CN114852216A

CN114852216A - Indoor robot walking structure with stable structure

Info

Publication number: CN114852216A
Application number: CN202210449211.8A
Authority: CN
Inventors: 赵乾; 戴亚平; 王笑涵; 贾之阳
Original assignee: Beijing Institute of Technology BIT
Current assignee: Beijing Institute of Technology BIT
Priority date: 2022-04-24
Filing date: 2022-04-24
Publication date: 2022-08-05
Anticipated expiration: 2042-04-24
Also published as: CN114852216B

Abstract

The invention discloses an indoor robot walking structure with a stable structure, and belongs to the field of robot structures. The invention comprises an underframe, a cross shaft and rollers arranged at two ends of the cross shaft, wherein four groups of limiting frames are fixed inside the underframe, the limiting frames are arranged in parallel in pairs, a group of transmission parts are movably arranged on each group of limiting frames, part of the cross shaft is arranged inside the transmission parts, a transmission shaft is arranged between the two groups of transmission parts arranged in parallel, a first cone pulley and a second cone pulley are respectively fixed at two ends of the transmission shaft, the side surfaces of the first cone pulley and the second cone pulley are respectively connected with one group of transmission parts in a meshed manner, one side surface of the other two groups of transmission parts is connected with a third cone pulley in a meshed manner, and a steering rod is arranged between the two groups of cross shafts. The invention can realize four-wheel drive movement or four-group roller synchronous work according to requirements. The walking structure is more stable when the four-wheel drive moves; when the four groups of rollers synchronously work in a steering mode, the angles of the front and rear two groups of rollers are controlled to change simultaneously, synchronous steering is achieved, and the four groups of rollers can reach the designated position more quickly.

Description

Indoor robot walking structure with stable structure

Technical Field

The invention belongs to the field of robot structures, and particularly relates to an indoor robot walking structure with a stable structure.

Background

With the development of economy and the rapid development of the technology level, the robot is a machine device which automatically executes work, can receive human commands, can run programs which are arranged in advance, and can perform actions according to principles formulated by artificial intelligence technology.

The existing indoor robot walking structure is a chassis moving mechanism which takes an omnidirectional moving platform as an omnidirectional wheel as a driving part. The omnidirectional wheel is a key part for realizing omnidirectional movement of the platform, and the basic principle is that the driving wheel can freely roll in the axis direction of the wheel through a plurality of rollers on the edge of the wheel so as to realize the function of moving the driving wheel in two degrees of freedom of advancing and translating.

The existing robot walking structure has the following defects: after the moving direction is determined, the roller wheels in the direction can only be used for moving to drive the whole device to move, the synchronous direction changing of the plurality of groups of roller wheels cannot be controlled to move, and the synchronous driving of all the roller wheels cannot be controlled while the direction of the roller wheels is changed, so that the stability of the device is influenced by the driving of the two roller wheels.

Disclosure of Invention

The invention mainly aims to provide an indoor robot walking structure with a stable structure, which can realize four-wheel drive movement or four groups of rollers to work synchronously according to requirements. The walking structure is more stable when the four-wheel drive moves; when the four groups of rollers synchronously work in a steering mode, the angles of the front and rear two groups of rollers are controlled to change simultaneously, synchronous steering is achieved, and the four groups of rollers can reach the designated position more quickly.

The technical scheme for solving the technical problems is as follows:

the invention discloses an indoor robot walking structure with a stable structure, which comprises an underframe, a cross shaft and rollers arranged at two ends of the cross shaft, wherein four groups of limiting frames are fixed inside the underframe, the limiting frames are arranged in parallel in pairs, each group of limiting frames is movably provided with a group of transmission parts, the part of the cross shaft is arranged inside the transmission parts, a transmission shaft is arranged between the two groups of transmission parts arranged in parallel, two ends of the transmission shaft are respectively fixed with a first cone pulley and a second cone pulley, the side surfaces of the first cone pulley and the second cone pulley are respectively connected with one group of transmission parts in a meshing manner, one side surface of the other two groups of transmission parts is connected with a third cone pulley in a meshing manner, and a steering rod is arranged between the two groups of cross shafts.

Preferably, in the indoor robot walking structure with a stable structure, four sets of outer limiting grooves are symmetrically formed in the side surface of the bottom frame in pairs, two ends of the cross shaft penetrate through the outer limiting grooves and are located on the outer side of the bottom frame, and the rollers are located on the side surface of the bottom frame.

Preferably, in the indoor robot walking structure with stable structure, the cover plate is installed at the upper end of the chassis, four sets of limiting frames are fixed on the back surface of the cover plate, the limiting frames fixed on the chassis correspond to the limiting frames fixed on the cover plate in position, a plurality of sets of through holes are uniformly formed in the cover plate, connecting bolts are installed inside the through holes, and the chassis is connected with the cover plate through the connecting bolts.

Preferably, in the indoor robot walking structure with a stable structure, the outside of the transmission member is provided with a clamping groove in an annular shape, the transmission member is installed inside the upper and lower limiting frames, the limiting frame is locally located inside the clamping groove, the transmission member is internally provided with an arc-shaped sliding groove, the transmission member is provided with an inner limiting groove in a left-right penetrating manner, and one side of the transmission member is provided with a bevel gear.

Preferably, foretell stable in structure's indoor robot walking structure, wherein be fixed with the first turning block of round platform form on the cross axle, the central point of cross axle puts the second turning block that is fixed with round platform form and cylindric combination, the side symmetry of second turning block is fixed with two sets of lugs, install two sets of spacing seats on the chassis, the annular form recess has been seted up to spacing seat inside, the lug is installed the inside of recess, the second turning block with first turning block is adjacent to be set up, is close to terminal be fixed with the connecting block on the cross axle, the symmetry is fixed with the slider on the connecting block, the connecting block part is located the inside of interior spacing groove, the slider is installed the inside of spout.

Preferably, in the indoor robot walking structure with a stable structure, the transverse shaft and the limiting seat form a rotating structure, the width of the cross section of the connecting block is smaller than that of the inner limiting groove, and the sliding block and the sliding groove form a sliding structure.

Preferably, the indoor robot walking structure with the stable structure is characterized in that two groups of lower bearing seats are fixed on the underframe in parallel, an upper bearing seat is installed on each lower bearing seat through a bolt, a plurality of groups of clamping rings are fixed on the transmission shaft in parallel, and the clamping rings are located between the lower bearing seats and the upper bearing seats.

Preferably, in the indoor robot walking structure with a stable structure, the two sets of bevel gears are engaged with the first bevel wheel and the second bevel wheel, the two sets of transmission members are symmetrically installed on the same transverse shaft, the bevel gears arranged on the lateral sides of the one set of transmission members are engaged with the third bevel wheel, the third bevel wheel is installed on the operation end of the motor, and the motor is installed inside the underframe.

Preferably, foretell stable in structure's indoor robot walking structure, wherein the both ends of steering column all are located first steering column with same one side between the second steering column, three spacing holes of group have been seted up to the equidistance side by side on the steering column, are located the intermediate position spacing downthehole portion installs the flexible end of telescopic link, the parallel is fixed with two sets of gag lever posts on the chassis, the gag lever post part is located both sides spacing downthehole portion is two sets of be provided with the base between the gag lever post, the base is fixed on the chassis, the telescopic link passes through the bolt and installs on the base.

Preferably, in the indoor robot walking structure with a stable structure, the aperture of the limiting hole is the same as the diameter of the cross section of the limiting rod, the steering rod and the limiting rod form a sliding structure, and the steering rod and the transverse shaft form a rotating structure.

The invention discloses a working method of a walking structure of an indoor robot with a stable structure, which comprises the following steps:

after the underframe and the cover plate are installed and assembled through the connecting bolts, other components of the intelligent indoor robot are erected at the upper end of the cover plate, the starting and the operation of a telescopic rod and a motor which are installed inside the underframe are controlled, when the intelligent robot erected at the upper end of the underframe is driven by a device as required, the motor is controlled to start, and a third cone pulley installed at one end of the third cone pulley is controlled to rotate, so that the third cone pulley drives a first cone pulley to rotate through bevel teeth, and the first cone pulley and a second cone pulley are fixed through a transmission shaft and are matched with each other through the second cone pulley and the bevel teeth, so that the rotation of the second cone pulley can drive a transmission part correspondingly arranged on the third cone pulley to rotate, and based on the structural size of a connecting block and an inner limiting groove, the transmission part can simultaneously drive transverse shafts which are locally installed to synchronously rotate, thereby driving four groups of rollers to synchronously work, realizing the four-wheel drive walking of the device, even if the front and the rear two groups of transverse shafts synchronously rotate, and then make two sets of cross axles drive the gyro wheel of its both ends installation and rotate, and then make device four wheel drive, walking structure is more stable when four wheel drive removes. The robot sensor which is erected manually detects the place where the robot is needed, the telescopic rod pushes the steering rod to move, and the steering rod moves horizontally under the matching of the limiting rod and the limiting hole, and the position of the steering rod is changed, so that one end of the steering rod pushes the first steering block or the second steering block to rotate, the second steering block can rotate on the horizontal plane by means of the limited matching of the groove and the convex block which are arranged in the limiting seat, thereby driving the cross shaft to rotate and changing the included angle between the steering rod and the cross shaft, so that the angles of the rollers fixed at the two ends of the cross shaft are changed, the moving direction of the device is synchronously changed in the moving process, and then the change angles of the rollers arranged at the two ends of the front and rear groups of transverse shafts are the same, so that the aim of simultaneously changing the motion angles of the four groups of rollers is fulfilled, and the robot can reach a designated position more quickly.

Has the beneficial effects that:

1. the indoor robot walking structure with the stable structure can realize four-wheel drive movement or four groups of rollers to work synchronously according to requirements. Based on the structural size matching of the connecting block and the inner limiting groove, the driving medium can simultaneously drive the connecting block to rotate and drive the rollers to move, and the grooves and the lugs arranged in the limiting seat are in limited matching, so that the second steering block can longitudinally rotate and also can transversely rotate, the second steering block can drive the transverse shaft to rotate and drive the sliding block to slide in the sliding groove, the connecting block fixed on the transverse shaft can rotate in the driving medium through the inner limiting groove, the orientation of the rollers arranged at two ends of the transverse shaft is changed, four groups of rollers can simultaneously change the motion angles of the four groups of rollers in the rotating process, the device becomes four-wheel drive movement, the walking structure is more stable, the third cone wheel is driven to rotate by the motor, the third cone wheel drives the first cone wheel to rotate by the cone teeth, and the first cone wheel and the second cone wheel are fixed by the transmission shaft, therefore, the rotation of the second cone wheel can drive the transmission part correspondingly arranged to rotate, so that the two groups of transverse shafts synchronously rotate, the four groups of rollers are driven to synchronously work, and the control device moves. (the device refers to an indoor robot walking structure with stable structure).

2. According to the indoor robot walking structure with the stable structure, the motor is driven to work, the motor drives the transmission piece to rotate, the front cross shaft and the rear cross shaft synchronously rotate by means of the connecting block, and the two groups of cross shafts drive the rollers arranged at the two ends of the cross shafts to rotate, so that the device is driven by four wheels, and the walking structure is more stable during four-wheel drive movement.

3. The indoor robot walking structure with the stable structure disclosed by the invention has the advantages that the steering rod is pushed to move, so that the steering rod synchronously changes the angles of the front and rear groups of transverse shafts at the same time, the changed angles of the rollers arranged at the two ends of the front and rear groups of transverse shafts are the same, and the purpose of simultaneously changing the motion angles of the four groups of rollers is further achieved.

4. The invention discloses an indoor robot walking structure with stable structure, which comprises: fixed slider on the spout structure mating connection piece seted up through the driving medium makes the cross axle rotate inside the driving medium, and the driving medium can drive the cross axle simultaneously and rotate, and then makes the device at the in-process that removes, and two sets of gyro wheel angles change simultaneously around the control, realize that the four-wheel turns to synchronous, improve walking efficiency.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is an exploded view of the present invention;

FIG. 3 is a schematic view of the internal structure of the chassis of the present invention;

FIG. 4 is a schematic view of a partially exploded internal structure of the underframe of the present invention;

FIG. 5 is a schematic view of a roller driving structure according to the present invention;

fig. 6 is a schematic structural view of the steering mechanism of the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

1. a chassis; 2. an outer limiting groove; 3. a limiting frame; 4. a cover plate; 5. a through hole; 6. a connecting bolt; 7. a transmission member; 8. a card slot; 9. a chute; 10. an inner limiting groove; 11. conical teeth; 12. a horizontal axis; 13. a first steering block; 14. a second steering block; 15. a bump; 16. connecting blocks; 17. a slider; 18. a roller; 19. a limiting seat; 20. a steering lever; 21. a limiting hole; 22. a telescopic rod; 23. a base; 24. a limiting rod; 25. a lower bearing seat; 26. an upper bearing seat; 27. a drive shaft; 28. a snap ring; 29. a first cone pulley; 30. a second cone; 31. a motor; 32. and a third cone pulley.

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.

As shown in fig. 1-6, the indoor robot walking structure with a stable structure disclosed in this embodiment includes an underframe 1, a cross shaft 12 and rollers 18 installed at two ends of the cross shaft 12, four sets of limiting frames 3 are fixed inside the underframe 1, two sets of limiting frames 3 are arranged in parallel, each set of limiting frame 3 is movably installed with a set of transmission members 7, a part of the cross shaft 12 is installed inside the transmission members 7, a transmission shaft 27 is arranged between the two sets of transmission members 7 arranged in parallel, two ends of the transmission shaft 27 are respectively fixed with a first cone pulley 29 and a second cone pulley 30, side surfaces of the first cone pulley 29 and the second cone pulley 30 are respectively engaged and connected with a set of transmission members 7, one side surface of the other two sets of transmission members 7 is engaged and connected with a third cone pulley 32, and a steering rod 20 is installed between the two sets of cross shafts 12.

Four sets of outer limiting grooves 2 are symmetrically arranged on the side surface of the bottom frame 1 in pairs, two ends of the transverse shaft 12 penetrate through the outer limiting grooves 2 and are located on the outer side of the bottom frame 1, and the rollers 18 are located on the side surface of the bottom frame 1. The chassis 1 is supported by the roller 18, the transverse shaft 12 is controlled to rotate so as to drive the roller 18 to rotate, and meanwhile, the design of the outer limiting groove 2 does not influence the rotation of the transverse shaft 12, so that the orientation of the roller 18 is changed.

Apron 4 is installed to 1 upper end of chassis, the back of apron 4 is fixed with four spacing 3 of group, spacing 3 fixed positions on fixed spacing 3 and the apron 4 on the chassis 1 are corresponding, multiunit through-hole 5 has evenly been seted up on the apron 4, the internally mounted of through-hole 5 has connecting bolt 6, be connected through connecting bolt 6 between chassis 1 and the apron 4, the draw-in groove 8 of annular form has been seted up in the outside of driving medium 7, driving medium 7 is installed inside upper and lower two sets of spacing 3, spacing 3 local inside that is located draw-in groove 8, the inside spout 9 of arc form that has been seted up of driving medium 7, run through about driving medium 7 and seted up interior spacing groove 10, awl tooth 11 has been seted up to one side of driving medium 7. Utilize two sets of spacing 3 and draw-in groove 8 from top to bottom to cooperate, make the rigidity of driving medium 7, inject the direction of motion and the position of driving medium 7 simultaneously, make driving medium 7 only can carry out rotary motion.

A first rotary block 13 in a circular truncated cone shape is fixed on the cross shaft 12, a second rotary block 14 in a circular truncated cone shape and cylindrical combination body is fixed at the center position of the cross shaft 12, two groups of convex blocks 15 are symmetrically fixed on the side surface of the second rotary block 14, two groups of limiting seats 19 are installed on the underframe 1, an annular groove is formed in each limiting seat 19, each convex block 15 is installed in each groove, the second rotary block 14 and the first rotary block 13 are arranged adjacently, a connecting block 16 is fixed on the cross shaft 12 close to the tail end, sliding blocks 17 are symmetrically fixed on the connecting block 16, the connecting block 16 is locally located in each inner limiting groove 10, each sliding block 17 is installed in each sliding groove 9, the cross shaft 12 and the limiting seats 19 form a rotary structure, the cross section width of the connecting block 16 is smaller than that of each inner limiting groove 10, and the sliding blocks 17 and the sliding grooves 9 form a sliding structure. The limiting and matching of the groove and the convex block 15 which are formed in the limiting seat 19 enables the second steering block 14 to rotate longitudinally and rotate transversely, the sliding block 17 is mounted in the sliding groove 9, the connecting block 16 which is fixed on the transverse shaft 12 can rotate in the transmission piece 7 through the inner limiting groove 10, the rotating angle of the transverse shaft 12 is limited through the sliding groove 9 and the inner limiting groove 10, the second steering block 14 rotates to drive the transverse shaft 12 to rotate, the orientation of the roller 18 is changed, and the structural size design of the connecting block 16 and the inner limiting groove 10 enables the transmission piece 7 to rotate and simultaneously drive the connecting block 16 to rotate and drive the roller 18 to move.

Two groups of lower bearing seats 25 are fixed on the underframe 1 in parallel, an upper bearing seat 26 is installed on the lower bearing seat 25 through bolts, two groups of snap rings 28 are fixed on the transmission shaft 27 in parallel, and the snap rings 28 are positioned between the lower bearing seats 25 and the upper bearing seat 26. The snap ring 28 is rotated by the lower bearing housing 25 and the upper bearing housing 26, so that the position of the transmission shaft 27 is fixed, and at the same time, the movement angle and direction of the transmission shaft 27 are defined.

The side surfaces of the two groups of bevel gears 11 are connected with a first bevel wheel 29 and a second bevel wheel 30 in a meshed mode, two groups of transmission members 7 are symmetrically arranged on the same transverse shaft 12, the bevel gears 11 arranged on the side surfaces of the group of transmission members 7 are meshed with a third bevel wheel 32, the third bevel wheel 32 is arranged at the operation end of a motor 31, and the motor 31 is arranged inside the underframe 1. The third bevel wheel 32 is driven to rotate by the motor 31, so that the third bevel wheel 32 drives the first bevel wheel 29 to rotate through the bevel gear 11, and the first bevel wheel 29 and the second bevel wheel 30 are fixed by the transmission shaft 27, so that the second bevel wheel 30 rotates to drive the transmission member 7 correspondingly arranged to rotate, and further, the two groups of transverse shafts 12 rotate synchronously, so that the four groups of rollers 18 are driven to work synchronously.

The both ends of steering column 20 all are located same one side between first turning block 13 and the second turning block 14, spacing hole 21 of three groups has been seted up to equidistance side by side on the steering column 20, spacing hole 21 internally mounted that is located the intermediate position has the flexible end of telescopic link 22, chassis 1 goes up the parallel and is fixed with two sets of gag lever posts 24, gag lever post 24 part is located inside the spacing hole 21 of both sides, be provided with base 23 between two sets of gag lever posts 24, base 23 is fixed on chassis 1, telescopic link 22 passes through the bolt and installs on base 23, the aperture of spacing hole 21 is the same with the cross section diameter of gag lever post 24, steering column 20 and gag lever post 24 constitute sliding construction, steering column 20 and cross axle 12 constitute revolution mechanic. The telescopic rod 22 pushes the steering rod 20 to move, the steering rod 20 is enabled to move horizontally under the matching of the limiting rod 24 and the limiting hole 21, and the position of the steering rod 20 is changed, so that one end of the steering rod 20 pushes the first steering block 13 or the second steering block 14 to rotate, the included angle between the steering rod 20 and the transverse shaft 12 is changed, and the angles of the rollers 18 fixed at the two ends of the transverse shaft 12 are changed.

The working method of the indoor robot walking structure with the stable structure disclosed by the embodiment comprises the following steps:

after the underframe 1 and the cover plate 4 are installed and assembled through the connecting bolt 6, other components of an intelligent indoor robot can be erected at the upper end of the cover plate 4, the starting and operation of the telescopic rod 22 and the motor 31 which are installed inside the underframe 1 are controlled, when a device is needed to drive the intelligent robot erected at the upper end of the underframe, the motor 31 is controlled to be started, the third cone pulley 32 installed at one end of the intelligent robot is controlled to rotate, the third cone pulley 32 drives the first cone pulley 29 to rotate through the bevel gear 11, as the first cone pulley 29 and the second cone pulley 30 are fixed through the transmission shaft 27, under the matching of the second cone pulley 30 and the bevel gear 11, the second cone pulley 30 rotates to drive the transmission piece 7 which is correspondingly arranged to rotate, the structural size of the connecting block 16 and the inner limiting groove 10 is designed, the transmission piece 7 can drive the transverse shaft 12 which is locally installed to synchronously rotate, so as to drive the four groups of rollers 18 to synchronously work, the four-wheel drive walking of the device is realized, the control device moves, but the built-in radar (not shown in the figure) and camera (not shown in the figure) in the robot detect the place needing the robot, the steering rod 20 can be pushed by the telescopic rod 22 to move, and the steering rod 20 is horizontally moved by the cooperation of the stopper rod 24 and the stopper hole 21, and by changing the position of the steering rod 20, one end of the steering rod 20 pushes the first steering block 13 or the second steering block 14 to rotate, the second steering block 14 can rotate on the horizontal plane by the limited matching of the groove formed in the limiting seat 19 and the convex block 15, and then the transverse shaft 12 is driven to rotate, the included angle between the steering rod 20 and the transverse shaft 12 is changed, so that the angles of the rollers 18 fixed at the two ends of the transverse shaft 12 are changed, the moving direction of the device is synchronously changed in the moving process, and the robot can reach a designated position more quickly.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation and a specific orientation configuration and operation, and thus, should not be construed as limiting the present invention. Furthermore, "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate member, or they may be connected through two or more elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The above detailed description is intended to illustrate the objects, aspects and advantages of the present invention, and it should be understood that the above detailed description is only exemplary of the present invention and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides a stable in structure's indoor robot walking structure, includes chassis (1), cross axle (12) and installs gyro wheel (18) at cross axle (12) both ends, its characterized in that: the utility model discloses a steering wheel, including chassis (1), spacing frame (3), transmission shaft (7), transmission shaft (27), the both ends of transmission shaft (27) are fixed with first cone pulley (29) and second cone pulley (30) respectively, first cone pulley (29) with the side of second cone pulley (30) all meshes and is connected with a set of transmission member (7), and is two sets of in addition one of them side mesh of transmission member (7) is connected with third cone pulley (32), and is two sets of install steering column (20) between cross axle (12).

2. The indoor robot walking structure of claim 1, wherein: four sets of outer limiting grooves (2) are symmetrically formed in the side face of the bottom frame (1) in a pairwise mode, the two ends of the transverse shaft (12) penetrate through the outer limiting grooves (2) and are located on the outer side of the bottom frame (1), and the rollers (18) are located on the side face of the bottom frame (1).

3. The indoor robot walking structure of claim 1, wherein: apron (4) are installed to chassis (1) upper end, the back of apron (4) is fixed with four sets of spacing (3), fixed spacing (3) on chassis (1) with spacing (3) position of fixing on apron (4) is corresponding, multiunit through-hole (5) have evenly been seted up on apron (4), the internally mounted of through-hole (5) has connecting bolt (6), chassis (1) with be connected through connecting bolt (6) between apron (4).

4. The indoor robot walking structure of claim 3, wherein: draw-in groove (8) of annular form are seted up in the outside of driving medium (7), driving medium (7) are installed two sets of from top to bottom inside spacing (3), spacing (3) part is located the inside of draw-in groove (8), spout (9) of arc form are seted up to driving medium (7) inside, run through about on driving medium (7) and seted up interior spacing groove (10), awl tooth (11) have been seted up to one side of driving medium (7).

5. The indoor robot walking structure with stable structure of claim 4, wherein: a first steering block (13) in a circular truncated cone shape is fixed on the cross shaft (12), a second steering block (14) in a circular truncated cone shape and cylindrical combination body is fixed at the center position of the cross shaft (12), two groups of convex blocks (15) are symmetrically fixed on the side surface of the second steering block (14), two groups of limiting seats (19) are arranged on the underframe (1), an annular groove is arranged in the limiting seat (19), the lug (15) is arranged in the groove, the second steering block (14) and the first steering block (13) are arranged adjacently, a connecting block (16) is fixed on the transverse shaft (12) close to the tail end, the sliding blocks (17) are symmetrically fixed on the connecting block (16), the connecting block (16) is locally positioned inside the inner limiting groove (10), and the sliding blocks (17) are installed inside the sliding grooves (9).

6. The indoor robot walking structure of claim 5, wherein: the transverse shaft (12) and the limiting seat (19) form a rotating structure, the width of the cross section of the connecting block (16) is smaller than that of the inner limiting groove (10), and the sliding block (17) and the sliding groove (9) form a sliding structure.

7. The indoor robot walking structure of claim 1, wherein: the chassis (1) is gone up the parallel and is fixed with two sets of step (25), install bolster bearing housing (26) through the bolt on step (25), the parallel is fixed with multiunit snap ring (28) on transmission shaft (27), snap ring (28) are located between step (25) and bolster bearing housing (26).

8. The indoor robot walking structure of claim 4, wherein: two sets of the side meshing of awl tooth (11) is connected with first cone pulley (29) with second cone pulley (30), is located same the symmetry is installed on cross axle (12) two sets of driving medium (7), and one set of wherein driving medium (7) side sets up awl tooth (11) with third cone pulley (32) mesh mutually, install on the operation end of motor (31) third cone pulley (32), motor (31) are installed inside chassis (1).

9. The indoor robot walking structure of claim 5, wherein: the two ends of the steering rod (20) are located on the same side between the first steering block (13) and the second steering block (14), three groups of limiting holes (21) are formed in the steering rod (20) side by side at equal intervals, the telescopic end of a telescopic rod (22) is installed in the limiting hole (21) in the middle position, two groups of limiting rods (24) are fixed on the underframe (1) in parallel, the parts of the limiting rods (24) are located in the limiting holes (21) on the two sides, a base (23) is arranged between the two groups of limiting rods (24), the base (23) is fixed on the underframe (1), and the telescopic rod (22) is installed on the base (23) through bolts;

the aperture of the limiting hole (21) is the same as the diameter of the cross section of the limiting rod (24), the steering rod (20) and the limiting rod (24) form a sliding structure, and the steering rod (20) and the transverse shaft (12) form a rotating structure.

10. A structurally stable indoor robot walking structure according to claim 1, 2, 3, 4, 5, 6, 7, 8 or 9, characterized in that: after the underframe (1) and the cover plate (4) are installed and assembled through the connecting bolt (6), other components of the intelligent indoor robot are erected at the upper end of the cover plate (4) to control the starting and running of the telescopic rod (22) and the motor (31) which are installed inside the underframe (1), when the intelligent robot is erected at the upper end of the underframe, the motor (31) is controlled to start to control the third cone pulley (32) installed at one end of the underframe to rotate, so that the third cone pulley (32) drives the first cone pulley (29) to rotate through the bevel gear (11), as the first cone pulley (29) and the second cone pulley (30) are fixed through the transmission shaft (27), under the matching of the second cone pulley (30) and the bevel gear (11), the rotation of the cone pulley (30) can drive the second cone transmission piece (7) which is correspondingly arranged to rotate, and based on the structural sizes of the connecting block (16) and the inner limiting groove (10), the transmission part (7) can rotate and simultaneously drive the transverse shafts (12) which are partially arranged inside to synchronously rotate, so that four groups of rollers (18) are driven to synchronously work, four-wheel drive of the device is realized, even if the front and rear transverse shafts synchronously rotate, the two groups of transverse shafts drive the rollers arranged at the two ends of the transverse shafts to rotate, the four-wheel drive of the device is realized, and the walking structure is more stable during four-wheel drive movement; the robot sensor which is erected manually detects a place needing the robot, the steering rod (20) is pushed to move through the telescopic rod (22), the steering rod (20) is horizontally moved under the matching of the limiting rod (24) and the limiting hole (21), one end of the steering rod (20) pushes the first steering block (13) or the second steering block (14) to rotate by changing the position of the steering rod (20), the second steering block (14) can rotate on the horizontal plane by means of limited matching of a groove and a convex block (15) which are formed in the limiting seat (19), the transverse shaft (12) is driven to rotate, the included angle between the steering rod (20) and the transverse shaft (12) is changed, the angles of the rollers (18) which are fixed at the two ends of the transverse shaft (12) are changed, the moving direction of the device is synchronously changed in the moving process, and the changed angles of the rollers which are arranged at the two ends of the front transverse shaft and the rear transverse shaft are the same, and then reach the purpose that changes four groups of gyro wheels motion angle simultaneously, make the robot can reach the assigned position more fast.