CN221068208U - Steering wheel, driving chassis and mobile robot - Google Patents

Abstract

The utility model relates to the technical field of mobile robots, in particular to a steering wheel, a driving chassis and a mobile robot. The steering wheel includes: the steering assembly comprises a steering motor and a fixed plate, and the steering motor is arranged on the fixed plate; the steering motor is connected with the rotating shaft; the bearing assembly comprises a bearing seat and a bearing, the fixed plate is arranged on the bearing seat, the outer ring of the bearing is arranged in the bearing seat, and the inner ring of the bearing is sleeved on the rotating shaft; the driving wheel assembly is arranged on one side, deviating from the fixed plate, of the bearing assembly and comprises a supporting seat, a fixing piece and a driving wheel, the rotating shaft is fixedly connected with the supporting seat, and the driving wheel is arranged on the supporting seat through the fixing piece. The problem of the drive wheel of drive chassis among the prior art can't turn to and lead to the obstacle crossing ability poor is solved.

Description

Steering wheel, driving chassis and mobile robot

Technical Field

The utility model relates to the technical field of mobile robots, in particular to a steering wheel, a driving chassis and a mobile robot.

Background

With the development of the robot industry, more and more scenes use robots to replace manpower, and mobile robots also walk into people's lives. The mobile robot is mainly applied to article distribution, and can realize the point-to-point distribution service with high efficiency in the whole flow.

Mobile robot implementation delivery services are typically based on a floor that can be moved autonomously. Most of the existing mobile robots in the market adopt a driving chassis with a middle-set double-wheel differential structure, namely, two driving wheels are arranged on the left side and the right side of the center of a bottom plate, driven wheels without power are arranged in front of and behind the bottom plate, and the driving wheels cannot turn to but drive the driving chassis to turn through the driven wheels, so that the driving chassis with the structure can only realize forward movement, backward movement, spin and differential turning, but cannot realize more omnidirectional movements such as oblique movement, transverse movement, ackerman turning and the like, and can possibly cause obstacle crossing and getting rid of the trouble due to environmental limitation.

Disclosure of utility model

The technical problem to be solved by the embodiment of the utility model is to provide a steering wheel, a driving chassis and a mobile robot, so as to solve the problem of poor obstacle surmounting capability caused by the fact that a driving wheel of the driving chassis cannot turn in the prior art.

In a first aspect, the present utility model discloses a steering wheel, the steering wheel comprising: the steering assembly comprises a steering motor and a fixed plate, and the steering motor is arranged on the fixed plate; the steering motor is connected with the rotating shaft; the bearing assembly comprises a bearing seat and a bearing, the fixing plate is arranged on the bearing seat, the outer ring of the bearing is arranged in the bearing seat, and the inner ring of the bearing is sleeved on the rotating shaft; the driving wheel assembly is arranged on one side, deviating from the fixed plate, of the bearing assembly, the driving wheel assembly comprises a supporting seat, a fixing piece and a driving wheel, the rotating shaft is fixedly connected with the supporting seat, and the driving wheel is arranged on the supporting seat through the fixing piece.

Optionally, the mounting includes two installation department and two connecting portion, two installation department respectively with the back shaft of drive wheel is connected, the both ends of connecting portion are connected with two respectively the installation department, the mounting can with the supporting seat relative rotation, the drive wheel subassembly still includes the elastic component, the one end of elastic component with the supporting seat is connected, the other end with the mounting is connected.

Optionally, the connecting portion includes first linkage segment and locates respectively the second linkage segment at first linkage segment both ends, two the second linkage segment parallel arrangement, the connecting portion passes through the second linkage segment is connected with two respectively the installation department.

Optionally, a first extension part and a second extension part are arranged on the supporting seat, the first extension part is rotationally connected with the connecting part through a first connecting piece, and an arc-shaped groove is arranged on the second extension part, so that the connecting part can slide relative to the second extension part through a second connecting piece; the second connecting section is provided with a hook, so that one end of the elastic piece is connected with the hook, and the other end of the elastic piece is connected with the supporting seat through a third connecting piece.

Optionally, the bearing seat is provided with a wire passing groove, the driving wheel assembly further comprises a connecting wire electrically connected with the driving wheel, and the connecting wire respectively passes through the supporting seat and the wire passing groove.

Optionally, dodge the groove is equipped with on the supporting seat, the connecting wire passes through dodge the groove and extend to cross the wire casing, still be equipped with spacing post on the supporting seat, spacing post is located dodge the groove both ends, just spacing post is located cross the wire casing is used for spacingly the bearing frame is relative the rotation of supporting seat.

Optionally, the steering motor includes the axis body, the axis body passes the fixed plate stretches into in the axis of rotation and with the axis of rotation is connected, have on the axis body and cut the plane, set up the storage tank in the axis of rotation, be equipped with the briquetting in the storage tank, the briquetting with cut the plane cooperation in order to spacing the axis body.

In a second aspect, the present utility model also discloses a driving chassis, which includes: a floor plate and steering wheel as claimed in any one of the above; the steering wheel is arranged on the bottom plate through a bearing seat.

Optionally, at least four accommodation holes are formed in the bottom plate, the steering wheel passes through the accommodation holes, and the steering assembly and the driving wheel assembly are arranged on two opposite sides of the bottom plate.

In a third aspect, the present utility model also discloses a mobile robot, which is characterized by comprising: a robot body and a drive chassis according to any one of the above; the robot main body is arranged on the driving chassis.

Compared with the prior art, the steering wheel, the driving chassis and the mobile robot provided by the embodiment of the utility model have the beneficial effects that: the steering assembly in the steering wheel comprises a steering motor and a fixed plate, the steering motor penetrates through the fixed plate to be connected with a rotating shaft at the other end of the fixed plate, the rotating shaft is fixedly connected with a supporting seat, and the driving wheel is connected with the supporting seat through a connecting piece, so that the driving wheel can be driven to rotate when the steering motor rotates, and the purposes that the driving function and the steering function of the driving wheel are simultaneously met are achieved. In the in-service use, the drive wheel in the drive wheel subassembly can be because can change direction of motion because of the control of steering assembly for the range of motion of steering wheel is bigger, and is diversified more, can be applicable to more complicated scenes, thereby makes the obstacle crossing ability of steering wheel stronger.

Drawings

The technical scheme of the utility model will be further described in detail below with reference to the accompanying drawings and examples, wherein:

FIG. 1 is a schematic diagram of an exploded construction of a steering wheel provided by an embodiment of the present utility model;

FIG. 2 is a schematic view of an exploded view of a specialized assembly, rotating shaft and bearing assembly provided in an embodiment of the present utility model;

FIG. 3 is a schematic illustration of a bearing assembly provided by an embodiment of the present utility model;

FIG. 4 is a schematic illustration of one of the drive wheel assemblies provided by an embodiment of the present utility model;

FIG. 5 is a schematic illustration of a drive wheel assembly according to an embodiment of the present utility model;

FIG. 6 is a schematic illustration of a drive chassis provided in accordance with an embodiment of the present utility model;

Fig. 7 is a schematic view of a driving chassis according to an embodiment of the present utility model.

The reference numerals in the drawings are as follows:

1000. Steering wheel; 100. a steering assembly; 101. a steering motor; 1011. a shaft body; 10111. cutting a plane; 102. a fixing plate; 200. a rotating shaft; 201. a receiving groove; 202. briquetting; 300. a bearing assembly; 301. a bearing seat; 3011. wire passing grooves; 302. a bearing; 400. a drive wheel assembly; 401. a support base; 4011. a first extension; 4012. a second extension; 40121. an arc-shaped groove; 4013. an avoidance groove; 4014. a limit column; 402. a fixing member; 4021. a mounting part; 4022. a connection part; 40221. a first connection section; 40222. a second connection section; 4023. a hook; 403. a driving wheel; 4031. a support shaft; 404. a connecting wire; 500. an elastic member; 2000. a drive chassis; 600. a bottom plate; 601. an accommodation hole; 701. a first connector; 702. a second connector; 703. and a third connecting piece.

Detailed Description

It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other. Preferred embodiments of the present utility model will now be described in detail with reference to the accompanying drawings.

An embodiment of the present utility model provides a steering wheel 1000, as shown in fig. 1 to 3, the steering wheel 1000 includes: the steering assembly 100, the rotating shaft 200, the bearing assembly 300 and the driving wheel assembly 400, wherein the steering assembly 100 comprises a steering motor 101 and a fixed plate 102, and the steering motor 101 is arranged on the fixed plate 102; the steering motor 101 is connected with the rotating shaft 200; the bearing assembly 300 comprises a bearing seat 301 and a bearing 302, the fixed plate 102 is arranged on the bearing seat 301, the outer ring of the bearing 302 is arranged in the bearing seat 301, and the inner ring of the bearing 302 is sleeved on the rotating shaft 200; the driving wheel assembly 400 is arranged on one side of the bearing assembly 300, which is away from the fixed plate 102, the driving wheel assembly 400 comprises a supporting seat 401, a fixing piece 402 and a driving wheel 403, the rotating shaft 200 is fixedly connected with the supporting seat 401, and the driving wheel 403 is arranged on the supporting seat 401 through the fixing piece 402.

The steering assembly 100 in the steering wheel 1000 comprises a steering motor 101 and a fixed plate 102, the steering motor 101 passes through the fixed plate 102 to be connected with a rotating shaft 200 at the other end of the fixed plate 102, the rotating shaft 200 is fixedly connected with a supporting seat 401, and a driving wheel 403 is connected with the supporting seat 401 through a connecting piece, so that when the steering motor 101 rotates, the driving wheel 403 can be driven to rotate, and the purpose that the driving function and the steering function of the driving wheel 403 are simultaneously met is realized. In the actual use process, the driving wheel 403 in the driving wheel assembly 400 can change the movement direction due to the control of the steering assembly 100, so that the movement range of the steering wheel 1000 is larger, more diversified, and applicable to more complex scenes, thereby making the obstacle surmounting capability of the steering wheel 1000 stronger.

Specifically, the bearing assembly 300 includes a bearing housing 301 and a bearing 302, the fixing plate 102 is mounted on the bearing housing 301, an outer ring of the bearing 302 is mounted in the bearing housing 301, and an inner ring of the bearing 302 is sleeved on the rotation shaft 200, so that the driving wheel 403 can be firmly mounted on the supporting seat 401 by the fixing member 402. The bearing 302 is arranged between the bearing seat 301 and the rotating shaft, so that the friction force between the bearing seat 301 and the rotating shaft 200 can be reduced, the service life and stability of the steering wheel 1000 are improved, and the stability and reliability of the steering wheel 1000 are ensured.

Referring to fig. 1, 4 and 5, the fixing member 402 includes two mounting portions 4021 and two connection portions 4022, the two mounting portions 4021 are respectively connected to the support shafts 4031 of the driving wheels 403, both ends of the connection portions 4022 are respectively connected to the two mounting portions 4021, the fixing member 402 can rotate relative to the support base 401, the driving wheel assembly 400 further includes an elastic member 500, one end of the elastic member 500 is connected to the support base 401, and the other end is connected to the fixing member 402.

The two mounting portions 4021 are respectively connected to the support shafts 4031 of the driving wheels 403, and the two ends of the connecting portion 4022 are respectively connected to the two mounting portions 4021, so that the fixing member 402 can be firmly connected to the driving wheels 403, and the fixing member 402 can rotate relative to the support base 401. The elasticity included in the driving wheel assembly 400 can provide certain buffering and damping effects, so that vibration and impact of the steering wheel 1000 in the use process are reduced, stability in movement is improved, and obstacle surmounting capability of the steering wheel 1000 can be effectively improved; on the other hand, the existence of the elastic member 500 can absorb and disperse the impact force generated during steering to a certain extent, reduce damage to other components, and prolong the service life of the entire steering wheel 1000.

It should be noted that, one end of the elastic member 500 is connected to the supporting seat 401, and the other end is connected to the fixing member 402, and the above-mentioned mounting forms may have various situations, for example: one end of the elastic member 500 facing away from the support base 401 is connected to the connection portion 4022, and one elastic member 500 may be provided to be connected to the connection portion 4022, or one elastic member 500 may be provided to be connected to each of the two connection portions 4022.

Referring to fig. 1 and 4, the connection portion 4022 includes a first connection section 40221 and second connection sections 40222 respectively provided at both ends of the first connection section 40221, the two second connection sections 40222 are disposed in parallel, and the connection portion 4022 is respectively connected to the two mounting portions 4021 through the second connection sections 40222.

The connection portion 4022 includes a first connection section 40221 and two second connection sections 40222 disposed at two ends of the first connection section 40221, that is, the two second connection sections 40222 are respectively connected with a mounting portion 4021 and are connected together by the first connection section 40221, and the two second connection sections 40222 are disposed in parallel, so that the first connection section 40221 can play a certain role in protecting the driving wheel 403, and can protect the driving wheel 403 from certain external influences during actual use movement. On the other hand, the first connection section 40221 can provide main structural support of the connection portion 4022, ensure stability and reliability of the connection portion 4022, connect the connection portion 4022 with the two mounting portions 4021 through the second connection section 40222, effectively fix the connection between the fixing member 402 and the support shaft 4031 of the driving wheel 403 so as to be stable and firm, and design such connection portion 4022 can increase the overall rigidity of the steering wheel 1000, and ensure stability and reliability in steering operation.

In this embodiment, the first connecting section 40221 may be disposed in a straight line perpendicular to the two second connecting sections 40222, or may be disposed in an arc-shaped design to match the surface curvature of the driving wheel 403.

Referring to fig. 1, 4 and 5, the support 401 is provided with a first extension portion 4011 and a second extension portion 4012, the first extension portion 4011 is rotatably connected with the connection portion 4022 through a first connection member 701, and the second extension portion 4012 is provided with an arc-shaped groove 40121, so that the connection portion 4022 can slide relative to the second extension portion 4012 through a second connection member 702; the second connection section 40222 is provided with a hook 4023, so that one end of the elastic member 500 is connected to the hook 4023, and the other end is connected to the support base 401 through a third connection member 703 (not shown).

The arc-shaped groove 40121 on the second extension portion 4012 is matched with the second connecting piece 702, the first extension portion 4011 is rotationally connected with the connecting portion 4022 through the first connecting piece 701, so that sliding of the second extension portion 4012 relative to the connecting portion 4022 can be achieved, in the actual use process, one end of the elastic piece 500 is connected with the hook 4023, the other end of the elastic piece 500 is connected with the supporting seat 401 through the third connecting piece 703, when the driving wheel 403 is subjected to acting force caused by road surface obstacles, the driving wheel 403 is stressed towards one side of the supporting seat 401, the lower portion of the connecting portion 4022 can slide towards one side of the supporting seat 401 on the second extension portion 4012, at this time, because the sliding of the connecting portion 4022 relative to the second extension portion 4012, the first extension portion 4011 and the connecting portion 4022 start to relatively rotate, the hook 4023 arranged on one side of the first extension portion 4011 follows the second connecting portion 40222 to rotate, the elastic piece 500 between the hook 4023 and the supporting seat 401 is stretched, tension force is generated by the elastic piece 500, the elastic piece 500 is stretched to restore stretching force, the driving wheel 403 is stressed towards one side of the supporting seat 401, the driving wheel is enabled to slide towards one side of the supporting seat 401, and the opposite direction of the steering wheel 1000 is enabled to relatively better, and the vibration absorbing force is recovered, and the steering wheel 1000 is enabled to slide towards the position of the driving wheel 1000, and the driving wheel 1000 is enabled to relatively better.

In this embodiment, the connection portion 4022 includes two second connection segments 40222, and the hook 4023 is disposed on one second connection segment 40222 near the side of the first extension 4011.

Referring to fig. 3 and 4, the bearing housing 301 is provided with a wire passing slot 3011, and the driving wheel assembly 400 further includes a connection wire 404 electrically connected to the driving wheel 403, and the connection wire 404 passes through the support housing 401 and the wire passing slot 3011, respectively.

One end of the connecting wire 404 is connected to the driving wheel 403, the other end of the connecting wire 404 needs to pass through the supporting seat 401 and the bearing seat 301, and the bearing seat 301 can rotate relative to the rotation shaft 200, so that a wire passing groove 3011 needs to be arranged on the bearing seat 301, and the connecting wire 404 can be connected with a required electric appliance without being blocked by the bearing seat 301, and the rotation of the bearing seat 301 relative to the rotation shaft 200 can not be affected by the connecting wire 404. The length of the connecting wire 404 on the driving wheel 403 can be made shorter, the cost is saved, and meanwhile, the wire harness is regular.

In particular, the wire passing slot 3011 may ensure that the connection wire 404 remains stable as it moves on the connection wire 404 bearing seat 301. It can prevent the connecting wire 404 from shaking and loosening due to the rotation of the bearing housing 301, thereby improving the reliability and stability of the connecting wire 404.

Referring to fig. 1, 3 and 4, an avoidance groove 4013 is formed in a supporting seat 401, a connecting wire 404 extends to a wire passing groove 3011 through the avoidance groove 4013, a limit post 4014 is further arranged on the supporting seat 401, the limit posts 4014 are arranged at two ends of the avoidance groove 4013, and the limit posts 4014 are located in the wire passing groove 3011 and used for limiting rotation of the bearing seat 301 relative to the supporting seat 401.

The support seat 401 is provided with the avoidance groove 4013 for accommodating the connecting wire 404 in the avoidance groove 4013, so that the effect of guiding the extension of the connecting wire 404 can be achieved, and a certain protection effect on the connecting wire 404 can be achieved. Dodge groove 4013 establishes in crossing wire groove 3011 dodges the both ends of groove 4013, can carry out spacingly to the both ends of spacing groove when bearing frame 301 rotates to play spacing effect to bearing frame 301's rotation, make connecting wire 404 can not be by the extrusion damage or appear the fracture risk because of bearing frame 301's rotation.

Specifically, by avoiding the supporting and limiting actions of the groove 4013 and the limiting post 4014 on the connecting wire 404, the connecting wire 404 can stably extend to the wire passing groove 3011, and the rotation of the bearing seat 301 relative to the supporting seat 401 is ensured to be within a predetermined range, which helps to improve the stability and reliability of the whole system, and reduce the occurrence of accidental displacement or failure.

When the steering motor 101 controls the steering angle and the speed of the driving wheel 403, the steering angle of the driving wheel 403 is constrained by the two limiting posts 4014 and the wire passing slot 3011, the constraint angle is at least 180 degrees, the rotation angle range of the driving wheel 403 is ensured to be +/-90 degrees, and when the driving wheel rotates to 90 degrees, the driving chassis 2000 can realize transverse movement.

Referring to fig. 1 and 2, the steering motor 101 includes a shaft body 1011, the shaft body 1011 passes through the fixing plate 102 to extend into the rotating shaft 200 and is connected with the rotating shaft 200, the shaft body 1011 has a cutting plane 10111, the rotating shaft 200 is provided with a receiving groove 201, a pressing block 202 is provided in the receiving groove 201, and the pressing block 202 cooperates with the cutting plane 10111 to limit the shaft body 1011.

The shaft 1011 passes through the fixing plate 102 and extends into the rotating shaft 200, the rotating shaft 200 is fixedly connected with the supporting seat 401, and when the steering motor 101 moves, the rotating shaft 200 is driven to rotate by the shaft 1011, so that the driving wheel 403 connected with the supporting seat 401 rotates. A pressing block 202 is arranged in the accommodating groove 201 of the rotating shaft 200, and the pressing block 202 is matched with a cutting plane 10111 on the shaft body 1011, so that the shaft body 1011 cannot rotate in the rotating shaft 200 and cannot drive the rotating shaft 200 to rotate when the steering motor 101 moves, and the shaft body 1011 in the rotating shaft 200 is limited by the plane of the pressing block 202 and the cutting plane 10111, so that the rotating shaft 200 and the shaft body 1011 rotate together.

Specifically, by the design of the accommodating groove 201 and the pressing block 202, the shaft 1011 can be stably positioned inside the rotating shaft 200, the condition that the shaft 1011 is separated from the rotating shaft 200 in the moving process is avoided, the stable connection can improve the stability and the reliability of the steering motor 101, and the fault risk caused by loosening or unexpected displacement is reduced. On the other hand, due to the presence of the accommodation groove 201 and the pressing block 202, when maintenance is detached, the rotating shaft can be separated from the rotating shaft 200 by detaching the pressing block 202, and components of the steering motor 101 can be inspected and maintained relatively easily, so that maintenance and adjustment work is more convenient and efficient.

The embodiment of the utility model also discloses a driving chassis 2000, wherein the driving chassis 2000 comprises: a bottom plate 600 and the steering wheel 1000 of the foregoing embodiment; steering wheel 1000 is mounted on drive chassis 2000 via bearing mount 301.

A controller for controlling the driving wheels 403 should be provided on the driving chassis 2000 to control the steering and movement direction of the driving wheels 403.

The drive chassis 2000 includes the same structure and advantages as the steering wheel 1000 in the previous embodiment. The structure and advantageous effects of the steering wheel 1000 have been described in detail in the foregoing embodiments, and are not described in detail herein.

Referring to fig. 6 and 7, at least four receiving holes 601 are formed in the base plate 600, the steering wheel 1000 passes through the receiving holes 601, and the steering assembly 100 and the driving wheel assembly 400 are disposed at opposite sides of the base plate 600.

At least four accommodation holes 601 mean that at least four steering wheels 1000 are arranged on the bottom plate 600, the four steering wheels 1000 are fixed on the front two sides and the rear two sides of the bottom plate 600 through connecting pieces, the axes of the centers of the four steering wheels 1000 are connected and parallel to each other, the driving wheel assembly 400 of the steering wheels 1000 is arranged on one side of the bottom plate 600 facing the ground, the steering assembly 100 of the steering wheels 1000 is arranged on the other side of the bottom plate 600, holes for the connecting wires 404 to penetrate are formed in the bottom plate 600, and the connecting wires 404 are electrically connected with a controller arranged on the bottom plate 600, so that the control of the power output of the driving wheels 403 is realized.

The embodiment of the utility model also discloses a mobile robot, which is characterized by comprising: the robot body and the drive chassis 2000 of the foregoing embodiment; the robot body is provided on the drive chassis 2000.

It should be noted that the robot body should be provided with a storage structure for storing articles, such as a locker.

The mobile robot includes the same structure and advantageous effects as the driving chassis 2000 in the previous embodiment. The structure and advantages of the driving chassis 2000 have been described in detail in the foregoing embodiments, and will not be described in detail herein.

It should be understood that the foregoing embodiments are merely illustrative of the technical solutions of the present utility model, and not limiting thereof, and that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art; all such modifications and substitutions are intended to be included within the scope of this disclosure as defined in the following claims.

Claims (10)

1. A steering wheel, comprising:

The steering assembly comprises a steering motor and a fixed plate, and the steering motor is arranged on the fixed plate;

the steering motor is connected with the rotating shaft;

The bearing assembly comprises a bearing seat and a bearing, the fixing plate is arranged on the bearing seat, the outer ring of the bearing is arranged in the bearing seat, and the inner ring of the bearing is sleeved on the rotating shaft;

The driving wheel assembly is arranged on one side, deviating from the fixed plate, of the bearing assembly, the driving wheel assembly comprises a supporting seat, a fixing piece and a driving wheel, the rotating shaft is fixedly connected with the supporting seat, and the driving wheel is arranged on the supporting seat through the fixing piece.

2. The steering wheel according to claim 1, wherein the fixing member includes two mounting portions and two connecting portions, the two mounting portions are respectively connected with the supporting shafts of the driving wheels, both ends of the connecting portions are respectively connected with the two mounting portions, the fixing member is rotatable relative to the supporting base, the driving wheel assembly further includes an elastic member, one end of the elastic member is connected with the supporting base, and the other end of the elastic member is connected with the fixing member.

3. The steering wheel according to claim 2, wherein the connecting portion includes a first connecting section and second connecting sections provided at both ends of the first connecting section, respectively, the two second connecting sections are arranged in parallel, and the connecting portion is connected with the two mounting portions through the second connecting sections, respectively.

4. The steering wheel according to claim 3, wherein the support base is provided with a first extension part and a second extension part, the first extension part is rotatably connected with the connecting part through a first connecting piece, and the second extension part is provided with an arc-shaped groove, so that the connecting part can slide relative to the second extension part through a second connecting piece; the second connecting section is provided with a hook, so that one end of the elastic piece is connected with the hook, and the other end of the elastic piece is connected with the supporting seat through a third connecting piece.

5. The steering wheel of claim 2, wherein the bearing housing is provided with a wire passing groove, and the driving wheel assembly further comprises a connecting wire electrically connected with the driving wheel, the connecting wire passing through the supporting seat and the wire passing groove, respectively.

6. The steering wheel of claim 5, wherein the support base is provided with an avoidance groove, the connecting wire extends to the passing groove through the avoidance groove, the support base is further provided with a limit post, the limit post is arranged at two ends of the avoidance groove, and the limit post is arranged in the passing groove and used for limiting rotation of the bearing seat relative to the support base.

7. The steering wheel according to any one of claims 1 to 6, wherein the steering motor comprises a shaft body, the shaft body penetrates through the fixing plate to extend into the rotating shaft and is connected with the rotating shaft, a cutting plane is formed on the shaft body, a containing groove is formed in the rotating shaft, a pressing block is arranged in the containing groove, and the pressing block is matched with the cutting plane to limit the shaft body.

8. A drive chassis, comprising: a bedplate and steering wheel according to any of the preceding claims 1-7; the steering wheel is arranged on the bottom plate through a bearing seat.

9. The drive chassis of claim 8, wherein the base plate has at least four receiving holes, the steering wheel passes through the receiving holes, and the steering assembly and the drive wheel assembly are disposed on opposite sides of the base plate.

10. A mobile robot, comprising: a robot body and a drive chassis according to any one of the preceding claims 8-9; the robot main body is arranged on the driving chassis.