Steering wheel suspension mechanism for mobile robot

Abstract

The invention discloses a steering wheel suspension mechanism for a mobile robot, and belongs to the field of suspension, the steering wheel suspension mechanism comprises a main steering wheel and two side steering wheels, the two side steering wheels are located on the left side and the right side of the main steering wheel respectively and are in sliding connection with the main steering wheel, the main steering wheel comprises a main frame, transverse frames are fixed on the left side and the right side of the main frame, and the transverse frames are connected with the main frame. An inner groove is formed in the lower surface of the main frame, a wheel frame is arranged in the inner groove, a main wheel is rotationally connected into the wheel frame, a tooth cylinder is fixed to the upper surface of the interior of the inner groove, a middle cylinder is arranged in the tooth cylinder in a penetrating mode, and the bottom of the middle cylinder is fixedly connected with the top of the wheel frame. In a narrow and flat indoor environment, the distance between the main steering wheel and the side steering wheel is small, and the damping structure is limited to be in a rigid suspension state; the damping structure can be prevented from being excessively compressed; in a wide and unsmooth outdoor environment, the distance between the side steering wheels on the two sides is controlled to be increased through the telescopic rod, and the moving stability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of suspension, and particularly to a steering wheel suspension mechanism for a mobile robot. Background Art

[0002] In the application of mobile robots, different working scenarios have different requirements for their performance. In indoor working environments, such as automated production workshops, warehouses, etc., the space is relatively narrow but the ground is relatively flat, and there are often high requirements for the positioning accuracy of the robot and the accuracy of material handling. In the case of heavy loads, the shock-absorbing structure of traditional steering wheel suspension mechanisms is prone to excessive compression, resulting in slipping and out-of-control of the driving wheels, affecting the running stability and operation accuracy of the robot, and unable to meet the requirements of high-precision indoor operations.

[0003] Publication (Announcement) Number: CN213892713U discloses a steering wheel suspension, including a support plate, a first support assembly, a second support assembly, a rotating assembly, and a driving assembly. The upper end of the support plate is fixedly connected to the vehicle body chassis, the upper end of the rotating assembly is fixedly sleeved in the middle of the support plate, the lower end of the rotating assembly is installed with the driving assembly, the lower end of the support plate is also installed with the first support assembly and the second support assembly, the first support assembly and the second support assembly are arranged in parallel, the driving assembly is located between the first support assembly and the second support assembly, and the rotating assembly and the driving assembly are signal-connected to the controller. The steering wheel suspension of the present invention connects two support assemblies and a steering wheel through a support plate, and each support assembly is configured with a universal wheel, which is rigidly connected to the chassis through a bearing. The steering wheel can ensure sufficient grip even without a counterweight.

[0004] Due to this patent being only used in the field of indoor AGV cars, only the indoor flat state is considered. In outdoor environments, such as in scenarios of park logistics transportation, outdoor inspections, etc., the terrain is complex and changeable, and the road surface is bumpy and uneven. Ordinary steering wheel suspension mechanisms have poor moving stability of the robot in broad and poor road conditions due to limited support range. At the same time, lacking effective shock-absorbing measures, the unevenness of the ground will seriously affect the running speed and efficiency of the robot, and may even damage the robot and its carried equipment. In order to enable the mobile robot to work efficiently and stably in diverse scenarios,

[0005] Therefore, a steering wheel suspension mechanism that can automatically switch modes according to different scenarios and has good shock-absorbing performance and stability is needed. Summary of the Invention

[0006] Aiming at the deficiencies of the prior art, the present invention provides a steering wheel suspension mechanism for a mobile robot, which solves the problems raised in the above background art.

[0007] Technical solution: To solve the above technical problems, according to one aspect of the present invention, more specifically, it is a steering wheel suspension mechanism for a mobile robot, including a main steering wheel and two side steering wheels. The two side steering wheels are respectively located on the left and right sides of the main steering wheel and are slidably connected to the main steering wheel. The main steering wheel includes a main frame, with cross frames fixed on both the left and right sides of the main frame. An inner groove is formed on the lower surface of the main frame. Inside the inner groove, there is a wheel frame. Inside the wheel frame, a main wheel is rotatably connected. On the upper surface of the inner groove inside, a toothed cylinder is fixed. Inside the toothed cylinder, a middle cylinder is inserted. The bottom of the middle cylinder is fixedly connected to the top of the wheel frame. Above the outer surface of the wheel frame, a motor is embedded. The top end of the output shaft of the motor penetrates through the upper surface of the wheel frame and is fixed with a first spur gear. On the upper surface of the toothed cylinder, two symmetrical rotating grooves are formed. On the lower surface of the inside of the rotating grooves, block grooves are formed. Both block grooves communicate with the inside of the toothed cylinder. Inside the rotating grooves, rotating plates are slidably connected. A top plate is integrally formed between the two rotating plates. Inside the cross frame, a screw cylinder is rotatably connected. Inside the screw cylinder, a screw rod is threadedly connected. The end of the screw rod away from the screw cylinder penetrates into the block groove and is fixed with a clamping block. On the upper surface of the cross frame, a sunken groove is formed. The end of the screw cylinder away from the main frame is located inside the sunken groove and is fixed with a first bevel gear. The rear end of the first bevel gear is meshed with a second bevel gear. The rear end of the second bevel gear is fixed with a second spur gear. The second spur gear is rotatably connected to the inside of the sunken groove. A shock-absorbing spring is jointly fixed between the wheel frame and the top plate.

[0008] Furthermore, the side steering wheel includes a side frame. Inside the side frame, a sliding track is penetrated. The bottom of the side frame is detachably connected to a bottom plate through bolts. Below the bottom plate, a suspension frame is rotatably connected. Behind the bottom of the suspension frame, a universal wheel is arranged. Behind the upper surface of the side frame, a vertical groove is penetrated. Inside the vertical groove, a resisting frame is slidably connected. Inside the lower part of the suspension frame, a first rotating frame is rotatably connected. Below the rear end of the bottom plate, a second rotating frame is rotatably connected. A shock absorber is jointly fixed between the second rotating frame and the first rotating frame. Inside the side frame, a rotating rod is rotatably connected. The front end of the rotating rod is fixedly connected with a third spur gear. The top of the third spur gear is located below the inside of the sliding track. The rear end of the rotating rod is located inside the resisting frame and is fixed with a fourth spur gear.

[0009] Furthermore, on the upper surface of the inside of the sliding track, a number of first tooth grooves are formed. The side frame is meshed with the third spur gear through the first tooth grooves; on the lower surface of the cross frame, a number of second tooth grooves are formed. The cross frame is meshed with the third spur gear through the second tooth grooves; on the inner side wall of the resisting frame, a number of gear teeth are fixed. The resisting frame is meshed with the fourth spur gear through the gear teeth.

[0010] Furthermore, the cross frame is located inside the sliding track and the two are slidably connected.

[0011] Further, telescopic rods are fixed on both the left and right sides of the main frame, and the two telescopic rods are respectively fixedly connected to the adjacent side frames.

[0012] Further, the two clamping blocks are located between the middle cylinder and the top plate, and the bottom of the abutting frame is attached to the inner lower surface of the suspension frame.

[0013] Further, a driver is fixed on the left side of the wheel frame, and the right end of the output shaft of the driver penetrates into the wheel frame and is fixedly connected to the main wheel.

[0014] Further, the shock-absorbing spring is located inside the middle cylinder and the tooth cylinder, and the clamping block is adapted to the block groove. After the clamping block slides into the block groove, the middle cylinder can slide upward inside the tooth cylinder, thereby compressing the shock-absorbing spring.

[0015] The beneficial effects of a steering wheel suspension mechanism for a mobile robot of the present invention are as follows:

[0016] (1) The present invention is suitable for multi-scenario operation

[0017] Advantages in indoor scenarios: In a narrow but flat indoor environment, the distance between the main steering wheel and the side steering wheels is small, and the shock-absorbing structure is limited to a rigid suspension state. In this mode, under heavy indoor loads, it can prevent the shock-absorbing structure from being overly compressed, ensure that the steering wheels provide sufficient supporting force and driving force, reduce the phenomenon of driving wheel slipping or losing control, and at the same time, the movement transmission of the steering wheels is direct, with high positioning and trajectory control accuracy, which is beneficial for material handling or assembly operations with high precision requirements such as indoor automated production lines.

[0018] Advantages in outdoor scenarios: In a wide but uneven outdoor environment, the distance between the two side steering wheels is controlled to increase by the telescopic rods, expanding the support range of the robot and improving the moving stability. At the same time, the limit of the shock-absorbing structure is removed, and it is converted to a buffer shock-absorbing suspension state, which can effectively reduce the impact of uneven ground on the robot, enabling the robot to maintain a relatively stable running speed on bumpy roads and improving the overall running efficiency.

[0019] (2) The present invention has an automatic mode switching and linkage adjustment effect

[0020] Linkage of the main steering wheel: When switching modes, the telescopic rods push the side steering wheels to move away from each other. The side frame and the tooth groove act on each other to make the second spur gear mesh and rotate. Through the transmission of the first and second helical gears, the axial rotation of the screw cylinder is driven, causing the screw rod and the clamping block to move horizontally. The clamping block is received into the block groove, disengaging between the middle cylinder and the top plate. At this time, when the main steering wheel is jolted, the shock-absorbing spring can be compressed for shock absorption.

[0021] Side steering wheel linkage: spur gear three is meshed with tooth groove two to drive the rotating rod and spur gear four to rotate. Under the meshing of gear teeth, the support frame slides up along the vertical groove and no longer conflicts with the suspension frame. When the side steering wheel encounters bumps, the rear end of the suspension frame and the universal wheel rotate and move upward, and the movement is more stable under the buffering of the shock absorber.

[0022] (3) Protect the shock-absorbing assembly: When loading and carrying heavy objects on a flat road indoors, the clamping block clamps the middle cylinder and the top plate to prevent the gear cylinder, main frame and robot from descending and the shock-absorbing spring from being compressed; the support frame prevents the suspension frame from rotating and prevents the shock absorber from being overly compressed for a long time when carrying heavy objects indoors, thereby extending the service life of the shock-absorbing assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0024] Figure 1 It is a structural schematic diagram of the present invention;

[0025] Figure 2 It is a rear view structural schematic diagram of the present invention;

[0026] Figure 3 It is a schematic diagram of the upward section structure of the present invention;

[0027] Figure 4 It is a structural schematic diagram of the main steering wheel in the present invention;

[0028] Figure 5 It is a schematic cross-sectional structural diagram of the main steering wheel in the present invention;

[0029] Figure 6 This is a schematic diagram of the internal structure of the main steering wheel in the present invention;

[0030] Figure 7 It is a schematic diagram of the top view of the gear cylinder in the present invention;

[0031] Figure 8 It is a schematic diagram of the structure of the side steering wheel in the present invention;

[0032] Figure 9 It is a schematic diagram of the side section structure of the side steering wheel in the present invention;

[0033] Figure 10 It is a rear view of the internal structure of the side steering wheel in the present invention;

[0034] Figure 11 It is a schematic diagram of the upward section structure of the side frame in the present invention.

[0035] In the figure: 1. Main steering wheel; 101. Main frame; 102. Cross frame; 103. Inner groove; 104. Wheel frame; 105. Main wheel; 106. Driver; 107. Tooth cylinder; 108. Middle cylinder; 109. Motor; 110. First spur gear; 111. Rotating groove; 112. Block groove; 113. Rotating plate; 114. Top plate; 115. Screw barrel; 116. Screw; 117. Sunk groove; 118. First helical gear; 119. Second helical gear; 120. Second spur gear; 121. Block; 122. Telescopic rod; 123. Shock-absorbing spring; 2. Side steering wheel; 201. Side frame; 202. Slideway; 203. Bottom plate; 204. Suspension frame; 205. Universal wheel; 206. Vertical groove; 207. Bracing frame; 208. First rotating frame; 209. Second rotating frame; 210. Shock absorber; 211. Rotating rod; 212. Third spur gear; 213. Fourth spur gear; 3. First tooth groove; 4. Second tooth groove; 5. Tooth Detailed implementation mode

[0036] The present invention will be described in detail below with reference to the drawings and in conjunction with embodiments. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other.

[0037] To make the technical solution of the present invention clearer, the present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0038] Refer to Figures 1-11 , a steering wheel suspension mechanism for a mobile robot, including a main steering wheel 1 and two side steering wheels 2. The two side steering wheels 2 are respectively located on the left and right sides of the main steering wheel 1 and are slidably connected to the main steering wheel 1; for use requirements, this mechanism has two different modes, which are used to cope with narrow but flat indoor environments and wide but uneven outdoor environments. When indoors, as Figures 1-11 shown, the distance between the main steering wheel 1 and the two side steering wheels 2 is small, but the shock-absorbing structure is limited and does not function, making the mechanism in a rigid suspension state;

[0039] In the case of heavy loads indoors, switch to the rigid mode, which can avoid excessive compression of the shock-absorbing structure under excessive pressure, ensure that the steering wheel can provide sufficient supporting force and driving force, make the robot run more stably, and reduce the phenomenon of driving wheel slipping or losing control caused by excessive deformation of structures such as springs.

[0040] In the rigid mode, the motion transmission of the steering wheel is more direct and the control accuracy is higher, which is beneficial to the accurate operation of the robot in some scenarios with high requirements for positioning and trajectory accuracy, such as precise material handling or assembly operations on an indoor automated production line.

[0041] When used outdoors, the distance between the two side steering wheels 2 on both sides is controlled to increase, so as to expand the distance range of the three wheels, thereby increasing the support range of the robot and making the movement more stable. And through the transmission mechanism, the limit of the shock absorption structure is released. At this time, it is converted to the buffer shock absorption suspension state, so that when the robot encounters bumpy or uneven roads, it can still maintain a relatively stable running speed, reduce the influence of factors such as ground unevenness on the robot, and help improve the overall operation efficiency.

[0042] The main steering wheel 1 includes a main frame 101. Horizontal frames 102 are fixed on both the left and right sides of the main frame 101. An inner groove 103 is formed on the lower surface of the main frame 101. A wheel frame 104 is arranged inside the inner groove 103. A main wheel 105 is rotatably connected inside the wheel frame 104. A toothed cylinder 107 is fixed on the upper surface inside the inner groove 103. A middle cylinder 108 is inserted inside the toothed cylinder 107. The bottom of the middle cylinder 108 is fixedly connected to the top of the wheel frame 104. A motor 109 is embedded above the outer surface of the wheel frame 104. The top end of the output shaft of the motor 109 penetrates to the upper surface of the wheel frame 104 and is fixed with a first spur gear 110. Two symmetric rotating grooves 111 are formed on the upper surface of the toothed cylinder 107. A block groove 112 is formed on the lower surface inside the rotating groove 111. Both block grooves 112 communicate with the inside of the toothed cylinder 107. A rotating plate 113 is slidably connected inside the rotating groove 111. A top plate 114 is integrally formed between the two rotating plates 113. A screw cylinder 115 is rotatably connected inside the horizontal frame 102. A screw rod 116 is threadedly connected inside the screw cylinder 115. The end of the screw rod 116 away from the screw cylinder 115 penetrates into the block groove 112 and is fixed with a clamping block 121. A sunken groove 117 is formed on the upper surface of the horizontal frame 102. The end of the screw cylinder 115 away from the main frame 101 is located inside the sunken groove 117 and is fixed with a first bevel gear 118. The rear end of the first bevel gear 118 is meshed with a second bevel gear 119. The rear end of the second bevel gear 119 is fixed with a second spur gear 120. The second spur gear 120 is rotatably connected inside the sunken groove 117. A shock absorption spring 123 is jointly fixed between the wheel frame 104 and the top plate 114;

[0043] The shock absorption spring 123 is located inside the middle cylinder 108 and the toothed cylinder 107. The clamping block 121 is adapted to the block groove 112. When the clamping block 121 slides into the block groove 112, the middle cylinder 108 can slide upward inside the toothed cylinder 107, thereby compressing the shock absorption spring 123.

[0044] Refer to Figures 2-4The side steering wheel 2 includes a side frame 201, a slideway 202 is provided inside the side frame 201, the cross frame 102 is located inside the slideway 202, and the two are slidably connected, the bottom of the side frame 201 is connected to a bottom plate 203 by bolts, a suspension frame 204 is rotatably connected below the bottom plate 203, a universal wheel 205 is arranged at the bottom rear of the suspension frame 204, a vertical groove 206 is provided at the rear of the upper surface of the side frame 201, a support frame 207 is slidably connected inside the vertical groove 206, a rotating frame 208 is rotatably connected to the bottom of the suspension frame 204, a rotating frame 209 is rotatably connected to the bottom rear end of the bottom plate 203, and a reducing gear is fixed between the rotating frame 209 and the rotating frame 1 208. The vibrator 210, the side frame 201 is rotatably connected with a rotating rod 211, the front end of the rotating rod 211 is fixedly connected with a spur gear 3 212, the top of the spur gear 3 212 is located below the inside of the slideway 202, the rear end of the rotating rod 211 is located inside the support frame 207, and a spur gear 4 213 is fixed thereto, a plurality of tooth grooves 1 3 are provided on the upper surface of the inside of the slideway 202, and the side frame 201 is meshed and connected with the spur gear 3 212 through the tooth grooves 1 3; a plurality of tooth grooves 2 4 are provided on the lower surface of the cross frame 102, and the cross frame 102 is meshed and connected with the spur gear 3 212 through the tooth grooves 2 4; a plurality of gear teeth 5 are fixed on the inner side wall of the support frame 207, and the support frame 207 is meshed and connected with the spur gear 4 213 through the gear teeth 5;

[0045] When switching modes, the two side steering wheels 2 are moved in opposite directions by controlling the two electric telescopic rods 122. When moving, the main steering wheel 1 is internally linked as follows: the side frame 201 that is moved meshes with the tooth groove 13 to rotate with the spur gear 2 120, and then the helical gears 118 and 119 are driven to make the screw barrel 115 rotate axially, so that the screw rod 116 and the block 121 move horizontally, so that the block 121 is received in the block groove 112 and separated from the middle cylinder 108 and the top plate 114, so that when the main steering wheel 1 is bumped during movement, the shock absorbing spring 123 is compressed, which has a shock-absorbing and buffering effect; at the same time, the internal linkage of the side steering wheel 2 is as follows: the spur gear three 212 is meshed with the relative tooth groove two 4 to drive the rotating rod 211 and the spur gear four 213 to rotate, and then the support frame 207 slides upward along the vertical groove 206 under the meshing of the gear teeth 5, and no longer conflicts with the suspension frame 204, so that when the side steering wheel 2 encounters bumps during movement, the rear end of the L-shaped suspension frame 204 and the universal wheel 205 rotate and move upward, and under the shock absorption and buffering of the shock absorber 210, the movement of the side steering wheel 2 is more stable.

[0046] Reference Figure 2 Telescopic rods 122 are fixed to the left and right sides of the main frame 101, and the two telescopic rods 122 are fixedly connected to the adjacent side frames 201 respectively.

[0047] Reference Figure 5 , Figure 10, two clamping blocks 121 are located between the middle cylinder 108 and the top plate 114. The bottom of the supporting frame 207 is in contact with the inner lower surface of the suspension frame 204. When the clamping blocks 121 clamp between the middle cylinder 108 and the top plate 114, the toothed cylinder 107, the main frame 101, and the robot cannot descend, thus preventing the shock-absorbing spring 123 from being compressed, so that heavy objects can be loaded and carried on flat indoor roads; the supporting frame 207 prevents the suspension frame 204 from rotating, and also prevents the shock absorber 210 from being over-compressed for a long time when carrying heavy objects indoors.

[0048] Refer to Figure 4 , a driver 106 is fixed on the left side of the wheel frame 104. The right end of the output shaft of the driver 106 penetrates into the inside of the wheel frame 104 and is fixedly connected to the main wheel 105. When the driver 106 is operating, the wheel frame 104 rotates, thereby driving the robot to move.

[0049] The above-described embodiments merely represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the present invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A steering wheel suspension mechanism for a mobile robot, comprising a main steering wheel (1) and two side steering wheels (2), characterized in that: The two side steering wheels (2) are respectively located on the left and right sides of the main steering wheel (1), and are slidably connected to the main steering wheel (1). The main steering wheel (1) includes a main frame (101), and cross frames (102) are fixed on both the left and right sides of the main frame (101). An inner groove (103) is formed on the lower surface of the main frame (101). A wheel frame (104) is arranged inside the inner groove (103). A main wheel (105) is rotatably connected inside the wheel frame (104). A toothed cylinder (107) is fixed on the upper surface inside the inner groove (103). A middle cylinder (108) is inserted through the toothed cylinder (107). The bottom of the middle cylinder (108) is fixedly connected to the top of the wheel frame (104). A motor (109) is embedded above the outer surface of the wheel frame (104). The top end of the output shaft of the motor (109) penetrates through the upper surface of the wheel frame (104) and is fixed with a first spur gear (110). Two symmetric rotating grooves (111) are formed on the upper surface of the toothed cylinder (107). A block groove (112) is formed on the lower surface inside the rotating groove (111). Both of the two block grooves (112) communicate with the inside of the toothed cylinder (107). A rotating plate (113) is slidably connected inside the rotating groove (111). A top plate (114) is integrally formed between the two rotating plates (113). A screw cylinder (115) is rotatably connected inside the cross frame (102). A screw rod (116) is threadedly connected inside the screw cylinder (115). One end of the screw rod (116) away from the screw cylinder (115) penetrates into the block groove (112) and is fixed with a clamping block (121). A sunk groove (117) is formed on the upper surface of the cross frame (102). One end of the screw cylinder (115) away from the main frame (101) is located inside the sunk groove (117) and is fixed with a first bevel gear (118). The rear end of the first bevel gear (118) is meshed with a second bevel gear (119). A second spur gear (120) is fixed to the rear end of the second bevel gear (119). The second spur gear (120) is rotatably connected inside the sunk groove (117). A shock-absorbing spring (123) is jointly fixed between the wheel frame (104) and the top plate (114).

2. The steering wheel suspension mechanism for a mobile robot according to claim 1, characterized in that: The side steering wheel (2) comprises a side frame (201), a slideway (202) is provided inside the side frame (201), a bottom plate (203) is detachably connected to the bottom of the side frame (201) by bolts, a suspension frame (204) is rotatably connected below the bottom plate (203), a universal wheel (205) is arranged at the rear of the bottom of the suspension frame (204), a vertical groove (206) is provided at the rear of the upper surface of the side frame (201), a support frame (207) is slidably connected inside the vertical groove (206), and a lower rotationally connected suspension frame (204) is provided at the rear of the lower surface of the suspension frame (204). There is a rotating frame 1 (208), the rear end of the bottom plate (203) is rotatably connected to a rotating frame 2 (209), a shock absorber (210) is fixed between the rotating frame 2 (209) and the rotating frame 1 (208), the side frame (201) is rotatably connected to a rotating rod (211), the front end of the rotating rod (211) is fixedly connected to a spur gear 3 (212), the top of the spur gear 3 (212) is located at the bottom of the slideway (202), the rear end of the rotating rod (211) is located inside the support frame (207), and is fixed with a spur gear 4 (213).

3. The steering wheel suspension mechanism for a mobile robot according to claim 2, characterized in that: The upper surface of the inner part of the slideway (202) is provided with a plurality of tooth grooves (3), and the side frame (201) is meshedly connected with the spur gear (212) through the tooth grooves (3); the lower surface of the cross frame (102) is provided with a plurality of tooth grooves (4), and the cross frame (102) is meshedly connected with the spur gear (212) through the tooth grooves (4); the inner side wall of the support frame (207) is fixed with a plurality of gear teeth (5), and the support frame (207) is meshedly connected with the spur gear (213) through the gear teeth (5).

4. The steering wheel suspension mechanism for a mobile robot according to claim 2, characterized in that: The cross frame (102) is located inside the slideway (202), and the two are slidably connected.

5. A steering wheel suspension mechanism for a mobile robot according to claim 1, characterized in that: Telescopic rods (122) are fixed to the left and right sides of the main frame (101), and the two telescopic rods (122) are respectively fixedly connected to adjacent side frames (201).

6. The steering wheel suspension mechanism for a mobile robot according to claim 2, characterized in that: The two clamping blocks (121) are located between the middle tube (108) and the top plate (114), and the bottom of the support frame (207) is in contact with the inner lower surface of the suspension frame (204).

7. The steering wheel suspension mechanism for a mobile robot according to claim 1, characterized in that: A driver (106) is fixed on the left side of the wheel frame (104); the right end of the output shaft of the driver (106) penetrates into the wheel frame (104) and is fixedly connected to the main wheel (105).

8. The steering wheel suspension mechanism for a mobile robot according to claim 1, characterized in that: The shock absorbing spring (123) is located inside the middle cylinder (108) and the gear cylinder (107), and the clamping block (121) is matched with the block groove (112).

Images