Steering system driving robot executing mechanism

Abstract

The utility model is suitable for the technical field of automobile driving, and provides a steering system driving robot executing mechanism which comprises a radial adjusting arm, a column direction adjusting arm and a clamp assembly. The radial adjusting arm is assembled on a rotating assembly on the executing mechanism; the cylindrical adjusting arm is vertically assembled on the radial adjusting arm; the clamp assembly is assembled on the column direction adjusting arm; the clamp assembly comprises a distance adjusting part and two single-side clamping plates, the two single-side clamping plates are symmetrically distributed at the two ends of the distance adjusting part, the distance between the two single-side clamping plates is adjusted through stretching and retracting of the distance adjusting part, and the two single-side clamping plates are used for clamping a steering wheel; a plurality of roller bodies are rotationally assembled on the single-side clamping plate, and self-locking mechanisms are arranged on the roller bodies; the functions that the steering wheel is locked when steering operation is needed and the steering wheel is not locked when steering operation is not needed are achieved flexibly.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile driving, in particular to an actuator of a steering system driving robot. Background Art

[0002] Motor vehicle steering When a vehicle turns, it is usually necessary to reduce speed and observe the road conditions in the direction of the turn through the rearview mirror due to the influence of terrain, traffic conditions and driving resistance; in order to facilitate vehicle road durability testing, bench testing and advanced driver assistance system (ADAS) testing, etc., and reduce the risk factor; driving robots have appeared on the market. The driving robots can give the vehicle automatic driving capabilities without making any changes to the vehicle. The robot replaces the driver to complete the vehicle driving, and can realize human-machine co-driving, meeting the user's demand for automatic driving of existing vehicles.

[0003] Driving robots can ensure the accuracy and repeatability of test operations, reduce test risks, save test time, and extract high-quality objective data. The autonomous driving robot consists of four parts: an execution unit, a control unit, an autonomous driving kit, and a power adapter. Each execution unit can operate independently or cooperate with each other to perform more complex linkage operations, such as braking when turning, braking when changing lanes, adding or subtracting the throttle when turning, or shifting gears when parking.

[0004] When the existing driving robot performs steering operation through the steering actuator, it is first directly locked on the steering wheel through the steering actuator, and then the steering operation is performed; when the car needs to return to the center after steering, it is often returned to the center through the steering actuator, but many existing car steering systems have the function of automatic return, which can save energy without the steering actuator participating in the whole process of return; and the steering actuator of the existing driving robot cannot flexibly lock the steering wheel when the steering operation is required, and not lock the steering wheel when the steering operation is not required; for example, the "claw assembly" recorded in the steering actuator of an automatic driving robot in the prior art (Chinese patent, authorization announcement number CN214084425U) is also directly locked on the steering wheel, and cannot flexibly lock the steering wheel when the steering operation is required, and not lock the steering wheel when the steering operation is not required.

[0005] Therefore, a steering system driving robot actuator is proposed to solve the above problems. Utility Model Content

[0006] The purpose of the embodiment of the present utility model is to provide an actuating mechanism for a steering system driving robot, aiming to solve the problem that the steering systems of many existing automobiles have the function of automatic return, and the steering actuating mechanism of the existing driving robot cannot flexibly lock the steering wheel when steering operation is required and not lock the steering wheel when steering operation is not required, so as to save energy.

[0007] Specifically: An actuating mechanism for a steering system driving robot includes a radial adjusting arm, an axial adjusting arm, and a fixture assembly; the radial adjusting arm is assembled on the rotating assembly of the actuating mechanism and is driven by the rotating assembly to rotate in a circular motion; the axial adjusting arm is vertically assembled on the radial adjusting arm; the fixture assembly is assembled on the axial adjusting arm, and then the position of the fixture assembly is adjusted axially by the axial adjusting arm and radially by the radial adjusting arm to adapt to various steering wheels; wherein, the fixture assembly includes a distance adjusting member and two single-sided clamping plates, the two single-sided clamping plates are symmetrically distributed at both ends of the distance adjusting member, and the distance between the two single-sided clamping plates is adjusted by the telescopic movement of the distance adjusting member for clamping the steering wheel with the two single-sided clamping plates; a plurality of rollers are rotatably assembled on the single-sided clamping plates, and a self-locking mechanism is provided on the rollers.

[0008] By adjusting the position of the fixture assembly axially by the axial adjusting arm and then adjusting the position of the fixture assembly radially by the radial adjusting arm, the fixture assembly is accurately adjusted to the steering wheel; after the rollers are locked by the self-locking mechanism, the distance between the two single-sided clamping plates is adjusted by shortening the distance adjusting member, and the two single-sided clamping plates are used to clamp the steering wheel, and finally, the steering operation of the vehicle is completed in cooperation with the rotating assembly on the actuating mechanism; when the steering system of the vehicle needs to drive the steering wheel to automatically return, the locking of the rollers is released by the self-locking mechanism, the distance between the two single-sided clamping plates is adjusted by extending the distance adjusting member, and the limit of the single-sided clamping plates on the steering wheel is released, realizing the function of flexibly locking the steering wheel when steering operation is required and not locking the steering wheel when steering operation is not required.

[0009] The technical solution of the present application will be further described below:

[0010] In one of the embodiments, the radial adjusting arm includes:

[0011] A receiving tube, the receiving tube is assembled on the rotating assembly of the actuating mechanism;

[0012] An inner inserting arm, the inner inserting arm is movably inserted inside the receiving tube;

[0013] A connecting block, the connecting block is fixed at the end of the inner inserting arm far from the receiving tube, and the connecting block is used for installing the axial adjusting arm.

[0014] Further, the inner insertion arm and the receiving tube are limited by a fixing pin A; a plurality of positioning holes A are formed in the inner insertion arm to cooperate with the fixing pin A, and the plurality of positioning holes A are equally spaced along the main direction of the inner insertion arm.

[0015] Still further, the inner insertion arm and the receiving tube are limited by inserting the fixing pin A into the positioning hole A.

[0016] In one embodiment, the columnar adjusting arm includes:

[0017] A telescopic arm, which is assembled on the radial adjusting arm;

[0018] A connecting plate, which is fixed on the telescopic arm;

[0019] A reinforcing platform, which is installed on the connecting plate by a plurality of screws, and the reinforcing platform is used for fixing on the single-sided clamping plate.

[0020] Further, the telescopic arm includes an outer sleeve and an inner insertion rod, the inner insertion rod is movably inserted inside the outer sleeve, the outer sleeve and the inner insertion rod are limited by a fixing pin B, and a plurality of positioning holes B are formed in the inner insertion rod to cooperate with the fixing pin B.

[0021] Still further, the plurality of positioning holes B are equally spaced along the main direction of the inner insertion rod, and the outer sleeve and the inner insertion rod are limited by inserting the fixing pin B into the positioning hole B.

[0022] In one embodiment, the distance adjusting member includes:

[0023] A telescopic plate;

[0024] A support plate A, which is fixed at one end of the telescopic plate;

[0025] A support plate B, which is fixed at the other end of the telescopic plate;

[0026] An electric telescopic rod A, which is fixed on the support plate A, and the electric telescopic rod A is parallel to the telescopic plate;

[0027] An electric telescopic rod B, one end of which is fixed on the support plate B and the other end is fixed on the electric telescopic rod A; the electric telescopic rod B and the electric telescopic rod A are linearly distributed.

[0028] Further, the telescopic plate includes a receiving plate A and a receiving plate B, the receiving plate A is vertically assembled on the support plate A, and the receiving plate B is vertically assembled on the support plate B;

[0029] An insertion plate is arranged between the storage plate A and the storage plate B. One end of the insertion plate is movably inserted into the storage plate A, and the other end is movably inserted into the storage plate B.

[0030] In one embodiment, the single-sided clamping plate includes a single-sided clamping plate body, and an installation groove is formed in the single-sided clamping plate body; a plurality of roller bodies are provided and are rotatably assembled inside the installation groove.

[0031] Compared with the prior art, the steering system driving robot actuator of the present invention can achieve: adjusting the position of the fixture assembly in the column direction through the column adjustment arm, and then adjusting the position of the fixture assembly in the radial direction through the radial adjustment arm to accurately adjust the fixture assembly onto the steering wheel; after the roller body is locked by the self-locking mechanism, adjusting the distance between the two single-sided clamping plates by shortening the distance adjusting member, using the two single-sided clamping plates to clamp the steering wheel, and finally cooperating with the rotation assembly on the actuator to complete the steering operation of the vehicle; when the steering system of the vehicle needs to drive the steering wheel to automatically return to the straight position, unlocking the locking of the roller body by the self-locking mechanism, elongating the distance adjusting member to adjust the distance between the two single-sided clamping plates, and releasing the limit of the single-sided clamping plate on the steering wheel, so as to flexibly achieve the function of locking the steering wheel when steering operation is required and not locking the steering wheel when no steering operation is required. Description of the Drawings

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0033] Figure 1 It is a schematic structural diagram of the steering system driving robot actuator in an embodiment of the present invention;

[0034] Figure 2 It is a demonstration diagram of the steering system driving robot actuator in an embodiment of the present invention applied to the steering wheel;

[0035] Figure 3 It is a schematic assembly structure diagram of the radial adjustment arm and the column adjustment arm in an embodiment of the present invention;

[0036] Figure 4 It is a schematic structural diagram of the column adjustment arm in an embodiment of the present invention;

[0037] Figure 5 It is a schematic structural diagram of the radial adjustment arm in an embodiment of the present invention;

[0038] Figure 6Schematic structural diagram of a fixture assembly in an embodiment of the present utility model;

[0039] Figure 7 Schematic structural diagram of a distance adjusting member in an embodiment of the present utility model;

[0040] Figure 8 Schematic structural diagram of a single-sided clamping plate in an embodiment of the present utility model.

[0041] In the drawings, the list of components represented by each reference numeral is as follows:

[0042] 100 - Radial adjusting arm;

[0043] Fixed pin A110, receiving tube 120, positioning hole A130, inner inserting arm 140, connecting block 150;

[0044] 200 - Axial adjusting arm;

[0045] Outer sleeve 210, inner inserting rod 220, connecting plate 230, reinforcement platform 240, positioning hole B250, fixed pin B260;

[0046] 300 - Fixture assembly;

[0047] Distance adjusting member 310, single-sided clamping plate 320; receiving plate A3101, inserting plate 3102, receiving plate B3103, support plate A3104, electric telescopic rod A3105, electric telescopic rod B3106, support plate B3107; single-sided clamping plate body 3201, installation groove 3202, roller 3203;

[0048] 400 - Steering wheel. Detailed implementation manners

[0049] In order to make the objectives, technical solutions and advantages of the present utility model clearer, the present utility model will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model. The specific implementation of the present utility model will be described in detail below with reference to specific embodiments.

[0050] In the embodiments of the present utility model, as Figures 1 - 3 、 Figure 6 and Figure 8 shown: An actuator of a steering system driving robot includes:

[0051] The radial adjustment arm 100 is assembled on the rotating assembly of the actuator (the rotating assembly included in the actuator mentioned here is prior art, and its detailed structure can be known from existing literature and periodicals, and it can also be directly purchased on the market, or the components can be purchased on the market for assembly, etc.; it is not what the present invention aims to protect, so it will not be elaborated in detail here and is not shown in the drawings), and is driven by the rotating assembly to rotate in a circular motion;

[0052] The axial adjustment arm 200 is vertically assembled on the radial adjustment arm 100;

[0053] The fixture assembly 300 is assembled on the axial adjustment arm 200, and the axial adjustment arm 200 is used to adjust the position axially, and the radial adjustment arm 100 is used to adjust the position radially, so as to adapt to various steering wheels 400;

[0054] It should be noted that: the steering wheel 400 is prior art, and its detailed structure can be known from existing literature and periodicals, and it can also be directly purchased on the market, or the components can be purchased on the market for assembly, etc.; it is not what the present invention aims to protect, so it will not be elaborated in detail here;

[0055] Among them, the fixture assembly 300 includes a distance adjustment member 310 and two single-sided clamping plates 320. The two single-sided clamping plates 320 are symmetrically distributed at both ends of the distance adjustment member 310. The distance adjustment member 310 is used to adjust the distance between the two single-sided clamping plates 320 by stretching, so as to use the two single-sided clamping plates 320 to clamp the steering wheel 400; a plurality of rollers 3203 are rotatably assembled on the single-sided clamping plate 320, and the rollers 3203 are provided with a self-locking mechanism (the self-locking mechanism mentioned here is prior art, for example, the self-locking mechanism includes a gear and a limit clamping plate. The gear is coaxially fixed on the roller 3203, and the limit clamping plate is installed on the single-sided clamping plate 320 through an electric telescopic rod C. When the electric telescopic rod C drives the limit clamping plate away from the gear, the self-locking mechanism is in the unlocked state. When the electric telescopic rod C drives the limit clamping plate close to and limits the gear, the self-locking mechanism is in the locked state. Its detailed structure can be known from existing literature and periodicals, and it can also be directly purchased on the market, or the components can be purchased on the market for assembly, etc.; it is not what the present invention aims to protect, so it will not be elaborated in detail here and is not shown in the drawings);

[0056] Summarizing the above - described situation, it can be known that: by adjusting the position of the fixture assembly 300 in the column direction through the column - direction adjusting arm 200, and then adjusting the position of the fixture assembly 300 in the radial direction through the radial - direction adjusting arm 100, the fixture assembly 300 is accurately adjusted to the steering wheel 400; after the roller body 3203 is locked by the self - locking mechanism, the distance between the two single - side clamping plates 320 is adjusted by shortening the distance - adjusting member 310, and the two single - side clamping plates 320 are used to clamp the steering wheel 400, and finally, the rotation assembly on the actuator is cooperated to complete the steering operation of the vehicle; when the steering system of the vehicle needs to drive the steering wheel 400 to automatically return to the straight - ahead position, the locking of the roller body 3203 is released by the self - locking mechanism, the distance between the two single - side clamping plates 320 is adjusted by extending the distance - adjusting member 310, and the limit of the single - side clamping plate 320 on the steering wheel 400 is released, realizing the function of flexibly locking the steering wheel when steering operation is required and not locking the steering wheel when steering operation is not required.

[0057] In the embodiment of the present utility model, as Figure 3 and Figure 5 shown: The radial - direction adjusting arm 100 includes:

[0058] A receiving tube 120, and the receiving tube 120 is assembled on the rotation assembly of the actuator;

[0059] An inner inserting arm 140, and the inner inserting arm 140 is movably inserted inside the receiving tube 120;

[0060] A connecting block 150, and the connecting block 150 is fixed at the end of the inner inserting arm 140 away from the receiving tube 120, and the connecting block 150 is used for installing the column - direction adjusting arm 200.

[0061] In the embodiment of the present utility model, as Figure 5 shown: The inner inserting arm 140 and the receiving tube 120 are limited by a fixing pin A110; a plurality of positioning holes A130 are formed on the inner inserting arm 140 in cooperation with the fixing pin A110, and the plurality of positioning holes A130 are equally spaced along the main direction of the inner inserting arm 140.

[0062] In the embodiment of the present utility model, as Figure 5 shown: The inner inserting arm 140 and the receiving tube 120 are limited by the fixing pin A110 inserted inside the positioning hole A130.

[0063] Summarizing the above - described situation, it can be known that: after adjusting the length of the inner inserting arm 140 movably inserted on the receiving tube 120, the fixing pin A110 is adjusted to be inserted inside different positioning holes A130 for limiting, completing the adjustment of the position of the radial - direction adjusting arm 100 in the radial direction to the fixture assembly 300, and then accurately adjusting the fixture assembly 300 to the steering wheel 400.

[0064] In the embodiment of the present utility model, as Figure 3 and Figure 4 shown: The column direction adjusting arm 200 includes:

[0065] A telescopic arm, which is assembled on the radial adjusting arm 100;

[0066] A connecting plate 230, which is fixed on the telescopic arm;

[0067] A reinforcing platform 240, which is installed on the connecting plate 230 through a plurality of screws, and the reinforcing platform 240 is used to be fixed on the single-side clamping plate 320.

[0068] In the embodiment of the present utility model, as Figure 4 shown: The telescopic arm includes an outer sleeve 210 and an inner inserting rod 220. The inner inserting rod 220 is movably inserted inside the outer sleeve 210. The outer sleeve 210 and the inner inserting rod 220 are limited by a fixing pin B260, and a plurality of positioning holes B250 are formed on the inner inserting rod 220 in cooperation with the fixing pin B260.

[0069] In the embodiment of the present utility model, as Figure 4 shown: The plurality of positioning holes B250 are equidistantly distributed along the main direction of the inner inserting rod 220. The outer sleeve 210 and the inner inserting rod 220 are limited by inserting the fixing pin B260 inside the positioning holes B250.

[0070] Summarizing the above situation, it can be known that: After adjusting the length of the inner inserting rod 220 movably inserted inside the outer sleeve 210, the fixing pin B260 is adjusted to be inserted inside different positioning holes B250 for limitation, so as to complete the adjustment of the position of the column direction adjusting arm 200 on the column direction adjusting fixture assembly 300, and then the fixture assembly 300 is accurately adjusted to the steering wheel 400.

[0071] In the embodiment of the present utility model, as Figure 6 and Figure 7 shown: The distance adjusting member 310 includes:

[0072] A telescopic plate;

[0073] A support plate A3104, which is fixed at one end of the telescopic plate;

[0074] A support plate B3107, which is fixed at the other end of the telescopic plate;

[0075] An electric telescopic rod A3105, which is fixed on the support plate A3104, and the electric telescopic rod A3105 is parallel to the telescopic plate;

[0076] The electric telescopic rod B3106 has one end fixed on the support plate B3107 and the other end fixed on the electric telescopic rod A3105; the electric telescopic rod B3106 and the electric telescopic rod A3105 are linearly distributed.

[0077] In the embodiment of the present utility model, as Figure 7 shown: The telescopic plate includes a receiving plate A3101 and a receiving plate B3103. The receiving plate A3101 is vertically assembled on the support plate A3104, and the receiving plate B3103 is vertically assembled on the support plate B3107;

[0078] A through plate 3102 is arranged between the receiving plate A3101 and the receiving plate B3103. One end of the through plate 3102 is movably inserted into the receiving plate A3101, and the other end is movably inserted into the receiving plate B3103.

[0079] Summarizing the above situation, it can be known that: after the roller body 3203 is locked by the self-locking mechanism, the distance between the two single-sided clamping plates 320 is adjusted by shortening the electric telescopic rod B3106 and the electric telescopic rod A3105 on the distance adjusting member 310, and the two single-sided clamping plates 320 are used to clamp the steering wheel 400; the locking of the roller body 3203 is released by the self-locking mechanism, and the distance adjusting member 310 uses the electric telescopic rod B3106 and the electric telescopic rod A3105 to extend to adjust the distance between the two single-sided clamping plates 320, and the limit of the single-sided clamping plate 320 on the steering wheel 400 is released, realizing the function of flexibly locking the steering wheel when steering operation is required and not locking the steering wheel when steering operation is not required.

[0080] In the embodiment of the present utility model, as Figure 6 and Figure 8 shown: The single-sided clamping plate 320 includes a single-sided clamping plate body 3201, and an installation groove 3202 is formed on the single-sided clamping plate body 3201; A plurality of roller bodies 3203 are provided and are rotatably assembled inside the installation groove 3202.

[0081] Many existing automotive steering systems have the function of automatic return, which can save energy without the need for the steering actuator to participate in the return process throughout; however, the existing steering actuators of driving robots cannot flexibly lock the steering wheel when steering operation is required and not lock the steering wheel when steering operation is not required; the steering system driving robot actuator of the present utility model can achieve:

[0082] Adjust the position of the fixture assembly 300 in the column direction through the column adjustment arm 200, and then adjust the position of the fixture assembly 300 in the radial direction through the radial adjustment arm 100 to accurately adjust the fixture assembly 300 onto the steering wheel 400; after the roller body 3203 is locked by the self-locking mechanism, shorten the distance through the distance adjuster 310 to adjust the distance between the two unilateral clamping plates 320, and use the two unilateral clamping plates 320 to clamp the steering wheel 400, and finally cooperate with the rotation assembly on the actuator to complete the steering operation of the vehicle; when the steering system of the vehicle needs to drive the steering wheel 400 to automatically return to the straight position, use the self-locking mechanism to release the locking of the roller body 3203, extend the distance adjuster 310 to adjust the distance between the two unilateral clamping plates 320, and release the limit of the unilateral clamping plates 320 on the steering wheel 400, so as to flexibly achieve the function of locking the steering wheel when steering operation is required and not locking the steering wheel when no steering operation is required.

[0083] In the description of the present invention, unless otherwise specified, the meaning of "a plurality of" is two or more. The present invention is described in detail in conjunction with the schematic diagrams. When detailing the embodiments of the present invention, for the convenience of description, the cross-sectional views showing the device structure will be enlarged locally in a non-general proportion, and the schematic diagrams are only examples and should not limit the scope of protection of the present invention. In addition, the three-dimensional spatial dimensions including length, width, and depth should be included in actual production.

[0084] In the description of the present invention, although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A steering system driving robot actuator, characterized in that: include: The radial adjustment arm (100) is assembled on the rotating assembly on the actuator and is driven by the rotating assembly to rotate in a circle; A column-direction adjustment arm (200) vertically mounted on the radial adjustment arm (100); A clamp assembly (300) is assembled on the column-direction adjustment arm (200), and the column-direction adjustment arm (200) is used to adjust the position in the column direction, and the radial adjustment arm (100) is used to adjust the position in the radial direction, so as to adapt to various steering wheels (400); The clamp assembly (300) comprises a distance adjustment member (310) and two single-sided clamping plates (320), wherein the two single-sided clamping plates (320) are symmetrically distributed at both ends of the distance adjustment member (310), and the distance between the two single-sided clamping plates (320) is adjusted by telescoping the distance adjustment member (310), so as to use the two single-sided clamping plates (320) to clamp the steering wheel (400); a plurality of roller bodies (3203) are rotatably mounted on the single-sided clamping plates (320), and the roller bodies (3203) are provided with self-locking mechanisms.

2. The steering system driving robot actuator according to claim 1, characterized in that: The radial adjustment arm (100) comprises: A receiving tube (120), wherein the receiving tube (120) is mounted on a rotating assembly on the actuator; An inner insertion arm (140), the inner insertion arm (140) being movably inserted into the interior of the storage tube (120); A connecting block (150) is fixed to an end of the inner interpenetrating arm (140) away from one end of the storage tube (120), and the connecting block (150) is used to install the column adjustment arm (200).

3. The steering system driving robot actuator according to claim 2, characterized in that: The inner interpenetrating arm (140) and the storage tube (120) are limited by a fixing pin A (110); a plurality of positioning holes A (130) are provided on the inner interpenetrating arm (140) to cooperate with the fixing pin A (110); the plurality of positioning holes A (130) are distributed at equal intervals along the main body direction of the inner interpenetrating arm (140).

4. The steering system driving robot actuator according to claim 3, characterized in that: The inner insertion arm (140) and the storage tube (120) are limited in position by a fixing pin A (110) inserted into the interior of the positioning hole A (130).

5. The steering system driving robot actuator according to claim 1, characterized in that: The column adjustment arm (200) comprises: A telescopic arm, the telescopic arm being assembled on the radial adjustment arm (100); A connecting plate (230), wherein the connecting plate (230) is fixed on the telescopic arm; A reinforcement platform (240), wherein the reinforcement platform (240) is mounted on the connection plate (230) via a plurality of screws, and the reinforcement platform (240) is used to be fixed on the single-sided clamping plate (320).

6. The steering system driving robot actuator according to claim 5, characterized in that: The telescopic arm comprises an outer sleeve (210) and an inner insertion rod (220). The inner insertion rod (220) is movably inserted into the inner sleeve (210). The outer sleeve (210) and the inner insertion rod (220) are limited by a fixing pin B (260). The inner insertion rod (220) is provided with a plurality of positioning holes B (250) cooperating with the fixing pin B (260).

7. The steering system driving robot actuator according to claim 6, characterized in that: The plurality of positioning holes B (250) are distributed at equal intervals along the main body direction of the inner insertion rod (220), and the outer sleeve (210) and the inner insertion rod (220) are limited by a fixing pin B (260) inserted inside the positioning hole B (250).

8. The steering system driving robot actuator according to claim 1, characterized in that: The distance adjusting member (310) comprises: Telescopic panels; A support plate A (3104), wherein the support plate A (3104) is fixed to one end of the telescopic plate; A support plate B (3107), wherein the support plate B (3107) is fixed to the other end of the telescopic plate; An electric telescopic rod A (3105), wherein the electric telescopic rod A (3105) is fixed on a support plate A (3104), and the electric telescopic rod A (3105) and the telescopic plate are arranged in parallel; An electric telescopic rod B (3106), one end of the electric telescopic rod B (3106) is fixed on a support plate B (3107), and the other end is fixed on an electric telescopic rod A (3105); the electric telescopic rod B (3106) and the electric telescopic rod A (3105) are distributed in a straight line.

9. The steering system driving robot actuator according to claim 8, characterized in that: The telescopic plate comprises a storage plate A (3101) and a storage plate B (3103), wherein the storage plate A (3101) is vertically mounted on the support plate A (3104), and the storage plate B (3103) is vertically mounted on the support plate B (3107); An insertion plate (3102) is provided between the storage plate A (3101) and the storage plate B (3103), and one end of the insertion plate (3102) is movably inserted into the storage plate A (3101), and the other end of the insertion plate (3102) is movably inserted into the storage plate B (3103).

10. The steering system driving robot actuator according to claim 1, characterized in that: The single-sided clamping plate (320) comprises a single-sided clamping plate body (3201), and a mounting groove (3202) is provided on the single-sided clamping plate body (3201); a plurality of roller bodies (3203) are provided and are rotatably assembled inside the mounting groove (3202).

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