A synchronous pulley linkage transmission system for a wheeled robot

Abstract

The present invention relates to the technical field of intelligent inspection robots for substations, and particularly relates to a synchronous pulley linkage drive system for a wheeled robot, which includes a vehicle body chassis and four wheels arranged on the vehicle body chassis. The four wheels are connected with a synchronous pulley linkage drive system. The synchronous pulley linkage drive system includes a synchronous pulley linkage drive member, a driving wheel device, a driven wheel device, a linkage device, and a transmission synchronous belt. The driven wheel device includes a first driven wheel device and a second driven wheel device. The transmission synchronous belt is respectively connected to the driving wheel device, the first driven wheel device, the second driven wheel device, and the linkage device. The present invention changes the original four-wheel eight-drive drive power steering system. Now, a synchronous pulley linkage drive system is added. Normally, only 2-5 sets of drivers and motors are needed to achieve the effect of the original four-wheel eight-drive drive. On the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent inspection robots for substations, and particularly to a synchronous pulley linkage drive system for a wheeled robot. Background Art

[0002] Intelligent inspection robots for substations are mainly used for autonomous inspection and data collection of outdoor substation equipment; through a wireless communication system, the inspection data is transmitted to the local monitoring background in real time to complete functions such as data analysis, processing, early warning, and warning; and remote centralized control management of the system is realized through a remote centralized control background.

[0003] Intelligent inspection robots for substations have functions of autonomous navigation, positioning, charging, and inspection. They apply the technology of combining infrared thermal imaging and high-definition video to accurately identify the readings of various instruments in the substation and the current and voltage heating phenomena of equipment, timely detect equipment defects, and improve the efficiency of equipment inspection. At the same time, through background data analysis, abnormal information is promptly informed to relevant operation and maintenance personnel so that they can handle abnormal problems in a timely manner. Substations generally have problems such as a large number of equipment, high density, narrow inspection roads, and complex road conditions. In view of the above situation, the walking requirements for intelligent inspection robots must have characteristics such as strong power, flexible steering, and small turning radius.

[0004] An inspection robot with an independent steering system, with the patent number CN201720989376.9, includes an inspection trolley. Four wheels are provided below the inspection trolley, and the four wheels are arranged in a square; each wheel is equipped with an independent steering system, and the independent steering system is divided into a steering component, a swing arm, and a drive component. The steering component and the drive component are connected by the swing arm; the steering component includes a steering motor, a harmonic reducer, and a magnetic encoder. The steering motor is installed on the inspection trolley, the steering motor and the harmonic reducer are coaxially connected, the magnetic encoder is installed at the output end of the harmonic reducer, and the output end of the harmonic reducer is connected to the upper end of the swing arm; the drive component includes a drive motor and a planetary reducer. The drive motor is installed at the lower end of the swing arm, and the drive motor, the planetary reducer, and the wheel center are coaxially connected. The above-mentioned inspection robot's four wheels are matched with independent independent steering systems, and together with the power drive systems of the four wheels, a four-wheel eight-drive power steering system is formed, which has advantages such as accurate in-situ steering and precise straight-line walking. However, this four-wheel eight-drive power steering system requires at least 8 sets of drivers and motors to achieve, has a complex drive system structure, and is costly.

[0005] In view of this, the present application proposes a synchronous pulley linkage drive system for a wheeled robot. Summary of the Invention

[0006] The object of the present invention is to provide a synchronous pulley linkage drive system for a wheeled robot in view of the deficiencies of the prior art.

[0007] To solve the above technical problems, the following technical solutions are adopted:

[0008] A synchronous pulley linkage drive system for a wheeled robot, including a vehicle body chassis and four wheels arranged on the vehicle body chassis. The four wheels are evenly distributed in a rectangular shape on the vehicle body chassis, and the four wheels are connected with a synchronous pulley linkage drive system, and the synchronous pulley linkage drive system is used to control the simultaneous steering or turning in place of the four wheels.

[0009] The synchronous pulley linkage drive system includes a synchronous pulley linkage drive member, a driving wheel device, a driven wheel device, a linkage device and a transmission synchronous belt. The driven wheel device includes a first driven wheel device and a second driven wheel device. The synchronous pulley linkage drive member is connected with the driving wheel device. One end of the driving wheel device is connected with the first driven wheel device through a transmission synchronous belt, and the other end of the driving wheel device is connected with the second driven wheel device through a transmission synchronous belt. The first driven wheel device is connected with a linkage device through a transmission synchronous belt, and the linkage device is connected with the second driven wheel device through a transmission synchronous belt.

[0010] The driving wheel device and the linkage device are arranged at two diagonals of the vehicle body chassis, and the first driven wheel device and the second driven wheel device are arranged at two diagonals of the vehicle body chassis.

[0011] Further, the synchronous pulley linkage drive member is a steering motor and a speed reducer. The steering motor is fixedly installed on the vehicle body chassis, the output end of the steering motor is connected with the speed reducer, and the speed reducer is connected with the driving wheel device.

[0012] Further, the driving wheel device includes a driving shaft, a driving synchronous pulley, a first driving transmission synchronous pulley, a second driving transmission synchronous pulley and a driving transmission seat. The upper part of the driving shaft is sleeved with the driving synchronous pulley, the middle part of the driving shaft is connected with the synchronous pulley linkage drive member, the lower part of the driving shaft is connected with the driving transmission seat, the driving transmission seat is connected with a steering bracket, and the steering bracket is connected with a wheel. The external synchronous pulley teeth of the driving synchronous pulley match the external synchronous pulley teeth of the transmission synchronous belt. One side of the driving synchronous pulley is connected with the first driving transmission synchronous pulley through a transmission synchronous belt, and the external synchronous pulley teeth of the first driving transmission synchronous pulley match the internal synchronous pulley teeth of the transmission synchronous belt. The other side of the driving wheel device is connected with the second driving transmission synchronous pulley through a transmission synchronous belt, and the external synchronous pulley teeth of the second driving transmission synchronous pulley match the internal synchronous pulley teeth of the transmission synchronous belt.

[0013] Furthermore, the first driven wheel device includes a first driven synchronous belt pulley, a first driven shaft, and a first driven transmission seat. A first driven synchronous belt pulley is sleeved on the upper part of the first driven shaft. The external synchronous belt teeth of the first driven synchronous belt pulley match the internal synchronous belt teeth of the transmission synchronous belt. The lower part of the first driven shaft is connected to the first driven transmission seat. The first driven transmission seat is connected to a steering bracket, and the steering bracket is connected to a wheel.

[0014] Furthermore, the second driven wheel device includes a second driven synchronous belt pulley, a second driven shaft, and a second driven transmission seat. A second driven synchronous belt pulley is sleeved on the upper part of the second driven shaft. The external synchronous belt teeth of the second driven synchronous belt pulley match the internal synchronous belt teeth of the transmission synchronous belt. The lower part of the second driven shaft is connected to the second driven transmission seat. The second driven transmission seat is connected to a steering bracket, and the steering bracket is connected to a wheel.

[0015] Furthermore, the linkage device includes a linkage shaft, a linkage synchronous belt pulley, a first linkage transmission synchronous belt pulley, a second linkage transmission synchronous belt pulley, and a linkage transmission seat. A linkage synchronous belt pulley is sleeved on the upper part of the linkage shaft. The lower part of the linkage shaft is connected to the linkage transmission seat. The linkage transmission seat is connected to a steering bracket, and the steering bracket is connected to a wheel. The external synchronous belt teeth of the linkage synchronous belt pulley match the external synchronous belt teeth of the transmission synchronous belt. One side of the linkage synchronous belt pulley is connected to the first linkage transmission synchronous belt pulley through a transmission synchronous belt. The external synchronous belt teeth of the first linkage transmission synchronous belt pulley match the internal synchronous belt teeth of the transmission synchronous belt. The other side of the driving wheel device is connected to the second linkage transmission synchronous belt pulley through a transmission synchronous belt. The external synchronous belt teeth of the second linkage transmission synchronous belt pulley match the internal synchronous belt teeth of the transmission synchronous belt.

[0016] Furthermore, a first transmission guiding synchronous belt pulley is provided between the driving wheel device and the first driven wheel device. The external synchronous belt teeth of the first transmission guiding synchronous belt pulley match the external synchronous belt teeth of the transmission synchronous belt.

[0017] A second transmission guiding synchronous belt pulley is provided between the first driven wheel device and the linkage device. The external synchronous belt teeth of the second transmission guiding synchronous belt pulley match the external synchronous belt teeth of the transmission synchronous belt.

[0018] A third transmission guiding synchronous belt pulley is provided between the linkage device and the second driven wheel device. The external synchronous belt teeth of the third transmission guiding synchronous belt pulley match the external synchronous belt teeth of the transmission synchronous belt.

[0019] A fourth transmission guiding synchronous belt pulley is provided between the second driven wheel device and the driving wheel device, and the external synchronous belt pulley teeth of the fourth transmission guiding synchronous belt pulley match with the external synchronous belt pulley teeth of the transmission synchronous belt.

[0020] Furthermore, the wheel is connected with a clutch device, which includes a first bevel gear, a second bevel gear, a first clutch, a second clutch and a clutch transmission shaft. The wheel is connected with a wheel transmission shaft, on which the first bevel gear is sleeved. The end of the wheel transmission shaft is connected with the first clutch, and the first clutch is connected with a wheel driving motor. The first bevel gear is meshed and connected with the second bevel gear, and the clutch transmission shaft is sleeved inside the second bevel gear. The upper part of the clutch transmission shaft is connected with the second clutch, the outside of the second clutch is connected with a steering bracket, and the upper part of the second clutch is connected with the driving wheel device.

[0021] Furthermore, the steering bracket is connected with an electromagnetic limit component, which includes an electromagnetic limit piece, an electromagnetic controller and an electromagnetic bolt. The electromagnetic controller is installed on the vehicle body chassis, and the electromagnetic bolt is arranged on the electromagnetic controller. The electromagnetic limit piece is arranged on the steering bracket, and a plurality of electromagnetic limit grooves are arranged on the electromagnetic limit piece, and the electromagnetic limit grooves match with the electromagnetic bolt.

[0022] Furthermore, the steering bracket is connected with a disc limit component, which includes a disc limit piece, a disc controller and a disc clamping groove. The disc controller is installed on the vehicle body chassis, and the disc clamping groove is arranged on the disc controller. The disc limit piece is arranged on the steering bracket, and the disc limit piece matches with the disc clamping groove.

[0023] Due to the adoption of the above technical solutions, the following beneficial effects are achieved:

[0024] The present invention relates to a synchronous belt pulley linkage transmission system for a wheeled robot, which changes the original four-wheel eight-drive driving power steering system. Now, a synchronous belt pulley linkage transmission system is added. The synchronous belt pulley linkage transmission system includes a synchronous belt pulley linkage driving part, a driving wheel device, a driven wheel device, a linkage device and a transmission chain. The synchronous belt pulley linkage driving part drives the driving wheel device to move, the driving wheel device drives the lower wheels to turn, and at the same time drives the upper driven wheel device and the linkage device to move. The driven wheel device and the linkage device drive the other three wheels to turn accordingly, thereby realizing the simultaneous and same-direction turning of the four wheels. In this way, only 3 or 5 sets of drivers and motors are normally needed to achieve the effect of the original four-wheel eight-drive driving. On the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

[0025] Based on the synchronous pulley linkage drive system, by setting a clutch device, the steering motor for steering and the wheel drive motor for driving can be combined to form a unit, thus forming a walking and steering multiplexing motor unit. Therefore, this walking and steering multiplexing motor unit can integrate the steering motor and the wheel drive motor into one. Only two or four sets of drivers and motors are needed to achieve the effect of the original four-wheel and eight-wheel drive. On the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced. Brief Description of the Drawings

[0026] The present invention will be further described below with reference to the accompanying drawings:

[0027] Figure 1 FIG. is a schematic structural diagram of a synchronous pulley linkage drive system for a wheeled robot according to Embodiment 1 of the present invention.

[0028] Figure 2 FIG. is a three-dimensional structural diagram of a synchronous pulley linkage drive system for a wheeled robot according to Embodiment 1 of the present invention.

[0029] Figure 3 FIG. is a front view structural diagram of a synchronous pulley linkage drive system for a wheeled robot according to Embodiment 1 of the present invention.

[0030] Figure 4 FIG. is a rear view structural diagram of a synchronous pulley linkage drive system for a wheeled robot according to Embodiment 1 of the present invention.

[0031] Figure 5 FIG. is a top view structural diagram of a synchronous pulley linkage drive system for a wheeled robot according to Embodiment 1 of the present invention.

[0032] Figure 6 FIG. is a bottom view structural diagram of a synchronous pulley linkage drive system for a wheeled robot according to Embodiment 1 of the present invention.

[0033] Figure 7 FIG. is a schematic structural diagram of the connection between the wheel and the steering bracket according to Embodiment 1 of the present invention.

[0034] Figure 8 FIG. is a schematic structural diagram of the synchronous pulley linkage drive member according to Embodiment 1 of the present invention.

[0035] Figure 9 FIG. is a schematic structural diagram of the synchronous pulley linkage drive system according to Embodiment 1 of the present invention.

[0036] Figure 10 FIG. is a schematic structural diagram of the connection between the synchronous pulley linkage drive system and the wheel according to Embodiment 1 of the present invention.

[0037] Figure 11It is a schematic structural diagram of a synchronous pulley linkage drive system for a wheeled robot in Embodiment 2 of the present invention.

[0038] Figure 12 It is a three-dimensional structural diagram of a synchronous pulley linkage drive system for a wheeled robot in Embodiment 2 of the present invention.

[0039] Figure 13 It is a three-dimensional structural diagram of an electromagnetic limit clutch device in Embodiment 3 of the present invention.

[0040] Figure 14 It is a front view structural diagram of an electromagnetic limit clutch device in Embodiment 3 of the present invention.

[0041] Figure 15 It is a rear view structural diagram of an electromagnetic limit clutch device in Embodiment 3 of the present invention.

[0042] Figure 16 It is a side view structural diagram of an electromagnetic limit clutch device in Embodiment 3 of the present invention.

[0043] Figure 17 It is Embodiment 3 of the present invention Figure 16 The sectional structural diagram in the direction of A.

[0044] Figure 18 It is a top view structural diagram of an electromagnetic limit clutch device in Embodiment 3 of the present invention.

[0045] Figure 19 It is a three-dimensional structural diagram of an electromagnetic limit clutch device installed on the vehicle body chassis in Embodiment 3 of the present invention.

[0046] Figure 20 It is a three-dimensional structural diagram of a disc limit clutch device in Embodiment 4 of the present invention.

[0047] Figure 21 It is a front view structural diagram of a disc limit clutch device in Embodiment 4 of the present invention.

[0048] Figure 22 It is a rear view structural diagram of a disc limit clutch device in Embodiment 4 of the present invention.

[0049] Figure 23 It is a side view structural diagram of a disc limit clutch device in Embodiment 4 of the present invention.

[0050] Figure 24 It is Embodiment 4 of the present invention Figure 23 The sectional structural diagram in the direction of A.

[0051] Figure 25 It is a top view structural diagram of a disc limit clutch device in Embodiment 4 of the present invention.

[0052] Figure 26 It is a three-dimensional structural schematic diagram of the disc limit clutch device according to Embodiment 4 of the present invention installed on the vehicle body chassis.

[0053] In the figure: 1 - vehicle body chassis; 2 - wheels; 3 - synchronous pulley linkage drive system; 4 - synchronous pulley linkage drive member; 5 - driving wheel device; 6 - first driven wheel device; 7 - second driven wheel device; 8 - electromagnetic limit clutch device; 9 - disc limit clutch device; 10 - electromagnetic limit assembly; 11 - disc limit assembly; 12 - steering bracket; 13 - wheel drive device; 14 - main control system; 15 - linkage device; 16 - drive synchronous belt; 17 - first drive guide synchronous pulley; 18 - second drive guide synchronous pulley; 19 - third drive guide synchronous pulley; 20 - fourth drive guide synchronous pulley.

[0054] 41 - steering motor; 42 - reducer; 43 - reducer housing.

[0055] 51 - driving shaft; 52 - driving synchronous pulley; 53 - first driving transmission synchronous pulley; 54 - second driving transmission synchronous pulley; 55 - driving transmission seat.

[0056] 61 - first driven synchronous pulley; 62 - first driven shaft; 63 - first driven transmission seat.

[0057] 71 - second driven synchronous pulley; 72 - second driven shaft; 73 - second driven transmission seat.

[0058] 81 - first bevel gear; 82 - second bevel gear; 83 - first clutch; 84 - second clutch; 85 - clutch transmission shaft.

[0059] 101 - electromagnetic limit piece; 102 - electromagnetic controller; 103 - electromagnetic bolt; 104 - electromagnetic limit groove.

[0060] 111 - disc limit piece; 112 - disc controller; 113 - disc clamping groove.

[0061] 121 - first connecting plate; 122 - second connecting plate; 123 - reinforcing rib plate.

[0062] 131 - wheel drive motor; 132 - wheel transmission shaft.

[0063] 151 - linkage shaft; 152 - linkage synchronous pulley; 153 - first linkage transmission synchronous pulley; 154 - second linkage transmission synchronous pulley; 155 - linkage transmission seat. Detailed implementation manners

[0064] To make the objectives, technical solutions and advantages of the present invention more clear and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessarily confusing the concepts of the present invention.

[0065] Embodiment 1

[0066] As shown in Figures 1 to 10 the figure, a synchronous pulley linkage drive system for a wheeled robot according to an embodiment of the present invention includes a vehicle body chassis 1 and four wheels 2 provided on the vehicle body chassis 1. The four wheels 2 are evenly arranged in a rectangular shape on the vehicle body chassis 1, and the four wheels 2 are connected to a synchronous pulley linkage drive system 3. The synchronous pulley linkage drive system 3 is used to control the simultaneous steering or in-situ rotation of the four wheels 2.

[0067] As a further description of this embodiment, each of the four wheels 2 is connected to a steering bracket 12. The steering bracket 12 is integrally in an inverted L shape. The steering bracket 12 includes a first connecting plate 121 at the top and a second connecting plate 122 at the bottom. The first connecting plate 121 connects the second connecting plate 122, and the first connecting plate 121 and the second connecting plate 122 form the inverted L-shaped steering bracket 12. A first mounting shaft hole (not shown in the figure) is provided on the first connecting plate 121, and the first mounting shaft hole is matched with the driving shaft 51. A second mounting shaft hole (not shown in the figure) is provided on the second connecting plate 122, and the second mounting shaft hole is matched with the wheel driving device 13. By providing the inverted L-shaped steering bracket 12, the first connecting plate 121 is used to connect the synchronous pulley linkage drive system 3, and the second connecting plate 122 is used to connect the wheel 2. Since the axial direction of the wheel 2 is perpendicular to the axial direction of the driving shaft 51 of the synchronous pulley linkage drive system 3, through the inverted L-shaped steering bracket 12, there is no need to add an additional transmission mechanism to achieve the transmission connection, making the overall layout reasonable.

[0068] As a further description of this embodiment, a reinforcing rib plate 123 is installed between the first connecting plate 121 and the second connecting plate 122. By providing the reinforcing rib plate 123, the overall strength of the steering bracket 12 is improved.

[0069] As a further illustration of this embodiment, two wheels 2 located at the front side or two wheels 2 located at the rear side among the four wheels 2 are respectively connected with a wheel driving device 13 for driving the two wheels 2 to move. The wheel driving device 13 includes a wheel driving motor 131 and a wheel transmission shaft 132. The wheel driving motor 131 is fixedly installed on the inner side of the second connecting plate 122 of the steering bracket 12. The output end of the wheel driving motor 131 is connected with a wheel transmission shaft 132, and the wheel transmission shaft 132 is connected with the wheel 2. By changing the original four-wheel eight-wheel drive power steering system, a synchronous pulley linkage transmission system 3 is added now. Only 3 sets of drivers and motors are needed to achieve the effect of the original four-wheel eight-wheel drive. On the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

[0070] As a further illustration of this embodiment, the synchronous pulley linkage transmission system 3 includes a synchronous pulley linkage driving member 4, a driving pulley device 5, a driven pulley device, a linkage device 15 and a transmission synchronous belt 16. The driven pulley device includes a first driven pulley device 6 and a second driven pulley device 7. The synchronous pulley linkage driving member 4 is connected with the driving pulley device 5. One end of the driving pulley device 5 is connected with the first driven pulley device 6 through a transmission synchronous belt 16, and the other end of the driving pulley device 5 is connected with the second driven pulley device 7 through a transmission synchronous belt 16. The first driven pulley device 6 is connected with the linkage device 15 through a transmission synchronous belt 16, and the linkage device 15 is connected with the second driven pulley device 7 through a transmission synchronous belt 16. The driving pulley device 5 and the linkage device 15 are arranged at two diagonals of the vehicle body chassis, and the first driven pulley device 6 and the second driven pulley device 7 are arranged at two diagonals of the vehicle body chassis. Assuming among the four wheels, the right front side of the vehicle body chassis is the first wheel, the left front side of the vehicle body chassis is the second wheel, the right rear side of the vehicle body chassis is the third wheel, and the left rear side of the vehicle body chassis is the fourth wheel. Above the first wheel is the driving pulley device 5, above the second wheel is the first driven pulley device 6, above the third wheel is the second driven pulley device 7, and above the fourth wheel is the linkage device 15. The driving pulley device 5, the first driven pulley device 6, the second driven pulley device 7 and the linkage device 15 are linked together through the transmission synchronous belt 16. By setting a first driving transmission synchronous pulley 53, a second driving transmission synchronous pulley 54, a first linkage transmission synchronous pulley 153 and a second linkage transmission synchronous pulley 154, the synchronous pulley linkage driving member 4 drives the driving pulley device 5. Under the action of the driving pulley device 5, the driven pulley device, the linkage device 15 and the transmission synchronous belt 16, the four wheels can complete the same-direction steering movement. Thus, a synchronous pulley linkage transmission system 3 is added. Normally, only 3 sets of drivers and motors are needed to achieve the effect of the original four-wheel eight-wheel drive. On the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

[0071] As a further illustration of this embodiment, the synchronous pulley linkage drive member 4 is a steering motor 41 and a speed reducer 42. The steering motor 41 is fixedly installed on the vehicle chassis 1. The output end of the steering motor 41 is connected with the speed reducer 42, and the speed reducer 42 is connected to the main shaft 51. An outer shell 43 of the speed reducer is provided outside the speed reducer 42, and the outer shell 43 of the speed reducer is used to install the entire speed reducer 42 in the shell. Specifically, the corresponding speed reducer 42 can be set as needed. In this embodiment, the speed reducer 42 of this embodiment is a synchronous belt type speed reducer 42.

[0072] As a further illustration of this embodiment, the steering motor 41 is connected with a steering motor driver (not shown in the figure), and the steering motor driver is connected with the main control system 14.

[0073] As a further illustration of this embodiment, the wheel drive motor 131 is connected with a wheel drive motor driver (not shown in the figure), and the wheel drive motor driver is connected with the main control system 14.

[0074] As a further illustration of this embodiment, the driving wheel device 5 includes a driving shaft 51, a driving synchronous pulley 52, a first driving transmission synchronous pulley 53, a second driving transmission synchronous pulley 54, and a driving transmission seat 55. A driving synchronous pulley 52 is sleeved on the upper part of the driving shaft 51. A synchronous pulley linkage driving member 4 is connected to the middle part of the driving shaft 51. A driving transmission seat 55 is connected to the lower part of the driving shaft 51. The driving transmission seat 55 is connected to a steering bracket 12, and the steering bracket 12 is connected to a wheel 2. The external synchronous pulley teeth of the driving synchronous pulley 52 match the external synchronous pulley teeth of the transmission synchronous belt 16. One side of the driving synchronous pulley 52 is connected to the first driving transmission synchronous pulley 53 through the transmission synchronous belt 16. The external synchronous pulley teeth of the first driving transmission synchronous pulley 53 match the internal synchronous pulley teeth of the transmission synchronous belt 16. The other side of the driving wheel device 5 is connected to the second driving transmission synchronous pulley 54 through the transmission synchronous belt 16. The external synchronous pulley teeth of the second driving transmission synchronous pulley 54 match the internal synchronous pulley teeth of the transmission synchronous belt 16. By setting the driving wheel device 5, the synchronous pulley linkage driving member 4 drives the driving shaft 51 to rotate, thereby driving the driving synchronous pulley 52 and the driving transmission seat 55 to rotate accordingly. On the one hand, the steering bracket 12 at the lower end of the driving transmission seat 55 and the first wheel perform a steering movement. On the other hand, the driving synchronous pulley 52 drives the transmission synchronous belt 16 to rotate, thereby driving the first driven wheel device 6, the second driven wheel device 7, and the linkage device 15 to rotate. The driving direction of the transmission synchronous belt 16 is adjusted through the first driving transmission synchronous pulley 53 and the second driving transmission synchronous pulley 54, so that the wheels 2 at the lower ends of the first driven wheel device 6, the second driven wheel device 7, and the linkage device 15 perform a steering movement in the same direction, thereby achieving the effect of the original four-wheel drive steering through one driving device, reducing three steering motors and motor drivers, and greatly reducing the cost of the robot walking system on the premise of ensuring the advantages of the robot walking system.

[0075] As a further illustration of this embodiment, the first driven wheel device 6 includes a first driven synchronous pulley 61, a first driven shaft 62, and a first driven transmission seat 63. A first driven synchronous pulley 61 is sleeved on the upper part of the first driven shaft 62. The external synchronous pulley teeth of the first driven synchronous pulley 61 match the internal synchronous pulley teeth of the transmission synchronous belt 16. A first driven transmission seat 63 is connected to the lower part of the first driven shaft 62. The first driven transmission seat 63 is connected to a steering bracket 12, and the steering bracket 12 is connected to a wheel 2.

[0076] As a further illustration of this embodiment, the second driven wheel device 7 includes a second driven synchronous pulley 71, a second driven shaft 72, and a second driven transmission seat 73. A second driven synchronous pulley 71 is sleeved on the upper part of the second driven shaft 72. The external synchronous pulley teeth of the second driven synchronous pulley 71 match the internal synchronous pulley teeth of the transmission synchronous belt 16. The lower part of the second driven shaft 72 is connected with a second driven transmission seat 73. The second driven transmission seat 73 is connected with a steering bracket 12, and the steering bracket 12 is connected with a wheel 2.

[0077] First, the synchronous pulley linkage driving member 4 drives the driving wheel device 5 to move, and the driving wheel device 5 drives the first driven wheel device 6, the second driven wheel device 7, and the linkage device 15 to perform rotational motion. Then, the first driven synchronous pulley 61 drives the first driven shaft 62 to perform rotational motion, and then the first driven shaft 62 drives the first driven transmission seat 63 to perform rotational motion. Thus, the steering bracket 12 at the lower end of the first driven transmission seat 63 and the second wheel perform a steering motion, thereby realizing the steering motion of the second wheel. Similarly, when the driving wheel device 5 drives the second driven wheel device 7 to perform rotational motion, the second driven synchronous pulley 71 drives the second driven shaft 72 to perform rotational motion, and then the second driven shaft 72 drives the second driven transmission seat 73 to perform rotational motion. Thus, the steering bracket 12 at the lower end of the second driven transmission seat 73 and the third wheel perform a steering motion, thereby realizing the steering motion of the third wheel. Therefore, by using one driving device, the original four-wheel drive steering effect can be achieved, reducing three steering motors and motor drivers. On the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

[0078] As a further illustration of this embodiment, the linkage device 15 includes a linkage shaft 151, a linkage synchronous pulley 152, a first linkage drive synchronous pulley 153, a second linkage drive synchronous pulley 154, and a linkage drive seat 155. A linkage synchronous pulley 152 is sleeved on the upper part of the linkage shaft 151. A linkage drive seat 155 is connected to the lower part of the linkage shaft 151. The linkage drive seat 155 is connected to a steering bracket 12, and the steering bracket 12 is connected to a wheel 2. The external synchronous pulley teeth of the linkage synchronous pulley 152 match the external synchronous pulley teeth of the transmission synchronous belt 16. One side of the linkage synchronous pulley 152 is connected to the first linkage drive synchronous pulley 153 through the transmission synchronous belt 16. The external synchronous pulley teeth of the first linkage drive synchronous pulley 153 match the internal synchronous pulley teeth of the transmission synchronous belt 16. The other side of the driving wheel device 5 is connected to the second linkage drive synchronous pulley 154 through the transmission synchronous belt 16. The external synchronous pulley teeth of the second linkage drive synchronous pulley 154 match the internal synchronous pulley teeth of the transmission synchronous belt 16. By providing the linkage device 15, which is arranged at the diagonal of the driving wheel device 5, when the transmission synchronous belt 16 drives the fourth wheel to move through the first linkage drive synchronous pulley 153 and the second linkage drive synchronous pulley 154, the rotating direction is the same as the steering direction of the first wheel. Specifically, when the driving wheel device 5 drives the linkage synchronous pulley 152 to rotate through the transmission synchronous belt 16, it drives the linkage shaft 151 and the linkage drive seat 155 to rotate accordingly, ensuring that the steering bracket 12 at the lower end of the linkage drive seat 155 and the fourth wheel perform a steering movement. The steering direction of the fourth wheel is the same as that of the first wheel, thereby achieving the effect of the original four-wheel drive steering through one driving device, reducing three steering motors and motor drivers, and greatly reducing the cost of the robot walking system on the premise of ensuring the advantages of the robot walking system.

[0079] As a further illustration of this embodiment, a first transmission guiding synchronous pulley 17 is provided between the driving wheel device 5 and the first driven wheel device 6. The external synchronous pulley teeth of the first transmission guiding synchronous pulley 17 match the external synchronous pulley teeth of the transmission synchronous belt 16.

[0080] A second transmission guiding synchronous pulley 18 is provided between the first driven wheel device 6 and the linkage device 15. The external synchronous pulley teeth of the second transmission guiding synchronous pulley 18 match the external synchronous pulley teeth of the transmission synchronous belt 16.

[0081] A third transmission guiding synchronous pulley 19 is provided between the linkage device 15 and the second driven wheel device 7. The external synchronous pulley teeth of the third transmission guiding synchronous pulley 19 match the external synchronous pulley teeth of the transmission synchronous belt 16.

[0082] A fourth drive guiding synchronous pulley is provided between the second driven pulley device 7 and the driving pulley device 5, and the external synchronous pulley teeth of the fourth drive guiding synchronous pulley match the external synchronous pulley teeth of the drive synchronous belt 16.

[0083] By providing the first drive guiding synchronous pulley 17, the second drive guiding synchronous pulley 18, the third drive guiding synchronous pulley 19 and the fourth drive guiding synchronous pulley 20, not only can the direction of the drive synchronous belt 16 be guided, but also the external synchronous pulley teeth of the first drive guiding synchronous pulley 17, the second drive guiding synchronous pulley 18, the third drive guiding synchronous pulley 19 and the fourth drive guiding synchronous pulley 20 all match the external synchronous pulley teeth of the drive synchronous belt 16. In this way, the drive synchronous belt 16 is pressed, so that during the driving movement of the drive synchronous belt 16, it will not break away from the synchronous pulley linkage drive system 3, ensuring the normal operation of the entire synchronous pulley linkage drive system 3.

[0084] It should be noted that the driving transmission seat 55 includes a bearing seat at the upper part and a connecting block at the lower part. A bearing hole is provided on the bearing seat, and a connecting hole is provided on the connecting block. The bearing hole matches the driving shaft 51, the connecting block matches the driving shaft 51, and the connecting block connects the steering bracket 12. Similarly, the structures of the three driven transmission seats are the same as that of the driving transmission seat 55, and the structure of the driven transmission seat will not be described in detail here. Moreover, the structures of the driven transmission seat and the driving transmission seat 55 both adopt the transmission seats of the prior art, and the structure will not be described in detail here. When the driving shaft 51 makes a rotational movement, it drives the connecting block to make a rotational movement, thereby driving the lower steering bracket 12 and the wheels to make rotational movements, so as to achieve the purpose of driving the wheels to turn. Similarly, in order to avoid unnecessarily confusing the concept of the present invention, the further description of the known structures and technologies is omitted.

[0085] The working principle of this embodiment: When the wheeled robot needs to turn or rotate in place, first, the main control system 14 controls the steering motor driver to work, and then the steering motor 41 drives the speed reducer 42 to make a rotational movement. By providing the driving pulley device 5, the synchronous pulley linkage drive 4 drives the driving shaft 51 to make a rotational movement, thereby driving the driving synchronous pulley 52 and the driving transmission seat 55 to make rotational movements. On the one hand, the steering bracket 12 at the lower end of the driving transmission seat 55 and the first wheel make a turning movement. On the other hand, the driving synchronous pulley 52 drives the drive synchronous belt 16 to make a rotational movement, thereby driving the first driven pulley device 6, the second driven pulley device 7 and the linkage device 15 to make rotational movements. The driving direction of the drive synchronous belt 16 is adjusted by the first driving transmission synchronous pulley 53 and the second driving transmission synchronous pulley 54, so that the wheels 2 at the lower ends of the first driven pulley device 6, the second driven pulley device 7 and the linkage device 15 make the same-direction turning movements.

[0086] Specifically, when the driving wheel device 5 drives the first driven wheel device 6 and the second driven wheel device 7 to perform a rotational movement, the first driven synchronous pulley 61 drives the first driven shaft 62 to perform a rotational movement, and then the first driven shaft 62 drives the first driven transmission seat 63 to perform a rotational movement. Thus, the steering bracket 12 at the lower end of the first driven transmission seat 63 and the second wheel perform a steering movement, thereby realizing the steering movement of the second wheel. Similarly, when the driving wheel device 5 drives the second driven wheel device 7 to perform a rotational movement, the second driven synchronous pulley 71 drives the second driven shaft 72 to perform a rotational movement, and then the second driven shaft 72 drives the second driven transmission seat 73 to perform a rotational movement. Thus, the steering bracket 12 at the lower end of the second driven transmission seat 73 and the third wheel perform a steering movement, thereby realizing the steering movement of the third wheel.

[0087] Similarly, when the driving wheel device 5 drives the linkage synchronous pulley 152 to perform a rotational movement through the transmission synchronous belt 16, the linkage shaft 151 and the linkage transmission seat 155 are driven to perform a rotational movement accordingly, ensuring that the steering bracket 12 at the lower end of the linkage transmission seat 155 and the fourth wheel perform a movement with the same steering direction as the first wheel. Thus, the effect of the original four-wheel drive steering can be achieved through one driving device, reducing three steering motors and motor drivers. On the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

[0088] In addition, by setting the first transmission guiding synchronous pulley 17, the second transmission guiding synchronous pulley 18, the third transmission guiding synchronous pulley 19, and the fourth transmission guiding synchronous pulley 20, not only can the direction of the transmission synchronous belt 16 be guided, but also the external synchronous pulley teeth of the first transmission guiding synchronous pulley 17, the second transmission guiding synchronous pulley 18, the third transmission guiding synchronous pulley 19, and the fourth transmission guiding synchronous pulley 20 are all matched with the external synchronous pulley teeth of the transmission synchronous belt 16. In this way, the transmission synchronous belt 16 is pressed, so that the transmission synchronous belt 16 will not disengage from the synchronous pulley linkage transmission system 3 during the transmission movement, ensuring the normal operation of the entire synchronous pulley linkage transmission system 3.

[0089] Embodiment 2

[0090] Based on the original Embodiment 1, a wheel driving device 13 for driving the wheels 2 to move is connected to each of the four wheels 2. The wheel driving device 13 includes a wheel driving motor 131 and a wheel transmission shaft 132. The wheel driving motor 131 is fixedly installed on the inner side of the second connecting plate 122 of the steering bracket 12. The output end of the wheel driving motor 131 is connected to a wheel transmission shaft 132, and the wheel transmission shaft 132 is connected to the wheel 2. By changing the original four-wheel eight-wheel drive power steering system, a synchronous pulley linkage transmission system 3 is now added. Only 5 sets of drivers and motors are required to achieve the effect of the original four-wheel eight-wheel drive. On the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

[0091] Embodiment 3

[0092] In order to reduce the wheel driving device 13, a clutch device can be connected and installed on the wheel 2. The clutch device is an electromagnetic limit clutch device 8. The electromagnetic limit clutch device 8 includes a first bevel gear 81, a second bevel gear 82, a first clutch 83, a second clutch 84, and a clutch transmission shaft 85. The wheel 2 is connected to a wheel transmission shaft 132. The first bevel gear 81 is sleeved on the wheel transmission shaft 132. The end of the wheel transmission shaft 132 is connected to a first clutch 83. The first clutch 83 is connected to the wheel driving motor 131. The first bevel gear 81 is meshed with a second bevel gear 82. The clutch transmission shaft 85 is sleeved inside the second bevel gear 82. The upper part of the clutch transmission shaft 85 is connected to a second clutch 84. The outside of the second clutch 84 is connected to the steering bracket 12. The upper part of the second clutch 84 is connected to a drive shaft 51. The steering bracket 12 is connected to an electromagnetic limit assembly 10. The electromagnetic limit assembly 10 includes an electromagnetic limit piece 101, an electromagnetic controller 102, and an electromagnetic pin 103. The electromagnetic controller 102 is installed on the vehicle body chassis 1. The electromagnetic controller 102 is provided with an electromagnetic pin 103. The steering bracket 12 is provided with an electromagnetic limit piece 101. The electromagnetic limit piece 101 is provided with a plurality of electromagnetic limit grooves 104, and the electromagnetic limit grooves 104 are matched with the electromagnetic pin 103. Among them, the first clutch 83 and the second clutch 84 adopt existing automotive electromagnetic clutches or automotive magnetic powder clutches. The automotive electromagnetic clutch controls the engagement and separation of the clutch by the on-off of the coil. In the automotive magnetic powder clutch, magnetic powder is placed between the driving and driven parts. When not powered on, the magnetic powder is in a loose state. When powered on, the magnetic powder combines and the driving and driven parts rotate simultaneously.

[0093] Specifically, in this embodiment, a wheel drive motor 131 is horizontally installed on the inner side of the second connecting plate 122 of the steering bracket 12. The wheel drive motor 131 is connected to the wheel 2 through a wheel transmission shaft 132 and a first clutch 83. An bevel gear transmission mechanism composed of a first bevel gear 81 and a second bevel gear 82 is provided on the wheel transmission shaft 132. The first bevel gear 81 is installed on the wheel transmission shaft 132, and the first bevel gear 81 is meshed with the second bevel gear 82. The second bevel gear 82 is connected to the vehicle body chassis 1 through a clutch transmission shaft 85 and a second clutch 84.

[0094] When the wheeled robot is walking normally, the main control system 14 controls the first clutch 83 to engage and the second clutch 84 to disengage. At this time, the wheel drive motor 131 drives the wheel 2, and the wheeled robot moves forward or backward normally.

[0095] When the wheeled robot needs to turn, the main control system 14 controls the first clutch 83 to disengage and the second clutch 84 to engage. At this time, the wheel drive motor 131 drives the first bevel gear 81 to rotate around the second bevel gear 82 to drive the steering bracket 12 to rotate. By controlling the electromagnetic plug 103 of the electromagnetic controller 102 to insert into the electromagnetic limit groove 104 by the main control system 14, the rotation of the electromagnetic limit piece 101 and the steering bracket 12 is restricted, so as to lock the steering angle, and finally drive the wheel 2 to rotate to achieve turning in place or steering.

[0096] By setting the above clutch device, the steering motor 41 for steering and the wheel drive motor 131 for driving can be combined into a unit to form a walking and steering multiplexing motor unit. Therefore, the walking and steering multiplexing motor unit can integrate the steering motor 41 and the wheel drive motor 131 into one.

[0097] On the basis of Embodiment 1, only 2 sets of drivers and motors are needed to achieve the effect of the original four-wheel eight-wheel drive. On the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

[0098] On the basis of Embodiment 2, only 4 sets of drivers and motors are needed to achieve the effect of the original four-wheel eight-wheel drive. On the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

[0099] Embodiment 4

[0100] In order to reduce the wheel drive device 13, a clutch device can be connected and installed on the wheel 2. The clutch device is a disc limit clutch device 9. The disc limit clutch device 9 includes a first bevel gear 81, a second bevel gear 82, a first clutch 83, a second clutch 84, and a clutch drive shaft 85. The wheel 2 is connected with a wheel drive shaft 132. A first bevel gear 81 is sleeved on the wheel drive shaft 132. The end of the wheel drive shaft 132 is connected with a first clutch 83. The first clutch 83 is connected with a wheel drive motor 131. The first bevel gear 81 is meshed and connected with a second bevel gear 82. A clutch drive shaft 85 is sleeved inside the second bevel gear 82. The upper part of the clutch drive shaft 85 is connected with a second clutch 84. The outside of the second clutch 84 is connected with a steering bracket 12. The upper part of the second clutch 84 is connected with a drive shaft 51. The steering bracket 12 is connected with a disc limit assembly 11. The disc limit assembly 11 includes a disc limit piece 111, a disc controller 112, and a disc clamping groove 113. The disc controller 112 is installed on the vehicle body chassis 1. The disc clamping groove 113 is arranged on the disc controller 112. The disc limit piece 111 is arranged on the steering bracket 12. The disc limit piece 111 matches the disc clamping groove 113. The first clutch 83 and the second clutch 84 adopt existing automotive electromagnetic clutches or automotive magnetic powder clutches. The automotive electromagnetic clutch controls the engagement and separation of the clutch by the on-off of the coil. In the automotive magnetic powder clutch, magnetic powder is placed between the driving and driven parts. When the power is off, the magnetic powder is in a loose state. When the power is on, the magnetic powder combines and the driving and driven parts rotate simultaneously.

[0101] Specifically, in this embodiment, a wheel drive motor 131 is horizontally installed on the inner side of the second connecting plate 122 of the steering bracket 12. The wheel drive motor 131 is connected with the wheel 2 through the wheel drive shaft 132 and the first clutch 83. An bevel gear transmission mechanism composed of a first bevel gear 81 and a second bevel gear 82 is arranged on the wheel drive shaft 132. The first bevel gear 81 is installed on the wheel drive shaft 132. The first bevel gear 81 is meshed and connected with the second bevel gear 82. The second bevel gear 82 is connected with the vehicle body chassis 1 through the clutch drive shaft 85 and the second clutch 84.

[0102] When the wheeled robot is walking normally, the main control system 14 controls the first clutch 83 to engage and the second clutch 84 to disengage. At this time, the wheel drive motor 131 drives the wheel 2, and the wheeled robot moves forward or backward normally;

[0103] When the wheeled robot needs to turn, the main control system 14 controls the first clutch 83 to disengage and the second clutch 84 to engage, and the wheel drive motor 131 drives the first bevel gear 81 to rotate around the second bevel gear 82 to drive the steering bracket 12 to rotate. The main control system 14 controls the disc clamping groove 113 of the disc controller 112 to insert and clamp the electromagnetic limit plate 101, limit the rotation of the electromagnetic limit plate 101 and the steering bracket 12, thereby locking the steering angle, and finally driving the wheel 2 to rotate to achieve rotation or turning in place.

[0104] By providing the above-mentioned clutch device, the steering motor 41 for steering and the wheel drive motor 131 for driving can be combined into one unit to form a walking steering multiplex motor unit. Therefore, the walking steering multiplex motor unit can combine the steering motor 41 and the wheel drive motor 131 into one.

[0105] On the basis of Example 1, only two sets of drivers and motors are needed to achieve the original four-wheel eight-wheel drive effect. Under the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

[0106] On the basis of Example 2, only 4 sets of drivers and motors are needed to achieve the original four-wheel eight-wheel drive effect. Under the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

[0107] The technical solution of the above-mentioned embodiment 3 and embodiment 4 is to combine the steering motor 41 and the wheel drive motor 131 into a composite motor on the basis of embodiment 1 or 2, and install the composite motor on the wheel 2 bracket or on the vehicle chassis 1, which can be matched and installed according to the actual needs.

[0108] The above are only specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent replacements or modifications made based on the present invention to solve basically the same technical problems and achieve basically the same technical effects are all included in the protection scope of the present invention.

Claims

1. A synchronous pulley linkage drive system for a wheeled robot, comprising a vehicle body chassis and four wheels arranged on the vehicle body chassis. The four wheels are evenly distributed in a rectangular shape on the vehicle body chassis, and it is characterized in that: The four wheels are connected with a synchronous pulley linkage drive system, and the synchronous pulley linkage drive system is used to control the simultaneous steering or in-place rotation of the four wheels; The synchronous pulley linkage drive system includes a synchronous pulley linkage drive, a driving wheel device, a driven wheel device, a linkage device and a transmission synchronous belt. The driven wheel device includes a first driven wheel device and a second driven wheel device. The synchronous pulley linkage drive is connected with the driving wheel device. One end of the driving wheel device is connected with the first driven wheel device through the transmission synchronous belt. The other end of the driving wheel device is connected with the second driven wheel device through the transmission synchronous belt. The first driven wheel device is connected with the linkage device through the transmission synchronous belt. The linkage device is connected with the second driven wheel device through the transmission synchronous belt; The driving wheel device and the linkage device are arranged at two diagonals of the vehicle body chassis, and the first driven wheel device and the second driven wheel device are arranged at two diagonals of the vehicle body chassis; The wheel is connected with a clutch device. The clutch device includes a first bevel gear, a second bevel gear, a first clutch, a second clutch and a clutch transmission shaft. The wheel is connected with a wheel transmission shaft. The first bevel gear is sleeved on the wheel transmission shaft. The end of the wheel transmission shaft is connected with the first clutch. The first clutch is connected with a wheel driving motor. The first bevel gear is meshed and connected with the second bevel gear. The clutch transmission shaft is sleeved inside the second bevel gear. The upper part of the clutch transmission shaft is connected with the second clutch. The outside of the second clutch is connected with a steering bracket. The upper part of the second clutch is connected with the driving wheel device.

2. The synchronous pulley linkage transmission system for a wheeled robot according to claim 1, characterized in that: The synchronous pulley linkage drive is a steering motor and a speed reducer. The steering motor is fixedly installed on the vehicle body chassis. The output end of the steering motor is connected with the speed reducer. The speed reducer is connected with the driving wheel device.

3. The synchronous pulley linkage drive system for a wheeled robot according to claim 2, wherein: The driving wheel device includes a driving shaft, a driving synchronous pulley, a first driving transmission synchronous pulley, a second driving transmission synchronous pulley and a driving transmission seat. The driving synchronous pulley is sleeved on the upper part of the driving shaft. The middle part of the driving shaft is connected with the synchronous pulley linkage drive. The lower part of the driving shaft is connected with the driving transmission seat. The driving transmission seat is connected with a steering bracket. The steering bracket is connected with a wheel. The external synchronous pulley teeth of the driving synchronous pulley match the external synchronous pulley teeth of the transmission synchronous belt. One side of the driving synchronous pulley is connected with the first driving transmission synchronous pulley through the transmission synchronous belt. The external synchronous pulley teeth of the first driving transmission synchronous pulley match the internal synchronous pulley teeth of the transmission synchronous belt. The other side of the driving wheel device is connected with the second driving transmission synchronous pulley through the transmission synchronous belt. The external synchronous pulley teeth of the second driving transmission synchronous pulley match the internal synchronous pulley teeth of the transmission synchronous belt.

4. The synchronous pulley linkage drive system for a wheeled robot according to claim 3, wherein: The first driven wheel device includes a first driven synchronous pulley, a first driven shaft, and a first driven transmission seat. A first driven synchronous pulley is sleeved on the upper part of the first driven shaft. The external synchronous pulley teeth of the first driven synchronous pulley match the internal synchronous pulley teeth of the transmission synchronous belt. The lower part of the first driven shaft is connected with a first driven transmission seat. The first driven transmission seat is connected with a steering bracket, and the steering bracket is connected with a wheel.

5. The synchronous pulley linkage drive system for a wheeled robot according to claim 3, characterized in that: The second driven wheel device includes a second driven synchronous pulley, a second driven shaft, and a second driven transmission seat. A second driven synchronous pulley is sleeved on the upper part of the second driven shaft. The external synchronous pulley teeth of the second driven synchronous pulley match the internal synchronous pulley teeth of the transmission synchronous belt. The lower part of the second driven shaft is connected with a second driven transmission seat. The second driven transmission seat is connected with a steering bracket, and the steering bracket is connected with a wheel.

6. The synchronous pulley linkage transmission system for a wheeled robot according to claim 3, characterized in that: The linkage device includes a linkage shaft, a linkage synchronous pulley, a first linkage transmission synchronous pulley, a second linkage transmission synchronous pulley, and a linkage transmission seat. A linkage synchronous pulley is sleeved on the upper part of the linkage shaft. The lower part of the linkage shaft is connected with a linkage transmission seat. The linkage transmission seat is connected with a steering bracket, and the steering bracket is connected with a wheel. The external synchronous pulley teeth of the linkage synchronous pulley match the external synchronous pulley teeth of the transmission synchronous belt. One side of the linkage synchronous pulley is connected with the first linkage transmission synchronous pulley through a transmission synchronous belt. The external synchronous pulley teeth of the first linkage transmission synchronous pulley match the internal synchronous pulley teeth of the transmission synchronous belt. The other side of the driving wheel device is connected with the second linkage transmission synchronous pulley through a transmission synchronous belt. The external synchronous pulley teeth of the second linkage transmission synchronous pulley match the internal synchronous pulley teeth of the transmission synchronous belt.

7. A synchronous pulley linkage drive system for a wheeled robot according to claim 3, characterized in that: A first transmission guiding synchronous pulley is arranged between the driving wheel device and the first driven wheel device. The external synchronous pulley teeth of the first transmission guiding synchronous pulley match the external synchronous pulley teeth of the transmission synchronous belt. A second transmission guiding synchronous pulley is arranged between the first driven wheel device and the linkage device. The external synchronous pulley teeth of the second transmission guiding synchronous pulley match the external synchronous pulley teeth of the transmission synchronous belt. A third transmission guiding synchronous pulley is arranged between the linkage device and the second driven wheel device. The external synchronous pulley teeth of the third transmission guiding synchronous pulley match the external synchronous pulley teeth of the transmission synchronous belt. A fourth transmission guiding synchronous pulley is arranged between the second driven wheel device and the driving wheel device. The external synchronous pulley teeth of the fourth transmission guiding synchronous pulley match the external synchronous pulley teeth of the transmission synchronous belt.

8. A synchronous pulley linkage drive system for a wheeled robot according to any one of claims 1-7, characterized in that: The steering bracket is connected with an electromagnetic limit assembly. The electromagnetic limit assembly includes an electromagnetic limit piece, an electromagnetic controller, and an electromagnetic bolt. The electromagnetic controller is installed on the vehicle body chassis. The electromagnetic bolt is arranged on the electromagnetic controller. The electromagnetic limit piece is arranged on the steering bracket. A plurality of electromagnetic limit grooves are arranged on the electromagnetic limit piece. The electromagnetic limit grooves match the electromagnetic bolt.

9. A synchronous pulley linkage drive system for a wheeled robot according to any one of claims 1-7, characterized in that: The steering bracket is connected with a disc limiting assembly. The disc limiting assembly includes a disc limiting piece, a disc controller and a disc clamping groove. The disc controller is installed on the vehicle body chassis. The disc clamping groove is provided on the disc controller. The disc limiting piece is provided on the steering bracket. The disc limiting piece is matched with the disc clamping groove.

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