Locking mechanism and robot

Abstract

The invention discloses a locking mechanism and a robot, and relates to the technical field of robots. The locking mechanism includes: a base; the driving assembly is mounted on the base; the transmission assembly is arranged at the end of the driving assembly, the transmission assembly is in transmission connection with the driving assembly and is slidably installed on the base in the first direction, and a first inclined face is arranged at the end, away from the driving assembly, of the transmission assembly; the bolt assembly is arranged at the end, away from the driving assembly, of the transmission assembly and slidably installed on the base in the second direction, a second inclined face is arranged at the end, close to the transmission assembly, of the bolt assembly, and the second inclined face is slidably attached to the first inclined face. According to the locking mechanism, the number of parts of the locking mechanism can be reduced.

Description

Technical Field

[0001] This application relates to the field of robot technology, and particularly to a locking mechanism and a robot. Background Art

[0002] Currently, many robots adopt a modular design and can be equipped with different functional modules by a general chassis, such as delivery, food delivery, security, air purification and disinfection, cleaning and other functional modules.

[0003] In the related art, when locking the functional module and the chassis, a large space needs to be occupied in a single direction, resulting in an oversized chassis dimension in this direction. Summary of the Invention

[0004] This application provides a locking mechanism and a robot, which reduces the dimension of the chassis in the second direction and improves stability.

[0005] This application provides a locking mechanism, including: A base; A driving component, mounted on the base; A transmission component, disposed at the end of the driving component. The transmission component is in transmission connection with the driving component and is slidably mounted on the base in the first direction. One end of the transmission component away from the driving component is configured with a first inclined surface; A plug component, disposed at the end of the transmission component away from the driving component and slidably mounted on the base in the second direction. One end of the plug component close to the transmission component is configured with a second inclined surface, and the second inclined surface is in sliding fit with the first inclined surface.

[0006] In some possible implementation manners, the transmission component includes a connecting rod and a sliding seat. The sliding seat is fixedly connected to one end of the connecting rod, and the end of the connecting rod away from the sliding seat is in transmission connection with the driving component; The sliding seat has a first side and a second side arranged opposite to each other. The second side faces the side of the plug component, and the first inclined surface is formed on the second side; The first inclined surface is inclined in a direction away from the first side gradually from the end away from the driving component to the end close to the driving component.

[0007] In some possible implementation manners, the driving component includes a driving member and a cam. The driving member is mounted on the base; The cam is connected to the output shaft of the driving member. The cam is configured with a rotation axis parallel to the third direction, and the third direction is perpendicular to both the first direction and the second direction at the same time; The cam includes two convex portions arranged opposite to each other and two concave portions arranged opposite to each other, and the two convex portions and the two concave portions are arranged alternately in sequence around the rotation axis. The driving member can drive the cam to rotate so that the transmission component is staggered against the convex portions and the concave portions toward one end of the driving component.

[0008] In some possible implementations, a limiting groove is configured on the circumferential surface of the cam surrounding the rotation axis, and one end of the transmission assembly facing the driving assembly is inserted into the limiting groove and is positioned in the limiting groove at an upper limit in the third direction.

[0009] In some possible embodiments, a rolling roller is configured at one end of the transmission assembly facing the driving assembly, the rotation axis of the roller is parallel to the rotation axis of the cam, the roller is limited in the limiting groove and rollingly cooperates with the bottom of the limiting groove.

[0010] In some possible implementations, the locking mechanism includes a locked state, and ends of the two protrusions that are away from each other are both configured with a first positioning groove; When the locking mechanism is in the locking state, the roller is confined in one of the first positioning grooves.

[0011] In some possible implementations, the locking mechanism includes an unlocked state, and the sides of the two recesses that are away from each other are both matched with a second positioning groove; When the locking mechanism is in the unlocking state, the roller is confined in one of the second positioning grooves.

[0012] In some possible implementations, the latch assembly includes a base and an insertion rod, the base is connected to one end of the insertion rod and protrudes relative to the peripheral side of the insertion rod, and the second inclined surface is formed on a side of the base away from the insertion rod; The locking mechanism also includes an elastic member and a first guide member, the first guide member is slidably mounted on the insertion rod and is spaced apart from the base, the first guide member includes a connected shaft sleeve portion and a limiting edge, the limiting edge is protrudingly arranged on the circumferential side of the shaft sleeve portion away from one end of the base, the elastic member is mounted on the circumferential side of the shaft sleeve portion and is limited between the base and the limiting edge.

[0013] In some possible implementations, the locking mechanism further includes a guide rail, and a guide groove is configured on one side of the guide rail; One end of the latch assembly away from the transmission assembly is slidably arranged on the guide rail and is telescopically arranged relative to the guide groove.

[0014] In addition, the present application also provides a robot, which includes a chassis and a functional module connected to each other. The chassis includes the locking mechanism provided in each of the above embodiments. When the functional module is connected to the chassis, the locking mechanism is inserted into the functional module.

[0015] Advantages of the present application: For the locking mechanism provided in the present application, the transmission component is slidably arranged in a first direction and is drivingly connected between the driving component and the bolt component, and the bolt component is slidably arranged in a second direction. Among them, the power transmission between the driving component and the bolt component can be realized through the transmission component, and at the same time, the change of the power direction can be realized. Thus, it is avoided that the locking mechanism occupies a large volume in the second direction, the size of the chassis in the second direction is reduced, the center of gravity of the chassis is lowered, and the stability of the chassis is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 Shows a schematic structural diagram of the locking mechanism in an unlocked state in some embodiments; Figure 2 Shows a schematic structural diagram of the locking mechanism in a locked state in some embodiments; Figure 3 Shows an exploded structural diagram of the locking mechanism in some embodiments; Figure 4 Shows a three-dimensional structural diagram of the locking mechanism in some embodiments; Figure 5 Shows a schematic structural diagram of a cam in some embodiments; Figure 6 Shows a three-dimensional structural diagram of a cam in some embodiments; Figure 7 Shows a partial exploded structural diagram of the locking mechanism in some embodiments; Figure 8 Shows Figure 7 a partial enlarged structural diagram of part A in Figure 9 Shows a schematic cross-sectional structural diagram of the transmission component and the bolt component in some embodiments; Figure 10 Shows a schematic structural diagram of the chassis and the functional module in some embodiments; Figure 11The cross-sectional structural schematic diagram when the chassis and the functional connection are shown in some embodiments.

[0018] Description of main component symbols: 1000 - Locking mechanism; 1001 - Unlocked state; 1002 - Locked state; 100 - Driving assembly; 110 - Driving member; 120 - Cam; 121 - Convex part; 1211 - First positioning groove; 122 - Concave part; 1221 - Second positioning groove; 123 - Limiting groove; 200 - Transmission assembly; 210 - Connecting rod; 220 - Sliding seat; 2201 - First side; 2202 - Second side; 221 - First inclined surface; 222 - Guide wing plate; 230 - Roller; 240 - Connecting seat; 250 - Second guide member; 300 - Bolt assembly; 310 - Base; 311 - Second inclined surface; 312 - Limiting plate; 313 - Limiting convex part; 314 - Guide groove; 315 - Counterbore; 320 - Bolt; 400 - Mounting seat; 500 - First guide member; 510 - Bush part; 520 - Limiting edge; 600 - Guide rail; 610 - Guide groove; 700 - Elastic member; 2000 - Chassis; 3000 - Functional module; 3100 - Guide part; 3200 - Locking groove; X - First direction; Y - Second direction; Z - Third direction; L - Axis of rotation. Detailed implementation manners

[0019] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application and should not be construed as a limitation to the present application.

[0020] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0021] In addition, 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 quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, "a plurality of" means two or more unless specifically defined otherwise.

[0022] In this application, unless otherwise clearly defined and limited, terms such as "installed", "connected", "joined", "fixed", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0023] In this application, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature is at a higher level than the second feature in terms of horizontal height. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature is at a lower level than the second feature in terms of horizontal height.

[0024] As Figure 1 , Figure 10 and Figure 11 shown, in an embodiment, a locking mechanism 1000 is provided, which can be applied to the chassis 2000 of a robot. When the functional module 3000 of the robot is connected to the chassis 2000, the locking of the functional module 3000 can be achieved.

[0025] As Figure 1 and Figure 3 shown, in some embodiments, the locking mechanism 1000 includes a base, a driving component 100, a transmission component 200, and a latch component 300. Among them, the base can be a part of the main structure in the chassis 2000. The driving component 100 can be installed on the base and is generally located in the middle of the base in the first direction X. In this embodiment, there are two sets of transmission components 200, and the two sets of transmission components 200 are respectively arranged on the opposite sides of the driving component 100. One end of the two sets of transmission components 200 facing the driving component 100 is in transmission connection with the driving component 100, and the transmission component 200 is slidably installed on the base along the first direction X. The other end of the transmission component 200 away from the driving component 100 is configured with a first inclined surface 221.

[0026] Preferably, the latch assembly 300 includes two groups, and the two groups of latch assemblies 300 are respectively disposed at one ends of the two groups of transmission assemblies 200 away from the driving assembly 100. And the latch assembly 300 is slidably mounted on the base along the second direction Y. In addition, along the first direction X, the position of the latch assembly 300 on the base can be kept fixed. Wherein, the second direction Y is perpendicular to the first direction X. One end of the latch assembly 300 facing the transmission assembly 200 is configured with a second inclined surface 311, and the second inclined surface 311 is slidably fitted with the first inclined surface 221.

[0027] Such as Figure 1 , Figure 10 and Figure 11 As shown, during use, the driving assembly 100 can drive the transmission assembly 200 to slide along the first direction X. It can be understood that the transmission assembly 200 and the latch assembly 300 are in inclined surface cooperation. When the transmission assembly 200 slides along the first direction X, it can drive the latch assembly 300 to slide along the second direction Y. Thus, the movement of the latch assembly 300 in the second direction Y can be realized. Applying the locking mechanism 1000 to the chassis 2000, the locking and unlocking of the functional module 3000 can be realized through the telescopic action of the latch assembly 300.

[0028] In the embodiment of the present application, the power transmission between the driving assembly 100 and the latch assembly 300 can be realized through the transmission assembly 200, and at the same time, the change of the power direction can be realized. Thus, it is avoided that the locking mechanism 1000 occupies a large volume in the second direction Y, the size of the chassis 2000 in the second direction Y is reduced, the center of gravity of the chassis 2000 is lowered, and the stability of the chassis 2000 is improved.

[0029] In addition, in the present application, by driving the two groups of transmission assemblies 200 and the latch assemblies 300 to move through the same group of driving assemblies 100, the number of driving assemblies 100 provided can be reduced. On the one hand, the number of parts of the locking mechanism 1000 can be reduced, and the material cost of the locking mechanism 1000 can be reduced. On the other hand, the occupied space of the locking mechanism 1000 can be reduced, and the space utilization rate inside the chassis 2000 can be improved.

[0030] Such as Figure 1 , Figure 2 and Figure 11As shown, in some embodiments, the locking mechanism 1000 may include an unlocking state 1001 and a locking state 1002. When the locking mechanism 1000 is in the locking state 1002, one end of the latch assembly 300 away from the transmission assembly 200 can be inserted into the functional module 3000 to lock the functional module 3000 to the chassis 2000 and prevent the functional module 3000 from being detached from the chassis 2000 at will. When the locking mechanism 1000 is in the unlocking state 1001, the latch assembly 300 can be separated from the functional module 3000, allowing the functional module 3000 to be separated from the chassis 2000.

[0031] As Figures 1 to 6 shown, in some embodiments, the driving assembly 100 may include a driving member 110 and a cam 120. Among them, the driving member 110 can be fixedly installed on one side of the mounting seat 400. Among them, the mounting seat 400 can be fixedly connected to the base by means of screw connection or the like. The cam 120 is rotatably arranged on the side of the mounting seat 400 away from the driving member 110. The cam 120 can have a rotation axis L parallel to the third direction Z, and the third direction Z can be perpendicular to the first direction X and the second direction Y at the same time. The output shaft of the driving member 110 passes through the mounting seat 400 and is fixedly connected to the cam 120. Thus, the driving member 110 can drive the cam 120 to rotate around the rotation axis L.

[0032] In some embodiments, the driving member 110 can be selected as a servo motor.

[0033] In some other embodiments, the driving member 110 can be directly selected as a motor.

[0034] In some embodiments, the cam 120 may include two convex portions 121 arranged back to back and two concave portions 122 arranged back to back. The two convex portions 121 and the two concave portions 122 are arranged alternately around the rotation axis L in sequence. In some embodiments, the two convex portions 121 and the two concave portions 122 may be distributed in a cross shape. One end of the transmission assembly 200 facing the driving assembly 100 can be in contact with the circumferential surface of the cam 120 around the rotation axis L. Accordingly, the transmission assembly 200 can be in contact with the convex portions 121 and the concave portions 122 alternately.

[0035] In some embodiments, a limiting groove 123 may be configured on the circumferential surface of the cam 120 around the rotation axis L. Among them, the limiting groove 123 is arranged around the circumferential side of the cam 120 for one week, that is, the limiting groove 123 can be a closed ring structure. One end of the transmission assembly 200 facing the cam 120 can be inserted into the limiting groove 123 and can be limited in the third direction Z in the limiting groove 123. Thus, the transmission assembly 200 can be prevented from being misaligned with the cam 120 to facilitate the smooth transmission of power.

[0036] In some embodiments, first positioning grooves 1211 are disposed on the opposite sides of the two convex portions 121. Second positioning grooves 1221 are disposed on the opposite sides of the two concave portions 122. When the locking mechanism 1000 is in the locked state 1002, the two convex portions 121 face the two sets of transmission components 200 in a one-to-one correspondence, and the two sets of transmission components 200 are positioned and inserted into the two first positioning grooves 1211 in a one-to-one correspondence, which can prevent the relative movement between the transmission components 200 and the cam 120 at will. When the locking mechanism 1000 is in the unlocked state 1001, the two concave portions 122 face the two sets of transmission components 200 in a one-to-one correspondence, and the two sets of transmission components 200 are positioned and inserted into the two second positioning grooves 1221 in a one-to-one correspondence, which can prevent the relative movement between the transmission components 200 and the cam 120 at will.

[0037] In other embodiments, the driving assembly 100 may include a driving member 110, a gear, and two racks. Wherein, the gear may be fixedly connected to the output shaft of the driving member 110, and the gear can be driven by the driving member 110 to rotate, and the rotation axis of the gear may be parallel to the second direction Y. The two racks are both parallel to the first direction X and are disposed on the opposite sides of the gear along the third direction Z, and the two racks are both meshed with the gear. In addition, one ends of the two racks may be abutted against or fixedly connected to the connecting rods 210 in the two sets of transmission components 200 in a one-to-one correspondence.

[0038] As Figures 1 to 8 shown, in some embodiments, the transmission component 200 may include a connecting rod 210, a sliding seat 220, and a roller 230. Wherein, the axial direction of the connecting rod 210 may be parallel to the first direction X. The sliding seat 220 may be fixedly connected to one end of the connecting rod 210. In some embodiments, the connecting rod 210 and the sliding seat 220 may be an integral structure, and the connecting rod 210 and the sliding seat 220 are both slidably mounted on the base along the first direction X.

[0039] In some embodiments, the roller 230 may be rotatably connected to the end of the connecting rod 210 away from the sliding seat 220 through a connecting seat 240. Wherein, the connecting seat 240 may be fixedly connected to the connecting rod 210 by means of screw connection or the like. The roller 230 may be rotatably mounted on the side of the connecting seat 240 facing away from the connecting rod 210, and the rotation axis of the roller 230 may be parallel to the third direction Z.

[0040] In an embodiment, the side of the roller 230 away from the connecting rod 210 may be inserted into the limiting groove 123 and rollingly cooperate with the groove bottom of the limiting groove 123. Thus, the resistance during the relative movement between the roller 230 and the driving assembly 100 can be reduced, and the smoothness of the relative movement between the transmission component 200 and the cam 120 can be improved. In addition, the roller 230 may be limited in the limiting groove 123 in the third direction Z.

[0041] In some embodiments, the sliding seat 220 may include a first side 2201 and a second side 2202. The first side 2201 and the second side 2202 may be distributed on opposite sides of the sliding seat 220 along the second direction Y. Among them, the second side 2202 may be arranged toward the side of the latch assembly 300. The first inclined surface 221 may be formed on the second side 2202. In some embodiments, the first inclined surface 221 may be inclined away from the first side 2201 gradually from the end far away from the driving assembly 100 to the end close to the driving assembly 100.

[0042] In other embodiments, the first inclined surface 221 may also be inclined toward the first side 2201 gradually from the end far away from the driving assembly 100 to the end close to the driving assembly 100.

[0043] As Figure 1 、 Figure 2 and Figure 10 shown, in some embodiments, the locking mechanism 1000 further includes a second guide member 250. The second guide member 250 may be a linear bearing. The outer ring of the second guide member 250 may be fixedly connected to the base, and the axial direction of the second guide member 250 may be parallel to the first direction X. The connecting rod 210 may slide axially through the second guide member 250 along the first direction X and cooperate with the retainer of the second guide member 250 to ensure that the connecting rod 210 can slide smoothly along the first direction X and also provide a guiding function for the connecting rod 210.

[0044] As Figure 1 、 Figures 7 to 9 shown, in some embodiments, the latch assembly 300 may include a base 310 and a latch rod 320. Among them, the axial direction of the latch rod 320 may be parallel to the second direction Y. The base 310 may be connected to one end of the latch rod 320 close to the transmission assembly 200. In some embodiments, the base 310 and the latch rod 320 may be fixedly connected by means such as screw connection.

[0045] In other embodiments, the base 310 and the latch rod 320 may also be fixedly connected by means such as integral molding or welding.

[0046] In some embodiments, a second inclined surface 311 may be formed on the side of the base 310 facing away from the latch rod 320. The second inclined surface 311 may be parallel to the first inclined surface 221, and the second inclined surface 311 may be in sliding fit with the first inclined surface 221.

[0047] In some embodiments, on the side of the base 310 facing away from the insertion rod 320, two spaced-apart and opposite limiting plates 312 protrude. The two limiting plates 312 cooperate to enclose a guide groove 314 parallel to the second inclined surface 311. Among them, the second inclined surface 311 can serve as the bottom of the guide groove 314. At one end of each of the two limiting plates 312 away from the insertion rod 320, a limiting convex portion 313 opposite to the second inclined surface 311 protrudes. The two limiting convex portions 313 are spaced apart and opposite to each other. Along the third direction Z, on both sides of the sliding seat 220 close to the second side 2202, guide wing plates 222 protrude. One end of the sliding seat 220 provided with the first inclined surface 221 can be slidably inserted into the guide groove 314, and the first inclined surface 221 is in sliding fit with the second inclined surface 311. The two limiting convex portions 313 are respectively limited to the side of the two guide wing plates 222 facing away from the second inclined surface 311. Thus, it can prevent the base 310 and the sliding seat 220 from being separated randomly in the second direction Y and the third direction Z.

[0048] In some embodiments, the locking mechanism 1000 further includes two first guiding members 500. The two first guiding members 500 are respectively and slidably sleeved on the insertion rods 320 of the two pin assemblies 300, and the first guiding members 500 are spaced apart from the base 310.

[0049] In some embodiments, the first guiding member 500 may include an integral sleeve portion 510 and a limiting edge 520. Among them, the sleeve portion 510 may be in a tubular structure and is slidably sleeved on the periphery of the insertion rod 320 and is spaced apart from the base 310. The limiting edge 520 may protrude on the periphery of the end of the sleeve portion 510 away from the base 310. Correspondingly, the limiting edge 520 may be opposite to the base 310. In addition, the insertion rod 320 may be telescopically arranged relative to the side of the limiting edge 520 facing away from the base 310.

[0050] In some embodiments, the first guiding member 500 may also be a linear bearing. The first guiding member 500 may be fixedly connected to the base through structures such as brackets. In the embodiment, the axis of the first guiding member 500 may be parallel to the second direction Y. The outer ring of the first guiding member 500 may be fixedly arranged relative to the base. The insertion rod 320 may be slidably inserted through the first guiding member 500 and cooperate with the retainer inside the first guiding member 500. Thus, the first guiding member 500 can limit the movement of the pin assembly 300 in the first direction X. When the pin assembly 300 moves along the second direction Y under the drive of the transmission assembly 200, it can ensure that the pin assembly 300 moves smoothly along the second direction Y, and the first guiding member 500 can also provide a guiding function for the pin assembly 300.

[0051] In some embodiments, the locking mechanism 1000 further includes two elastic members 700, which are sleeved on the shaft sleeves 510 of the two first guide members 500 in a one-to-one correspondence. The elastic members 700 can be limited between the base 310 and the limiting edge 520 at the corresponding position. When the locking mechanism 1000 is in the unlocked state 1001, the elastic member 700 can be in a compressed state or a naturally extended state. When the locking mechanism 1000 switches from the locked state 1002 to the unlocked state 1001, the elastic member 700 can drive the latch assembly 300 and the corresponding transmission assembly 200 to reset.

[0052] In some embodiments, the elastic member 700 may be a spring.

[0053] In other embodiments, the elastic member 700 may also be a flexible column, a spring sheet or other structure.

[0054] In other embodiments, the latch assembly 300 can also be moved and reset under the action of gravity, and can drive the transmission assembly 200 to move and reset together.

[0055] In some embodiments, a recessed groove 315 is provided on one side of the base 310 facing the insertion rod 320 and is arranged around the insertion rod 320. The end of the elastic member 700 away from the limiting edge 520 can be limited in the recessed groove 315, which can reduce the radial shaking of the elastic member 700 in the sleeve portion 510 and further ensure that the elastic member 700 can provide a stable and reliable elastic reset force.

[0056] like Figures 1 to 4 As shown, in some embodiments, the locking mechanism 1000 further includes two guide rails 600 disposed at intervals. The two guide rails 600 may be disposed one-to-one corresponding to the two latch assemblies 300. In the embodiment, the two guide rails 600 are each provided with a guide groove 610 on one side opposite to each other, and the guide groove 610 may be parallel to the third direction Z.

[0057] In some embodiments, the first guide member 500 may be inserted into the guide rail 600 at a relative position, and the limiting edge 520 may be embedded in the side of the guide rail 600 facing the guide groove 610. In the embodiment, the surface of the limiting edge 520 facing away from the end of the shaft sleeve portion 510 may be flush with the bottom of the guide groove 610. In addition, the limiting edge 520 may be fixedly connected to the guide rail 600 by means of screw connection or the like. The guide rail 600 may also be fixedly connected to the base by means of a bracket or the like. Accordingly, the end of the insertion rod 320 away from the base 310 may be telescopically arranged relative to the guide groove 610.

[0058] like Figures 1 to 4 as well as Figure 10 , Figure 11As shown, in the embodiment, the locking mechanism 1000 is applied to the chassis 2000 of the robot. When the functional module 3000 is connected to the chassis 2000, the locking mechanism 1000 can be in the unlocked state 1001, and the insertion rod 320 can contract relative to the guide groove 610. The opposite guide portions 3100 on both sides of the functional module 3000 can be inserted into the guide grooves 610 of the two guide rails 600 one by one along the third direction Z. That is, the guide rails 600 can provide a guiding function for the insertion connection between the functional module 3000 and the chassis 2000. When the functional module 3000 is connected to the chassis 2000 in place, the locking mechanism 1000 can be switched from the unlocked state 1001 to the locked state 1002.

[0059] During the process of the locking mechanism 1000 being switched from the unlocked state 1001 to the locked state 1002, the driving member 110 can drive the cam 120 to rotate. During the rotation of the cam 120, the rollers 230 of the two transmission assemblies 200 can gradually move out of the second positioning grooves 1221 of the corresponding recesses 122. When the two convex portions 121 rotate to face the two transmission assemblies 200 one by one, the two rollers 230 can be correspondingly positioned and inserted into the two first positioning grooves 1211, and the driving member 110 can stop operating. During the process of the cam 120 being switched from the recess 122 to the convex portion 121 facing the transmission assembly 200, the two transmission assemblies 200 can be pushed to move away from each other along the first direction X. Since the position of the latch assembly 300 is relatively fixed in the first direction X, thus, under the squeezing action of the first inclined surface 221 and the second inclined surface 311, the transmission assembly 200 can push the latch assembly 300 at the corresponding position to move along the second direction Y. Specifically, the latch assembly 300 can gradually compress the elastic member 700 and extend out relative to the direction of the guide groove 610 of the guide rail 600 to be gradually inserted into the functional module 3000. Thus, the latch assembly 300 can restrict the functional module 3000 from detaching from the chassis 2000.

[0060] When it is necessary to remove the functional module 3000 from the chassis 2000, the locking mechanism 1000 can be switched from the locked state 1002 to the unlocked state 1001. During this process, the driving member 110 can drive the cam 120 to rotate, so that the two rollers 230 move out of the first positioning grooves 1211 of the corresponding convex portions 121, and the two concave portions 122 gradually rotate to be correspondingly opposite to the two sets of transmission components 200. When the two concave portions 122 rotate to be correspondingly opposite to the two sets of transmission components 200, the rollers 230 of the two sets of transmission components 200 can be correspondingly positioned in the two second positioning grooves 1221, and the driving member 110 can stop operating. During the process of the cam 120 switching from the convex portion 121 to the concave portion 122 being opposite to the transmission component 200, the elastic member 700 can gradually release the elastic potential energy and drive the plug component 300 to move away from the guide groove 610, so that the plug component 300 is gradually separated from the functional module 3000 and retracts relative to the guide groove 610. Under the extrusion of the first inclined surface 221 and the second inclined surface 311, the two sets of transmission components 200 can be driven to move closer to each other.

[0061] As Figure 10 and Figure 11 shown, an embodiment also provides a robot, including a chassis 2000 and a functional module 3000, and the functional module 3000 can be detachably arranged relative to the chassis 2000. Among them, the chassis 2000 can include the locking mechanism 1000 provided in the embodiment. When the functional module 3000 is connected to the chassis 2000, the plug component 300 of the locking mechanism 1000 can be inserted into the locking groove 3200 of the functional module 3000, so as to realize the locking of the functional module 3000 and the chassis 2000 and prevent the functional module 3000 from moving randomly relative to the chassis 2000.

[0062] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without conflict, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0063] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A locking mechanism, characterized in that, include: Pedestal; A driving assembly, mounted on the base; A transmission assembly is arranged at the end of the driving assembly, the transmission assembly is in transmission connection with the driving assembly, and is slidably mounted on the base along a first direction, and a first inclined surface is arranged at one end of the transmission assembly away from the driving assembly; The latch assembly is arranged at one end of the transmission assembly away from the driving assembly and is slidably mounted on the base along the second direction. The end of the latch assembly close to the transmission assembly is provided with a second inclined surface, and the second inclined surface is slidably fitted with the first inclined surface.

2. The locking mechanism according to claim 1, wherein The transmission assembly comprises a connecting rod and a sliding seat, wherein the sliding seat is fixedly connected to one end of the connecting rod, and one end of the connecting rod away from the sliding seat is transmission-connected to the driving assembly; The sliding seat has a first side and a second side which are arranged opposite to each other, the second side faces one side of the latch assembly, and the first inclined surface is formed on the second side; The first inclined surface gradually inclines in a direction away from the first side from an end away from the driving component to an end close to the driving component.

3. The locking mechanism according to claim 1 or 2, characterized in that, The driving assembly comprises a driving member and a cam, wherein the driving member is mounted on the base; The cam is connected to the output shaft of the driving member, and the cam is configured with a rotation axis parallel to a third direction, and the third direction is perpendicular to both the first direction and the second direction; The cam includes two convex portions arranged opposite to each other and two concave portions arranged opposite to each other, and the two convex portions and the two concave portions are arranged alternately in sequence around the rotation axis. The driving member can drive the cam to rotate so that the transmission component is staggered against the convex portions and the concave portions toward one end of the driving component.

4. The locking mechanism according to claim 3, characterized in that, A limiting groove is arranged on the circumferential surface of the cam surrounding the rotation axis, and one end of the transmission assembly facing the driving assembly is inserted into the limiting groove and is positioned in the limiting groove in the third direction.

5. The locking mechanism according to claim 4, wherein A rolling roller is disposed at one end of the transmission assembly facing the driving assembly, the rotation axis of the roller is parallel to the rotation axis of the cam, the roller is limited in the limiting groove and rollingly cooperates with the groove bottom of the limiting groove.

6. The locking mechanism according to claim 5, wherein The locking mechanism includes a locked state, and the ends of the two protrusions that are away from each other are each provided with a first positioning groove; When the locking mechanism is in the locking state, the roller is confined in one of the first positioning grooves.

7. The locking mechanism according to claim 5, characterized in that The locking mechanism includes an unlocked state, and the two sides of the two recesses that are away from each other are both matched with a second positioning groove; When the locking mechanism is in the unlocking state, the roller is confined in one of the second positioning grooves.

8. The locking mechanism according to claim 1, wherein The latch assembly includes a base and an insertion rod, wherein the base is connected to one end of the insertion rod and protrudes relative to the peripheral side of the insertion rod, and the second inclined surface is formed on a side of the base away from the insertion rod; The locking mechanism further includes an elastic member and a first guiding member. The first guiding member is slidably sleeved on the insertion rod and is spaced apart from the base. The first guiding member includes a sleeve portion and a limiting edge connected to each other. The limiting edge protrudes from the circumferential side of the end of the sleeve portion away from the base. The elastic member is sleeved on the circumferential side of the sleeve portion and is limited between the base and the limiting edge.

9. The locking mechanism according to claim 1 or 8, characterized in that, The locking mechanism further includes a guide rail, and a guiding groove is arranged on one side of the guide rail; One end of the latch assembly away from the transmission assembly slidably penetrates through the guide rail and is telescopically arranged relative to the guiding groove.

10. A robot, characterized in that, It includes a chassis and a functional module connected to each other. The chassis includes the locking mechanism according to any one of claims 1 to 9; When the functional module is connected to the chassis, the locking mechanism is inserted into the functional module.

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