Robot chassis capable of being switched between steering wheel and universal wheel

Abstract

The invention relates to the field of robot chassis steering wheels, in particular to a robot chassis capable of being switched between a steering wheel and a universal wheel, which comprises a bottom plate, four mounting grooves are formed in the surface of the bottom plate at equal intervals, universal sleeves are fixedly connected in the mounting grooves, and steering wheel bodies are rotatably connected in the universal sleeves; a supporting plate is in lap joint with the top of the bottom plate, a limiting groove matched with the mounting groove is formed in the surface of the supporting plate, and an adjusting mechanism is movably connected between a top plate of the universal sleeve and the inner wall of the limiting groove. The robot chassis capable of being switched between the steering wheel and the universal wheel is composed of an adjusting mechanism and a switching mechanism. The adjusting mechanism can operate by applying acting force to the periphery of the supporting plate at the top of the bottom plate in any direction, the adjusting mechanism drives the switching mechanism to unlock the locking state of the limiting gear ring at the top of the steering wheel body, operation of the steering wheel body is switched to the universal wheel state, and convenience in the process of switching to the universal wheel state is improved.

Description

Technical Field

[0001] The present invention relates to the field of robot chassis steering wheels, and specifically to a robot chassis that can switch between steering wheels and universal wheels. Background Technique

[0002] Robots have now become a technology that truly affects life and changes people's lifestyles. An important part of robots is the motion module, which determines the speed and flexibility of the robot. At present, the steering wheel chassis is a better solution in terms of motion ability among various chassis solutions;

[0003] When the robot chassis fails and cannot move, external force needs to be applied to push or drag the robot chassis. When the direction of the external force applied to the robot is different from the walking direction of the steering wheel group, the steering wheel group cannot turn, and it is difficult to effectively move the robot chassis at this time.

[0004] The existing patent (Publication No.: CN112896367B) discloses a robot chassis that can switch between a steering wheel and a universal wheel, including a chassis frame, four switching mechanisms, four wheel groups, and four steering mechanisms. In the process of implementing this solution, the following problems in the prior art are found to have not been well solved: 1. When using this robot chassis, when changing the rolling direction of the wheel hub of the chassis, it is necessary to apply a force in the opposite direction of the rolling of the wheel hub to generate an eccentricity between the wheel hub and the steering mechanism. Thus, under the drag of the external force, combined with the friction between the ground and the wheel hub, a torque steering is provided for the wheel hub, so that the rolling direction of the wheel hub is consistent with the direction of the external force, achieving the steering effect of the wheel hub. In this operation process, each time the wheel hub turns, it is necessary to drag the chassis in the opposite direction of the wheel hub rolling, and the usability is poor; 2. After this robot chassis stops being used, it is difficult to automatically lock the rolling direction of the wheel hub. When the robot chassis is parked on a sloped ground position, the robot chassis is prone to sliding on the ground, affecting the stability after stopping use. Summary of the Invention

[0005] The purpose of the present invention is to provide a robot chassis that can switch between a steering wheel and a universal wheel to solve the problems raised in the above background technique: 1. Some existing robot chassis are difficult to switch between a steering wheel and a universal wheel during the application of forces in multiple different directions during use, and the usability is poor; 2. When some existing robot chassis stop being used, it is difficult to automatically lock the rolling direction of the wheel hub. To achieve the above purpose, the present invention provides the following technical solution: A robot chassis that can switch between a steering wheel and a universal wheel, including a bottom plate, and four mounting grooves are equidistantly opened on the surface of the bottom plate. A universal joint sleeve is fixedly connected inside the mounting groove, and a steering wheel body is rotatably connected inside the universal joint sleeve;

[0006] A support plate is lapped on the top of the bottom plate. A limiting groove matched with the installation groove is formed on the surface of the support plate. An adjusting mechanism is movably connected between the top plate of the universal sleeve and the inner wall of the limiting groove;

[0007] A switching mechanism matched with the adjusting mechanism is movably connected between the side wall of the universal sleeve and the upper part of the steering wheel body. The side wall of the switching mechanism is fixedly connected with the inner wall of the installation groove;

[0008] The adjusting mechanism includes an adjusting disc. The adjusting disc is rotatably connected to the top of the universal sleeve. Four arc-shaped grooves are equidistantly arranged along the circumference on the surface of the adjusting disc. Four sliding grooves are equidistantly arranged along the circumference on the top of the universal sleeve. The four sliding grooves correspond to the four arc-shaped grooves one by one. A slider is slidably connected inside the sliding groove. The middle part of the slider is movably inserted inside the corresponding arc-shaped groove. A spring telescopic rod is fixedly connected to the top of the slider. One end of the spring telescopic rod is lapped with the inner wall of the limiting groove;

[0009] Main guiding blocks are symmetrically and fixedly connected to the side wall of the lower part of the adjusting disc. Secondary guiding blocks are symmetrically and fixedly connected to the side wall of the lower part of the adjusting disc. The two main guiding blocks and the two secondary guiding blocks are distributed in a cross shape at the side wall position of the adjusting disc. The two main guiding blocks and the two secondary guiding blocks are arranged in a vertically offset manner. Guide grooves matched with the switching mechanism are formed in the middle parts of the main guiding blocks and the secondary guiding blocks.

[0010] Preferably, rectangular grooves are symmetrically formed on the inner wall of the arc-shaped groove. Rectangular blocks are fixedly connected to both sides of the slider. The rectangular blocks are slidably connected inside the corresponding rectangular grooves. A return spring is fixedly connected between the surface of the slider and the inner wall of the sliding groove.

[0011] Preferably, a support bearing is fixedly sleeved on the upper part of the outer ring of the universal sleeve. The inner ring of the lower part of the adjusting disc is fixedly connected to the outer ring of the support bearing.

[0012] Preferably, the switching mechanism includes two limiting sleeves. The two limiting sleeves are symmetrically and fixedly connected between the inner wall of the installation groove and the universal sleeve. Switching sleeves are symmetrically and fixedly connected to the inner wall of the installation groove. The switching sleeves are fixedly connected between the inner wall of the installation groove and the universal sleeve. The two switching sleeves and the two limiting sleeves are distributed in a cross shape at the inner wall position of the installation groove. The two switching sleeves and the two limiting sleeves are arranged in a vertically offset manner;

[0013] A limiting block is slidably connected inside the limiting sleeve. A limiting tooth ring is fixedly connected to the top of the steering wheel body. One end of the limiting block is movably inserted into the tooth position of the limiting tooth ring. A compression spring is fixedly connected between the inner wall of the limiting sleeve and the end of the limiting block. A main through groove is formed in the top of the limiting sleeve. A main connecting rod is slidably connected inside the main through groove. The bottom of the main connecting rod is fixedly connected to the top of the limiting block. The upper part of the main connecting rod is slidably connected inside the adjusting mechanism;

[0014] Friction blocks are symmetrically and movably connected to the inner wall of the limiting sleeve. The two friction blocks are respectively arranged on both sides of the limiting block;

[0015] A switching groove is formed in the outer circumference of the lower part of the limiting tooth ring. Two switching sleeves are symmetrically arranged at the circumferential position of the switching groove. A switching pressure rod is slidably connected inside the switching sleeve. One end of the switching pressure rod is movably inserted into the switching groove. A compression spring is fixedly connected between the other end of the switching pressure rod and the inner wall of the switching sleeve. A secondary through groove is formed in the top of the switching sleeve. A secondary connecting rod is slidably connected inside the secondary through groove. The bottom of the secondary connecting rod is fixedly connected to the top of the switching pressure rod. The upper part of the secondary connecting rod is slidably connected inside the adjusting mechanism.

[0016] Preferably, sliding sleeves are symmetrically and fixedly connected to the inner wall of the limiting sleeve. The friction blocks are movably inserted into the sliding sleeves. A pushing spring is fixedly connected between the inner wall of the sliding sleeve and the end of the friction block. The cross-section of the friction block is rectangular.

[0017] Preferably, the limiting block is composed of a movable block, a cross bar, a connecting spring and an insertion block. The cross bar is slidably connected between the insertion block and the movable block. The connecting spring is movably sleeved on the surface of the cross bar. The top of the movable block is fixedly connected to the bottom of the main connecting rod. The insertion block is movably inserted into the limiting tooth ring;

[0018] A limiting chamfer is formed at one end of the insertion block close to the limiting tooth ring. A friction chamfer matching the limiting chamfer is formed at one end of the friction block close to the limiting block.

[0019] Preferably, one end of the switching pressure rod close to the switching groove is set as an arc surface. The two sides of the switching groove are arranged in an involute shape;

[0020] The setting directions of the switching pressure rods at the front and rear positions inside the bottom plate are opposite. The setting directions of the limiting blocks at the front and rear positions inside the bottom plate are opposite.

[0021] Preferably, mounting positioning plates are fixedly connected to the four sides of the support plate. L-shaped limiting plates matching the support plate are fixedly connected to the four sides of the bottom plate.

[0022] Advantages of the present invention compared with the prior art:

[0023] In the present invention, through the cooperation of components such as the support plate, the adjustment mechanism, and the switching mechanism, by applying a force in any direction around the support plate at the top of the bottom plate, the adjustment mechanism can be operated. The adjustment mechanism drives the switching mechanism to unlock the locking state of the limiting gear ring at the top of the steering wheel body, so that the operation of the steering wheel body is switched to the universal wheel state, improving the convenience during the switching to the universal wheel state.

[0024] In the present invention, through the cooperative use of components such as the bottom plate, the steering wheel body, and the switching mechanism, when the force applied to the support plate is stopped, the steering wheel body stops rolling. At this time, the adjustment mechanism drives the switching mechanism to perform a reset movement, so that the switching mechanism drives the two steering wheel bodies on the front side of the bottom plate and the two steering wheel bodies on the rear side of the bottom plate to rotate in different directions, achieving a self-locking effect, so that the robot chassis will not slide when it stops at a position on a sloped ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a side view of the position of the bottom plate and the support plate of the present invention;

[0026] Figure 2 It is a side sectional view of a partial position of the bottom plate and the support plate of the present invention;

[0027] Figure 3 It is a top view of a partial position of the support plate and the limiting groove of the present invention;

[0028] Figure 4 It is a side sectional view of a partial position of the universal joint sleeve and the steering wheel body of the present invention;

[0029] Figure 5 For the present invention Figure 4 An enlarged view of the structure at A in the present invention;

[0030] Figure 6 For the present invention Figure 4 An enlarged view of the structure at B in the present invention;

[0031] Figure 7 It is a side sectional view of a partial position of the adjustment disc and the universal joint sleeve of the present invention;

[0032] Figure 8 It is a side view of a partial position of the limiting gear and the limiting sleeve of the present invention;

[0033] Figure 9 It is a sectional view of a partial position of the limiting block and the friction block of the present invention;

[0034] Figure 10 It is a sectional view of the position of the friction block and the sliding sleeve of the present invention;

[0035] Figure 11It is a top-down sectional view of the local position of the limit tooth ring and the switching groove of the present invention;

[0036] Figure 12 It is a side sectional view of the universal joint sleeve of the present invention;

[0037] Figure 13 It is a bottom view of the adjusting disc of the present invention.

[0038] In the figure: 1, bottom plate; 2, installation groove; 3, universal joint sleeve; 4, steering wheel body; 5, support plate; 6, limit groove; 7, adjusting mechanism; 701, adjusting disc; 702, arc groove; 703, sliding groove; 704, slider; 705, spring telescopic rod; 706, main guide block; 707, secondary guide block; 708, guide groove; 8, switching mechanism; 801, limit sleeve; 802, switching sleeve; 803, limit block; 804, limit tooth ring; 805, compression spring; 806, main through groove; 807, main connecting rod; 808, friction block; 809, switching groove; 810, switching pressure rod; 811, compression spring; 812, secondary through groove; 813, secondary connecting rod; 814, sliding sleeve; 815, pushing spring; 816, movable block; 817, cross bar; 818, connecting spring; 819, insertion block. Specific embodiments

[0039] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

[0040] Please refer to Figures 1 to 13 , the present invention provides a technical solution: a robot chassis that can be switched between a steering wheel and a universal wheel, including a bottom plate 1. Four installation grooves 2 are equidistantly opened on the surface of the bottom plate 1. A universal joint sleeve 3 is fixedly connected inside the installation groove 2, and a steering wheel body 4 is rotatably connected inside the universal joint sleeve 3. It should be noted that: an installation bearing is fixedly connected to the inner wall of the universal joint sleeve 3, and the upper part of the steering wheel body 4 is fixedly connected to the inner ring of the installation bearing. When the steering wheel body 4 is unlocked, the steering wheel body 4 can freely rotate inside the universal joint sleeve 3 to achieve the effect of universal adjustment; here, the steering wheel body 4 is a prior art and will not be described in detail.

[0041] A support plate 5 is lapped on the top of the bottom plate 1. A limit groove 6 matching the installation groove 2 is opened on the surface of the support plate 5. An adjusting mechanism 7 is movably connected between the top plate of the universal joint sleeve 3 and the inner wall of the limit groove 6.

[0042] A switching mechanism 8 that cooperates with the adjusting mechanism 7 is movably connected between the side wall of the universal joint 3 and the upper part of the steering wheel body 4, and the side wall of the switching mechanism 8 is fixedly connected to the inner wall of the mounting groove 2.

[0043] The adjusting mechanism 7 includes an adjusting disc 701. The adjusting disc 701 is rotatably connected to the top of the universal joint 3. Four arc-shaped grooves 702 are equidistantly arranged along the circumference on the surface of the adjusting disc 701. Four sliding grooves 703 are equidistantly arranged along the circumference at the top of the universal joint 3. The four sliding grooves 703 correspond to the four arc-shaped grooves 702 one by one. A slider 704 is slidably connected inside the sliding groove 703. The middle part of the slider 704 is movably inserted inside the corresponding arc-shaped groove 702. The top of the slider 704 is fixedly connected to a spring telescopic rod 705. One end of the spring telescopic rod 705 abuts against the inner wall of the limiting groove 6. It should be noted that: the adjusting disc 701 is set as a concave turntable, and the adjusting disc 701 is sleeved on the top of the universal joint 3; through the setting of the spring telescopic rod 705, when the support plate 5 is pressed, it moves on the bottom plate 1. When the limiting groove 6 of the support plate 5 presses against the spring telescopic rod 705, the spring telescopic rod 705 first compresses itself. When the spring telescopic rod 705 is compressed to the limit state, the spring telescopic rod 705 can drive the slider 704 to slide inside the sliding groove 703, so that the adjusting disc 701 is rotationally adjusted.

[0044] On the symmetric side walls of the lower part of the adjusting disc 701, main guiding blocks 706 are symmetrically and fixedly connected. On the symmetric side walls of the lower part of the adjusting disc 701, secondary guiding blocks 707 are symmetrically and fixedly connected. The two main guiding blocks 706 and the two secondary guiding blocks 707 are distributed in a cross shape on the side wall of the adjusting disc 701. The two main guiding blocks 706 and the two secondary guiding blocks 707 are arranged in an upper and lower offset manner. Guide grooves 708 that cooperate with the switching mechanism 8 are opened in the middle of the main guiding blocks 706 and the secondary guiding blocks 707.

[0045] In this embodiment, as Figures 1 to 13 shown, rectangular grooves are symmetrically opened on the inner wall of the arc-shaped groove 702. Rectangular blocks are fixedly connected to both sides of the slider 704. The rectangular blocks are slidably connected inside the corresponding rectangular grooves. A return spring is fixedly connected between the surface of the slider 704 and the inner wall of the sliding groove 703. It should be noted that: the cooperation of the rectangular groove and the rectangular block for sliding avoids the rotation of the slider 704 driving the spring telescopic rod 705 and affecting the use effect.

[0046] In this embodiment, as Figures 1 to 13 shown, a support bearing is fixedly sleeved on the upper part of the outer ring of the universal joint 3. The inner ring of the lower part of the adjusting disc 701 is fixedly connected to the outer ring of the support bearing.

[0047] In this embodiment, as Figures 1 to 13As shown, the switching mechanism 8 includes a limit sleeve 801. There are two limit sleeves 801, and the two limit sleeves 801 are symmetrically and fixedly connected between the inner wall of the installation groove 2 and the universal sleeve 3. The inner wall of the installation groove 2 is symmetrically and fixedly connected with a switching sleeve 802. The switching sleeve 802 is fixedly connected between the inner wall of the installation groove 2 and the universal sleeve 3. The two switching sleeves 802 and the two limit sleeves 801 are distributed in a cross shape at the inner wall position of the installation groove 2, and the two switching sleeves 802 and the two limit sleeves 801 are arranged with an upper and lower dislocation.

[0048] A limit block 803 is slidably connected inside the limit sleeve 801. A limit tooth ring 804 is fixedly connected to the top of the steering wheel body 4. One end of the limit block 803 is movably inserted into the tooth position of the limit tooth ring 804. A compression spring 805 is fixedly connected between the inner wall of the limit sleeve 801 and the end of the limit block 803. A main through groove 806 is opened at the top of the limit sleeve 801. A main connecting rod 807 is slidably connected inside the main through groove 806. The bottom of the main connecting rod 807 is fixedly connected to the top of the limit block 803. The upper part of the main connecting rod 807 is slidably connected inside the adjusting mechanism 7. It should be noted that: the upper part of the main connecting rod 807 is slidably connected inside the guiding groove 708 of the main guiding block 706; when the main guiding block 706 rotates along with the adjusting disc 701, the guiding groove 708 on the main guiding block 706 cooperates with the corresponding main connecting rod 807 to slide, so that the main connecting rod 807 drives the limit block 803 to translate inside the limit sleeve 801. Through the cooperation and insertion of the limit block 803 and the limit tooth ring 804, the universal state of the steering wheel body 4 is switched.

[0049] Friction blocks 808 are symmetrically and movably connected to the inner wall of the limit sleeve 801, and the two friction blocks 808 are respectively arranged on both sides of the limit block 803.

[0050] A switching groove 809 is formed in the outer circumference of the lower part of the limit gear ring 804. Two switching sleeves 802 are symmetrically arranged at the circumferential position of the switching groove 809. A switching pressure rod 810 is slidably connected inside the switching sleeve 802. One end of the switching pressure rod 810 is movably inserted into the switching groove 809. A compression spring 811 is fixedly connected between the other end of the switching pressure rod 810 and the inner wall of the switching sleeve 802. A through groove 812 is formed in the top of the switching sleeve 802. A secondary connecting rod 813 is slidably connected inside the through groove 812. The bottom of the secondary connecting rod 813 is fixedly connected to the top of the switching pressure rod 810. The upper part of the secondary connecting rod 813 is slidably connected inside the adjusting mechanism 7. It should be noted that: the upper part of the secondary connecting rod 813 is slidably connected inside the guiding groove 708 of the secondary guiding block 707; when the secondary guiding block 707 rotates along with the adjusting disc 701, the guiding groove 708 on the secondary guiding block 707 cooperates with the corresponding secondary connecting rod 813 to slide, so that the secondary connecting rod 813 drives the switching pressure rod 810 to translate inside the switching sleeve 802. Through the sliding cooperation between the switching pressure rod 810 and the switching groove 809, the limit gear ring 804 can drive the steering wheel body 4 to rotate inside the universal joint sleeve 3, so as to position the direction of the steering wheel body 4 after it stops rotating.

[0051] In this embodiment, as Figures 1 to 13 shown, sliding sleeves 814 are symmetrically and fixedly connected to the inner wall of the limit sleeve 801. Friction blocks 808 are movably inserted into the sliding sleeves 814. A pushing spring 815 is fixedly connected between the inner wall of the sliding sleeve 814 and the end of the friction block 808. The cross section of the friction block 808 is rectangular. It should be noted that: the rectangular friction block 808 is prevented from rotating inside the sliding sleeve 814, which affects the use effect; through the pushing spring 815, the friction block 808 can be pressed against the limit block 803, increasing the frictional resistance during the reset process of the limit block 803, so that the limit block 803 resets to the limit state later than the switching pressure rod 810, ensuring that after the direction of the stopped rotating steering wheel body 4 is positioned, the universal state of the steering wheel body 4 is locked.

[0052] In this embodiment, as Figures 1 to 13As shown in the figure, the limit block 803 is composed of a movable block 816, a cross bar 817, a connecting spring 818 and an insertion block 819. A cross bar 817 is slidably connected between the insertion block 819 and the movable block 816. The connecting spring 818 is movably sleeved on the surface of the cross bar 817. The top of the movable block 816 is fixedly connected to the bottom of the main connecting rod 807. The insertion block 819 is movably inserted into the internal of the limit gear ring 804. It should be noted that: through the setting of the insertion block 819, the movable block 816 and the connecting spring 818, during the process of the limit block 803 moving back to the limit gear ring 804, the friction block 808 will contact the surface of the insertion block 819, increasing the resistance during the reset process of the insertion block 819. As the compression force of the compression spring 811 gradually increases, the insertion block 819 can only insert into the tooth position of the limit gear ring 804 after overcoming the friction force, ensuring that the switching lever 810 enters the internal of the switching groove 809 first during the reset process.

[0053] A limit chamfer is provided at one end of the insertion block 819 close to the limit gear ring 804, and a friction chamfer matching the limit chamfer is provided at one end of the friction block 808 close to the limit block 803.

[0054] In this embodiment, as Figures 1 to 13 shown, one end of the switching lever 810 close to the switching groove 809 is set as an arc surface, and both sides of the switching groove 809 are arranged in an involute shape. It should be noted that: through the setting of the involute-shaped switching groove 809, when the two switching levers 810 move relative to each other and contact the arc surface of the inner wall of the switching groove 809, the limit gear ring 804 can drive the steering wheel body 4 to rotate and adjust the direction.

[0055] The setting directions of the switching levers 810 at the front and rear positions inside the bottom plate 1 are opposite, and the setting directions of the limit blocks 803 at the front and rear positions inside the bottom plate 1 are opposite. It should be noted that: since the directions of the two switching levers 810 and the limit blocks 803 at the front side position of the bottom plate 1 are different from those of the two switching levers 810 and the limit blocks 803 at the rear side position of the bottom plate 1, after the two steering wheel bodies 4 at the front side of the bottom plate 1 stop running, the directions after the two steering wheel bodies 4 at the rear side of the bottom plate 1 stop running are different, so that the four steering wheel bodies 4 after stopping running can produce a self-locking effect.

[0056] In this embodiment, as Figures 1 to 13 shown, mounting positioning plates are fixedly connected to the four sides of the support plate 5, and L-shaped limit plates matching the support plate 5 are fixedly connected to the four sides of the bottom plate 1. It should be noted that: the setting of the L-shaped limit plates ensures the stability of the support plate 5 during the installation and operation on the top of the bottom plate 1.

[0057] The usage method and advantages of the present invention: For a robot chassis that can be switched between a steering wheel and a universal wheel, the working process is as follows:

[0058] AsFigures 1 to 13 As shown, when the robot chassis fails and cannot move, during the pushing process at any position around the support plate 5, a dislocation occurs between the support plate 5 and the bottom plate 1, causing the inner wall of the limit groove 6 on the support plate 5 to press against the end of the spring telescopic rod 705 at the top of the adjustment disc 701. After the spring telescopic rod 705 is compressed to the limit state, it drives the slider 704 to slide along the track of the chute 703 at the top of the universal sleeve 3. At this time, during the sliding cooperation between the slider 704 and the arc-shaped groove 702 on the surface of the adjustment disc 701, the adjustment disc 701 rotates on the top of the universal sleeve 3;

[0059] During this process, the rotating universal sleeve 3 drives the main guide block 706 and the secondary guide block 707 to rotate synchronously. When the guide groove 708 inside the main guide block 706 slides in cooperation with the main connecting rod 807, the main connecting rod 807 pulls the limit block 803 to slide inside the main through groove 806 of the switching sleeve 802, causing the limit block 803 to disengage from the insertion with the limit gear ring 804. At this time, the limit gear ring 804 and the steering wheel body 4 are released from the limit state. At the same time, during the sliding cooperation between the secondary guide block 707 and the secondary connecting rod 813, the secondary connecting rod 813 drives the switching lever 810 to move out of the inside of the switching groove 809, enabling the steering wheel body 4 and the limit gear ring 804 to freely rotate inside the universal sleeve 3 and changing the rolling direction of the steering wheel body 4;

[0060] Finally, when the support plate 5 is released from the stressed state, the steering wheel body 4 stops operating. The slider 704 drives the spring telescopic rod 705 to move back under the elastic recovery of the return spring. At this time, the adjustment disc 701 rotates in the reverse direction. At the same time, the switching lever 810 inside the switching sleeve 802 also moves back under the elastic recovery of the compression spring 811. The two switching levers 810 move relatively and press against the arc surface position on the inner wall of the switching groove 809, causing the force of the relative movement of the switching levers 810 to drive the limit gear ring 804 and the steering wheel body 4 to rotate inside the universal sleeve 3. When the plane on the inner wall of the switching groove 809 contacts the surface of the switching lever 810, the limit gear ring 804 and the steering wheel body 4 stop rotating. Due to the different setting directions of the switching levers 810 at the front and back positions of the bottom plate 1, the directions of the steering wheel bodies 4 at the front and back positions of the bottom plate 1 are also different after stopping rotation, achieving the effect of self-locking after the steering wheel body 4 stops operating;

[0061] At the same time, during the reset rotation of the adjusting disk 701, the limit block 803 inside the limit sleeve 801 also resets and moves under the elastic recovery of the extrusion spring 805, and the end of the limit block 803 in the reset state contacts the friction block 808, so that the limit block 803 will not be reset to the limit state synchronously with the switching pressure rod 810. Instead, when the switching pressure rod 810 moves to the limit position, the connecting spring 818 on the limit block 803 elastically overcomes the friction force and brings the plug block 819 to release the contact with the friction block 808, so that the plug block 819 is inserted into the tooth position of the limit gear ring 804, and the universal adjustment state of the steering wheel body 4 is locked again, so that the steering wheel body 4 can no longer be universally adjusted.

[0062] The above shows and describes the basic principles, main features and advantages of the present invention. Technical personnel in this industry should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A robot chassis capable of switching between a steering wheel and a universal wheel, comprising a bottom plate (1), characterized in that: The surface of the bottom plate (1) is provided with four installation grooves (2) at equal intervals, the interior of the installation groove (2) is fixedly connected with a universal sleeve (3), and the interior of the universal sleeve (3) is rotatably connected with a steering wheel body (4); A support plate (5) is overlapped on the top of the bottom plate (1), a limiting groove (6) matching with the mounting groove (2) is provided on the surface of the support plate (5), and an adjustment mechanism (7) is movably connected between the top plate of the universal sleeve (3) and the inner wall of the limiting groove (6); A switching mechanism (8) that cooperates with the adjustment mechanism (7) is movably connected between the side wall of the universal sleeve (3) and the upper part of the steering wheel body (4), and the side wall of the switching mechanism (8) is fixedly connected to the inner wall of the installation groove (2); The adjusting mechanism (7) comprises an adjusting disk (701), wherein the adjusting disk (701) is rotatably connected to the top of the universal sleeve (3), wherein the surface of the adjusting disk (701) is provided with four arc grooves (702) equidistantly along the circumference, and the top of the universal sleeve (3) is provided with four slide grooves (703) equidistantly along the circumference, wherein the four slide grooves (703) correspond to the four arc grooves (702) one by one, wherein a slider (704) is slidably connected inside the slide groove (703), wherein the middle part of the slider (704) is movably inserted into the corresponding arc groove (702), and a spring telescopic rod (705) is fixedly connected to the top of the slider (704), wherein one end of the spring telescopic rod (705) overlaps the inner wall of the limiting groove (6); The side wall at the lower part of the adjusting disk (701) is symmetrically fixedly connected with a main guide block (706), and the side wall at the lower part of the adjusting disk (701) is symmetrically fixedly connected with a slave guide block (707). The two main guide blocks (706) and the two slave guide blocks (707) are distributed in a cross shape on the side wall of the adjusting disk (701). The two main guide blocks (706) and the two slave guide blocks (707) are staggered up and down. The middle parts of the main guide blocks (706) and the slave guide blocks (707) are both provided with guide grooves (708) that cooperate with the switching mechanism (8).

2. The robot chassis capable of switching between a steering wheel and a universal wheel according to claim 1, characterized in that: The inner wall of the arc groove (702) is symmetrically provided with rectangular grooves, and rectangular blocks are fixedly connected to both sides of the slider (704). The rectangular blocks are slidably connected to the inside of the corresponding rectangular groove, and a return spring is fixedly connected between the surface of the slider (704) and the inner wall of the slide groove (703).

3. The robot chassis capable of switching between a steering wheel and a universal wheel according to claim 2, characterized in that: The upper part of the outer ring of the universal sleeve (3) is fixedly sleeved with a support bearing, and the inner ring of the lower part of the adjustment disk (701) is fixedly connected to the outer ring of the support bearing.

4. The robot chassis capable of switching between a steering wheel and a universal wheel according to claim 3, characterized in that: The switching mechanism (8) comprises a limiting sleeve (801), wherein the limiting sleeve (801) is provided in two numbers, the two limiting sleeves (801) are symmetrically fixedly connected between the inner wall of the mounting groove (2) and the universal sleeve (3), the inner wall of the mounting groove (2) is symmetrically fixedly connected with a switching sleeve (802), the switching sleeve (802) is fixedly connected between the inner wall of the mounting groove (2) and the universal sleeve (3), the two switching sleeves (802) and the two limiting sleeves (801) are distributed in a cross shape at the inner wall position of the mounting groove (2), and the two switching sleeves (802) and the two limiting sleeves (801) are staggered in the upper and lower positions; The limiting sleeve (801) is internally slidably connected to a limiting block (803); the top of the steering wheel body (4) is fixedly connected to a limiting toothed ring (804); one end of the limiting block (803) is movably inserted into the tooth position of the limiting toothed ring (804); an extrusion spring (805) is fixedly connected between the inner wall of the limiting sleeve (801) and the end of the limiting block (803); a main through groove (806) is provided on the top of the limiting sleeve (801); a main connecting rod (807) is internally slidably connected to the main through groove (806); the bottom of the main connecting rod (807) is fixedly connected to the top of the limiting block (803); and the upper part of the main connecting rod (807) is slidably connected to the inside of the adjustment mechanism (7); The inner wall of the limiting sleeve (801) is symmetrically and movably connected with a friction block (808), and the two friction blocks (808) are respectively arranged on both sides of the limiting block (803); The outer ring at the lower part of the limiting tooth ring (804) is provided with a switching groove (809), and the two switching sleeves (802) are symmetrically arranged at the circumferential position of the switching groove (809). The switching sleeve (802) is slidably connected to a switching pressure rod (810) inside, and one end of the switching pressure rod (810) is movably inserted into the inside of the switching groove (809), and a compression spring (811) is fixedly connected between the other end of the switching pressure rod (810) and the inner wall of the switching sleeve (802). The top of the switching sleeve (802) is provided with a slave through groove (812), and the inside of the slave through groove (812) is slidably connected to a slave connecting rod (813), and the bottom of the slave connecting rod (813) is fixedly connected to the top of the switching pressure rod (810), and the upper part of the slave connecting rod (813) is slidably connected to the inside of the adjustment mechanism (7).

5. The robot chassis capable of switching between a steering wheel and a universal wheel according to claim 4, characterized in that: The inner wall of the limiting sleeve (801) is symmetrically fixedly connected with a sliding sleeve (814), the friction block (808) is movably inserted into the interior of the sliding sleeve (814), a pushing spring (815) is fixedly connected between the inner wall of the sliding sleeve (814) and the end of the friction block (808), and the cross-section of the friction block (808) is set to be rectangular.

6. The robot chassis capable of switching between a steering wheel and a universal wheel according to claim 5, characterized in that: The limit block (803) is composed of a movable block (816), a cross bar (817), a connecting spring (818) and an insert block (819); a cross bar (817) is slidably connected between the insert block (819) and the movable block (816); the connecting spring (818) is movably sleeved on the surface of the cross bar (817); the top of the movable block (816) is fixedly connected to the bottom of the main connecting rod (807); and the insert block (819) is movably inserted into the interior of the limit tooth ring (804); The insert block (819) has a limiting chamfer at one end close to the limiting tooth ring (804), and the friction block (808) has a friction chamfer matching the limiting chamfer at one end close to the limiting block (803).

7. The robot chassis capable of switching between a steering wheel and a universal wheel according to claim 6, characterized in that: One end of the switching pressure rod (810) close to the switching groove (809) is configured as an arc surface, and two sides of the switching groove (809) are configured in an involute shape; The switch pressure rods (810) at the front and rear positions inside the bottom plate (1) are arranged in opposite directions, and the limit blocks (803) at the front and rear positions inside the bottom plate (1) are arranged in opposite directions.

8. The robot chassis capable of switching between a steering wheel and a universal wheel according to claim 7, characterized in that: The support plate (5) is fixedly connected to a mounting positioning plate on all four sides, and the base plate (1) is fixedly connected to an L-shaped limiting plate that matches the support plate (5) on all four sides.

Images