Locking mechanism, movement mechanism and autonomous movement device

Abstract

The utility model provides a locking mechanism, a movement mechanism and an autonomous moving device. The locking mechanism comprises a fixing piece, a locking piece and a locking piece, the magnetic part is arranged on the fixing part; and the electromagnetic device is installed on the movement mechanism and arranged opposite to the magnetic piece, and when the electromagnetic device is powered on or powered off, one of the electromagnetic device and the magnetic piece acts and is used for attracting the other one of the electromagnetic device and the magnetic piece. According to the locking mechanism provided by the invention, the movement mechanism can be kept locked and immovable relative to the external environment or kept locked and immovable relative to other parts, and the use requirements under some working conditions are met. Compared with a traditional mechanical locking mode, the electromagnetic locking mechanism is high in response speed and easy and convenient to operate, and the locking and unlocking efficiency is improved. According to the electromagnetic device, stable connection between the fixing piece and the movement mechanism in the locking state can be guaranteed, the loosening phenomenon caused by vibration or other external factors is reduced, the overall reliability of the system is improved, the service life of the electromagnetic device is prolonged, and the maintenance cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of locking devices, in particular to a locking mechanism, a motion mechanism and an autonomous moving device. Background Art

[0002] Autonomous mobile devices, such as autonomous mobile robots (AMRs) and automated guided vehicles (AGVs), are essential components of modern logistics systems and intelligent manufacturing. Their diverse functionality and operational flexibility play a key role in improving production efficiency. AMRs are typically equipped with a variety of actuators to accommodate diverse tasks. Among them, a slewing support mechanism is an integral component for implementing functions such as material handling and assembly. This mechanism enables components such as the work platform or robotic arm on the AMR to rotate about a vertical axis, thereby expanding the AMR's operational range and operational flexibility. However, in some applications, to ensure operational accuracy or safety, the slewing support mechanism needs to be locked at a specific angular position to prevent it from rotating unexpectedly. Traditional locking methods often use mechanical locking devices, such as pin-type locking and gear locking. While these methods can meet locking requirements to a certain extent, they also have some significant limitations. For example, the operation process is cumbersome and time-consuming, making it difficult to achieve a quick response. Locking accuracy is limited by machining accuracy and assembly errors, making it prone to loosening or failure. In addition, performance may deteriorate due to wear and tear during long-term use.

[0003] Therefore, how to design a locking mechanism that is easy to operate, quick to respond, reliable to lock, and easy to maintain has become a problem that needs to be solved urgently. Utility Model Content

[0004] The utility model aims to at least solve the problems of complex operation, long response time and instability of the locking mechanism.

[0005] To this end, a first aspect of the present invention provides a locking mechanism.

[0006] A second aspect of the present invention provides a motion mechanism.

[0007] A third aspect of the present invention provides an autonomous mobile device.

[0008] In view of this, the first aspect of the present invention proposes a locking mechanism, including: a fixing part; a magnetic part, which is arranged on the fixing part; an electromagnetic device, which is installed on the moving mechanism and is arranged opposite to the magnetic part. When the electromagnetic device is powered on or off, one of the electromagnetic device and the magnetic part is activated to attract the other of the electromagnetic device and the magnetic part.

[0009] The locking mechanism provided by the present invention includes a fixing member, a magnetic member, and an electromagnetic device. The magnetic member is disposed on the fixing member, and the electromagnetic device is mounted on the moving mechanism, positioned opposite the magnetic member. This allows the moving mechanism to be fixed by the mutual attraction between the electromagnetic device and the magnetic member when the electromagnetic device is powered on or off. Specifically, when the electromagnetic device is powered on or off, the electromagnetic device can generate a magnetic core, which then attracts the magnetic member to the electromagnetic device, thereby securing the moving mechanism relative to the fixing member through the electromagnetic device and the magnetic member. Alternatively, when the electromagnetic device is powered on or off, the electromagnetic device itself moves toward the magnetic member, causing the two to attract and secure together. The locking mechanism provided by the present invention can keep the moving mechanism locked relative to the external environment or relative to other parts, meeting the requirements of certain working conditions. Furthermore, the locking mechanism of the present invention utilizes the interaction between the electromagnetic device and the magnetic member to quickly lock or unlock the mechanism when the electromagnetic device is powered on or off. Compared to traditional mechanical locking methods, the electromagnetic locking mechanism has a fast response speed, is simple to operate, and improves the efficiency of locking and unlocking. The strong attraction between the electromagnetic device and the magnetic component ensures a stable connection between the fixed component and the moving mechanism when locked, reducing loosening caused by vibration or other external factors and improving the overall reliability of the system. Furthermore, since the electromagnetic locking mechanism lacks complex mechanical transmission components, the risk of wear and failure is reduced, extending the life of the electromagnetic device and reducing maintenance costs.

[0010] The locking mechanism provided by the present invention may also have the following additional technical features:

[0011] In some embodiments, optionally, the magnetic member is movably provided on the fixed member and can move between a locked position and an unlocked position. When the electromagnetic device is attracted to the magnetic member, the magnetic member is located in the locked position.

[0012] In these embodiments, the magnetic part can be movably arranged on the fixed part so that it can move between the locked position and the unlocked position relative to the fixed part. In this way, the magnetic part can be adsorbed to the locked position by the electromagnetic device, thereby achieving relative locking between the moving mechanism and the fixed part. When the electromagnetic device is powered on to generate magnetism, the electromagnetic device will attract the magnetic part to the locked position. When the electromagnetic device is powered off, the electromagnetic device will be demagnetized and the magnetic part will move to the unlocked position. On the contrary, if the electromagnetic device is powered on to demagnetize, the magnetic part will move to the unlocked position. When the electromagnetic device is powered off, the electromagnetic device will generate magnetism and the electromagnetic device will attract the magnetic part to the locked position. The specific power-on demagnetization or magnetization can be set according to actual needs.

[0013] In some embodiments, optionally, the locking mechanism further includes: a limiting portion, which is provided on the fixing member, and the magnetic member is provided on the limiting portion, and the limiting portion is used to limit the magnetic member.

[0014] In these embodiments, a limiting portion may be provided on the fixing member to limit the position of the magnetic member, so as to prevent the magnetic member from separating from the fixing member during movement, thereby improving the stability of the locking mechanism. Specifically, the magnetic member may be provided on the limiting portion, so that the limiting portion limits the position of the magnetic member.

[0015] In some embodiments, optionally, the limiting portion includes: a limiting hole, which is arranged on the fixing part, and the magnetic part moves between the locking position and the unlocking position along the axial direction of the limiting hole; wherein, when the magnetic part is in the locking position, at least part of the magnetic part is located in the limiting hole, and when the magnetic part is in the unlocking position, at least part of the magnetic part is located in the limiting hole.

[0016] In these embodiments, the limiting portion can be set as a limiting hole, and then the magnetic part can be set in the limiting hole, so that the magnetic part can move between the locking position and the unlocking position along the axial direction of the limiting hole, so that the magnetic part can be attracted by the electromagnetic device and located in the locking position to achieve fixed locking of the motion mechanism. In order to achieve the limitation of the magnetic part in the radial direction of the limiting hole, when the magnetic part is in the locking position, at least part of the magnetic part can be located in the limiting hole, so that the radial limitation of the magnetic part can be achieved through the limiting hole. Similarly, when the magnetic part is in the unlocking position, at least part of the magnetic part will also be located in the limiting hole. It can be understood that since the magnetic part is limited in the radial direction of the limiting hole, when the magnetic part is attracted by the electromagnetic device, the motion mechanism will also be limited, thereby achieving the locking of the motion mechanism.

[0017] In some embodiments, optionally, the magnetic component includes: a matching portion, which is slidably mounted on the limiting portion; and a magnetic portion, which is fixedly mounted on the matching portion and is used to match with the electromagnetic device.

[0018] In these embodiments, the magnetic member includes a mating portion and a magnetic portion. The mating portion is slidably mounted on the limiting portion and is capable of sliding relative to the limiting portion. The magnetic portion is fixedly mounted on the mating portion, so that the magnetic portion is attracted by the electromagnetic device, thereby driving the mating portion to slide, thereby achieving fixed locking of the motion mechanism.

[0019] In some embodiments, optionally, one of the matching portion and the magnetic portion is provided with a threaded shaft, and the other of the matching portion and the magnetic portion is provided with a threaded hole, and the threaded hole can be matched with the threaded shaft.

[0020] In these embodiments, a threaded shaft can be provided on one of the mating part and the magnetic part, and a threaded hole can be provided on the other of the mating part and the magnetic part, and then the mating part and the magnetic part are installed through the mating of the threaded hole and the threaded shaft. This not only improves the stability of the connection between the mating part and the magnetic part, but also facilitates the installation and disassembly between the magnetic part and the mating part.

[0021] In some embodiments, optionally, the locking mechanism further includes: a guide member, disposed on the fixing member, for guiding the movement of the magnetic member.

[0022] In these embodiments, a guide member can also be provided on the fixing member to guide the magnetic member to prevent the magnetic member from being affected by friction and other external forces, making it difficult for it to move between the unlocking position and the locking position, thereby causing unstable locking.

[0023] In some embodiments, optionally, the guide member includes at least one of a guide sleeve, a linear bearing, and a guide rail.

[0024] In these embodiments, the guide member may be configured as at least one of a guide sleeve, a linear bearing, and a guide rail, which have the advantages of low friction, high precision, and easy installation.

[0025] In some embodiments, optionally, when the magnetic member is in the unlocking position, a preset distance is provided between the magnetic member and the electromagnetic device along the direction from the locking position to the unlocking position.

[0026] In these embodiments, when the magnetic member is in the unlocked position, a predetermined distance is provided between the magnetic member and the electromagnetic device along the direction from the locked position to the unlocked position. By limiting the predetermined distance between the magnetic member and the electromagnetic device along the direction from the locked position to the unlocked position, the electromagnetic device can effectively attract the magnetic member, ensuring locking stability. It also prevents interference between the magnetic member and the electromagnetic device.

[0027] In some embodiments, optionally, the preset distance is greater than or equal to 0.5 mm and less than or equal to 1.5 mm.

[0028] In some embodiments, optionally, the locking mechanism further includes: a connecting member installed on the motion mechanism, and the electromagnetic device is arranged on the connecting member.

[0029] In these embodiments, in order to facilitate the installation and setting of the electromagnetic device, a connecting piece can also be provided for connection. Specifically, after the connecting piece is provided on the motion mechanism, the electromagnetic device is then installed on the connecting piece, which facilitates the installation of the electromagnetic device and improves the setting efficiency of the electromagnetic device.

[0030] In some embodiments, optionally, the electromagnetic device is movably provided in the motion mechanism and can move between a locked position and an unlocked position. When the electromagnetic device is attracted to the magnetic member, the electromagnetic device is located in the locked position.

[0031] In these embodiments, the electromagnetic device can also be movably set on the moving mechanism so that it can move between the locked position and the unlocked position, and then the magnetic part can be set to be fixed. In this way, the electromagnetic device and the magnetic part can be attracted to each other by moving, thereby achieving relative fixed locking between the moving mechanism and the fixed part.

[0032] A second aspect of the present invention provides a motion mechanism, comprising: a locking mechanism as in any technical solution of the first aspect.

[0033] The motion mechanism provided in this application includes the locking mechanism of any technical solution of the first aspect. Since the motion mechanism provided in this application includes the locking mechanism of any technical solution of the first aspect, the motion mechanism provided in this application also has all the beneficial effects of the locking mechanism of any technical solution of the first aspect, which will not be repeated here.

[0034] The third aspect of the present invention provides an autonomous mobile device, comprising: a locking mechanism as in any technical solution of the first aspect; and / or a motion mechanism as in any technical solution of the second aspect.

[0035] The autonomous mobile device provided by the present application includes the locking mechanism of any one of the technical solutions of the first aspect and / or the motion mechanism of any one of the technical solutions of the second aspect. Since the autonomous mobile device provided by the present application includes the locking mechanism of any one of the technical solutions of the first aspect and / or the motion mechanism of any one of the technical solutions of the second aspect, the autonomous mobile device provided by the present application also has all the beneficial effects of the locking mechanism of any one of the technical solutions of the first aspect and / or the motion mechanism of any one of the technical solutions of the second aspect, which will not be elaborated here.

[0036] Additional aspects and advantages of the present invention will become apparent in the following description or will be understood through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0038] Figure 1 A schematic diagram showing the structure of a locking mechanism according to an embodiment of the present invention when the magnetic member is in the locked position;

[0039] Figure 2 A schematic diagram showing the structure of a locking mechanism according to an embodiment of the present invention when the magnetic member is in the unlocking position;

[0040] Figure 3 A structural schematic diagram showing a locking mechanism according to an embodiment of the present invention applied to a motion mechanism is shown.

[0041] in, Figures 1 to 3 The corresponding relationship between the reference numerals and component names is as follows:

[0042] 1 moving mechanism, 10 locking mechanism, 100 fixing part, 101 magnetic part, 1012 matching part, 1014 magnetic part, 1016 threaded shaft, 1018 threaded hole, 102 electromagnetic device, 103 limiting part, 1032 limiting hole, 104 guide part, 105 connecting part. DETAILED DESCRIPTION

[0043] In order to more clearly understand the above-mentioned objectives, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other without conflict.

[0044] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0045] Refer to the following Figures 1 to 3 The locking mechanism, motion mechanism and autonomous movement device proposed according to some embodiments of the present invention are described.

[0046] According to an embodiment of the first aspect of the present invention, Figures 1 to 3 As shown, the first aspect of the present invention provides a locking mechanism 10, comprising a fixing member 100, a magnetic member 101, and an electromagnetic device 102. The magnetic member 101 is disposed on the fixing member 100. The electromagnetic device 102 is mounted on the motion mechanism 1, opposite to the magnetic member 101. When the electromagnetic device 102 is powered on or off, one of the electromagnetic device 102 and the magnetic member 101 is activated to attract the other of the electromagnetic device 102 and the magnetic member 101.

[0047] The locking mechanism 10 provided by the present invention includes a fixing member 100, a magnetic member 101 and an electromagnetic device 102. The magnetic member 101 is arranged on the fixing member 100, and the electromagnetic device 102 is installed on the motion mechanism 1 and is arranged opposite to the magnetic member 101, so that when the electromagnetic device 102 is powered on or off, the electromagnetic device 102 and the magnetic member 101 can be used to attract each other to achieve the fixation of the motion mechanism 1. Specifically, when the electromagnetic device 102 is powered on or off, the electromagnetic device 102 can generate a magnetic core, and then adsorb the magnetic member 101 onto the electromagnetic device 102, and then the motion mechanism 1 is fixed relative to the fixing member 100 through the electromagnetic device 102 and the magnetic member 101. Or when the electromagnetic device 102 is powered on or off, the electromagnetic device 102 itself moves and approaches the magnetic member 101, so that the two are adsorbed together to achieve fixation. The locking mechanism 10 provided by the present application can keep the motion mechanism 1 locked relative to the external environment, or keep it locked relative to other parts, meeting the use requirements under some working conditions. At the same time, the locking mechanism 10 of the present application utilizes the interaction between the electromagnetic device 102 and the magnetic part 101 to quickly achieve locking or unlocking when the electromagnetic device 102 is powered on or off. Compared with traditional mechanical locking methods, the electromagnetic locking mechanism has a fast response speed and is easy to operate, which improves the efficiency of locking and unlocking. And because the attraction between the electromagnetic device 102 and the magnetic part 101 is strong, it can ensure that the fixed part 100 and the moving mechanism 1 maintain a stable connection in the locked state, reduce loosening caused by vibration or other external factors, and improve the overall reliability of the system. In addition, since the electromagnetic locking mechanism does not have complex mechanical transmission components, the risk of wear and failure is reduced, the service life of the electromagnetic device 102 is increased, and maintenance costs are reduced.

[0048] In some embodiments, optionally, the magnetic member 101 is movably provided on the fixing member 100 and can move between a locked position and an unlocked position. When the electromagnetic device 102 and the magnetic member 101 are attracted to each other, the magnetic member 101 is located in the locked position.

[0049] In these embodiments, the magnetic member 101 can be movably arranged on the fixing member 100 so that it can move between a locked position and an unlocked position relative to the fixing member 100. In this way, the magnetic member 101 can be adsorbed to the locked position by the electromagnetic device 102, thereby achieving relative locking between the moving mechanism 1 and the fixing member 100. When the electromagnetic device 102 is powered on to generate magnetism, the electromagnetic device 102 will attract the magnetic member 101 to the locked position. When the electromagnetic device 102 is powered off, the electromagnetic device 102 will be demagnetized, and the magnetic member 101 will move to the unlocked position. On the contrary, if the electromagnetic device 102 is powered on to demagnetize, the magnetic member 101 will move to the unlocked position. When the electromagnetic device 102 is powered off, the electromagnetic device 102 will generate magnetism, and the electromagnetic device 102 will attract the magnetic member 101 to the locked position. The specific power-on demagnetization or magnetization can be set according to actual needs.

[0050] In some embodiments, optionally, the magnetic member 101 is slidably disposed on the fixing member 100 and can slide between a locked position and an unlocked position.

[0051] In some embodiments, optionally, the locking mechanism 10 further includes: a limiting portion 103 , which is provided on the fixing member 100 , and the magnetic member 101 is provided on the limiting portion 103 , and the limiting portion 103 is used to limit the magnetic member 101 .

[0052] In these embodiments, a limiting portion 103 may be provided on the fixing member 100 to limit the magnetic member 101, so as to prevent the magnetic member 101 from separating from the fixing member 100 during movement, thereby improving the stability of the locking mechanism 10. Specifically, the magnetic member 101 may be provided on the limiting portion 103, so that the limiting portion 103 limits the magnetic member 101.

[0053] In some embodiments, optionally, as Figure 2 As shown, the limiting portion 103 includes: a limiting hole 1032, which is provided on the fixing member 100, and the magnetic member 101 is along the axial direction of the limiting hole 1032 ( Figure 2 wherein, when the magnetic member 101 is in the locked position, at least part of the magnetic member 101 is located in the limiting hole 1032; and when the magnetic member 101 is in the unlocked position, at least part of the magnetic member 101 is located in the limiting hole 1032.

[0054] In these embodiments, the limiting portion 103 can be set as a limiting hole 1032, and then the magnetic member 101 can be set in the limiting hole 1032, so that the magnetic member 101 can move between the locked position and the unlocked position along the axial direction of the limiting hole 1032. In this way, the magnetic member 101 can be attracted by the electromagnetic device 102 and positioned in the locked position to achieve fixed locking of the motion mechanism 1. In order to achieve radial positioning of the magnetic member 101 in the limiting hole 1032, when the magnetic member 101 is in the locked position, at least a portion of the magnetic member 101 can be positioned in the limiting hole 1032. In this way, radial positioning of the magnetic member 101 can be achieved through the limiting hole 1032. Similarly, when the magnetic member 101 is in the unlocked position, at least a portion of the magnetic member 101 will also be positioned in the limiting hole 1032. It is understandable that, since the magnetic member 101 is limited in the radial direction of the limiting hole 1032 , when the magnetic member 101 is attracted to the electromagnetic device 102 , the motion mechanism 1 is also limited, thereby achieving locking of the motion mechanism 1 .

[0055] In some embodiments, optionally, the magnetic member 101 includes: a matching portion 1012 slidably mounted on the limiting portion 103 ; and a magnetic portion 1014 fixedly mounted on the matching portion 1012 for matching with the electromagnetic device 102 .

[0056] In these embodiments, the magnetic member 101 includes a mating portion 1012 and a magnetic portion 1014. The mating portion 1012 is slidably mounted on the limiting portion 103 and can slide relative to the limiting portion 103. The magnetic portion 1014 is fixedly mounted on the mating portion 1012. In this way, the electromagnetic device 102 can attract the magnetic portion 1014, thereby driving the mating portion 1012 to slide, thereby achieving fixed locking of the motion mechanism 1.

[0057] In some embodiments, optionally, one of the mating portion 1012 and the magnetic portion 1014 is provided with a threaded shaft 1016, and the other of the mating portion 1012 and the magnetic portion 1014 is provided with a threaded hole 1018, and the mating portion 1012 and the magnetic portion 1014 are installed through the mating of the threaded hole 1018 and the threaded shaft 1016.

[0058] In these embodiments, a threaded shaft 1016 can be set on one of the mating part 1012 and the magnetic part 1014, and a threaded hole 1018 can be set on the other of the mating part 1012 and the magnetic part 1014. Then, the mating part 1012 and the magnetic part 1014 are installed through the mating of the threaded hole 1018 and the threaded shaft 1016. This not only improves the stability of the connection between the mating part 1012 and the magnetic part 1014, but also facilitates the installation and disassembly between the magnetic part 1014 and the mating part 1012.

[0059] In some embodiments, optionally, the mating portion 1012 and the magnetic portion 1014 are an integral structure.

[0060] In some embodiments, optionally, the mating portion 1012 and the magnetic portion 1014 are connected by welding.

[0061] In some embodiments, optionally, the locking mechanism 10 further includes: a guide member 104 , which is disposed on the fixing member 100 and is used to guide the movement of the magnetic member 101 .

[0062] In these embodiments, a guide member 104 can also be provided on the fixing member 100 to guide the magnetic member 101, so as to prevent the magnetic member 101 from being affected by friction and other external forces, making it difficult for it to move between the unlocking position and the locking position, thereby causing unstable locking.

[0063] In some embodiments, optionally, the guide member 104 includes at least one of a guide sleeve, a linear bearing, and a guide rail.

[0064] In these embodiments, the guide member 104 may be configured as at least one of a guide sleeve, a linear bearing, and a guide rail, which have the advantages of low friction, high precision, and easy installation.

[0065] In some embodiments, optionally, the guide member 104 is fixed to the fixing member 100 by screws.

[0066] In some embodiments, optionally, as Figure 2 As shown, when the magnetic member 101 is in the unlocking position, a preset distance ( Figure 2 L in the figure indicates the preset distance).

[0067] In these embodiments, when the magnetic member 101 is in the unlocked position, a preset distance is set between the magnetic member 101 and the electromagnetic device 102 along the direction from the locked position to the unlocked position. By limiting the preset distance between the magnetic member 101 and the electromagnetic device 102 along the direction from the locked position to the unlocked position, it is possible to ensure that the electromagnetic device 102 can effectively attract the magnetic member 101, ensuring the stability of the locking. It can also prevent interference between the magnetic member 101 and the electromagnetic device 102.

[0068] In some embodiments, optionally, the preset distance is greater than or equal to 0.5 mm and less than or equal to 1.5 mm.

[0069] In some embodiments, optionally, the preset distance is 1 mm.

[0070] In some embodiments, optionally, the preset distance is 1.2 mm.

[0071] In some embodiments, optionally, the locking mechanism 10 further includes: a connecting member 105 installed on the motion mechanism 1 , and the electromagnetic device 102 is disposed on the connecting member 105 .

[0072] In these embodiments, a connector 105 may be provided to facilitate the installation and placement of the electromagnetic device 102. Specifically, after the connector 105 is placed on the motion mechanism 1, the electromagnetic device 102 is then mounted on the connector 105, which facilitates the installation of the electromagnetic device 102 and improves the efficiency of the placement of the electromagnetic device 102.

[0073] In some embodiments, optionally, the electromagnetic device 102 is movably provided in the motion mechanism 1 and can move between a locked position and an unlocked position. When the electromagnetic device 102 is attracted to the magnetic member 101 , the electromagnetic device 102 is located in the locked position.

[0074] In these embodiments, the electromagnetic device 102 can also be movably set on the moving mechanism 1 so that it can move between the locked position and the unlocked position, and then the magnetic part 101 can be set to be fixed. In this way, the electromagnetic device 102 can be moved to attract the magnetic part 101, thereby achieving relative fixed locking between the moving mechanism 1 and the fixed part 100.

[0075] In some embodiments, optionally, the electromagnetic device 102 is slidably disposed on the motion mechanism 1 .

[0076] In some embodiments, the electromagnetic device 102 is optionally an electromagnet that is degaussed when powered on, or an electromagnet that is degaussed when powered off.

[0077] According to an embodiment of the first aspect of the present utility model, a locking mechanism 10 is proposed, including a base plate (fixing part 100), a linear bearing (guide part 104), a threaded shaft 1016 (matching part 1012), an iron block (magnetic part 1014), an electromagnet (electromagnetic device 102) and a top plate (connecting part 105).

[0078] The linear bearing is fixed to the bottom plate with screws. The threaded shaft 1016 is fixed to the iron block via its upper external thread. The lower end of the threaded shaft 1016 is placed in the linear bearing, allowing it to slide up and down. The electromagnet is fixed below the top plate, with a 1mm gap between the electromagnet and the iron block.

[0079] The electromagnet is a demagnetized electromagnet. Normally, when the power is off, the magnetized electromagnet pulls the iron block and threaded shaft 1016 upward from the linear bearing, thereby maintaining the relative stability of the top and bottom plates. During operation, the electromagnet is energized and then demagnetized, causing the iron block and threaded shaft 1016 to drop down along the linear bearing, creating a 1mm gap between them. This releases the relative stability of the top and bottom plates, allowing them to move relative to each other.

[0080] The locking mechanism provided in this application can be applied to various types of turntables, particularly vehicle-mounted turntables, for locking a rotating shaft. It features a compact structure, repeatable locking and unlocking capabilities, and high locking reliability. Furthermore, the mounting orientation of the magnet base of the electromagnetic device can be adjusted to suit different electromagnetic devices, and the tangential force of the rotating shaft is not transmitted to the electromagnet. This results in high locking reliability, excellent environmental adaptability, and broad application prospects.

[0081] The second aspect of the present invention provides a motion mechanism 1, comprising: a locking mechanism 10 as in any one of the embodiments of the first aspect.

[0082] The motion mechanism 1 provided in the present application includes the locking mechanism 10 in any one of the embodiments of the first aspect. Since the motion mechanism 1 provided in the present application includes the locking mechanism 10 in any one of the embodiments of the first aspect, the motion mechanism 1 provided in the present application also has all the beneficial effects of the locking mechanism 10 in any one of the embodiments of the first aspect, which will not be described in detail here.

[0083] In some embodiments, optionally, the motion mechanism 1 includes a rotation mechanism and a movement mechanism.

[0084] A third aspect of the present invention provides an autonomous mobile device, comprising: a locking mechanism 10 as in any one of the embodiments of the first aspect; and / or a motion mechanism 1 as in any one of the embodiments of the second aspect.

[0085] The autonomous mobile device provided by the present application includes the locking mechanism 10 in any embodiment of the first aspect and / or the motion mechanism 1 in any embodiment of the second aspect. Since the autonomous mobile device provided by the present application includes the locking mechanism 10 in any embodiment of the first aspect and / or the motion mechanism 1 in any embodiment of the second aspect, the autonomous mobile device provided by the present application also has all the beneficial effects of the locking mechanism 10 in any embodiment of the first aspect and / or the motion mechanism 1 in any embodiment of the second aspect, which will not be repeated here.

[0086] In this utility model, the term "plurality" refers to two or more, unless otherwise specified. Terms such as "installed," "connected," "connected," and "fixed" should be interpreted broadly. For example, "connected" can refer to a fixed connection, a detachable connection, or an integral connection; "connected" can refer to a direct connection or an indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of these terms in this utility model based on the specific circumstances.

[0087] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0088] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A locking mechanism, characterized in that: For a motion mechanism, the locking mechanism comprises: fixings; a magnetic member, disposed on the fixing member; The electromagnetic device is installed on the motion mechanism and is arranged opposite to the magnetic part. When the electromagnetic device is powered on or off, one of the electromagnetic device and the magnetic part is activated to attract the other of the electromagnetic device and the magnetic part.

2. The locking mechanism according to claim 1, wherein: The magnetic member is movably arranged on the fixing member and can move between a locked position and an unlocked position. When the electromagnetic device is attracted to the magnetic member, the magnetic member is located in the locked position.

3. The locking mechanism according to claim 2, wherein: Also includes: A limiting portion is provided on the fixing member, the magnetic member is provided on the limiting portion, and the limiting portion is used to limit the magnetic member.

4. The locking mechanism according to claim 3, wherein: The limiting portion includes: a limiting hole, provided in the fixing member, wherein the magnetic member moves between the locking position and the unlocking position along the axial direction of the limiting hole; Wherein, when the magnetic component is located in the locking position, at least a portion of the magnetic component is located in the limiting hole; when the magnetic component is located in the unlocking position, at least a portion of the magnetic component is located in the limiting hole.

5. The locking mechanism according to claim 3, wherein: The magnetic member comprises: A matching portion, slidably mounted on the limiting portion; The magnetic part is fixedly mounted on the matching part and is used to match with the electromagnetic device.

6. The locking mechanism according to claim 5, wherein: One of the matching portion and the magnetic portion is provided with a threaded shaft, and the other of the matching portion and the magnetic portion is provided with a threaded hole capable of matching with the threaded shaft.

7. The locking mechanism according to claim 2, wherein: Also includes: The guide member is arranged on the fixing member and is used for guiding the movement of the magnetic member.

8. The locking mechanism according to claim 7, wherein: The guide member includes at least one of a guide sleeve, a linear bearing, and a guide rail.

9. The locking mechanism according to any one of claims 2 to 8, characterized in that: When the magnetic member is located at the unlocking position, a preset distance is provided between the magnetic member and the electromagnetic device along the direction from the locking position to the unlocking position.

10. The locking mechanism according to claim 9, wherein: The preset distance is greater than or equal to 0.5 mm and less than or equal to 1.5 mm.

11. The locking mechanism according to any one of claims 1 to 8, characterized in that: Also includes: A connecting member is installed on the motion mechanism, and the electromagnetic device is arranged on the connecting member.

12. The locking mechanism according to claim 1, wherein: The electromagnetic device is movably arranged on the motion mechanism and can move between a locked position and an unlocked position. When the electromagnetic device is attracted to the magnetic member, the electromagnetic device is located in the locked position.

13. A motion mechanism, characterized in that: include: The locking mechanism according to any one of claims 1 to 12.

14. An autonomous mobile device, characterized in that: include: The locking mechanism according to any one of claims 1 to 12; and / or The motion mechanism according to claim 13.

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