CN207028823U - A kind of wheel type mobile structure and include its wheeled robot - Google Patents

Abstract

A kind of wheeled locomotion mechanism is the utility model is related to, including：Pedestal, steering mechanism, the steering mechanism is two groups, it is located at the rear and front end of pedestal respectively, the steering mechanism is connected with pedestal, travel mechanism, and the travel mechanism is four groups, it is connected by a connecting rod with one group of steering mechanism and is rotated in the horizontal direction under the drive of steering mechanism per Liang Zu travel mechanisms, the pedestal moves horizontally under the drive of travel mechanism.Using front and back wheel, driving turns to wheeled locomotion mechanism of the present utility model to control in pairs, and control often takes turns rotation to realize all-around mobile；It can realize that no-radius turn round, adjustable speed, be easy to control.The utility model further relates to a kind of wheeled robot for including wheeled locomotion mechanism.

Description

A kind of wheel type mobile structure and include its wheeled robot

Technical field

Mechanical field is the utility model is related to, specifically, is related to a kind of wheel type mobile structure and includes its wheeled machine Device people.

Background technology

Mobile robot is an important branch in robotics.Early in the sixties, with regard to oneself through beginning with movement The research of robot.On the research of mobile robot be related to it is many in terms of, first, to consider move mode, can be wheeled , crawler type, leg formula, for underwater robot, be then propeller.Secondly, it is necessary to the control of driver is considered, so that machine People reaches desired behavior.3rd, it is necessary to consider navigation or path planning, for the latter, there are more aspects to consider, such as pass Sense fusion, feature extraction, collision prevention and environment mapping.Therefore, mobile robot is a collection environment sensing, dynamic decision and rule Draw, Behavior- Based control with perform etc. multiple functions in one integrated system.Due to the research to mobile robot, it is proposed that many New or challenge theory and engineering technology problem, cause the interest of increasing experts and scholars and engineers and technicians, More due to it in military surveillance, clearance get rid of the danger, core, change pollution etc. it is dangerous with severe bad border and it is civilian in material carrying on have Have broad application prospects so that the research to it is in countries in the world by common concern.

The external research starting in terms of mobile robot is more early, either in application or in terms of research, Japan and The U.S. is all in the status held a safe lead.The National Science committee once foretold:" the core weapon in 20th century is tank.21 The core weapon in century is unmanned combat system, wherein remote controlled floor unmanned combat system is by continuous equipment department after 2000 Team, and move towards battlefield ".Therefore, since the eighties, U.S. national defense advanced research projects agency (DARPA) specially sets up the project, and formulates The strategic plan of ground unmanned battle platform.From this, the prelude of comprehensive research outdoor mobile robot has been raised in the whole world. The research at initial stage, the mainly architecture of robot and information processing outside academic angle research department, and establish experimental system and enter Row checking.

Although because the eighties has too high expectations to the intelligent behavior of robot, cause the research of outdoor robot not up to pre- The effect of phase, but the development of correlation technique has been driven, the approach that intelligent robot is developed to inquire into the mankind have accumulated experience, Research and development of other countries to mobile robot have also been promoted simultaneously.Into the nineties, with advances in technology, moving machine Device people starts on the basis of more real, opens up each application field, is marched to practical.As subsidized and developed as U.S. NASA " red eight sufficient walking robots of base of a fruit II ", it is a understanding that can be provided to high mobility robot motion and tele-robotic exploration Walking robot, 1994 this bat volcano volcanic crater in carried out successful demonstration.The Mars that U.S. NASA is developed is visited Survey robot Suo Jiena and climb up Mars in 1997.In order to carry out long range exploration on Mars, model machine of new generation is started again Development, be named as Rocky, and successful experiment has been carried out on the karst stream in Lavic lakes and on withered lakebed.In addition, At civilian aspect, mobile robot abroad oneself be widely used in clearing away, mow, indoor transmission, guide, guide, shopping guide, room The various aspects such as inside and outside cleaning and security guard patrol.

It is in addition, external also in high integrality robot, remote-controlled mobile robots, environment and mobile-robot system, ecology Robotics, multi-robot system etc. has made substantial amounts of research.The domestic research in terms of mobile robot is started late, Most of researchs are still in some individual event conceptual phase, and main research work has:Tsing-Hua University's intelligent mobile robot in Pass through identification within 1994.It is related to the key technology of five aspects:Global path planning technical research (quasi- structure based on map Global path planning under road network environment, there is global path planning under barrier country, under physical relief environment Global path planning)；Local paths planning the technical research (" sense based on multiple sensors information based on sensor information Know an action " behavior, " perceive one action " behavior based on Environment potential field, based on the local paths planning of fuzzy control with leading Boat control)；Simulation Technique Study (analogue simulation of the global path planning system based on map, the outdoor movement of path planning Analogue simulation, the analogue simulation of indoor mobile robot local paths planning system of Robot Planning System)；Sensing technology, Study on Information Fusion Technique (difference global global position system, magnetic compass and optical code disk alignment system, ranging system, regards Feel treatment technology, information fusion technology)；Design and realization (the intelligent mobile robot THMR-IH body of intelligent mobile robot Architecture, efficiently quick data transmission technology, automated driving system).In addition, also City University of Hong Kong's intelligent design, from The automatic navigation vehicle and service robot in dynamicization and manufacture research center, the automatic of Shenyang Inst of Automation, Chinese Academy of Sciences are led Draw car AGV and explosion prevention robot, Institute of Automation, Chinese Academy of sociences's designed, designed, the all-around mobile formula robot vision of manufacture are led Guide robot that boat system, Harbin Institute of Technology succeed in developing etc..In a word, the research of mobile robot in recent years is in state Very big attention is inside also obtained, and research in some aspects reaps rich fruits.

The motion of Omnibearing wheel type robot includes the longitudinally, laterally motion with rotation three degree of freedom.Wheel shape moves There are some following advantages in the feature of mechanism wheel shape travel mechanism compared with other travel mechanisms：The movement that can stablize at a high speed, energy It is high to measure utilization rate, the control of mechanism is simple, and it can use for reference increasingly perfect automotive engineering and experience etc..It is lacked Point is that movement is only limited to plane.It is desirable to the place of robot work, discounting for the natural ring such as particular surroundings and mountain region Border, nearly all it is the level land manually built.So the value of wheel shape travel mechanism is it may be said that right and wrong in this sense It is often high.

Existing wheel rotating mechanism design mainly has two kinds of structures of Fig. 5 a and Fig. 5 b, but above two structure has The shortcomings that different degrees of：As shown in Figure 5 a, wheel and contact area of ground are small, it is possible to create skidding, and to motor shaft shape Into a moment of flexure, easily motor shaft is damaged, uses and is inconvenient；As shown in Figure 5 b, using the embedded knot of motor Structure, wheel and contact area of ground are increased, reduce skidding, but motor fixes relatively difficult, installation production all inconvenience Profit.

Utility model content

Technical problem to be solved in the utility model is in view of the shortcomings of the prior art, there is provided a kind of no-radius revolution, Adjustable speed, it is easy to the wheel type mobile structure of control and includes its wheeled robot.

The technical scheme that the utility model solves above-mentioned technical problem is as follows：

The utility model provides a kind of wheel type mobile structure, including：

Pedestal,

Steering mechanism, the steering mechanism is two groups, respectively positioned at the rear and front end of pedestal, the steering mechanism and pedestal It is connected,

Travel mechanism, the travel mechanism are four groups, pass through a connecting rod and one group of turning machine per Liang Zu travel mechanisms Structure is connected and rotated in the horizontal direction under the drive of steering mechanism, and the pedestal is horizontal under the drive of travel mechanism to be moved It is dynamic.

Preferably, the travel mechanism includes, mobile motor, interior wheel and outer wheel；The mobile motor and connecting rod It is connected, the output end of the mobile motor is socketed in the inside of interior wheel；The output shaft of the mobile motor and interior wheel and The rotary shaft of outer wheel is connected, and the outer wheel and interior wheel rotate under the drive of mobile motor output shaft.

Preferably, the outer cover of the mobile motor is provided with motor casing, and the interior wheel is set close to the side of mobile motor There is circular groove, the motor casing is embedded in the circular groove；It is folded between motor casing and the circular groove inwall Deep groove ball bearing.

Preferably, connected between the output shaft of the mobile motor and interior wheel and outer wheel by first shaft coupling, institute State first shaft coupling drive in wheel and outer wheel with the output shaft rotation of mobile motor.

Preferably, the travel mechanism also holds out against baffle plate including two pieces, and the baffle plate that holds out against is semicircle arcuation, and two pieces hold out against Baffle plate is set on the outside of shaft coupling and independent of one another with first shaft coupling, it is described hold out against baffle plate respectively extend up and down one piece it is square Connecting plate, two pieces of connecting plates of the top are connected by bolt with connecting rod, two pieces of connecting plates of lower section by bolt that This connection.

Preferably, the steering mechanism includes steering motor and steering spindle, the output shaft and steering spindle of the steering motor It is connected, the steering spindle is connected with connecting rod, and the output shaft of the steering motor drives steering axes, and then the company of drive Extension bar rotates.

Preferably, the steering motor is connected by connector with pedestal, and the connector is to be respectively provided with connection up and down The hollow cylindrical configuration of plate, the steering motor are placed in hollow, and pass through the connecting hole and base on connecting plate by bolt Seat is connected.

Preferably, the steering spindle can be divided into two parts up and down, respectively top steering spindle and lower steering shaft, it is described on Portion's steering spindle is T-shaped axle and is connected with the output shaft of steering motor that the lower steering shaft is connected with connecting rod；Under described The outer sheath of portion's steering spindle is provided with taper roll bearing, and the outer sheath of the taper roll bearing is provided with sleeve.

Preferably, the elastic washer for positioning is provided between the taper roll bearing and the shaft shoulder of steering spindle.

The beneficial effects of the utility model are：Wheeled locomotion mechanism of the present utility model is driven to control in pairs using front and back wheel System is turned to, and often wheel is rotated to realize all-around mobile for control；It can realize that no-radius turn round, adjustable speed, be easy to control.

The utility model also provides a kind of wheeled robot, including wheel type mobile structure and robot body as mentioned, The robot body is connected with pedestal.

Brief description of the drawings

Fig. 1 is the structure schematic diagram of wheel type mobile structure of the present utility model；

Fig. 2 is the structural representation of the travel mechanism of wheel type mobile structure of the present utility model；

Fig. 3 is the structure schematic diagram of the steering mechanism of wheel type mobile structure of the present utility model；

Fig. 4 is the structure schematic diagram for holding out against baffle plate of wheel type mobile structure of the present utility model；

Fig. 5 a are a kind of structure schematic diagram of wheel type mobile structure of the prior art；

Fig. 5 b are a kind of structure schematic diagram of wheel type mobile structure of the prior art.

Embodiment

Principle of the present utility model and feature are described below in conjunction with accompanying drawing, example is served only for explaining this practicality It is new, it is not intended to limit the scope of the utility model.

As shown in figure 1, the utility model provides a kind of wheel type mobile structure, including：

Pedestal 10,

Steering mechanism 30, the steering mechanism 30 is two groups, respectively positioned at the rear and front end of pedestal 10, the steering mechanism 30 are connected with pedestal 10,

Travel mechanism 20, the travel mechanism 20 are four groups, pass through a connecting rod 40 and one per Liang Zu travel mechanisms 20 Group steering mechanism 30 is connected and rotated in the horizontal direction under the drive of steering mechanism 30, and the pedestal 10 is in travel mechanism Moved horizontally under 20 drive.

As shown in Fig. 2 the travel mechanism 20 includes, mobile motor 21, interior wheel 22 and outer wheel 23；The mobile electricity Machine 21 is connected with connecting rod 40, and the output end of the mobile motor 21 is socketed in the inside of interior wheel 22；The mobile motor 21 output shaft is connected with the rotary shaft of interior wheel 22 and outer wheel 23, and the outer wheel 23 and interior wheel 22 are in mobile motor Rotated under the drive of 21 output shafts.

Mobile motor is embedded in inside wheel, has both increased the contact area on wheel and ground, shortens whole shifting again The axial distance of dynamic structure.In order to keep the stress balance of wheel make whole mechanism can with easy motion, by wheel design for it is interior, Outer two one group realizes.

The outer cover of the mobile motor 21 is provided with motor casing 24, and the interior wheel 22 is set close to the side of mobile motor 21 There is circular groove, the motor casing 24 is embedded in the circular groove；Pressed from both sides between the motor casing 24 and circular groove inwall Provided with deep groove ball bearing 25.

Connected between the output shaft and interior wheel 22 and outer wheel 23 of the mobile motor 21 by first shaft coupling 26, institute State first shaft coupling 26 and drive interior wheel 22 and outer wheel 23 with the output shaft rotation of mobile motor 21.

A deep groove ball bearing is employed as radial support, wheel is on the one hand avoided and moment of flexure is produced to motor；It is another Aspect ensure that the rigidity of wheel.Because the outer ring of deep groove ball bearing coordinates with wheel inner surface, because inner ring can not be with electricity Machine directly coordinates, and using the motor shell structure being wrapped in outside mobile motor, makees the connection of motor and bearing.

The travel mechanism 20 also holds out against baffle plate 27 including two pieces, and the baffle plate 27 that holds out against is semicircle arcuation, and two pieces hold out against Baffle plate 27 is set in the outside of shaft coupling 26 and independent of one another with first shaft coupling 26, described to hold out against respectively extending up and down for baffle plate 27 One piece of square connecting plate 28, two pieces of connecting plates 28 of the top are connected by bolt with connecting rod 40, two pieces of companies of lower section Fishplate bar 28 is connected to each other by bolt.

That is, the concrete structure of moving mechanism section is divided into five parts：Motor output shaft and deep groove ball bearing by Circlip and motor casing axially position；Motor shaft outer surface radial positioning is passed through by motor casing outer surface radial positioning.This Outside, radial load is mainly carried as support, deep groove ball bearing from the deep groove ball bearing of good economy performance, convenient purchase, simultaneously Small axial load can also be carried, and is used as radial support, wheel is avoided and moment of flexure is produced to motor.Mobile motor is pre-installed In motor casing, by the flange axially position of motor casing；But radial positioning can not utilize motor positioning spigot to position, using car The concentric completion radial positioning of wheel adjustment motor shaft.Interior wheel positions by the outer ring of deep groove ball bearing, then again by inside and outside The own shaft coupling of wheel couples with the output shaft of mobile motor.This process is also that adjustment motor shaft is concentric, then from wheel Mobile motor is fastened on motor casing by the reserving installation hole of side.Whole wheel is divided into two parts and combined.One is band There is the outer wheel of the diameter of axle, another is the interior wheel without the diameter of axle, and both are used in combination one group of complete wheel of composition.And car The wheel diameter of axle is used cooperatively with car body support member in the form of rolling friction, and as the axially position part of two wheels.Wheel is most Whole fixation is will to hold out against baffle plate by the screw in outside and be connected in connecting rod to realize.In order that rotating part and turning part The steering axis connection divided devises the fixture (holding out against baffle plate) similar to semicircle, such as Fig. 4 herein to realize omnibearing movable It is shown, using being coordinated using two to fix rotating part, the company with connecting rod is realized by the connection of four bolts The connection again by connecting rod and steering spindle is connect, so that steering mechanism and rotating mechanism are connected as a single entity, is finally realized comprehensive It is mobile.

The steering mechanism includes steering motor 31 and steering spindle 32, output shaft and the steering spindle 32 of the steering motor 31 It is connected, for the steering spindle 32 through being connected with connecting rod 40, the output shaft of the steering motor 31 drives 32 turns of steering spindle It is dynamic, and then drive connecting rod 40 to rotate.

The steering motor 31 is connected by connector 37 with pedestal 10, and the connector is to be respectively provided with connecting plate up and down Hollow cylindrical configuration, the steering motor is placed in hollow, and by bolt through the connecting hole and pedestal on connecting plate 10 are connected.

The steering spindle 32 can be divided into two parts, respectively top steering spindle 321 and lower steering shaft 322 up and down, described Top steering spindle 321 is connected for T-shaped axle and with the output shaft of steering motor 31, the lower steering shaft 322 and connecting rod 40 It is connected；The outer sheath of the lower steering shaft 322 is provided with taper roll bearing 33, the outer sheath of the taper roll bearing 33 Provided with sleeve 36.

The elastic washer 35 for positioning is provided between the taper roll bearing 33 and the shaft shoulder of steering spindle 32.Wherein, The shaft shoulder refers to the position of multi-diameter shaft upper section change in size.

That is, as shown in figure 3, the upper and lower two parts of the steering spindle point, top steering spindle is T-shaped, using multi-diameter shaft Form, be easy to couple with pedestal；Lower steering shaft is coupled by connecting rod with wheel portion, is designed to cylinder to ensure foot Enough intensity and good manufacturability.Two parts steering spindle is worked in coordination simultaneously, the position for axletree during to turn to of can stretching Move change.Steering spindle main function is exactly to play a part of steering by the connection with steering motor, and what is mainly received is radial load, And the axial force very little being subject to.When steering spindle is by upward axial force, axial force passes to lower section bearing inner race by the shaft shoulder, then Sleeve is passed to, is then passed to the inner ring of top taper roll bearing, then taper roll bearing outer ring is delivered to by ball, and axle End cap and casing are further delivered to power, so as to which axial force is transferred on whole car body, because casing is connected to car body Pedestal on.It is to transmit axial force by circlip first, then pass through a series of transmission when steering spindle is by downward axial force Most axial force is transferred on pedestal at last.Thus, the work of rotating shaft is reliable.

Main shaft is turned to pedestal to couple：Steering spindle only has one degree of freedom for pedestal, and formation is revolute pair, Steering spindle bears radial load and bigger axial force in robot moving process, and the conventional bearing for being adapted to this requirement is circle Taper roller bearing (can also be that other disclosure satisfy that the bearing used).The both ends support that taper roll bearing is separated using sleeve Structure, so design can ensure that steering spindle is not waved during steering, ensure the precision of steering and can subtract The small abrasion to turning to related components.After a pair of taper roll bearings are separated with sleeve, tapered roller bearing internal ring is by the shaft shoulder Fixed with circlip for shaft.Taper roll bearing outer ring is connected with pedestal and bearing (ball) cover.

The connection of steering motor shaft and steering spindle：Steering motor shaft and steering spindle connect through shaft coupling.Shaft coupling master To be used for connecting shaft with axle (or coupling spindle and other revolving mebers) to transmit motion and torque, be also sometimes used as safety device.By Only acted in steering spindle by torque, and axial force very little, thus steering motor shaft and steering spindle all using flat key come circumferential It is fixed, to reach fixed and two axles of connection purposes.

Steering motor couples with pedestal：After steering spindle and pedestal form revolute pair, it is only necessary to electric with turning to Machine come drive steering spindle i.e. can be achieved wheel steering.Motor, which is fixed on pedestal, needs a connector, the connector Can be that an entirety can also include symmetrical two parts.Centering is good when monoblock type is assembled, but necessary lateral opening, So easily cause wheel steering precision inadequate, and be unfavorable for dust-proof；Dissection type centering is more slightly worse, can be combined into closing Structure, there is reliable rigidity, dust-proof, convenient disassembly.It is therefore preferable that use split type structure.

The design and fixation of casing, the casing are arranged on the outside of steering motor, steering motor are wrapped in it, lead to Medianly zygomorphic L-shaped rectangular arm is crossed to be fixed on pedestal with 8 bolts.Because casing is connected by screw and pedestal Connect, so as to which it and pedestal and steering motor are considered as one.Furthermore box house is to be used to place bearing, and solid What dead axle was held, the design of both arms can be passed to the overall weight of steering mechanism on car body by the two-arm of casing, and then be imposed on Whole weight applies wheel.So the stress of steering spindle will greatly reduce.And such design convenient disassembly, beneficial to maintenance. It is fixed on using symmetrical structure in space, is advantageous to stablize whole steering mechanism, and improves the property of whole omni-directional moving mechanism Energy.

In description of the present utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width Degree ", " thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " suitable The orientation or position relationship of the instruction such as hour hands ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " are based on orientation shown in the drawings Or position relationship, be for only for ease of description the utility model and simplify and describe, rather than instruction or imply signified device or Element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limit of the present utility model System.

In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or Implicitly include at least one this feature.In description of the present utility model, " multiple " are meant that at least two, such as two It is individual, three etc., unless otherwise specifically defined.

In the utility model, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " Gu It is fixed " etc. term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be Mechanically connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be two The connection of element internal or the interaction relationship of two elements, limited unless otherwise clear and definite.For the common skill of this area For art personnel, concrete meaning of the above-mentioned term in the utility model can be understood as the case may be.

In the utility model, unless otherwise clearly defined and limited, fisrt feature is "above" or "below" second feature Can be that the first and second features directly contact, or the first and second features pass through intermediary mediate contact.Moreover, first is special Sign second feature " on ", " top " and " above " can be fisrt feature directly over second feature or oblique upper, or only Represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be with Be fisrt feature immediately below second feature or obliquely downward, or be merely representative of fisrt feature level height and be less than second feature.

In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description Point is contained at least one embodiment or example of the present utility model.In this manual, to the schematic table of above-mentioned term State and be necessarily directed to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be with Combined in an appropriate manner in any one or more embodiments or example.In addition, in the case of not conflicting, ability The technical staff in domain can be by the different embodiments or example and the feature of different embodiments or example described in this specification It is combined and combines.

Although embodiment of the present utility model has been shown and described above, it is to be understood that above-described embodiment is Exemplary, it is impossible to it is interpreted as to limitation of the present utility model, one of ordinary skill in the art is in the scope of the utility model It is interior above-described embodiment to be changed, changed, replaced and modification.

Claims (10)

1. A kind of 1. wheel type mobile structure, it is characterised in that including：

   Pedestal (10),

   Steering mechanism (30), the steering mechanism (30) is two groups, respectively positioned at the rear and front end of pedestal (10), the turning machine Structure (30) is connected with pedestal (10),

   Travel mechanism (20), the travel mechanism (20) are four groups, pass through a connecting rod (40) per Liang Zu travel mechanisms (20) It is connected with one group of steering mechanism (30) and is rotated in the horizontal direction under the drive of steering mechanism (30), the pedestal (10) Moved horizontally under the drive of travel mechanism (20).
2. 2. wheel type mobile structure according to claim 1, it is characterised in that the travel mechanism (20) includes, mobile electricity Machine (21), interior wheel (22) and outer wheel (23)；The mobile motor (21) is connected with connecting rod (40), the mobile motor (21) output end is socketed in the inside of interior wheel (22)；The output shaft of the mobile motor (21) and interior wheel (22) and outer car The rotary shaft of wheel (23) is connected, and the outer wheel (23) and interior wheel (22) turn under the drive of mobile motor (21) output shaft It is dynamic.
3. 3. wheel type mobile structure according to claim 2, it is characterised in that the outer cover of the mobile motor (21) is provided with Motor casing (24), the interior wheel (22) are provided with circular groove close to the side of mobile motor (21), and the motor casing (24) is embedding It is located in the circular groove；Deep groove ball bearing (25) is folded between the motor casing (24) and circular groove inwall.
4. 4. wheel type mobile structure according to claim 2, it is characterised in that the output shaft of the mobile motor (21) with it is interior Connected between wheel (22) and outer wheel (23) by first shaft coupling (26), wheel in first shaft coupling (26) drive (22) and outer wheel (23) is with the output shaft rotation of mobile motor (21).
5. 5. wheel type mobile structure according to claim 4, it is characterised in that the travel mechanism (20) also includes two pieces Baffle plate (27) is held out against, the baffle plate (27) that holds out against is semicircle arcuation, and two pieces hold out against baffle plate (27) and are set on the outside of shaft coupling (26) And with first shaft coupling (26) independently of one another, it is described hold out against baffle plate (27) respectively extend one piece of square connecting plate (28) up and down, Two pieces of connecting plates (28) of the top are connected by bolt with connecting rod (40), and two pieces of connecting plates (28) of lower section pass through spiral shell Bolt is connected to each other.
6. 6. according to any described wheel type mobile structures of claim 1-5, it is characterised in that the steering mechanism includes turning to electricity Machine (31) and steering spindle (32), the output shaft of the steering motor (31) are connected with steering spindle (32), the steering spindle (32) It is connected with connecting rod (40), the output shaft of the steering motor (31) drives steering spindle (32) to rotate, and then drives connecting rod (40) rotate.
7. 7. wheel type mobile structure according to claim 6, it is characterised in that the steering motor (31) passes through connector (37) it is connected with pedestal (10), the connector is to be respectively provided with the hollow cylindrical configuration of connecting plate, the steering motor up and down It is placed in hollow, and is connected by bolt through the connecting hole on connecting plate with pedestal (10).
8. 8. wheel type mobile structure according to claim 6, it is characterised in that the steering spindle (32) can be divided into two up and down Point, respectively top steering spindle (321) and lower steering shaft (322), the top steering spindle (321) for T-shaped axle and with steering The output shaft of motor (31) is connected, and the lower steering shaft (322) is connected with connecting rod (40)；The lower steering shaft (322) outer sheath is provided with taper roll bearing (33), and the outer sheath of the taper roll bearing (33) is provided with sleeve (36).
9. 9. wheel type mobile structure according to claim 8, it is characterised in that the taper roll bearing (33) and steering spindle (32) elastic washer (35) for positioning is provided between the shaft shoulder.
10. 10. a kind of wheeled robot, it is characterised in that including any shown wheel type mobile structures of such as claim 1-9 and machine Device human body, the robot body are connected with pedestal.