Driving wheel mechanism and robot

Abstract

The present invention relates to the field of robot technology, and discloses a driving wheel mechanism and a robot. The driving wheel mechanism includes: a walking wheel, including a coaxially fixed wheel body and a rotating shaft; a driving assembly, including a motor, a driving wheel, a driven wheel, and a synchronous belt tensioned on the driving wheel and the driven wheel, the driven wheel is coaxial and axially rotatably sleeved on the rotating shaft, and the motor is used to drive the driving wheel to rotate; a switching assembly, including a switching member, the switching member is sleeved on the rotating shaft; one of the driven wheel and the switching member is provided with a protruding portion, and the other is recessed with a receiving portion, the switching assembly has an automatic driving state in which the protruding portion is placed in the receiving portion and a manual driving state in which the protruding portion is separated from the receiving portion, and when the switching assembly is in the automatic driving state, the driven wheel can drive the switching member and the rotating shaft to rotate synchronously. The present invention solves the problem of large resistance during manual pushing, avoids reverse power-on of the motor, protects the motor, ensures the durability of the driving wheel mechanism and the robot, and reduces maintenance costs.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a driving wheel mechanism and a robot. Background Art

[0002] Robots are widely used in various fields. Robots are usually equipped with a driving wheel mechanism, which includes a running wheel and a driving motor. The driving motor is used to rotate the running wheel to realize the autonomous advancement of the robot. When the driving wheel mechanism fails, the driving motor cannot rotate the running wheel. When the robot needs to be manually pushed to a specific location for maintenance or the position of the robot needs to be changed for other reasons, the driving motor is driven by the running wheel during the manual pushing process. The resistance from the driving motor is large, and the driving force required is large. In addition, the driving motor may be powered on in reverse, which may also cause damage to the motor, affect the service life of the motor, reduce the durability of the robot, and increase maintenance costs.

[0003] Based on this, there is an urgent need for a driving wheel mechanism and a robot to solve the above-mentioned problems. Summary of the invention

[0004] The purpose of the present invention is to provide a driving wheel mechanism to solve the problem of large resistance during manual pushing, while also avoiding reverse power-on of the motor, thereby ensuring the service life of the motor, ensuring the durability of the driving wheel mechanism, reducing maintenance costs, and increasing the structural compactness of the driving wheel mechanism.

[0005] Another object of the present invention is to provide a robot to solve the problem of large resistance during manual pushing, while also avoiding reverse power-on of the motor, thereby ensuring the service life of the robot, ensuring the durability of the robot, reducing maintenance costs, and increasing the compactness of the robot's structure.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] The driving wheel mechanism comprises:

[0008] The traveling wheel comprises a wheel body and a rotating shaft, wherein the wheel body is coaxially fixed with the rotating shaft;

[0009] A driving assembly, comprising a motor, a driving wheel, a driven wheel and a synchronous belt tensioned between the driving wheel and the driven wheel, wherein the driven wheel is coaxially and rotatably sleeved on the rotating shaft, and the motor is used to drive the driving wheel to rotate;

[0010] A switching assembly, comprising a switching member, wherein the switching member is sleeved on the rotating shaft, and the switching member can rotate synchronously with the rotating shaft;

[0011] One of the driven wheel and the switching member is provided with a protrusion, and the other is provided with a recessed accommodation portion. The switching component has an automatic driving state in which the protrusion is embedded in the accommodation portion and a manual driving state in which the protrusion is detached from the accommodation portion. When the switching component is in the automatic driving state, the driven wheel can drive the switching member and the rotating shaft to rotate synchronously.

[0012] As an optional technical solution for the driving wheel mechanism, the protrusion and the accommodating portion are respectively arranged on the end surfaces of the driven wheel and the switching member facing each other, and the switching member and the driven wheel can move relative to each other along the axis of the rotating shaft so that the switching assembly can switch between the automatic driving state and the manual driving state.

[0013] As an optional technical solution of the driving wheel mechanism, the rotating shaft includes a first shaft section and a second shaft section which are coaxially connected, the driven wheel is fixedly sleeved on the second shaft section, and the switching member is slidably sleeved on the first shaft section;

[0014] The first shaft section includes a coaxially connected synchronous connection shaft section and a rotating connection shaft section, the synchronous connection shaft section is connected between the rotating connection shaft section and the second shaft section, and when the switching member is sleeved on the synchronous connection shaft section, the switching assembly is in the automatic driving state, and the switching member can rotate synchronously with the rotating shaft.

[0015] As an optional technical solution of the driving wheel mechanism, the switching member and the wheel body are respectively arranged on opposite sides of the driven wheel, and a stopper is fixed to one end of the rotating shaft away from the wheel body, and the stopper includes a connecting portion and a protruding stopper, the connecting portion is connected to the rotating shaft, and the protruding stopper is convexly arranged on the side wall of the connecting portion and extends radially along the rotating shaft;

[0016] The switching member is provided with a receiving hole on the end surface opposite to the driven wheel, the receiving hole is coaxially arranged with the rotating shaft, an avoidance groove is provided on the hole wall of the receiving hole along the axial direction, the avoidance groove penetrates the opening surface of the receiving hole, and a switching hole is provided on the hole wall of the receiving hole along the circumferential direction, the switching hole is communicated with the avoidance groove;

[0017] When the switching member is connected to the rotating connecting shaft section, the switching assembly is in the manual drive state, the stop member is placed in the accommodating hole and the avoidance groove, and the switching member can rotate relative to the rotating shaft so that the protruding stop portion is rotated into the switching hole.

[0018] As an optional technical solution of the driving wheel mechanism, an elastic member is arranged in the accommodating hole, one end of the elastic member abuts against the stopper, and the other end abuts against the bottom surface of the accommodating hole.

[0019] As an optional technical solution for the driving wheel mechanism, the driving wheel mechanism also includes a shell, the rotating shaft is rotatably connected to the shell, a first limit step is protruding from the shell, a second limit step is protruding from the side wall of the switching member, the first limit step is located on the side of the second limit step away from the driven wheel, and when the switching component is in the manual drive state, the first limit step conflicts with the second limit step.

[0020] As an optional technical solution of the driving wheel mechanism, at least two protrusions are provided on the end surface of the driven wheel;

[0021] An annular groove is circumferentially provided on the end face of the switching member facing the driven wheel, and at least two limiting portions are protruding from the side wall of the annular groove and are spaced apart from each other. The limiting portion extends along the axis of the rotating shaft, and the accommodating portion is formed between two adjacent limiting portions. At least two of the protruding portions can be placed in at least two of the accommodating portions in a one-to-one correspondence.

[0022] The robot comprises a body and the driving wheel mechanism as described above, wherein the driving wheel mechanism is arranged at the bottom of the body.

[0023] As an optional technical solution of the robot, the driving wheel mechanism further includes a housing, the rotating shaft is rotatably connected to the housing, the motor is fixedly connected to the housing, and the output shaft of the motor is coaxially connected to the driving wheel;

[0024] A rotating seat is arranged at the bottom of the fuselage, an adjusting shaft is connected to the rotating seat, the adjusting shaft is arranged parallel to the bottom surface of the fuselage, and the shell is rotatably connected to the adjusting shaft.

[0025] As an optional technical solution of the robot, the robot further includes a tension spring, one end of which is connected to the body, and the other end of which is connected to the shell; and / or,

[0026] The robot further comprises a connecting member connected to the body, a slideway is provided on the connecting member, the slideway extends in a direction perpendicular to the adjusting shaft, and the housing is at least partially located in the slideway and can slide along the slideway.

[0027] Beneficial effects of the present invention:

[0028] The driving wheel mechanism provided by the present invention comprises a running wheel, a driving assembly and a switching assembly. When the protrusion is embedded in the accommodating portion, the switching assembly is in an automatic driving state, and the running wheel can be driven by the driving assembly. When the protrusion is separated from the accommodating portion, the switching assembly is in a manual driving state, and the running wheel and the driven wheel can rotate relative to each other, thereby realizing the manual driving of the running wheel. The driving wheel mechanism provided in this embodiment realizes the switching between the automatic driving state and the manual driving state through the engagement or disengagement between the protrusion and the accommodating portion. The structure is reasonable and easy to assemble. Moreover, when the switching assembly is in the manual driving state, the rotating shaft and the wheel body can rotate relative to the driven wheel. In the process of manually pushing the driving wheel mechanism, the resistance from the motor is reduced, and the thrust required to push the running wheel is reduced, which is convenient for manually pushing the running wheel. At the same time, the reverse power-on of the motor is avoided, the motor is protected, and the service life of the motor is guaranteed, thereby ensuring the durability of the driving wheel mechanism and reducing the maintenance cost. In addition, the motor-driven wheel body is rotated by connecting the driving wheel, the driven wheel and the synchronous belt, which can also reduce the axial size of the rotating shaft, help reduce the occupied space, increase the compactness of the drive wheel mechanism, and improve the practicality of the drive wheel mechanism.

[0029] The robot provided by the present invention includes a body and a driving wheel mechanism as described above, and the switching between the automatic driving state and the manual driving state is realized by the engagement or disengagement between the protruding portion and the accommodating portion. The structure is reasonable and easy to assemble. When the switching component is in the manual driving state, the resistance from the motor is reduced during the manual pushing of the robot, and the thrust required to push the robot is reduced, which is convenient for manually pushing the walking wheel, improving the practicality of the robot. At the same time, the reverse power-on of the motor is avoided, the motor is protected, and the service life of the motor is guaranteed, thereby ensuring the durability of the robot and reducing the maintenance cost. In addition, the size of the driving wheel mechanism along the axial direction of the rotating shaft is small, which is conducive to reducing the occupied space, increasing the compactness of the robot structure, and further improving the practicality of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic structural diagram of the driving wheel mechanism provided by an embodiment of the present invention when the switching assembly is in an automatic driving state;

[0031] Figure 2 yes Figure 1 A partial enlarged view of the middle A;

[0032] Figure 3 is a schematic structural diagram of the driving wheel mechanism provided by an embodiment of the present invention when the switching assembly is in a manual driving state;

[0033] Figure 4 yes Figure 3 A partial enlarged view of point B in the middle;

[0034] Figure 5 is a partial structural schematic diagram of a driving wheel mechanism provided by an embodiment of the present invention;

[0035] Figure 6 is a structural schematic diagram of a switching element provided by an embodiment of the present invention from a first perspective;

[0036] Figure 7 is a schematic structural diagram of a switching member provided by an embodiment of the present invention from a second viewing angle;

[0037] Figure 8 is a schematic structural diagram of a driven wheel provided in an embodiment of the present invention;

[0038] Fig. 9 is a schematic diagram of the structure of the drive wheel mechanism, the rotating seat and the connecting member after being assembled from a second viewing angle provided by an embodiment of the present invention;

[0039] Fig.10 yes Fig. 9 A partial enlarged view of point C in the middle;

[0040] Fig.11 is a schematic diagram of the structure of the drive wheel mechanism, the rotating seat and the connecting member after being assembled from a second viewing angle provided by an embodiment of the present invention;

[0041] Fig.12 yes Fig.11 A partial enlarged view of point D in the middle;

[0042] Fig.13 is a schematic structural diagram of a connecting piece provided by an embodiment of the present invention;

[0043] Fig.14 It is a schematic diagram of the structure of a robot provided by an embodiment of the present invention.

[0044] In the figure:

[0045] 1. Travel wheel; 11. Wheel body; 111. Tire; 112. Wheel hub; 12. Rotating shaft; 121. First shaft section; 1211. Synchronous connecting shaft section; 1212. Rotating connecting shaft section; 122. Second shaft section; 123. Third shaft section; 124. Fourth shaft section; 13. Stopper; 131. Connecting part; 132. Protruding stopper; 133. Protruding ridge; 14. Retaining ring; 15. Adjusting ring; 16. End cover;

[0046] 2. driving assembly; 21. motor; 22. driving wheel; 23. driven wheel; 231. protruding portion; 2311. first guide surface; 232. protruding ring; 24. synchronous belt;

[0047] 3. Switching assembly; 31. Switching member; 311. Ring groove; 312. Limiting portion; 3121. Second guide surface; 313. Accommodating hole; 3131. Avoiding groove; 3132. Switching hole; 3133. Strip groove; 314. Second limiting step; 315. Ring body; 3151. Second plane portion; 3152. Second arc portion; 316. Connecting body; 32. Grip member; 33. Connecting cover; 331. First through hole;

[0048] 4. Elastic parts;

[0049] 5. Shell; 51. Shell; 512. Sliding portion; 513. Rotating connecting arm; 52. Cover; 522. First limiting step; 521. Second through hole; 53. Bearing; 54. Bearing limiting member; 55. Limiting retaining ring;

[0050] 6. Rotating seat; 61. Adjusting shaft; 7. Tension spring; 71. Tension spring shaft;

[0051] 8. Connector; 81. Slideway;

[0052] 10. Body; 101. Mounting port. DETAILED DESCRIPTION

[0053] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0054] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0056] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0057] At present, robots are usually provided with a driving wheel mechanism, which includes a running wheel and a driving motor. The driving motor is used to rotate the running wheel to realize the autonomous advancement of the robot. When the driving wheel mechanism fails, the driving motor cannot rotate the running wheel. When the robot needs to be manually pushed to a specific position for maintenance or the position of the robot needs to be changed for other reasons, during the manual pushing process, the driving motor is driven by the running wheel. The resistance from the driving motor is large, and the driving force required is large. In addition, the driving motor has the possibility of reverse power-on, which may also cause damage to the motor, affect the service life of the motor, reduce the durability of the robot, and increase the maintenance cost.

[0058] This embodiment provides a driving wheel mechanism to solve the problem of large resistance during manual pushing, while also avoiding reverse power-on of the motor, thereby ensuring the service life of the motor, ensuring the durability of the driving wheel mechanism, reducing maintenance costs, and increasing the structural compactness of the driving wheel mechanism.

[0059] Specifically, Figure 1-Figure 13As shown, the driving wheel mechanism includes a running wheel 1, a driving assembly 2 and a switching assembly 3. The running wheel 1 includes a wheel body 11 and a rotating shaft 12, and the wheel body 11 is coaxially fixed with the rotating shaft 12; the driving assembly 2 includes a motor 21, a driving wheel 22, a driven wheel 23 and a synchronous belt 24 tightened between the driving wheel 22 and the driven wheel 23, and the driven wheel 23 is coaxially and rotatably sleeved on the rotating shaft 12, and the motor 21 is used to drive the driving wheel 22 to rotate; the switching assembly 3 includes a switching member 31, and the switching member 31 is sleeved on the rotating shaft 12, and the switching member 31 can rotate synchronously with the rotating shaft 12; one of the driven wheel 23 and the switching member 31 is provided with a protrusion 231, and the other of the driven wheel 23 and the switching member 31 is recessed with an accommodating portion, and the switching assembly 3 has an automatic driving state in which the protrusion 231 is embedded in the accommodating portion and a manual driving state in which the protrusion 231 is separated from the accommodating portion. When the switching assembly 3 is in the automatic driving state, the driven wheel 23 can drive the switching member 31 and the rotating shaft 12 to rotate synchronously.

[0060] The driving wheel mechanism provided in this embodiment includes a walking wheel 1, a driving assembly 2 and a switching assembly 3. When the protrusion 231 is embedded in the accommodating portion, the switching assembly 3 is in an automatic driving state, and the walking wheel 1 can be driven by the driving assembly 2. When the protrusion 231 is separated from the accommodating portion, the switching assembly 3 is in a manual driving state, and the walking wheel 1 and the driven wheel 23 can rotate relative to each other, thereby realizing the manual driving of the walking wheel 1. The driving wheel mechanism provided in this embodiment realizes the switching between the automatic driving state and the manual driving state through the engagement or disengagement between the protrusion 231 and the accommodating portion. The structure is reasonable and easy to assemble. Moreover, when the switching assembly 3 is in the manual driving state, the rotating shaft 12 and the wheel body 11 can rotate relative to the driven wheel 23. In the process of manually pushing the driving wheel mechanism, the resistance from the motor 21 is reduced, and the thrust required to push the walking wheel 1 is reduced, which is convenient for manually pushing the walking wheel 1. At the same time, the reverse power-on of the motor 21 is avoided, the motor is protected, and the service life of the motor 21 is guaranteed, thereby ensuring the durability of the driving wheel mechanism and reducing the maintenance cost. In addition, by connecting the driving wheel 22, the driven wheel 23 and the synchronous belt 24, the motor 21 drives the wheel body 11 to rotate, which can also reduce the axial size of the rotating shaft 12, which is conducive to reducing the occupied space, increasing the compactness of the structure of the driving wheel mechanism, and improving the practicality of the driving wheel mechanism.

[0061] In this embodiment, the rotating shaft 12 is a cylindrical shaft, and the wheel body 11 includes a tire 111 and a hub 112 . The tire 111 is circumferentially arranged on the side wall of the hub 112 , and the hub 112 is coaxially connected to the rotating shaft 12 .

[0062] like Figure 1-Figure 5As shown, in this embodiment, the switching member 31 is annular. The rotating shaft 12 includes a first shaft section 121 and a second shaft section 122 which are coaxially connected. The cross section of the second shaft section 122 is circular, and the cross section of the inner side wall of the driven wheel 23 is circular, so that the driven wheel 23 can rotate relative to the second shaft section 122. The first shaft section 121 includes a synchronous connection shaft section 1211, and the synchronous connection shaft section 1211 and the second shaft section 122 are coaxially connected. When the switching member 31 is sleeved on the synchronous connection shaft section 1211, the switching assembly 3 is in an automatic driving state, and the switching member 31 can rotate synchronously with the rotating shaft 12.

[0063] like Figure 5-Figure 6 As shown, specifically, the side wall of the synchronous connection shaft section 1211 includes a first plane portion and a first arc portion connected end to end, and the inner side wall of the switching member 31 includes a second plane portion 3151 and a second arc portion 3152 connected end to end. When the switching assembly 3 is in the automatic driving state, the switching member 31 is on the synchronous connection shaft section 1211, and the first plane portion and the second plane portion 3151 fit each other, and the first arc portion and the second arc portion 3152 fit each other, and the switching member 31 and the rotating shaft 12 can rotate synchronously. When the protrusion 231 is embedded in the accommodating portion, the switching member 31 and the driven wheel 23 can rotate synchronously, so that the driven wheel 23 can drive the switching member 31 and the rotating shaft 12 to rotate synchronously, and the motor 21 drives the walking wheel 1 to rotate, and automatic driving is realized.

[0064] In this embodiment, the side wall of the synchronous connection shaft section 1211 includes two first plane parts, the two first plane parts are parallel and spaced apart, two first arc parts are connected between the two first plane parts, the first plane parts and the first arc parts are alternately arranged, and the center angles of the two first plane parts are the same. At the same time, the inner side wall of the switching member 31 includes two second plane parts 3151, the two second plane parts 3151 are parallel and spaced apart, two second arc parts 3152 are connected between the two second plane parts 3151, the second plane parts 3151 and the second arc parts 3152 are alternately arranged, and the center angles of the two second plane parts 3151 are the same. The axis of the first arc part is colinear with the axis of the second arc part 3152. When the switching member 31 is on the synchronous connection shaft section 1211, the two first plane parts are correspondingly fitted with the two second plane parts 3151, and the two first arc parts are fitted with the two second arc parts 3152.

[0065] In other embodiments, the cross-section of the synchronous connection shaft section 1211 may also be D-shaped, that is, the side wall of the synchronous connection shaft section 1211 includes a first plane portion and a first arc surface portion. At this time, the cross-section of the inner side wall of the switching member 31 is also D-shaped, that is, the inner side wall of the switching member 31 includes a second plane portion 3151 and a second arc surface portion 3152. When the switching component 3 is in the automatic drive state, the switching member 31 is on the synchronous connection shaft section 1211, and the first plane portion and the second plane portion 3151 fit each other, so that the driven wheel 23 can drive the switching member 31 and the rotating shaft 12 to rotate synchronously. In other embodiments not mentioned, the cross-sections of the switching member 31 and the synchronous connection shaft section 1211 can also be other shapes, so that the switching member 31 and the rotating shaft 12 can rotate synchronously, which is not limited here.

[0066] Preferably, the protrusion 231 and the accommodating portion are respectively arranged on the end surfaces of the driven wheel 23 and the switching member 31 facing each other, and the switching member 31 and the driven wheel 23 can move relative to each other along the axial direction of the rotating shaft 12, so that the switching assembly 3 can switch between the automatic driving state and the manual driving state. The above-mentioned structural arrangement enables the relative movement between the switching member 31 and the driven wheel 23 along the axis of the rotating shaft 12 to realize the switching of the switching assembly 3 between the automatic driving state and the manual driving state, simplifies the switching process, facilitates operation, and improves the practicality of the driving wheel mechanism.

[0067] In this embodiment, the driven wheel 23 is fixedly sleeved on the second shaft segment 122 , and the switching member 31 is slidably sleeved on the first shaft segment 121 , that is, the switching member 31 can move along the axial direction of the rotating shaft 12 .

[0068] like Figure 5 As shown, specifically, two retaining rings 14 are fixedly sleeved on the second shaft segment 122, and the driven wheel 23 is sleeved on the second shaft segment 122 and clamped between the two retaining rings 14 to prevent the driven wheel 23 from moving, so that the switching component 3 can reliably switch from the automatic drive state to the manual drive state, further avoiding the motor 21 from generating resistance when the walking wheel 1 is manually driven, and also avoiding the reverse power-on of the motor 21.

[0069] In other embodiments, the switching member 31 may be fixedly sleeved on the first shaft segment 121 , and the driven wheel 23 may be slidably sleeved on the second shaft segment 122 , which is not limited here.

[0070] Furthermore, an adjustment ring 15 may be provided between the driven wheel 23 and the retaining ring 14. The adjustment ring 15 is sleeved on the rotating shaft 12. If there is a gap between the driven wheel 23 and the retaining ring 14, the adjustment ring 15 can fill the gap, which can further prevent the driven wheel 23 from moving axially.

[0071] Furthermore, the first shaft segment 121 also includes a rotating connecting shaft segment 1212, which is coaxially connected to the synchronous connecting shaft segment 1211, and the synchronous connecting shaft segment 1211 is connected between the rotating connecting shaft segment 1212 and the second shaft segment 122. The switching member 31 is slidably mounted on the first shaft segment 121, that is, the switching member 31 can move axially between the rotating connecting shaft segment 1212 and the synchronous connecting shaft segment 1211.

[0072] The cross section of the rotating connecting shaft section 1212 is circular, and the diameter of the rotating connecting shaft section 1212 is not greater than the vertical distance between the two second planar portions 3151 , so that when the switching member 31 is on the rotating connecting shaft section 1212 , the switching member 31 can rotate relative to the rotating connecting shaft section 1212 .

[0073] Preferably, the switching member 31 and the wheel body 11 are respectively arranged on opposite sides of the driven wheel 23, and the switching assembly 3 further includes a gripping member 32, which is connected to one end of the switching member 31 opposite to the driven wheel 23. The gripping member 32 is arranged to facilitate the movement of the switching member 31, thereby improving the convenience of use.

[0074] Specifically, the rotating shaft 12 includes a third shaft segment 123 , the wheel body 11 is coaxially fixed on the third shaft segment 123 , and the third shaft segment 123 is coaxially connected to an end of the second shaft segment 122 away from the first shaft segment 121 .

[0075] As a preferred solution, Figure 3-Figure 10 As shown, a stopper 13 is fixed to one end of the rotating shaft 12 away from the wheel body 11, and the stopper 13 includes a connecting portion 131 and a protruding stopper 132, the connecting portion 131 is connected to the rotating shaft 12, and the protruding stopper 132 is protrudingly arranged on the side wall of the connecting portion 131 and extends radially along the rotating shaft 12; a accommodating hole 313 is opened on the end face of the switching member 31 opposite to the driven wheel 23, the accommodating hole 313 is coaxially arranged with the rotating shaft 12, an avoidance groove 3131 is opened axially on the hole wall of the accommodating hole 313, the avoidance groove 3131 passes through the opening surface of the accommodating hole 313, a switching hole 3132 is opened circumferentially on the hole wall of the accommodating hole 313, and the switching hole 3132 is communicated with the avoidance groove 3131.

[0076] It can be understood that in the process of the switching member 31 moving from the synchronous connecting shaft section 1211 to the rotating connecting shaft section 1212, the switching member 31 gradually moves away from the driven wheel 23, and the connecting portion 131 and the protruding stop portion 132 of the stop member 13 respectively enter the accommodating hole 313 and the avoidance groove 3131, and the connecting portion 131 and the protruding stop portion 132 of the stop member 13 move along the avoidance groove 3131 and the accommodating hole 313. When the switching member 31 moves to connect with the rotating connecting shaft section 1212, the switching assembly 3 is in a manual driving state, the stopper 13 is placed in the receiving hole 313 and the avoidance groove 3131, and the protruding stopper 132 is arranged opposite to the switching hole 3132. At this time, the switching member 31 can rotate relative to the rotating shaft 12, so that the protruding stopper 132 is rotated into the switching hole 3132, and the hole walls on both sides of the switching hole 3132 along the axial direction of the rotating shaft 12 can stop the protruding stopper 132 to limit the position of the switching member 31 along the axial direction of the rotating shaft 12. The above structural arrangement enables the switching assembly 3 to be stably in a manual driving state, prevents the vibration generated by manually pushing the driving wheel mechanism from causing the switching member 31 to move, and thus switches to an automatic driving state, ensuring the reliability of the driving wheel mechanism, further ensuring that the resistance from the motor 21 is reduced, and also avoiding the reverse power-on of the motor 21, ensuring the service life of the motor 21.

[0077] In this embodiment, if Figure 6 As shown, the switching member 31 includes a ring body 315 and a connecting body 316. The ring body 315 is located at one end of the connecting body 316 facing the driven wheel 23. The connecting body 316 is provided with a receiving hole 313 at one end opposite to the ring body 315. The receiving hole 313 is connected to the central through hole of the ring body 315 so that the rotating shaft 12 can pass through. The hole wall of the receiving hole 313 and the inner side wall of the ring body 315 constitute the inner side wall of the switching member 31. The inner side wall of the ring body 315 includes a second flat surface portion 3151 and a second arc surface portion 3152 connected end to end.

[0078] Among them, the switching hole 3132 passes through the outer wall of the connecting body 316 and the hole wall of the accommodating hole 313, reducing the restrictions on the size of the stopper 13, expanding the application range of the switching member 31, and facilitating assembly. It also reduces the possibility of collision and extrusion of the protruding stopper 132, and improves the durability of the driving wheel mechanism.

[0079] In this embodiment, two protruding stoppers 132 are provided, and two avoidance grooves 3131 and switching holes 3132 are also provided accordingly. A ridge 133 is provided protrudingly on the side of the protruding stopper 132 away from the switching member 31, and a strip groove 3133 is provided on the hole wall of the switching hole 3132 away from the driven wheel 23. When the protruding stopper 132 is directly opposite to the switching hole 3132, the switching member 31 is rotated until the ridge 133 is inserted into the strip groove 3133, which means that the switching member 31 is rotated into place. The setting of the ridge 133 and the strip groove 3133 prevents the protruding stopper 132 from being separated from the switching hole 3132, and also prevents the protruding stopper 132 from being separated from the switching hole 3132 due to a small rotation angle of the switching member 31, further ensuring that the switching assembly 3 can be stably in a manual drive state.

[0080] Preferably, if Figure 5 and Fig.10 As shown, the switching assembly 3 further includes a connection cover 33, which is connected to one end of the switching member 31 away from the driven wheel 23, and a gripping member 32 is connected to the connection cover 33, so that the operator can manually operate the switching member 31 through the gripping member 32, thereby improving the convenience of use. A first through hole 331 is provided on the connection cover 33, and the shape of the first through hole 331 is the same as the shape formed by the receiving hole 313 and the avoidance groove 3131, thereby ensuring that the stopper 13 can pass through the first through hole 331, and the connection cover 33 can also protect the switching member 31, thereby further improving the durability and ensuring the aesthetics.

[0081] In this embodiment, the connecting portion 131 of the stopper 13 is connected to the end of the rotating shaft 12 by means of screws.

[0082] As a preferred embodiment, an elastic member 4 is provided in the receiving hole 313, one end of the elastic member 4 abuts against the stopper 13, and the other end abuts against the bottom surface of the receiving hole 313. During normal use of the driving mechanism, the switching assembly 3 is in an automatic driving state, and the elastic member 4 can be in a natural state or a compressed state. When it is necessary to switch to a manual driving state, during the process of the switching member 31 moving in a direction away from the driven wheel 23, the switching member 31 moves from the synchronous connection shaft section 1211 to the rotating connection shaft section 1212, and the stopper 13 enters the receiving hole 313 and the avoidance groove 3131, the elastic member 4 is compressed, and the switching member 31 rotates until the protruding stopper 132 rotates into the switching hole 3132, which can limit the extension of the elastic member 4. When it is necessary to switch back to the automatic drive state, the switching member 31 is rotated at a certain angle until the protruding stopper 132 is disengaged from the switching hole 3132, and the elastic force of the elastic member 4 can push the switching member 31 and the stopper 13 away from each other, so that the switching member 31 moves to the synchronous connection shaft section 1211, and the automatic switch to the automatic drive state is realized, which improves the convenience of use. In this embodiment, the elastic member 4 is a spring, which is sleeved on the rotating shaft 12. In other embodiments, the elastic member 4 can also be a rubber ring or other elastic structure, and may not be sleeved on the rotating shaft 12, which is not limited here.

[0083] In this embodiment, the accommodation portion is provided on the ring body 315 of the switching member 31, and the protrusion 231 is provided on the driven wheel 23. In other embodiments, the accommodation portion may be provided on the driven wheel 23, and the protrusion 231 may be provided on the switching member 31, or the accommodation portion may be provided on the side wall of the switching member 31, and the protrusion 231 may be provided on the driven wheel 23, and the protrusion 231 may be radially embedded in or away from the accommodation portion, so that the driven wheel 23 can drive the switching member 31 to rotate synchronously, which is not limited here.

[0084] Specifically, Figure 6-Figure 8As shown, at least two protrusions 231 are provided on the end surface of the driven wheel 23, that is, at least two accommodating portions are also provided. The protrusions 231 extend along the axial direction of the rotating shaft 12. Further, an annular groove 311 is provided on the end surface of the ring body 315 facing the driven wheel 23, and at least two limiting portions 312 are protruded and spaced apart on the side wall of the annular groove 311. The limiting portions 312 extend along the axis of the rotating shaft 12, and an accommodating portion is formed between two adjacent limiting portions 312, and at least two protrusions 231 can be placed in at least two accommodating portions in a one-to-one correspondence. When the switching component 3 is in the automatic driving state, the side wall of the limiting portion 312 can interfere with the protrusion 231, so that there is no relative rotation between the switching member 31 and the driven wheel 23, and the motor 21 drives the rotating shaft 12 to rotate, ensuring that the switching component 3 can be reliably and stably in the automatic driving state. Moreover, the protrusion 231 and the limiting portion 312 both extend along the axial direction of the rotating shaft 12, and can also guide the switching member 31 to prevent the switching member 31 from rotating during the axial movement along the rotating shaft 12, thereby reducing the possibility of the stopper 13 being squeezed and deformed by the switching member 31, thereby ensuring the durability of the driving wheel mechanism.

[0085] In this embodiment, the distance between two adjacent limiting portions 312 is the same as the width of the protruding portion 231 . When the protruding portion 231 is in the accommodating portion, the two side walls of the protruding portion 231 can fit with the limiting portions 312 on both sides respectively.

[0086] Preferably, a convex ring 232 is coaxially provided on the end surface of the driven wheel 23 facing the switching member 31, and the protrusions 231 are arranged on the outer wall of the convex ring 232 at intervals along the circumference of the convex ring 232. The provision of the convex ring 232 also improves the structural strength of the driven wheel 23, reduces the possibility of deformation of the protrusion 231, and ensures the durability of the driving wheel mechanism. It is understandable that when the switching assembly 3 is in the automatic driving state, the convex ring 232 is also in the annular groove 311. In order to avoid the convex ring 232, the limiting portion 312 is only provided on the outer ring wall of the annular groove 311.

[0087] Furthermore, the limiting portion 312 and the protruding portion 231 are both in strip shape, and the end surface of the protruding portion 231 facing the stopper 13 is a first V-shaped surface, the first V-shaped surface includes two first guide surfaces 2311 connected at an angle, and the opening of the first V-shaped surface is arranged toward the wheel body 11. The end surface of the limiting portion 312 facing the wheel body 11 is a second V-shaped surface, the second V-shaped surface includes two second guide surfaces 3121 connected at an angle, and the opening of the second V-shaped surface is arranged toward the stopper 13. The above arrangement can play a guiding role, ensure that the protruding portion 231 accurately enters the accommodating portion, and reduce the possibility of deformation of the protruding portion 231 and the limiting portion 312.

[0088] In other embodiments, the accommodating portion may also be configured as a groove, and at least two grooves are circumferentially spaced apart on the end surface of the switching member 31 facing the driven wheel 23, and at least two protrusions 231 can be placed in at least two accommodating portions one by one, which is not limited here.

[0089] In other embodiments, the protrusions 231 may be arranged on the inner wall of the protruding ring 232 at intervals along the circumference of the protruding ring 232 . In this case, the limiting portion 312 is only provided on the inner wall of the annular groove 311 , which is not limited here.

[0090] As a preferred solution, Figure 9-10 As shown, the driving wheel mechanism also includes a housing 5, a rotating shaft 12 is rotatably connected to the housing 5, a motor 21 is fixedly connected to the housing 5, and an output shaft of the motor 21 is coaxially connected to the driving wheel 22. The housing 5 is connected to the switching assembly 3, the driving assembly 2 and the walking wheel 1, so as to improve the structural integrity of the driving wheel mechanism and facilitate transportation.

[0091] Furthermore, if Figure 4 As shown, a first limiting step 522 is protruding from the housing 5, and a second limiting step 314 is protruding from the side wall of the switching member 31. The first limiting step 522 is located on the side of the second limiting step 314 away from the driven wheel 23. When the switching assembly 3 is in a manual driving state, the first limiting step 522 conflicts with the second limiting step 314. The above arrangement can limit the axial movement distance of the switching member 31 along the rotating shaft 12, avoid deformation of the stopper 13 due to the extrusion of the switching member 31, and ensure the durability of the driving wheel mechanism.

[0092] In this embodiment, the outer side wall of the ring body 315 is protruded toward one end of the driven wheel 23 and is provided with a second limiting step 314. The second limiting step 314 is annular to ensure structural strength.

[0093] Specifically, the housing 5 includes a shell 51 and a cover 52. One end of the shell 51 is open, and the cover 52 blocks the opening of the shell 51, so that the shell 51 and the cover 52 enclose the inner cavity of the housing 5. A second through hole 521 is provided on the cover 52. One end of the rotating shaft 12 is passed through the second through hole 521, and the other end is rotatably connected to the housing 51. The driving wheel 22, the driven wheel 23, the synchronous belt 24, the second limiting step 314 and part of the switching member 31 are located in the inner cavity of the housing 5, so that the housing 5 has a protective function. One end of the rotating shaft 12 away from the second through hole 521 passes through the housing 5 and is connected to the wheel body 11. One end of the switching member 31 away from the driven wheel 23 extends out of the housing 5 through the second through hole 521, and the switching member 31 movably passes through the second through hole 521 to realize the axial movement of the switching member 31 along the rotating shaft 12. A first limiting step 522 is convexly provided on the end of the hole wall of the second through hole 521 away from the wheel body 11. The first limiting step 522 is ring-shaped to ensure structural strength.

[0094] It is understandable that the first limiting step 522 and the second limiting step 314 are provided, which can also prevent the switching member 31 from being separated from the housing 5, thereby ensuring the protective function of the housing 5 and ensuring that the switching member 31 can be retracted into the housing 5, thereby reducing maintenance costs.

[0095] In this embodiment, the rotating shaft 12 also includes a fourth shaft segment 124, on which a bearing 53 is sleeved. The fourth shaft segment 124 is coaxially connected between the third shaft segment 123 and the second shaft segment 122. The provision of the bearing 53 can reduce the friction between the rotating shaft 12 and the housing 51, thereby ensuring the smooth operation of the driving wheel mechanism.

[0096] Preferably, the inner ring of the bearing 53 is fixed on the rotating shaft 12, and the end face of the inner ring is fitted with the retaining ring 14. A mounting hole is provided on the shell wall of the housing 51 at one end away from the cover body 52, and the bearing 53 is placed in the mounting hole, and the outer ring of the bearing 53 is fitted and connected with the hole wall of the mounting hole. A limit retaining ring 55 is provided on the hole wall of the mounting hole protruding toward the cover body 52, and a bearing limiter 54 is provided at one end of the mounting hole facing the wheel body 11, and the two ends of the outer ring of the bearing 53 are respectively fitted with the bearing limiter 54 and the limit retaining ring 55. In this way, the axial limit of the bearing 53 is achieved.

[0097] Furthermore, the end surface of the wheel body 11 facing the bearing 53 is also in contact with the bearing 53. An end cover 16 is provided at the end of the wheel body 11 opposite to the bearing 53. The end cover 16 is fixedly connected to the end of the rotating shaft 12. The end cover 16 presses the wheel body 11 and the bearing 53 to achieve axial positioning of the wheel body 11.

[0098] This embodiment also provides a robot. Specifically, Figure 1-Figure 14 As shown, the robot includes a body 10 and a driving wheel mechanism as described above, and the driving wheel mechanism is arranged at the bottom of the body 10.

[0099] The robot provided in this embodiment realizes switching between the automatic drive state and the manual drive state by engaging or disengaging the protrusion 231 with the receiving portion. The structure is reasonable and easy to assemble. When the switching component 3 is in the manual drive state, the resistance from the motor 21 is reduced during the manual pushing of the robot, and the thrust required to push the robot is reduced, which is convenient for manually pushing the walking wheel 1, thereby improving the practicality of the robot. At the same time, the reverse power-on of the motor 21 is avoided, the motor is protected, and the service life of the motor 21 is guaranteed, thereby ensuring the durability of the robot and reducing the maintenance cost. In addition, the axial dimension of the driving wheel mechanism along the rotating shaft 12 is small, which is conducive to reducing the occupied space, increasing the compactness of the robot structure, and further improving the practicality of the robot.

[0100] In this embodiment, if Fig.14As shown, the robot is a cleaning robot, such as a sweeper. A sweeping brush and other structures are also provided at the bottom of the body 10. Other structures of the body 10 can refer to the prior art and are not the focus of protection of this embodiment, so they will not be described in detail here. In other embodiments, the robot can also be a food delivery robot or other mobile robot, which is not limited here.

[0101] Preferably, if Figure 9-Figure 14 As shown, a rotating seat 6 is provided at the bottom of the body 10, and an adjusting shaft 61 is connected to the rotating seat 6. The adjusting shaft 61 is arranged parallel to the bottom surface of the body 10, and the housing 5 is rotatably connected to the adjusting shaft 61. When the robot moves, the bottom surface of the body 10 is parallel to the ground of the working area. The above arrangement enables the driving wheel mechanism to rotate around the adjusting shaft 61 relative to the body 10 as a whole, so that the driving wheel mechanism can be raised or lowered as a whole. When there are protruding obstacles on the ground of the working area, the driving wheel mechanism can float up and down when encountering the obstacles, so as to realize the function of the robot to cross obstacles. After crossing the obstacles, the driving wheel mechanism can float up and down, and continue to descend until it contacts the ground, so as to realize the function of moving, thereby improving the practicality. At the same time, the arrangement of the rotating seat 6 and the adjusting shaft 61 also protects the driving wheel mechanism and the robot, ensures durability, and reduces maintenance costs.

[0102] In this embodiment, a mounting opening 101 is provided at the bottom of the body 10, the driving wheel mechanism is placed in the mounting opening 101, the top surface of the rotating seat 6 is fixed on the top surface of the mounting opening 101, and the lower part of the rotating seat 6 is rotatably connected with an adjusting shaft 61. A rotating connecting arm 513 is protrudingly provided on the outer wall of the housing 5, and the rotating connecting arm 513 is rotatably connected with the adjusting shaft 61. When the robot moves forward normally, the running wheel 1 of the driving wheel mechanism is at least partially exposed from the mounting opening 101. When the driving wheel mechanism encounters an obstacle, it can rotate around the adjusting shaft 61 and retract upwards to the mounting opening 101, thereby realizing the function of the robot to cross obstacles. After crossing the obstacle, the driving wheel mechanism can rotate around the adjusting shaft 61 and extend downwards out of the mounting opening 101, and continue to contact the ground.

[0103] Furthermore, two installation openings 101 are spaced apart along the left and right directions of the fuselage 10, and the installation openings 101 pass through the side walls on the corresponding sides of the fuselage 10. The connecting cover 33 and the holding member 32 can be exposed through the installation openings 101, so that the switching member 31 can be pulled by the holding member 32 to realize the switching of the switching component 3 between the automatic driving state and the manual driving state, thereby improving the operational convenience.

[0104] Preferably, the robot also includes a tension spring 7, one end of which is connected to the body 10, and the other end of the tension spring 7 is connected to the outer shell 5; when the driving wheel mechanism encounters an obstacle, the driving wheel mechanism floats up and down, and the tension spring 7 can be stretched; after the driving wheel mechanism passes over the obstacle, the driving wheel mechanism floats up and down, and the tension spring 7 contracts. The tension spring 7 can pull the driving wheel mechanism to reset, ensuring that the driving wheel mechanism can reliably contact the ground after passing the obstacle, thereby realizing the movement effect, improving practicality, ensuring durability, and reducing maintenance costs.

[0105] Preferably, the robot further comprises a connecting member 8, which is located in the installation opening 101 and fixedly connected to the fuselage 10. The connecting member 8 is in the shape of a shell, and the tension spring 7 is placed inside the connecting member 8. A tension spring shaft 71 is fixedly provided on the connecting member 8, and a tension spring shaft 71 is also fixed on the outer wall of the outer shell 5. The two ends of the tension spring 7 are respectively connected to the two tension spring shafts 71, and the tension spring shaft 71 fixed on the connecting member 8 needs to be lower than the tension spring shaft 71 fixed on the outer shell 5. The tension spring shaft 71 on the outer shell 5 and the rotating connecting arm 513 are respectively located on opposite sides of the outer shell 5. There is no limitation on the specific position of the tension spring shaft 71, and it is necessary to realize that when the driving wheel mechanism encounters an obstacle, the two tension spring shafts 71 can move away from each other; when the driving wheel mechanism passes over the obstacle, the two tension spring shafts 71 can move closer to each other.

[0106] The connecting member 8 is provided with a slideway 81, which extends in a direction perpendicular to the axial direction of the adjusting shaft 61. The housing 5 is at least partially located in the slideway 81 and can slide along the slideway 81. The slideway 81 is provided to guide the rotation of the driving wheel mechanism, thereby ensuring the reliability of the driving wheel mechanism in overcoming obstacles, and also ensuring that the driving wheel mechanism can be reset along the slideway 81 after floating, and can reliably contact the ground after overcoming obstacles, thereby realizing the movement, improving the practicality, ensuring the durability, and reducing the maintenance cost.

[0107] In this embodiment, a sliding portion 512 is protruding from the housing 5 , and the sliding portion 512 is located in the slideway 81 and can slide along the slideway 81 .

[0108] In this embodiment, the housing 5, the sliding portion 512 and the rotating connecting arm 513 are an integrated structure, which is convenient for production and processing.

[0109] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A driving wheel mechanism, characterized in that: include: The travel wheel (1) comprises a wheel body (11) and a rotating shaft (12), wherein the wheel body (11) and the rotating shaft (12) are coaxially fixed; A driving assembly (2), comprising a motor (21), a driving wheel (22), a driven wheel (23), and a synchronous belt (24) tensioned between the driving wheel (22) and the driven wheel (23), wherein the driven wheel (23) is coaxially and rotatably sleeved on the rotating shaft (12), and the motor (21) is used to drive the driving wheel (22) to rotate; A switching assembly (3) comprising a switching member (31), wherein the switching member (31) is sleeved on the rotating shaft (12), and the switching member (31) is capable of rotating synchronously with the rotating shaft (12); One of the driven wheel (23) and the switching member (31) is provided with a protruding portion (231), and the other is provided with a recessed receiving portion. The switching assembly (3) has an automatic driving state in which the protruding portion (231) is embedded in the receiving portion, and a manual driving state in which the protruding portion (231) is separated from the receiving portion. When the switching assembly (3) is in the automatic driving state, the driven wheel (23) can drive the switching member (31) and the rotating shaft (12) to rotate synchronously. The rotating shaft (12) comprises a first shaft section (121) and a second shaft section (122) which are coaxially connected, the driven wheel (23) is fixedly sleeved on the second shaft section (122), and the switching member (31) is slidably sleeved on the first shaft section (121); Two retaining rings (14) are fixedly sleeved on the second shaft section (122), and the driven wheel (23) is clamped between the two retaining rings (14); The first shaft section (121) comprises a coaxially connected synchronous connection shaft section (1211) and a rotationally connected shaft section (1212); The switching member (31) and the wheel body (11) are respectively arranged on opposite sides of the driven wheel (23); a stop member (13) is fixed to one end of the rotating shaft (12) away from the wheel body (11); the stop member (13) comprises a connecting portion (131) and a protruding stop member (132); the connecting portion (131) is connected to the rotating shaft (12); the protruding stop member (132) is protruding from a side wall of the connecting portion (131) and extends radially along the rotating shaft (12); The switching member (31) is provided with a receiving hole (313) on the end surface opposite to the driven wheel (23); the receiving hole (313) is coaxially arranged with the rotating shaft (12); a avoiding groove (3131) is axially provided on the hole wall of the receiving hole (313); the avoiding groove (3131) penetrates the opening surface of the receiving hole (313); a switching hole (3132) is circumferentially provided on the hole wall of the receiving hole (313); the switching hole (3132) is communicated with the avoiding groove (3131); When the switching member (31) is sleeved on the rotating connecting shaft section (1212), the switching assembly (3) is in the manual drive state, the stop member (13) is placed in the accommodating hole (313) and the avoidance groove (3131), and the switching member (31) can rotate relative to the rotating shaft (12) so that the protruding stop portion (132) rotates into the switching hole (3132).

2. The driving wheel mechanism according to claim 1, characterized in that: The protruding portion (231) and the accommodating portion are respectively arranged on the end surfaces of the driven wheel (23) and the switching member (31) facing each other, and the switching member (31) and the driven wheel (23) can move relative to each other along the axis of the rotating shaft (12) so that the switching component (3) can switch between the automatic drive state and the manual drive state.

3. The driving wheel mechanism according to claim 2, characterized in that: The synchronous connection shaft section (1211) is connected between the rotating connection shaft section (1212) and the second shaft section (122); when the switching member (31) is sleeved on the synchronous connection shaft section (1211), the switching component (3) is in the automatic drive state, and the switching member (31) can rotate synchronously with the rotating shaft (12).

4. The driving wheel mechanism according to claim 1, characterized in that: An elastic member (4) is arranged in the accommodating hole (313), one end of the elastic member (4) abuts against the stop member (13), and the other end abuts against the bottom surface of the accommodating hole (313).

5. The driving wheel mechanism according to claim 3, characterized in that: The driving wheel mechanism further comprises a housing (5), the rotating shaft (12) being rotatably connected to the housing (5), a first limiting step (522) being protrudingly provided on the housing (5), a second limiting step (314) being protrudingly provided on the side wall of the switching member (31), the first limiting step (522) being located on a side of the second limiting step (314) away from the driven wheel (23), and when the switching assembly (3) is in the manual driving state, the first limiting step (522) is in conflict with the second limiting step (314).

6. The driving wheel mechanism according to any one of claims 2 to 5, characterized in that: At least two protrusions (231) are provided on the end surface of the driven wheel (23); An annular groove (311) is provided on the end surface of the switching member (31) facing the driven wheel (23) in the circumferential direction, and at least two limiting portions (312) are protruding from the side wall of the annular groove (311) and are arranged at intervals, the limiting portions (312) extending along the axis of the rotating shaft (12), and the accommodating portion is formed between two adjacent limiting portions (312), and at least two of the protruding portions (231) can be disposed in at least two of the accommodating portions in a one-to-one correspondence.

7. A robot, characterized in that It comprises a fuselage (10) and a driving wheel mechanism according to any one of claims 1 to 6, wherein the driving wheel mechanism is arranged at the bottom of the fuselage (10).

8. The robot according to claim 7, characterized in that: The driving wheel mechanism further comprises a housing (5), the rotating shaft (12) is rotatably connected to the housing (5), the motor (21) is fixedly connected to the housing (5), and the output shaft of the motor (21) is coaxially connected to the driving wheel (22); A rotating seat (6) is arranged at the bottom of the fuselage (10), an adjusting rotating shaft (61) is connected to the rotating seat (6), the adjusting rotating shaft (61) is arranged parallel to the bottom surface of the fuselage (10), and the housing (5) is rotatably connected to the adjusting rotating shaft (61).

9. The robot according to claim 8, characterized in that: The robot further comprises a tension spring (7), one end of the tension spring (7) being connected to the body (10), and the other end of the tension spring (7) being connected to the housing (5); and / or, The robot further comprises a connecting member (8), wherein the connecting member (8) is connected to the body (10), wherein a slideway (81) is provided on the connecting member (8), wherein the slideway (81) extends in a direction perpendicular to the adjusting shaft (61), and wherein the housing (5) is at least partially located in the slideway (81) and is capable of sliding along the slideway (81).

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