Locking device, mobile robot and control method

Abstract

The present invention discloses a locking device, a mobile robot, and a control method. When the drive motor is powered on, the drive motor drives the locking mechanism to move, and the locking mechanism releases the wheel, allowing the wheel to operate normally. When the drive motor is powered off, the reset structure causes the locking mechanism to abut against the wheel, locking the wheel. When the mobile robot is operating, the locking device controls the locking mechanism through the drive motor to release the wheel, allowing the wheel to operate normally. When the mobile robot stops operating, the reset mechanism abuts against the wheel, locking the wheel, thereby preventing the mobile robot from slipping or overturning due to insufficient power in the travel motor, damage to the travel motor, or a freeze of the mobile robot during use.

Description

Technical Field

[0001] The present invention relates to the technical field of power supplies, and in particular to a locking device, a mobile robot, and a control method. Background Art

[0002] With the development of technology, more and more intelligent mobile robots are appearing in our lives, bringing convenience to our lives. When intelligent mobile robots are working, they mainly use the travel motor to control the drive wheels to drive the intelligent mobile robots. If the travel motor is low on power or damaged during use, and the intelligent mobile robot is on a slope or loaded, the intelligent mobile robot may slip or tip over, which can easily damage the intelligent mobile robot and even affect the user's property safety.

[0003] Application Contents

[0004] To solve the above problems, the present invention provides a locking device, a mobile robot, and a control method. The specific technical solutions of the present invention are as follows:

[0005] A locking device is provided on a mobile robot and includes a base, a drive motor, a locking mechanism, and a reset mechanism provided on the base; the drive motor's drive shaft is mechanically connected to the locking mechanism, and the reset mechanism is connected to the locking mechanism; when the drive motor is energized, the drive motor drives the locking mechanism to move, and the locking mechanism releases the wheels, allowing the wheels to operate normally; when the drive motor is de-energized, the reset mechanism causes the locking mechanism to abut against the wheels, locking the wheels. When the mobile robot is operating, the locking device controls the locking mechanism via the drive motor to release the wheels, allowing the wheels to operate normally; when the mobile robot stops operating, the reset mechanism abuts against the wheels, locking the wheels, thereby preventing the mobile robot from slipping or overturning during use due to insufficient power in the travel motor, damage to the travel motor, or a freeze of the mobile robot.

[0006] Furthermore, the locking mechanism includes a rotating member, a pushing member, a locking rod, and a guide member. The guide member is fixed to the base, a guide circular hole is provided on the guide member, the rotating member is sleeved on the rotating shaft of the drive motor, and the pushing member is sleeved on the rotating member. One end of the locking rod is fixed to the rotating member, and the other end is provided in the guide circular hole of the guide member. The reset mechanism is an elastic tension member, one end of the elastic tension member is fixed to the base, and the other end is connected to the pushing member. When the rotating member rotates with the rotating shaft of the drive motor, it drives the pushing member to move. The pushing member applies a pulling force to the locking rod and the elastic tension member, causing the locking rod to perform a translational motion along the guide circular hole of the guide member to move away from the wheel and causing the elastic tension member to accumulate elastic potential energy. The locking mechanism releases or locks the wheel by pushing the locking rod away from or towards the wheel, which has a simple structure and high safety.

[0007] Furthermore, the pushing member is U-shaped, with a through-hole defined on one side. The rotating member is provided with a protrusion, which is positioned within the U-shaped groove of the U-shaped pushing member. The protrusion on the rotating member is positioned within the through-hole. When the rotating member rotates, the protrusion applies pressure to the inner wall of the through-hole, causing the U-shaped pushing member to move. The U-shaped pushing member facilitates installation and removal of the pushing member and the rotating member. The through-hole and the protrusion both secure the pushing member and the rotating member and transmit force, providing high practical value.

[0008] Furthermore, the top of the locking lever is provided with a brim, the bottom of the U-shaped groove of the U-shaped pushing member is provided with a placement hole, the locking lever is arranged to extend outward from the U-shaped groove, and the brim of the locking lever is fixed at the opening of the placement hole. The locking lever is arranged to extend outward from the U-shaped groove, which prevents the locking lever from being separated from the pushing member during operation, thereby improving safety.

[0009] Furthermore, the locking rod is made of metal, the pushing member is made of plastic, and the locking rod is fixed to the pushing member via a screw structure. The metal material of the locking rod can reduce the wear of the locking rod during locking and increase the service life of the locking rod; the plastic material of the pushing member can reduce the weight of the locking device and reduce the production cost of the locking device.

[0010] Furthermore, the locking rod and the pushing member are integrated into a structure, and the locking rod and the pushing member form a Y-shaped locking member. The integrated locking rod and the pushing member can simplify the structure of the locking device and facilitate the assembly of the locking device.

[0011] Furthermore, the bottom of the U-shaped pushing member is flat, and the guide member is provided with a surface corresponding to the flat surface. When the locking lever abuts the wheel, the bottom flat surface of the U-shaped pushing member abuts the surface of the guide member. When the locking lever abuts the wheel, the bottom flat surface of the U-shaped pushing member abuts the surface of the guide member, which can effectively prevent the pushing member from displacement and improve the locking performance of the locking device.

[0012] Furthermore, the elastic tension member is a tension spring, a hook is provided on one side of the U-shaped pushing member, one end of the tension spring is connected to the hook, and the other end is connected to the base. The tension spring resets the pushing member to cause the locking rod to lock the wheel, resulting in a simple structure and easy use.

[0013] A mobile robot includes wheels for traveling and the aforementioned locking device. The locking device includes a base, a drive motor, a locking mechanism, and a reset mechanism disposed on the base. The locking mechanism includes a rotating member, a pushing member, a locking rod, and a guide member. The wheels are movably disposed on the base. When the mobile robot is operating, the locking device controls the locking mechanism via the drive motor to release the wheels, allowing them to operate normally. When the mobile robot stops operating, the reset mechanism abuts against the wheels, locking them. This prevents the mobile robot from slipping or overturning during use due to, for example, insufficient power in the travel motor, damage to the travel motor, or a freeze of the mobile robot.

[0014] Furthermore, the wheel includes a wheel frame, a tire, and a tire cover. The tire is mounted on the wheel frame. One side of the wheel frame is movably connected to the base, and the other side is connected to the tire cover. The tire cover is used to secure the tire to the wheel frame. The tire cover secures the tire to the wheel frame, preventing the tire from falling off the wheel frame during movement of the mobile robot, thereby enhancing safety.

[0015] Furthermore, the tire is provided with a plurality of grooves that cooperate with the locking rod. By providing the grooves on the tire, the locking performance of the locking rod is improved, and the friction between the wheel and the ground is increased to prevent the wheel from slipping.

[0016] A method for controlling a mobile robot is disclosed. The method is used to control the mobile robot, and includes the following steps: when the mobile robot begins to operate, controlling the drive motor to operate continuously, driving the locking mechanism to move, unlocking the wheels, and allowing the mobile robot to move normally; after the mobile robot stops moving, controlling the drive motor to stop operating, and the reset mechanism to drive the locking mechanism to abut against the wheels to lock the wheels, preventing the wheels from moving. When the mobile robot is operating, the locking device controls the locking mechanism via the drive motor to release the wheels, allowing the wheels to operate normally; when the mobile robot stops operating, the reset mechanism abuts against the wheels to lock the wheels, preventing the mobile robot from slipping or overturning during use due to insufficient power in the travel motor, damage to the travel motor, or a freeze of the mobile robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is an exploded schematic diagram of a locking device according to an embodiment of the present invention.

[0018] Figure 2 A schematic cross-sectional view of a locking device according to an embodiment of the present invention;

[0019] Figure 3 This is a three-dimensional schematic diagram of a locking device according to an embodiment of the present invention. Implementation Method

[0020] In the following description, specific details are given to provide a thorough understanding of the embodiments. However, those skilled in the art will appreciate that the embodiments can be practiced without these specific details. For example, circuits may be shown in block diagrams so as not to obscure the embodiments with unnecessary detail. In other cases, well-known circuits, structures, and techniques may not be shown in detail so as not to obscure the embodiments.

[0021] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0022] As used in this application, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0023] When the mobile robot is working, it mainly drives the mobile robot to move by controlling the driving wheels through the walking motor. If the walking motor is low on power, damaged, or the mobile robot crashes during use, and the intelligent mobile robot is on a slope or has a load, the intelligent mobile robot may slip or overturn.

[0024] like Figures 1 to 3 As shown, a locking device for limiting the rotation of a wheel includes a base 1, a drive motor 2 disposed on the base 1, a locking mechanism, and a reset mechanism. The drive shaft of the drive motor 2 is mechanically connected to the locking mechanism, and the reset mechanism is connected to the locking mechanism. The wheel is movably disposed on the base 1. When the drive motor 2 is energized, the drive motor 2 drives the locking mechanism to move, and the locking mechanism releases the wheel, allowing the wheel to operate normally. When the drive motor 2 is de-energized, the reset mechanism causes the locking mechanism to abut against the wheel, locking the wheel. When the mobile robot is operating, the locking device controls the locking mechanism to release the locking mechanism via the drive motor 2, allowing the wheel to operate normally. When the mobile robot stops operating, the reset mechanism abuts against the wheel, locking the wheel. This prevents the mobile robot from slipping or overturning during use due to insufficient power in the travel motor, damage to the travel motor, or a freeze of the mobile robot.

[0025] As one embodiment, the locking mechanism includes a rotating member 3, a pushing member 4, a locking rod 5 and a guide member 6, the guide member 6 is fixed to the base 1, and a guide circular hole 7 is provided on the guide member 6. The rotating member 3 is sleeved on the rotating shaft of the drive motor 2, and the pushing member 4 is sleeved on the rotating member 3. One end of the locking rod 5 is fixed to the rotating member 3, and the other end is provided on the guide circular hole 7 of the guide member 6. The reset mechanism is an elastic tension member, one end of the elastic tension member is fixed to the base 1, and the other end is fixed to the pushing member 4. When the rotating member 3 rotates along with the rotating shaft of the driving motor 2, it drives the pushing member 4 to move. The pushing member 4 applies a pulling force to the locking rod 5 and the elastic tension member, causing the locking rod 5 to translate along the guide circular hole 7 of the guide member 6 to move away from the wheel and allowing the elastic tension member to accumulate elastic potential energy. When the driving motor 2 stops working, the elastic tension member that accumulates elastic potential energy pulls the pushing member 4 back to its original position under the action of the elastic potential energy. At this time, the locking rod will abut against the wheel along the guide circular hole 7 of the guide member 6 to prevent the locking rod 5 from moving out of position. The locking mechanism loosens or locks the wheel by pushing the locking rod 5 away from or close to the wheel. It has a simple structure and high safety. The driving motor 2 and the guide member 6 are both fixed to the base by insertion.

[0026] As one example, Figure 2 As shown, the pushing member 4 is U-shaped, and a through hole 8 is provided on one side of the U-shaped pushing member 4. A protrusion 9 is provided on the rotating member 3. The rotating member 3 is arranged in the U-shaped groove of the U-shaped pushing member 4. The protrusion 9 on the rotating member 3 is located in the through hole 8. When the rotating member 3 rotates, the protrusion 9 applies pressure to the inner wall of the through hole 8, causing the U-shaped pushing member 4 to move away from the wheel. A corresponding limiting structure is provided on the base 1 to prevent the pushing member 4 from moving too far away from the wheel and the protrusion 9 of the rotating member 3 from disengaging from the through hole 8. The U-shaped pushing member 4 can facilitate the installation and disassembly of the pushing member 4 and the rotating member 3; the through hole 8 and the protrusion 9 not only serve to fix the pushing member 4 and the rotating member 3, but also serve to transmit force, and have high use value.

[0027] In one embodiment, the locking rod 5 has a brim at the top, and the bottom of the U-shaped groove of the U-shaped pushing member 4 has a placement hole. The locking rod 5 is arranged to extend outward from the U-shaped groove, and the brim of the locking rod 5 is fixed at the opening of the placement hole. The locking rod 5 is arranged to extend outward from the U-shaped groove to prevent the locking rod 5 from detaching from the pushing member 4 during operation, which provides higher safety. When the drive motor 2 is in operation, it drives the rotating member 3 to rotate. When the rotating member 3 rotates, the protrusion of the rotating member 3 applies pressure to the through hole 8 of the pushing member 4. At this time, the elastic tension member and the locking member 5 form two parallel guide rails that guide the movement of the pushing member 4. The force point of the pushing member 4 is between the two parallel guide rails. When the pushing member 4 is subjected to force, it only moves horizontally and does not rotate with the rotating member 3, thereby driving the pushing member 4 away from the wheel. When the pushing member 4 moves away from the wheel, it drives the locking rod 5 away from the wheel, causing the locking rod 5 to release the wheel.

[0028] As one embodiment, the locking rod 5 is made of metal, the pushing member 4 is made of plastic, and the locking rod 5 is fixed to the pushing member 4 by a screw structure. The locking rod 5 is made of metal, which can reduce the degree of wear of the locking rod 5 when locked and increase the service life of the locking rod 5; the pushing member 4 is made of plastic, which can reduce the weight of the locking device and reduce the production cost of the locking device. When locking the wheel, the locking rod 5 will rub against the surface of the wheel, so it is necessary to use a wear-resistant material as the locking rod 5, while the pushing member 4 does not rub against other components and can be made of plastic. Therefore, in order to use a locking rod 5 and a pushing member 4 made of different materials, the locking rod 5 and the pushing member 4 must be set separately.

[0029] In one embodiment, the locking rod and the pushing member are integrated into a Y-shaped locking member. The integrated locking rod and pushing member can simplify the structure of the locking device and facilitate assembly of the locking device.

[0030] In one embodiment, the bottom of the U-shaped pushing member 4 is flat, and the guide member 6 is provided with a surface corresponding to the flat surface. When the locking lever 5 abuts the wheel, the bottom flat surface of the U-shaped pushing member 4 abuts the surface of the guide member 6. When the locking lever 5 abuts the wheel, the bottom flat surface of the U-shaped pushing member 4 abuts the surface of the guide member 6, which effectively prevents displacement of the pushing member 4 and improves the locking performance of the locking device.

[0031] As one embodiment, the elastic tension member is a tension spring 10, and a hook 11 is provided on one side of the U-shaped pushing member 4. One end of the tension spring 10 is connected to the hook 11, and the tension spring 10 is connected to the hook 11 by a hook buckle, which is convenient for disassembly and installation. The other end is connected to the base 1, and the tension spring 10 is fixed to the base by a screw. The tension spring 10 resets the pushing member 4 to lock the locking rod 5 to the wheel, which has a simple structure and is easy to use. When the locking device shown is working normally, the tension spring 10 is hung on the hook 11, as shown in FIG. Figure 2 As shown, when the pushing member 4 moves away from the wheel, it pulls the tension spring 10, causing the tension spring 10 to accumulate elastic potential energy. After the drive motor 2 stops working, the tension spring 10 will, under the action of the elastic potential energy, drive the pushing member 4 to move toward the wheel, thereby causing the locking rod 5 to abut the wheel, increasing the friction between the locking rod 5 and the wheel, thereby locking the wheel. When the mobile robot does not need the locking function of the locking device, the tension spring 10 can be directly removed from the hook 11, as shown in FIG. Figure 3 As shown, the locking function of the locking device can be canceled. When the locking function is needed, the tension spring 10 is hung on the hook 11 to realize the locking function. The locking function can be opened and canceled without disassembling the locking device, which is convenient for debugging the mobile robot. The elastic tension member can also be a rubber band. Placing the rubber band in the position of the tension spring 10 can achieve the same function as the tension spring 10. The reset mechanism can also be a compression spring. The compression spring is set on the side opposite to the tension spring 10. When the drive motor 2 is working, it drives the pushing member 4 to move away. The pushing member 4 will compress the compression spring in the process of moving away from the wheel, so that the compression spring accumulates elastic potential energy. After the drive motor 2 stops working, the compression spring will push the pushing member 4 toward the wheel under the action of the elastic potential energy, so that the locking rod 5 abuts the wheel, increasing the friction between the locking rod 5 and the wheel, thereby locking the wheel.

[0032] A mobile robot includes wheels for traveling and the aforementioned locking device. The locking device includes a base 1, a drive motor 2 disposed on the base, a locking mechanism, and a reset mechanism. The locking mechanism includes a rotating member 3, a pushing member 4, a locking rod 5, and a guide member 6. The wheels are movably disposed on the base 1 and may be drive wheels or steering wheels. When the mobile robot is operating, the locking device controls the locking mechanism to release via the drive motor 2, allowing the wheels to operate normally. When the mobile robot stops operating, the reset mechanism abuts against the wheels, locking them to prevent the mobile robot from slipping or overturning during use due to insufficient power in the travel motor, damage to the travel motor, or a freeze of the mobile robot.

[0033] As one embodiment, the wheel includes a wheel frame 12, a tire 13, and a tire cover 14. The tire 13 is mounted on the wheel frame 12. One side of the wheel frame 12 is movably connected to the base 1, and the other side is connected to the tire cover 13. The tire cover 13 is used to secure the tire 13 to the wheel frame 12. The tire cover 13 secures the tire 13 to the wheel frame 12, preventing the tire 13 from falling off the wheel frame 12 during movement of the mobile robot, thereby enhancing safety. The side of the wheel frame 12 connected to the tire cover 14 is provided with a protrusion, and the protrusion is provided with a screw hole. The tire cover 14 is provided with a depression corresponding to the protrusion, and the depression has the same screw hole as the protrusion. The tire cover is secured to the wheel frame 12 by four screws, three of which form the three corners of an equilateral triangle, and the other is located at the center point of the equilateral triangle.

[0034] In one embodiment, the tire 13 is provided with a plurality of grooves 15 that interact with the locking lever 5. The grooves 15 on the tire 13 enhance the locking performance of the locking lever 5 and increase the friction between the wheel and the ground, preventing wheel slippage. When the locking lever 5 abuts the wheel at a low speed, whether it abuts the smooth surface of the tire 13 or the grooves 15 in the tire 13, it can still lock the wheel. If the wheel is moving at a high speed, if the locking lever 5 abuts the smooth surface of the tire 13 first, the wheel may rotate during this contact. In this case, the locking lever 5 first decelerates the wheel. Then, during the wheel's rotation, the locking lever 5 slides from the smooth surface of the tire 13 into the grooves 15 in the tire 13, thereby locking the wheel. If the locking lever 5 abuts directly against the grooves 15 in the tire 13, the locking lever directly locks the wheel.

[0035] A control method for a mobile robot is disclosed. The control method is used to control the mobile robot described above, and the control method includes the following steps: when the mobile robot starts working, controlling the drive motor 2 to continuously operate, driving the locking mechanism to move, unlocking the wheels, and allowing the mobile robot to move normally; after the mobile robot stops moving, controlling the drive motor 2 to stop operating, and the reset mechanism drives the locking mechanism to abut against the wheels to lock the wheels and prevent the wheels from moving. When the mobile robot is working, the locking device controls the locking mechanism to release via the drive motor 2, allowing the wheels to operate normally. When the mobile robot stops working, the reset mechanism abuts against the wheels to lock the wheels, preventing the mobile robot from slipping or overturning during use due to insufficient power in the travel motor, damage to the travel motor, or a freeze of the mobile robot.

[0036] Obviously, the above-mentioned embodiments are only some embodiments of the present invention, rather than all embodiments, and the technical solutions between the various embodiments can be combined with each other. In addition, if the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like appear in the embodiments, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. If the terms "first", "second", "third" and the like appear in the embodiments, it is to facilitate the distinction between related features and cannot be understood as indicating or implying their relative importance, order or number of technical features.

[0037] Furthermore, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0038] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents. The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A locking device for limiting the rotation of a wheel, characterized in that: The locking device includes a base and a drive motor, a locking mechanism and a reset mechanism arranged on the base; The driving shaft of the driving motor is mechanically connected to the locking mechanism, and the reset mechanism is connected to the locking mechanism; When the driving motor is powered on, the driving motor drives the locking mechanism to move, and the locking mechanism releases the wheel, allowing the wheel to work normally. When the driving motor is powered off, the reset mechanism causes the locking mechanism to abut against the wheel, locking the wheel. Wherein, the locking mechanism includes a rotating member, a pushing member, a locking rod and a guide member, the guide member is fixedly arranged with the base, a guide circular hole is provided on the guide member, the rotating member is sleeved on the rotating shaft of the driving motor, the pushing member is sleeved on the rotating member, one end of the locking rod is fixed to the rotating member, and the other end is provided on the guide circular hole of the guide member, the reset mechanism is an elastic tension member, one end of the elastic tension member is fixed to the base, and the other end is connected to the pushing member, when the rotating member rotates with the rotating shaft of the driving motor, the pushing member drives the moving of the pushing member, and the pushing member applies a pulling force to the locking rod and the elastic tension member, so that the locking rod performs a translational motion along the guide circular hole of the guide member to move away from the wheel and the elastic tension member accumulates elastic potential energy; In which, the pushing member is U-shaped, a through hole is provided on one side of the U-shaped pushing member, a protrusion is provided on the rotating member, and the rotating member is arranged in the U-shaped groove of the U-shaped pushing member. The protrusion on the rotating member is located in the through hole. When the rotating member rotates, pressure is applied to the inner wall of the through hole through the protrusion, so that the U-shaped pushing member moves away from the wheel; a limiting structure is provided on the base for limiting the pushing member to prevent the rotating member from disengaging from the through hole.

2. A locking device according to claim 1, characterized in that: The top of the locking rod is provided with a brim, the bottom of the U-shaped groove of the U-shaped pushing member is provided with a placement hole, the locking rod is arranged in a manner of extending outward from the U-shaped groove, and the brim of the locking rod is fixed at the opening of the placement hole.

3. A locking device according to claim 2, characterized in that: The locking rod is made of metal, the pushing member is made of plastic, and the locking rod is fixed to the pushing member through a screw structure.

4. A locking device according to claim 1, characterized in that: The locking rod and the pushing member are an integrated structure, and the locking rod and the pushing member form a Y-shaped locking member.

5. The locking device according to claim 1, characterized in that: The bottom of the U-shaped pushing member is a plane, and the guide member is provided with a surface corresponding to the plane. When the locking rod abuts the wheel, the bottom plane of the U-shaped pushing member fits with the surface of the guide member.

6. The locking device according to claim 1, characterized in that: The elastic tension member is a tension spring, and a hook is provided on one side of the U-shaped pushing member. One end of the tension spring is connected to the hook, and the other end is connected to the base.

7. A mobile robot, characterized in that: The mobile robot includes wheels for walking and a locking device according to any one of claims 1 to 6, the locking device includes a base and a drive motor, a locking mechanism and a reset mechanism arranged on the base, the locking mechanism includes a rotating member, a pushing member, a locking rod and a guide member, and the wheels are movably arranged on the base.

8. The mobile robot according to claim 7, characterized in that: The wheel comprises a wheel frame, a tire and a tire cover. The tire is mounted on the wheel frame. One side of the wheel frame is movably connected to the base, and the other side is connected to the tire cover. The tire cover is used to fix the tire on the wheel frame.

9. The mobile robot according to claim 8, characterized in that: The tire is provided with a plurality of grooves which cooperate with the locking rods.

10. A method for controlling a mobile robot, characterized in that: The control method is used to control the mobile robot according to claim 9, and the control method comprises the following steps: When the mobile robot starts working, the drive motor is controlled to work continuously, driving the locking mechanism to move, unlocking the wheels, and allowing the mobile robot to move normally; After the mobile robot stops moving, the drive motor is controlled to stop working, and the reset mechanism drives the locking mechanism to abut against the wheel to lock the wheel to prevent the wheel from moving.

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