A steering device, movable device and steering method

Abstract

The application provides a steering device, which comprises a driving gear and a driven gear which are engaged with each other; the axial line positions of the driving gear and the driven gear are fixed relative to the chassis of a movable device; the number of teeth of the driving gear is less than that of the driven gear; the axial line of the driving gear and the driven gear is perpendicular to downward; a power wheel is arranged in the middle of the driven gear; the power wheel is used for driving the movable device to move; the axial line of the power wheel and the axial line of the driven gear are perpendicular to each other; at least one end of the rotating shaft of the power wheel is fixed to a rotating connecting piece; the rotating connecting piece is fixed to the lower part of the driven gear, and the rotating connecting piece and the driven gear rotate synchronously and have the same axial line. The steering device has better steering flexibility.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical equipment, in particular to a steering device, a movable device and a steering method. BACKGROUND

[0002] With the development of science and technology, movable robots are used in various fields. In the process of using a common movable robot, an independent steering mechanism inside the robot is used to control the steering of the robot.

[0003] However, no matter which steering mechanism is used, the structure is not compact, the space occupied is large, and the steering is not flexible.

[0004] Therefore, a compact steering device is needed to realize the steering of the robot. SUMMARY

[0005] The present application provides a steering device, a movable device and a steering method, which are compact and flexible.

[0006] In order to achieve the above-mentioned purpose, the present application provides a steering device, comprising: a driving gear and a driven gear which are engaged with each other; the axial center line positions of the driving gear and the driven gear are fixed relative to the position of the chassis of the movable device; the number of teeth of the driving gear is less than the number of teeth of the driven gear; the axial center lines of the driving gear and the driven gear are perpendicular to downward; a power wheel is arranged in the middle of the driven gear; the power wheel is used to drive the movable device to move; the axial center line of the power wheel is perpendicular to the axial center line of the driven gear; at least one end of the power wheel shaft is fixed to a rotating connecting piece; the rotating connecting piece is fixed to the lower part of the driven gear, and the rotating connecting piece and the driven gear have the same axial center line and rotate synchronously.

[0007] Preferably, the ratio of the number of teeth of the driving gear to the number of teeth of the driven gear is 17:48.

[0008] Preferably, the steering device further comprises a fixing frame, the fixing frame is fixed to the chassis, the driving gear and the driven gear are arranged on the upper end surface of the fixing frame and are fixed in position, and the projections of the driving gear and the driven gear fall within the upper end surface of the fixing frame.

[0009] Preferably, the fixing frame comprises an inner circumferential side and an annular bracket structure, the inner circumferential side of the fixing frame has the same center line as the axis line of the driven gear; the annular bracket structure is provided with a bearing, and the outer ring surface of the bearing is matched with the inner circumferential side of the fixing frame.

[0010] Preferably, the lower end surface of the driven gear is provided with a clamping groove for being clamped on the inner ring of the bearing.

[0011] Preferably, the rotating connecting piece is a stepped positioning piece, which comprises an upper step, an intermediate step and a lower step; the upper step of the stepped positioning piece is fixedly connected with the driven gear; the lower end surface of the inner ring of the bearing is abutted against the intermediate step; and the lower step is fixedly connected with one end of the rotating shaft of the power wheel.

[0012] Preferably, the fixing frame further comprises a fixing ring for fixing the bearing in the fixing frame.

[0013] Preferably, the power wheel is provided with a hub motor.

[0014] Preferably, the upper end surface of the driven gear is provided with an outwardly extending limiting piece, and the outer end of the limiting piece is located in the arc limiting groove of the fixing frame.

[0015] The embodiments of the present application also provide a movable device, which comprises a chassis provided with at least three above-mentioned steering devices.

[0016] Preferably, the movable device further comprises a calculation module and a sending module; the calculation module is used for determining the rotating angle of each steering device and the rotation speed value of the corresponding power wheel based on the turning radius and the turning speed of the movable device; and the sending module is used for sending the rotating angle of each steering device and the rotation speed value of the corresponding power wheel to a control module, so that the control module controls the driving gear motor of the steering device and the hub motor of the power wheel.

[0017] The embodiment of the present specification also provides a movable device steering method, comprising: determining second motion state information of each powered wheel of the movable device based on preset first motion state information of the movable device, wherein the second motion state information at least comprises a steering angle value of the powered wheel, a steering angle change rate value of the powered wheel and a self-rotation speed value of the powered wheel; and the first motion state information at least comprises a turning radius of the movable device, a turning center of the movable device and a turning speed of the movable device; wherein the chassis of the movable device is provided with at least three steering devices, the steering devices at least comprise mutually meshed driving gears and driven gears; the axial center positions of the driving gears and the driven gears are fixed relative to the position of the chassis of the movable device; the number of teeth of the driving gears is less than the number of teeth of the driven gears; the axial center lines of the driving gears and the driven gears are perpendicular to downward; the driven gears are provided with the powered wheels in the middle; the powered wheels are used to drive the movable device to move; the axial center line of the powered wheel is perpendicular to the axial center line of the driven gear; at least one end of the powered wheel shaft is fixed to a rotating connecting piece; the rotating connecting piece is fixed to the lower part of the driven gear, and the rotating connecting piece rotates synchronously with the axial center line of the driven gear; and the steering device is sent a pointing motion execution instruction based on the second motion state information of each powered wheel.

[0018] The embodiment of the present application can control the steering of the powered wheels through the mutually meshed driving gears and driven gears, and the hollow part of the driven gear can be provided with the powered wheels, thereby saving space and reducing the chassis.

[0019] Specific embodiments of the present application are disclosed in detail in the following description and claims, indicating the ways in which the principles of the present application can be employed. It should be understood that the embodiments of the present application are not limited in scope to the specific embodiments described herein. Embodiments of the present application include many changes, modifications and equivalents within the spirit and scope of the appended claims.

[0020] Features described and / or illustrated with respect to one embodiment can be used in the same or similar manner in one or more other embodiments, in combination with or in place of features in other embodiments.

[0021] It should be emphasized that the term "comprises / comprising" when used in this specification is taken to mean the presence of stated features, integers, steps or components but not the exclusion of one or more other features, integers, steps, components or groups thereof. BRIEF DESCRIPTION OF DRAWINGS

[0022] The drawings described herein are for purposes of illustration only and are not intended to limit the scope of the present disclosure in any way. Additionally, the shapes and proportions of the various components depicted in the drawings are not intended to be specific, but rather are for purposes of illustration only. Those skilled in the art will recognize that various modifications are possible within the scope of the present disclosure, and do not depart from the scope of the present disclosure. In the drawings:

[0023] Figure 1 is a schematic view of a steering device according to an embodiment of the present specification;

[0024] Figure 2 is a three-view drawing of a steering device according to an embodiment of the present specification;

[0025] Figure 3 is a schematic view of a steering device according to an embodiment of the present specification;

[0026] Figure 4 is a schematic view of a chassis of a movable device according to an embodiment of the present specification;

[0027] Figure 5 is a schematic view of a steering device according to an embodiment of the present specification;

[0028] Figure 6 is a schematic view of a steering device according to an embodiment of the present specification;

[0029] Figure 7 is a schematic view of a steering device according to an embodiment of the present specification;

[0030] BRIEF DESCRIPTION OF DRAWINGS: 10, driving gear, 102, driving gear motor, 20, driven gear, 202, limit piece, 30, power wheel, 40, rotating frame, 402, rotating connecting piece, 404, bearing, 406, fixed ring, 50, sensing device, 60, fixed frame, 602, circular arc limit groove, 604, annular bracket structure, 606, inner circumferential side, 70, chassis. DETAILED DESCRIPTION

[0031] In order to enable persons skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present application.

[0032] It is to be understood that when an element such as a layer, region or substrate is referred to as being "on" or "connected to" another element, it can be directly on or connected to the other element or intervening elements can be present. In contrast, when an element is referred to as being "directly on" or "directly connected to" another element, there are no intervening elements present. It will be understood that, although the terms "first", "second", etc. can be used herein to describe various elements, these elements should not be limited by these terms since such terms are only used to distinguish one element from another. The terms "comprises", "comprising", "includes", "including" or any other variation thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, article, or apparatus that comprises a list of elements is not necessarily limited to only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Further, unless otherwise specified, terms of degree such as "substantially", "approximately", "generally", "preferably", and "preferably" provide support for a described situation covering nominal values, along with something outside of the nominal range, where such context would expect little difference or where such difference would not render a reasonable or desired function ineffective.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0034] Please refer to Figure 1 and Figure 2 The embodiments of the present application provide a steering device, at least comprising:

[0035] The driving gear 10 and the driven gear 20 are engaged with each other; the axial line positions of the driving gear 10 and the driven gear 20 are fixed relative to the chassis 70 of the movable device; the number of teeth of the driving gear 10 is less than the number of teeth of the driven gear 20; the axial lines of the driving gear 10 and the driven gear 20 are perpendicular to downward;

[0036] The driving gear 10 and the driven gear 20 are engaged with each other; the axial line positions of the driving gear 10 and the driven gear 20 are fixed relative to the chassis 70 of the movable device; the number of teeth of the driving gear 10 is less than the number of teeth of the driven gear 20; the axial lines of the driving gear 10 and the driven gear 20 are perpendicular to downward;

[0037] At least one end of the rotating shaft of the driving wheel 30 is fixed to the rotating connecting member 402; the rotating connecting member 402 is fixed to the lower part of the driven gear 20, and the rotating connecting member 402 rotates synchronously with the axial line of the driven gear 20.

[0038] In the embodiments, the driving gear 10 and the driven gear 20 are engaged with each other, the axial lines of the driving gear 10 and the driven gear 20 are perpendicular to downward, and the two gears are horizontally arranged on the chassis 70 of the movable device. The driven gear 20 is a hollow gear. The driving wheel 30 can be arranged in the hollow part to save space. The driving wheel 30 is a wheel of the movable device, and the driving wheel 30 can be provided with a hub motor to provide forward driving force.

[0039] In the embodiment, the driving gear 10 drives the driven gear 20 to rotate. The driven gear 20 drives the power wheel 30 to turn, and the turning angle of the power wheel 30 is equal to the rotating angle of the driven gear 20. Preferably, the number of teeth of the driving gear 10 is less than that of the driven gear 20. Since the hollow part of the driven gear 20 can be used to set the power wheel 30, the number of teeth of the driving gear 10 being less than that of the driven gear 20 can make the structure more compact and the angle adjustment more accurate.

[0040] In the embodiment, the axis of the power wheel 30 is perpendicular to the axis of the driven gear 20. Preferably, the axis of the driven gear 20 passes through the center of the power wheel 30, so that the power wheel 30 turns more stably.

[0041] In the embodiment, at least one end of the rotating shaft of the power wheel 30 is fixed to the rotating connecting piece 402, and the rotating connecting piece 402 is fixed to the lower part of the driven gear 20. The rotating connecting piece 402 is the same as the axis of the driven gear 20 and rotates synchronously. The rotating connecting piece 402 is the intermediate connecting piece connecting the power wheel 30 and the driven gear 20. Specifically, the rotating connecting piece 402 can be a stepped positioning piece, and the upper end face of the rotating connecting piece 402 can be fixed to the inner ring of the lower end face of the driven gear 20. The fixing mode can be welding or screw fixing, such as Figure 3 . The rotating shaft of the power wheel 30 is fixed to the lower end face of the rotating connecting piece 402. At least one end of the rotating shaft of the power wheel 30 is fixed to the rotating connecting piece 402, specifically, one end can be fixed, or both ends can be fixed. When the both ends of the rotating shaft of the power wheel 30 are fixed, the load bearing capacity of the movable robot is relatively strong than when one end of the rotating shaft of the power wheel 30 is fixed, but the processing and installation precision is relatively high. Preferably, one end of the rotating shaft of the power wheel 30 is fixed to the rotating connecting piece 402. The fixing mode of one end of the rotating shaft of the power wheel 30 to the rotating connecting piece 402 can be fixed by using a fixing buckle, such as Figure 3 . It should be noted that the mode that the rotating connecting piece 402 rotates synchronously with the driven gear 20 is not limited to the above examples. Those skilled in the art can make other changes under the inspiration of the technical essence of the present application, as long as the functions and effects achieved are the same or similar to those of the present application, which should be covered within the protection scope of the present application.

[0042] In the embodiment, a motor can be arranged below the driving gear 10 to realize the rotation of the driving gear 10. The driving gear 10 and the driven gear 20 can be arranged on the fixed frame 60 to fix the positions, and the fixed frame 60 can be arranged on the chassis 70 of the movable device.

[0043] Through the above-mentioned embodiments, the steering device is simple in structure and can flexibly and accurately assist the movable device in steering. The chassis 70 equipped with the steering device can steer simultaneously with four wheels, thereby minimizing the rotation radius and facilitating flexible movement in a narrow and insufficient space. The steering device is compact in structure and can also greatly reduce the height of the chassis 70.

[0044] In one embodiment, the ratio of the number of teeth of the driving gear 10 to the number of teeth of the driven gear 20 is 17:48. This tooth ratio can be suitable for most practical application scenarios.

[0045] In one embodiment, a fixing frame 60 is further included, the fixing frame 60 is fixed to the chassis 70, the driving gear 10 and the driven gear 20 are arranged on the upper end surface of the fixing frame 60 and are fixed in position, and the projections of the driving gear 10 and the driven gear 20 fall within the upper end surface of the fixing frame 60.

[0046] In the present embodiment, the fixing frame 60 is used to fix the steering device to the chassis 70 of the movable device. Bearings 404, such as deep groove ball bearings 404, can be arranged in the fixing frame 60 to assist the rotation of the driven gear 20. The fixing frame 60 can be pie-shaped, and the projections of the driving gear 10 and the driven gear 20 fall within the projection of the fixing frame 60.

[0047] In one embodiment, the fixing frame 60 can include an inner circumferential side surface 606 and an annular bracket structure 604, the center line of the inner circumferential side surface 606 of the fixing frame 60 and the annular bracket structure 604 is the same as the axis of the driven gear 20, and the annular bracket structure 604 has a bearing 404 placed thereon, and the outer ring surface of the bearing 404 cooperates with the inner circumferential side surface 606 of the fixing frame 60.

[0048] As Figure 3 In the present embodiment, the fixing frame 60 is hollow corresponding to the position of the driven gear 20, and correspondingly, the hollow part includes the inner circumferential side surface 606 and the annular bracket structure 604. The area surrounded by the inner circumferential side surface 606 and the annular bracket structure 604 corresponds to the placement of the bearing 404, which can be a deep groove ball bearing 404. In the present embodiment, the axis or center line of the inner circumferential side surface 606, the annular bracket structure 604, the bearing 404, and the driven gear 20 are the same. The annular bracket structure 604 places the bearing 404 downward, and the inner circumferential side surface 606 limits the lateral movement of the bearing 404.

[0049] In the embodiment, the fixed frame 60 reduces the friction when the driven gear 20 rotates by setting the bearing 404 inside.

[0050] In an embodiment, the lower end surface of the driven gear 20 has a clamping groove for clamping on the inner ring of the bearing 404.

[0051] In the embodiment, the lower end surface of the driven gear 20 is provided with a clamping groove corresponding to the inner ring of the bearing 404, and the driven gear 20 can be clamped on the inner ring of the bearing 404 through the clamping groove, so that the coaxial center lines of the two can be achieved.

[0052] In an embodiment, the rotating connecting piece 402 is a stepped positioning piece, which at least includes an upper step, an intermediate step, and a lower step; the upper step surface of the stepped positioning piece is fixedly connected with the driven gear 20; the lower end surface of the inner ring of the bearing 404 abuts against the intermediate step surface; and the lower step surface is fixed with one end of the rotating shaft of the power wheel 30.

[0053] Please refer to Figure 3 . The rotating connecting piece 402 includes three steps, the upper surface of the upper step is fixedly connected with the lower surface of the driven gear 20 to realize synchronous rotation of the driven gear 20 driving the rotating connecting piece 402. The outer diameter of the upper step is smaller than the inner diameter of the inner ring of the bearing 404, so that the upper step can pass through the bearing 404. Preferably, the outer side surface of the upper step is tightly matched with the inner side surface of the bearing 404.

[0054] In the embodiment, the lower end surface of the inner ring of the bearing 404 abuts against the intermediate step surface; the lower step surface is fixed with one end of the rotating shaft of the power wheel 30; to realize rotation of the driven gear 20 driving the rotating connecting piece 402 to rotate, and the rotating connecting piece 402 driving the power wheel 30 to turn.

[0055] In an embodiment, the fixed frame 60 further includes a fixing ring 406, which is used to fix the bearing 404 in the fixed frame 60.

[0056] Please refer to Figure 3 , in the embodiment, the fixing ring 406 is arranged between the bearing 404 and the driven gear 20, the fixing ring 406 is fixed on the fixed frame 60 along the outer side, and the inner ring of the fixing ring 406 is smaller than the outer ring of the bearing 404, so as to constrain the bearing 404 in the fixed frame 60.

[0057] In an embodiment, the power wheel 30 is provided with a hub motor.

[0058] In the embodiment, the power wheel 30 is provided with a hub motor, which can provide forward power by itself and save space.

[0059] In one embodiment, the driven gear 20 is provided with an outwardly extending limiting piece 202 on the upper end surface, and the outer end of the limiting piece 202 is located in the circular arc limiting groove 602 of the fixed frame 60.

[0060] Please refer to Figure 2 and Figure 3 In the embodiment, the fixed frame 60 is provided with the circular arc limiting groove 602 corresponding to the circumferential direction of the driven gear 20, so as to limit the rotation of the driven gear 20. The upper end surface of the driven gear 20 can be fixed with an outwardly extending limiting piece 202, which is located in the circular arc limiting groove 602 when the driven gear 20 rotates. The limiting piece 202 can be an iron piece or a limiting piece 202 made of other materials, which is not limited here. One end of the circular arc limiting groove 602 can also be provided with an induction device 50, which is used to represent that the driven gear 20 has been reset when the limiting piece 202 is in this position. Preferably, in this reset position, the power wheel 30 is directed forward.

[0061] Please refer to Figure 4 The embodiment of the present application also provides a movable device, which at least comprises a chassis 70 provided with at least three steering devices as described in any one of the above embodiments.

[0062] In the embodiment, the movable device is used to represent a device that can move, specifically, it can be a movable robot, a trolley, etc. Here, it is not limited specifically. Preferably, the chassis 70 is provided with four steering devices as described in any one of the above embodiments. The positions of the four steering devices can refer to the positions of the automobile wheels, which correspond to the left front wheel, the right front wheel, the left rear wheel and the right rear wheel respectively.

[0063] The movable device provided with the steering device can flexibly turn in place, turn around obstacles, etc., and of course can also translate laterally, etc.

[0064] In the embodiment, only the differences from the foregoing embodiments are described, and other contents can be explained by referring to the contents of the foregoing embodiments, which will not be described here again.

[0065] In one embodiment, the movable device comprises a computing module and a sending module;

[0066] The computing module is used to determine the rotation angle of each steering device and the rotation speed value of the corresponding power wheel 30 based on the turning radius and the turning speed of the movable device;

[0067] The sending module is configured to send the rotation angle of each steering device and the self-rotation speed value of the corresponding power wheel 30 to the control module, so that the control module controls the driving motor of the steering device and the hub motor of the power wheel 30.

[0068] Please refer to 5、 Figure 6 , Figure 7 In the embodiment, the turning radius of the movable device can refer to the distance from the turning center of the movable device when turning to the center of the movable device. In the embodiment, the coordinates of the turning center of the movable device when turning can be calculated according to an algorithm of path planning or other algorithms, which are not specifically limited here. The turning speed can include the linear speed of the center of the movable device and the angular speed relative to the turning center. The rotation angle of the steering device at least includes one of the rotation angle value of the steering device and the rotation angle change rate value of the steering device. The rotation angle value of the steering device is associated with the steering angle value of the power wheel 30, and the rotation angle change rate value of the steering device is associated with the steering angle change rate value of the power wheel 30. The steering angle value of the power wheel 30 is used to represent the included angle between the steering of the power wheel 30 and the straight running of the power wheel 30. The self-rotation speed value of the power wheel 30 multiplied by the rotation radius of the power wheel 30 is equal to the linear speed of the power wheel 30.

[0069] In the embodiment, the rotation angle of each steering device and the self-rotation speed value of the corresponding power wheel 30 can be calculated based on the motion trajectory of each power wheel 30. In one scenario example, please refer to Figure 6 When the movable device turns in place, the turning radius is 0, the turning center is a point, and based on the relative position of each power wheel 30 relative to the point, it is determined that the centers of all the power wheels 30 are located on the circle with the point. The steering direction of the power wheel 30 is tangent to the circle. The steering angle of the power wheel 30 is associated with the rotation angle of the steering device. In this scenario example, the linear speed in the turning speed is 0, and the linear speed of each power wheel 30 is equal to the distance from the point to each power wheel 30 multiplied by the angular speed. The steering angle change rate value of each power wheel 30 corresponds to the change rate of the tangent direction of each power wheel 30 at the position on the motion trajectory line.

[0070] In another scenario example, please refer to Figure 7, when the turning radius of the movable device is not 0, according to the turning center being a point, based on the relative position of each power wheel 30 relative to the point, it is determined that the centers of the power wheels 30 on the same side are located on the same circle with the point as the center. The steering direction of the power wheel 30 is tangent to the circle. The steering angle of the power wheel 30 is associated with the rotation angle of the steering device. In this scenario, the linear velocity of each power wheel 30 is equal to the distance from the point to each power wheel 30 multiplied by the angular velocity. The steering angle change rate value of each power wheel 30 corresponds to the change rate of the tangent direction of each power wheel 30 at the point position on the trajectory line.

[0071] In this embodiment, the calculation module and the sending module can be signal connected. The sending module is used to send the rotation angle of each steering device and the self-rotation speed value of the corresponding power wheel 30 to the control module, so as to control the driving gear 10 motor of the steering device and the hub motor of the power wheel 30 by the control module. In this way, the movement and steering of the movable device are controlled.

[0072] The embodiments of the present specification also provide a movable device steering method, comprising:

[0073] Based on the preset first motion state information of the movable device, the second motion state information of each power wheel 30 of the movable device is determined, and the second motion state information at least includes: the steering angle value of the power wheel 30, the steering angle change rate value of the power wheel 30, and the self-rotation speed value of the power wheel 30; and the first motion state information at least includes: the turning radius of the movable device, the turning center of the movable device, and the turning speed of the movable device;

[0074] Wherein, the chassis 70 of the movable device is provided with at least three steering devices, and each steering device at least includes: a driving gear 10 and a driven gear 20 that engage with each other; the relative positions of the axes of the driving gear 10 and the driven gear 20 are fixed relative to the chassis 70 of the movable device; the number of teeth of the driving gear 10 is less than the number of teeth of the driven gear 20; the axes of the driving gear 10 and the driven gear 20 are perpendicular to the downward direction; the power wheel 30 is arranged in the middle of the driven gear 20; the power wheel 30 is used to drive the movement of the movable device; the axis of the power wheel 30 is perpendicular to the axis of the driven gear 20; at least one end of the rotation shaft of the power wheel 30 is fixed to the rotation connecting piece 402; the rotation connecting piece 402 is fixed to the lower part of the driven gear 20, and the rotation connecting piece 402 and the driven gear 20 rotate synchronously along the same axis;

[0075] The second motion state information of each of the powered wheels 30 is used to send a pointing motion execution instruction to the steering device.

[0076] In the embodiment, the turning radius of the movable device can refer to the distance between the turning center of the movable device when turning and the center of the movable device.

[0077] In the embodiment, the first motion state information of the movable device can be calculated according to a path planning algorithm or other algorithms, which are not limited here. The turning speed can include the linear speed of the center of the movable device and the angular speed relative to the turning center. The rotation angle of the steering device at least includes one of the rotation angle value of the steering device and the rotation angle change rate value of the steering device. The rotation angle value of the steering device is associated with the steering angle value of the powered wheel 30, and the rotation angle change rate value of the steering device is associated with the steering angle change rate value of the powered wheel 30. The steering angle value of the powered wheel 30 is used to represent the included angle between the steering of the powered wheel 30 and the straight running of the powered wheel 30. The self-rotation speed value of the powered wheel 30 multiplied by the rotation radius of the powered wheel 30 is equal to the linear speed of the powered wheel 30.

[0078] In the embodiment, only the differences from the foregoing embodiments are described, and other contents can be explained by referring to the foregoing embodiments, which are not described here.

[0079] In the embodiment, the control module can be implemented in any appropriate manner. Specifically, for example, the control module can take the form of, for example, a microprocessor or a processor and a computer readable medium storing computer readable program code (e.g., software or firmware) executable by the microprocessor or the processor, logic gates, switches, application specific integrated circuits (ASICs), programmable logic controllers (PLCs), and embedded microcontroller units (MCUs), examples of the above modules including but not limited to the following microcontroller units: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. Those skilled in the art should know that, in addition to implementing the functions of the control module in the form of pure computer readable program code, the same functions can also be implemented by logically programming the method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, and embedded microcontroller units.

[0080] It should be noted that, in the description of the present application, the terms "first", "second", etc. are used only for descriptive purposes and to distinguish similar objects, and there is no precedence or relative importance between them. In addition, in the description of the present application, unless otherwise stated, the meaning of "a plurality" is two or more.

[0081] Any numerical values cited in the application are inclusive of all values from the lower value and the upper value in increments of one unit, there being at least two units of difference between any lower value and any higher value. In the event that there is a statement or recitation of an inclusive numerical range like from 1 to 90, from 21 to 80, or from 30 to 70, it is intended that every conceivable number between the upper and lower limit, in increments of one unit, is expressly enumerated in this specification. For values which are less than one, such as negative numbers, it is intended that the unit of one is understood as 0.0001, 0.001, 0.01, 0.1. These are simply examples of what is meant by the inclusion of every possible integer and fraction within a specified range. All such numbers that have the same, different, and / or similar mathematical relationships between variables are to be understood as being expressly stated in this application.

[0082] Unless otherwise stated, all ranges include the endpoints and all numbers between the endpoints. "Approximately" or "about" used with a range applies to both ends of the range. Thus, "about 20 to 30" is intended to cover "about 20 to about 30", including at least the specified endpoints.

[0083] It is to be understood that the above description is intended to be illustrative and not restrictive. Many embodiments and many applications other than the examples provided would be apparent upon reading the above description and figure. The scope of the application should be determined, not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. The disclosures of all articles and references, including patent applications and publications, are incorporated by reference for the entire scope thereof in the present application. The omission of any aspect of the subject matter disclosed herein does not, and should not be taken as a disclaimer of such subject matter.

Claims

1. A steering device characterized by comprising: The application relates to a movable device, which comprises: a driving gear and a driven gear which are mutually meshed; the axial line positions of the driving gear and the driven gear are fixed relative to the chassis of the movable device; the number of teeth of the driving gear is less than that of the driven gear; the axial lines of the driving gear and the driven gear are perpendicular to the downward direction; a circular through hole is arranged on the driven gear, the circular through hole is coaxial with the driven gear, a power wheel is arranged in the center relative to the driven gear, and the power wheel can at least partially pass through the circular through hole; the power wheel is used for driving the movable device to move; the axial line of the power wheel is perpendicular to the axial line of the driven gear; at least one end of the power wheel shaft is fixed to a rotating connecting piece; the rotating connecting piece is fixed to the lower part of the driven gear, and the rotating connecting piece is coaxial with and synchronously rotates with the axial line of the driven gear; a fixed frame is further arranged, the fixed frame is fixed to the chassis, the driving gear and the driven gear are arranged on the upper end face of the fixed frame and are fixed in position; the projections of the driving gear and the driven gear fall within the upper end face of the fixed frame; the fixed frame comprises an inner circumferential side and an annular bracket structure, the center line of the inner circumferential side and the annular bracket structure of the fixed frame is the same as the axial line of the driven gear; a bearing is arranged on the annular bracket structure, and the outer ring surface of the bearing is matched with the inner circumferential side of the fixed frame; the rotating connecting piece is a stepped positioning piece, which comprises an upper stepped surface, an intermediate stepped surface and a lower stepped surface; the upper stepped surface of the stepped positioning piece is fixedly connected with the driven gear; the inner ring lower end surface of the bearing abuts against the intermediate stepped surface; and the lower stepped surface is fixed with one end of the power wheel shaft.

2. The steering device of claim 1, wherein the ratio of the number of teeth of the driving gear to the number of teeth of the driven gear is 17:

48.

3. The steering device of claim 1, wherein a clamping groove is arranged on the lower end face of the driven gear, and the clamping groove is used for being clamped on the inner ring of the bearing.

4. The steering apparatus of claim 1 wherein, the fixed frame further comprises a fixing ring, which is used for fixing the bearing in the fixed frame.

5. The steering apparatus of claim 1 wherein, a hub motor is arranged in the power wheel.

6. The steering apparatus of claim 1 wherein, an outwardly-extending limiting piece is arranged on the upper end face of the driven gear, and the outer end of the limiting piece is located in the circular arc limiting groove of the fixed frame.

7. A movable device, characterized by The application further relates to a movable device, which comprises: a chassis, the chassis is provided with at least three turning devices as claimed in any one of claims 1-6.

8. The movable apparatus of claim 7, wherein The application further relates to a control system of the movable device, which comprises: a calculation module and a sending module; the calculation module is used for determining the rotation angle of each turning device and the self-rotation speed value of the corresponding power wheel based on the turning radius and the turning speed of the movable device; the sending module is used for sending the rotation angle of each turning device and the self-rotation speed value of the corresponding power wheel to a control module, so that the control module controls the driving gear motor of the turning device and the hub motor of the power wheel.

9. A method of steering a movable device, the method comprising: The application further relates to a movable device, which comprises: the movable device as claimed in any one of claims 7-8. Determine second motion state information of each powered wheel of the movable device based on the preset first motion state information of the movable device, wherein the second motion state information at least includes steering angle value of the powered wheel, steering angle change rate value of the powered wheel, and self-rotation speed value of the powered wheel; and the first motion state information at least includes turning radius of the movable device, turning center of the movable device, and turning speed of the movable device; Send pointing motion execution instruction to the steering device based on the second motion state information of each powered wheel.

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