Self-adaptive locking mechanism applied to wheeled humanoid robot

Abstract

The invention discloses a self-adaptive locking mechanism applied to a wheeled humanoid robot. The self-adaptive locking mechanism comprises a supporting sensing assembly. The driving assembly is arranged on the supporting induction assembly and comprises a double-shaft motor and two first magnetic gears; the two locking assemblies are movably arranged on the supporting induction assembly respectively and are in transmission connection with the corresponding first magnetic gears respectively; each locking assembly comprises a lead screw and a second magnetic gear which is fixedly arranged on the lead screw and is in transmission connection with the corresponding first magnetic gear. And the locking block structure is arranged on the screw rod in a transmission manner. The locking torque can be preset through the magnetic gears, when the center position of the swing arm is not on the central axis, one magnetic gear reaches the locking torque, the double-shaft motor continues to work until the other magnetic gear also reaches the locking torque, and then the double-shaft motor stops working; therefore, the two locking blocks are matched to carry out bidirectional locking operation on the swing arm, and the problem that the wheel type humanoid robot is poor in stability is effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of locking mechanisms, and in particular to an adaptive locking mechanism applied to a wheeled humanoid robot. Background Art

[0002] Humanoid robots are humanoid robots that are more suitable for replacing humans in related activities in environments where humans live, work, and reside, such as in smart factories, warehousing and logistics, and service industries. With the development of artificial intelligence technology, the operating functions and operating environment of humanoid robots have been further improved.

[0003] In the prior art, the chassis of wheeled humanoid robots generally has the problems of small support span, poor stability, easy shaking, and weak anti-overturning ability. In order to solve the above problems, a swing-arm wheel mechanism is used to adapt to the ground during movement. However, after the wheeled humanoid robot moves to a predetermined position, the swing-arm wheel mechanism needs to be locked and fixed to maximize the stability of the wheeled humanoid robot. Therefore, an adaptive locking mechanism applied to a wheeled humanoid robot is provided to solve the above problems. Summary of the Invention

[0004] One of the objectives of the present invention is to provide an adaptive locking mechanism for a wheeled humanoid robot, so as to solve the problem of poor stability of the wheeled humanoid robot.

[0005] The adaptive locking mechanism applied to a wheeled humanoid robot of the present invention can be realized by the following technical solutions: An adaptive locking mechanism for a wheeled humanoid robot according to the present invention includes a support sensing assembly; a drive assembly disposed on the support sensing assembly, the drive assembly including a dual-axis motor and two first magnetic gears, the dual-axis motor being capable of forward and reverse rotation, the two first magnetic gears being fixedly disposed on output shafts on both sides of the dual-axis motor; and two locking assemblies, both of which are movably disposed on the support sensing assembly and are respectively in transmission connection with corresponding first magnetic gears. Among them, the locking assembly includes a screw rod, which is rotatably set on the support sensing assembly; a second magnetic gear fixedly set on the screw rod and transmission-connected to the corresponding first magnetic gear; a locking block structure transmission-set on the screw rod, and the dual-axis motor drives the locking block structure to perform reciprocating linear motion through the first magnetic gear, the second magnetic gear, and the screw rod in turn, and the locking block structure can perform induction limiting operation with the support sensing assembly.

[0006] In one embodiment, the locking block structure includes a locking block, which is movably arranged on the screw rod and movably passes through the guide rod; and a sensing piece fixedly arranged on the locking block, and the sensing piece can perform sensing limit operation with the support sensing component.

[0007] In one embodiment, a limiting screw is fixedly provided on the locking block, which can be in contact and limited connection with the support sensing component.

[0008] In one embodiment, the locking block includes a sliding block body, a transmission portion of which is provided on the screw rod and a movable portion of which is provided on the guide rod; and a wedge-shaped clamping block protruding and fixedly provided on the sliding block body.

[0009] In one embodiment, the sliding block body and the wedge-shaped clamping block are integrally formed.

[0010] In one embodiment, the support sensing component includes a support structure; the two guide rods are fixedly arranged in parallel on the support structure, and the locking blocks are movably arranged on the two guide rods; and the two sensing devices are fixedly arranged on the support structure, and both of them perform sensing limit operations with the corresponding sensing sheets.

[0011] In one embodiment, the sensing device is a limit switch.

[0012] In one embodiment, the support structure includes a fixing plate; a support base fixedly arranged on the fixing plate, and two guide rods fixedly arranged in parallel on the support base; support plates fixedly arranged on opposite sides of the support base; and a fixing base fixedly connected to one of the support plates.

[0013] In one embodiment, a plurality of bearings are symmetrically arranged on the two support plates, and the dual-axis motor and the lead screw are rotatably arranged on the support sensing component through the corresponding bearings.

[0014] Compared with the prior art, the adaptive locking mechanism of the present invention applied to a wheeled humanoid robot has the following beneficial effects: The adaptive locking mechanism applied to a wheeled humanoid robot of the present invention can preset a locking torque through a magnetic gear. When the center position of a swing arm in a swing-arm wheel mechanism is not on the central axis, since the magnetic gear presets a locking torque, when one of the magnetic gears reaches the locking torque, it stops rotating and maintains its posture, and the dual-axis motor continues to work. When the other magnetic gear continues to rotate until the locking torque is reached, the dual-axis motor stops working. At this time, the two locking blocks cooperate to perform a bidirectional locking operation on the swing arm, effectively solving the problem of poor stability of the wheeled humanoid robot and improving the safety performance of the wheeled humanoid robot to a certain extent. At the same time, the center position of the locked swing arm does not need to be on the central axis, so that the adaptive locking mechanism has a wide range of adaptability. The present invention provides an adaptive locking mechanism applied to a wheeled humanoid robot. By adopting a dual-axis motor to synchronously drive two magnetic gears to rotate, the two magnetic gears synchronously drive the locking assembly to perform locking or releasing operations, so that the adaptive locking mechanism has the characteristics of simple structure and good locking effect. At the same time, through the cooperation of the sensing device and the sensing plate and the limit screws, the inductive limit and mechanical limit operations are realized, which improves the safety performance of the adaptive locking mechanism to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 This is a schematic diagram of the three-dimensional structure of an adaptive locking mechanism applied to a wheeled humanoid robot according to the present invention; Figure 2 1 is a schematic diagram of a longitudinal cross-sectional structure of an adaptive locking mechanism applied to a wheeled humanoid robot according to the present invention; Figure 3 1 is an exploded structural diagram of an adaptive locking mechanism applied to a wheeled humanoid robot according to the present invention, comprising a support assembly and a first locking assembly; Figure 4 yes Figure 3 A schematic structural diagram of the support assembly shown; Figure 5 yes Figure 4 An exploded structural diagram of the first locking mechanism shown, including a locking block; Figure 6 yes Figure 5 Schematic diagram of the three-dimensional structure of the locking block shown.

[0017] Markings in the figure: 10, adaptive locking mechanism; 11, support sensing component; 111, support structure; 1111, fixed plate; 1112, support seat; 1113, support plate; 1114, fixed seat; 1115, bearing; 112, guide rod; 113, sensing device; 12, driving component; 121, dual-axis motor; 122, first magnetic gear; 13, first locking component; 131, screw rod; 132, second magnetic gear; 133, locking block structure; 1331, locking block; 13311, sliding block body; 133111, driving hole; 133112, guide hole; 13312, wedge-shaped block; 1332, sensing plate; 1333, limit screw; 14, second locking component. DETAILED DESCRIPTION

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0019] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0020] See also Figure 1-Figure 3 As shown, the present invention provides an adaptive locking mechanism 10 for a wheeled humanoid robot, comprising a support sensing component 11, a drive component 12, a first locking component 13 and a second locking component 14; the support sensing component 11 is fixedly arranged on the chassis of the wheeled humanoid robot; the drive component 12 is arranged on the support sensing component 11; the first locking component 13 and the second locking component 14 are respectively movably arranged on the support sensing component 11 and are respectively connected to the drive component 12 in transmission, and the drive component 12 synchronously drives the first locking component 13 and the second locking component 14 to lock or release the swing-arm wheel mechanism on the chassis of the wheeled humanoid robot.

[0021] See also Figure 1-Figure 4As shown, in this embodiment, the support sensing assembly 11 includes a support structure 111, two guide rods 112, and two sensing devices 113. The support structure 111 is a supporting body, which is fixedly mounted on the chassis of the wheeled humanoid robot. The two guide rods 112 are fixedly mounted in parallel on the support structure 111. The first locking assembly 13 and the second locking assembly 14 are movably mounted on the two guide rods 112. The two guide rods 112 guide the movement of the first locking assembly 13 and the second locking assembly 14, thereby causing the first locking assembly 13 and the second locking assembly 14 to perform linear motion. The two sensing devices 113 are fixedly mounted on the support structure 111, and can respectively sense the limit operation of the first locking assembly 13 and the second locking assembly 14. Specifically, the sensing devices 113 are limit switches.

[0022] See also Figure 3 and Figure 4 As shown, in this embodiment, the support structure 111 includes a fixed plate 1111, a support base 1112, two support plates 1113, and a fixed base 1114; the fixed plate 1111 is fixedly mounted on the chassis of the wheeled humanoid robot; the support base 1112 is fixedly mounted on the fixed plate 1111, and two guide rods 112 are fixedly mounted in parallel on the support base 1112; the two support plates 1113 are fixedly mounted on opposite sides of the support base 1112; the fixed base 1114 is fixedly connected to one of the support plates 1113, and the drive assembly 12 is mounted on the fixed base 1114. Specifically, a plurality of bearings 1115 are symmetrically arranged on the two support plates 1113, and the drive assembly 12, the first locking assembly 13, and the second locking assembly 14 are rotatably mounted on the support structure 111 via corresponding bearings 1115.

[0023] See also Figure 1-Figure 3 As shown, in this embodiment, the driving assembly 12 includes a dual-axis motor 121 and two first magnetic gears 122; the dual-axis motor 121 is fixedly set on the fixed seat 1114, and can rotate forward and reverse, and one end of the output shaft on both sides of the dual-axis motor 121 is respectively rotatably set in the corresponding bearings 1115; the two first magnetic gears 122 are respectively fixedly set on the two output shafts of the dual-axis motor 121, and the dual-axis motor 121 synchronously drives the two first magnetic gears 122 to rotate.

[0024] See also Figure 1 、 Figure 2 、 Figure 3 and Figure 5As shown, in this embodiment, the first locking assembly 13 includes a screw rod 131, a second magnetic gear 132 and a locking block structure 133; the screw rod 131 is rotatably set on the support structure 111; the second magnetic gear 132 is fixedly set on the screw rod 131 and is transmission-connected to the corresponding first magnetic gear 122, and the dual-axis motor 121 drives the second magnetic gear 132 to rotate through the first magnetic gear 122, thereby driving the screw rod 131 to rotate on the support structure 111; the locking block structure 133 is movably set on the screw rod 131 and movably penetrates the guide rod 112, and the screw rod 131 drives the locking block structure 133 to perform linear reciprocating motion, thereby realizing the locking or loosening operation of the swing-arm wheel mechanism on the chassis of the wheeled humanoid robot, and the movement of the locking block structure 133 is guided by the guide rod 112.

[0025] See also Figure 3 and Figure 5 As shown, in this embodiment, the locking block structure 133 includes a locking block 1331, a sensing piece 1332 and a limit screw 1333; the locking block 1331 is movably set on the screw rod 131 and movably passes through the guide rod 112, and the screw rod 131 drives the locking block 1331 to perform linear reciprocating motion under the guidance of the guide rod 112; the sensing piece 1332 and the limit screw 1333 are respectively fixed on the locking block 1331, and the sensing piece 1332 can perform sensing operation with the corresponding sensing device 113, thereby realizing the sensing limit operation of the locking block 1331, and the limit screw 1333 can be in contact and connected with the corresponding support plate 1113, and the mechanical limit operation of the locking block 1331 is realized through the limit screw 1333.

[0026] See also Figure 5 and Figure 6 As shown, in this embodiment, the locking block 1331 includes a sliding block body 13311 and a wedge-shaped clamping block 13312. The sliding block body 13311 is transmission-connected to the screw rod 131 and movably connected to the guide rod 112. The screw rod 131 drives the sliding block body 13311 to move. The wedge-shaped clamping block 13312 protrudes and is fixedly connected to the sliding block body 13311. It moves with the movement of the sliding block body 13311, thereby achieving locking or releasing operation with the swing arm type wheel mechanism. Preferably, the sliding block body 13311 and the wedge-shaped clamping block 13312 are integrally formed. Specifically, the sliding block body 13311 is respectively penetrated by a drive hole 133111 and two guide holes 133112. The screw rod 131 is transmission-connected to the sliding block body 13311 through the drive hole 133111. The two guide rods 112 movably pass through the sliding block body 13311 through the corresponding guide holes 133112.

[0027] See also Figure 1-Figure 3As shown, in this embodiment, the structure of the second locking assembly 14 is the same as that of the first locking assembly 13, so the specific structure thereof will not be described in detail herein.

[0028] It should be noted that the specific working process of the adaptive locking mechanism 10 applied to a wheeled humanoid robot of the present invention is as follows: when it is necessary to lock the swing-arm wheel mechanism, the dual-axis motor 121 rotates in the first direction, and its two output shafts synchronously drive the two first magnetic gears 122 to rotate, and the two first magnetic gears 122 synchronously drive the corresponding second magnetic gears 132 to rotate, and the second magnetic gears 132 drive the locking blocks 1331 to move toward each other through the screw rod 131, and the two locking blocks 1331 respectively perform a bidirectional locking operation on the swing arms of the swing-arm wheel mechanism. When the swing-arm wheel mechanism is locked, the dual-axis motor 121 rotates in the first direction, and its two output shafts synchronously drive the two first magnetic gears 122 to rotate, and the two first magnetic gears 122 synchronously drive the corresponding second magnetic gears 132 to rotate, and the second magnetic gears 132 drive the locking blocks 1331 to move toward each other through the screw rod 131. The center position of the swing arm in the wheel mechanism is not on the central axis. Since the second magnetic gear 132 is set with a maximum locking torque, when one of the second magnetic gears 132 reaches the preset maximum locking torque, the dual-axis motor 121 continues to work, but the second magnetic gear 132 that has reached the maximum locking torque has stopped rotating and maintained its posture. The other second magnetic gear 132 that has not reached the maximum locking torque continues to rotate until it reaches the preset maximum locking torque. The dual-axis motor 121 stops working. At this time, the two locking blocks 1331 cooperate to perform a bidirectional locking operation on the swing arm of the swing arm type wheel mechanism.

[0029] When the swing-arm wheel mechanism needs to be relaxed, the dual-axis motor 121 rotates in a second direction opposite to the first direction, and its two output shafts synchronously drive the two first magnetic gears 122 to rotate, and the two first magnetic gears 122 synchronously drive the corresponding second magnetic gears 132 to rotate, and the second magnetic gears 132 drive the locking blocks 1331 to move backward through the screw rod 131, so that the two locking blocks 1331 are disengaged from the engaging contact connection with the swing arm in the swing-arm wheel mechanism. When the induction plate 1332 fixed on the locking block 1331 senses the corresponding induction device 113, the dual-axis motor 121 stops working, thereby realizing the relaxation operation of the swing-arm wheel mechanism.

[0030] The technical features of the above-described embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0031] The above-described embodiments merely represent several implementation methods of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. An adaptive locking mechanism for a wheeled humanoid robot, characterized in that: include: Supporting sensing components; A drive assembly is provided on the support induction assembly, the drive assembly comprising a dual-axis motor and two first magnetic gears, the dual-axis motor is capable of forward and reverse rotation, and the two first magnetic gears are respectively fixedly provided on output shafts on both sides of the dual-axis motor; Two locking assemblies, both of which are movably disposed on the support sensing assembly and are respectively transmission-connected to the corresponding first magnetic gear; Wherein, the locking assembly includes a screw rod, which is rotatably arranged on the support sensing assembly; A second magnetic gear is fixedly arranged on the screw and is transmission-connected to the corresponding first magnetic gear; a locking block structure is transmission-arranged on the screw, and the dual-axis motor drives the locking block structure to perform reciprocating linear motion through the first magnetic gear, the second magnetic gear, and the screw in sequence, and the locking block structure can perform induction limiting operation with the support sensing component.

2. The adaptive locking mechanism for a wheeled humanoid robot according to claim 1, characterized in that: The locking block structure includes a locking block, which is movably arranged on the screw rod and movably penetrates the guide rod; a sensing piece fixedly arranged on the locking block, and the sensing piece can perform an induction limiting operation with the support sensing component.

3. The adaptive locking mechanism for a wheeled humanoid robot according to claim 2, wherein: The locking block is also fixedly provided with a limiting screw, which can be in contact and limited connection with the support sensing component.

4. The adaptive locking mechanism for a wheeled humanoid robot according to claim 2, wherein: The locking block comprises a sliding block body, the transmission of which is arranged on the screw rod and the movably arranged on the guide rod; and a wedge-shaped clamping block protruding and fixedly arranged on the sliding block body.

5. The adaptive locking mechanism for a wheeled humanoid robot according to claim 4, characterized in that: The sliding block body and the wedge-shaped clamping block are integrally formed.

6. The adaptive locking mechanism for a wheeled humanoid robot according to claim 2, wherein: The support sensing assembly includes a support structure; the two guide rods are fixedly arranged in parallel on the support structure, and the locking blocks are movably arranged on the two guide rods; two sensing devices are respectively fixedly arranged on the support structure, and both of them perform sensing limit operations with the corresponding sensing sheets.

7. The adaptive locking mechanism for a wheeled humanoid robot according to claim 6, characterized in that: The induction device adopts a limit switch.

8. The adaptive locking mechanism for a wheeled humanoid robot according to claim 6, wherein: The support structure includes a fixing plate; a support base fixedly arranged on the fixing plate, and two guide rods fixedly arranged in parallel on the support base; support plates fixedly arranged on opposite sides of the support base; and a fixing base fixedly connected to one of the support plates.

9. The adaptive locking mechanism for a wheeled humanoid robot according to claim 8, characterized in that: A plurality of bearings are symmetrically arranged on the two support plates, and the dual-axis motor and the lead screw are rotatably arranged on the support sensing component through the corresponding bearings.

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