Four-direction balance robot steering wheel structure and robot

Abstract

The embodiment of the utility model provides a four-direction balance robot steering wheel structure and a robot, and relates to the field of robots. The problem that a robot steering wheel cannot adapt to complex road conditions can be solved. The four-direction balance robot steering wheel structure comprises a mounting disc, an electric hub, a top disc and a lifting mechanism, wherein the electric hub is mounted on the mounting disc; the top disc is used for being fixed to a robot body and connected with the mounting disc in a liftable mode. The lifting mechanism is connected with the mounting disc and the top disc and used for driving and adjusting the distance between the top disc and the mounting disc in the height direction. The robot comprises the four-direction balance robot steering wheel structure, the lifting mechanism drives the top disc to ascend and descend relative to the mounting disc so as to drive the electric hub to be close to or away from the robot body, and the lifting and inclination state of the robot body can be adjusted by adjusting lifting of the four-direction balance robot steering wheel structure at different positions of the robot body. Therefore, the method is suitable for more complex road conditions.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a steering wheel structure of a four-way balancing robot and a robot. Background Art

[0002] As a key component in robotics, the robot steering wheel integrates a drive motor, a steering motor, a reducer and other integrated mechanical structures. It not only has walking and traction functions, but also integrates steering functions, which can accurately control the movement direction and trajectory of the robot. This integrated design makes the steering wheel have broad application prospects in the field of robotics, especially in automated logistics, intelligent manufacturing and other fields.

[0003] The working principle of the steering wheel is mainly based on the design of the motor drive and transmission mechanism. The motor transmits power to the wheels through the transmission mechanism, and the steering motor controls the steering angle of the wheels, thereby achieving omnidirectional movement of the robot. The design of the transmission mechanism is crucial to the performance of the steering wheel, which needs to have high transmission efficiency, low noise and long service life. However, the existing robot steering wheels are mainly suitable for relatively flat roads, and cannot adapt to more complex road conditions. Utility Model Content

[0004] The objectives of the present utility model include, for example, providing a four-way balancing robot steering wheel structure, which can improve the problem that the robot steering wheel cannot adapt to more complex road conditions.

[0005] The purpose of the utility model also includes providing a robot that can improve the problem that the robot steering wheel cannot adapt to more complex road conditions.

[0006] The embodiments of the present invention can be implemented as follows:

[0007] An embodiment of the utility model provides a four-way balancing robot steering wheel structure, comprising a mounting plate, an electric wheel hub, a top plate and a lifting mechanism, wherein the electric wheel hub is mounted on the mounting plate; the top plate is used to be fixed to the robot body, and the top plate is connected to the mounting plate in a liftable manner; the lifting mechanism connects the mounting plate and the top plate, and the lifting mechanism is used to drive and adjust the distance between the top plate and the mounting plate in the height direction.

[0008] In addition, the four-way balancing robot steering wheel structure provided by the embodiment of the utility model may also have the following additional technical features:

[0009] Optionally, the lifting mechanism includes a lifting motor and a lifting screw; the lifting screw is vertically rotatably connected to the mounting plate, and the lifting screw is threadedly connected to the top plate; the lifting motor is transmission-connected to the lifting screw, and the lifting motor is used to drive the lifting screw to rotate, so as to drive the top plate to move up and down relative to the mounting plate along the direction of the lifting screw.

[0010] Optionally, the lifting mechanism also includes a first pair of rotating gear plates and a second pair of rotating gear plates; the first pair of rotating gear plates and the second pair of rotating gear plates are respectively rotatably arranged on the top plate, the first pair of rotating gear plates are transmission connected to the lifting motor, and the first pair of rotating gear plates and the second pair of rotating gear plates are connected by belt or gear transmission; the lifting screw is threadedly connected to the second pair of rotating gear plates.

[0011] Optionally, the four-way balancing robot steering wheel structure further includes at least one guide rod; at least one guide rod is vertically fixed on the mounting plate, and at least one guide rod is slidably matched with the top plate.

[0012] Optionally, the steering wheel structure of the four-way balancing robot also includes a steering plate, a wheel hub support seat and a shock-absorbing mechanism; the steering plate is rotatably connected to the mounting plate, the wheel hub support seat is installed with the electric wheel hub, and the wheel hub support seat and the steering plate are connected via the shock-absorbing mechanism.

[0013] Optionally, the number of the shock-absorbing mechanisms is at least one; each of the shock-absorbing mechanisms includes a support shaft, a support shell and a spring, the lower end of the support shaft is fixed on the wheel hub support seat, the upper end of the support shaft is slidably connected to the steering plate, the support shell is sleeved and fixed on the outside of the support shaft, the spring is sleeved on the outer periphery of the support shaft, and the two ends of the spring are respectively abutted against the steering plate and the support shell.

[0014] Optionally, the steering plate includes two opposite ends, the lateral width of the steering plate gradually increases from one end to the other end, the end of the steering plate with a smaller lateral width is rotatably connected to the mounting plate, and the end of the steering plate with a larger lateral width is used to install the shock absorbing mechanism.

[0015] Optionally, the transverse cross-section of the end of the steering plate with a smaller width is semi-arc-shaped, and the transverse cross-section of the end of the steering plate with a larger width is trapezoidal.

[0016] Optionally, the steering wheel structure of the four-way balancing robot also includes a steering motor, a driving wheel, a driven wheel and a steering shaft; the steering motor is fixed on the mounting plate, the driving wheel and the driven wheel are rotatably connected to the mounting plate, and the steering shaft connects and fixes the driven wheel and the steering plate; the steering motor, the driving wheel and the driven wheel are sequentially connected in transmission to drive the steering plate to rotate.

[0017] An embodiment of the utility model further provides a robot, comprising a body and a four-way balancing robot steering wheel structure, wherein the four-way balancing robot steering wheel structure is mounted on the body.

[0018] The beneficial effects of the steering wheel structure of the four-way balancing robot and the robot according to the embodiment of the utility model include, for example:

[0019] The steering wheel structure of a four-way balancing robot includes a mounting plate, an electric wheel hub, a top plate and a lifting mechanism, wherein the electric wheel hub is mounted on the mounting plate; the top plate is used to be fixed to the robot body, and the top plate is connected to the mounting plate in a liftable manner; the lifting mechanism connects the mounting plate and the top plate, and the lifting mechanism is used to drive and adjust the distance between the top plate and the mounting plate in the height direction.

[0020] The lifting mechanism drives the top plate to move up and down relative to the mounting plate to drive the electric wheel hub to move closer to or away from the robot body. By adjusting the lifting and lowering of the four-way balancing robot steering wheel structure at different positions of the robot body, the lifting and tilting state of the robot body can be adjusted to adapt to more and more complex road conditions.

[0021] The robot, including the above-mentioned four-way balancing robot steering wheel structure, can improve the problem that the robot steering wheel cannot adapt to more complex road conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 A structural schematic diagram of a first-angle view of a steering wheel structure of a four-way balancing robot provided by an embodiment of the utility model;

[0024] Figure 2 A structural schematic diagram of a second perspective of the steering wheel structure of a four-way balancing robot provided by an embodiment of the utility model;

[0025] Figure 3A structural schematic diagram of the third perspective of the steering wheel structure of the four-way balancing robot provided by an embodiment of the utility model.

[0026] Icons: 10- steering wheel structure of four-way balancing robot; 100- mounting plate; 110- top plate; 120- steering plate; 200- electric wheel hub; 300- lifting mechanism; 310- lifting motor; 320- lifting screw; 330- first pair of rotating gear plates; 340- second pair of rotating gear plates; 350- guide rod; 400- wheel hub support seat; 410- wheel hub rotating shaft; 500- shock absorbing mechanism; 510- supporting shaft; 520- supporting shell; 530- spring; 600- steering motor; 610- driving wheel; 620- driven wheel; 630- steering shaft. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0030] In the description of the present utility model, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the utility model product is usually placed when used. It is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present utility model.

[0031] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0032] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0033] Combine the following Figures 1 to 3 The four-way balancing robot steering wheel structure 10 provided in this embodiment is described in detail.

[0034] Please refer to Figure 1 The embodiment of the utility model provides a four-way balancing robot steering wheel structure 10, including a mounting plate 100, an electric wheel hub 200, a top plate 110 and a lifting mechanism 300, wherein the electric wheel hub 200 is mounted on the mounting plate 100; the top plate 110 is used to be fixed to the robot body, and the top plate 110 is connected to the mounting plate 100 in a liftable manner; the lifting mechanism 300 connects the mounting plate 100 and the top plate 110, and the lifting mechanism 300 is used to drive and adjust the distance between the top plate 110 and the mounting plate 100 along the height direction.

[0035] The electric wheel hub 200 has a built-in driving motor that can drive the entire steering wheel to move. The mounting plate 100 mounts the electric wheel hub 200, the top plate 110 is fixed to the robot body, and the mounting plate 100 and the top plate 110 are connected by a lifting mechanism 300. The lifting mechanism 300 drives and adjusts the relative movement of the top plate 110 and the mounting plate 100 in the height direction, and adjusts the distance between the electric wheel hub 200 and the robot body, so that the steering wheel structure can freely lift and tilt the robot body, because a plurality of four-way balancing robot steering wheel structures 10 are installed under the robot body, one of which realizes the lifting action, and the other four-way balancing robot steering wheel structures 10 remain in their original state to realize the tilting action of the robot body. For the situation where the road conditions are more complicated, the four-way balancing robot steering wheel structures 10 at different positions can be controlled according to the road conditions, so that the robot body is in different tilted or horizontal states to adapt to different road conditions, which is more stable, and the steering wheel structure is simple and stable in function.

[0036] Reference Figure 1 In this embodiment, the lifting mechanism 300 includes a lifting motor 310 and a lifting screw 320; the lifting screw 320 is vertically rotatably connected to the mounting plate 100, and the lifting screw 320 is threadedly connected to the top plate 110; the lifting motor 310 is transmission-connected to the lifting screw 320, and the lifting motor 310 is used to drive the lifting screw 320 to rotate, so as to drive the top plate 110 to move up and down relative to the mounting plate 100 along the direction of the lifting screw 320.

[0037] The lifting screw 320 rotates relative to the mounting plate 100, but does not move axially relative to the mounting plate 100; the lifting motor 310 drives the lifting screw 320 to rotate forward and reverse, so that the top plate 110 reciprocates along the axial direction of the lifting screw 320, adjusts the distance between the top plate 110 and the mounting plate 100, and then adjusts the distance between the mounting plate 100 and the robot body.

[0038] The lifting motor 310 enables the four-way balancing robot steering wheel structure 10 to freely lift and tilt the robot body. The structure is simple, and the lifting height can be accurately controlled to keep the robot moving smoothly.

[0039] Reference Figure 1 In this embodiment, the lifting mechanism 300 also includes a first pair of rotating gear plates 330 and a second pair of rotating gear plates 340; the first pair of rotating gear plates 330 and the second pair of rotating gear plates 340 are respectively rotatably arranged on the top plate 110, the first pair of rotating gear plates 330 are transmission connected to the lifting motor 310, and the first pair of rotating gear plates 330 and the second pair of rotating gear plates 340 are connected by belt or gear transmission; the lifting screw rod 320 is threadedly connected to the second pair of rotating gear plates 340.

[0040] The lifting motor 310 rotates, driving the first pair of rotating gear plates 330 to rotate. The first pair of rotating gear plates 330 rotates, driving the second pair of rotating gear plates 340 to rotate. The second pair of rotating gear plates 340 moves along the lifting screw rod 320, driving the lifting plate 110, the first pair of rotating gear plates 330 and the second pair of rotating gear plates 340 to move together. The first pair of rotating gear plates 330 and the second pair of rotating gear plates 340 can be connected by belt drive, by gear drive, or by direct meshing.

[0041] Reference Figure 1 In this embodiment, the four-way balancing robot steering wheel structure 10 also includes at least one guide rod 350; at least one guide rod 350 is vertically fixed on the mounting plate 100, and at least one guide rod 350 is slidably matched with the top plate 110.

[0042] The guide rod 350 is used to guide and limit the moving direction of the top plate 110. During the rotation of the lifting screw rod 320, due to the limitation of the guide rod 350, the top plate 110 will not rotate with the lifting screw rod 320, but will move along the lifting screw rod 320 under the guidance of the guide rod 350 to achieve lifting.

[0043] The number of guide rods 350 is at least one, and can be two, three or more. In the present embodiment, two guide rods 350 are provided, and the two guide rods 350 are arranged side by side and spaced apart to control the direction of the top plate 110 so that the top plate 110 can maintain a matching direction with the robot during the lifting process.

[0044] Reference Figure 2 In this embodiment, the steering wheel structure 10 of the four-way balancing robot also includes a steering plate 120, a hub support seat 400 and a shock absorbing mechanism 500; the steering plate 120 is rotatably connected to the mounting plate 100, the hub support seat 400 is installed with the electric hub 200, and the hub support seat 400 is connected to the steering plate 120 through the shock absorbing mechanism 500.

[0045] The steering plate 120 rotates relative to the mounting plate 100, driving the damping mechanism 500, the hub support seat 400 and the electric hub 200 to rotate synchronously, thereby adjusting the direction of the electric hub 200. The damping mechanism 500 is installed between the hub support seat 400 and the steering plate 120 to play a damping role, and has a stronger adaptability to complex road conditions. Among them, the electric hub 200 is inserted into the hub support seat 400 through the hub rotating shaft 410.

[0046] Reference Figure 2 In this embodiment, the number of the shock absorbing mechanism 500 is at least one; each shock absorbing mechanism 500 includes a support shaft 510, a support shell 520 and a spring 530, the lower end of the support shaft 510 is fixed on the wheel hub support seat 400, the upper end of the support shaft 510 is slidably connected with the steering plate 120, the support shell 520 is sleeved and fixed on the outside of the support shaft 510, the spring 530 is sleeved on the outer periphery of the support shaft 510, and the two ends of the spring 530 are respectively against the steering plate 120 and the support shell 520.

[0047] The number of shock absorbing mechanisms 500 is set according to actual conditions. There are two support shafts 510 on the hub support seat 400, and the two support shafts 510 are extended in the vertical direction. The outside of the two support shafts 510 is surrounded by a support shell 520. A spring 530 is arranged between the two support shafts 510 and the two support shells 520, and the spring 530 is supported between the steering plate 120 and the support shell 520. When the support shaft 510 moves up and down along the steering plate 120, the spring 530 can be compressed, and the spring 530 is used for shock absorption; in this embodiment, two support shafts 510 are used to support the steering wheel at the same time, and the structure is stable and the shock absorption effect is good.

[0048] Reference Figure 3 In this embodiment, the steering plate 120 includes two opposite ends, and the lateral width of the steering plate 120 gradually increases from one end to the other end. The end of the steering plate 120 with a smaller lateral width is rotatably connected to the mounting plate 100, and the end of the steering plate 120 with a larger lateral width is used to install the shock absorbing mechanism 500.

[0049] The steering plate 120 is located below the mounting plate 100 and above the two support shafts 510. The upper surface of the steering plate 120 faces the steering transmission mechanism, and the lower surface of the steering plate 120 faces the two support shafts 510. The end of the steering plate 120 with a smaller lateral width is used to achieve a rotation connection, and the end of the steering plate 120 with a larger lateral width is used to install the two support shafts 510. The structural shape of the steering plate 120 is suitable for rotating and installing the support shafts 510.

[0050] Reference Figure 3 In this embodiment, the transverse cross-section of the end of the steering plate 120 with a smaller width is semi-arc-shaped, and the transverse cross-section of the end of the steering plate 120 with a larger width is trapezoidal.

[0051] The cross section of the steering plate 120 is a trapezoid plus an arc, that is, the upper surface and the lower surface of the steering plate 120 are a trapezoid plus an arc structure. Specifically, the steering plate 120 includes a first side surface, a second side surface, a third side surface and a fourth side surface connected in sequence; the first side surface of the steering plate 120 is an arc surface, the second side surface of the steering plate 120 is a rectangular surface, the third side surface of the steering plate 120 is a rectangular surface, the fourth side surface of the steering plate 120 is a rectangular surface, the second side surface of the steering plate 120 is arranged opposite to the fourth side surface of the steering plate 120, and the first side surface of the steering plate 120 is arranged opposite to the third side surface; there are three through holes on the steering plate 120, one of which is connected to the steering shaft 630, and the other two through holes are used to connect the two support shafts 510.

[0052] Reference Figure 1 and Figure 2 In this embodiment, the steering wheel structure 10 of the four-way balancing robot also includes a steering motor 600, a driving wheel 610, a driven wheel 620 and a steering shaft 630; the steering motor 600 is fixed on the mounting plate 100, the driving wheel 610 and the driven wheel 620 are rotatably connected to the mounting plate 100, and the steering shaft 630 is connected and fixed to the driven wheel 620 and the steering plate 120; the steering motor 600, the driving wheel 610 and the driven wheel 620 are sequentially connected in transmission to drive the steering plate 120 to rotate.

[0053] The steering motor 600 realizes the direction adjustment of the steering wheel. The steering motor 600 drives the driving wheel 610 to rotate, driving the driven wheel 620 to rotate, and the driven wheel 620 drives the steering shaft 630 and the steering plate 120 to rotate synchronously, realizing the rotation of the electric wheel hub 200 installed under the steering plate 120. Specifically, the end of the steering plate 120 with a smaller lateral width is fixed to the steering shaft 630.

[0054] The embodiment of the utility model further provides a robot, which includes a fuselage and a four-way balancing robot steering wheel structure 10, wherein the four-way balancing robot steering wheel structure 10 is mounted on the fuselage. Four four-way balancing robot steering wheel structures 10 are mounted below the fuselage, and the position of the fuselage can be adjusted by adjusting the four-way balancing robot steering wheel structures 10 in different directions.

[0055] According to a four-way balancing robot steering wheel structure 10 provided in this embodiment, the working principle of the four-way balancing robot steering wheel structure 10 is: by adjusting the height of the top plate 110, the position of the robot body is adjusted to adapt to different road conditions.

[0056] The four-way balancing robot steering wheel structure 10 provided in this embodiment has at least the following advantages:

[0057] The four-way balancing robot steering wheel structure 10 can freely lift and tilt the robot body. The lifting action can be achieved by one of the four-way balancing robot steering wheel structures 10, and the tilting action of the body can be achieved by keeping the other steering wheel structures in their original state. The steering wheel can achieve lifting and steering actions at the same time, and the steering wheel structure is simple and stable in function.

[0058] A shock absorbing mechanism 500 is installed between the electric wheel hub 200 and the mounting plate 100 to play a shock absorbing role, so that it can be applied to more complex road conditions and make driving more stable.

[0059] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the utility model should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A four-way balancing robot steering wheel structure, characterized in that: include: Mounting plate (100); An electric wheel hub (200), the electric wheel hub (200) being mounted on the mounting plate (100); A top plate (110), the top plate (110) being used to be fixed to the robot body, and the top plate (110) being connected to the mounting plate (100) in a liftable manner; and a lifting mechanism (300), wherein the lifting mechanism (300) connects the mounting plate (100) and the top plate (110), and the lifting mechanism (300) is used to drive and adjust the distance between the top plate (110) and the mounting plate (100) in the height direction.

2. The steering wheel structure of the four-way balancing robot according to claim 1, characterized in that: The lifting mechanism (300) comprises a lifting motor (310) and a lifting screw (320); the lifting screw (320) is vertically rotatably connected to the mounting plate (100), and the lifting screw (320) is threadedly connected to the top plate (110); the lifting motor (310) is transmission-connected to the lifting screw (320), and the lifting motor (310) is used to drive the lifting screw (320) to rotate, so as to drive the top plate (110) to move up and down relative to the mounting plate (100) along the direction of the lifting screw (320).

3. The steering wheel structure of the four-way balancing robot according to claim 2, characterized in that: The lifting mechanism (300) further comprises a first pair of rotating gear discs (330) and a second pair of rotating gear discs (340); the first pair of rotating gear discs (330) and the second pair of rotating gear discs (340) are respectively rotatably arranged on the top plate (110); the first pair of rotating gear discs (330) are transmission-connected to the lifting motor (310); the first pair of rotating gear discs (330) and the second pair of rotating gear discs (340) are transmission-connected via a belt or a gear; the lifting screw rod (320) is threadedly connected to the second pair of rotating gear discs (340).

4. The steering wheel structure of the four-way balancing robot according to claim 1, characterized in that: The four-way balancing robot steering wheel structure also includes at least one guide rod (350); at least one guide rod (350) is vertically fixed on the mounting plate (100), and at least one guide rod (350) is slidably matched with the top plate (110).

5. The steering wheel structure of a four-way balancing robot according to any one of claims 1 to 4, characterized in that: The steering wheel structure of the four-way balancing robot also includes a steering plate (120), a wheel hub support seat (400) and a shock absorbing mechanism (500); the steering plate (120) is rotatably connected to the mounting plate (100), the wheel hub support seat (400) is mounted with the electric wheel hub (200), and the wheel hub support seat (400) and the steering plate (120) are connected via the shock absorbing mechanism (500).

6. The steering wheel structure of the four-way balancing robot according to claim 5, characterized in that: The number of the shock absorbing mechanisms (500) is at least one; each of the shock absorbing mechanisms (500) comprises a support shaft (510), a support shell (520) and a spring (530); the lower end of the support shaft (510) is fixed on the wheel hub support seat (400); the upper end of the support shaft (510) is slidably connected to the steering plate (120); the support shell (520) is sleeved and fixed on the outside of the support shaft (510); the spring (530) is sleeved on the outer periphery of the support shaft (510); and the two ends of the spring (530) are respectively abutted against the steering plate (120) and the support shell (520).

7. The steering wheel structure of the four-way balancing robot according to claim 5, characterized in that: The steering plate (120) comprises two opposite ends, and the lateral width of the steering plate (120) gradually increases from one end to the other end. The end of the steering plate (120) with a smaller lateral width is rotatably connected to the mounting plate (100), and the end of the steering plate (120) with a larger lateral width is used for mounting the shock absorbing mechanism (500).

8. The steering wheel structure of the four-way balancing robot according to claim 7, characterized in that: The transverse cross-section of the end of the steering plate (120) with a smaller width is in a semi-arc shape, and the transverse cross-section of the end of the steering plate (120) with a larger width is in a trapezoidal shape.

9. The steering wheel structure of the four-way balancing robot according to claim 5, characterized in that: The steering wheel structure of the four-way balancing robot further comprises a steering motor (600), a driving wheel (610), a driven wheel (620) and a steering shaft (630); the steering motor (600) is fixed on the mounting plate (100), the driving wheel (610) and the driven wheel (620) are rotatably connected to the mounting plate (100), and the steering shaft (630) is connected and fixed to the driven wheel (620) and the steering plate (120); the steering motor (600), the driving wheel (610) and the driven wheel (620) are sequentially connected in transmission to drive the steering plate (120) to rotate.

10. A robot, characterized in that: The robot comprises a fuselage and a four-way balancing robot steering wheel structure as described in any one of claims 1 to 9, wherein the four-way balancing robot steering wheel structure is mounted on the fuselage.

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