Omnidirectional rotating wheel and vehicle provided with same

Abstract

The invention discloses an omni-directional rotating wheel and a vehicle equipped with the same, and relates to the related field of rotating wheels. The omni-directional rotating wheel is arranged, a walking wheel is installed on the outer side of a rotating frame, and the walking wheel is connected with a driving shaft through a gear combination transmission shaft; four walking wheels of two sets of omni-directional rotating wheels at the bottom of the vehicle are synchronously driven through an engine assembly, steering of a rotating frame and the walking wheels is controlled through a steering control assembly, the walking wheels can rotate in an omni-directional mode, steering of the walking wheels of the omni-directional rotating wheels on the front side is controlled through a steering wheel, steering control over the vehicle in the running process is facilitated, and the driving safety of the vehicle is improved. And the steering angle detection assembly is arranged to monitor the steering angle of the rotating frame and the walking wheels, the walking wheels of the omnidirectional rotating wheels on the rear side are steered through the rear wheel steering driving motor, transverse moving or oblique running or in-situ turning-around operation can be conducted on the vehicle, the flexibility of the vehicle is improved, and moving and turning-around in a narrow space are facilitated.

Description

Technical Field

[0001] The invention relates to the field of rotating wheels, in particular to an omnidirectional rotating wheel and a vehicle equipped with the rotating wheel. Background Art

[0002] It is difficult for engineering vehicles to park or turn around in a narrow space, especially in warehouses, where forklifts, scrap trucks, etc. are affected in turning around. In order to solve these problems, various forms of omnidirectional mobile technologies have appeared on the market, with wheels that can rotate at different angles; For example, the Chinese invention patent with the current publication number CN108819612A discloses an omnidirectional drive wheel, including an omnidirectional drive wheel body and a rubber-coated wheel, a support cover is arranged above the omnidirectional wheel body, a large synchronous pulley and a small synchronous pulley are rotatably arranged on the support cover, the small synchronous pulley is driven by the output of the travel drive motor, and the small synchronous pulley drives the large synchronous pulley, and finally the large synchronous pulley drives the rubber-coated wheel to rotate through the reduction mechanism, and in addition, the outer ring teeth are arranged on the slewing support member through the meshing of the steering drive gear on the steering drive motor, so as to drive the rubber-coated wheel to rotate 360° without dead angles; Although the above-mentioned omnidirectional drive wheel can realize 360° steering of a single drive wheel, the vehicle is generally equipped with four rotating wheels, each of which adopts a separate steering drive structure, which increases the cost and requires separate control of the steering of each rotating wheel, which is not convenient for steering control during vehicle driving.

[0003] The existing solutions on the market mainly include several forms. One is a car that can park laterally, which is characterized by the fact that both the front and rear wheels can rotate 90 degrees. The second is the design of a slag truck. The characteristic of this type of vehicle is that the front wheels can also rotate 90 degrees, but the rear wheels cannot rotate more than 90 degrees due to structural limitations. This is inconvenient for the driver to operate. When turning during normal driving, only the front wheels need to be controlled to rotate, and the rear wheels do not need to rotate. When moving the vehicle sideways, the steering of the front and rear wheels needs to be controlled synchronously, and the steering angles need to be synchronized. When there is a difference in the steering of the front and rear wheels, the movement of the vehicle will drag the tires, causing tire wear. Summary of the invention

[0004] Therefore, in order to solve the above-mentioned shortcomings, the present invention provides an omnidirectional rotating wheel and a vehicle equipped with the rotating wheel.

[0005] The present invention is achieved by constructing an omnidirectional rotating wheel and a vehicle equipped with the rotating wheel. The device includes a shell, a differential, a drive shaft, a steering control assembly, a left steering wheel assembly and a right steering wheel assembly. The left steering wheel assembly and the right steering wheel assembly are respectively installed on the left and right sides of the shell, and the differential is installed on the inner top of the shell. The left and right sides of the differential are respectively connected to the left steering wheel assembly and the right steering wheel assembly through the drive shaft. The drive shaft is used to drive the running wheels of the left steering wheel assembly and the right steering wheel assembly to rotate. The steering control assembly is installed on the inner bottom of the shell. The left and right sides of the steering control assembly are respectively connected to the left steering wheel assembly and the right steering wheel assembly. The steering control assembly is used to control the steering of the running wheels of the left steering wheel assembly and the right steering wheel assembly.

[0006] Preferably, the left steering wheel assembly and the right steering wheel assembly have the same structure, and the left steering wheel assembly and the right steering wheel assembly are symmetrically arranged on the left and right sides, and the left steering wheel assembly comprises a transmission box, a transmission shaft 1, a first bevel gear set, a second bevel gear set, a transmission shaft 2, a rotating frame, a walking wheel, a sleeve, a steering angle detection assembly and a gear box 1, the top of the transmission shaft 1 extends into the transmission box, and the top of the transmission shaft 1 is transmission-connected with the drive shaft through the first bevel gear set, the transmission shaft 1 vertically penetrates the sleeve, and the bottom of the transmission shaft 1 extends into the gear box 1 and is transmission-connected with the second bevel gear set, and the second bevel gear set is transmission-connected with the walking wheel through the transmission shaft 2, the gear box 1 is fixed to the inner side of the rotating frame, the transmission shaft 2 transversely penetrates the bottom of the rotating frame, and the rotating frame and the transmission shaft 2 are rotationally connected through a bearing, the bottom end of the sleeve is fixedly connected to the rotating frame, the top of the sleeve extends into the transmission box, and the top of the sleeve is transmission-connected with the steering angle detection assembly and the steering control assembly, and the transmission box is fixed to the inside of the shell.

[0007] Preferably, the rotating frame is arranged at the bottom of the shell, and the top end of the running wheel is lower than the shell.

[0008] Preferably, a supporting ball is provided at the top of the rotating frame, and the top of the supporting ball is in contact with the bottom of the shell.

[0009] Preferably, the steering angle detection assembly includes gear one, gear two, transmission shaft three and an angle sensor, gear one and gear two are meshed with each other, gear one is sleeved on the outside of a sleeve, and gear one is transmission connected to the sleeve, gear two is transmission connected to the angle sensor through transmission shaft three, and the angle sensor is fixed to the outer wall of the transmission box.

[0010] Preferably, the steering control assembly includes a second gearbox, a driving bevel gear, a connecting shaft, a driven bevel gear, a fourth transmission shaft, a worm and a worm wheel. A driving bevel gear is provided on the inner rear side of the second gearbox, and the center of the driving bevel gear is transmission-connected to the connecting shaft. Driven bevel gears are provided on the left and right sides of the driving bevel gear, respectively, and the two driven bevel gears are respectively meshed with the driving bevel gear, and the centers of the two driven bevel gears are respectively transmission-connected to the worm through the fourth transmission shaft, and the front side of the worm is meshed with the worm wheel, the worm wheel is sleeved on the outside of the sleeve, and the worm wheel is transmission-connected to the sleeve, and the second gearbox is fixed to the inside of the outer casing.

[0011] Preferably, the driven bevel gears on the left and right sides of the driving bevel gear are arranged symmetrically, and the two worms connected to the outer sides of the two driven bevel gears are arranged with positive and negative teeth respectively.

[0012] A vehicle, wherein two groups of omnidirectional steering wheels are arranged and respectively installed at the front and rear sides of the bottom of the vehicle frame; an engine assembly is arranged at the inner middle part of the frame; the engine assembly is respectively connected to the differentials of the two omnidirectional steering wheels through a transmission shaft 5; the connecting shaft of the rear omnidirectional steering wheel is connected to the output shaft of the rear wheel steering drive motor; the connecting shaft of the front omnidirectional steering wheel is connected to the steering wheel in the cab through the transmission shaft assembly.

[0013] Preferably, the vehicle steering method comprises the following steps: Step 1: Control the steering wheel to rotate, and drive the connecting shaft of the front omnidirectional steering wheel to rotate through the transmission shaft assembly. The connecting shaft rotates through the driven bevel gear, transmission shaft 4 and worm to drive the worm wheel to rotate. The worm wheel drives the sleeve to rotate, and the sleeve drives the rotating frame and the running wheel to steer, and the running wheel rotates omnidirectionally. Step 2: Monitor the rotation angle of the sleeve through the steering angle detection component, monitor the steering angle of the front omnidirectional steering wheel, drive the connecting shaft of the rear omnidirectional steering wheel through the rear wheel steering drive motor, and drive the steering of the rear omnidirectional steering wheel.

[0014] The present invention has the following advantages: The present invention provides an omnidirectional rotating wheel and a vehicle equipped with the rotating wheel through improvement, which has the following improvements compared with similar devices: The omnidirectional rotating wheel and the vehicle equipped with the omnidirectional rotating wheel described in the present invention are provided with the omnidirectional rotating wheel, the running wheel is installed on the outer side of the rotating frame, the running wheel is connected with the driving shaft through the gear combination transmission shaft, the four running wheels of the two groups of omnidirectional rotating wheels at the bottom of the vehicle are synchronously driven by the engine assembly, and the steering of the rotating frame and the running wheels is controlled by the steering control assembly so that the running wheels can be omnidirectionally rotated, the steering control assembly of the front omnidirectional rotating wheel is connected with the steering wheel of the vehicle through the transmission shaft assembly, and when the vehicle turns during driving, the steering of the running wheel of the front omnidirectional rotating wheel is controlled by the steering wheel, which is convenient for steering control during driving of the vehicle. , and by setting a steering angle detection component to monitor the steering angles of the rotating frame and the running wheels, when the vehicle needs to be translated, the rear wheel steering drive motor is driven to steer the running wheels of the rear omnidirectional rotating wheels according to the monitoring steering angle of the running wheels of the front omnidirectional rotating wheels, so that the front running wheels and the rear running wheels remain parallel, and the running wheels can be driven to rotate, and the vehicle can be moved laterally or diagonally. By turning the front running wheels by 90 degrees and turning the rear running wheels by 90 degrees in the opposite direction, the driving directions of the front running wheels and the rear running wheels can be made opposite, and the vehicle can be turned around on the spot, thereby increasing the flexibility of the vehicle and facilitating movement and turning in a narrow space. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a schematic diagram of the internal structure of the present invention; Figure 3 It is a schematic diagram of the internal structure of the left steering wheel assembly of the present invention; Figure 4 It is a schematic diagram of the internal structure of the transmission box of the present invention; Figure 5 It is a schematic diagram of the structure of the rotating frame of the present invention; Figure 6 It is a schematic diagram of the structure of the steering angle detection component of the present invention; Figure 7 is a top view of the internal structure of the steering control assembly of the present invention; Figure 8 It is a left view of the vehicle internal structure of the present invention.

[0016] Among them: 1. housing; 2. differential; 3. drive shaft; 4. steering control assembly; 5. left steering wheel assembly; 6. right steering wheel assembly; 51. transmission box; 52. transmission shaft one; 53. first bevel gear set; 54. second bevel gear set; 55. transmission shaft two; 56. rotating frame; 57. walking wheel; 58. sleeve; 59. steering angle detection assembly; 510. gear box one; 591. gear one; 592. gear two; 593. transmission shaft three; 594. angle sensor; 41. gear box two; 42. active bevel gear; 43. connecting shaft; 44. driven bevel gear; 45. transmission shaft four; 46. worm; 47. worm wheel; b1. steering wheel; b2. frame; b3. engine assembly; b4. transmission shaft five; b5. rear wheel steering drive motor; b6. transmission shaft assembly; b7. cab. DETAILED DESCRIPTION

[0017] The following will be combined with the attached Figure 1-8 The present invention is described in detail, and the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] See also Figure 1-2 An omnidirectional rotating wheel and a vehicle equipped with the rotating wheel of the present invention include a housing 1, a differential 2, a drive shaft 3, a steering control assembly 4, a left steering wheel assembly 5 and a right steering wheel assembly 6, the left steering wheel assembly 5 and the right steering wheel assembly 6 are respectively installed on the left and right sides of the housing 1, the differential 2 is installed on the inner top of the housing 1, the left and right sides of the differential 2 are respectively connected to the left steering wheel assembly 5 and the right steering wheel assembly 6 through the drive shaft 3, the drive shaft 3 is used to drive the running wheels 57 of the left steering wheel assembly 5 and the right steering wheel assembly 6 to rotate, the steering control assembly 4 is installed on the inner bottom of the housing 1, the left and right sides of the steering control assembly 4 are respectively connected to the left steering wheel assembly 5 and the right steering wheel assembly 6, and the steering control assembly 4 is used to control the steering of the running wheels 57 of the left steering wheel assembly 5 and the right steering wheel assembly 6.

[0019] See also Figure 3-5The left steering wheel assembly 5 and the right steering wheel assembly 6 have the same structure, and the left steering wheel assembly 5 and the right steering wheel assembly 6 are symmetrically arranged. The left steering wheel assembly 5 includes a transmission box 51, a transmission shaft 1 52, a first bevel gear set 53, a second bevel gear set 54, a transmission shaft 2 55, a rotating frame 56, a walking wheel 57, a sleeve 58, a steering angle detection assembly 59 and a gear box 1 510. The top of the transmission shaft 1 52 extends into the transmission box 51, and the top of the transmission shaft 1 52 is transmission-connected to the drive shaft 3 through the first bevel gear set 53. The transmission shaft 1 52 vertically penetrates the sleeve 58, and the bottom of the transmission shaft 1 52 extends into the gear box 1 510 and is transmission-connected to the second bevel gear set 54, and the second bevel gear set 54 The transmission shaft 2 55 is connected to the walking wheel 57 through transmission connection, the gear box 1 510 is fixed to the inner side of the rotating frame 56, the transmission shaft 2 55 passes through the bottom of the rotating frame 56 horizontally, and the rotating frame 56 and the transmission shaft 2 55 are rotatably connected through a bearing, the bottom end of the sleeve 58 is fixedly connected to the rotating frame 56, the top of the sleeve 58 extends into the transmission box 51, and the top of the sleeve 58 is connected to the steering angle detection component 59 and the steering control component 4 through transmission connection, the sleeve 58 passes through the bottom end of the outer shell 1 and the transmission box 51, and the outer bottom of the sleeve 58 is rotatably connected to the outer shell 1 and the transmission box 51 respectively through bearings, so as to ensure the rotation accuracy of the sleeve 58 and increase the supporting effect of the sleeve 58, and the transmission box 51 is fixed to the inside of the outer shell 1.

[0020] The first bevel gear set 53 and the second bevel gear set 54 are both composed of two bevel gears, and the two bevel gears are meshed with each other at an angle of 90 degrees.

[0021] The rotating frame 56 is disposed at the bottom of the housing 1 , and the top of the running wheel 57 is lower than the housing 1 to prevent the housing 1 from affecting the steering of the running wheel 57 .

[0022] A supporting ball is disposed at the top of the rotating frame 56 , and the top of the supporting ball is in contact with the bottom of the housing 1 , thereby increasing the supporting and stabilizing effect between the rotating frame 56 and the housing 1 .

[0023] See also Figure 6 The steering angle detection component 59 includes a gear 1 591, a gear 2 592, a transmission shaft 3 593 and an angle sensor 594. The gear 1 591 and the gear 2 592 are meshed with each other. The gear 1 591 is sleeved on the outside of the sleeve 58, and the gear 1 591 is connected to the sleeve 58 through transmission. The gear 2 592 is connected to the angle sensor 594 through the transmission shaft 3 593, and the angle sensor 594 is fixed to the outer wall of the transmission box 51.

[0024] The angle sensor 594 uses the SST560 angle sensor model, which adopts the servo principle, is suitable for harsh environments, and has high precision and good dynamic characteristics.

[0025] See also Figure 7 The steering control assembly 4 includes a gearbox 41, a driving bevel gear 42, a connecting shaft 43, a driven bevel gear 44, a transmission shaft 45, a worm 46 and a worm wheel 47. The driving bevel gear 42 is arranged on the rear side of the gearbox 41. The center of the driving bevel gear 42 is connected to the connecting shaft 43. The left and right sides of the driving bevel gear 42 are respectively provided with driven bevel gears 44, and the two driven bevel gears 44 are respectively meshed with the driving bevel gear 42. The centers of the two driven bevel gears 44 are respectively connected to the worm 46 through the transmission shaft 45. The front side of the worm 46 is meshed with the worm wheel 47. The worm wheel 47 is sleeved on the outside of the sleeve 58, and the worm wheel 47 is connected to the sleeve 58. The gearbox 41 is fixed to the inside of the housing 1.

[0026] The driven bevel gears 44 on the left and right sides of the active bevel gear 42 are symmetrically arranged, and the two worm gears 46 connected to the outside of the two driven bevel gears 44 are respectively arranged with positive and negative teeth, so that the active bevel gear 42 drives the driven bevel gears 44 on the left and right sides to rotate in opposite directions. Through the positive and negative teeth arrangement of the two worm gears 46, the two worm gears 46 respectively drive the two worm wheels 47 to rotate at the same angle when they rotate.

[0027] See also Figure 8 A vehicle of the present invention has two groups of omnidirectional wheels, which are respectively installed on the front and rear sides of the bottom of a frame b2 of the vehicle. An engine assembly b3 is arranged in the middle of the inner side of the frame b2. The engine assembly b3 is respectively connected to the differentials 2 of the two omnidirectional steering wheels through a transmission shaft b4. The connecting shaft 43 of the rear omnidirectional steering wheel is connected to the output shaft of the rear wheel steering drive motor b5. The connecting shaft 43 of the front omnidirectional steering wheel is connected to the steering wheel b1 in the cab b7 through a transmission shaft assembly b6.

[0028] The rear wheel steering drive motor b5 adopts a JSMA-PUC02D servo motor with high control accuracy, ensuring the steering accuracy of the rear omnidirectional rotating wheel.

[0029] The vehicle's steering methods include: 1. When the vehicle is running, the engine assembly b3 drives the transmission shaft b4 to rotate, and the transmission shaft b4 drives the drive shaft 3 to rotate through the differential 2 of the omnidirectional wheels on the front and rear sides of the frame b2, respectively. The drive shaft 3 drives the transmission shaft 1 52 to rotate through the first bevel gear set 53, and the transmission shaft 1 52 drives the transmission shaft 2 55 and the running wheel 57 to rotate through the second bevel gear set 54, so that the four running wheels 57 of the omnidirectional wheels on the front and rear sides of the frame b2 rotate synchronously, so that the vehicle runs; 2. When the front running wheel 57 is turned during driving, the steering wheel b1 is controlled to rotate to drive the connecting shaft 43 of the front omnidirectional steering wheel to rotate through the transmission shaft assembly b6, and the connecting shaft 43 drives the active bevel gear 42 to rotate, and the active bevel gear 42 drives the driven bevel gears 44 on the left and right sides to rotate in opposite directions, and the driven bevel gear 44 drives the worm 46 to rotate through the transmission shaft 45, and the positive and negative teeth of the two worm gears 46 are set so that when the two worm gears 46 rotate, they respectively drive the two worm wheels 47 to rotate at the same angle, and the worm wheel 47 drives the sleeve 58 to rotate, and the sleeve 58 rotates to drive the rotating frame 56, the running wheel 57 and the gear box 1 510 to turn with the transmission shaft 1 52 as the center, and the running wheel 57 can rotate in all directions; 3. When the vehicle is moved obliquely or laterally, the steering frame 56, the running wheel 57 and the sleeve 58 of the front omnidirectional rotating wheel are controlled by rotating the steering wheel b1, and the sleeve 58 drives the gear 1 591 of the steering angle detection component 59 to rotate synchronously when the sleeve 58 rotates, and the gear 1 591 drives the gear 2 592 to rotate, and the rotation angle of the gear 2 592 is monitored by the angle sensor 594, and the steering angle of the running wheel 57 is calculated according to the rotation angle monitored by the angle sensor 594, and the rear wheel steering drive motor b5 is driven to control the steering of the running wheel 57 of the rear omnidirectional rotating wheel through the steering control component 4, and the steering angle of the rear running wheel 57 is controlled according to the monitoring of the steering angle of the running wheel 57 of the front omnidirectional rotating wheel, so that the front running wheel 57 and the rear running wheel 57 remain parallel, so that the running wheel 57 can be driven to rotate, and the vehicle is moved laterally or driven obliquely; 4. When the vehicle needs to be turned around, the front running wheel 57 is turned 90 degrees, and the rear running wheel 57 is turned 90 degrees in the opposite direction, so that the driving directions of the front running wheel 57 and the rear running wheel 57 are opposite. By driving the front running wheel 57 and the rear running wheel 57 to rotate, the vehicle can be turned around on the spot.

[0030] The above shows and describes the basic principle, main features and advantages of the present invention, and the standard parts used in the present invention can be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt the conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt the conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here.

[0031] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An omnidirectional wheel, characterized in that: The invention comprises a housing (1), a differential (2), a drive shaft (3), a steering control assembly (4), a left steering wheel assembly (5) and a right steering wheel assembly (6), wherein the left steering wheel assembly (5) and the right steering wheel assembly (6) are respectively mounted on the left and right sides of the housing (1), the differential (2) is mounted on the inner top of the housing (1), the left and right sides of the differential (2) are respectively connected to the left steering wheel assembly (5) and the right steering wheel assembly (6) through the drive shaft (3), the drive shaft (3) is used to drive the running wheels (57) of the left steering wheel assembly (5) and the right steering wheel assembly (6) to rotate, the steering control assembly (4) is mounted on the inner bottom of the housing (1), the left and right sides of the steering control assembly (4) are respectively connected to the left steering wheel assembly (5) and the right steering wheel assembly (6), and the steering control assembly (4) is used to control the steering of the running wheels (57) of the left steering wheel assembly (5) and the right steering wheel assembly (6).

2. The omnidirectional wheel according to claim 1, characterized in that: The left steering wheel assembly (5) and the right steering wheel assembly (6) have the same structure, and the left steering wheel assembly (5) and the right steering wheel assembly (6) are arranged symmetrically. The left steering wheel assembly (5) comprises a transmission box (51), a transmission shaft 1 (52), a first bevel gear set (53), a second bevel gear set (54), a transmission shaft 2 (55), a rotating frame (56), a walking wheel (57), a sleeve (58), a steering angle detection assembly (59) and a gear box 1 (510). The top of the transmission shaft 1 (52) extends into the transmission box (51), and the top of the transmission shaft 1 (52) is transmission-connected to the drive shaft (3) through the first bevel gear set (53). The transmission shaft 1 (52) vertically penetrates the sleeve (58), and the transmission shaft 1 The bottom of the gear box (52) extends into the gear box 1 (510) and is transmission-connected to the second bevel gear set (54), and the second bevel gear set (54) is transmission-connected to the walking wheel (57) through the transmission shaft 2 (55). The gear box 1 (510) is fixed to the inner side of the rotating frame (56), the transmission shaft 2 (55) passes through the bottom of the rotating frame (56) horizontally, and the rotating frame (56) and the transmission shaft 2 (55) are rotationally connected through a bearing. The bottom end of the sleeve (58) is fixedly connected to the rotating frame (56), the top of the sleeve (58) extends into the transmission box (51), and the top of the sleeve (58) is transmission-connected to the steering angle detection component (59) and the steering control component (4), and the transmission box (51) is fixed to the inside of the housing (1).

3. The omnidirectional wheel according to claim 2, characterized in that: The rotating frame (56) is arranged at the bottom of the outer shell (1), and the top end of the running wheel (57) is lower than the outer shell (1).

4. The omnidirectional wheel according to claim 2, characterized in that: A supporting ball is provided at the top of the rotating frame (56), and the top of the supporting ball is in contact with the bottom of the housing (1).

5. The omnidirectional wheel according to claim 2, characterized in that: The steering angle detection assembly (59) comprises a gear one (591), a gear two (592), a transmission shaft three (593) and an angle sensor (594); the gear one (591) and the gear two (592) are meshed with each other; the gear one (591) is sleeved on the outside of the sleeve (58), and the gear one (591) is transmission-connected to the sleeve (58); the gear two (592) is transmission-connected to the angle sensor (594) via the transmission shaft three (593); and the angle sensor (594) is fixed to the outer wall of the transmission box (51).

6. The omnidirectional wheel according to claim 1, characterized in that: The steering control assembly (4) comprises a second gearbox (41), a driving bevel gear (42), a connecting shaft (43), a driven bevel gear (44), a fourth transmission shaft (45), a worm (46) and a worm wheel (47). The driving bevel gear (42) is arranged at the rear side of the interior of the second gearbox (41). The center of the driving bevel gear (42) is transmission-connected to the connecting shaft (43). The left and right sides of the driving bevel gear (42) are respectively provided with driven bevel gears (44), and the two driven bevel gears (44) are respectively meshed with the driving bevel gear (42). The centers of the two driven bevel gears (44) are respectively transmission-connected to the worm (46) through the fourth transmission shaft (45). The front side of the worm (46) is meshed with the worm wheel (47). The worm wheel (47) is sleeved on the outside of a sleeve (58), and the worm wheel (47) is transmission-connected to the sleeve (58). The second gearbox (41) is fixed to the interior of the housing (1).

7. The omnidirectional wheel according to claim 6, characterized in that: The driven bevel gears (44) on the left and right sides of the driving bevel gear (42) are arranged symmetrically, and the two worm gears (46) connected to the outsides of the two driven bevel gears (44) are arranged with positive and negative teeth respectively.

8. A vehicle, the vehicle adopting an omnidirectional rotating wheel according to any one of claims 1 to 7, characterized in that: Two groups of omnidirectional steering wheels are provided, which are respectively installed at the front and rear sides of the bottom of the vehicle frame (b2); an engine assembly (b3) is provided in the middle of the inner side of the frame (b2); the engine assembly (b3) is respectively connected to the differentials (2) of the two omnidirectional steering wheels through a transmission shaft 5 (b4); the connecting shaft (43) of the rear omnidirectional steering wheel is connected to the output shaft of the rear wheel steering drive motor (b5); and the connecting shaft (43) of the front omnidirectional steering wheel is connected to the steering wheel (b1) in the cab (b7) through a transmission shaft assembly (b6).

9. A vehicle according to claim 8, characterized in that: The vehicle steering method comprises the following steps: Step 1: Control the steering wheel (b1) to rotate to drive the connecting shaft (43) of the front omnidirectional steering wheel to rotate through the transmission shaft assembly (b6); the connecting shaft (43) rotates through the driven bevel gear (44), the transmission shaft four (45) and the worm (46) to drive the worm wheel (47) to rotate; the worm wheel (47) drives the sleeve (58) to rotate; the sleeve (58) drives the rotating frame (56) and the running wheel (57) to turn, and the running wheel (57) rotates in all directions; Step 2: The steering angle of the sleeve (58) is monitored by the steering angle detection component (59), and the steering angle of the running wheel (57) of the front omnidirectional steering wheel is monitored. The connecting shaft (43) of the rear omnidirectional steering wheel is driven by the rear wheel steering drive motor (b5), so as to drive the running wheel (57) of the rear omnidirectional steering wheel to steer, and the steering of the running wheels (57) of the two sets of omnidirectional steering wheels is synchronously controlled.

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