Angle module for traction and steering of wheeled robot

Abstract

The utility model discloses an angle module for traction and steering of a wheeled robot, which relates to the technical field of robot running parts, and comprises a vehicle body bracket and tires at four corner ends, a mounting shell is arranged above the tires, an angle module is arranged on the side of the tires, and the angle module comprises a traction module and a steering module. A traction motor in the traction module is connected with a traction rotating shaft through a speed reducer, a driving shaft and other parts to drive tires to rotate, and the axis of the traction driving shaft is coplanar with tire landing points; the steering module achieves steering through a steering motor and other components. The vehicle body support comprises a central framework, a bridge frame and modular bridges, one modular bridge is connected with the weeding module, and the other modular bridge is provided with a self-adaptive suspension and a suspension optical axis. The angle module solves the problems of power transmission, steering performance, structural stability and the like of an existing angle module, and has the advantages of being efficient, flexible, stable, universal, good in environmental adaptability and the like.

Description

Technical Field

[0001] This utility model relates to the field of robot running components technology, specifically to an angle module for traction and steering of a wheeled robot. Background Technology

[0002] Rice is a major food crop in my country. Weeds in paddy fields encroach on rice's growing space, nutrients, sunlight, water, and heat resources, thus affecting its normal growth and development, and are one of the main reasons for reduced rice yield and quality. Currently, weed control in my country's rice fields mainly relies on chemical weeding. Long-term, high-volume, and frequent application of herbicides has led to increased herbicide resistance in weeds, more severe herbicide damage to crops, and increased environmental pollution. Mechanical weeding, which uses various weeding machines for surface soil treatment, is a green and environmentally friendly weeding technology.

[0003] In terms of steering performance, most existing wheeled rice weeding robots use front-wheel drive steering. This design has a significant turning radius, and in actual rice paddy operations, when faced with complex field boundaries, such as narrow field ridges, sharp corners at turns, and areas with extremely short turning distances, the robot has difficulty turning flexibly. Utility Model Content

[0004] To address the aforementioned problems, this utility model proposes an angle module for traction and steering of a wheeled robot, comprising a vehicle frame, tires mounted at the four corners of the vehicle frame, a mounting housing mounted on the vehicle frame above the tires, and an angle module mounted on the side of each tire. The angle module includes a traction module for driving tire rotation and a steering module for driving tire steering. The traction module includes a traction motor mounted on the mounting housing, the output end of the traction motor being connected to a traction drive shaft via a traction reducer. The traction drive shaft is connected to a traction rotating shaft via components of the traction module, and the other end of the traction rotating shaft is fixed to the axle of the tire. The axis of the traction drive shaft is coplanar with the point of contact of the tire.

[0005] Furthermore, the traction module includes a traction motor mounted on the mounting housing. The output end of the traction motor is connected to a traction drive shaft via a traction reducer. A transmission housing is located below the mounting housing. The traction drive shaft extends through the mounting housing into the transmission housing. A traction internal gear is fixed to one end of the traction drive shaft inside the transmission housing. A traction external gear ring that meshes with the traction internal gear is rotatably connected inside the transmission housing. A traction drive shaft that passes through the transmission housing is fixed to the axial end of the traction external gear ring. A traction bevel gear A is fixed to the bottom end of the traction drive shaft. A traction bevel gear B is provided that meshes with the traction bevel gear A. The axis of the traction bevel gear B is fixed to the traction shaft. The other end of the traction shaft is fixed to the axle of the tire.

[0006] Furthermore, the steering module includes a steering motor mounted on the mounting housing. The output end of the steering motor is connected to a steering drive shaft via a steering reducer. The steering drive shaft extends into the mounting housing and a steering gear A is fixed to its outer side. A steering gear B is rotatably connected inside the mounting housing. A traction drive shaft passes through the axis of the steering gear B and is rotatably connected to the steering gear B. A transmission housing extends into the mounting housing and is fixed to the steering gear B. A linkage housing is provided on the outer side of the traction bevel gear A and the traction bevel gear B. The traction drive shaft and the traction rotating shaft pass through the linkage housing and are rotatably connected to the linkage housing. A drive shaft cover is fixed to the bottom of the linkage housing and the transmission housing, and the drive shaft cover is fixed to the linkage housing.

[0007] Furthermore, the vehicle body support includes a central frame in the middle, on which a bridge frame extending in the front-rear direction is fixed. Modular bridges are installed at the top of both ends of the bridge frame, and the modular bridges have mounting ports for installing corner modules.

[0008] Furthermore, one of the modular bridges is connected to the bridge frame via screws and nuts. This modular bridge connects to the weeding module. The bottom of the other modular bridge is fixed with an adaptive suspension via screws and nuts. The side wall of the adaptive suspension is fixed with a suspension optical axis, which is rotatably connected to the central frame via bearings and a rotating plate.

[0009] Furthermore, multiple installation ports are opened at different locations at both ends of the modular bridge.

[0010] The beneficial effects of this utility model are as follows:

[0011] 1. Adopting a four-wheel, four-turn design, with the traction drive shaft axis coplanar with the tire contact point, eliminates tire steering offset. Compared to traditional front-wheel drive steering, its rotational resistance and load are significantly reduced, resulting in more flexible steering. In actual paddy field operations, facing complex situations such as narrow field ridges and sharp corners, it can easily achieve on-the-spot turning or small-radius turns, effectively improving work efficiency. In areas where traditional robots require multiple adjustments to complete a turn, this robot can complete the turning operation in one go, further improving work efficiency.

[0012] 2. The corner module adopts a modular design, with each component having an independent structure that facilitates disassembly and assembly. During long-term use of the robot, if a component malfunctions, the entire corner module can be disassembled for repair or replacement, eliminating the need for extensive disassembly of the entire robot. This significantly reduces repair time, difficulty, and cost. Furthermore, the modular design facilitates upgrades and modifications to the robot, such as replacing motors with higher-performance ones or optimizing gear ratios to improve overall robot performance. Attached Figure Description

[0013] Figure 1This is a three-dimensional structural diagram of the corner module of this utility model;

[0014] Figure 2 This is a schematic diagram of the internal structure of the corner module in this utility model;

[0015] Figure 3 This is a schematic diagram of the overall structure of the robot in this utility model;

[0016] Figure 4 This is a schematic diagram of the overall internal structure of the weeding module in this utility model;

[0017] Figure 5 This is a schematic diagram of the overall external structure of the weeding module in this utility model;

[0018] Figure 6 This is a schematic diagram of the overall three-dimensional structure of the weeding module in this utility model;

[0019] Figure 7 This is a schematic diagram of the internal structure of the weeder motor connection in this utility model;

[0020] Figure 8 This is a schematic diagram of the internal structure of the weeding shaft connection in this utility model;

[0021] Figure 9 This is a schematic diagram of the connection structure of the constant force holding device in this utility model;

[0022] Figure 10 This is a schematic diagram of the vehicle body bracket in this utility model;

[0023] Figure 11 This is a schematic diagram of a modular bridge structure in one embodiment of the present invention.

[0024] The reference numerals in the attached diagram are explained as follows: 1. Tire; 2. Angle module; 211. Traction motor; 212. Traction reducer; 213. Traction drive shaft; 214. Transmission housing; 215. Traction internal gear; 216. Traction external gear ring; 217. Traction drive shaft; 218. Traction bevel gear A; 219. Traction bevel gear B; 2110. Traction shaft; 221. Steering motor; 222. Steering reducer; 223. Steering drive shaft; 224. Steering gear A; 225. Steering gear B; 226. Linkage housing; 227. Transmission shaft cover; 3. Weeding module; 31. Weeder motor; 32. Planetary reducer; 33. Weeding drive shaft; 34. Output bevel gear; 35. Synchronous shaft bevel gear; 36. Synchronous transmission shaft; 37. Synchronous bevel gear; 38. Claw head shaft bevel gear; 39. Weeding shaft; 4. Constant force holding device; 41. Gas linkage; 42. Contact ring; 43. Compression spring; 5. Body bracket; 51. Central frame; 52. Bridge frame; 53. Modular bridge; 54. Adaptive suspension; 55. Suspension optical shaft; 56. Rotary disc; 6. Mounting housing; 7. Weeding claw head; 8. Retractable and discharging cylinder; 9. Output gearbox; 10. Synchronous gearbox; 11. Gear clamping spring. Detailed Implementation

[0025] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0026] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0027] The present invention will be further described below with reference to the accompanying drawings:

[0028] An angle module for traction and steering of a wheeled robot is disclosed. This wheeled rice weeding robot mainly consists of a body frame 5, an angle module 2, a weeding module 3, a discharge / receiver cylinder 8, a constant force holding device 4, and an adaptive suspension 54. These components work together to enable the robot to autonomously walk in rice paddies, precisely weed, and adapt to complex terrain. Example

[0029] like Figure 3 and Figure 10 As shown, the vehicle frame 5 includes a central frame 51, on which a bridge frame 52 extending forward and backward is fixed. Modular bridges 53 are mounted on the top of both ends of the bridge frame 52, and each modular bridge 53 has mounting ports for mounting corner modules 2. One modular bridge 53 is connected to the bridge frame 52 via screws and nuts, and connects to the weeding module 3; the bottom of the other modular bridge 53 is fixed to an adaptive suspension 54 via screws and nuts, and the suspension optical shaft 55 on the side wall of the adaptive suspension 54 is rotatably connected to the central frame 51 via bearings and rotating plates 56. Mounting ports can be opened at different positions on both ends of the modular bridge 53; please refer to the attached instruction manual. Figure 11 This allows for quick changes in the spacing between the two tires 1 to adjust for different paths.

[0030] The robot's frame 5 serves as its support structure, providing a base for the installation of other components. The combination of the central frame 51, bridge frame 52, and modular bridge 53 ensures the structure's stability. The modular bridge 53 facilitates the installation and disassembly of the corner modules 2 and other components, improving the robot's maintainability and terrain adaptability. The connection structure between the adaptive suspension 54 and the central frame 51 allows for adjustment of the tire height difference by rotating the suspension shaft 55 when encountering complex terrain such as uneven and sloping slopes, ensuring that the two tires 1 at that end always remain in contact with the ground, thus improving climbing ability and driving stability.

[0031] like Figure 1 and Figure 2As shown, in this embodiment, the corner module 2 is located on the side of the tire 1 and includes a traction module and a steering module. A mounting housing 6, mounted on the vehicle body bracket 5, is disposed above the tire 1. In the traction module, a traction motor 211 is mounted on the mounting housing 6. The output end of the traction motor 211 is connected to a traction drive shaft 213 via a traction reducer 212. A transmission housing 214 is disposed below the mounting housing 6. The traction drive shaft 213 extends through the mounting housing 6 into the transmission housing 214. A traction internal gear 215 is fixed to one end of the traction drive shaft 213 inside the transmission housing 214. The inner 14 is rotatably connected to a traction outer gear ring 216 that meshes with the traction inner gear 215. The traction outer gear ring 216 has a traction drive shaft 217 that passes through the transmission housing 214 and is fixed to the axial end. The bottom end of the traction drive shaft 217 has a traction bevel gear A218 and a traction bevel gear B219 that meshes with the traction bevel gear A218. The traction shaft 2110 is fixed to the axial center of the traction bevel gear B219 and the other end of the traction shaft 2110 is fixed to the axle of the tire 1.

[0032] In the steering module, the steering motor 221 is mounted on the mounting housing 6. The output end of the steering motor 221 is connected to the steering drive shaft 223 through the steering reducer 222. The steering drive shaft 223 extends into the mounting housing 6 and a steering gear A224 is fixed on its outer side. A steering gear B225 is rotatably connected inside the mounting housing 6. The traction drive shaft 213 passes through the axis of the steering gear B225 and is rotatably connected to the steering gear B225. The transmission housing 214 extends into the mounting housing 6 and is fixed to the steering gear B225. A linkage housing 226 is provided on the outer side of the traction bevel gear A218 and the traction bevel gear B219. The traction drive shaft 217 and the traction rotating shaft 2110 pass through the linkage housing 226 and are rotatably connected to the linkage housing 226. A drive shaft cover 227 is fixed to the bottom of the linkage housing 226 and the transmission housing 214, and the drive shaft cover 227 is fixed to the linkage housing 226.

[0033] The corner module 2 is a key component for the robot's walking and turning. The traction module transmits power from the traction motor 211 to the tires 1 through multi-stage transmission, driving the tires 1 to rotate and enabling the robot to move forward and backward. The steering module, driven by the steering motor 221, rotates the corner module 2 as a whole, thus changing the steering angle of the tires 1. This design achieves four-wheel, four-turn operation. Combined with the structure where the axis of the traction drive shaft 213 is collinear with the contact point of the tires 1, it eliminates steering offset, reduces rotational resistance and load, and allows the robot to turn flexibly, such as turning in place or turning in narrow spaces, adapting to the complex environment of rice paddies. Example

[0034] like Figures 4-8As shown, the weeding module 3 includes a weeder motor 31. The output end of the weeder motor 31 is connected to a weeding drive shaft 33 via a planetary reducer 32. An output bevel gear 34 is fixed to the outer side of the weeding drive shaft 33. Two synchronous shaft bevel gears 35 are arranged on both sides of the output bevel gear 34, and both synchronous shaft bevel gears 35 mesh with the output bevel gear 34. A synchronous transmission shaft 36 is fixed to the end face of the synchronous shaft bevel gear 35. Multiple synchronous bevel gears 37 are fixed to the outer side of the synchronous transmission shaft 36. A claw head rotating shaft bevel gear 38 meshes with the side of the synchronous bevel gear 37. A weeding rotating shaft 39 is fixed to the end face of the claw head rotating shaft bevel gear 38. The weeding rotating shaft 39 is connected to the weeding claw head 7 via a screw and nut. Two axially adjacent synchronous bevel gears 37 of the synchronous transmission shaft 36 are arranged in a mirror image so that two axially adjacent weeding claw heads 7 can rotate in opposite directions. There are two sets of weeding claw heads 7 and weeding module 3 arranged in front and behind. The set away from the vehicle frame 5 has four weeding claw heads 7, and the set closer to the vehicle frame 5 has three weeding claw heads 7. The two sets of weeding claw heads 7 are spaced apart. The height of the set of weeding claw heads 7 away from the vehicle frame 5 is lower than the height of the set of weeding claw heads 7 closer to the vehicle frame 5.

[0035] In this embodiment, an output gearbox 9 is provided on the outer side of the output bevel gear 34 and the synchronous shaft bevel gear 35. The output bevel gear 34 and the synchronous shaft bevel gear 35 are rotatably connected to the output gearbox 9 through tapered roller bearings. A synchronous gearbox 10 is provided on the outer side of the synchronous bevel gear 37 and the claw head shaft bevel gear 38. The synchronous bevel gear 37 and the claw head shaft bevel gear 38 are rotatably connected to the synchronous gearbox 10 through tapered roller bearings. Both the output gearbox 9 and the synchronous gearbox 10 are rotatably connected to the synchronous transmission shaft 36. A gear compression spring 11 is provided between the claw head shaft bevel gear 38 and the bottom of the inner wall of the synchronous gearbox 10.

[0036] The weeding module 3 is the core component of the robot's weeding task. The weeder motor 31 provides power, which is reduced and increased in torque by the planetary reducer 32, and then driven by a multi-stage bevel gear transmission to rotate the weeding claws 7, thus achieving the weeding function. Adjacent synchronous bevel gears 37 on the synchronous drive shaft 36 are mirror-mounted, causing adjacent weeding claws 7 to rotate in opposite directions, enhancing the weeding effect. Two sets of weeding claws 7 with different numbers and heights are used for inter-row weeding and inter-plant weeding, respectively. The three weeding claws 7 near the vehicle frame 5 are used to remove weeds along the seedling path. They are relatively high and rotate at a relatively fast speed. Due to the difference between the root systems of seedlings and weeds, that is, due to the pre-planting treatment, weeds grow later than seedlings, generally about two weeks later. Therefore, the root systems of weeds are relatively shallow. The weeding claws 7 with flexible steel wire can remove shallow weeds close to the ground without affecting the seedlings. Even if the seedlings fall over, they will grow back because they have the ability to resist lodging. By utilizing the difference between the root systems of weeds and seedlings, weeds between rows can be removed without damaging the seedlings. The four weeding claws 7 in a group away from the vehicle frame 5 are used for weeding between plants, that is, to remove weeds along the path between single rows of seedlings. Two of the weeding claws 7 are in the same line as the two tires 1. Here, the weeding claws 7 are relatively low in height and rotate at a relatively slow speed, reaching into the soil to remove weeds on the soil. Example

[0037] like Figure 6 and Figure 9 As shown, a receiving / discharging cylinder 8 is mounted on the vehicle body bracket 5. The constant force holding device 4 includes a pneumatic rod 41 that is rotatably connected to the receiving / discharging cylinder 8 via a mounting ring and a pivot pin. The other end of the pneumatic rod 41 is rotatably connected to the outer wall of the synchronous gearbox 10 via a mounting ring and a pivot pin. Contact rings 42 are fixed at both ends of the pneumatic rod 41, and a compression spring 43 is installed between the two contact rings 42.

[0038] The retractable cylinder 8 controls the height of the weeding claw head 7, and the constant force holding device 4 ensures that the force exerted by the retractable cylinder 8 on the weeding module 3 remains consistent. When adjusting the height of the weeding claw head 7, the retractable cylinder 8 extends and retracts, driving the pneumatic lever 41 to move. When the force applied by the pneumatic lever 41 changes, the compression spring 43 compensates for or supplements the force of the pneumatic lever 41 by compressing or extending, ensuring that the weeding module 3 can operate stably at different heights, guaranteeing the consistency and stability of the weeding effect. In this embodiment, please refer to the appendix to the instruction manual. Figure 5 Included with instruction manual Figure 6 The two sets of weeding modules 3 are installed in opposite directions, with the corresponding discharge cylinders 8 and constant force holding devices 4 installed in reverse.

[0039] The working principle of this utility model is as follows:

[0040] Walking Drive Principle: When the robot needs to move, the control system sends a start command to the traction motor 211. After the traction motor 211 starts, it outputs power, which is reduced in speed and increased in torque by the traction reducer 212. The reduced in speed and increased in torque is then transmitted to the traction drive shaft 213, which rotates, causing the traction internal gear 215 fixed at one end to rotate. The traction internal gear 215 meshes with the traction external gear ring 216, which rotates accordingly, thereby driving the traction transmission shaft 217 to rotate. The traction bevel gear A218 at the bottom of the traction transmission shaft 217 rotates, and the traction bevel gear B219 meshing with the traction bevel gear A218 also begins to rotate. The traction bevel gear B219 drives the traction shaft 2110 to rotate, ultimately driving the tire 1 to rotate, thus enabling the robot to move forward, backward, or turn. Because the axis of the traction drive shaft 213 is coplanar with the contact point of the tire 1, the rotational resistance and rotational load are minimized, making the robot more flexible and efficient during movement.

[0041] Steering Drive Principle: When steering is required, the control system sends a command to the steering motor 221. The steering motor 221 starts, outputs power, and after being reduced in speed and torque by the steering reducer 222, it is transmitted to the steering drive shaft 223. The steering gear A224 on the steering drive shaft 223 rotates accordingly, and the steering gear A224 meshes with the steering gear B225. Since the bottom of the steering gear B225 is fixed to the transmission housing 214, the rotation of the steering gear A224 drives the steering drive shaft 223 to rotate around its own axis, thereby causing the entire corner module 2 to rotate, realizing the steering of the tire 1. Because the robot adopts a four-wheel, four-rotation design, it can achieve actions such as turning on the spot and turning flexibly, adapting to the complex rice paddy environment.

[0042] Weeding Drive Principle: During weeding operations, the control system activates the weeder motor 31. The power output from the weeder motor 31 is reduced and amplified by the planetary reducer 32 before being transmitted to the weeding drive shaft 33. The rotation of the weeding drive shaft 33 drives the output bevel gear 34, which is fixed to its outer side, to rotate. The output bevel gear 34 meshes with the synchronous shaft bevel gears 35 on both sides, causing the synchronous shaft bevel gears 35 to rotate. The synchronous shaft bevel gears 35 then drive the synchronous transmission shaft 36 to rotate. The synchronous bevel gears 37 on the synchronous transmission shaft 36 rotate accordingly. Since the adjacent synchronous bevel gears 37 are mirror images of each other, the claw shaft bevel gear 38, which meshes with the synchronous bevel gears 37, drives the weeding shaft 39 to rotate, causing the axially adjacent weeding claws 7 to rotate in opposite directions, thus enhancing the weeding effect.

[0043] The three weeding claws 7 closest to the vehicle frame 5 are used for weeding between rows. Due to their relatively high height, relatively fast rotation speed, and the use of flexible steel wire, they can remove weeds close to the ground without damaging the seedlings when passing through the seedlings, taking advantage of the shallow root system of the weeds. The four weeding claws 7 farther from the vehicle frame 5 are used for weeding between plants. They are relatively low in height and have a relatively slow rotation speed, allowing them to reach into the soil to remove weeds on the surface.

[0044] The principle of weeding height adjustment: When the height of the weeding claw 7 needs to be adjusted, the control system controls the extension and retraction of the retractable cylinder 8. The retractable cylinder 8 is connected to the synchronous gearbox 10 via a pneumatic lever 41, and a compression spring 43 is installed between the contact rings 42 at both ends of the pneumatic lever 41. When the retractable cylinder 8 extends or retracts, the pneumatic lever 41 moves accordingly. If the force of the pneumatic lever 41 increases, the compression spring 43 is compressed, and the reaction force of the compression spring 43 counteracts the increased force of the pneumatic lever 41; if the force of the pneumatic lever 41 decreases, the compression spring 43 releases its elasticity to supplement the force of the pneumatic lever 41. In this way, the combination of the pneumatic lever 41 and the compression spring 43 always maintains a force balance throughout the entire stroke of the retractable cylinder 8, so that the force exerted by the retractable cylinder 8 on the weeding module 3 remains consistent, ensuring that the weeding claw 7 can stably perform weeding operations at different heights.

[0045] The principle of adaptive suspension 54: When the robot travels on complex terrain such as uneven and sloping slopes, the adaptive suspension 54 comes into play because the two tires 1 are at different terrain heights. The suspension shaft 55 of the adaptive suspension 54 rotates under the action of bearings and rotating plates 56, creating a height difference between the two tires 1. In this way, regardless of changes in terrain, both tires 1 can maintain good contact with the ground, improving the robot's climbing ability and driving stability on complex terrain, ensuring the robot's normal driving and weeding operations in rice paddies.

[0046] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model.

Claims

1. An angle module for traction and steering of a wheeled robot, comprising a vehicle frame (5), wherein tires (1) are mounted at the four corner ends of the vehicle frame (5), characterized in that: A mounting housing (6) mounted on a vehicle body bracket (5) is provided above the tire (1). An angle module (2) is provided on the side of each tire (1). The angle module (2) includes a traction module for driving the tire (1) to rotate and a steering module for driving the tire (1) to turn. The traction module includes a traction motor (211) mounted on the mounting housing (6). The output end of the traction motor (211) is connected to a traction drive shaft (213) through a traction reducer (212). The traction drive shaft (213) is connected to a traction shaft (2110) through a component of the traction module. The other end of the traction shaft (2110) is fixed to the axis of the tire (1). The axis of the traction drive shaft (213) is coplanar with the contact point of the tire (1).

2. The wheeled robot traction and steering angle module according to claim 1, characterized in that: The traction module includes a traction motor (211) mounted on a mounting housing (6). The output end of the traction motor (211) is connected to a traction drive shaft (213) via a traction reducer (212). A transmission housing (214) is provided below the mounting housing (6). The traction drive shaft (213) extends through the mounting housing (6) into the transmission housing (214). One end of the traction drive shaft (213) inside the transmission housing (214) is fixed with a traction internal gear (215). A rotatable coupling is connected within the transmission housing (214). A traction external gear ring (216) meshes with the traction internal gear (215). The traction external gear ring (216) has a traction drive shaft (217) that passes through the transmission housing (214) fixed at its axial end. A traction bevel gear A (218) is fixed at the bottom end of the traction drive shaft (217). A traction bevel gear B (219) is provided to mesh with the traction bevel gear A (218). The axial center of the traction bevel gear B (219) is fixed to the traction shaft (2110). The other end of the traction shaft (2110) is fixed to the axial center of the tire (1).

3. The wheeled robot traction and steering angle module according to claim 2, characterized in that: The steering module includes a steering motor (221) mounted on a mounting housing (6). The output end of the steering motor (221) is connected to a steering drive shaft (223) via a steering reducer (222). The steering drive shaft (223) extends into the mounting housing (6) and has a steering gear A (224) fixed on its outer side. A steering gear B (225) is rotatably connected inside the mounting housing (6). The traction drive shaft (213) passes through the axis of the steering gear B (225) and is rotatably connected to the steering gear B (225). The transmission housing... (214) extends into the mounting housing (6) and is fixed to the steering gear B (225); the outer side of the traction bevel gear A (218) and the traction bevel gear B (219) is provided with a linkage housing (226), the traction drive shaft (217) and the traction rotating shaft (2110) pass through the linkage housing (226) and are rotatably connected to the linkage housing (226), the bottom of the linkage housing (226) and the drive housing (214) are fixed with a drive shaft cover (227), and the drive shaft cover (227) is fixed to the linkage housing (226).

4. The wheeled robot traction and steering angle module according to claim 1, characterized in that: The vehicle body support (5) includes a central frame (51) in the middle, a bridge frame (52) extending in the front and rear directions is fixed on the central frame (51), and modular bridges (53) are installed on the top of both ends of the bridge frame (52). The modular bridges (53) have mounting ports for mounting corner modules (2).

5. The wheeled robot traction and steering angle module according to claim 1, characterized in that: One of the modular bridges (53) is connected to the bridge frame (52) by screws and nuts. The modular bridge (53) is connected to the weeding module (3). The bottom of the other modular bridge (53) is fixed with an adaptive suspension (54) by screws and nuts. The side wall of the adaptive suspension (54) is fixed with a suspension optical axis (55). The suspension optical axis (55) is rotatably connected to the central frame (51) by bearings and a rotating plate (56).

6. The wheeled robot traction and steering angle module according to claim 1, characterized in that: Multiple installation ports are opened at different positions at both ends of the modular bridge (53).

Images