Gear linkage drive system for a wheeled robot

Abstract

The present invention relates to the technical field of intelligent inspection robots for substations, and specifically relates to a gear linkage transmission system for a wheeled robot, which includes 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 gear linkage transmission system. The gear linkage transmission system is used to control the simultaneous steering or turning in place of the four wheels; the gear linkage transmission system includes a gear linkage driving member, a driving gear, a central linkage gear and a driven wheel device. The output end of the gear linkage driving member is connected with the driving gear, and the driving gear is meshed and connected with the central linkage gear. By changing the original four-wheel eight-drive power steering system, a gear linkage transmission system is now added, and only 2-5 sets of drivers and motors are required to achieve the effect of the original four-wheel eight-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 gear linkage transmission system for wheeled robots. Background Art

[0002] Intelligent inspection robots for substations are mainly used for autonomous inspection and data collection of outdoor equipment in substations; 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, warning, and alarm; 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, accurately identify various instrument readings 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 a small turning radius.

[0004] An inspection robot with an independent steering system with the patent number CN201720989376.9 includes an inspection trolley, and four wheels are provided below the inspection trolley, and the four wheels are arranged in a square; each wheel is provided with an independent steering system, and the independent steering system is divided into a steering component, a swing arm, and a driving component, and the steering component and the driving 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 driving component includes a driving motor and a planetary reducer, the driving motor is installed at the lower end of the swing arm, and the driving 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, the drive system structure is complex, and the cost is high.

[0005] In view of this, the present application proposes a gear linkage transmission system for wheeled robots. Summary of the Invention

[0006] The purpose of the present invention is to provide a gear linkage transmission system for wheeled robots in view of the deficiencies of the prior art.

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

[0008] A gear linkage transmission 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 the four wheels are connected to a gear linkage transmission system, which is used to control the simultaneous steering or in-place rotation of the four wheels.

[0009] The gear linkage transmission system includes a gear linkage driving member, a driving gear, a central linkage gear and a driven wheel device. The output end of the gear linkage driving member is connected to a driving gear, and the driving gear is meshed with a central linkage gear.

[0010] The driven wheel device includes a first driven wheel device, a second driven wheel device, a third driven wheel device and a fourth driven wheel device. The first driven wheel device and the fourth driven wheel device are arranged diagonally on the vehicle body chassis, and the structures of the first driven wheel device and the fourth driven wheel device are the same. The second driven wheel device and the third driven wheel device are arranged diagonally on the vehicle body chassis, and the structures of the second driven wheel device and the third driven wheel device are the same.

[0011] The first driven wheel device, the second driven wheel device, the third driven wheel device and the fourth driven wheel device are all meshed with the central linkage gear.

[0012] Further, the second driven wheel device and the third driven wheel device both include a driven shaft, a driven gear and a driven transmission seat. A driven gear is arranged on the upper part of the driven shaft, the driven gear is meshed with the central linkage gear, the lower part of the driven shaft is connected to the driven transmission seat, the driven transmission seat is connected to a steering bracket, and the steering bracket is connected to a wheel.

[0013] Further, the first driven wheel device and the fourth driven wheel device both include a driven shaft, a driven gear, a driven transmission seat and a transmission linkage assembly. The upper end of the transmission linkage assembly is meshed with the central linkage gear, the lower end of the transmission linkage assembly is connected to a driven gear, the driven gear is sleeved with a driven shaft, the lower part of the driven shaft is connected to the driven transmission seat, the driven transmission seat is connected to a steering bracket, and the steering bracket is connected to a wheel.

[0014] Further, the transmission linkage assembly includes a transmission linkage shaft, a first transmission linkage gear and a second transmission linkage gear. A first transmission linkage gear is arranged on the upper part of the transmission linkage shaft, the first transmission linkage gear is meshed with the central linkage gear, a second transmission linkage gear is arranged on the lower part of the transmission linkage shaft, and the second transmission linkage gear is meshed with the driven gear.

[0015] Further, a linkage gear inner ring is formed by hollowing out the middle of the central linkage gear. An inner ring mounting surface is provided on the linkage gear inner ring, and a plurality of central linkage support guide wheels are connected to the inner ring mounting surface.

[0016] Further, the transmission linkage assembly includes a transmission linkage shaft, a first transmission linkage gear, a second transmission linkage gear, an intermediate transmission linkage shaft, and an intermediate transmission linkage gear. A first transmission linkage gear is provided at the upper part of the transmission linkage shaft. The first transmission linkage gear meshes with the central linkage gear. A second transmission linkage gear is provided at the lower part of the transmission linkage shaft. The second transmission linkage gear is meshed and connected with an intermediate transmission linkage gear. The intermediate transmission linkage gear is sleeved with an intermediate transmission linkage shaft, and the intermediate transmission linkage gear meshes with the driven gear.

[0017] Further, a plurality of annular linkage support guide frames are provided outside the central linkage gear. A first annular linkage support guide block and a second annular linkage support guide block are provided on the annular linkage support guide frame. A first annular linkage support guide groove is provided at the upper part of the central linkage gear. The first annular linkage support guide groove matches the first annular linkage support guide block. A second annular linkage support guide groove is provided at the lower part of the central linkage gear. The second annular linkage support guide groove matches the second annular linkage support guide block.

[0018] Further, external linkage teeth are provided on the outer ring of the central linkage gear. The external linkage teeth respectively mesh with the driving gear, the first driven wheel device, the second driven wheel device, the third driven wheel device, and the fourth driven wheel device.

[0019] Further, external linkage teeth are provided on the outer ring of the central linkage gear, and internal linkage teeth are provided on the inner ring of the central linkage gear. The external linkage teeth respectively mesh with the second driven wheel device and the third driven wheel device, and the internal linkage teeth respectively mesh with the driving gear, the first driven wheel device, and the fourth driven wheel device.

[0020] Further, a clutch device is connected to the wheel. The clutch device includes a first bevel gear, a second bevel gear, a first clutch, a second clutch, and a clutch transmission shaft. A wheel transmission shaft is connected to the wheel. A first bevel gear is sleeved on the wheel transmission shaft. A first clutch is connected to the end of the wheel transmission shaft. The first clutch is connected to a wheel drive motor. The first bevel gear is meshed and connected with a second bevel gear. The second bevel gear is sleeved with a clutch transmission shaft. A second clutch is connected to the upper part of the clutch transmission shaft. A steering bracket is connected to the outside of the second clutch. A driven wheel device is connected to the upper part of the second clutch.

[0021] The steering bracket is connected with an electromagnetic limit component or a disc limit component.

[0022] The electromagnetic limit component 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, and the electromagnetic limit grooves are matched with the electromagnetic bolt.

[0023] The disc limit component includes a disc limit piece, a disc controller and a disc clamping groove. The disc controller is installed on the vehicle body chassis. 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 is matched with the disc clamping groove.

[0024] Due to the adoption of the above technical solution, the following beneficial effects are achieved:

[0025] The present invention is a gear linkage transmission system for a wheeled robot, which changes the original four-wheel eight-wheel drive power steering system. Now, a gear linkage transmission system is added. The gear linkage transmission system includes a gear linkage driving part, a driving gear, a central linkage gear and a driven wheel device. The driving gear is driven by the gear linkage driving part to drive the central linkage gear to rotate. The central linkage gear drives the first driven wheel device, the second driven wheel device, the third driven wheel device and the fourth driven wheel device to rotate, so that the first driven wheel device, the second driven wheel device, the third driven wheel device and the fourth driven wheel device respectively drive the four wheels below to perform steering movements in the same direction. In this way, only 3 or 5 sets of drivers and motors are normally 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.

[0026] On the basis of the gear linkage transmission system, by setting a clutch device, the steering motor for steering and the wheel driving motor 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 and the wheel driving motor into one. Only 2 or 4 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. Brief Description of the Drawings

[0027] The present invention will be further described below with reference to the drawings:

[0028] Figure 1 It is a schematic structural diagram of the gear linkage transmission system for a wheeled robot in Embodiment 1 of the present invention.

[0029] Figure 2 It is a schematic three - dimensional structure diagram of the gear - linkage transmission system for a wheeled robot in Embodiment 1 of the present invention.

[0030] Figure 3 It is a schematic front - view structure diagram of the gear - linkage transmission system for a wheeled robot in Embodiment 1 of the present invention.

[0031] Figure 4 It is a schematic rear - view structure diagram of the gear - linkage transmission system for a wheeled robot in Embodiment 1 of the present invention.

[0032] Figure 5 It is a schematic left - view structure diagram of the gear - linkage transmission system for a wheeled robot in Embodiment 1 of the present invention.

[0033] Figure 6 It is a schematic right - view structure diagram of the gear - linkage transmission system for a wheeled robot in Embodiment 1 of the present invention.

[0034] Figure 7 It is a schematic top - view structure diagram of the gear - linkage transmission system for a wheeled robot in Embodiment 1 of the present invention.

[0035] Figure 8 It is a schematic bottom - view structure diagram of the gear - linkage transmission system for a wheeled robot in Embodiment 1 of the present invention.

[0036] Figure 9 It is a schematic structure diagram of the annular support frame in Embodiment 1 of the present invention.

[0037] Figure 10 It is a schematic structure diagram of the steering bracket connecting the driven wheel device in Embodiment 1 of the present invention.

[0038] Figure 11 It is a schematic structure diagram of the gear - linkage transmission system for a wheeled robot in Embodiment 2 of the present invention.

[0039] Figure 12 It is a schematic three - dimensional structure diagram of the gear - linkage transmission system for a wheeled robot in Embodiment 2 of the present invention.

[0040] Figure 13 It is a schematic structure diagram of the gear - linkage transmission system for a wheeled robot in Embodiment 3 of the present invention.

[0041] Figure 14 It is a schematic three - dimensional structure diagram of the gear - linkage transmission system for a wheeled robot in Embodiment 3 of the present invention.

[0042] Figure 15 It is a schematic structure diagram of the central linkage gear in Embodiment 3 of the present invention.

[0043] Figure 16It is a schematic structural diagram of the annular linkage support guide frame in Embodiment 3 of the present invention.

[0044] Figure 17 It is a front view structural schematic diagram of the gear linkage transmission system for a wheeled robot in Embodiment 3 of the present invention.

[0045] Figure 18 It is a left view structural schematic diagram of the gear linkage transmission system for a wheeled robot in Embodiment 3 of the present invention.

[0046] Figure 19 It is a top view structural schematic diagram of the gear linkage transmission system for a wheeled robot in Embodiment 3 of the present invention.

[0047] Figure 20 It is a bottom view structural schematic diagram of the gear linkage transmission system for a wheeled robot in Embodiment 3 of the present invention.

[0048] Figure 21 It is a three-dimensional structural schematic diagram of the gear linkage transmission system for a wheeled robot in Embodiment 4 of the present invention.

[0049] Figure 22 It is a structural schematic diagram of the gear linkage transmission system for a wheeled robot in Embodiment 4 of the present invention.

[0050] Figure 23 It is a three-dimensional structural schematic diagram of the electromagnetic limit clutch device in Embodiment 5 of the present invention.

[0051] Figure 24 It is a front view structural schematic diagram of the electromagnetic limit clutch device in Embodiment 5 of the present invention.

[0052] Figure 25 It is a rear view structural schematic diagram of the electromagnetic limit clutch device in Embodiment 5 of the present invention.

[0053] Figure 26 It is a side view structural schematic diagram of the electromagnetic limit clutch device in Embodiment 5 of the present invention.

[0054] Figure 27 It is Embodiment 5 of the present invention Figure 26 The sectional structural schematic diagram in the A direction.

[0055] Figure 28 It is a top view structural schematic diagram of the electromagnetic limit clutch device in Embodiment 5 of the present invention.

[0056] Figure 29 It is a three-dimensional structural schematic diagram of the electromagnetic limit clutch device installed on the vehicle body chassis in Embodiment 5 of the present invention.

[0057] Figure 30 It is a three-dimensional structural schematic diagram of the disc limit clutch device in Embodiment 6 of the present invention.

[0058] Figure 31 It is the front view structural schematic diagram of the disc limit clutch device of Embodiment 6 of the present invention.

[0059] Figure 32 It is the rear view structural schematic diagram of the disc limit clutch device of Embodiment 6 of the present invention.

[0060] Figure 33 It is the side view structural schematic diagram of the disc limit clutch device of Embodiment 6 of the present invention.

[0061] Figure 34 It is Embodiment 6 of the present invention Figure 33 The sectional structural schematic diagram in the A direction.

[0062] Figure 35 It is the top view structural schematic diagram of the disc limit clutch device of Embodiment 6 of the present invention.

[0063] Figure 36 It is the three-dimensional structural schematic diagram of the disc limit clutch device of Embodiment 6 of the present invention installed on the vehicle body chassis.

[0064] In the figure: 1 - vehicle body chassis; 2 - wheel; 3 - gear linkage drive system; 4 - gear linkage drive part; 5 - driving gear; 6 - central linkage gear; 7 - driven wheel device; 8 - electromagnetic limit clutch device; 9 - disc limit clutch device; 10 - electromagnetic limit component; 11 - disc limit component; 12 - steering bracket; 13 - wheel drive device; 14 - main control system; 15 - annular linkage support guide frame; 16 - first driven wheel device; 17 - second driven wheel device; 18 - third driven wheel device; 19 - fourth driven wheel device.

[0065] 41 - steering motor; 42 - motor output shaft.

[0066] 61 - inner ring of linkage gear; 62 - inner ring mounting surface; 63 - central linkage support guide wheel; 64 - first annular linkage support guide groove; 65 - second annular linkage support guide groove; 66 - external linkage teeth; 67 - internal linkage teeth.

[0067] 71 - driven shaft; 72 - driven gear; 73 - driven transmission seat; 74 - transmission linkage component.

[0068] 741 - transmission linkage shaft; 742 - first transmission linkage gear; 743 - second transmission linkage gear; 744 - intermediate transmission linkage shaft; 745 - intermediate transmission linkage gear.

[0069] 81 - first bevel gear; 82 - second bevel gear; 83 - first clutch; 84 - second clutch; 85 - clutch drive shaft.

[0070] 101 - Electromagnetic limit piece; 102 - Electromagnetic controller; 103 - Electromagnetic bolt; 104 - Electromagnetic limit groove.

[0071] 111 - Disc limit piece; 112 - Disc controller; 113 - Disc clamping groove.

[0072] 121 - First connecting plate; 122 - Second connecting plate; 123 - Reinforcing rib plate.

[0073] 131 - Wheel drive motor; 132 - Wheel transmission shaft.

[0074] 151 - First annular linkage support guide block; 152 - Second annular linkage support guide block. Detailed implementation mode

[0075] To make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the scope of the present invention. In addition, in the following description, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention.

[0076] Embodiment 1

[0077] As Figures 1 to 10 shown, the gear linkage transmission 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 distributed in a rectangular shape on the vehicle body chassis 1, and the four wheels 2 are connected to a gear linkage transmission system 3. The gear linkage transmission system 3 is used to control the simultaneous steering or spinning in place of the four wheels 2.

[0078] As a further description of this embodiment, refer to Figure 10, each of the four wheels 2 is connected to a steering bracket 12. The steering bracket 12 is generally 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 lower part. 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 matches the driven shaft 71. A second mounting shaft hole (not shown in the figure) is provided on the second connecting plate 122, and the second mounting shaft hole matches the wheel driving device 13. By providing the inverted L-shaped steering bracket 12, the first connecting plate 121 is used to connect the gear linkage transmission 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 driven shaft 71 of the gear linkage transmission 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.

[0079] 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.

[0080] As a further description of this embodiment, see Figure 8 , among the four wheels 2, the two wheels 2 located at the front side or the two wheels 2 located at the rear side are respectively connected to a wheel driving device 13 for driving the two wheels 2 to move. The wheel driving device 13 is a wheel driving motor 131 and a wheel transmission shaft 132. The wheel driving motor 131 is fixedly installed on the inner side surface 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, now a gear linkage transmission system 3 is added, and 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.

[0081] As a further description of this embodiment, see Figures 1 - 2 , the gear linkage transmission system 3 includes a gear linkage driving member 4, a driving gear 5, a central linkage gear 6 and a driven wheel device 7. The output end of the gear linkage driving member 4 is connected to a driving gear 5, and the driving gear 5 is meshed with a central linkage gear 6.

[0082] As a further description of this embodiment, see Figures 1 - 8, the driven wheel device 7 includes a first driven wheel device 16, a second driven wheel device 17, a third driven wheel device 18 and a fourth driven wheel device 19. The first driven wheel device 16 and the fourth driven wheel device 19 are arranged diagonally on the vehicle chassis. The structures of the first driven wheel device 16 and the fourth driven wheel device 19 are the same. The second driven wheel device 17 and the third driven wheel device 18 are arranged diagonally on the vehicle chassis, and the structures of the second driven wheel device 17 and the third driven wheel device 18 are the same. The first driven wheel device 16, the second driven wheel device 17, the third driven wheel device 18 and the fourth driven wheel device 19 are all meshed and connected with the central linkage gear 6. Correspondingly, assuming that among the four wheels, the right front of the vehicle chassis is the first wheel, the left front of the vehicle chassis is the second wheel, the right rear of the vehicle chassis is the third wheel, and the left rear of the vehicle chassis is the fourth wheel. Above the first wheel is the first driven wheel device 16, above the second wheel is the second driven wheel device 17, above the third wheel is the third driven wheel device 18, and above the fourth wheel is the fourth driven wheel device 19.

[0083] As a further description of this embodiment, the first driven wheel device 16, the second driven wheel device 17, the third driven wheel device 18 and the fourth driven wheel device 19 are all meshed and connected with the central linkage gear 6. The structures of the first driven wheel device 16 and the fourth driven wheel device 19 are the same, and the structures of the second driven wheel device 17 and the third driven wheel device 18 are the same. In order to enable the four wheels to turn in the same direction simultaneously, the structure of the first driven wheel device 16 and the fourth driven wheel device 19 has one more transmission linkage component 74 than the structure of the second driven wheel device 17 and the third driven wheel device 18, so as to achieve the purpose that the four wheels can turn in the same direction simultaneously.

[0084] The present invention changes the original four-wheel eight-wheel drive power steering system. Now a gear linkage transmission system 3 is added. Now a gear linkage transmission system 3 is added. The gear linkage transmission system 3 includes a gear linkage driving member 4, a driving gear 5, a central linkage gear 6 and a driven wheel device 7. The driving gear 5 is driven by the gear linkage driving member 4 to move, the central linkage gear 6 is driven by the driving gear 5 to rotate, and the first driven wheel device 16, the second driven wheel device 17, the third driven wheel device 18 and the fourth driven wheel device 19 are driven by the central linkage gear 6 to rotate. Thus, the four wheels below are respectively driven by the first driven wheel device 16, the second driven wheel device 17, the third driven wheel device 18 and the fourth driven wheel device 19 to turn in the same direction. In this way, usually only 3 or 5 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.

[0085] As a further illustration of this embodiment, refer to Figure 5 , Figure 6 and Figure 8 , the gear linkage drive member 4 is a steering motor 41 and a motor output shaft 42. The steering motor 41 is fixedly installed on the vehicle body chassis 1. The output end of the steering motor 41 is connected to the motor output shaft 42, and a driving gear 5 is installed on the motor output shaft 42. The steering motor 41 can be an existing stepper motor or servo motor.

[0086] As a further illustration of this embodiment, the steering motor 41 is connected to a steering motor driver (not shown in the figure), and the steering motor driver is connected to the main control system 14.

[0087] As a further illustration of this embodiment, the wheel drive motor 131 is connected to a wheel drive motor driver (not shown in the figure), and the wheel drive motor driver is connected to the main control system 14.

[0088] As a further illustration of this embodiment, refer to Figure 1 , Figure 2 and Figure 7 , both the second driven wheel device 17 and the third driven wheel device 18 include a driven shaft 71, a driven gear 72 and a driven transmission seat 73. A driven gear 72 is arranged on the upper part of the driven shaft 71. The driven gear 72 meshes with the central linkage gear 6. The lower part of the driven shaft 71 is connected to the driven transmission seat 73. The driven transmission seat 73 is connected to a steering bracket 12, and the steering bracket 12 is connected to a wheel 1. By arranging the driven shaft 71, the driven gear 72 and the driven transmission seat 73, the second driven wheel device 17 and the third driven wheel device 18 drive the driven gear 72 to move by the central linkage gear 6, thereby driving the driven shaft 71 to move, and further driving the connecting block of the driven transmission seat 73 to perform a rotational motion. The connecting block is connected to the steering bracket 12, and the steering bracket 12 is connected to the second wheel and the third wheel, thereby realizing the same-direction steering of the second wheel and the third wheel.

[0089] As a further illustration of this embodiment, both the first driven wheel device 16 and the fourth driven wheel device 19 include a driven shaft 71, a driven gear 72, a driven transmission seat 73, and a transmission linkage assembly 74. The upper end of the transmission linkage assembly 74 meshes with the central linkage gear 6. The lower end of the transmission linkage assembly 74 is connected to a driven gear 72. A driven shaft 71 is sleeved inside the driven gear 72. The lower part of the driven shaft 71 is connected to a driven transmission seat 73. The driven transmission seat 73 is connected to a steering bracket 12, and the steering bracket 12 is connected to a wheel. The transmission linkage assembly 74 includes a transmission linkage shaft 741, a first transmission linkage gear 72, and a second transmission linkage gear 73. The upper part of the transmission linkage shaft 741 is provided with a first transmission linkage gear 72, and the first transmission linkage gear 72 meshes with the central linkage gear 6. The lower part of the transmission linkage shaft 741 is provided with a second transmission linkage gear 73, and the second transmission linkage gear 73 meshes with the driven gear 72. By providing the driven shaft 71, the driven gear 72, the driven transmission seat 73, and the transmission linkage assembly 74 on the first driven wheel device 16 and the fourth driven wheel device 19, the central linkage gear 6 drives the transmission linkage assembly 74 to move, thereby driving the driven gear 72 and the driven shaft 71 to move, and further driving the connecting block of the driven transmission seat 73 to perform a rotational motion. The connecting block is connected to the steering bracket 12, and the steering bracket 12 is connected to a first wheel and a fourth wheel, thereby realizing the same-direction steering of the first wheel and the fourth wheel.

[0090] As a further illustration of this embodiment, the driven transmission seats 73 on the first driven wheel device 16, the second driven wheel device 17, the third driven wheel device 18, and the fourth driven wheel device 19 all include an upper bearing seat and a lower connecting block. The bearing seat is provided with a bearing hole, and the connecting block is provided with a connecting hole. The bearing hole matches the driven shaft 71, and the connecting block matches the driven shaft 71. The connecting block is connected to the steering bracket 12. The driven transmission seat 73 adopts a transmission seat of the prior art, and the structure will not be described in detail here.

[0091] As a further illustration of this embodiment, a linkage gear inner ring 61 is formed by hollowing out the middle of the central linkage gear 6. An inner ring mounting surface 62 is provided on the linkage gear inner ring 61, and a plurality of central linkage support guide wheels 63 are connected to the inner ring mounting surface 62.

[0092] Support and guide the guide wheel 63 through multiple centers. On the one hand, limit the central linkage gear 6 so that the central linkage gear 6 rotates along the center formed by the multiple central linkage support guide wheels 63. On the other hand, support the central linkage gear 6 and guide the central linkage gear 6 to rotate, ensuring the movement stability of the central linkage gear 6. In this embodiment, 4 central linkage support guide wheels 63 are provided. Generally, more than three are provided to ensure movement stability.

[0093] As a further description of this embodiment, an external linkage tooth 66 is provided on the outer ring of the central linkage gear 6. The external linkage teeth 66 are respectively engaged with the driving gear 5, the first driven wheel device 16, the second driven wheel device 17, the third driven wheel device 18, and the fourth driven wheel device 19. When the steering motor drives the driving gear 5 to move, the driving gear 5 drives the central linkage gear 6 to rotate. At the same time, the central linkage gear 6 drives the first driven wheel device 16, the second driven wheel device 17, the third driven wheel device 18, and the fourth driven wheel device 19 to rotate. Specifically, an external linkage tooth 66 is provided on the outer ring of the central linkage gear 6. The external linkage teeth 66 are respectively engaged with the driving gear 5, the first driven wheel device 16, the second driven wheel device 17, the third driven wheel device 18, and the fourth driven wheel device 19, thereby driving the first driven wheel device 16, the second driven wheel device 17, the third driven wheel device 18, and the fourth driven wheel device 19 to rotate. The first driven wheel device 16, the second driven wheel device 17, the third driven wheel device 18, and the fourth driven wheel device 19 respectively drive the four wheels below to perform steering movements in the same direction. In this way, normally only 3 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.

[0094] The working principle of this embodiment: When the wheeled robot needs to turn or spin in place, first, the main control system controls the steering motor driver to work, and then the steering motor drives the driving gear 5 to move, and the driving gear 5 drives the central linkage gear 6 to rotate.

[0095] Specifically, since the first drive linkage gear 72 of the first driven wheel device 16 and the fourth driven wheel device 19 meshes with the central linkage gear 6, under the meshing action of the first drive linkage gear 72 and the external linkage gear 66, the drive linkage shaft 741 and the first drive linkage gear 72 are first driven to rotate. Then, under the meshing action of the second drive linkage gear 73 and the driven gear 72, the driven shafts 71 of the first driven wheel device 16 and the fourth driven wheel device 19 are driven to rotate. Thereby, the connecting blocks of the driven transmission seats 73 of the first driven wheel device 16 and the fourth driven wheel device 19 are driven to rotate. The connecting blocks are connected to the steering bracket 12, and the steering bracket 12 is connected to the first wheel and the fourth wheel. Thus, the co-directional steering of the first wheel and the fourth wheel is realized.

[0096] Meanwhile, since the driven gears 72 of the second driven wheel device 17 and the third driven wheel device 18 mesh with the external linkage teeth 66 of the central linkage gear 6, under the meshing action of the driven gears 72 and the external linkage teeth 66, the driven shafts 71 of the second driven wheel device 17 and the third driven wheel device 18 are driven to rotate. Thereby, the connecting blocks of the driven transmission seats 73 of the second driven wheel device 17 and the third driven wheel device 18 are driven to rotate. The connecting blocks are connected to the steering bracket 12, and the steering bracket 12 is connected to the second wheel and the third wheel. Thus, the co-directional steering of the second wheel and the third wheel is realized. In this way, the first driven wheel device 16, the second driven wheel device 17, the third driven wheel device 18, and the fourth driven wheel device 19 respectively drive the four wheels below to perform co-directional steering movements. In this way, usually 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.

[0097] Embodiment 2

[0098] See Figures 11 - 12 , on the basis of Embodiment 1, wheel drive devices 13 for driving the wheels 2 to move are respectively connected to the four wheels 2. The wheel drive devices 13 are wheel drive motors 131 and wheel drive shafts 132. The wheel drive motors 131 are fixedly installed on the inner side of the second connecting plate 122 of the steering bracket 12. The output end of the wheel drive motor 131 is connected to a wheel drive shaft 132, and the wheel drive shaft 132 is connected to the wheel 2. By changing the original four-wheel eight-wheel drive power steering system, now a gear linkage transmission system 3 is added. Only 5 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 3

[0100] SeeFigures 13 - 20 In Embodiment 3, on the basis of Embodiment 1, the structures of the central linkage gear 6 and the transmission linkage assembly 74 are improved.

[0101] As a further illustration of this embodiment, the structures of the second driven wheel device 17 and the third driven wheel device 18 are the same as those in Embodiment 1 above. Specifically, both the second driven wheel device 17 and the third driven wheel device 18 include a driven shaft 71, a driven gear 72, and a driven transmission seat 73. A driven gear 72 is provided on the upper part of the driven shaft 71. The driven gear 72 meshes with the central linkage gear 6. The lower part of the driven shaft 71 is connected to a driven transmission seat 73. The driven transmission seat 73 is connected to a steering bracket 12, and the steering bracket 12 is connected to a wheel.

[0102] As a further illustration of this embodiment, both the first driven wheel device 16 and the fourth driven wheel device 19 include a driven shaft 71, a driven gear 72, a driven transmission seat 73, and a transmission linkage assembly 74. The upper end of the transmission linkage assembly 74 meshes with the central linkage gear 6. The lower end of the transmission linkage assembly 74 is connected to a driven gear 72. The driven gear 72 is sleeved with a driven shaft 71. The lower part of the driven shaft 71 is connected to a driven transmission seat 73. The driven transmission seat 73 is connected to a steering bracket 12, and the steering bracket 12 is connected to a wheel.

[0103] As a further illustration of this embodiment, the structure of the transmission linkage assembly 74 is improved. The transmission linkage assembly 74 includes a transmission linkage shaft 741, a first transmission linkage gear 72, a second transmission linkage gear 73, an intermediate transmission linkage shaft 744, and an intermediate transmission linkage gear 745. A first transmission linkage gear 72 is provided at the upper part of the transmission linkage shaft 741. The first transmission linkage gear 72 meshes with the central linkage gear 6. A second transmission linkage gear 73 is provided at the lower part of the transmission linkage shaft 741. The second transmission linkage gear 73 is meshed with an intermediate transmission linkage gear 745. The intermediate transmission linkage shaft 744 is sleeved inside the intermediate transmission linkage gear 745. The intermediate transmission linkage gear 745 meshes with the driven gear 72. The first transmission linkage gear 72 of this transmission linkage assembly 74 meshes with the internal linkage teeth inside the central linkage gear 6. When the central linkage gear 6 drives the transmission linkage assembly 74 to move, it first drives the first transmission linkage gear 72 to rotate, and then drives the transmission linkage shaft 741 and the second transmission linkage gear 73 to rotate. Under the meshing action of the second transmission linkage gear 73 and the intermediate transmission linkage gear 745, it drives the driven gear 72 and the driven shaft 71 to move, and then drives the connecting block of the driven transmission seat 73 to rotate. The connecting block is connected to the steering bracket 12. The steering bracket 12 is connected to the first wheel and the fourth wheel. Thus, the same-direction steering of the first wheel and the fourth wheel is achieved.

[0104] As a further illustration of this embodiment, the structure of the central linkage gear 6 is improved. An external linkage tooth 66 is provided on the outer ring of the central linkage gear 6. An internal linkage tooth 67 is provided on the inner ring of the central linkage gear 6. The external linkage tooth 66 meshes with the second driven wheel device 17 and the third driven wheel device 18 respectively. The internal linkage tooth 67 meshes with the driving gear 5, the first driven wheel device 16, and the fourth driven wheel device 19 respectively.

[0105] As a further illustration of this embodiment, a plurality of annular linkage support and guide frames 15 are provided outside the central linkage gear 6. A first annular linkage support and guide block 151 and a second annular linkage support and guide block 152 are provided on the annular linkage support and guide frame 15. A first annular linkage support and guide groove 64 is provided on the upper part of the central linkage gear 6, and the first annular linkage support and guide groove 64 matches the first annular linkage support and guide block 151; a second annular linkage support and guide groove 65 is provided on the lower part of the central linkage gear 6, and the second annular linkage support and guide groove 65 matches the second annular linkage support and guide block 152. Through the annular linkage support and guide frame 15, on the one hand, the central linkage gear 6 is limited by the first annular linkage support and guide block 151 and the second annular linkage support and guide block 152, so that the central linkage gear 6 rotates around the center formed by the plurality of annular linkage support and guide frames 15. On the other hand, the central linkage gear 6 is supported and guided to rotate, ensuring the movement stability of the central linkage gear 6. In this embodiment, 4 annular linkage support and guide frames 15 are provided. Generally, more than three are provided to ensure movement stability.

[0106] Embodiment 4

[0107] See Figures 21 - 22 , on the basis of Embodiment 3, wheel driving devices 13 for driving the wheels 2 to move are respectively connected to the four wheels 2. The wheel driving devices 13 are wheel driving motors 131 and wheel transmission shafts 132. The wheel driving motors 131 are 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, now a gear linkage transmission system 3 is added, and 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.

[0108] Embodiment 5

[0109] See Figures 23 - 29, in order to reduce the wheel drive device 13, on the basis of Embodiments 1-4, 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 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 the 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 driven shaft 7171. The steering bracket 12 is connected with an electromagnetic limit assembly 10. The electromagnetic limit assembly 10 includes an electromagnetic limit piece 101, an electromagnetic controller 102 and an electromagnetic bolt 103. The electromagnetic controller 102 is installed on the vehicle body chassis 1. The electromagnetic controller 102 is provided with an electromagnetic bolt 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. The electromagnetic limit grooves 104 are matched with the electromagnetic bolt 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. The automotive magnetic powder clutch places magnetic powder 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.

[0110] Specifically, in this embodiment, the 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. Among them, the first bevel gear 81 is installed on the wheel drive shaft 132, and 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.

[0111] 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;

[0112] 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. The main control system 14 controls the electromagnetic pin 103 of the electromagnetic controller 102 to insert into the electromagnetic limit groove 104 to limit the rotation of the electromagnetic limit piece 101 and the steering bracket 12, thereby locking the steering angle. Finally, the wheels 2 are driven to rotate to achieve a spin in place or a turn.

[0113] 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 single 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.

[0114] Based on Embodiment 1 and Embodiment 3, only 2 sets of drivers and motors are needed to achieve the effect of the original four-wheel eight-drive system. On the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

[0115] Based on Embodiment 2 and Embodiment 4, only 4 sets of drivers and motors are needed to achieve the effect of the original four-wheel eight-drive system. On the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.

[0116] Embodiment 6

[0117] See Figures 30 - 36, in order to reduce the wheel drive device 13, based on Embodiments 1-4, 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 driven shaft 7171. 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. The automotive magnetic powder clutch places magnetic powder 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.

[0118] 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, and 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.

[0119] 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;

[0120] 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, driving the steering bracket 12 to rotate. By controlling the disc clamp groove 113 of the disc controller 112 through the main control system 14 to clamp the electromagnetic limit piece 101, the rotation of the electromagnetic limit piece 101 and the steering bracket 12 is restricted, thereby locking the steering angle. Finally, the wheels 2 are driven to rotate to achieve a spin in place or a turn.

[0121] 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 single 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.

[0122] Based on Embodiment 1 and Embodiment 3, only 2 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.

[0123] Based on Embodiment 2 and Embodiment 4, only 4 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.

[0124] The technical solutions of the above Embodiment 5 and Embodiment 6 are based on Embodiment 1, Embodiment 2, Embodiment 3 or Embodiment 4. The steering motor 41 and the wheel drive motor 131 are combined into a composite motor, and the composite motor is installed on the wheel 2 bracket or on the vehicle body chassis 1, and can be matched and installed according to actual needs.

[0125] 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 substantially the same technical problems and achieve substantially the same technical effects are all covered by the protection scope of the present invention.

Claims

1. A gear linkage transmission 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 gear linkage drive system, and the gear linkage drive system is used to control the simultaneous steering or spinning in place of the four wheels; The gear linkage drive system includes a gear linkage driving part, a driving gear, a central linkage gear and a driven wheel device. The output end of the gear linkage driving part is connected with the driving gear, and the driving gear is meshed and connected with the central linkage gear; The driven wheel device includes a first driven wheel device, a second driven wheel device, a third driven wheel device and a fourth driven wheel device. The first driven wheel device and the fourth driven wheel device are arranged diagonally on the vehicle body chassis. The structures of the first driven wheel device and the fourth driven wheel device are the same. The second driven wheel device and the third driven wheel device are arranged diagonally on the vehicle body chassis, and the structures of the second driven wheel device and the third driven wheel device are the same; The first driven wheel device, the second driven wheel device, the third driven wheel device and the fourth driven wheel device are all meshed and connected with the central linkage gear; A linkage gear inner ring is formed by hollowing out the middle of the central linkage gear. An inner ring mounting surface is arranged on the linkage gear inner ring, and a plurality of central linkage support guide wheels are connected to the inner ring mounting surface.

2. The gear linkage transmission system for a wheeled robot according to claim 1, wherein: Both the second driven wheel device and the third driven wheel device include a driven shaft, a driven gear and a driven transmission seat. A driven gear is arranged on the upper part of the driven shaft. The driven gear is meshed with the central linkage gear. The lower part of the driven shaft is connected with the driven transmission seat. The driven transmission seat is connected with a steering bracket, and the steering bracket is connected with a wheel.

3. The gear linkage transmission system for a wheeled robot according to claim 2, characterized in that: Both the first driven wheel device and the fourth driven wheel device include a driven shaft, a driven gear, a driven transmission seat and a transmission linkage component. The upper end of the transmission linkage component is meshed with the central linkage gear. The lower end of the transmission linkage component is connected with a driven gear. The driven shaft is sleeved inside the driven gear. The lower part of the driven shaft is connected with the driven transmission seat. The driven transmission seat is connected with a steering bracket, and the steering bracket is connected with a wheel.

4. The gear linkage transmission system for a wheeled robot according to claim 3, characterized in that: The transmission linkage component includes a transmission linkage shaft, a first transmission linkage gear and a second transmission linkage gear. A first transmission linkage gear is arranged on the upper part of the transmission linkage shaft. The first transmission linkage gear is meshed with the central linkage gear. A second transmission linkage gear is arranged on the lower part of the transmission linkage shaft. The second transmission linkage gear is meshed with the driven gear.

5. The gear linkage transmission system for a wheeled robot according to claim 4, wherein: The transmission linkage component includes a transmission linkage shaft, a first transmission linkage gear, a second transmission linkage gear, an intermediate transmission linkage shaft and an intermediate transmission linkage gear. A first transmission linkage gear is arranged on the upper part of the transmission linkage shaft. The first transmission linkage gear is meshed with the central linkage gear. A second transmission linkage gear is arranged on the lower part of the transmission linkage shaft. The second transmission linkage gear is meshed and connected with the intermediate transmission linkage gear. The intermediate transmission linkage shaft is sleeved inside the intermediate transmission linkage gear. The intermediate transmission linkage gear is meshed with the driven gear.

6. The gear linkage transmission system for a wheeled robot according to claim 5, characterized in that: A plurality of annular linkage support guide frames are provided outside the central linkage gear. A first annular linkage support guide block and a second annular linkage support guide block are provided on the annular linkage support guide frame. A first annular linkage support guide groove is provided on the upper part of the central linkage gear, and the first annular linkage support guide groove is matched with the first annular linkage support guide block; a second annular linkage support guide groove is provided on the lower part of the central linkage gear, and the second annular linkage support guide groove is matched with the second annular linkage support guide block.

7. The gear linkage transmission system for a wheeled robot according to claim 2 or 3 or 4, characterized in that: External linkage teeth are provided on the outer ring of the central linkage gear, and the external linkage teeth are respectively meshed with the driving gear, the first driven wheel device, the second driven wheel device, the third driven wheel device and the fourth driven wheel device.

8. The gear linkage transmission system for a wheeled robot according to claim 2 or 3 or 5 or 6, characterized in that: External linkage teeth are provided on the outer ring of the central linkage gear, and internal linkage teeth are provided on the inner ring of the central linkage gear. The external linkage teeth are respectively meshed with the second driven wheel device and the third driven wheel device, and the internal linkage teeth are respectively meshed with the driving gear, the first driven wheel device and the fourth driven wheel device.

9. The gear linkage transmission system for a wheeled robot according to any one of claims 1-6, characterized in that: 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 the wheel driving motor. The first bevel gear is meshed 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 a driven wheel device; The steering bracket is connected with an electromagnetic limit component or a disc limit component. The electromagnetic limit component 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 provided on the electromagnetic controller. The electromagnetic limit piece is provided on the steering bracket. A plurality of electromagnetic limit grooves are provided on the electromagnetic limit piece, and the electromagnetic limit grooves are matched with the electromagnetic bolt; The disc limit component includes a disc limit 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 limit piece is provided on the steering bracket, and the disc limit piece is matched with the disc clamping groove.

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