Steering wheel module and robot chassis

Abstract

The invention belongs to the technical field of robots, and discloses a steering wheel module and a robot chassis. The steering wheel module comprises a base, a driving support, a driving wheel, a driving motor and a conductive assembly, the driving support is rotationally connected to the bottom of the base, the driving wheel is rotationally connected to the driving support, the driving motor is connected to the driving support and can drive the driving wheel to rotate, and the conductive assembly comprises a first conductive part and a second conductive part. The first conductive piece is connected with the base and is electrically connected with the power supply; the second conductive part is connected with the driving support, the second conductive part can rotate relative to the first conductive part, the second conductive part can abut against the first conductive part when rotating so that continuous conduction can be achieved, and the second conductive part is electrically connected with the driving motor. By arranging the conductive assembly, the robot chassis has the beneficial effects of releasing the chassis space, protecting the conductive component and increasing the steering angle, the service life of the robot chassis is finally prolonged, and the performance of the robot chassis is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a steering wheel module and a robot chassis. Background Art

[0002] The mobile robot chassis is the basis for the robot to achieve autonomous movement. According to different drive modes, the robot chassis can be divided into many types, such as differential drive, Mecanum wheel drive and steering wheel drive. Among them, steering wheel drive has been widely used in warehousing logistics, service robots and other fields because of its flexible motion performance, such as turning on the spot and lateral movement.

[0003] The steering wheel module is the core component of the robot chassis. It integrates a drive motor and a steering motor, which respectively control the rotation and steering of the wheels, so that the robot chassis can achieve walking, traction and steering functions, so that the robot can move flexibly in various complex environments. The existing steering wheel module usually includes a base, a drive bracket and a drive wheel. The drive bracket is rotatably arranged at the bottom of the base through a slewing mechanism (such as a bearing). The drive wheel is also rotatably arranged on the drive bracket with a similar structure. The rotation of the drive bracket is driven by the steering motor, and the rotation of the drive wheel is driven by the drive motor.

[0004] The above-mentioned existing steering wheel module has some deficiencies in electrical connection. Since the drive motor needs to be wired and powered from the power supply on the base, the general practice is to directly arrange the power supply harness outside the drive bracket. In order to ensure that the drive bracket can rotate freely, the harness needs to reserve a certain length to form a redundant part. Such wiring arrangement has the following defects:

[0005] First, when the drive bracket rotates, the wire harness will be subjected to tension and thrust, causing the redundant part of the wire harness to deform. Therefore, it is necessary to reserve a certain deformation space for the redundant part of the wire harness on the chassis to prevent the wire harness from scratching other components, resulting in the steering wheel module occupying more chassis space, which undoubtedly increases the overall size of the chassis and is not conducive to the compact design of the robot chassis.

[0006] Secondly, when the driving bracket is turning at a large angle, the redundant wiring harness is prone to entanglement and excessive bending, which limits the steering angle of the driving bracket and also affects the movement flexibility of the robot;

[0007] In addition, during the frequent rotation of the drive bracket, the wiring harness is always in a state of stress and deformation. Over time, repeated stretching and bending will cause fatigue and breakage of the wires inside the wiring harness, thereby shortening the service life of the wiring harness and increasing maintenance costs. Summary of the invention

[0008] The purpose of the present invention is to provide a steering wheel module and a robot chassis, which can reduce the encroachment of the steering wheel module on the robot chassis space by optimizing the power supply structure of the drive motor, and at the same time remove the restriction of the original wiring harness on the steering angle of the drive bracket, thereby increasing the rotation angle of the drive bracket.

[0009] To achieve this object, the present invention adopts the following technical solutions:

[0010] The steering wheel module comprises a base, a driving bracket, a driving wheel and a driving motor, wherein the driving bracket is rotatably connected to the bottom of the base, the driving wheel is rotatably connected to the driving bracket, the driving motor is connected to the driving bracket and can drive the driving wheel to rotate, and the steering wheel module further comprises a conductive component, which comprises:

[0011] A first conductive member, the first conductive member is connected to the base, and the first conductive member is electrically connected to a power source; and

[0012] The second conductive member is connected to the driving bracket, the second conductive member abuts against the first conductive member, the second conductive member can rotate relative to the first conductive member and is continuously conductive with the first conductive member when the second conductive member rotates, and the second conductive member is electrically connected to the driving motor.

[0013] Preferably, the conductive component further comprises:

[0014] a first slip ring, the first slip ring is connected to the base, the first conductive member is connected to the first slip ring; and,

[0015] A second slip ring is connected to the driving bracket, the second slip ring is spaced apart from the first slip ring, and the second conductive member is connected to the second slip ring.

[0016] Preferably, the first slip ring and the second slip ring are both made of insulating material.

[0017] Preferably, the first conductive member is a conductive sheet;

[0018] The second conductive member is an annular conductive track, and the axis of the conductive track coincides with the rotation axis of the driving bracket, and the conductive sheet is slidably matched with the conductive track.

[0019] Preferably, the conductive sheet is elastic.

[0020] Preferably, a driving cavity is opened at the bottom of the base, a connecting ring is connected to the top of the driving bracket, the connecting ring is placed inside the driving cavity, the conductive component is located on the top of the connecting ring, and the outer ring of the connecting ring is sealed with the side wall of the driving cavity.

[0021] Preferably, the driving bracket comprises:

[0022] A connecting seat, the connecting seat is rotatably connected to the base;

[0023] Side plates, two of which are spaced apart along a rotation axis perpendicular to the connecting seat, and the driving wheel and the driving motor are both located between the two side plates.

[0024] Preferably, the second conductive member is connected to the driving motor via a second wire, and a wire groove for accommodating the second wire is provided on the driving bracket.

[0025] Preferably, a sealing cover is connected to the opening of the wire trough.

[0026] The robot chassis comprises a chassis body and a steering wheel module, wherein the steering wheel module is arranged at the bottom of the chassis body.

[0027] Beneficial effects of the present invention:

[0028] The steering wheel module of the present invention provides a conductive component, connects the first conductive part to the power supply, rotates and abuts the second conductive part to the first conductive part, and connects the second conductive part to the drive motor to supply power to the drive motor, thereby replacing the original wiring harness. The present invention has the following beneficial effects:

[0029] 1. Release chassis space: The conductive component electrically connected to the first conductive member and the power supply can be fixed on the base, and the conductive component electrically connected to the second conductive member and the drive motor can be fixed on the drive bracket. Therefore, the conductive component does not need to be deformed, that is, there is no need to reserve redundant parts for deformation, thereby saving the deformation space originally reserved for the wiring harness, releasing the space on the chassis that was originally occupied too much, and making it convenient to arrange other components on the chassis;

[0030] 2. Protect the conductive parts: The conductive parts electrically connected to the first conductive part and the power supply can be close to the base or penetrated inside the base, and the conductive parts electrically connected to the second conductive part and the drive motor can be close to the drive bracket or penetrated inside the drive bracket, and the second conductive part and the first conductive part are also located at the connection between the base and the drive bracket, so the above conductive parts are not easy to contact with other parts, avoiding the risk of scratching with other parts;

[0031] 3. Increase the steering angle: The conductive component electrically connected to the power supply of the first conductive member can be fixed on the base, and the conductive component electrically connected to the drive motor of the second conductive member can be fixed on the drive bracket. There is no risk of wiring harness entanglement and excessive bending, so that the drive bracket can be rotated to any angle, that is, the drive bracket can be continuously rotated 360° for multiple circles to quickly respond to the steering needs of the robot chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is one of the structural schematic diagrams of the steering wheel module of the present invention;

[0033] Figure 2 This is the second structural schematic diagram of the steering wheel module of the present invention;

[0034] Figure 3 It is a structural schematic diagram of the base and the connecting seat of the present invention;

[0035] Figure 4 yes Figure 3 Sectional view along AA direction;

[0036] Figure 5 is a cross-sectional view of the conductive sheet and the conductive track of the present invention along the radial direction of the conductive track;

[0037] Figure 6 is a schematic diagram of the installation structure of the first slip ring of the present invention;

[0038] Figure 7 is a schematic diagram of the installation structure of the second slip ring of the present invention;

[0039] Figure 8 yes Figure 7 A partial enlarged view of point B in the middle.

[0040] In the figure:

[0041] 1. Base; 11. Driving chamber; 12. Threading hole; 13. Bearing; 14. Boss; 15. Correction plate;

[0042] 2. Driving bracket; 21. Connecting seat; 211. Connecting ring; 2111. Limiting block; 22. Side plate; 23. Wire trough; 24. Sealing cover;

[0043] 3. Steering motor; 31. Output shaft;

[0044] 4. driving wheel; 41. wheel hub; 42. tire;

[0045] 5. Drive motor;

[0046] 6. Conductive component; 61. First conductive member; 62. Second conductive member; 63. First slip ring; 64. Second slip ring; 641. Notch. DETAILED DESCRIPTION

[0047] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0048] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0050] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0051] Refer to the following Figures 1 to 8 The steering wheel module and the robot chassis provided by the present invention are described.

[0052] The robot chassis includes a chassis body and a steering wheel module, and the steering wheel module is connected to the bottom of the chassis body. The steering wheel module is designed to enable the robot chassis to achieve walking, traction and steering functions, so that the robot can move flexibly in various complex environments.

[0053] The existing steering wheel module has the problems of occupying a large chassis area, being unable to rotate continuously for multiple circles and having a short lifespan. In order to solve the above problems, this embodiment further provides a steering wheel module. For the specific structure of the steering wheel module, please refer to the following content of this embodiment.

[0054] Reference Figure 1 and Figure 2The steering wheel module includes a base 1, a driving bracket 2, a steering motor 3, a driving wheel 4 and a driving motor 5. The driving bracket 2 is rotatably connected to the bottom of the base 1, the driving wheel 4 is rotatably connected to the driving bracket 2, the steering motor 3 is connected to the base 1 and can drive the driving bracket 2 to rotate, and the driving motor 5 is connected to the driving bracket 2 and can drive the driving wheel 4 to rotate.

[0055] Specifically, the steering motor 3 is located at the top of the base 1, and the output shaft of the steering motor 3 is vertically arranged. The output shaft of the steering motor 3 is detachably connected to the top of the driving bracket 2, so that when the output shaft of the steering motor 3 rotates, the driving bracket 2 is driven to rotate synchronously with the vertical direction as the axis, so that the responsiveness and accuracy of the rotation of the driving bracket 2 can be improved, and the driving bracket 2 can complete the steering action within 100ms (0.1s). Optionally, in some other embodiments, the output shaft of the steering motor 3 can also be tilted to a certain extent. In addition, the steering motor 3 is vertically placed on the top of the base 1 and does not protrude from the periphery of the base 1, so as not to occupy the space on the chassis body except the base 1, which is helpful to arrange other components on the chassis body.

[0056] Furthermore, the driving bracket 2 includes a connecting seat 21 and a side plate 22. The connecting seat 21 is rotatably connected to the base 1, and the connecting seat 21 is detachably connected to the output shaft 31 of the steering motor 3. The detachable connection method in this embodiment is a bolt connection. It should be noted that, except for special instructions in the following content, the detachable connection method is a bolt connection.

[0057] Two side plates 22 are arranged at intervals along the rotation axis perpendicular to the connecting seat 21, and the driving wheel 4 and the driving motor 5 are both located between the two side plates 22. Specifically, the two side plates 22 are arranged vertically, and the connecting seat 21 is detachably connected and located between the two side plates 22. The driving wheel 4 in this embodiment includes a wheel hub 41 and a tire 42 sleeved on the outside of the wheel hub 41. The driving motor 5 in this embodiment is a hub motor. The driving motor 5 is located in the wheel hub 41 of the driving wheel 4. The stator of the hub motor is fixedly connected to one of the side plates 22, and the rotor of the hub motor is detachably connected to the wheel hub 41, thereby reducing the space occupied by the driving motor 5 in the axial direction of the driving wheel 4, and reserving more space on the chassis body.

[0058] Reference Figure 3 and Figure 4In addition, a driving cavity 11 is provided at the bottom of the base 1 in the vertical direction, and a connecting ring 211 is connected to the top of the connecting seat 21. The connecting ring 211 is placed inside the driving cavity 11, and the outer ring of the connecting ring 211 is sealed with the side wall of the driving cavity 11. In this embodiment, a bearing 13 is connected between the outer ring of the connecting ring 211 and the side wall of the driving cavity 11, and the inner ring of the bearing 13 is interference-fitted with the outer ring of the connecting ring 211, and the outer ring of the bearing 13 is interference-fitted with the side wall of the driving cavity 11. Thus, the driving bracket 2 is supported and guided by the bearing 13, so that the driving bracket 2 rotates more smoothly, and the bearing 13 also seals the driving cavity 11 to prevent dust and impurities from entering the driving cavity 11.

[0059] Furthermore, one side of the base 1 close to the side plate 22 is flush with the side plate 22, and a correction plate 15 is detachably connected between the base 1 and the side plate 22. Fixing the correction plate 15 can make the base 1 flush with the driving bracket 2, and at this time the initial position of the driving bracket 2 is calibrated.

[0060] Reference Figure 4 and Figure 5 In order to supply power to the drive motor 5 and receive and send control signals, the steering wheel module also includes a conductive component 6, which is located between the bottom wall of the drive cavity 11 (i.e., the inner wall of the drive cavity 11 away from its opening) and the top of the connecting ring 211. In this embodiment, four conductive components 6 are provided, two of which are used to connect the power supply and the drive motor 5 to form a conductive loop; the remaining two conductive components 6 are used to connect the controller of the robot chassis and the control module of the drive motor 5 to receive and send control signals.

[0061] Specifically, each conductive component 6 includes a first conductive member 61 and a second conductive member 62. The first conductive member 61 is connected to the base 1 and is electrically connected to the power supply. The second conductive member 62 is connected to the drive bracket 2 and abuts against the first conductive member 61. The second conductive member 62 can rotate relative to the first conductive member 61 and the second conductive member 62 and the first conductive member 61 can continuously conduct electricity. The second conductive member 62 is electrically connected to the drive motor 5. In this embodiment, in the conductive component 6 for power supply, the first conductive member 61 is electrically connected to the power supply through the first wire, and the second conductive member 62 is electrically connected to the drive motor 5 through the second wire, so as to realize power supply to the drive motor 5. In the conductive component 6 for sending and receiving control signals, the first conductive member 61 is electrically connected to the controller of the robot chassis through the first wire. In some other embodiments, the first wire and the second wire can also be replaced by other conductive components.

[0062] Optionally, in some other embodiments, only one conductive component 6 for supplying power to the drive motor 5 may be provided, that is, power is supplied to the positive electrode of the drive motor 5 alone, and the negative electrode of the drive motor 5 may form a conductive loop by grounding, and the start and stop control of the drive motor 5 is directly achieved by controlling the passage and disconnection of the power line. In some other embodiments, only two conductive components 6 for connecting the power supply and the drive motor 5 may be provided. In summary, the specific number of conductive components 6 can be selected and arranged according to actual needs.

[0063] Through the above arrangement, the first wire, the first conductive member 61, the second conductive member 62, and the second wire are sequentially arranged to replace the original wiring harness to supply power to the drive motor 5. Since the first wire and the second wire are close to each other and conduct electricity through the first conductive member 61 and the second conductive member 62 that can move relatively, the first wire and the second wire can be fixed without reserving extra length.

[0064] From the above, firstly, the deformation space reserved for the wiring harness can be saved to release the space at the bottom of the chassis body, making the steering wheel module more compact. Secondly, the first wire can be close to the base 1 or pass through the inside of the base 1, and the second wire can be close to the drive bracket 2 or pass through the inside of the drive bracket 2, and the first wire and the second wire will not be deformed frequently, so that the first wire and the second wire are not easy to be scratched with other parts, which prolongs the service life of the first wire and the second wire; in addition, the first conductive member 61 and the second conductive member 62 are still in the relatively sealed drive cavity 11, so as to protect the first conductive member 61 and the second conductive member 62, and also improve the service life of the first conductive member 61 and the second conductive member 62, and prevent the first conductive member 61 and the second conductive member 62 from excessive wear due to excessive dust. Furthermore, after the first conductive member and the second conductive member are fixed, the rotation of the drive bracket 2 will not be disturbed, and the drive bracket 2 can be rotated a full circle, that is, 360° multiple circles can be rotated continuously to quickly respond to the steering requirements of the robot chassis.

[0065] Specifically in this embodiment, the first conductive member 61 is a conductive sheet, the second conductive member 62 is a ring-shaped conductive track, and the axis of the conductive track coincides with the rotation axis of the driving bracket 2, and the conductive sheet and the conductive track are slidably matched. All the conductive tracks in the four conductive components 6 of this embodiment are coaxially arranged and distributed in sequence along the radial direction of the conductive track. Optionally, in some other embodiments, the installation positions of the conductive sheet and the conductive track can also be swapped.

[0066] Furthermore, the conductive sheet in this embodiment is elastic, and is formed by bending an elastic gold-plated steel sheet to form a roughly Z-shape (refer to Figure 5), the elasticity of the conductive sheet enables the conductive sheet to continuously contact the conductive track to ensure its own conductive effect and compensate for a certain height deviation. In some other embodiments, the first conductive member 61 may also be a conductive spring. It is worth noting that a plurality of conductive sheets are arranged along the circumference of the conductive track to ensure the conductive effect of the conductive assembly 6 and prevent the short circuit caused by deformation or aging of individual conductive sheets.

[0067] In addition, the conductive component 6 further includes a first slip ring 63 and a second slip ring 64, wherein the first slip ring 63 is connected to the base 1. For details, please refer to Figure 6 The bottom wall of the driving cavity 11 is connected with a boss 14. There are multiple bosses 14 arranged along the circumference of the first slip ring 63. In this embodiment, three bosses are used as an example. The first slip ring 63 is detachably connected to the boss 14. The conductive sheet is connected to the bottom of the first slip ring 63. The first slip ring 63 provides a mounting base for the conductive sheet, which is convenient for removing the first slip ring 63 and replacing it as a whole, thereby improving the convenience of maintenance. The second slip ring 64 is spaced apart from the first slip ring 63 and is connected to the driving bracket 2. For details, please refer to Figure 7 and Figure 8 The second slip ring 64 is detachably connected to the top of the connecting ring 211 , and the conductive track is connected to the top of the second slip ring 64 , providing an installation foundation for the conductive track through the second slip ring 64 .

[0068] It should be noted that the top of the connecting ring 211 is connected to a limiting block 2111, the inner ring of the second slip ring 64 is provided with a notch 641, and the limiting block 2111 is embedded in the notch 641, thereby limiting the second slip ring 64, so that the second slip ring 64 and the hole positions on the connecting ring 211 are aligned, so as to replace the second slip ring 64. In this embodiment, the first slip ring 63 is also positioned in the circumferential direction in this way.

[0069] Preferably, in this embodiment, the base 1 and the driving bracket 2 are made of aluminum, and the thickness of the base 1 and the driving bracket 2 is the minimum thickness after simulation calculation, so as to make the entire steering wheel module more compact and reduce the mass as much as possible. The first slip ring 63 and the second slip ring 64 are both made of insulating materials, and plastic is used as an example in this embodiment, so that the first slip ring 63 and the second slip ring 64 are insulated to prevent the normal operation of the robot from being affected by leakage.

[0070] Exemplarily, in this embodiment, the thickness of the first slip ring 63 and the second slip ring 64 are both 2 mm, and the distance between the first slip ring 63 and the second slip ring 64 is 2 mm, thereby reducing the height of the entire steering wheel module and improving the adaptability of the steering wheel module.

[0071] Reference Figure 6 and Figure 7In addition, in order to facilitate the routing of the first wire and the second wire, a wire hole 12 is provided on the base 1, so that the first wire can be inserted into the driving cavity 11 to power the conductive sheet. A wire groove 23 for accommodating the second wire is also provided on the driving bracket 2. The second wire is arranged inside the wire groove 23, so that the second wire is protected. A sealing cover 24 is detachably connected to the opening of the wire groove 23, so as to further protect the second wire without affecting the maintenance of the second wire.

[0072] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A steering wheel module, comprising a base (1), a driving bracket (2), a driving wheel (4) and a driving motor (5), wherein the driving bracket (2) is rotatably connected to the bottom of the base (1), the driving wheel (4) is rotatably connected to the driving bracket (2), and the driving motor (5) is connected to the driving bracket (2) and can drive the driving wheel (4) to rotate, characterized in that: The steering wheel module further comprises a conductive component (6), wherein the conductive component (6) comprises: a first conductive member (61), the first conductive member (61) being connected to the base (1), the first conductive member (61) being electrically connected to a power source; and A second conductive member (62), the second conductive member (62) is connected to the driving bracket (2), the second conductive member (62) can rotate relative to the first conductive member (61), and when the second conductive member (62) rotates, it can abut against the first conductive member (61) to maintain continuous conduction, and the second conductive member (62) is electrically connected to the driving motor (5).

2. The steering wheel module according to claim 1, characterized in that: The conductive component (6) further comprises: a first slip ring (63), the first slip ring (63) being connected to the base (1), the first conductive member (61) being connected to the first slip ring (63); and, A second slip ring (64), the second slip ring (64) is connected to the driving bracket (2), the second slip ring (64) and the first slip ring (63) are arranged at a distance, and the second conductive member (62) is connected to the second slip ring (64).

3. The steering wheel module according to claim 2, characterized in that: The first slip ring (63) and the second slip ring (64) are both made of insulating material.

4. The steering wheel module according to claim 1, characterized in that: The first conductive member (61) is a conductive sheet; The second conductive member (62) is a ring-shaped conductive track, the axis of the conductive track coincides with the rotation axis of the driving bracket (2), and the conductive sheet is in sliding cooperation with the conductive track.

5. The steering wheel module according to claim 4, characterized in that: The conductive sheet is elastic.

6. The steering wheel module according to claim 1, characterized in that: A driving cavity (11) is provided at the bottom of the base (1), a connecting ring (211) is connected to the top of the driving bracket (2), the connecting ring (211) is placed inside the driving cavity (11), the conductive component (6) is located at the top of the connecting ring (211), and the outer ring of the connecting ring (211) and the side wall of the driving cavity (11) are sealed.

7. The steering wheel module according to claim 1, characterized in that: The driving bracket (2) comprises: A connecting seat (21), the connecting seat (21) being rotatably connected to the base (1); Side plates (22), two of the side plates (22) are arranged at intervals along a rotation axis perpendicular to the connecting seat (21), and the driving wheel (4) and the driving motor (5) are both located between the two side plates (22).

8. The steering wheel module according to claim 1, characterized in that: The second conductive member (62) is connected to the drive motor (5) via a second conductive wire, and a wire groove (23) for accommodating the second conductive wire is provided on the drive bracket (2).

9. The steering wheel module according to claim 8, characterized in that: A sealing cover (24) is connected to the opening of the wire slot (23).

10. A robot chassis, including a chassis body, characterized in that: The robot chassis also includes a steering wheel module as described in any one of claims 1-9, and the steering wheel module is arranged at the bottom of the chassis body.

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