CN213799968U

CN213799968U - Omnidirectional movement robot

Info

Publication number: CN213799968U
Application number: CN202021883584.9U
Authority: CN
Inventors: 赵永进; 牟俊鑫; 覃甲林; 余文华; 周礼兵
Original assignee: Shenzhen Ubtech Technology Co ltd
Current assignee: Shenzhen Ubtech Technology Co ltd
Priority date: 2020-08-31
Filing date: 2020-08-31
Publication date: 2021-07-27
Anticipated expiration: 2030-08-31

Abstract

The utility model belongs to the technical field of the robot equipment, especially, relate to an omnidirectional movement robot, including chassis frame and an even number suspension actuating system, wherein, each suspension actuating system includes the fixing base, the power take off subassembly, turn to bracket component and vibration damper, walk through the whole robot motion of suspension actuating system drive, vibration damper through suspension actuating system realizes along vertical and along horizontal damping effect at the motion walking in-process, the power take off subassembly is to turning to bracket component output power, rotate arbitrary angle direction in the omnidirectional movement robot motion walking in-process and turn to the function in order to realize the motion walking, each suspension actuating system realizes drive walking function and damping function mutually independently, therefore make this omnidirectional movement robot have better obstacle-crossing ability. To sum up, use the utility model discloses technical scheme has solved the chassis system damping ability of current robot poor, the poor problem of obstacle crossing ability.

Description

Omnidirectional movement robot

Technical Field

The utility model belongs to the technical field of the robot equipment, especially, relate to an omnidirectional movement robot.

Background

The robot chassis is a core component of a robot system, and the important function of the chassis is to realize the functions of robot movement and vibration reduction. One is that the existing omnidirectional robot chassis generally adopts four sets of mecanum wheel drive schemes or three omnidirectional wheel drive schemes (see fig. 1 for understanding), but the chassis generally has the phenomena of weakened structural stability, dead locking of autorotation small wheels, damaged bearings and the like due to the limitation of the drive wheels, in addition, the obstacle crossing capability is extremely low due to the fact that the wheels are small, and finally, the vehicle body shakes seriously due to the discontinuous performance of the drive wheels.

In addition, a common robot chassis structure adopts a structure that double drive wheels are additionally provided with universal wheels and the like, the structure cannot realize the crab function, and the robot is generally used indoors due to the fact that the robot is generally not driven enough and is limited by obstacle surmounting.

The chassis structure of robot that four-wheel four-turn on the market at present, it possesses omnidirectional movement's function, but the vertical damping suspension device (see understanding fig. 2) that its suspension system adopted, perhaps do not adopt suspension device for the damping function of automobile body descends, does not have the damping function even, and actual result of use is not good enough, and the vision collection system accuracy that is located the upper end is lower.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an omnidirectional movement robot aims at solving the chassis system damping ability of current robot poor, the poor problem of obstacle crossing ability.

In order to achieve the above object, the utility model adopts the following technical scheme: an omnidirectional exercise robot comprising: the chassis frame is provided with a first longitudinal beam and a second longitudinal beam which are arranged at intervals; the suspension driving systems are respectively arranged on the first longitudinal beam and the second longitudinal beam, and the suspension driving systems arranged on the first longitudinal beam and the suspension driving systems arranged on the second longitudinal beam are symmetrically arranged in a one-to-one correspondence manner; wherein each suspension drive system comprises: the fixed seat is connected to the first longitudinal beam or the second longitudinal beam; the power output assembly is fixedly arranged on the first longitudinal beam or the second longitudinal beam and is provided with a power output end shaft; the steering bracket assembly is provided with a support connecting part and an assembly connecting part, the support connecting part is rotatably connected to the fixed seat, the power output end shaft is in driving connection with the support connecting part, and the assembly connecting part is positioned on one side of the fixed seat, which is far away from the power output assembly; the vibration damping device comprises a vibration damper and a swing arm, wherein the first end of the vibration damper is rotatably connected to one end, extending towards the direction close to the supporting connecting part, of the assembling connecting part, the first end of the swing arm is rotatably connected to one end, extending towards the direction far away from the supporting connecting part, of the assembling connecting part, and the central axis of the vibration damper inclines towards the direction far away from the assembling connecting part in the moving process of the omnidirectional moving robot in the direction from the first end to the second end of the vibration damper.

Optionally, the steering bracket assembly includes a support and a bearing portion, the first end of the support is a support connecting portion, the second end of the support is an assembly connecting portion, the fixing seat is provided with an assembly through hole, the bearing portion has an inner ring and an outer ring which can rotate relatively, the outer ring is fixed in the assembly through hole, and the inner ring is fixedly sleeved on the assembly connecting portion.

Alternatively, the bearing portion includes an even number of tapered roller bearings, and the direction of inclination of the cylindrical rollers of one of the adjacent two tapered roller bearings with respect to the central axis of the support connection portion is opposite to the direction of inclination of the cylindrical rollers of the other one with respect to the central axis of the support connection portion.

Optionally, the bearing portion further includes a bearing limiting sleeve, a bearing limiting sleeve is disposed between two adjacent tapered roller bearings, and two ends of the bearing limiting sleeve respectively abut against outer rings of the two tapered roller bearings.

Optionally, the assembly connection portion includes a first connection plate and a second connection plate, a first end of the first connection plate is connected with a first end of the second connection plate, the first connection plate is perpendicular to the second connection plate, the power output shaft is perpendicular to the second connection plate, and the central axis of the damper is inclined toward a direction away from the first connection plate.

Optionally, the vibration damping device further comprises a first connecting shaft, a second connecting shaft, a third connecting shaft and a fourth connecting shaft, the end portion, far away from the second connecting plate, of the first connecting plate is provided with a first connecting seat, one side, far away from the power output assembly, of the second connecting plate is provided with a second connecting seat, the first end of the vibration damper is hinged to the second connecting seat through the first connecting shaft, the second connecting shaft is used for hinging the second end of the vibration damper and the stator portion of the hub motor, the first end of the swing arm is hinged to the first connecting seat through the third connecting shaft, and the fourth connecting shaft is used for hinging the second end of the swing arm and the stator portion of the hub motor.

Optionally, the power output assembly comprises a steering engine and a switching mechanism, the steering engine is connected to the first longitudinal beam or the second longitudinal beam, the power output end shaft is an output rotating shaft of the steering engine, and the power output end shaft is coaxially connected with the support connecting part.

Optionally, the changeover mechanism includes a first flange and a coupling, a second flange is provided on the power output end shaft, the first flange is connected with the second flange, the first flange is provided with a connection shaft head, the connection shaft head is in transmission connection with the support connection portion through the coupling, and the power output end shaft, the connection shaft head and the support connection portion are coaxially arranged.

Optionally, the coupler is a U-shaped opening member, the U-shaped opening member includes a first straight wall, an arc-shaped wall and a second straight wall which are sequentially connected, the first straight wall is provided with a first through hole and a second through hole, the first through hole and the second through hole are arranged at intervals along the central axis direction of the arc-shaped wall, the second straight wall is provided with a third through hole and a fourth through hole, the third through hole corresponds to the first through hole, the fourth through hole corresponds to the second through hole, the connecting shaft head is provided with a fifth through hole, the support connecting portion is provided with a sixth through hole, the adapter mechanism further includes a connecting screw, one connecting screw sequentially penetrates through the first through hole, the fifth through hole and the third through hole and then is locked with the nut, and the other connecting screw sequentially penetrates through the second through hole, the sixth through hole and the fourth through hole and then is locked with the nut.

Optionally, the power output assembly further comprises a steering engine support frame, the steering engine support frame is connected to the fixing base, and the steering engine is connected to the steering engine support frame.

The utility model discloses following beneficial effect has at least:

in the omnidirectional movement robot, a chassis frame is used as a platform for installing required working devices of the robot, the working devices such as suspension driving systems and other precision equipment are arranged on the chassis frame, and the even number of suspension driving systems are arranged on the chassis frame, so that the smoothness and the stability of the movement of the robot can be ensured while the whole robot is supported. Each suspension driving system is composed of a fixed seat, a power output assembly, a steering support assembly, a vibration damper and the like, and the fixed seat is fixedly connected with the chassis frame and then provides a supporting point for the whole robot. From this strong point downwards then by assembly structure support such as steering bracket subassembly, damping device live the chassis underframe to, realize along vertical and along horizontal damping effect through damping device in the motion walking process, guaranteed that the motion walking process is steady all the time. And a power output assembly is arranged upwards from the supporting point and outputs power to the steering support assembly, and the suspension driving system rotates in any angle direction to realize the function of moving, walking and steering. Because each suspension driving system in the omnidirectional moving robot realizes the driving walking function and the vibration damping function independently, when one suspension driving system meets an obstacle in the moving walking process, the suspension driving system bears and solves the obstacle crossing problem by itself to continue moving and walking to a target position in the aspects of vibration damping and driving force, and therefore the omnidirectional moving robot has better obstacle crossing capability.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is a schematic view of an assembly structure of an omnidirectional moving robot according to an embodiment of the present invention;

fig. 2 is a front view of a suspension driving system in the omnidirectional exercise robot according to the embodiment of the present invention;

FIG. 3 is a top view of FIG. 2;

FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3;

FIG. 5 is an enlarged view at B in FIG. 4;

fig. 6 is an exploded view of a suspension drive system in an omnidirectional exercise robot according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

10. a chassis frame; 11. a first stringer; 12. a second stringer; 20. a suspension drive system; 21. a fixed seat; 22. a power take-off assembly; 221. a power output shaft; 2211. a second flange plate; 222. a steering engine; 223. a transfer mechanism; 2231. a first flange plate; 2232. a coupling; 201. a connecting screw; 224. a steering engine support frame; 23. a steering bracket assembly; 231. a support; 2311. a support connection portion; 2312. assembling the connecting part; 23121. a first connecting plate; 23122. a second connecting plate; 232. a bearing portion; 2321. a tapered roller bearing; 2322. a bearing stop collar; 24. a vibration damping device; 241. a shock absorber; 242. a swing arm; 243. assembling a plate; 244. a first connecting shaft; 245. a second connecting shaft; 246. a third connecting shaft; 247. a fourth connecting shaft; 248. a first connecting seat; 249. a second connecting seat; 25. a hub motor; 251. a stator portion; 252. a rotor portion; 211. assembling the through hole; 201. and connecting screws.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" 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 specifically limited otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "secured" are to be construed broadly and can, for example, be connected or detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

As shown in fig. 1 to 6, the present invention provides an omnidirectional moving robot, so-called omnidirectional movement, that is, the robot can realize the movement of any direction on the ground, including the common snake-shaped curve movement, the common curve running movement, and the ackermann steering movement. The omnidirectional moving robot comprises two large modules, namely a chassis frame 10 and an even number of suspension drive systems 20, wherein the chassis frame 10 is provided with a first longitudinal beam 11 and a second longitudinal beam 12, namely a main bearing part of the chassis frame 10, the first longitudinal beam 11 and the second longitudinal beam 12 are arranged in a spaced and parallel mode (also can be non-parallel and preferably are parallel), the suspension drive systems 20 are respectively arranged on the first longitudinal beam 11 and the second longitudinal beam 12, and each suspension drive system 20 arranged on the first longitudinal beam 11 and each suspension drive system 20 arranged on the second longitudinal beam 12 are symmetrically arranged corresponding to a longitudinal central axis of the chassis frame 10. Each suspension driving system 20 comprises a fixed seat 21, a power output assembly 22, a steering bracket assembly 23, a vibration damping device 24 and a hub motor 25, and forms a core structure of the suspension driving system 20. Specifically, the fixing seat 21 is detachably connected to the first longitudinal beam 11 or the second longitudinal beam 12 through a connecting bolt, and the fixing seat 21 is a connecting position between two large modules, namely the chassis frame 10 and the suspension frame driving system 20, and is connected with a bridge. The power take-off assembly 22 is attached to the first side member 11 or the second side member 12, and the power take-off assembly 22 has a power take-off end shaft 221. The steering bracket assembly 23 has a supporting connection portion 2311 and an assembling connection portion 2312, the supporting connection portion 2311 is rotatably connected to the fixing seat 21, the power output end shaft 221 is in driving connection with the supporting connection portion 2311 to achieve power transmission, and the assembling connection portion 2312 is located on one side of the fixing seat 21 departing from the power output assembly 22. In the omnidirectional exercise robot, the vibration damping device 24 has vibration damping capability in the vertical direction and in the transverse direction, and can keep the chassis frame 10 stable during the movement of the omnidirectional exercise robot. Specifically, the damper device 24 includes the damper 241 and the swing arm 242, a first end of the damper 241 is rotatably connected to an end of the fitting connection portion 2312 extending in a direction closer to the support connection portion 2311, and a first end of the swing arm 242 is rotatably connected to an end of the fitting connection portion 2312 extending in a direction away from the support connection portion 2311, so that the basic connection structure of the damper device 24 is completed. Further, in the direction from the first end to the second end of the damper 241, during the traveling movement of the omnidirectional moving robot (the traveling movement includes the working states such as linear traveling, turning, steering during traveling, and static load loading), the central axis of the damper 241 is inclined in the direction away from the attachment connection portion 2312, so that the damper 241 cannot approach the attachment connection portion 2312 at all times during the time when the damper device 24 is assembled and put into use, and the damper 241 is kept in the vertical state after receiving the weight of the chassis frame 10 and being balanced, thereby keeping the hub motor 25 in the vertical state at all times. The hub motor 25 includes a stator portion 251 and a rotor portion 252, the stator portion 251 is in driving connection with the rotor portion 252, a second end of the damper 241 is rotatably connected with the stator portion 251, and a second end of the swing arm 242 is rotatably connected with the stator portion 251.

In the omnidirectional movement robot, the chassis frame 10 is used as a platform for installing required working devices, such as the suspension driving systems 20 and other precision equipment, etc., and even number (even number greater than or equal to 4) of the suspension driving systems 20 are installed on the chassis frame 10, so that the smoothness and the stability of the movement of the robot can be ensured while the whole robot is supported. Each suspension driving system 20 consists of a fixed seat 21, a power output assembly 22, a steering bracket assembly 23, a vibration damper 24 and a hub motor 25, and the fixed seat 21 is fixedly connected with the chassis frame 10 to provide a supporting point for the whole robot. From the supporting point, the chassis frame 10 is supported downwards by the assembly structure among the steering support assembly 23, the vibration damping device 24 and the in-wheel motor 25, the whole robot is driven to move and walk by the in-wheel motor 25, the vibration damping effect along the longitudinal direction and the transverse direction is realized in the moving and walking process by the vibration damping device 24, and the moving and walking process is guaranteed to be stable all the time. From the supporting point, the power output assembly 22 is arranged upwards, and the power output assembly 22 outputs power to the steering support assembly 23, so that the in-wheel motor 25 is driven to rotate in any angle direction in the moving and walking process to realize the moving, walking and steering functions. Since the suspension driving systems 20 in the omnidirectional moving robot realize the walking driving function and the vibration damping function independently, when one of the hub motors 25 meets an obstacle in the walking movement process, the suspension driving system 20 bears and solves the obstacle crossing problem by itself to continue to move and walk to the target position in terms of vibration damping and driving force, and therefore the omnidirectional moving robot has better obstacle crossing capability.

Further, in order to facilitate assembly and reduce assembly difficulty, the vibration damping device 24 further includes an assembly plate 243, a first end of the assembly plate 243 is rotatably connected to a second end of the vibration damper 241, a second end of the assembly plate 243 is rotatably connected to a second end of the swing arm 242, and the stator portion 251 is connected to the assembly plate 243.

As shown in fig. 4 to 6, the steering bracket assembly 23 includes a bracket 231 and a bearing portion 232, and specifically, a first end of the bracket 231 is a support connection portion 2311, and a second end of the bracket 231 is an assembly connection portion 2312. In suspension drive system 20, mounting through hole 211 is opened in fixed seat 21, bearing portion 232 has an inner ring (not shown) and an outer ring (not shown) which are relatively rotatable, outer ring is fixed in mounting through hole 211, inner ring is fixed on mounting connection portion 2312, rollers (not shown) are provided between the inner ring and the outer ring of bearing portion 232, and the inner ring and the outer ring are relatively rotatable to reduce friction coefficient.

In the omnidirectional moving robot of the present embodiment, when the robot encounters an obstacle while walking, the suspension drive system 20 is first subjected to an external force in the longitudinal direction (the direction of the external force being applied in the direction of the central axis of the support connection portion 2311), and in addition, if the number of the working elements mounted on the chassis frame 10 is increased, the bearing portion 232 is subjected to a larger longitudinal force, in order to ensure that the bearing portion 232 can withstand a larger longitudinal force, therefore, the bearing portion 232 includes an even number of tapered roller bearings 2321, and the direction of inclination of the cylindrical roller of one of the adjacent two tapered roller bearings 2321 with respect to the central axis of the support connection portion 2311 is opposite to the direction of inclination of the cylindrical roller of the other with respect to the central axis of the support connection portion 2311.

In the omnidirectional moving robot of the present embodiment, the bearing portion 232 further includes a bearing stopper 2322. When the tapered roller bearings 2321 are assembled, the bearing limiting sleeve 2322 is arranged between two adjacent tapered roller bearings 2321, the two bearings are separated by the bearing limiting sleeve 2322, and two ends of the bearing limiting sleeve 2322 respectively abut against the outer rings of the two tapered roller bearings 2321, so that the supporting connection portion 2311 drives the inner ring to rotate relative to the outer ring, and no motion interference occurs between the two bearings.

As shown in fig. 2 to 4 and 6, the assembling connection portion 2312 includes a first connection plate 23121 and a second connection plate 23122, and the first end of the first connection plate 23121 is connected to the first end of the second connection plate 23122, so that the first connection plate 23121 and the second connection plate 23122 form an L-shaped structure, and an assembling space of the vibration damping device 24 and the in-wheel motor 25 is provided by using the L-shaped structure, thereby more reasonably using the overall assembling space of the robot and improving the space utilization rate. Preferably, the first connecting plate 23121 is perpendicular to the second connecting plate 23122, the power output shaft 221 is perpendicular to the second connecting plate 23122, and the central axis of the damper 241 is inclined in a direction away from the second connecting plate 23122, so that the damper 241 can generate spring force in the longitudinal direction and in the transverse direction when the damper 241 is compressed, thereby realizing an omnidirectional moving robot in which the transverse damping effect and the longitudinal damping effect are combined.

As shown in fig. 6, in the omnidirectional exercise robot, the vibration damping device 24 further includes a first connecting shaft 244, a second connecting shaft 245, a third connecting shaft 246, and a fourth connecting shaft 247. Correspondingly, the end of the first connecting plate 23121 away from the second connecting plate 23122 is provided with a first connecting seat 248, and the side of the second connecting plate 23122 away from the power output assembly 22 is provided with a second connecting seat 249. A first end of the vibration absorber 241 is hinged to the second connecting seat 249 via a first connecting shaft 244, a second end of the vibration absorber 241 is hinged to a first end of the mounting plate 243 via a second connecting shaft 245, a first end of the swing arm 242 is hinged to the first connecting seat 248 via a third connecting shaft 246, and a second end of the swing arm 242 is hinged to a second end of the mounting plate 243 via a fourth connecting shaft 247.

As shown in fig. 2 to 4 and 6, the power output assembly 22 includes a steering engine 222 and a switching mechanism 223, the steering engine 222 is connected to the first longitudinal beam 11 or the second longitudinal beam 12, and the power output shaft 221 is an output rotating shaft of the steering engine 222. The power output end shaft 221 is coaxially connected to the support connection portion 2311.

During the specific assembly, the switching mechanism 223 comprises a first flange 2231 and a coupler 2232, a second flange 2211 is arranged on the power output end shaft 221, the first flange 2231 is connected with the second flange 2211, the first flange 2231 is provided with a connecting shaft head, the connecting shaft head is in transmission connection with the supporting connection portion 2311 through the coupler 2232, and the power output end shaft 221, the connecting shaft head and the supporting connection portion 2311 are coaxially arranged.

Preferably, the coupler 2232 is a U-shaped open component, the U-shaped open component includes a first straight wall, an arc-shaped wall and a second straight wall which are sequentially connected, the first straight wall is provided with a first through hole and a second through hole, the first through hole and the second through hole are arranged at an interval along the central axis direction of the arc-shaped wall, the second straight wall is provided with a third through hole and a fourth through hole, the third through hole corresponds to the first through hole, the fourth through hole corresponds to the second through hole, the connecting shaft head is provided with a fifth through hole, the supporting connection portion 2311 is provided with a sixth through hole, the adapting mechanism 223 further includes a connecting screw 201, one connecting screw 201 sequentially penetrates through the first through hole, the fifth through hole and the third through hole and then is locked with the nut, and the other connecting screw 201 sequentially penetrates through the second through hole, the sixth through hole and the fourth through hole and then is locked with the nut.

As shown in fig. 4 and 6, the power output assembly 22 further includes a steering engine support frame 224, the steering engine support frame 224 is connected to the fixing base 21, and the steering engine 222 is connected to the steering engine support frame 224.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. An omnidirectional exercise robot, comprising:

the chassis frame (10) is provided with a first longitudinal beam (11) and a second longitudinal beam (12) which are arranged at intervals;

an even number of suspension drive systems (20), wherein the suspension drive systems (20) are respectively arranged on the first longitudinal beam (11) and the second longitudinal beam (12), and the suspension drive systems (20) arranged on the first longitudinal beam (11) and the suspension drive systems (20) arranged on the second longitudinal beam (12) are symmetrically arranged in a one-to-one correspondence manner;

wherein each of the suspension drive systems (20) comprises:

a fixed seat (21), the fixed seat (21) being connected to the first longitudinal beam (11) or the second longitudinal beam (12);

the power output assembly (22), the power output assembly (22) is fixedly arranged on the first longitudinal beam (11) or the second longitudinal beam (12), and the power output assembly (22) is provided with a power output end shaft (221);

the steering bracket assembly (23) is provided with a supporting connecting part (2311) and an assembling connecting part (2312), the supporting connecting part (2311) is rotatably connected to the fixed seat (21), the power output end shaft (221) is in driving connection with the supporting connecting part (2311), and the assembling connecting part (2312) is positioned on one side of the fixed seat (21) away from the power output assembly (22);

a vibration damping device (24), wherein the vibration damping device (24) comprises a vibration damper (241) and a swing arm (242), a first end of the vibration damper (241) is rotatably connected to one end of the assembling connecting part (2312) extending towards the direction close to the supporting connecting part (2311), a first end of the swing arm (242) is rotatably connected to one end of the assembling connecting part (2312) extending towards the direction far away from the supporting connecting part (2311), and the central axis of the vibration damper (241) inclines towards the direction far away from the assembling connecting part (2312) in the direction from the first end to the second end of the vibration damper (241) during the running motion of the omnidirectional moving robot.

2. The omnidirectional exercise robot of claim 1, wherein the steering bracket assembly (23) comprises a bracket (231) and a bearing portion (232), the first end of the bracket (231) is the support connecting portion (2311), the second end of the bracket (231) is the fitting connecting portion (2312), the fixing base (21) is provided with a fitting through hole (211), the bearing portion (232) has an inner ring and an outer ring which can rotate relatively, the outer ring is fixed in the fitting through hole (211), and the inner ring is fixedly sleeved on the fitting connecting portion (2312).

3. The omnidirectional moving robot according to claim 2, wherein the bearing portion (232) includes an even number of tapered roller bearings (2321), and a direction of inclination of the cylindrical rollers of one of adjacent two of the tapered roller bearings (2321) with respect to the central axis of the support connection portion (2311) is opposite to a direction of inclination of the cylindrical rollers of the other with respect to the central axis of the support connection portion (2311).

4. The omnidirectional moving robot according to claim 3, wherein the bearing portion (232) further comprises a bearing limiting sleeve (2322), the bearing limiting sleeve (2322) is disposed between two adjacent tapered roller bearings (2321), and two ends of the bearing limiting sleeve (2322) respectively abut against outer rings of the two tapered roller bearings (2321).

5. The omnidirectional moving robot according to claim 2, wherein the fitting connection portion (2312) includes a first connection plate (23121) and a second connection plate (23122), a first end of the first connection plate (23121) is connected to a first end of the second connection plate (23122), the first connection plate (23121) is perpendicular to the second connection plate (23122), the power output shaft (221) is perpendicular to the second connection plate (23122), and a central axis of the damper (241) is inclined in a direction away from the first connection plate (23121).

6. An omnidirectional exercise robot according to claim 5, wherein the vibration damping device (24) further comprises a first connecting shaft (244), a second connecting shaft (245), a third connecting shaft (246) and a fourth connecting shaft (247), wherein an end portion of the first connecting plate (23121) away from the second connecting plate (23122) is provided with a first connecting seat (248), a side of the second connecting plate (23122) away from the power output assembly (22) is provided with a second connecting seat (249), a first end of the vibration damper (241) is hinged to the second connecting seat (249) through the first connecting shaft (244), the second connecting shaft (245) is used for hinging a second end of the vibration damper (241) to a stator portion (251) of a hub motor (25), and a first end of the swing arm (242) is hinged to the first connecting seat (248) through the third connecting shaft (246), the fourth connecting shaft (247) is used for hinging the second end of the swing arm (242) with the stator part (251) of the hub motor (25).

7. The omnidirectional exercise robot according to any one of claims 1 to 6, wherein the power output assembly (22) comprises a steering engine (222) and a transfer mechanism (223), the steering engine (222) is connected to the first longitudinal beam (11) or the second longitudinal beam (12), the power output shaft (221) is an output rotating shaft of the steering engine (222), and the power output shaft (221) is coaxially connected with the support connecting portion (2311).

8. The omnidirectional exercise robot of claim 7, wherein the adapting mechanism (223) comprises a first flange (2231) and a coupling (2232), a second flange (2211) is disposed on the power output end shaft (221), the first flange (2231) is connected to the second flange (2211), the first flange (2231) is provided with a connecting shaft head, the connecting shaft head is in transmission connection with the supporting connection portion (2311) through the coupling (2232), and the power output end shaft (221), the connecting shaft head and the supporting connection portion (2311) are coaxially disposed.

9. The omnidirectional exercise robot according to claim 8, wherein the coupling (2232) is a U-shaped open member, the U-shaped open member comprises a first straight wall, an arc-shaped wall and a second straight wall sequentially connected to each other, the first straight wall is provided with a first through hole and a second through hole, the first through hole and the second through hole are arranged at an interval along a central axis of the arc-shaped wall, the second straight wall is provided with a third through hole and a fourth through hole, the third through hole corresponds to the first through hole, the fourth through hole corresponds to the second through hole, the connecting shaft head is provided with a fifth through hole, the supporting connection portion (2311) is provided with a sixth through hole, the adapting mechanism (223) further comprises a connecting screw (201), and one connecting screw (201) sequentially passes through the first through hole, the fifth through hole and the third through hole and then is locked with a nut, and the other connecting screw (201) sequentially penetrates through the second through hole, the sixth through hole and the fourth through hole and then is locked with the nut.

10. An omnidirectional exercise robot according to claim 7, wherein the power output assembly (22) further comprises a steering engine support frame (224), the steering engine support frame (224) is connected to the fixed base (21), and the steering engine (222) is connected to the steering engine support frame (224).