Steering control mechanism of competition robot

Abstract

The invention discloses a competition robot steering control mechanism, and relates to the field of robot steering control, the competition robot steering control mechanism comprises a steering control mounting bottom plate, the bottom end of the steering control mounting bottom plate is rotatably connected with a steering roller, one side wall of the steering roller is provided with a steering gear, and the top end of the steering roller is provided with a steering bevel gear; the steering bevel gear is meshed with a steering gear on the side wall of the steering roller, the top end of the steering bevel gear is connected with a steering driving shaft, the other end of the steering driving shaft rotatably penetrates through the steering control mounting bottom plate through an electric rotating chassis, and the end of the steering driving shaft is connected with a movable connecting structure used for driving the steering driving shaft to rotate; and the electric rotating chassis is rotationally connected with the steering control mounting bottom plate through a steering structure. By means of the steering control mechanism, the competition robot can be rapidly and accurately controlled to steer, and therefore the competition robot has the advantages in a competition.

Description

Technical Field

[0001] The present invention relates to the field of robot steering control, in particular to a steering control mechanism for a competition robot. Background Art

[0002] Robotics competitions are typically technical competitions involving robot design, programming, and operation. For example, ROBOTAC, a national-level robotics competition originally developed in China, combines both sports and technology. Participants are required to design, build, and program robots, then demonstrate their functionality and performance through competitive competition. Participating in these competitions isn't just about winning; it's also an excellent opportunity to improve teamwork, problem-solving, and engineering skills. Many schools and organizations also organize workshops and training to help participants learn robotics and programming skills. Participants in robotics competitions must meet the requirements and demonstrate the extraordinary qualities of their robots, ensuring they can fight to the bitter end and ultimately win.

[0003] In existing robot competitions, the most common walking method is "tire-driven"; however, most of the existing tire-driven robots have a problem: the tire drive is not easy to control the steering of the robot, and then during the competition, the robot is not sensitive enough to adjust the direction, resulting in failure in the competition. Summary of the Invention

[0004] The object of the present invention is achieved through the following technical solutions: A steering control mechanism for a competition robot comprises a steering control mounting base plate, a steering roller rotatably connected to the bottom end of the steering control mounting base plate, a steering gear being provided on a side wall of the steering roller, a steering bevel gear being provided on the top end of the steering roller, the steering bevel gear being meshed with the steering gear on the side wall of the steering roller, a steering drive shaft being connected to the top end of the steering bevel gear, the other end of the steering drive shaft rotatably passing through the steering control mounting base plate via an electric rotating chassis, and the end end being connected to a movable connection structure for driving the steering drive shaft to rotate, the electric rotating chassis being rotatably connected to the steering control mounting base plate via the steering structure; The steering roller is provided with a blind hole, and the connecting shaft of the steering roller rotates and passes through the blind hole provided on the steering roller, and both ends of the connecting shaft are connected to the steering connecting seat, and the steering connecting seat is connected to the electric rotating chassis; Limit bearings are respectively arranged in the blind holes opened on both end faces of the steering roller axis, and the connecting shafts respectively rotate through the inner rings of the limit bearings, and the outer rings of the limit bearings and the inner walls of the blind holes are detachably connected by means of a bayonet.

[0005] Preferably, the steering structure includes a large steering drive wheel; The bottom end of the steering large driving wheel is connected to a steering connecting shaft, and the other end of the steering connecting shaft rotates through the steering control mounting base plate through a bearing and the end is connected to the electric rotating chassis; The steering drive shaft rotates in sequence and passes through the electric rotating chassis, the steering control installation base plate and the steering large drive wheel, and the end portion is connected to the movable connection structure.

[0006] Preferably, the movable connection structure includes a steering top gear; The steering top gear is connected to an end of the steering drive shaft away from the steering bevel gear; A connecting plate is provided above the steering control mounting base plate, and the connecting plate is used to be mounted and connected to the bottom end of the tire-type robot, and the connecting plate and the steering control mounting base plate are fixed by bolts; A receiving drive structure is provided between the connecting plate and the steering control mounting base plate; The steering top gear is used for being connected to the receiving drive structure in a transmission manner.

[0007] Preferably, the receiving drive structure includes a receiving connecting gear, which is arranged between the connecting plate and the steering control mounting base plate. The receiving connecting gear is connected to a receiving rotating shaft. The other end of the receiving rotating shaft rotates through the connecting plate through a bearing and the end is connected to the first servo motor, and the first servo motor is fixed on the connecting plate.

[0008] Preferably, the receiving connecting gear is engaged with a steering connecting gear, and the steering connecting gear is also arranged between the connecting plate and the steering control mounting base plate; A receiving seat is provided at one end of the steering connecting gear away from the connecting plate, and a large steering driving wheel is provided below the receiving seat; The receiving seat can rotate through the large steering drive wheel arranged below by receiving the rotating shaft, and the end thereof is connected and fixed to the steering control mounting base plate; The steering connecting gear is connected to a top plate steering shaft, and the other end of the top plate steering shaft passes through a top driving pinion and the end is rotatably connected to a receiving seat through a bearing.

[0009] Preferably, a steering top gear connected to one end of the steering drive shaft away from the steering bevel gear is rotatably engaged with the top drive pinion and is rotatably arranged on the receiving seat.

[0010] Preferably, the large steering drive wheel is connected to a small steering drive wheel through a conveyor belt transmission, and the small steering drive wheel is rotatably arranged between the connecting plate and the steering control mounting base plate.

[0011] Preferably, the steering drive wheel is connected to a driving shaft, and the driving shaft is rotatably arranged between the connecting plate and the steering control mounting base plate through a bearing; The driving shaft is also connected to a control connecting gear, and the control connecting gear is controlled to rotate by a control structure.

[0012] Preferably, the control structure includes a control drive first gear, a control drive second gear, and an output control gear, and the control drive first gear, the control drive second gear, and the output control gear are arranged between the connecting plate and the steering control mounting base plate; The second control drive gear is arranged above the first control drive gear and the second control drive gear and the first control drive gear are rotatably connected between the connecting plate and the steering control mounting base plate via the same control drive connecting shaft; The first driving gear is meshed with the control connecting gear; The control driving second gear is meshed with the output control gear, and the output control gear is arranged close to one end surface of the connecting plate; The output control gear is connected to a control drive shaft, and the other end of the control drive shaft rotates through the connecting plate through a bearing and the end is connected to the second servo motor, and the second servo motor is fixed on the connecting plate.

[0013] Preferably, a driving mechanism for driving the connecting shaft to rotate is further installed on the connecting shaft, and the driving mechanism is arranged in a blind hole formed through the steering roller; The driving mechanism includes a first planet carrier, a double sun gear, a ring gear, a second planet carrier, and a planet connecting frame; The dual sun gear is arranged between the first planet carrier and the second planet carrier, and the connecting shaft passes through the first planet carrier, the dual sun gear, the second planet carrier, and the planetary connecting frame in sequence from one end of the blind hole, and the connecting shaft is rotatably connected to the steering connecting seat; The first planet carrier is fixedly connected to the connecting shaft, the dual sun gear is rotatably connected to the connecting shaft via bearings, the second planet carrier is fixed to the connecting shaft, and the planet connecting frame is rotatably connected to the connecting shaft via bearings; The first planet carrier is disposed on one side of the blind hole and connected to the inner wall of the blind hole. Three first planetary gears are connected to one end of the first planet carrier close to the dual sun gear. The first planetary gears are rotatably connected to the first planet carrier via rotating shafts. The first planetary gears are disposed between the dual sun gears and the ring gear and are in driving meshing engagement with the dual sun gears and the ring gear. The second planet carrier is arranged on a side of the dual sun gear away from the first planet carrier. Three second planetary gears are connected to one end of the second planet carrier close to the dual sun gear. The second planetary gears are rotatably connected to the second planet carrier via rotating shafts. The second planetary gears are arranged between the dual sun gear and the ring gear and are in driving meshing engagement with the dual sun gear and the ring gear. The ring gear is connected to one end surface of the planetary connecting frame by bolts, and the ring gear and the planetary connecting frame are rotated together; The planetary connecting frame is used to be connected to the inner wall of the blind hole; The connecting shaft is also connected to a micro drive motor that drives the connecting shaft to rotate. The micro drive motor is arranged in the blind hole, and the housing of the micro drive motor is used to be connected to the inner wall of the blind hole.

[0014] The beneficial effects of the present invention are as follows: the purpose of the present invention is to provide a steering control mechanism for a competition robot, the steering control mechanism being used for steering control of a tire-type robot in a competition, and the steering movement of the robot can be conveniently and quickly controlled by the steering control mechanism. The steering control mechanism comprises a steering control mounting base plate, the bottom end of the steering control mounting base plate being rotatably connected to a steering roller, a side wall of the steering roller being provided with a steering gear, a top end of the steering roller being provided with a steering bevel gear, the steering bevel gear being meshed with the steering gear on the side wall of the steering roller, the top end of the steering bevel gear being connected to a steering drive shaft, the other end of the steering drive shaft being rotatably passed through the steering control mounting base plate via an electric rotating chassis, and the end end being connected to a movable connection structure for driving the steering drive shaft to rotate, the electric rotating chassis being rotatably connected to the steering control mounting base plate via the steering structure. By controlling the movable connection structure to drive the steering bevel gear to rotate, the steering bevel gear drives the steering roller meshed with the steering gear to roll; and simultaneously controlling the electric rotating chassis to drive the steering roller mounted on the steering connection seat through the steering connection seat, achieving rapid steering according to the control, thereby achieving the design purpose and effect; the steering control mechanism can achieve rapid and accurate control of the competition robot to steer, thereby giving it an advantage in the competition. In addition, a driving mechanism is installed on the connecting shaft to drive the connecting shaft to rotate. When an emergency occurs during the competition, causing the steering gear and the steering bevel gear on the side wall of the steering roller to fail to transmit, the driving mechanism is independently activated and controlled to drive the steering roller to continue moving forward, thereby ensuring that the competition robot can continue to compete. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the connection structure of a steering control mechanism of a competition robot according to the present invention; Figure 2 This is an exploded schematic diagram of the connection structure of a steering control mechanism of a competition robot according to the present invention; Figure 3 This is a schematic diagram of the steering roller connection structure of a steering control mechanism of a competition robot according to the present invention; Figure 4 This is a schematic diagram of the movable connection structure of a steering control mechanism of a competition robot according to the present invention; Figure 5 This is an exploded schematic diagram of the movable connection structure of a steering control mechanism of a competition robot according to the present invention; Figure 6 This is a schematic diagram of the connection structure of the connecting plate of the steering control mechanism of a competition robot according to the present invention; Figure 7 This is a schematic diagram of the connection structure of a driving mechanism of a steering control mechanism of a competition robot according to the present invention; Figure 8 This is an exploded schematic diagram of the driving mechanism connection structure of a steering control mechanism of a competition robot according to the present invention; In the figure, 1-steering control mounting base, 2-steering roller, 3-steering bevel gear, 4-electric rotating chassis, 5-steering large drive wheel, 6-steering top gear, 7-undertaking connecting gear, 8-planetary connecting frame, 11-connecting plate, 21-steering gear, 22-steering connecting seat, 51-steering small driving wheel, 52-control connecting gear, 53-control driving first gear, 54-control driving second gear, 55-output control gear, 56-second servo motor, 71-first servo motor, 72-steering connecting gear, 73-receiving seat, 74-top driving small gear, 81-first planetary carrier, 82-double sun gear, 83-second planetary carrier, 84-ring gear, 811-first planetary gear, 831-second planetary gear. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0017] Example 1 like Figures 1 to 8As shown, a steering control mechanism for a competition robot is used for steering control of a tire-type robot in a competition. The steering control mechanism can conveniently and quickly control the robot's steering movement. The steering control mechanism includes a steering control mounting base plate 1. The bottom end of the steering control mounting base plate 1 is rotatably connected to a steering roller 2. A steering gear 21 is provided on a side wall of the steering roller 2. A steering bevel gear 3 is provided on the top end of the steering roller 2. The steering bevel gear 3 is meshed with the steering gear 21 on the side wall of the steering roller 2. The top end of the steering bevel gear 3 is connected to a steering drive shaft. The other end of the steering drive shaft rotatably passes through the steering control mounting base plate 1 via an electric rotating chassis 4. The end of the steering drive shaft is connected to a movable connection structure for driving the steering drive shaft to rotate. The electric rotating chassis 4 is rotatably connected to the steering control mounting base plate 1 via the steering structure. By controlling the movable connection structure to drive the steering bevel gear 3 to rotate, the steering bevel gear 3 drives the steering roller 2 engaged with it through the steering gear 21 to roll; and at the same time, the electric rotating chassis 4 is controlled to drive the steering roller 2 installed on the steering connecting seat to roll through the steering connecting seat 22, ultimately realizing rapid steering, thereby achieving the design purpose and effect.

[0018] In the embodiment, the steering roller 2 is provided with a blind hole. The connecting shaft of the steering roller 2 rotatably passes through the blind hole provided in the steering roller 2, and both ends of the connecting shaft are connected to the steering connecting seat 22. The steering connecting seat 22 is connected to the electric rotating chassis 4. The blind holes provided at both end surfaces of the axis of the steering roller 2 are respectively provided with limit bearings. The connecting shaft rotatably passes through the inner ring of the limit bearings. The outer ring of the limit bearings is detachably connected to the inner wall of the blind hole via a bayonet. The steering roller 2 is rotatably connected to the steering connecting seat 22 via the connecting shaft, and the blind holes provided at both end surfaces of the axis of the steering roller 2 are rotatably connected to the connecting shaft via the limit bearings. This enables more sensitive steering during mid-air steering. In addition, the electric rotating chassis 4 is rotatably connected to the steering structure, so that the steering of the steering roller 2 can be controlled by the electric rotating chassis 4 alone, and the steering structure and the electric rotating chassis 4 can cooperate to jointly control the steering of the steering roller 2, thereby making it more convenient to control and adjust the steering as needed.

[0019] Example 2 Based on Example 1, the steering structure of the arrangement includes a large steering drive wheel 5; the bottom end of the large steering drive wheel 5 is connected to a steering connecting shaft, the other end of the steering connecting shaft rotates through the steering control mounting base plate 1 through a bearing and the end is connected to the electric rotating chassis 4; the steering drive shaft rotates in turn through the electric rotating chassis 4, the steering control mounting base plate 1 and the large steering drive wheel 5, and the end is connected to the movable connection structure.

[0020] At the same time, the movable connection structure includes a steering top gear 6, which is connected to the end of the steering drive shaft away from the steering bevel gear 3; a connecting plate 11 is provided above the steering control mounting base plate 1, and the connecting plate 11 is used to be installed and connected to the bottom end of the tire-type robot. The connecting plate 11 and the steering control mounting base plate 1 are fixed by bolts; a receiving drive structure is provided between the connecting plate 11 and the steering control mounting base plate 1; the steering top 6 is used for transmission connection with the receiving drive structure.

[0021] In an embodiment, as needed, the connecting plate 11 of the steering control mechanism is fixed to the bottom mounting design position of the robot, and the steering of the robot is controlled by the steering control mechanism. When a competition is in progress and the steering of the competition robot needs to be adjusted, the receiving drive structure can be controlled to drive the steering top gear 6 to rotate, thereby rotating the steering bevel gear 3 connected to the steering top gear 6 via the steering drive shaft. The steering bevel gear 3 then drives the steering roller 2 connected to the steering bevel gear 3 via the steering gear 21 to rotate, thereby controlling the steering roller 2 to roll.

[0022] Example 3 The receiving drive structure includes a receiving connecting gear 7, which is arranged between the connecting plate 11 and the steering control mounting base plate 1. The receiving connecting gear 7 is connected to a receiving shaft, the other end of which passes through the connecting plate 11 through a bearing and is connected to a first servo motor 71. The first servo motor 71 is fixed to the connecting plate 11. The receiving connecting gear 7 is meshed with a steering connecting gear 72, which is also arranged between the connecting plate 11 and the steering control mounting base plate 1. The steering connecting gear 72 is provided with a receiving seat 73 at the end away from the connecting plate 11, and a large steering drive wheel 5 is provided below the receiving seat 73. The receiving seat 73 can rotatably pass through the large steering drive wheel 5 arranged below through the receiving shaft, and the end is fixedly connected to the steering control mounting base plate 1. The steering connecting gear 72 is connected to a top plate steering shaft, the other end of which passes through the top drive pinion 74 and is connected to the receiving seat 73 through a bearing. The steering top gear 6 connected to one end of the steering drive shaft away from the steering bevel gear 3 is rotatably engaged with the top driving pinion 74 and is rotatably arranged on the receiving seat 73.

[0023] In the embodiment, by controlling the first servo motor 71 to start, the steering connecting gear 72 connected to the output end of the first servo motor 71 is driven to rotate around the connecting plate 11 at the bottom end of the connecting plate 11; the rotation of the steering connecting gear 72 drives the receiving connecting gear 7 engaged with the steering connecting gear 72 to rotate around the receiving seat 73, thereby driving the top driving pinion 74 to rotate through the top plate steering shaft, and the top driving pinion 74 drives the steering top gear 6 set on the receiving seat 73 to rotate, thereby driving the steering bevel gear 3 to rotate through the steering top gear 6, and then driving the steering roller 2 that is rotationally engaged with the steering bevel gear 3 through the steering gear 21 to roll through the steering bevel gear 3, thereby driving the competition robot to move through the steering control mechanism.

[0024] Example 4 The large steering drive wheel 5 is connected to a small steering drive wheel 51 via a belt drive. The small steering drive wheel 51 is rotatably disposed between the connecting plate 11 and the steering control mounting base 1. The small steering drive wheel 51 is connected to a drive shaft, which is rotatably disposed between the connecting plate 11 and the steering control mounting base 1 via a bearing. The drive shaft is also connected to a control connecting gear 52, the rotation of which is controlled by a control structure. The control structure includes a control drive first gear 53, a control drive second gear 54, and an output control gear 55; the control drive first gear 53, the control drive second gear 54, and the output control gear 55 are arranged between the connecting plate 11 and the steering control mounting base plate 1; the control drive second gear 54 is arranged above the control drive first gear 53 and the control drive second gear 54 and the control drive first gear 53 are rotatably connected between the connecting plate 11 and the steering control mounting base plate 1 through the same control drive connecting shaft; the driving first gear 53 is meshed with the control connecting gear 52; the control drive second gear 54 is meshed with the output control gear 55, and the output control gear 55 is arranged near one end face of the connecting plate 11; the output control gear 55 is connected to a control drive shaft, and the other end of the control drive shaft rotates through the connecting plate 11 through a bearing and the end is connected to the second servo motor 56, and the second servo motor 56 is fixed on the connecting plate.

[0025] In the embodiment, the output control gear 55 is driven to rotate by a second servo motor 56. The output control gear 55 drives the meshed control drive second gear 54 to rotate. The control drive second gear 54 rotates the first drive gear 53. The first drive gear 53 rotates, which in turn drives the control connecting gear 52 coaxially connected to the first drive gear 53. The control connecting gear 52 rotates via a coaxially arranged small steering drive wheel 51. Since the small steering drive wheel 51 is in turn connected to the large steering drive wheel 5 via a transmission belt, it drives the large steering drive wheel 5 to rotate. The large steering drive wheel 5 is also rotatably connected to the electric rotating chassis 4. Thus, the large steering drive wheel 5 drives the electric rotating chassis 4 to rotate, ultimately driving the steering roller 2 connected to the electric rotating chassis 4 via the steering connector 22 to rotate, thereby achieving the purpose of driving the steering roller 2 to steer. It should be noted that the electric rotating chassis 4 can also drive the steering roller 2 using existing electrical technology, achieving steering under the control of the electric rotating chassis 4. Thus, the steering gear 21 can be controlled by the electric rotating chassis 4 and the provided "steering structure" together, or the steering gear 21 can be controlled by the electric rotating chassis 4 alone. Ultimately, as needed, the steering gear 21 can be controlled "sensitively and quickly", thereby achieving steering control during the race, thereby gaining an advantage in the race.

[0026] Example 5 Furthermore, if an emergency occurs during a game, causing the steering gear and the steering bevel gear on the side wall of the steering roller 2 to fail to transmit, for the sake of safety, a driving mechanism for driving the connecting shaft to rotate is installed on the connecting shaft, and the driving mechanism is arranged in a blind hole opened through the steering roller.

[0027] like Figure 7 、 Figure 8As shown, the driving mechanism of the arrangement includes a first planet carrier 81, a double sun gear 82, a ring gear 84, a second planet carrier 83, and a planetary connecting frame 8; the double sun gear 82 is arranged between the first planet carrier 81 and the second planet carrier 83, and the connecting shaft passes through the first planet carrier 81, the double sun gear 82, the second planet carrier 83, and the planetary connecting frame 8 in sequence from one end of the blind hole, and the connecting shaft is rotatably connected to the steering connecting seat 22; the first planet carrier 81 is fixedly connected to the connecting shaft, the double sun gear 82 is rotatably connected to the connecting shaft through a bearing, the second planet carrier 83 is fixed to the connecting shaft, and the planetary connecting frame 8 is rotatably connected to the connecting shaft through a bearing; the first planet carrier 81 is arranged on one side of the blind hole and is connected to the inner wall of the blind hole, and the end of the first planet carrier 81 close to the double sun gear 82 is connected to three first planetary gears 811, and the first planetary gears 811 are rotatably connected to the first planet carrier 81 through a rotating shaft respectively. Between the male gear 82 and the ring gear 84 (the double sun gear is rotatably arranged in the hollow cavity of the ring gear), and the first planetary gear 81 is arranged in transmission meshing with the double sun gear 82 and the ring gear 84; the second planetary carrier 83 is arranged on the side of the double sun gear 82 away from the first planetary carrier 81, and the end of the second planetary carrier 83 close to the double sun gear 82 is connected to three second planetary gears 831, and the second planetary gears 831 are respectively rotatably connected to the second planetary carrier 83 through the rotating shaft. The second planetary gears 831 are arranged between the double sun gear 82 and the ring gear 84, and are in transmission meshing with the double sun gear 82 and the ring gear 84; the ring gear 84 is used to be connected to one end face of the planetary connecting frame 8 by bolts, and the ring gear 84 is rotated together with the planetary connecting frame 8; the planetary connecting frame 8 is used to be connected to the inner wall of the blind hole; the connecting shaft is also connected to a micro drive motor that drives the connecting shaft to rotate. The micro drive motor is arranged in the blind hole, and the housing of the micro drive motor is used to be connected to the inner wall of the blind hole.

[0028] Through this embodiment, during the competition, if an emergency occurs and the steering gear and the steering bevel gear on the side wall of the steering roller cannot transmit, the micro drive motor is started to drive the connecting shaft to rotate alone, so that the "drive mechanism" set in the blind hole of the steering roller can independently control and drive the steering roller 2 to continue moving forward when the steering gear 21 and the steering bevel gear 3 on the side wall of the steering roller 2 cannot transmit, thereby ensuring that the competition robot continues to compete.

Claims

1. A steering control mechanism for a competition robot, comprising a steering control mounting base plate, wherein the bottom end of the steering control mounting base plate is rotatably connected to a steering roller, characterized in that: A steering gear is provided on one side wall of the steering roller, and a steering bevel gear is provided on the top of the steering roller. The steering bevel gear is meshed with the steering gear on the side wall of the steering roller. The top of the steering bevel gear is connected to a steering drive shaft. The other end of the steering drive shaft is rotatably passed through the steering control mounting base plate through an electric rotating chassis and the end is connected to a movable connection structure for driving the steering drive shaft to rotate. The electric rotating chassis is rotatably connected to the steering control mounting base plate through the steering structure; The steering roller is provided with a blind hole, and the connecting shaft of the steering roller rotates and passes through the blind hole provided on the steering roller, and both ends of the connecting shaft are connected to the steering connecting seat, and the steering connecting seat is connected to the electric rotating chassis; Limit bearings are respectively arranged in the blind holes opened on both end faces of the steering roller axis, and the connecting shafts respectively rotate through the inner rings of the limit bearings, and the outer rings of the limit bearings and the inner walls of the blind holes are detachably connected by means of a bayonet.

2. A steering control mechanism for a competition robot according to claim 1, characterized in that: The steering structure includes a large steering drive wheel; The bottom end of the steering large driving wheel is connected to a steering connecting shaft, and the other end of the steering connecting shaft passes through the steering control mounting base plate through a bearing and the end is connected to the electric rotating chassis; The steering drive shaft rotates in sequence and passes through the electric rotating chassis, the steering control installation base plate and the steering large drive wheel, and the end portion is connected to the movable connection structure.

3. A steering control mechanism for a competition robot according to claim 2, characterized in that: The movable connection structure includes a steering top gear; The steering top gear is connected to an end of the steering drive shaft away from the steering bevel gear; A connecting plate is provided above the steering control mounting base plate, and the connecting plate is used to be mounted and connected to the bottom end of the tire-type robot, and the connecting plate and the steering control mounting base plate are fixed by bolts; A receiving drive structure is provided between the connecting plate and the steering control mounting base plate; The steering top gear is used for being connected to the receiving drive structure in a transmission manner.

4. A steering control mechanism for a competition robot according to claim 3, characterized in that: The receiving drive structure includes a receiving connecting gear, which is arranged between the connecting plate and the steering control mounting base plate. The receiving connecting gear is connected to a receiving rotating shaft. The other end of the receiving rotating shaft rotates through the connecting plate through a bearing and the end is connected to the first servo motor, and the first servo motor is fixed on the connecting plate.

5. A steering control mechanism for a competition robot according to claim 4, characterized in that: The receiving connecting gear is meshed with a steering connecting gear, and the steering connecting gear is also arranged between the connecting plate and the steering control mounting base plate; A receiving seat is provided at one end of the steering connecting gear away from the connecting plate, and a large steering driving wheel is provided below the receiving seat; The receiving seat is rotatable through the receiving rotating shaft to pass through the large steering drive wheel arranged below, and the end is connected and fixed to the steering control installation base plate; The steering connecting gear is connected to a top plate steering shaft, and the other end of the top plate steering shaft passes through a top driving pinion and the end is rotatably connected to a receiving seat through a bearing.

6. A steering control mechanism for a competition robot according to claim 5, characterized in that: The steering top gear connected to one end of the steering drive shaft away from the steering bevel gear is rotatably engaged with the top driving pinion and is rotatably arranged on the receiving seat.

7. A steering control mechanism for a competition robot according to claim 6, characterized in that: The large steering drive wheel is connected to the small steering drive wheel through a conveyor belt transmission, and the small steering drive wheel is rotatably arranged between the connecting plate and the steering control installation base plate.

8. A steering control mechanism for a competition robot according to claim 7, characterized in that: The steering drive wheel is connected to a driving shaft, and the driving shaft is rotatably arranged between the connecting plate and the steering control mounting base plate through a bearing; The driving shaft is also connected to a control connecting gear, and the control connecting gear is controlled to rotate by a control structure.

9. A steering control mechanism for a competition robot according to claim 8, characterized in that: The control structure includes a first control drive gear, a second control drive gear, and an output control gear, and the first control drive gear, the second control drive gear, and the output control gear are arranged between the connecting plate and the steering control mounting base plate; The second control drive gear is arranged above the first control drive gear and the second control drive gear and the first control drive gear are rotatably connected between the connecting plate and the steering control mounting base plate via the same control drive connecting shaft; The first driving gear is meshed with the control connecting gear; The control driving second gear is meshed with the output control gear, and the output control gear is arranged close to one end surface of the connecting plate; The output control gear is connected to a control drive shaft, and the other end of the control drive shaft rotates through the connecting plate through a bearing and the end is connected to the second servo motor, and the second servo motor is fixed on the connecting plate.

10. The steering control mechanism of a competition robot according to claim 1, characterized in that: The connecting shaft is also provided with a driving mechanism for driving the connecting shaft to rotate, and the driving mechanism is provided in a blind hole provided through the steering roller; The driving mechanism includes a first planet carrier, a double sun gear, a ring gear, a second planet carrier, and a planet connecting frame; The dual sun gear is arranged between the first planet carrier and the second planet carrier, and the connecting shaft passes through the first planet carrier, the dual sun gear, the second planet carrier, and the planetary connecting frame in sequence from one end of the blind hole, and the connecting shaft is rotatably connected to the steering connecting seat; The first planet carrier is fixedly connected to the connecting shaft, the dual sun gear is rotatably connected to the connecting shaft via bearings, the second planet carrier is fixed to the connecting shaft, and the planet connecting frame is rotatably connected to the connecting shaft via bearings; The first planet carrier is disposed on one side of the blind hole and connected to the inner wall of the blind hole. Three first planetary gears are connected to one end of the first planet carrier close to the dual sun gear. The first planetary gears are rotatably connected to the first planet carrier via rotating shafts. The first planetary gears are disposed between the dual sun gears and the ring gear and are in driving meshing engagement with the dual sun gears and the ring gear. The second planet carrier is arranged on a side of the dual sun gear away from the first planet carrier. Three second planetary gears are connected to one end of the second planet carrier close to the dual sun gear. The second planetary gears are rotatably connected to the second planet carrier via rotating shafts. The second planetary gears are arranged between the dual sun gear and the ring gear and are in driving meshing engagement with the dual sun gear and the ring gear. The ring gear is connected to one end surface of the planetary connecting frame by bolts, and the ring gear and the planetary connecting frame are rotated together; The planetary connecting frame is used to be connected to the inner wall of the blind hole; The connecting shaft is also connected to a micro drive motor that drives the connecting shaft to rotate. The micro drive motor is arranged in the blind hole, and the housing of the micro drive motor is used to be connected to the inner wall of the blind hole.

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