Bidirectional transmission mechanism of competition robot

Abstract

The invention discloses a bidirectional transmission mechanism of a competition robot, and relates to the field of robot power transmission, the bidirectional transmission mechanism comprises a transmission mounting bottom plate, the transmission mounting bottom plate is rotatably connected with a rotating wheel, and the rotating wheel is rotatably connected with a transmission steering shaft through a bearing; the top end of the transmission steering shaft is rotationally connected to the transmission mounting top plate, the bottom end of the transmission steering shaft is connected with a first connecting bevel gear, the first connecting bevel gear is meshed with a second transmission bevel gear, and the second transmission bevel gear is connected with a steering connecting rotating shaft in a penetrating mode; the two ends of the steering connecting rotating shaft rotationally penetrate through the steering connecting base through bearings, the two ends of the steering connecting rotating shaft are connected with steering wheels correspondingly, and the steering connecting base is installed and connected to the bottom end face of the rotating wheel. By means of the bidirectional transmission mechanism, steering control can be conducted more quickly, sensitively and accurately when the competition robot conducts a competition, and therefore the competition robot can play better in the competition process.

Description

Technical Field

[0001] The invention relates to the field of robot power transmission, in particular to a bidirectional transmission mechanism of a competition robot. Background Art

[0002] Robotics competitions are an activity that showcases robot technology and innovation through competitions. Such competitions usually include robot design, programming, operation and other aspects, aiming to promote science and technology education and stimulate the creativity of participants.

[0003] Common types of robot competitions include: 1. Robot football: For example, the International Robot Football Federation (RoboCup), where teams design robots that can play football autonomously; 2. Robot fighting: Robots fight against each other in a closed arena, trying to defeat the opponent's robot; 3. Mobile robot competitions: such as First Robotics and VEX Robotics, where participants need to design robots that can complete specific tasks in a specific venue; 4. Drone competition: Participants control drones to perform tasks such as obstacle flight and aerial photography; 5. Educational competitions: such as the First LEGO League, which aims to solve problems through teamwork and innovation.

[0004] The purpose of organizing and participating in robot competitions is to enable participants to learn basic programming languages ​​and mechanical design knowledge; to encourage teamwork so that different members can give full play to their respective strengths, learn from each other and improve their knowledge and skills.

[0005] In robot competitions, achieving excellent results requires teamwork and the robot's agility. In existing competitions, such as mobile robot competitions, the robot's steering motion is generally controlled by one-way tires, and this transmission control method can easily cause the steering control to be not fast and sensitive enough during the competition, thus affecting the final result of the competition. Summary of the invention

[0006] The objective of the present invention is achieved through the following technical solutions: The bidirectional transmission mechanism of the competition robot comprises a transmission mounting base plate, the transmission mounting base plate is provided with a transmission hole, a rotating wheel is rotatably connected in the transmission hole, the rotating wheel is rotatably connected to a transmission steering shaft arranged for vertical rotation through a bearing, the top end of the transmission steering shaft is rotatably connected to the transmission mounting top plate, the bottom end of the transmission steering shaft is connected to a first connecting bevel gear, the first connecting bevel gear is meshed with a second transmission bevel gear, a steering connecting rotating shaft is passed through the second transmission bevel gear and connected, and the steering connecting rotating shaft is arranged vertically to the transmission steering shaft; Both ends of the steering connection shaft are rotatably passed through the steering connection seat through bearings, and the two ends are respectively connected to steering wheels, and the steering connection seat is rotatably installed and connected to the bottom end surface of the rotating wheel; The side of the transmission steering shaft away from the first connecting bevel gear is installed and connected to the first transmission driving structure for driving the transmission steering shaft to rotate; The rotating wheel is connected to a second transmission driving structure for driving the rotating wheel to rotate, and the second transmission driving structure drives two steering wheels connected to the steering connecting seat to steer.

[0007] Preferably, the transmission installation bottom plate is connected to the transmission installation top plate around by an adjustable connection structure; The first transmission drive structure and the second transmission drive structure can be movably arranged between the transmission installation bottom plate and the transmission installation top plate.

[0008] Preferably, the first transmission drive structure comprises a first transmission sprocket and a second transmission sprocket, the first transmission sprocket and the second transmission sprocket are arranged between a transmission mounting bottom plate and a transmission mounting top plate, and the first transmission sprocket and the second transmission sprocket are arranged in transmission connection.

[0009] Preferably, the first transmission sprocket is installed and connected to the side of the transmission steering shaft away from the first connecting bevel gear, the first transmission sprocket is connected to the second transmission sprocket through a transmission chain, the second transmission sprocket is connected to the sprocket transmission shaft, one end of the sprocket transmission shaft is rotatably connected to the transmission mounting base plate through a bearing, and the other end of the sprocket transmission shaft is rotatably connected to the transmission mounting top plate through a bearing.

[0010] Preferably, a first drive connection gear is connected to the side of the sprocket drive shaft close to the transmission mounting top plate, the first drive connection gear is meshed with a first drive connection pinion, the first drive connection pinion is connected to a first drive shaft, one end of the first drive shaft close to the transmission mounting top plate can be rotatably passed through the transmission mounting top plate through a bearing, and the end is connected to the output end of the first drive servo motor, and the first drive servo motor is fixedly connected to the transmission mounting top plate by bolts.

[0011] Preferably, the second transmission driving structure comprises a second transmission driving gear and a second transmission driving pinion, and the second transmission driving gear and the second transmission driving pinion are arranged between the transmission mounting bottom plate and the transmission mounting top plate; The second transmission driving gear is installed and connected to the rotating wheel, and the second transmission driving gear drives the steering connection seat connected to the bottom end surface of the rotating wheel to turn by rotating the rotating wheel; The second transmission driving large gear and the second transmission driving small gear are arranged in transmission meshing.

[0012] Preferably, a second connecting shaft is installed on the second transmission driving pinion, one end of the second connecting shaft is rotatably connected to the transmission mounting base plate through a bearing, and the other end of the second connecting shaft is rotatably connected to the transmission mounting top plate through a bearing.

[0013] Preferably, a second drive connection gear is connected to the side of the second connecting shaft close to the transmission mounting top plate, the second drive connection gear is meshed with a second drive connection pinion, the second drive connection pinion is connected to the second drive shaft, one end of the second drive shaft close to the transmission mounting top plate can be rotatably passed through the transmission mounting top plate through a bearing, and the end is connected to the output end of the second drive servo motor, and the second drive servo motor is fixedly connected to the transmission mounting top plate by bolts.

[0014] Preferably, the adjustable connection structures each include a connecting rod disposed through the center; One end of the connecting rod is provided with a bottom plate connecting bolt, one end of the bottom plate connecting bolt is connected with the inner wall bolt of the hollow cavity of the connecting rod, and the other end of the bottom plate connecting bolt is connected with the transmission installation bottom plate; The other end of the connecting rod is provided with a top plate connecting bolt, one end of the top plate connecting bolt is connected to the inner wall bolt of the hollow cavity of the connecting rod, and the other end of the top plate connecting bolt is connected to the transmission mounting top plate.

[0015] The beneficial effects of the present invention are as follows: the purpose of the present invention is to provide a bidirectional transmission mechanism for a competition robot, and the bidirectional transmission mechanism has undergone further design improvements under the original unidirectional transmission control structure; through the bidirectional transmission mechanism, the competition robot can perform steering adjustment control more quickly, sensitively and accurately during the competition, so that the competition robot can perform better during the competition and achieve better results in the competition. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall connection effect of the bidirectional transmission mechanism of the competition robot of the present invention; Figure 2 It is a schematic diagram of the connection structure of the bidirectional transmission mechanism of the competition robot of the present invention; Figure 3 It is an exploded schematic diagram of the connection structure of the bidirectional transmission mechanism of the competition robot of the present invention; Figure 4 It is a schematic diagram of the connection structure between the transmission installation bottom plate and the transmission installation top plate of the bidirectional transmission mechanism of the competition robot of the present invention; Figure 5 It is a schematic diagram of the first connecting bevel gear connection structure of the bidirectional transmission mechanism of the competition robot of the present invention; In the figure, 1-transmission mounting base plate, 2-rotating rotating wheel, 3-transmission steering shaft, 4-transmission mounting top plate, 5-steering connecting seat, 6-first drive servo motor, 7-second drive servo motor, 11-connecting rod, 21-second transmission driving gearwheel, 22-second transmission driving pinion, 23-second connecting shaft, 24-second drive connecting gearwheel, 25-second drive connecting pinion, 26-second drive rotating shaft, 31-first connecting bevel gear, 32-second transmission bevel gear, 33-steering connecting shaft, 51-steering wheel, 61-first transmission sprocket, 62-second transmission sprocket, 63-sprocket transmission shaft, 64-first drive connecting gearwheel, 65-first drive connecting pinion, 66-first drive rotating shaft. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0018] Example 1 like Figures 1 to 5 As shown, the bidirectional transmission mechanism of the competition robot is further improved in design under the original unidirectional transmission control structure. The bidirectional transmission mechanism includes a transmission mounting base plate 1, the transmission mounting base plate 1 is provided with a transmission hole, a rotating wheel 2 is rotatably connected in the transmission hole, the rotating wheel 2 is rotatably connected to a transmission steering shaft 3 arranged for vertical rotation through a bearing, the top of the transmission steering shaft 3 is rotatably connected to the transmission mounting top plate 4, the bottom end of the transmission steering shaft 3 is connected to a first connecting bevel gear 31, the first connecting bevel gear 31 is meshed with a second transmission bevel gear 32, the second transmission bevel gear 32 is penetrated and connected with a steering connecting shaft 33, and the steering connecting shaft 33 is arranged vertically with the transmission steering shaft 3.

[0019] At the same time, both ends of the steering connection shaft 33 can rotatably pass through the steering connection seat 5 through bearings, and the two ends are respectively connected to steering wheels 51, and the steering connection seat 5 is rotatably installed and connected to the bottom end surface of the rotating rotating wheel 2; the side of the transmission steering shaft 3 away from the first connecting bevel gear 31 is installed and connected to the first transmission drive structure for driving the transmission steering shaft 3 to rotate; the rotating rotating wheel 2 is connected to the second transmission drive structure for driving the rotating rotating wheel 2 to rotate, and the two steering wheels 51 connected to the steering connection seat 5 are driven to steer through the second transmission drive structure.

[0020] In the embodiment, the transmission mounting top plate 4 of the bidirectional transmission mechanism is installed and connected to the steering control position of the competition robot, and the steering adjustment of the competition robot is realized by the bidirectional transmission mechanism. In general, when it is necessary to control the robot by controlling the bidirectional transmission mechanism, the transmission steering shaft 3 is controlled to rotate by controlling the first transmission drive structure, and the transmission steering shaft 3 drives the second transmission bevel gear 32 that is in transmission meshing with the first connection bevel gear 31 at the other end to rotate, and the second transmission bevel gear 32 drives the steering connection shaft 33 installed and connected on the second transmission bevel gear 32 to rotate around the steering connection seat 5, thereby driving the steering wheels 51 connected at both ends of the steering connection shaft 33 to rotate, thereby driving the steering wheels 51 to roll on the ground. At the same time, the second transmission drive structure is controlled to drive the rotating rotating wheel 2 to rotate, and the steering connection seat 5 that is rotationally connected to the rotating rotating wheel 2 at the bottom end is driven to rotate by the rotating rotating wheel 2, thereby realizing the adjustment and control of the steering direction of the two steering wheels 51 through the steering connection seat 5. In this regard, the steering wheel 51 is rotated by controlling the first transmission drive structure, and the steering wheel 51 on the steering connecting seat 5 is driven to steer by rotating the second transmission drive structure, thereby realizing dual drive adjustment, which can make the steering control more rapid and sensitive, thereby improving the sensitivity of the robot during the competition.

[0021] Here, further explanation is needed. There is also a parallel embodiment, namely: the bidirectional transmission mechanism includes a transmission mounting base plate 1, the transmission mounting base plate 1 is provided with a transmission hole, a rotating wheel 2 is rotatably connected in the transmission hole, the rotating wheel 2 is rotatably connected to a vertically rotatable transmission steering shaft 3 through a bearing, the top end of the transmission steering shaft 3 is rotatably connected to the transmission mounting top plate 4, the bottom end of the transmission steering shaft 3 is connected to a first connecting bevel gear 31, the first connecting bevel gear 31 is meshed with a second transmission bevel gear 32, the second transmission bevel gear 32 is penetrated and connected with a steering connecting shaft 33, and the steering connecting shaft 33 is vertically arranged to the transmission steering shaft 3.

[0022] Example 2 On the basis of Example 1, the transmission mounting base plate 1 and the transmission mounting top plate 4 are connected on all sides by an adjustable connecting structure; the first transmission driving structure and the second transmission driving structure can be movably arranged between the transmission mounting base plate 1 and the transmission mounting top plate 4.

[0023] The first transmission drive structure includes a first transmission sprocket 61 and a second transmission sprocket 62, which are arranged between the transmission installation base plate 1 and the transmission installation top plate 4, and are transmission-connected with each other. The first transmission sprocket 61 is installed and connected to the side of the transmission steering shaft 3 away from the first connecting bevel gear 31, the first transmission sprocket 61 is transmission-connected with the second transmission sprocket 62 through a transmission chain, the second transmission sprocket 62 is connected to a sprocket transmission shaft 63, one end of the sprocket transmission shaft 63 is rotatably connected with the transmission installation base plate 1 through a bearing, and the other end of the sprocket transmission shaft 63 is rotatably connected with the transmission installation top plate 4 through a bearing. In addition, a first drive connection gearwheel 64 is connected to the side of the sprocket drive shaft 63 close to the transmission mounting top plate 4, the first drive connection gearwheel 64 is meshed with a first drive connection pinion 65, and the first drive connection pinion 65 is connected to a first drive shaft 66. One end of the first drive shaft 66 close to the transmission mounting top plate 4 can be rotatably passed through the transmission mounting top plate 4 through a bearing, and the end is connected to the output end of the first drive servo motor 6, and the first drive servo motor 6 is fixedly connected to the transmission mounting top plate 4 by bolts.

[0024] In the embodiment, the first drive servo motor 6 is electrically connected to the control system of the competition robot, and the start and stop of the first drive servo motor 6 is controlled by the control system. When it is necessary to control the steering wheel 51 to roll and drive the entire competition robot to "move" at the competition site; at this time, the control system controls the first drive servo motor 6 to start, and the first drive connection pinion 65 connected to the output end is driven to rotate by the first drive servo motor 6, and the first drive connection pinion 65 drives the first drive connection gear 64 meshed with it to rotate; the first drive connection gear 64 drives the second drive sprocket 62 connected to the same sprocket transmission shaft 63 to rotate, and the second drive sprocket 62 is connected to the first drive sprocket 61 through a transmission chain; therefore, the second drive sprocket 6 The first transmission sprocket 61 is driven to rotate through the transmission chain, and the first transmission sprocket 61 and the first connecting bevel gear 31 connected to the same transmission steering shaft 3 are driven to rotate through the first transmission sprocket 61. The rotation of the first connecting bevel gear 31 drives the second transmission bevel gear 32 meshed with the first connecting bevel gear 31 to rotate, and the second transmission bevel gear 32 drives the steering connecting shaft 33 connected to the second transmission bevel gear 32 and rotatably connected to the steering connecting seat 5 to rotate, thereby driving the steering wheels 51 connected at both ends to roll through the steering connecting shaft 33, and driving the entire competition robot to "move" at the competition site.

[0025] It should be noted here that the first drive connection pinion 65 is connected to the first drive shaft 66 by a retaining spring (a limited sliding groove is provided on the first drive shaft 66, and the first drive connection pinion 65 is provided with a convex body that slides and fits the limited sliding groove. After selecting and adjusting the first drive connection pinion 65, it can be limited by the retaining spring); and the first drive connection gear 64 and the second transmission sprocket 62 are also connected to the sprocket transmission shaft 63 by retaining springs respectively; and the first transmission sprocket 61 is also connected to the transmission steering shaft 3 by a retaining spring (their implementation is the same as the first drive shaft 66 and the first drive connection pinion 65, and no further details are given here). Detailed description); in this way, the "tooth ratio" of the meshing transmission of the first drive connecting pinion 65, the first drive connecting gear 64, the second transmission sprocket 62, and the first transmission sprocket 61, as well as the relative height ratio therebetween can be adjusted according to actual conditions, so as to realize the control of the number of revolutions of the steering wheel 51; reasonable design adjustments can be made according to the requirements of the competition; and the rolling control of the steering wheel 51 can be realized by using "sprocket transmission" in combination with a set of gear transmission, so that it can play a role of one of the unidirectional transmission controls in the entire bidirectional transmission mechanism, without affecting the rolling control of the steering wheel 51, and without affecting the other unidirectional transmission control (controlling the steering of the steering wheel 51).

[0026] Example 3 The second transmission drive structure of the arrangement includes a second transmission drive gearwheel 21 and a second transmission drive pinion 22, and the second transmission drive gearwheel 21 and the second transmission drive pinion 22 are arranged between the transmission mounting base plate 1 and the transmission mounting top plate 4; the second transmission drive gearwheel 21 is installed and connected to the rotating rotating wheel 2, and the second transmission drive gearwheel 21 drives the steering connecting seat 5 connected to the bottom end surface of the rotating rotating wheel 2 to turn by rotating the rotating rotating wheel 2 (the steering connecting seat 5 is rotatably connected with a steering wheel 51, which can drive the steering wheel 51 to turn); the second transmission drive gearwheel 21 and the second transmission drive pinion 22 are arranged in transmission meshing.

[0027] Furthermore, a second connecting shaft 23 is installed and connected on the second transmission driving pinion 22, one end of the second connecting shaft 23 is rotatably connected to the transmission mounting bottom plate 1 through a bearing, and the other end of the second connecting shaft 23 is rotatably connected to the transmission mounting top plate 4 through a bearing. A second driving connecting large gear 24 is connected to the second connecting shaft 23 on the side close to the transmission mounting top plate 4, and a second driving connecting large gear 25 is meshed with the second driving connecting small gear 25, and a second driving connecting shaft 26 is connected to the second driving connecting small gear 25, and one end of the second driving shaft 26 close to the transmission mounting top plate 4 rotatably passes through the transmission mounting top plate 4 through a bearing, and the end is connected to the output end of the second driving servo motor 7, and the second driving servo motor 7 is fixedly connected to the transmission mounting top plate 4 by bolts.

[0028] In the embodiment, the second drive servo motor 7 is electrically connected to the control system of the competition robot, and the control system is used to control the start and stop of the second drive servo motor 7. When it is necessary to control the steering wheel 51 to achieve rapid steering while rolling, the control system at this time controls the second drive servo motor 7 to start, and the second drive servo motor 7 drives the second drive shaft 26 connected to the output end to rotate, drives the second drive connection pinion 25 connected to the second drive shaft 26 to rotate, and drives the second drive connection gear 24 meshed with it to rotate through the second drive connection pinion 25; the second drive connection gear 24 drives the second transmission drive pinion 22 connected to the same second connection shaft 23 to rotate, and the second transmission drive pinion 22 drives the second transmission drive gear 21 meshed with it to rotate, and the second transmission drive gear 21 is connected to the rotating wheel 2, and the second transmission drive gear 21 rotates, driving the steering connection seat 5 connected to the bottom end surface of the rotating wheel 2 to turn, so as to achieve rapid steering of the steering wheel 51 connected to the steering connection seat 5 while rolling.

[0029] It should also be noted here that the second transmission drive pinion 22 is connected to the second connecting shaft 23 by a retaining spring, and the second drive connection gear 24 is also connected to the second connecting shaft 23 by a retaining spring (a limited sliding groove is provided on the second connecting shaft 23, and the second transmission drive pinion 22 and the second drive connection gear 24 are provided with a convex body that is slidably adapted to the limited sliding groove. After selecting and adjusting the second transmission drive pinion 22 and the second drive connection gear 24, the second transmission drive pinion 22 and the second drive connection gear 24 can be limited by the retaining spring respectively); in addition, the second drive connection gear 24 and the second drive shaft 26 are also connected to the second drive shaft 26 by a retaining spring respectively (this implementation is different from the second transmission drive pinion 22, the second drive connection gear 24 and the second connecting shaft 2 3, no further detailed description is given here); in this way, the "tooth ratio" of the meshing transmission between the second transmission driving pinion 22, the second drive connecting gear 24, and the second drive connecting gear 24, as well as the relative height ratio therebetween can be adjusted according to actual conditions, so as to realize the steering "speed" of the steering connecting seat 5, that is, to realize the steering "speed" of the steering wheel 51; according to the requirements of the competition, reasonable design adjustments are made; and by using the "gear ratio" method, the steering sensitivity of the steering wheel 51 is controlled, so that it can play a role in the one-way transmission control in the entire two-way transmission mechanism, and cooperate with the "steering wheel 51 rolling adjustment" in Example 2, the transmission mechanism realizes two-way transmission control, thereby ensuring that when the competition robot competes, the steering adjustment control is faster, more sensitive and more accurate.

[0030] Here, further explanation is needed. There is also a parallel embodiment, namely: the bidirectional transmission mechanism includes a transmission mounting base plate 1, the transmission mounting base plate 1 is provided with a transmission hole, a rotating rotating wheel 2 is rotatably connected in the transmission hole, a transmission steering shaft 3 is arranged at the top of the rotating rotating wheel 2, one end of the transmission steering shaft 3 is rotatably connected to the transmission mounting top plate 4 through a bearing, the other end of the transmission steering shaft 3 is rotatably inserted into the rotating rotating wheel 2 through a bearing, and the transmission steering shaft 3 is placed at one end of the rotating rotating wheel 2 and is connected to a transmission connection steering shaft through a universal shaft coupling, and the other end of the transmission connection steering shaft is rotatably connected from the rotating rotating wheel through a bearing. 2 is passed through and connected to the end of the transmission steering shaft 3, and the first connection bevel gear 31 is meshed with the second transmission bevel gear 32, and the second transmission bevel gear 32 is penetrated and connected with a steering connection rotating shaft 33, and the steering connection rotating shaft 33 is arranged perpendicular to the transmission connection steering shaft; at the same time, the steering connection rotating shaft 33 is connected with a linkage gear for driving the steering wheel 51 to rotate, and the linkage gear is meshed with a linkage driving gear, and the driving gear is connected to a side wall of the steering wheel 51; and the driving gear is connected to the steering wheel 51 on the steering drive rotating shaft, and the steering drive rotating shaft is rotatably connected to the steering connection seat 5 through a bearing. Through this embodiment, the original one transmission steering shaft 3 is changed into a structural form of two transmission steering shafts 3, and the two transmission steering shafts 3 are placed at the joint end of the rotating rotating wheel 2 and connected to the "transmission connection" through a universal shaft coupling, and under the action of the rotation limit of the rotating rotating wheel 2, the first connection bevel gear 31 can be flexibly driven to rotate, and the steering wheel 51 can be driven to rotate and roll, and finally the purpose of flexible and rapid steering control can be achieved.

[0031] Example 4 The adjustable connection structure for connecting the transmission installation base plate 1 and the transmission installation top plate 4 includes a connecting rod 11 that is arranged through the center; a base plate connecting bolt is arranged at one end of the connecting rod 11, one end of the base plate connecting bolt is connected to the inner wall of the hollow cavity of the connecting rod 11, and the other end of the base plate connecting bolt is connected to the transmission installation base plate 1; a top plate connecting bolt is arranged at the other end of the connecting rod 11, one end of the top plate connecting bolt is connected to the inner wall of the hollow cavity of the connecting rod 11, and the other end of the top plate connecting bolt is connected to the transmission installation top plate 4. In this way, according to the shape and size of each selected "gear" (each gear in the above-mentioned embodiment 1, embodiment 2, and embodiment 3), the distance and height between the connecting rod 11 and the transmission installation base plate 1 and the transmission installation top plate 4 can be adjusted, so that each connection structure set between the transmission installation base plate 1 and the transmission installation top plate 4 can be made more compact and reliable, thereby improving the transmission sensitivity between them. In this regard, the bidirectional transmission mechanism can be used to more quickly, sensitively and accurately control the steering adjustment when the competition robot is competing, so that the competition robot can perform better during the competition and achieve better results in the competition.

Claims

1. The bidirectional transmission mechanism of the competition robot is characterized by: It comprises a transmission mounting base plate, the transmission mounting base plate is provided with a transmission hole, a rotating wheel is rotatably connected in the transmission hole, the rotating wheel is rotatably connected to a transmission steering shaft arranged for vertical rotation through a bearing, the top end of the transmission steering shaft is rotatably connected to the transmission mounting top plate, the bottom end of the transmission steering shaft is connected to a first connecting bevel gear, the first connecting bevel gear is meshed with a second transmission bevel gear, a steering connecting rotating shaft is passed through the second transmission bevel gear and connected, and the steering connecting rotating shaft is arranged vertically to the transmission steering shaft; Both ends of the steering connection shaft are rotatably passed through the steering connection seat through bearings, and the two ends are respectively connected to steering wheels, and the steering connection seat is rotatably installed and connected to the bottom end surface of the rotating wheel; The side of the transmission steering shaft away from the first connecting bevel gear is installed and connected to the first transmission driving structure for driving the transmission steering shaft to rotate; The rotating wheel is connected to a second transmission driving structure for driving the rotating wheel to rotate, and the second transmission driving structure drives two steering wheels connected to the steering connecting seat to steer.

2. The bidirectional transmission mechanism of the competition robot according to claim 1, characterized in that: The transmission installation bottom plate and the transmission installation top plate are connected around each other via an adjustable connection structure; The first transmission drive structure and the second transmission drive structure can be movably arranged between the transmission installation bottom plate and the transmission installation top plate.

3. The bidirectional transmission mechanism of the competition robot according to claim 2, characterized in that: The first transmission drive structure comprises a first transmission sprocket and a second transmission sprocket. The first transmission sprocket and the second transmission sprocket are arranged between a transmission mounting bottom plate and a transmission mounting top plate. The first transmission sprocket and the second transmission sprocket are arranged in transmission connection.

4. The bidirectional transmission mechanism of the competition robot according to claim 3, characterized in that: The first transmission sprocket is installed and connected to a side of the transmission steering shaft away from the first connecting bevel gear. The first transmission sprocket is connected to the second transmission sprocket through a transmission chain. The second transmission sprocket is connected to the sprocket transmission shaft. One end of the sprocket transmission shaft is rotatably connected to the transmission mounting bottom plate through a bearing, and the other end of the sprocket transmission shaft is rotatably connected to the transmission mounting top plate through a bearing.

5. The bidirectional transmission mechanism of the competition robot according to claim 4, characterized in that: A first drive connection gear is connected to the side of the sprocket drive shaft close to the transmission mounting top plate, the first drive connection gear is meshed with a first drive connection pinion, the first drive connection pinion is connected to a first drive shaft, one end of the first drive shaft close to the transmission mounting top plate can be rotatably passed through the transmission mounting top plate through a bearing, and the end is connected to the output end of the first drive servo motor, and the first drive servo motor is fixedly connected to the transmission mounting top plate by bolts.

6. The bidirectional transmission mechanism of the competition robot according to claim 5, characterized in that: The second transmission driving structure comprises a second transmission driving gear and a second transmission driving pinion, and the second transmission driving gear and the second transmission driving pinion are arranged between the transmission mounting bottom plate and the transmission mounting top plate; The second transmission driving gear is installed and connected to the rotating wheel, and the second transmission driving gear drives the steering connection seat connected to the bottom end surface of the rotating wheel to turn by rotating the rotating wheel; The second transmission driving large gear and the second transmission driving small gear are arranged in transmission meshing.

7. The bidirectional transmission mechanism of the competition robot according to claim 6, characterized in that: A second connecting shaft is installed on the second transmission driving pinion, one end of the second connecting shaft is rotatably connected to the transmission mounting base plate through a bearing, and the other end of the second connecting shaft is rotatably connected to the transmission mounting top plate through a bearing.

8. The bidirectional transmission mechanism of the competition robot according to claim 7, characterized in that: A second drive connection gear is connected to the side of the second connection shaft close to the transmission mounting top plate, the second drive connection gear is meshed with a second drive connection pinion, the second drive connection pinion is connected to the second drive shaft, one end of the second drive shaft close to the transmission mounting top plate can be rotatably passed through the transmission mounting top plate through a bearing, and the end is connected to the output end of the second drive servo motor, and the second drive servo motor is fixedly connected to the transmission mounting top plate by bolts.

9. The bidirectional transmission mechanism of the competition robot according to claim 2, characterized in that: The adjustable connection structures all include a connecting rod disposed through the center; One end of the connecting rod is provided with a bottom plate connecting bolt, one end of the bottom plate connecting bolt is connected with the inner wall bolt of the hollow cavity of the connecting rod, and the other end of the bottom plate connecting bolt is connected with the transmission installation bottom plate; The other end of the connecting rod is provided with a top plate connecting bolt, one end of the top plate connecting bolt is connected to the inner wall bolt of the hollow cavity of the connecting rod, and the other end of the top plate connecting bolt is connected to the transmission mounting top plate.

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