120B of the joint arm 120 receives between the frame 44 and the restraining member 49. A load sensor 114 is positioned between the swinging end 120B of the joint arm 120 and the joint end 118B of the coupling block 118 to measure the force F between them.

[0066] As shown in Figures 24 to 26, in some examples, the restraining member 49 may be coupled to the swivel end 120B of the connecting arm 120 via a universal joint 122 such as a Heim joint, so that the restraining member 49 is not necessarily parallel to the load sensor 114. As a result, the restraining member 49 may expose the load sensor 114 to a force F that is not necessarily parallel to the load sensor 114, which may lead the load sensor 114 to produce a load signal, which is not necessarily ideal feedback for determining the steering torque to be generated by the steering motor 48. In other words, in configurations where the restraining member 49 is not positioned parallel to the load sensor 114, the restraining member 49 may expose the load sensor 114 to a force F that includes force components in directions unrelated to determining the steering torque required to be generated via the steering motor 48. Therefore, in some configurations, as best shown in Figure 26, the load cell assembly 112 may further include a mechanical clearance joint 124 positioned between the pivot end 120B of the connecting arm 120 and the load sensor 114, such that only the component of force F parallel to the load sensor 114 is transmitted to the load sensor 114.

[0067] Figure 27 shows a free-body diagram illustrating the effect of the configuration of the load cell assembly 112 including the mechanical clearance joint 124. As shown in Figure 27, if the restraining member 49 is not parallel to the load sensor 114, the restraining member may expose the pivot end 120B of the connecting arm 120 to a force F having three directional components Fx, Fy, and Fz. In this case, the Fx component of the force F is parallel to the only relevant component of the force F to be transmitted to the load sensor 114, which should be transmitted to the load sensor 114 to determine the steering torque to be generated by the load sensor 114 and the steering motor 48. Thus, as schematically shown in Figure 27, the mechanical clearance joint 124 facilitates the transmission of the Fx component of the force F to the load sensor, but distributes the Fy and Fz components to the joint block 118 through the connecting arm 120. As a result, the illustrated configuration allows for greater flexibility in where the restraining member 49 is attached to the internal components of the vehicle 32. For example, if a conventional configuration ideally requires the restraint member 49 to be parallel to the load sensor 114, this configuration allows the restraint member 49 to extend in additional directions, increasing mounting options within the vehicle 32, while maintaining the usefulness of the load signal in determining the steering torque required to rotate the vehicle's steering wheel 34 to a desired position.

[0068] Several embodiments have been discussed in the preceding description. However, the embodiments discussed herein are not intended to be exhaustive, nor are they intended to limit this disclosure to any particular form. The terms used are intended to be descriptive, not restrictive. Many modifications and variations are possible in light of the above teachings, and this disclosure may be carried out in ways other than those specifically described.

Claims

1. A robotic steering system for rotating the vehicle's steering wheel, A frame configured to be fixed to the aforementioned vehicle, A rotatable mount defining a steering axis, the rotatable mount being mounted on the vehicle steering wheel such that the rotatable mount and the vehicle steering wheel rotate simultaneously about the steering axis, A drive assembly includes a steering motor supported by the frame and coupled to the rotatable mount, configured to generate steering torque that rotates the rotatable mount about the steering axis to actuate the vehicle steering wheel, The auxiliary steering wheel is coupled to the rotatable mount such that the auxiliary steering wheel and the rotatable mount rotate simultaneously about the steering axis, and is positioned for user involvement by the driver of the vehicle, Robot steering system.

2. The robotic steering system according to claim 1, wherein the auxiliary steering wheel includes a latch mechanism extending from the auxiliary steering wheel, the latch mechanism releasably engaging with the rotatable mount to connect the auxiliary steering wheel to the rotatable mount.

3. The robotic steering system according to claim 1 or 2, further comprising one or more brace assemblies for attaching the rotatable mount to the vehicle steering wheel, wherein the one or more brace assemblies are adjustable so that the one or more brace assemblies are configured to attach the rotatable mount to vehicle steering wheels of different shapes and sizes.

4. The robot steering system according to any one of claims 1 to 3, wherein the frame includes a plurality of rollers configured to support the rotatable mount for rotation relative to the frame about the steering axis.

5. The robot steering system according to any one of claims 1 to 4, wherein the drive assembly further includes a belt connecting the steering motor to the rotatable mount for transmitting the steering torque from the steering motor to the rotatable mount.

6. The aforementioned drive assembly is A slide plate coupled to the frame and configured to translate relative to the frame, wherein the steering motor is coupled to the slide plate and the slide plate, The belt tensioner is coupled to the slide plate and configured to move the slide plate away from the rotatable mount in order to apply tension to the belt, The robot steering system according to claim 5.

7. The robot steering system according to claim 5, further comprising one or more eccentric belt tensioning assemblies, each including an eccentric member supported for pivoting motion relative to the frame and positioned to selectively contact the belt to apply tension to the belt.

8. The aforementioned rotatable mount is The mounting ring is configured to be attached to the vehicle steering such that the mounting ring and the vehicle steering wheel rotate simultaneously around the steering axis, A turntable supported by the frame and coupled to the mounting ring for rotation about the steering shaft, the steering motor being coupled to the turntable for rotating the mounting ring and the vehicle steering wheel about the steering shaft, the turntable A robot steering system according to any one of claims 1 to 7.

9. The robot steering system according to claim 8, wherein one of the mounting ring and the turntable defines a plurality of engagement gaps, configured to receive corresponding engagement projections defined by the other of the mounting ring and the turntable in order to connect the mounting ring to the turntable, such that the mounting ring and the turntable rotate simultaneously about the steering axis.

10. The system further includes one or more brace assemblies for attaching the rotatable mount to the vehicle steering wheel, each of the one or more brace assemblies is A clamp assembly configured to engage with the vehicle steering wheel, A lever arm extending between a first end connected to the clamp assembly and a second end connected to the rotatable mount, A robot steering system according to any one of claims 1 to 9.

11. The clamp assembly is A second jaw member is coupled to the first end of the lever arm, The first jaw member is pivotably coupled to the second jaw member such that the first jaw member pivots relative to the second jaw member and is configured to receive a portion of the vehicle steering wheel between them, The robot steering system according to claim 10.

12. The robot steering system according to claim 11, wherein the clamp assembly further includes a cam handle coupled to the second jaw member for engagement with the first jaw member, the cam handle being configured to contact the first jaw member and bias the first jaw member toward the second jaw member, thereby coupling the clamp assembly to the vehicle steering wheel.

13. The clamp assembly is A handle pivotably coupled to the first jaw member, The handle includes a clasp that is pivotably coupled to the handle, The second jaw member defines a plurality of engagement stoppers configured for engagement with the clasp, After the clasp engages with one of the plurality of engagement locks, the handle is configured for user operation toward the first jaw member to connect the clamp assembly to the vehicle steering wheel. The robot steering system according to claim 11.

14. The rotatable mount defines one or more adjustment slots, The second end of the lever arm is configured to translate along one of the one or more adjustment slots so that each of the one or more brace assemblies is adjustable to the rotatable mount, allowing each clamp assembly to reach a desired mounting point on a vehicle steering wheel having different shapes and sizes. A robot steering system according to any one of claims 10 to 13.

15. The robot steering system according to claim 14, wherein the one or more brace assemblies include a constraint configuration, the rotatable mount defines a corresponding constraint configuration, and the constraint configuration of the one or more brace assemblies is configured to engage with the corresponding constraint configuration of the rotatable mount to prevent translation of the one or more brace assemblies relative to the adjustment slot after the one or more brace assemblies have been coupled to the rotatable mount.

16. The robot steering system according to any one of claims 1 to 15, further comprising a restraining member coupled to the frame and configured to be fixed to the vehicle in order to fix the frame to the vehicle.

17. The robot steering system according to claim 16, further comprising a load cell assembly positioned between the frame and the restraint member at a known distance from the steering axis, wherein the load cell assembly includes a load sensor for generating a load signal corresponding to a force received between the frame and the restraint member.

18. The robot steering system according to claim 17, further comprising a controller that communicates with the steering motor and the load sensor, wherein the controller is configured to adjust the steering torque of the steering motor based on the load signal.

19. The aforementioned load cell assembly is A connecting block extending between the connecting end and the connecting end that are coupled to the frame, The coupling arm includes a pivot end rotatably coupled to the coupling end of the coupling block and a pivot end positioned for rotation of the coupling block relative to the coupling end, The restraining member is connected to the pivot end of the connecting arm such that the pivot end of the connecting arm receives the force that is received between the frame and the restraining member. The load sensor is positioned between the pivot end of the connecting arm and the connecting end of the connecting block, and generates the load signal corresponding to the force received between them. The robot steering system according to claim 17 or 18.

20. The robot steering system according to claim 19, wherein the load cell assembly further includes a mechanical clearance joint positioned between the pivot end of the connecting arm and the load sensor such that only the component of the force received between the frame and the restraining member parallel to the load sensor is transmitted to the load sensor.

21. A robotic drive system for controlling a vehicle, A robot steering system according to any one of claims 1 to 20, An accelerator actuator is coupled to the accelerator pedal of the vehicle and configured to operate the accelerator pedal, A brake actuator is coupled to the brake pedal of the vehicle and configured to operate the brake pedal, The system includes a controller that communicates with the steering motor, the accelerator actuator, and the brake actuator, the controller which operates the robot steering system, the accelerator actuator, and the brake actuator to adjust the operation of the vehicle's steering wheel, the accelerator pedal, and the brake pedal by the robot drive system. Robot drive system.

22. The robot frame further includes a robot frame configured to be attached to the floor of the vehicle, The accelerator actuator and the brake actuator are mounted on the robot frame. The frame of the robot steering system is fixed to the robot frame in order to fix the frame to the vehicle. The robot drive system according to claim 21.

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