Steering device and robot

Abstract

The invention provides a steering device and a robot. The steering device comprises a steering driver, a steering structure and a mounting frame. The steering structure is in transmission connection with the steering driver, and the steering driver is used for driving the steering structure to rotate. The mounting frame is used for mounting the walking wheels and rotationally connected with the steering structure. The mounting frame is suitable for being capable of rotating between a first position and a second position relative to the steering structure, and when the mounting frame rotates to the first position or the second position relative to the steering structure, rotation of the mounting frame relative to the steering structure is limited. When structural deviation occurs after the robot is used for a long time, and deviation occurs between the steering angle of the walking wheel controlled by the robot and the set angle, the walking wheel drives the mounting frame to rotate relative to the steering structure under the counter-acting force of the ground, so that the first wheel rotates to the set angle in a self-adaptive mode, and the deviation between the steering angle and the set angle is eliminated; the steering control precision of the robot is improved, and the service life of the robot is prolonged.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a steering device and a robot. Background Art

[0002] In the related art, the steering motor and the walking wheels of the robot are rigidly connected, and the robot will have structural deviations after long-term use, resulting in a decrease in the steering control accuracy of the robot. Summary of the invention

[0003] The present application provides a steering device and a robot to solve the problem of decreased steering control accuracy of the robot.

[0004] In a first aspect, the present application provides a steering device, the steering device comprising a steering drive, a steering structure and a mounting frame. The steering structure is connected to the steering drive in a transmission manner, and the steering drive is used to drive the steering structure to rotate. The mounting frame is used to mount a running wheel, and the mounting frame is connected to the steering structure in a rotational manner. The mounting frame is adapted to be rotatable between a first position and a second position relative to the steering structure, and when the mounting frame is rotated to the first position or the second position relative to the steering structure, the rotation of the mounting frame relative to the steering structure is restricted.

[0005] In some embodiments, the steering device also includes a limit member, which is disposed on the steering structure and / or the mounting frame. When the mounting frame is rotated to the first position or the second position relative to the steering structure, the mounting frame and the steering structure are abutted against each other through the limit member.

[0006] In some embodiments, the limiting member includes a first limiting portion and a second limiting portion, the mounting frame is provided with the first limiting portion, and the steering structure is provided with the second limiting portion, one of the first limiting portion and the second limiting portion defines a limiting space, and the other is movable within the limiting space, and when the first limiting portion abuts against the second limiting portion, the mounting frame rotates relative to the steering structure to the first position or the second position.

[0007] In some embodiments, the steering structure includes a drive shaft and a rotating seat, the drive shaft is transmission-connected to the steering drive, the rotating seat is connected to the drive shaft, the mounting frame includes a connecting shaft, the connecting shaft is rotationally connected to the rotating seat, the connecting shaft is connected to the walking wheel, the first limiting portion is arranged on the connecting shaft, and the second limiting portion is arranged on the rotating seat.

[0008] In some embodiments, the rotating seat is rotatably connected to the driving shaft, and the limiting member also includes a first abutment portion and a second abutment portion. The driving shaft is provided with the first abutment portion, and the rotating seat is provided with the second abutment portion. One of the first abutment portion and the second abutment portion is provided with an abutment space, and the other is movable in the abutment space.

[0009] In some embodiments, the connecting shaft can rotate relative to the rotating seat within a first angular range, and the driving shaft can rotate relative to the rotating seat within a second angular range.

[0010] In some embodiments, the extending direction of the connecting shaft is spaced apart from the axis of the traveling wheel.

[0011] In some embodiments, the steering structure includes a drive shaft, which is drivingly connected to the steering drive, and the mounting frame includes a rotating seat and a connecting shaft, the drive shaft is rotationally connected to the rotating seat, the connecting shaft is connected to the rotating seat, and the connecting shaft is connected to the walking wheel, the first limiting portion is arranged on the rotating seat, and the second limiting portion is arranged on the drive shaft.

[0012] In some embodiments, the extension direction of the driving shaft is spaced apart from the axis of the traveling wheel.

[0013] In some embodiments, the first limiting portion is configured as a limiting rod, which is fixedly connected to the mounting frame, and the second limiting portion is configured as two limiting blocks protruding from the steering structure, the two limiting blocks are spaced apart to form the limiting space, and the limiting rod is located between the two limiting blocks.

[0014] In some embodiments, the steering structure is clearance-fitted with the mounting bracket.

[0015] In some embodiments, the steering structure includes a drive shaft, and the mounting frame includes a first mounting member and a second mounting member, the first mounting member is fixedly connected to the second mounting member, the first mounting member is loosely matched with the drive shaft, and the second mounting member is used to mount the walking wheel.

[0016] In some embodiments, the steering structure is provided with a first limiting groove, the mounting frame is provided with a second limiting groove, and the steering device also includes an abutment member, which is located in the first limiting groove and the second limiting groove, and at least one of the first limiting groove and the second limiting groove is loosely matched with the abutment member.

[0017] In a second aspect, the present application provides a robot, comprising a body, running wheels and a steering device as described in any one of the above items, wherein the steering device is mounted on the body, and the running wheels are mounted on the steering device.

[0018] In the steering device and robot provided by the present application, based on the transmission connection between the steering structure and the steering driver, the mounting frame is rotationally connected to the steering structure, and the mounting frame can rotate between a first position and a second position relative to the steering structure. When the mounting frame rotates to the first position or the second position relative to the steering structure, the rotation of the mounting frame relative to the steering structure is restricted. When the robot is turning or rotating on the spot, the steering driver drives the steering structure to rotate, and the steering structure drives the walking wheels to turn to a set angle through the mounting frame. When the robot has structural deviations after long-term use, resulting in a deviation between the steering angle of the robot's walking wheels and the set angle, the walking wheels drive the mounting frame to rotate relative to the steering structure under the reaction force of the ground, so that the first wheel adaptively rotates to the set angle, eliminating the deviation between the steering angle and the set angle, thereby improving the steering control accuracy of the robot and increasing the service life of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0020] Figure 1 It is a cross-sectional view of a partial structure of the robot provided in an embodiment of the present application.

[0021] Figure 2 It is a schematic diagram of the structure of the steering device provided in the first embodiment of the present application after some structures are removed.

[0022] Figure 3 It is a schematic diagram of the structure of the steering device provided in the first embodiment of the present application after some structures are removed.

[0023] Figure 4 It is a schematic diagram of the structure of the steering device provided in some embodiments of the present application after removing part of the structure.

[0024] Figure 5 It is a schematic diagram of the structure of the steering device provided in other embodiments of the present application with some structures removed.

[0025] Figure 6 is a front view of the robot provided in some embodiments of the present application.

[0026] Figure 7is a side view of a robot provided in some other embodiments of the present application.

[0027] Figure 8 It is a cross-sectional view of a partial structure of the robot provided in the second embodiment of the present application.

[0028] Fig. 9 It is a cross-sectional view of a partial structure of the robot provided in the third embodiment of the present application.

[0029] Fig.10 It is a schematic diagram of the structure of the steering device provided in the third embodiment of the present application after removing some structures.

[0030] Fig.11 It is an exploded view of a partial structure of the robot provided in the fourth embodiment of the present application.

[0031] Fig.12 It is a cross-sectional view of a partial structure of a steering device provided in the fifth embodiment of the present application.

[0032] Explanation of main figure marks: robot 100; body 10; walking wheel 21; driving member 22; steering device 30; steering driver 31; steering structure 32; driving shaft 321; rotating seat 322; mounting frame 33; connecting shaft 331; first mounting member 3321; second mounting member 3322; connecting hole 3323; connecting member 333; first limiting groove 3341; second limiting groove 3342; abutting member 335; limiting member 34; first limiting portion 341; second limiting portion 342; limiting space 3421; first abutting portion 343; second abutting portion 344; abutting space 3441.

[0033] The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments in the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0035] Reference to "embodiment" or "implementation" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment or implementation may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0036] It should be noted that the terms in the specification and claims of this application and the above-mentioned drawings are only for describing specific embodiments and are not intended to limit this application. The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order. The term "and / or" used in this application refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0037] See also Figure 1 , Figure 1 1 is a cross-sectional view of a partial structure of the robot 100 provided in an embodiment of the present application. The robot 100 includes a body 10, a walking wheel 21, and a steering device 30 in any of the following embodiments. The steering device 30 is mounted on the body 10. The walking wheel 21 is mounted on the steering device 30. The steering device 30 is used to drive the walking wheel 21 to turn, so that the rolling direction of the walking wheel 21 forms an angle with the length direction of the robot 100, so as to realize the turning travel or rotation in place of the robot 100. The robot 100 can be configured as a lawn mowing robot, a pesticide spraying robot, a crop harvesting robot, a sweeping robot, a transport robot, etc.

[0038] The steering device 30 includes a steering driver 31, a steering structure 32 and a mounting frame 33. The steering driver 31 is mounted on the fuselage 10. The steering structure 32 is connected to the steering driver 31 in a transmission manner. The mounting frame 33 is used to install the running wheel 21. The mounting frame 33 is rotationally connected to the steering structure 32. When the robot 100 is turning or rotating in place, the steering driver 31 is used to drive the steering structure 32 to rotate, and the steering structure 32 drives the running wheel 21 to turn to a set angle relative to the fuselage 10 through the mounting frame 33, so as to realize the turning or rotating in place of the robot 100. Among them, the set angle can be the angle between the linear velocity direction of the running wheel 21 when rotating around the rotation center when the robot 100 is turning or rotating in place and the front-rear direction of the robot 100. The steering angle of the running wheel 21 is the angle between the rolling direction of the running wheel 21 and the front-rear direction of the robot 100. When the steering angle of the walking wheel 21 is the same as the set speed, the rolling direction of the walking wheel 21 is consistent with the linear speed direction of the walking wheel 21, so that the walking wheel 21 and the ground are in rolling friction, and the walking wheel 21 is prevented from sliding relative to the ground, thereby greatly reducing the bottom resistance of the robot 100 when turning or rotating in place, thereby improving the passability and stability of the robot 100 and reducing the wear on the lawn. The rolling direction of the walking wheel 21 is perpendicular to the central axis of the walking wheel 21.

[0039] The mounting frame 33 is adapted to be rotatable at a first position and a second position relative to the steering structure 32. When the mounting frame 33 is rotated to the first position or the second position relative to the steering structure 32, the rotation of the mounting frame 33 relative to the steering structure 32 is restricted. In this way, on the one hand, when the robot 100 has structural deviations after long-term use, resulting in a deviation between the steering angle of the walking wheel 21 controlled by the robot 100 and the set angle, the walking wheel 21 drives the mounting frame 33 to rotate relative to the steering structure 32 under the reaction force of the ground, so that the walking wheel 21 rotates adaptively to the set angle, eliminating the deviation between the steering angle and the set angle, thereby improving the steering control accuracy of the robot 100 and increasing the service life of the robot 100; on the other hand, when the robot 100 is turning or rotating in place on an uneven lawn, the walking wheel will be suspended off the ground due to the undulations of the terrain. In the embodiment of the present application, the mounting frame 33 is relatively stable relative to the steering structure 32. The structure 32 can rotate between a first position and a second position. After the walking wheel 21 is suspended off the ground, the steering driver 31 and the steering structure 32 are limited in relative rotation with the mounting frame 33, so that the walking wheel 21 can be prevented from being excessively deflected relative to the fuselage 10 under the action of gravity, thereby making the rolling direction of the walking wheel 21 match the linear speed direction of the walking wheel 21, avoiding the walking wheel 21 from skidding relative to the ground when it contacts the ground again, maintaining rolling friction between the walking wheel 21 and the ground, reducing the reaction force of the ground on the walking wheel 21, improving the passability of the robot 100 in turning and rotating in situ, improving the stability during rotation, and reducing the wear on the lawn.

[0040] Please also read Figure 1 and Figure 2, the steering device 30 further includes a stopper 34. The stopper 34 is disposed on the steering structure 32 and / or the mounting frame 33. When the mounting frame 33 rotates to the first position or the second position relative to the steering structure 32, the mounting frame 33 and the steering structure 32 are abutted by the stopper 34 to limit the continued rotation of the mounting frame 33. When the mounting frame 33 rotates to the first position, the rotation of the mounting frame 33 relative to the steering structure 32 along the second position toward the first position is limited, and when the mounting frame 33 rotates to the second position, the rotation of the mounting frame 33 relative to the steering structure 32 along the first position toward the second position is limited. When the mounting frame 33 rotates to a position between the first position and the second position relative to the steering structure 32, the mounting frame 33 can rotate freely relative to the steering structure 32. When the mounting frame 33 rotates to a position between the first position and the second position relative to the steering structure 32, the stopper 34 can be spaced from the steering structure 32 and / or the mounting frame 33 to reduce the friction resistance when the mounting frame 33 turns relative to the steering structure 32. In some embodiments, the stopper 34 is disposed on the steering structure 32. In some embodiments, the stopper 34 is disposed on the mounting frame 33. In some embodiments, the stopper 34 is disposed on the steering structure 32 and the mounting frame 33, respectively.

[0041] The stopper 34 is used to limit the relative rotation angle between the mounting frame 33 and the steering structure 32 within a preset angle range. The preset angle range corresponds to the rotation angle of the mounting frame 33 relative to the steering structure 32 between the first position and the second position. The preset angle range can be specifically set according to actual needs, and is not specifically limited in this application. For example, the preset angle range can be -2° to +2°.

[0042] The limiting member 34 includes a first limiting portion 341 and a second limiting portion 342. The mounting frame 33 is provided with the first limiting portion 341. The steering structure 32 is provided with the second limiting portion 342. One of the first limiting portion 341 and the second limiting portion 342 defines a limiting space 3421, and the other is movable in the limiting space 3421. The range of motion of the first limiting portion 341 in the limiting space 3421 corresponds to a preset angle range. When the first limiting portion 341 abuts against the second limiting portion 342, the mounting frame 33 rotates relative to the steering structure 32 to the first position or the second position.

[0043] The rotation center of the mounting frame 33 relative to the steering structure 32 is located on the perpendicular midline of the line connecting the first position and the second position. In this way, when the steering driver 31 drives the running wheel 21 to rotate to the set angle, the deviation range of the steering angle of the running wheel 21 relative to the set angle in the forward and reverse directions (i.e., half of the preset angle range) is the same, thereby reducing the maximum deviation of the steering angle of the running wheel 21 relative to the set angle, and improving the control accuracy of the steering angle of the running wheel 21 by the robot 100.

[0044] In the first embodiment of the present application, the steering structure 32 includes a driving shaft 321 and a rotating seat 322. The driving shaft 321 is connected to the steering driver 31 in a transmission manner. The driving shaft 321 is rotationally connected to the fuselage 10. The rotating seat 322 is connected to the driving shaft 321. The driving shaft 321 and the rotating seat 322 can be relatively fixedly arranged. The mounting frame 33 includes a connecting shaft 331. The connecting shaft 331 is rotationally connected to the rotating seat 322. The connecting shaft 331 is connected to the walking wheel 21. The first limiting portion 341 is arranged on the connecting shaft 331. The second limiting portion 342 is arranged on the rotating seat 322. When the robot 100 turns or rotates in place, the steering driver 31 drives the driving shaft 321 to rotate, the driving shaft 321 drives the rotating seat 322 to rotate, and the rotating seat 322 drives the connecting shaft 331 to rotate together with the walking wheel 21 through the limiting action of the second limiting portion 342 and the first limiting portion 341. The first limiting portion 341 and the connecting shaft 331 may be fixedly connected. The first limiting portion 341 and the connecting shaft 331 may be arranged in a split manner and fixedly connected together by bonding, clamping, screwing, welding, etc., or the first limiting portion 341 and the connecting shaft 331 may be arranged in an integral manner. The second limiting portion 342 and the rotating seat 322 may be fixedly connected. The second limiting portion 342 and the rotating seat 322 may be arranged in a split manner and fixedly connected together by bonding, clamping, screwing, welding, etc., or the second limiting portion 342 and the rotating seat 322 may be arranged in an integral manner.

[0045] See also Figure 2 In some embodiments, the first limiting portion 341 can be configured as a limiting rod, and the second limiting portion 342 can be configured as two limiting blocks protruding from the steering structure 32. The limiting rod is fixedly connected to the mounting frame 33. The limiting rod is fixedly connected to the connecting shaft 331. The two limiting blocks are protruding from the rotating seat 322. A limiting space 3421 is formed between the two limiting blocks. The limiting rod is located between the two limiting blocks. When the connecting shaft 331 drives the limiting rod to rotate relative to the rotating seat 322, the limiting rod can swing between the two limiting blocks. When the limiting rod abuts against the limiting blocks, the limiting blocks restrict the connecting shaft 331 from continuing to rotate relative to the rotating seat 322. When the limiting rod abuts against one of the limiting blocks, the connecting shaft 331 rotates to the first position relative to the rotating seat 322, and when the limiting rod abuts against the other limiting block, the connecting shaft 331 rotates to the second position relative to the rotating seat 322.

[0046] The connecting shaft 331 is located on the perpendicular midline of the line between the two limit blocks, so that when the limit rod moves toward the two limit blocks, the connecting shaft 331 rotates at the same angle relative to the rotating seat 322, thereby improving the control accuracy of the robot 100 on the steering angle of the walking wheel 21. The two limit blocks can be symmetrically arranged relative to a straight line passing through the central axis of the connecting shaft 331 and parallel to the extension direction of the limit rod, or, in the orthographic projection on the projection plane perpendicular to the central axis of the connecting shaft 331, the two limit blocks can be symmetrically arranged relative to the axis center of the connecting shaft 331.

[0047] In some embodiments, at least one of the two limit blocks is detachably connected to the rotating base 322, and the installation position on the rotating base 322 can be adjusted. The size of the preset angle range can be adjusted by adjusting the interval between the two limit blocks.

[0048] See also Figure 3 In some embodiments, the first limiting portion 341 can be configured as a limiting rod fixedly connected to the connecting shaft 331, and the second limiting portion 342 can be configured as a limiting groove opened on the rotating seat 322. A limited space 3421 is formed in the limiting groove. The end of the limiting rod is accommodated in the limiting groove. When the connecting shaft 331 drives the limiting rod to rotate until it abuts against the groove wall of the limiting groove, the rotation of the connecting shaft 331 relative to the rotating seat 322 is limited. When the limiting rod abuts against one side groove wall of one of the limiting grooves, the connecting shaft 331 rotates to the first position relative to the rotating seat 322, and when the limiting rod abuts against the other side groove wall opposite to the limiting groove, the connecting shaft 331 rotates to the second position relative to the rotating seat 322.

[0049] See also Figure 4 In some embodiments, the first limiting portion 341 can be configured as a limiting hole provided on the connecting shaft 331. The second limiting portion 342 can be configured as a limiting rod fixedly connected to the rotating seat 322. The limiting rod is inserted into the limiting hole, and the limiting rod can move in the limiting hole. When the connecting shaft 331 drives the limiting rod to rotate until it abuts against the hole wall of the limiting hole, the connecting shaft 331 rotates to the first position or the second position relative to the rotating seat 322, and the rotation of the connecting shaft 331 relative to the rotating seat 322 is limited.

[0050] See also Figure 5In some embodiments, the first limiting portion 341 is disposed on the connecting shaft 331, and the second limiting portion 342 is disposed on the driving shaft 321. The first limiting portion 341 is configured as a limiting protrusion protruding from the end of the connecting shaft 331 close to the driving shaft 321. The second limiting portion 342 is configured as a limiting groove opened at the end of the driving shaft 321 close to the connecting shaft 331. The limiting protrusion is accommodated in the limiting groove. The width of the limiting protrusion is smaller than the width of the limiting groove. The limiting protrusion is movable in the limiting groove. When the limiting protrusion abuts against the groove wall of the limiting groove, the connecting shaft 331 rotates relative to the driving shaft 321 to the first position or the second position.

[0051] Please also read Figure 6 and Figure 7 , the extension direction of the connecting shaft 331 is spaced from the axis of the walking wheel 21. The connecting shaft 331 is eccentrically arranged with respect to the walking wheel 21. In this way, when the robot 100 is rotating or spinning in place, the reaction force of the ground on the walking wheel 21 will generate a torque on the walking wheel 21, and this torque will make the rolling direction of the walking wheel 21 tend to be the same as the linear speed direction of the axis of the walking wheel 21, so that the rolling direction of the walking wheel 21 is automatically adjusted to the angle corresponding to the minimum reaction force of the ground on the walking wheel 21, thereby reducing the rotational resistance of the robot 100. In some embodiments, such as Figure 6 As shown, the connecting shaft 331 is located on the side of the axial direction of the running wheel 21. In some embodiments, as Figure 7 As shown, the connecting shaft 331 is located at the front side or the rear side of the rolling direction of the running wheel 21 .

[0052] See also Figure 8 The second embodiment of the present application is similar to the first embodiment, except that the steering structure 32 includes a driving shaft 321, and the mounting frame 33 includes a rotating seat 322 and a connecting shaft 331. The driving shaft 321 is connected to the steering driver 31 in a transmission manner. The driving shaft 321 is rotationally connected to the rotating seat 322. The connecting shaft 331 is connected to the rotating seat 322. The connecting shaft 331 and the rotating seat 322 can be relatively fixedly arranged. The connecting shaft 331 is connected to the walking wheel 21. The first limiting portion 341 is arranged on the rotating seat 322. The second limiting portion 342 is arranged on the driving shaft 321. When the robot 100 turns or rotates in place, the steering driver 31 drives the driving shaft 321 to rotate, and the driving shaft 321 drives the rotating seat 322 to rotate through the limiting action of the second limiting portion 342 and the first limiting portion 341, and the rotating seat 322 drives the connecting shaft 331 to rotate together with the walking wheel 21. The arrangement of the first limiting portion 341 and the second limiting portion 342 may refer to the arrangement in the above embodiment.

[0053] The first limiting portion 341 and the rotating seat 322 may be fixedly connected. The first limiting portion 341 and the rotating seat 322 may be arranged in a split manner and fixedly connected together by bonding, clamping, screwing, welding, etc., or the first limiting portion 341 and the rotating seat 322 may be arranged in an integral manner. The second limiting portion 342 and the driving shaft 321 may be fixedly connected. The second limiting portion 342 and the driving shaft 321 may be arranged in a split manner and fixedly connected together by bonding, clamping, screwing, welding, etc., or the second limiting portion 342 and the driving shaft 321 may be arranged in an integral manner.

[0054] Please also read Figure 6 and Figure 7 , the extension direction of the drive shaft 321 is spaced from the axis of the walking wheel 21. The drive shaft 321 is eccentrically arranged with respect to the walking wheel 21. In this way, when the robot 100 is rotating or spinning in place, the reaction force of the ground on the walking wheel 21 will generate a torque on the walking wheel 21, and this torque will make the rolling direction of the walking wheel 21 tend to be the same as the linear velocity direction of the axis of the walking wheel 21, so that the rolling direction of the walking wheel 21 is automatically adjusted to the angle corresponding to the minimum reaction force of the ground on the walking wheel 21, thereby reducing the rotational resistance of the robot 100. In some embodiments, in some embodiments, such as Figure 6 As shown, the drive shaft 321 is located on the side of the axial direction of the running wheel 21. In some embodiments, as Figure 7 As shown, the driving shaft 321 is located at the front side or the rear side of the rolling direction of the running wheel 21 .

[0055] Please also read Fig. 9 and Fig.10 The third embodiment of the present application is similar to the first embodiment, except that the rotating seat 322 is rotatably connected to the driving shaft 321, the limiting member 34 further includes a first abutting portion 343 and a second abutting portion 344, the driving shaft 321 is provided with the first abutting portion 343, the rotating seat 322 is provided with the second abutting portion 344, one of the first abutting portion 343 and the second abutting portion 344 is provided with an abutting space 3441, and the other is movable in the abutting space 3441. When the robot 100 turns or rotates in situ, the steering driver 31 drives the driving shaft 321 to rotate, the driving shaft 321 drives the rotating seat 322 to rotate through the limiting action of the first abutting portion 343 and the second abutting portion 344, and the rotating seat 322 drives the connecting shaft 331 and the walking wheel 21 to rotate through the limiting action of the second limiting portion 342 and the first limiting portion 341. The configuration of the first abutting portion 343 may refer to the configuration of the first limiting portion 341 in the above embodiment, and the configuration of the second abutting portion 344 may refer to the configuration of the second limiting portion 342 in the above embodiment.

[0056] When the first abutting portion 343 abuts against the second abutting portion 344 and the first limiting portion 341 abuts against the second limiting portion 342, the connecting shaft 331 in the mounting frame 33 rotates to the first position or the second position relative to the driving shaft 321 in the steering structure 32. In the third embodiment, the preset angle range includes a first angle range and a second angle range. The connecting shaft 331 can rotate relative to the rotating seat 322 within the first angle range. The driving shaft 321 can rotate relative to the rotating seat 322 within the second angle range. Among them, the sum of the first angle range and the second angle range is equal to the preset angle range. For example, the first angle range and the second angle range are both -1° to +1°, and the preset angle range is -2° to +2°.

[0057] See also Fig.11 In the fourth embodiment of the present application, the steering structure 32 and the mounting frame 33 are clearance-matched so that the mounting frame 33 can rotate between a first position and a second position relative to the steering structure 32. The relative rotation angle between the mounting frame 33 and the steering structure 32 is within a preset angle range. Among them, the steering structure 32 includes a drive shaft 321. The drive shaft 321 is rotationally connected to the fuselage 10. The drive shaft 321 is transmission-connected to the steering driver 31. The mounting frame 33 includes a first mounting member 3321 and a second mounting member 3322. The first mounting member 3321 is fixedly connected to the second mounting member 3322. The first mounting member 3321 is connected to the drive shaft 321 and is clearance-matched. The second mounting member 3322 is used to install the walking wheel 21.

[0058] In some embodiments, the steering device 30 further includes a connecting member 333. The connecting member 333 is fixedly connected to the drive shaft 321. The drive shaft 321 is loosely matched with the mounting frame 33 through the connecting member 333. The drive shaft 321 can drive the mounting frame 33 to rotate through the connecting member 333. Among them, a connecting hole 3323 is provided on the first mounting member 3321. The connecting member 333 is inserted into the connecting hole 3323 and loosely matched with the connecting hole 3323. The connecting member 333 moves in the connecting hole 3323. The diameter of the connecting hole 3323 can be larger than the diameter of the connecting member 333. When the connecting member 333 abuts against the hole wall of the connecting hole 3323, the first mounting member 3321 rotates to the first position or the second position relative to the drive shaft 321.

[0059] Among them, the extension direction of the driving shaft 321 is spaced apart from the axis of the walking wheel 21, so that the driving shaft 321 and the walking wheel 21 are eccentrically arranged, which is conducive to the walking wheel 21 to quickly and automatically adjust the rolling direction to the angle corresponding to the minimum reaction force of the ground on the walking wheel 21 under the reaction force of the ground, thereby reducing the rotational resistance of the robot 100.

[0060] See also Fig.12In the fifth embodiment of the present application, the steering structure 32 and the mounting frame 33 are clearance-matched. The steering structure 32 includes a driving shaft 321, and the mounting frame 33 includes a rotating seat 322 and a connecting shaft 331. The driving shaft 321 is rotationally connected to the fuselage 10, and is transmission-connected to the steering driver 31. The driving shaft 321 is rotationally connected to the rotating seat 322. The connecting shaft 331 is connected to the rotating seat 322. The connecting shaft 331 is connected to the walking wheel 21. There is a clearance fit between the driving shaft 321 and the rotating seat 322, and / or, there is a clearance fit between the connecting shaft 331 and the rotating seat 322. In this way, the connecting shaft 331 is rotatably arranged relative to the driving shaft 321, and the rotation angle of the connecting shaft 331 relative to the driving shaft 321 is within a preset angle range. When the connecting shaft 331 rotates to the first position or the second position relative to the driving shaft 321, the rotation of the connecting shaft 331 relative to the driving shaft 321 is restricted.

[0061] In some embodiments, there is a clearance fit between the drive shaft 321 and the rotating seat 322. Among them, a first limiting groove 3341 is provided on the drive shaft 321. A second limiting groove 3342 is provided on the rotating seat 322. The steering device 30 also includes an abutment member 335. The abutment member 335 is located in the first limiting groove 3341 and the second limiting groove 3342. At least one of the first limiting groove 3341 and the second limiting groove 3342 is clearance-fitted with the abutment member 335. Exemplarily, the abutment member 335 is clearance-fitted with the first limiting groove 3341 and the second limiting groove 3342, respectively. When the rotating seat 322 rotates relative to the drive shaft 321, the abutment member 335 is movable in the first limiting groove 3341 and the second limiting groove 3342. When the abutment member 335 abuts against the side wall of the first limiting groove 3341 and the side wall of the second limiting groove 3342 respectively, the rotating seat 322 rotates to the first position or the second position relative to the driving shaft 321. The relative rotation angle between the rotating seat 322 and the driving shaft 321 is within a preset angle range. In some embodiments, the abutment member 335 can be engaged with one of the first limiting groove 3341 and the second limiting groove 3342, and have a clearance fit with the other.

[0062] In some embodiments, there is a clearance fit between the connecting shaft 331 and the rotating seat 322. A first limiting groove 3341 is provided on the connecting shaft 331. A second limiting groove 3342 is provided on the rotating seat 322. When the connecting shaft 331 rotates relative to the rotating seat 322, the abutment member 335 is movable in the first limiting groove 3341 and the second limiting groove 3342. When the abutment member 335 abuts against the side wall of the first limiting groove 3341 and the side wall of the second limiting groove 3342, the connecting shaft 331 rotates relative to the rotating seat 322 to the first position or the second position.

[0063] In some embodiments, the driving shaft 321 and the connecting shaft 331 are respectively fitted with clearances with the rotating seat 322. The driving shaft 321 and the connecting shaft 331 are respectively provided with a first limiting groove 3341. The rotating seat 322 is provided with a second limiting groove 3342 corresponding to the first limiting groove 3341 on the driving shaft 321, and a second limiting groove 3342 corresponding to the first limiting groove 3341 on the connecting shaft 331. Two abutting members 335 are provided, and the two abutting members 335 are respectively provided in the corresponding first limiting grooves 3341. The relative rotation angle between the rotating seat 322 and the connecting shaft 331 is within a first angle range, and the relative rotation angle between the rotating seat 322 and the driving shaft 321 is within a second angle range.

[0064] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A steering device, characterized in that: include: Steering drive; A steering structure, wherein the steering structure is in driving connection with the steering driver, and the steering driver is used to drive the steering structure to rotate; A mounting frame, used for mounting the travel wheel, the mounting frame being rotatably connected to the steering structure; The mounting frame is adapted to be rotatable relative to the steering structure between a first position and a second position. When the mounting frame is rotated relative to the steering structure to the first position or the second position, the rotation of the mounting frame relative to the steering structure is restricted.

2. The steering device according to claim 1, characterized in that: The steering device further comprises a limit member, which is arranged on the steering structure and / or the mounting frame. When the mounting frame rotates to the first position or the second position relative to the steering structure, the mounting frame and the steering structure are abutted via the limit member.

3. The steering device according to claim 2, characterized in that: The limiting member includes a first limiting portion and a second limiting portion, the mounting frame is provided with the first limiting portion, and the steering structure is provided with the second limiting portion, one of the first limiting portion and the second limiting portion defines a limiting space, and the other is movable within the limiting space, and when the first limiting portion abuts against the second limiting portion, the mounting frame rotates relative to the steering structure to the first position or the second position.

4. The steering device according to claim 3, characterized in that: The steering structure includes a drive shaft and a rotating seat, the drive shaft is transmission-connected to the steering driver, the rotating seat is connected to the drive shaft, the mounting frame includes a connecting shaft, the connecting shaft is rotationally connected to the rotating seat, the connecting shaft is connected to the walking wheel, the first limiting portion is arranged on the connecting shaft, and the second limiting portion is arranged on the rotating seat.

5. The steering device according to claim 4, characterized in that: The rotating seat is rotatably connected to the driving shaft, and the limiting member also includes a first abutment portion and a second abutment portion. The driving shaft is provided with the first abutment portion, and the rotating seat is provided with the second abutment portion. One of the first abutment portion and the second abutment portion is provided with an abutment space, and the other is movable in the abutment space.

6. The steering device according to claim 5, characterized in that: The connecting shaft can rotate relative to the rotating seat within a first angular range, and the driving shaft can rotate relative to the rotating seat within a second angular range.

7. The steering device according to claim 4, characterized in that: The extending direction of the connecting shaft is spaced apart from the axis of the traveling wheel.

8. The steering device according to claim 3, characterized in that: The steering structure includes a drive shaft, which is transmission-connected to the steering driver; the mounting frame includes a rotating seat and a connecting shaft, the drive shaft is rotationally connected to the rotating seat, the connecting shaft is connected to the rotating seat, and the connecting shaft is connected to the walking wheel; the first limiting portion is arranged on the rotating seat, and the second limiting portion is arranged on the drive shaft.

9. The steering device according to claim 5 or 8, characterized in that: The extension direction of the driving shaft is spaced apart from the axis of the traveling wheel.

10. The steering device according to claim 3, characterized in that: The first limiting part is configured as a limiting rod, which is fixedly connected to the mounting frame. The second limiting part is configured as two limiting blocks protruding from the steering structure. The two limiting blocks are spaced apart to form the limiting space, and the limiting rod is located between the two limiting blocks.

11. The steering device according to claim 1, characterized in that: The steering structure is clearance-matched with the mounting frame.

12. The steering device according to claim 11, characterized in that: The steering structure includes a driving shaft, and the mounting frame includes a first mounting member and a second mounting member, the first mounting member is fixedly connected to the second mounting member, the first mounting member is loosely matched with the driving shaft, and the second mounting member is used to mount the walking wheel.

13. The steering device according to claim 11, characterized in that: The steering structure is provided with a first limiting groove, the mounting frame is provided with a second limiting groove, and the steering device also includes an abutment member, which is located in the first limiting groove and the second limiting groove, and at least one of the first limiting groove and the second limiting groove is clearance-matched with the abutment member.

14. A robot, characterized in that: The robot comprises a body, running wheels and a steering device as described in any one of claims 1 to 13, wherein the steering device is mounted on the body, and the running wheels are mounted on the steering device.

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