Robot chassis mechanism capable of alternately using power wheels and unpowered wheels

Abstract

The invention provides a robot chassis mechanism with alternately-used power wheels and unpowered wheels, relates to the technical field of robot chassis, and aims to solve the problems that an existing robot is large in turning radius, poor in narrow road trafficability and strenuous in manual pushing after power failure. The mechanism comprises a chassis part, driving wheels and lug seats are arranged at the bottom of the chassis part, rotating shafts with mounting plates are rotationally mounted in the lug seats, and universal wheels are mounted at the bottoms of the mounting plates; the rotating assembly drives the rotating shaft to rotate, and the locking mechanism locks the position of the mounting plate. The locking mechanism drives the connecting shaft to move through the valve body assembly, and the locking assembly is triggered to lock the mounting plate in the horizontal state. The rotating assembly drives the rotating shaft to rotate through the lever, so that the driving wheel and the universal wheel are alternately landed. Power modes can be flexibly switched, the turning radius is reduced when the universal wheels touch the ground, the narrow road passing ability is improved, the manual pushing force is greatly reduced after power failure, the multi-scene requirements of automatic walking, narrow road steering, manual carrying and the like are met, and operation is convenient and fast.

Description

Technical Field

[0001] This invention relates to the field of robot chassis technology, and more specifically, to a robot chassis mechanism in which powered wheels and unpowered wheels can be used alternately. Background Technology

[0002] As the core load-bearing and driving component of a mobile robot, the performance of the robot chassis directly determines the robot's mobility, scene adaptability, and ease of operation. In fields such as warehousing and logistics, industrial production, and indoor services, robots often need to switch between different scenarios, such as wide passages, narrow alleys, and elevator cars, and may also face the need for manual transfer after a power outage. This places diverse demands on the mobility performance of the chassis.

[0003] When a robot is working, it may encounter extreme situations such as running out of battery power and being unable to walk automatically. In addition, if the environment is complex, such as a narrow passageway, the available turning radius may be smaller than the turning radius of the robot's power wheels (hereinafter referred to as drive wheels). The robot may not be able to use the drive wheels to achieve functions such as turning. At the same time, some robot chassis lack convenient manual pushing design. After power failure, due to the large damping of the drive wheels, manual transfer is difficult and increases the difficulty of operation.

[0004] To address the aforementioned pain points, the industry urgently needs a robot chassis mechanism that features a simple structure, convenient switching, and strong stability, allowing for the flexible switching between powered and unpowered wheels to balance driving efficiency, steering flexibility, and ease of manual operation, thus adapting to the usage needs of different scenarios. Summary of the Invention

[0005] The present invention aims to solve the problems of existing robots having a large turning radius, poor passage through narrow passages, and difficulty in manual pushing after a power outage.

[0006] To address the aforementioned problems, this invention provides a robot chassis mechanism that allows for the alternating use of powered and unpowered wheels. The mechanism includes a chassis component, with a drive wheel fixedly mounted on the bottom of the chassis component. An ear seat is also fixedly mounted on the bottom of the chassis component, and a rotating shaft is rotatably disposed within the ear seat. Mounting plates are symmetrically fixedly mounted on the outer wall of the rotating shaft, and universal wheels are fixedly mounted on the bottom of the mounting plates. The mechanism further includes: a rotating assembly disposed at the end of the rotating shaft for driving the rotating shaft to rotate within the ear seat to adjust the position of the universal wheels; and a locking mechanism disposed at the bottom of the chassis component for locking the position of the mounting plates when they rotate with the rotating shaft and remain horizontal.

[0007] The present invention provides a robot chassis mechanism that allows for the alternating use of powered and unpowered wheels, which, compared to the prior art, has the following beneficial effects, but is not limited to: To address the issues of existing robots having large turning radii, poor narrow-path maneuverability, and difficulty in manual pushing after a power outage, this chassis mechanism features drive wheels bolted to both sides of the chassis bottom, lugs welded to the center of the chassis bottom, a rotating shaft rotatably mounted in the lug bearings, a mounting plate fixed to the outer wall of the rotating shaft via a key connection, and casters bolted to the bottom of the mounting plate. A rotating assembly is fixed to the end of the rotating shaft, and a locking mechanism is installed on the bottom of the chassis near the mounting plate. During automatic movement, the casters are suspended, while the drive wheels provide power. For narrow-path turning or pushing after a power outage, the mechanism... The rotating component drives the shaft to rotate, causing the mounting plate and casters to rotate to the ground. The locking mechanism locks the mounting plate, at which point the drive wheels are suspended in the air, and the casters can then provide support and movement. Because the turning radius is reduced when the casters are on the ground, they can turn around flexibly in spaces smaller than the original minimum turning radius of the drive wheels, significantly improving the ability to pass through narrow spaces. Moreover, the damping of the casters is much less than that of the drive wheels, and the pushing force is greatly reduced after power failure, making operation more convenient and the manual pushing process more effortless and the usage effect better. By alternating between the drive wheels and casters, different scenario requirements can be met.

[0008] Furthermore, the locking mechanism includes a connecting shaft and a mounting block. A valve body assembly is provided on one side of the chassis component, and the valve body assembly is connected to one end of the connecting shaft for driving the connecting shaft to move left and right. The mounting block is fixedly installed on the lower surface of the chassis component. A locking component is movably disposed in the mounting block, and the locking component is connected to the other end of the connecting shaft for triggering the locking component to lock the position of the mounting plate by moving the connecting shaft.

[0009] Furthermore, the locking mechanism also includes a first floating joint and a second floating joint, wherein the valve body assembly and the connecting shaft are connected via the first floating joint, and the locking assembly and the connecting shaft are connected via the second floating joint.

[0010] Furthermore, the locking assembly includes a moving plate, a sliding shaft, a screw, a rack, and a locking block. Sliding grooves are formed on both outer walls of the mounting block, and the sliding shaft is slidably disposed within the grooves. The rack is rotatably sleeved on the outer side of the sliding shaft. The moving plate and the sliding shaft are fixedly connected by a screw. The end of the second floating joint away from the connecting shaft is fixedly connected to the outer wall of the moving plate. The locking block is fixedly installed on one side of the mounting plate and is used to push the rack on the outer side of the sliding shaft to rotate when the mounting plate rotates.

[0011] Furthermore, the lower side of the card block near the rack is also provided with a chamfer.

[0012] Furthermore, the outer side of the mounting block is provided with a movable groove for accommodating the rack, and the movable groove and the rack are in clearance fit.

[0013] Furthermore, a limiting post is fixedly installed at the bottom of the chassis component to support the top of the mounting plate when the mounting plate is kept horizontal.

[0014] Furthermore, the valve body assembly includes a fixing plate fixedly installed on one side of the chassis component. A mounting hole is provided on one outer wall of the fixing plate, and a mounting cylinder is fixedly installed in the mounting hole. A valve shaft is movably installed in the mounting cylinder, and a rotating component is rotatably connected to the outer side of the valve shaft. The end of the valve shaft is connected to a first floating joint. A connecting piece is also rotatably connected to the outer wall of the mounting cylinder, and the end of the connecting piece is rotatably connected to the outer wall of the rotating component.

[0015] Furthermore, a valve handle is also fixedly installed on the outer wall of the rotating component.

[0016] Furthermore, the rotating assembly includes a bushing fixedly mounted on the end of the rotating shaft, and a lever is fixedly mounted on the outer wall of the bushing. Attached Figure Description

[0017] Figure 1 This is a first-view structural diagram of a robot chassis mechanism that allows for the alternating use of powered and unpowered wheels, according to an embodiment of the present invention. Figure 2 This is a second-view structural diagram of a robot chassis mechanism that allows for the alternating use of powered and unpowered wheels, according to an embodiment of the present invention. Figure 3 This is a third-view structural diagram of a robot chassis mechanism that allows for the alternating use of powered and unpowered wheels, according to an embodiment of the present invention. Figure 4 for Figure 3 Enlarged diagram of point A in the diagram; Figure 5 This is a schematic diagram of the mounting block in a robot chassis mechanism that allows for the alternating use of powered and unpowered wheels, according to an embodiment of the present invention. Figure 6 This is a first-view structural diagram of the locking mechanism in a robot chassis mechanism that allows alternating use of powered and unpowered wheels, according to an embodiment of the present invention. Figure 7 This is a second-view structural diagram of the locking mechanism in a robot chassis mechanism that allows alternating use of powered and unpowered wheels, according to an embodiment of the present invention. Figure 8 This is a fourth-view structural diagram of a robot chassis mechanism that allows for the alternating use of powered and unpowered wheels, according to an embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures: 1. Chassis components; 11. Drive wheel; 2. Ear seat; 3. Rotating shaft; 4. Mounting plate; 5. Caster wheel; 6. Rotating assembly; 61. Bushing; 62. Lever; 7. Locking mechanism; 71. Connecting shaft; 72. First floating joint; 73. Second floating joint; 74. Locking assembly; 741. Moving plate; 742. Slide groove; 743. Sliding shaft; 744. Rack; 745. Screw; 746. Locking block; 75. Valve body assembly; 751. Fixing plate; 752. Mounting cylinder; 753. Valve shaft; 754. Rotating component; 755. Connecting piece; 756. Valve handle; 76. Mounting block; 8. Limiting post. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings showing multiple embodiments according to this application. It should be understood that the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments described in this application without creative effort will fall within the scope of protection of this application.

[0020] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the description of this application is for the purpose of describing specific embodiments only and is not intended to limit this application; the terms "comprising," "including," "having," "containing," etc., in the description, claims, and accompanying drawings of this application are open-ended terms. Therefore, "comprising," "including," or "having" refers to, for example, a method or apparatus having one or more steps or elements, but is not limited to having only these one or more elements. The terms "first," "second," etc., in the description, claims, or accompanying drawings of this application are used to distinguish different objects, not to describe a specific order or hierarchy. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0021] In the description of this invention, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do 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. Therefore, they should not be construed as limitations on this invention.

[0022] Furthermore, in the attached diagram, the X-axis represents the horizontal direction, that is, the left and right position, and the positive direction of the X-axis (that is, the direction the arrow points to) represents the right, and the negative direction of the X-axis (that is, the direction opposite to the positive direction of the X-axis) represents the left; in the attached diagram, the Y-axis represents the vertical direction, that is, the front and back position, and the positive direction of the Y-axis (that is, the direction the arrow points to) represents the front, and the negative direction of the Y-axis (that is, the direction opposite to the positive direction of the Y-axis) represents the back; in the attached diagram, the Z-axis represents the vertical direction, that is, the up and down position, and the positive direction of the Z-axis (that is, the direction the arrow points to) represents the up, and the negative direction of the Z-axis (that is, the direction opposite to the positive direction of the Z-axis) represents the down.

[0023] It should also be noted that the aforementioned X-axis, Y-axis and Z-axis are used only for the convenience of describing the present invention and simplifying the description, and are not intended to 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 should not be construed as a limitation of the present invention.

[0024] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "attachment" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0025] It should be emphasized that when the term "comprising / including" is used in this specification, it is used to explicitly indicate the presence of the stated feature, integer, step, or component, but does not exclude the presence or addition of one or more other features, integers, steps, parts, or groups of features, integers, steps, or parts.

[0026] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0027] See Figures 1-8An embodiment of the present invention provides a robot chassis mechanism that allows for alternating use of powered and unpowered wheels, comprising a chassis component 1, a drive wheel 11 fixedly mounted on the bottom of the chassis component 1, an ear seat 2 fixedly mounted on the bottom of the chassis component 1, and a rotating shaft 3 rotatably mounted in the ear seat 2, mounting plates 4 symmetrically fixedly mounted on the outer wall of the rotating shaft 3, and universal wheels 5 fixedly mounted on the bottom of the mounting plates 4, further comprising: a rotating assembly 6 disposed at the end of the rotating shaft 3, used to drive the rotating shaft 3 to rotate in the ear seat 2 to adjust the position of the universal wheels 5; and a locking mechanism 7 disposed at the bottom of the chassis component 1, used to lock the position of the mounting plates 4 when the mounting plates 4 rotate with the rotating shaft 3 and remain horizontal.

[0028] In this embodiment, addressing the problems of existing robots having large turning radii, poor narrow-path passage, and difficulty in manual pushing after power failure, the drive wheels 11 in this chassis mechanism are bolted to both sides of the bottom of the chassis component 1. The lugs 2 are welded to the center of the bottom of the chassis component 1. The rotating shaft 3 is rotatably mounted in the bearing of the lug 2. The mounting plate 4 is fixed to the outer wall of the rotating shaft 3 via a key connection. The universal wheels 5 are bolted to the bottom of the mounting plate 4. The rotating assembly 6 is fixed to the end of the rotating shaft 3, and the locking mechanism 7 is installed on the bottom of the chassis component 1 near the mounting plate 4. During automatic walking, the universal wheels 5 are suspended in the air, while the drive wheels 11 provide power by touching the ground. This design allows for turning in narrow passages or pushing after power failure. When the rotating component 6 drives the rotating shaft 3 to rotate, it drives the mounting plate 4 and the caster wheel 5 to rotate to the ground. The locking mechanism 7 locks the mounting plate 4. At this time, the drive wheel 11 is suspended in the air, and the caster wheel 5 can then bear the functions of support and movement. Since the turning radius of the caster wheel 5 is reduced when it is on the ground, it can turn around flexibly in a space smaller than the minimum turning radius of the original drive wheel 11, which significantly improves the passability in narrow spaces. Moreover, the damping of the caster wheel 5 is much smaller than that of the drive wheel 11. After the power is cut off, the pushing force of manual pushing is greatly reduced, making the operation convenient and the manual pushing process more labor-saving and the use effect better. By alternating the use of the drive wheel 11 and the caster wheel 5, it can adapt to different scenario needs.

[0029] Optional, please refer to Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 The locking mechanism 7 includes a connecting shaft 71 and a mounting block 76. A valve body assembly 75 is provided on one side of the chassis component 1, and the valve body assembly 75 is connected to one end of the connecting shaft 71 to drive the connecting shaft 71 to move left and right. The mounting block 76 is fixedly installed on the lower surface of the chassis component 1. A locking component 74 is movably disposed in the mounting block 76, and the locking component 74 is connected to the other end of the connecting shaft 71 to trigger the locking component 74 to lock the position of the mounting plate 4 by the movement of the connecting shaft 71.

[0030] In this embodiment, the valve body assembly 75 is fixed to one side of the chassis component 1 by bolts. The connecting shaft 71 is horizontally arranged, with one end connected to the valve body assembly 75 and the other end connected to the locking assembly 74. The mounting block 76 is welded to the lower surface of the chassis component 1, and the locking assembly 74 is movably installed in the mounting block 76 and can move with the connecting shaft 71. Before switching to the state where the universal wheel 5 is on the ground, the valve body assembly 75 is operated to drive the connecting shaft 71 to move to the right, which drives the locking assembly 74 to move, ensuring that the mounting plate 4 is automatically locked when it rotates to the horizontal position. When switching to the state where the drive wheel 11 is on the ground, the valve body assembly 75 drives the connecting shaft 71 to move to the left, the locking assembly 74 is unlocked, and the mounting plate 4 can then rotate to suspend the universal wheel 5.

[0031] Optional, please refer to Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 The locking mechanism 7 further includes a first floating joint 72 and a second floating joint 73. The valve body assembly 75 and the connecting shaft 71 are connected through the first floating joint 72, and the locking assembly 74 and the connecting shaft 71 are connected through the second floating joint 73.

[0032] In this embodiment, one end of the first floating joint 72 is threadedly connected to the valve shaft 753 of the valve body assembly 75, and the other end is connected to the end of the connecting shaft 71; one end of the second floating joint 73 is connected to the other end of the connecting shaft 71, and the other end is bolted to the moving plate 741 of the locking assembly 74; when the valve body assembly 75 drives the valve shaft 753 to move, the first floating joint 72 compensates for the coaxiality error between the valve shaft 753 and the connecting shaft 71; when the connecting shaft 71 drives the moving plate 741 to move, the second floating joint 73 compensates for the installation error between the connecting shaft 71 and the moving plate 741, ensuring the smooth transmission of force; the floating joint effectively compensates for assembly errors, reduces the running resistance of the mechanism by 40%, and eliminates jamming; the maintenance frequency is low, and the performance is better.

[0033] Optional, please refer to Figure 3 , Figure 4 and Figure 5 The locking assembly 74 includes a movable plate 741, a sliding shaft 743, a screw 745, a rack 744, and a locking block 746. The outer walls of both sides of the mounting block 76 are provided with sliding grooves 742, and the sliding shaft 743 is slidably disposed in the sliding grooves 742. The rack 744 is rotatably sleeved on the outer side of the sliding shaft 743. The movable plate 741 and the sliding shaft 743 are fixedly connected by the screw 745. The end of the second floating joint 73 away from the connecting shaft 71 is fixedly connected to the outer wall of the movable plate 741. The locking block 746 is fixedly installed on one side of the mounting plate 4 and is used to push the rack 744 on the outer side of the sliding shaft 743 to rotate when the mounting plate 4 rotates.

[0034] In this embodiment, the sliding grooves 742 on both sides of the mounting block 76 are elongated holes, and the sliding shaft 743 passes through the sliding grooves 742, with both ends fixed to the moving plate 741 by screws 745; the rack 744 is rotatably sleeved on the middle of the sliding shaft 743 through bearings, and the locking block 746 is welded to one side of the mounting plate 4, corresponding to the position of the rack 744; when the caster 5 rotates to the ground, the mounting plate 4 drives the locking block 746 to rotate, and the locking block 746 pushes the rack 744 to rotate around the sliding shaft 743; when the mounting plate When the mounting plate 4 is kept horizontal, the locking block 746 moves just below the rack 744. Since the rack 744 remains vertical under its own weight, it can block the locking block 746, thus keeping the mounting plate 4 in a horizontal position, allowing the caster wheel 5 to replace the drive wheel 11 in contact with the bottom surface. When unlocking, the connecting shaft 71 drives the sliding shaft 743 to move to the left, the rack 744 disengages from the locking block 746, and the mounting plate 4 can then rotate in the opposite direction, making the operation convenient.

[0035] Optional, please refer to Figure 4 The lower side of the card block 746 near the rack 744 is also provided with a chamfer.

[0036] In this embodiment, when the mounting plate 4 drives the locking block 746 to rotate, the chamfer first contacts the rack 744. The inclined surface guides the rack 744 to rotate smoothly around the sliding shaft 743, avoiding rigid collision between the locking block 746 and the rack 744. The chamfer design reduces the rotational resistance of the rack 744, resulting in better performance.

[0037] Optionally, the outer side of the mounting block 76 is provided with a movable groove for accommodating the rack 744, and the movable groove and the rack 744 are in clearance fit.

[0038] In this embodiment, please refer to Figure 5 The size of the movable groove on the outer side of the mounting block 76 is adapted to the rack 744, and the rack 744 can rotate and move freely in the movable groove. The rack 744 moves in the movable groove, and the movable groove restricts the radial displacement of the rack 744, ensuring that the locking block 746 can accurately push the rack 744 and move it below the rack 744. The movable groove can prevent the rack 744 from deviating, effectively improving the locking reliability.

[0039] Optionally, a limiting post 8 is also fixedly installed at the bottom of the chassis component 1 to support the top of the mounting plate 4 when the mounting plate 4 is kept horizontal.

[0040] In this embodiment, please refer to Figure 8The limiting post 8 is fixed to the bottom of the chassis component 1 by bolts and is located above the mounting plate 4. When the mounting plate 4 is horizontal, the bottom of the limiting post 8 is in contact with the top of the mounting plate 4. During the rotation of the caster wheel 5 to the ground, when the mounting plate 4 rotates to a horizontal state, the limiting post 8 abuts against the top of the mounting plate 4, restricting the mounting plate 4 from continuing to rotate, and ensuring that the caster wheel 5 is in vertical contact with the ground.

[0041] Optional, please refer to Figure 3 , Figure 6 and Figure 7 The valve body assembly 75 includes a fixing plate 751 fixedly installed on one side of the chassis component 1. A mounting hole is provided on one side outer wall of the fixing plate 751, and a mounting cylinder 752 is fixedly installed in the mounting hole. A valve shaft 753 is movably installed in the mounting cylinder 752, and a rotating component 754 is rotatably connected to the outer side of the valve shaft 753. The end of the valve shaft 753 is connected to the first floating joint 72. A connecting piece 755 is also rotatably connected to the outer wall of the mounting cylinder 752, and the end of the connecting piece 755 is rotatably connected to the outer wall of the rotating component 754. A valve handle 756 is also fixedly installed on the outer wall of the rotating component 754.

[0042] In this embodiment, the fixing plate 751 is welded to one side of the chassis component 1, the mounting cylinder 752 is fixed to the mounting hole of the fixing plate 751 by interference fit, the valve shaft 753 is slidably installed in the mounting cylinder 752, the rotating component 754 is connected to the side wall of the valve shaft 753 by bearings, and the two ends of the connecting piece 755 are respectively hinged to the outer wall of the mounting cylinder 752 and the outer wall of the rotating component 754; when the valve handle 756 is rotated to drive the rotating component 754 to rotate downward so that the valve handle 756 is kept in a horizontal state, under the limiting action of the connecting piece 755, the valve shaft 753 rotates downward. The actuator 754 can pull the valve shaft 753 to the left to achieve the unlocking action. When the valve handle 756 is rotated, causing the actuator 754 to rotate upward so that the valve handle 756 remains in a vertical state, under the limiting action of the connecting piece 755, the actuator 754 can pull the valve shaft 753 to the right, triggering the locking assembly 74 to maintain the locked position. Manually turning the valve handle 756 can easily rotate the actuator 754, thereby driving the valve shaft 753 to move, realizing the action control of the locking mechanism 7, which is very convenient to operate.

[0043] Optional, please refer to Figure 1 , Figure 2 and Figure 8 The rotating assembly 6 includes a bushing 61 fixedly installed at the end of the rotating shaft 3, and a lever 62 is fixedly installed on the outer wall of the bushing 61.

[0044] In this embodiment, the bushing 61 is fixed to the end of the rotating shaft 3 by a key connection, and the lever 62 is welded to the outer wall of the bushing 61, with an anti-slip sleeve on its surface. Manually pressing the lever 62 downwards causes the bushing 61 and the rotating shaft 3 to rotate, thereby driving the mounting plate 4 and the universal wheel 5 to rotate downwards to the ground. Pulling the lever 62 upwards causes the universal wheel 5 to rotate upwards to the suspended state. The lever arm design of the lever 62 reduces the rotation operation force and makes operation convenient. The bushing 61 and the rotating shaft 3 are firmly connected without relative slippage, resulting in better performance.

[0045] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A robot chassis mechanism that allows alternating use of powered and unpowered wheels, comprising a chassis component (1), wherein a drive wheel (11) is fixedly mounted on the bottom of the chassis component (1), characterized in that, The chassis component (1) has an ear seat (2) fixedly installed at its bottom, and a rotating shaft (3) is rotatably installed in the ear seat (2). A mounting plate (4) is symmetrically fixedly installed on the outer wall of the rotating shaft (3), and a caster wheel (5) is fixedly installed at the bottom of the mounting plate (4). The chassis component (1) also includes: The rotating component (6) is located at the end of the rotating shaft (3) and is used to drive the rotating shaft (3) to rotate in the ear seat (2) to adjust the position of the universal wheel (5); The locking mechanism (7) is located at the bottom of the chassis component (1) and is used to lock the position of the mounting plate (4) when the mounting plate (4) rotates with the shaft (3) and remains horizontal.

2. The robot chassis mechanism with alternating powered and unpowered wheels according to claim 1, characterized in that, The locking mechanism (7) includes a connecting shaft (71) and a mounting block (76). A valve body assembly (75) is provided on one side of the chassis component (1), and the valve body assembly (75) is connected to one end of the connecting shaft (71) to drive the connecting shaft (71) to move left and right. The mounting block (76) is fixedly installed on the lower surface of the chassis component (1). A locking component (74) is movably provided in the mounting block (76), and the locking component (74) is connected to the other end of the connecting shaft (71) to trigger the locking component (74) to lock the position of the mounting plate (4) by the movement of the connecting shaft (71).

3. A robot chassis mechanism with alternating powered and unpowered wheels according to claim 2, characterized in that, The locking mechanism (7) further includes a first floating joint (72) and a second floating joint (73). The valve body assembly (75) and the connecting shaft (71) are connected through the first floating joint (72), and the locking assembly (74) and the connecting shaft (71) are connected through the second floating joint (73).

4. A robot chassis mechanism with alternating powered and unpowered wheels according to claim 3, characterized in that, The locking assembly (74) includes a movable plate (741), a sliding shaft (743), a screw (745), a rack (744), and a locking block (746). The outer walls of both sides of the mounting block (76) are provided with sliding grooves (742), and the sliding shaft (743) is slidably disposed in the sliding grooves (742). The rack (744) is rotatably sleeved on the outer side of the sliding shaft (743). The movable plate (741) and the sliding shaft (743) are fixedly connected by the screw (745). The end of the second floating joint (73) away from the connecting shaft (71) is fixedly connected to the outer wall of the movable plate (741). The locking block (746) is fixedly installed on one side of the mounting plate (4) and is used to push the rack (744) on the outer side of the sliding shaft (743) to rotate when the mounting plate (4) rotates.

5. A robot chassis mechanism with alternating powered and unpowered wheels according to claim 4, characterized in that, The lower side of the card block (746) near the rack (744) is also provided with a chamfer.

6. A robot chassis mechanism with alternating powered and unpowered wheels according to claim 5, characterized in that, The outer side of the mounting block (76) is provided with a movable groove for accommodating the rack (744), and the movable groove and the rack (744) are in clearance fit.

7. A robot chassis mechanism with alternating powered and unpowered wheels according to claim 4, characterized in that, The bottom of the chassis component (1) is also fixedly installed with a limit post (8) for supporting the top of the mounting plate (4) when the mounting plate (4) is kept horizontal.

8. A robot chassis mechanism with alternating powered and unpowered wheels according to claim 3, characterized in that, The valve body assembly (75) includes a fixing plate (751) fixedly installed on one side of the chassis component (1). The outer wall of one side of the fixing plate (751) is provided with a mounting hole, and a mounting cylinder (752) is fixedly installed in the mounting hole. A valve shaft (753) is movably installed in the mounting cylinder (752), and a rotating component (754) is rotatably connected to the outer side of the valve shaft (753). The end of the valve shaft (753) is connected to the first floating joint (72). A connecting piece (755) is also rotatably connected to the outer wall of the mounting cylinder (752), and the end of the connecting piece (755) is rotatably connected to the outer wall of the rotating component (754).

9. A robot chassis mechanism with alternating powered and unpowered wheels according to claim 8, characterized in that, A valve handle (756) is also fixedly installed on the outer wall of the rotating component (754).

10. A robot chassis mechanism with alternating powered and unpowered wheels according to claim 1, characterized in that, The rotating assembly (6) includes a bushing (61) fixedly installed at the end of the rotating shaft (3), and a lever (62) is fixedly installed on the outer wall of the bushing (61).

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