A locking device applicable to a robot and a robot

Abstract

The present application discloses a locking device and a robot suitable for a robot, which relates to the field of robot technology. The locking device includes a base, a supporting mechanism, and a plurality of locking blocks. Each locking block is distributed on the base along the circumferential direction, and each locking block can move relative to the base to abut against the outer shell; the supporting mechanism includes a movable block and a plurality of supporting members, each supporting member is arranged between the movable block and the corresponding locking block, and the movable block can move relative to the base so that each supporting member drives the corresponding locking block to move relative to the base. The above-mentioned locking device moves the movable block relative to the base, so that each supporting member drives the corresponding locking block to move relative to the base to abut against the outer shell. This setting is similar to a drum brake. Each locking block can generate a large pressure against the outer shell, thereby forming a large static friction force, which can lock the robot joint module and the connecting rod together, greatly improving the torsional resistance of the robot to meet the application needs of the robot.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a locking device suitable for a robot. The present application also relates to a robot having the locking device. Background Art

[0002] At present, the market demand for robots is increasing, especially the small robots and collaborative robots that have emerged in recent years.

[0003] The structure of small robots and collaborative robots mainly includes a base, joint modules, and robot body connecting rods. The base mainly serves as a load-bearing device, while the robot body connecting rods connect to the joint modules to achieve multi-degree-of-freedom movement of the robot. For example, working parts can be installed at the end of the robot to perform tasks such as tightening and disassembly.

[0004] However, in the process of implementing the present invention, the inventors found that there are at least the following problems:

[0005] First, the joint motors in the joint module have low torque. When loaded, their torsional resistance is limited, making them incapable of performing many high-torque tightening tasks.

[0006] Secondly, the direct connection between the robot body connecting rod and the joint module is relatively thin and easily deformed under force, which affects the working accuracy and actual use effect.

[0007] Therefore, in order to meet the robot's usage requirements of small space, low cost, high torsional resistance, etc., it is necessary for those skilled in the art to provide a locking device suitable for the robot in a timely manner. Summary of the Invention

[0008] The purpose of this application is to provide a locking device suitable for a robot, which can achieve locking of the robot joint module, greatly improving the torsional resistance of the robot, thereby meeting the application needs of the robot. Another purpose of this application is to provide a robot including the above-mentioned locking device.

[0009] To achieve the above objectives, the present application provides a locking device suitable for a robot, comprising:

[0010] base;

[0011] A plurality of locking blocks, each of which is arranged along a circumferential direction and movably embedded in the base, and each of which is used to move relative to the base to abut against the outer shell located outside the base;

[0012] The supporting mechanism includes a movable block and several supporting members. Each supporting member is arranged between the movable block and the corresponding locking block. The movable block can be movably arranged in the base. The movable block is used to move relative to the base so that each supporting member drives the corresponding locking block to move relative to the base.

[0013] In some embodiments, each supporting member is a ball;

[0014] The supporting mechanism also includes a fixed block, a movable block with a first inclined surface, and a fixed block with a second inclined surface. Each ball abuts between the first inclined surface and the second inclined surface. The movable block pushes each ball, and each ball lifts the corresponding locking block under the action of the first inclined surface and the second inclined surface.

[0015] In some embodiments, each supporting member is a supporting rod;

[0016] Each supporting rod is hinged between the movable block and the corresponding locking block, and the movable block pushes each supporting rod to lift up each locking block.

[0017] In some embodiments, any locking block includes a sliding portion, and the base is provided with a plurality of sliding grooves evenly distributed along the circumferential direction. Each sliding portion can be slidably disposed in a corresponding sliding groove so that each locking block extends relative to the base.

[0018] In some embodiments, any locking block also includes a locking portion provided on the sliding portion, and the locking portion extends with protruding structures along both sides so that the size of the locking portion along the circumferential direction is larger than the size of the sliding portion along the circumferential direction, and the locking portion is provided with an arc-shaped locking surface that abuts against the outer shell.

[0019] In some embodiments, a driving mechanism for driving the movable block to move is further included, and the driving mechanism includes:

[0020] A driving assembly, the driving assembly is used to provide a driving force to move the movable block;

[0021] The reversing assembly is connected to the driving assembly and the movable block to transmit the motion and power of the driving assembly to the movable block.

[0022] In some embodiments, the switching assembly includes:

[0023] Two fixed plates, both of which are provided with movable slots;

[0024] Two connecting rods, the two connecting rods are hinged on both sides of the movable block;

[0025] A push rod, located between the two connecting rods;

[0026] The hinge shaft passes through the push rod and the two connecting rods, and both ends of the hinge shaft are respectively embedded in the two movable grooves.

[0027] In some embodiments, the drive assembly includes:

[0028] A hydraulic cylinder, the hydraulic cylinder including a telescopic rod, the telescopic rod being used to drive each locking block to lock to the outer shell when extended;

[0029] The electro-hydraulic workstation is located below the hydraulic cylinder and is used to transport hydraulic oil to the hydraulic cylinder.

[0030] In some embodiments, a detection component is further included, which is used to detect the position of the telescopic rod and to feed back the position of the telescopic rod to the electro-hydraulic workstation.

[0031] The present application also provides a robot, including a joint module, the joint module including an outer shell, and also including any of the above-mentioned locking devices, the locking device being used to abut against the outer shell to lock the joint module.

[0032] With respect to the above background technology, the locking device for a robot provided in an embodiment of the present application includes a base, a supporting mechanism, and a plurality of locking blocks. The locking blocks are distributed on the base along a circumferential direction, and each locking block can move relative to the base to abut against an outer shell located outside the base. The supporting mechanism includes a movable block and a plurality of supporting members, each supporting member is disposed between the movable block and the corresponding locking block, and the movable block can move relative to the base so that each supporting member drives the corresponding locking block to move relative to the base. During operation, when each locking block is in a state of releasing the outer shell, the joint module of the robot can move freely, so that the working parts on the robot can move to the working position. When the robot moves to the working position, the movable block moves relative to the base, so that each supporting member drives the corresponding locking block to move relative to the base to abut against the outer shell. At this time, the joint module of the robot is locked by the locking device, so that the working parts at the end of the robot (such as a cylinder, an electric cylinder, or an electric tightening member) can operate. It can be seen that compared with the traditional setting method, the locking device provided in the embodiment of the present application, through the movement of the movable block relative to the base, enables each supporting member to drive the corresponding locking block to move relative to the base to abut against the outer shell. This setting method is similar to a drum brake. Each locking block can generate a large resistance force on the outer shell, thereby forming a large static friction force. At this time, the robot joint module and the connecting rod can be locked together, so that the robot's anti-torsion performance is greatly improved to meet the application needs of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0034] Figure 1 This is a schematic diagram of the application of the locking device in the embodiment of the present application;

[0035] Figure 2 for Figure 1A schematic diagram of the ball-type amplifying mechanism in the locking device shown;

[0036] Figure 3 for Figure 2 A cross-sectional view of the ball-type amplifying mechanism shown;

[0037] Figure 4 for Figure 2 Schematic diagram of force analysis of the ball-type amplifying mechanism shown;

[0038] Figure 5 for Figure 1 Schematic diagram of force analysis of the hinged amplification mechanism in the locking device shown;

[0039] Figure 6 for Figure 1 A schematic diagram of the driving mechanism in the locking device shown;

[0040] Figure 7 for Figure 6 A schematic diagram of the reversing assembly in the drive mechanism shown;

[0041] Figure 8 This is a schematic diagram of the outer shell of the joint module in an embodiment of the present application;

[0042] Figure 9 for Figure 8 A partial schematic diagram of

[0043] Figure 10 This is an overall schematic diagram of the robot in the embodiment of this application.

[0044] in:

[0045] 100-base, 101-chute;

[0046] 200-locking block, 201-sliding portion, 202-locking portion, 203-arc-shaped locking surface;

[0047] 300-support mechanism, 301-movable block, 3011-first inclined surface, 302-support member, 303-fixed block, 3031-second inclined surface;

[0048] 400-driving mechanism, 401-driving assembly, 4011-hydraulic cylinder, 4012-electro-hydraulic workstation, 402-reversing assembly, 4021-fixed plate, 4022-movable slot, 4023-connecting rod, 4024-push rod, 4025-articulated shaft;

[0049] 500-Detection component;

[0050] 600-joint module, 601-outer shell, 6011-locking ring;

[0051] 700-working parts. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0053] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0054] It should be noted that the directional terms such as "upper end, lower end, left side, right side" described below are all defined based on the drawings in the specification.

[0055] See also Figure 1 、 Figure 2 and Figure 3 The locking device for a robot provided in an embodiment of the present application is used for locking the joint module 600 of the robot. The locking device includes a base 100, a supporting mechanism 300 and a plurality of locking blocks 200.

[0056] The locking blocks 200 are distributed on the base 100 along the circumferential direction, and are movably embedded in the base 100 . The locking blocks 200 are used to move relative to the base 100 to abut against the outer shell 601 located outside the base 100 .

[0057] The outer shell 601 is the outer shell of the robot joint module 600. To this end, the outer shell 601 is provided with a locking ring 6011. The locking ring 6011 is detachably mounted on the outer shell 601. The locking ring 6011 is disposed on the exterior of the base 100. Each locking block 200 is used to abut the inner wall of the locking ring 6011 to achieve locking. The locking ring 6011 is a wearable part. In this design, the locking ring 6011 can be easily removed, thereby facilitating replacement.

[0058] Of course, according to actual needs, the number of locking blocks 200 can be set to 2-8, and the locking blocks 200 are evenly distributed on the base 100. When each locking block 200 is extended relative to the base 100 to contact and abut against the locking ring 6011, each locking block 200 is connected to the locking ring 6011, and the joint module 600 of the robot is locked, at which time the robot can perform related operations; when each locking block 200 is retracted relative to the base 100 to be separated from the locking ring 6011, the connection between each locking block 200 and the locking ring 6011 is released, and the joint module 600 of the robot can move freely, so that the working component 700 of the robot can move to the working position.

[0059] The supporting mechanism 300 includes a movable block 301 and several supporting members 302. Each supporting member 302 is arranged between the movable block 301 and the corresponding locking block 200. The movable block 301 can be movably arranged in the base 100. The movable block 301 is used to move relative to the base 100 along the axis of the base 100, so that each supporting member 302 drives the corresponding locking block 200 to move relative to the base 100.

[0060] It can be understood that the number of the above-mentioned supporting members 302 is the same as the number of locking blocks 200, and the supporting members 302 and the locking blocks 200 are arranged in a one-to-one correspondence. Through the movement of the movable block 301, each supporting member 302 drives the corresponding locking block 200 to extend relative to the base 100, thereby achieving locking.

[0061] During operation, when each locking block 200 is in a state of loosening the locking ring 6011, the robot's joint module 600 can move freely so that the working part 700 on the robot can move to the working position. When the robot moves to the working position, the movable block 301 moves relative to the base 100, so that each supporting member 302 drives the corresponding locking block 200 to move relative to the base 100 to abut against the locking ring 6011. At this time, the robot's joint module 600 is locked by the locking device, so that the working part 700 at the end of the robot (such as a cylinder, electric cylinder, or electric tightening part) can operate.

[0062] It can be seen that compared with the traditional setting method, the locking device provided in the embodiment of the present application, through the movement of the movable block 301 relative to the base 100, enables each support member 302 to drive the corresponding locking block 200 to move relative to the base 100 to abut the locking ring 6011. This setting method is similar to a drum brake. Each locking block 200 can generate a large resistance force on the locking ring 6011, thereby forming a large static friction force. At this time, the robot joint module 600 and the robot body connecting rod can be locked together, so that the robot's anti-torsion performance is greatly improved to meet the application needs of the robot.

[0063] It should be noted that, with the above-mentioned setting method, the force transmission process is: movable block 301-supporting member 302-locking block 200, wherein the supporting member 302 is used to transmit the force applied to the movable block 301 to the locking block 200, so as to achieve the locking of the robot joint module 600. At the same time, the setting method has a force amplification function, that is, applying a very small force to the movable block 301 can make the locking block 200 receive a force that is multiple of the force received by the movable block 301. In this way, the above-mentioned setting method can form a force amplification mechanism, so that the locking device becomes a multi-force locking device, so that applying a very small force to the movable block 301 can generate a large resistance pressure on the locking ring 6011 to form a large static friction force, thereby locking the robot joint module 600 and the robot body connecting rod together, thereby greatly improving the torsional resistance of the robot.

[0064] In some embodiments, the force amplification mechanism may be a ball-type amplification mechanism.

[0065] Among them, each supporting member 302 is a ball, and each ball abuts between the corresponding locking block 200 and the movable block 301. The ball can be a steel ball, which has the advantages of good strength, not easy to break, and not easy to damage.

[0066] Furthermore, the supporting mechanism 300 also includes a fixed block 303, the movable block 301 is provided with a first inclined surface 3011, and the fixed block 303 is provided with a second inclined surface 3031. Each ball is abutted between the first inclined surface 3011 and the second inclined surface 3031. A driving force is applied to the movable block 301, and the movable block 301 pushes each ball. Each ball lifts the corresponding locking block 200 under the action of the first inclined surface 3011 and the second inclined surface 3031, so that the locking block 200 abuts against the locking ring 6011.

[0067] In this embodiment, the movable block 301 is defined as block A, the fixed block 303 is defined as block B, the locking block 200 is defined as block C, and the ball bearing is defined as block D.

[0068] Please also refer to Figure 4 , for A, the resultant force in the horizontal direction is zero, that is, the thrust F in the horizontal direction is equal to the component force of the pressure of D on A in the horizontal direction, and the equation is:

[0069] F=N A sinα, where α is the inclination angle of the inclined surface of block A;

[0070] For D analysis, using the concurrent force balance, we have:

[0071] In the horizontal direction: F'=N A sinα+N B cosβ, where β is the inclination angle of the inclined surface of block B;

[0072] In the vertical direction: N A cosα=N B sinβ

[0073] Solving the above three equations together, we get: F'=(1+cotαcotβ)F

[0074] That is, the magnification is: k = 1 + cotα cotβ or written as: k = cos(β - α) / sinα sinβ.

[0075] From the above analysis, it can be seen that applying a thrust of F to the movable block 301 can enable the locking block 200 to obtain a thrust of (1+cotαcotβ)F, thereby achieving the purpose of force amplification and greatly improving the torsional performance of the robot.

[0076] The ball-type force amplification mechanism is adopted, and the spherical supporting member 302 and the movable block 301 and the fixed block 303 with inclined surfaces have obvious force amplification effects, which is conducive to improving the torsional resistance of the robot through a simple mechanism.

[0077] In some embodiments, the force amplification mechanism may be a hinge-type amplification mechanism.

[0078] Each supporting member 302 is a supporting rod, and both ends of each supporting rod are hinged to the corresponding locking block 200 and movable block 301 respectively.

[0079] That is to say, each supporting rod is hinged between the movable block 301 and the corresponding locking block 200. Like this, by applying thrust to the movable block 301, the movable block 301 pushes each supporting rod to lift each locking block 200.

[0080] Please also refer to Figure 5 Taking two supporting rods as an example, a thrust F is applied to the joint position of the two supporting rods (i.e., the movable block 301);

[0081] Since the resultant force of the movable block 301 in the horizontal direction is zero, we have:

[0082] F = 2F1 cosr, where r is the inclination angle of the support rod to the horizontal direction;

[0083] That is, F1=F / 2cosr

[0084] In the formula, when the angle r approaches 90 degrees, the force on the two push rods approaches infinity. That is to say, when the angle r approaches 90 degrees, applying a very small force at the node can obtain a very large force on each push rod, thereby achieving the purpose of force amplification and greatly improving the torsional performance of the robot.

[0085] In order to facilitate the relative movement between each locking block 200 and the base 100 , each locking block 200 may be slidably connected to the base 100 .

[0086] Specifically, any locking block 200 includes a sliding portion 201, and the base 100 is provided with a plurality of sliding grooves 101 evenly distributed along the circumferential direction. Each sliding portion 201 can be slidably arranged in the corresponding sliding groove 101 so that each locking block 200 extends relative to the base 100 to achieve locking with the locking ring 6011.

[0087] The above-mentioned sliding arrangement not only facilitates the extension of each locking block 200 , but also guides the movement of each locking block 200 , thereby ensuring the stability and reliability of the movement of each locking block 200 .

[0088] On the basis of the above, any locking block 200 further includes a locking portion 202 provided on the sliding portion 201 , and the locking portion 202 extends a protruding structure along both sides so that the size of the locking portion 202 along the circumferential direction is larger than the size of the sliding portion 201 along the circumferential direction.

[0089] It can be understood that the raised structures at both ends can, on the one hand, prevent the locking block 200 from detaching from the base 100 when retracted, and on the other hand, increase the contact area between the locking block 200 and the locking ring 6011, thereby further enhancing the static friction between the two, which is beneficial to improving the torsional resistance of the robot.

[0090] In addition, the locking portion 202 is provided with an arcuate locking surface 203 that abuts against the locking ring 6011. The provision of the arcuate locking surface 203 is conducive to full contact between the locking block 200 and the inner wall of the locking ring 6011, ensuring the stability and reliability of the locking.

[0091] In some embodiments, the locking device further includes a driving mechanism 400 for driving the movable block 301 to move. The driving mechanism 400 includes a driving component 401 and a reversing component 402 .

[0092] Among them, the driving component 401 is used to provide driving force to move the movable block 301, and the reversing component 402 is connected to the driving component 401 and the movable block 301. The reversing component 402 is used to transmit the movement and power of the driving component 401 to the movable block 301 to promote the movement of the movable block 301.

[0093] Please also refer to Figure 7The reversing assembly 402 includes a hinge shaft 4025, a push rod 4024, two fixed plates 4021, and two connecting rods 4023. The two connecting rods 4023 are hinged to either side of the movable block 301, the two fixed plates 4021 are fixed to the outsides of the two connecting rods 4023, and both fixed plates 4021 are provided with movable slots 4022. The push rod 4024 is disposed between the two connecting rods 4023. The hinge shaft 4025 passes through the push rod 4024 and the two connecting rods 4023, and the two ends of the hinge shaft 4025 are respectively embedded in the two movable slots 4022, allowing the hinge shaft 4025 to move along the extending direction of the movable slots 4022 on the fixed plates 4021.

[0094] Of course, according to actual needs, the push rod 4024 can be a U-shaped structure. Under the pushing action of the driving component 401, the push rod 4024 pushes the hinge shaft 4025 to move in the movable groove 4022, and the movable block 301 and the hinge shaft 4025 are hinged by two connecting rods 4023, so that the movable block 301 can be pushed to move relative to the base 100.

[0095] It can be understood that the drive assembly 401 provides an upward driving force, and the push rod 4024 pushes the hinge shaft 4025 to move upward in the movable groove 4022, so that the movable block 301 moves in a direction perpendicular to the movement of the hinge shaft 4025, thereby lifting each locking block 200 to achieve the purpose of locking.

[0096] Of course, the reversing assembly 402 may also be implemented in other ways, such as a worm gear assembly, a rack and pinion assembly, a lead screw assembly, and the like.

[0097] The driving assembly 401 may be configured to include a telescopic driving assembly, so that the purpose of pushing the movable block 301 to move is achieved through the telescopic driving action of the telescopic driving assembly.

[0098] The telescopic rod of the telescopic drive assembly can be connected to the push rod 4024 to facilitate the upward and downward movement of the push rod 4024. Of course, the telescopic rod of the telescopic drive assembly can also be not connected to the push rod 4024. In this way, when the telescopic rod of the telescopic drive assembly is extended, the push rod 4024 is pushed upward and the movable block 301 is moved forward. Based on this, a spring assembly can be provided between the movable block 301 and the base 100, with the two ends of the spring assembly respectively abutting the movable block 301 and the base 100. The spring assembly is used to provide an elastic force to the movable block 301, so that the movable block 301 has a tendency to exit the locked state backward. When the telescopic rod of the telescopic drive assembly is extended to cause the movable block 301 to push up each locking block 200, the spring assembly is in a compressed state. When the telescopic rod of the telescopic drive assembly is retracted, the elastic force of the spring assembly causes the movable block 301 to return to its initial position.

[0099] In some embodiments, the driving assembly 401 includes a hydraulic cylinder 4011 and an electro-hydraulic workstation 4012 .

[0100] Please also refer to Figure 6 The hydraulic cylinder 4011 includes a telescopic rod, which is used to drive each locking block 200 to lock on the locking ring 6011 when extended. The electro-hydraulic workstation 4012 is arranged below the hydraulic cylinder 4011 and is used to transport hydraulic oil to the hydraulic cylinder 4011.

[0101] In this way, when locking is required, the hydraulic workstation is used to deliver hydraulic oil to the hydraulic cylinder 4011 to extend the telescopic rod of the hydraulic cylinder 4011, thereby pushing the push rod 4024 upward and the movable block 301 to lift each locking block 200.

[0102] Considering the small space of the robot, a small electro-hydraulic workstation 4012 and a hydraulic cylinder 4011 are applied to the robot. Compared with the use of motors, the driving force provided is much higher than that of motors, and the cost is also lower.

[0103] Of course, the small electro-hydraulic workstation 4012 can also be electrically driven, which is consistent with the power supply voltage of the robot's internal motor, making it fully built-in without any extra cables and oil pipes, and does not affect the movement of the robot.

[0104] In addition, the locking device can also be driven by an electric push rod 4024, a cylinder, a motor plus a gear, a motor plus a worm gear, an electromagnet, a hydraulic jack, an electric jack, a mechanical jack, etc. This application does not impose any specific restrictions on this.

[0105] Please also refer to Figure 7 The locking device further includes a detection component 500 , which is used to detect the position of the telescopic rod and to feed back the position information of the telescopic rod to the electro-hydraulic workstation 4012 .

[0106] It should be noted that the detection component 500 is a position sensor, which is used to detect whether the telescopic rod of the hydraulic cylinder 4011 is extended and retracted into position. The electro-hydraulic workstation 4012 is provided with a control component, such as a controller, which is in communication with the detection component 500 and the hydraulic cylinder 4011. In this way, when the position sensor detects that the telescopic rod of the hydraulic cylinder 4011 is extended into position, the joint module 600 of the robot is in a locked state, and the controller controls the telescopic rod of the hydraulic cylinder 4011 to stop extending. When the position sensor detects that the telescopic rod of the hydraulic cylinder 4011 is retracted into position, the joint module 600 of the robot is in an unlocked state, and the working part 700 of the robot can move to other positions to perform operations.

[0107] In addition, when the sensor detection of the locking device fails, the fault can also be detected by the change of the value of the built-in motor encoder of the joint module 600. This can achieve double insurance and protect the robot joint module 600 to the greatest extent.

[0108] The locking device using the above-mentioned setting method has a compact structure and can be placed inside a small robot or a collaborative robot to achieve locking of the robot joint module 600.

[0109] Please also refer to Figure 8 、 Figure 9 and Figure 10 The present application provides a robot including a joint module 600, which includes an outer shell 601. The robot also includes the locking device described in the above specific embodiment, which is used to abut against a locking ring 6011 installed on the outer shell 601 to put the joint module 600 in a locked state.

[0110] The robot's workflow is roughly as follows:

[0111] The hydraulic cylinder 4011 retracts, and the robot's joint module 600 can move freely. When the robot's working part 700 moves to the working position, the driving part of the locking device works, that is, the telescopic rod of the hydraulic cylinder 4011 extends, and the movable block 301 lifts up the locking blocks 200. The locking blocks 200 abut against the locking ring 6011. When the sensor detects that the telescopic rod of the hydraulic cylinder 4011 is extended into place, the robot's joint module 600 is locked by the locking device, and a large pressure is generated, thereby generating a large static friction force. At this time, the robot's joint module 600 and the previous connecting rod 4023 are locked together, and the torsional force resistance performance is greatly improved.

[0112] The working parts 700, such as the pneumatic cylinder, electric cylinder, and electric tightening spindle, on the end of the robot can operate to achieve applications in scenarios with large forces and high torques.

[0113] After the robot completes its task, the driving portion of the locking device retracts, and each locking block 200 releases the locking state with the locking ring 6011. When the sensor detects that the telescopic rod of the hydraulic cylinder 4011 has retracted into place, the robot's working part 700 can move to another position to perform work.

[0114] By repeating the above process, the robot can repeatedly complete the work tasks under large force and high torque scenarios.

[0115] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0116] The above is a detailed introduction to the locking device for robots and robots provided by the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the solution and core ideas of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. A locking device suitable for a robot, characterized in that: include: base(100); a plurality of locking blocks (200), each of the locking blocks (200) being arranged along a circumferential direction and being movably embedded in the base (100), and each of the locking blocks (200) being used to move relative to the base (100) to abut against an outer shell (601) located outside the base (100); A supporting mechanism (300), the supporting mechanism (300) comprising a movable block (301) and a plurality of supporting members (302), each of the supporting members (302) being disposed between the movable block (301) and the corresponding locking block (200), the movable block (301) being movably disposed within the base (100), the movable block (301) being configured to move relative to the base (100), so that each of the supporting members (302) drives the corresponding locking block (200) to move relative to the base (100); Any of the locking blocks (200) includes a sliding portion (201), and the base (100) is provided with a plurality of sliding grooves (101) uniformly distributed along the circumferential direction, and each of the sliding portions (201) is slidably arranged in the corresponding sliding groove (101), so that each of the locking blocks (200) extends relative to the base (100); Any of the locking blocks (200) further comprises a locking portion (202) provided on the sliding portion (201), wherein the locking portion (202) has protruding structures extending along both sides thereof, so that the size of the locking portion (202) along the circumferential direction is larger than the size of the sliding portion (201) along the circumferential direction, and the locking portion (202) is provided with an arc-shaped locking surface (203) for abutting against the outer shell (601); It also includes a driving mechanism (400) for driving the movable block (301) to move, and the driving mechanism (400) includes: a driving assembly (401), the driving assembly (401) being used to provide a driving force to move the movable block (301); a reversing assembly (402), the reversing assembly (402) being connected to the driving assembly (401) and the movable block (301) to transmit the motion and power of the driving assembly (401) to the movable block (301); The reversing assembly (402) includes: Two fixed plates (4021), each of the two fixed plates (4021) being provided with a movable groove (4022); Two connecting rods (4023), the two connecting rods (4023) are respectively hinged to two sides of the movable block (301); A push rod (4024) is provided between the two connecting rods (4023); A hinge shaft (4025) passes through the push rod (4024) and the two connecting rods (4023), and two ends of the hinge shaft (4025) are respectively embedded in the two movable grooves (4022).

2. The locking device according to claim 1, wherein: Each of the supporting members (302) is a ball; The supporting mechanism (300) further comprises a fixed block (303), the movable block (301) is provided with a first inclined surface (3011), the fixed block (303) is provided with a second inclined surface (3031), each of the balls abuts between the first inclined surface (3011) and the second inclined surface (3031), the movable block (301) pushes each of the balls, and each of the balls lifts up the corresponding locking block (200) under the action of the first inclined surface (3011) and the second inclined surface (3031).

3. The locking device according to claim 1, wherein: Each of the supporting members (302) is a supporting rod; Each of the supporting rods is hinged between the movable block (301) and the corresponding locking block (200), and the movable block (301) pushes each of the supporting rods to lift up each of the locking blocks (200).

4. The locking device according to claim 1, wherein: The driving assembly (401) comprises: A hydraulic cylinder (4011), the hydraulic cylinder (4011) comprising a telescopic rod, the telescopic rod being used to drive each locking block (200) to lock to the outer shell (601) when extended; The electro-hydraulic workstation (4012) is arranged below the hydraulic cylinder (4011) and is used to transport hydraulic oil to the hydraulic cylinder (4011).

5. The locking device according to claim 4, wherein: It also includes a detection component (500), which is used to detect the position of the telescopic rod and to feed back the position of the telescopic rod to the electro-hydraulic workstation (4012).

6. A robot comprising a joint module (600), wherein the joint module (600) comprises an outer shell (601), characterized in that: It also includes a locking device according to any one of claims 1 to 5, wherein the locking device is used to abut against the outer shell (601) to lock the joint module (600).

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