Locking device and robot

Abstract

The utility model discloses a locking device and a robot. The locking device comprises a supporting frame, a sliding piece, a guiding piece, a locking piece and a first elastic piece. The support frame is provided with a mounting cavity and a first opening communicated with the mounting cavity; the guide piece is provided with a through hole, and at least part of the guide piece is located in the mounting cavity; the locking piece is movably arranged in the through hole in a penetrating mode, and the rolling piece on the locking piece is arranged in the notch in a penetrating mode. The first elastic piece is connected between the locking piece and the cavity wall of the installation cavity in an abutting mode. The sliding piece is arranged in the mounting cavity in a sliding manner; the sliding piece slides close to the guiding piece in the second direction and can drive the rolling piece to move in the first direction, so that the locking piece moves into the mounting cavity through the first opening; the sliding piece slides away from the guiding piece in the second direction, and the first elastic piece can make the locking piece move out of the mounting cavity through the first opening. The locking device is convenient to assemble and disassemble, and the space utilization rate of the robot is increased.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a locking device and a robot. Background Technology

[0002] With the rapid advancement and widespread application of robotics technology, robots have played a crucial role in many fields, including industrial manufacturing, surgery, and home services.

[0003] In robot structural design, the locking and positioning device, as a core component, primarily ensures a stable connection between various robot parts and functional modules, thereby improving the robot's overall performance and reliability. In related technologies, locking and positioning devices typically consist of multiple components, which are usually scattered throughout the robot's interior. Installing the locking and positioning device on the robot requires sequentially assembling these components, resulting in time-consuming installation. Furthermore, the scattered distribution of these components also leads to the locking and positioning device occupying excessive space within the robot, resulting in low space utilization. Utility Model Content

[0004] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide a locking device and robot.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0006] In a first aspect, this application provides a locking device, comprising:

[0007] A support frame has a first direction, a second direction and a third direction that are perpendicular to each other. The support frame has a mounting cavity and a first opening that communicates with the mounting cavity. The first opening is arranged along the first direction.

[0008] A guide member has a through hole along the first direction, and a notch is provided along the third direction. The guide member is at least partially located within the mounting cavity.

[0009] A locking member is movably disposed through the through hole, and a rolling element is disposed along the third direction of the locking member, the rolling element passing through the notch;

[0010] The first elastic element abuts against the locking element and the cavity wall of the mounting cavity along the first direction;

[0011] A sliding member is slidably disposed within the mounting cavity along the second direction;

[0012] The sliding member slides close to the guide member along the second direction, which can drive the rolling member to move along the first direction, so that the locking member moves into the mounting cavity through the first opening; the sliding member slides away from the guide member along the second direction, and the first elastic member can make the locking member move out of the mounting cavity through the first opening.

[0013] The locking device provided in this application is applied to a robot for a secure connection between the robot and a functional module. The guide, locking, first elastic element, and sliding element are integrated and mounted on a support frame, forming a locking module. This module can be installed on the robot or a functional module that works with the robot, facilitating assembly and disassembly and improving assembly efficiency. Furthermore, the integration of all components onto the support frame solves the problem of low space utilization caused by the scattered distribution of locking and positioning devices in existing technologies.

[0014] In an optional embodiment, the slider has a receiving space, and the slider is provided with a first sliding surface that abuts against the rolling element. The first sliding surface is located within the receiving space, and the first sliding surface is inclined relative to the first direction. The first sliding surface gradually tilts away from the first opening from one end near the guide to the other end away from the guide.

[0015] When the slider drives the rolling element to move along the first direction, the rolling element abuts against the first sliding surface and can slide along the first sliding surface.

[0016] In an optional embodiment, the slider includes a first side plate and two second side plates disposed opposite each other along the third direction. Along the second direction, the first side plate is connected to one end of the two second side plates. The first side plate and the two second side plates enclose and define the receiving space. A protrusion is provided on the second side plate, and the first sliding surface is formed on the protrusion.

[0017] When the slider drives the rolling element to move along the first direction, the guide element is at least partially located between the two second side plates.

[0018] In an optional embodiment, the locking member includes a body section and a limiting section, one end of the body section is connected to the limiting section, and the diameter of the limiting section is larger than the diameter of the body section.

[0019] The through hole includes a first hole segment and a second hole segment, wherein the diameter of the first hole segment is smaller than the diameter of the second hole segment, and the diameter of the first hole segment is smaller than the diameter of the limiting segment.

[0020] The body section passes through the first hole section, and the limiting section passes through the second hole section.

[0021] In an optional embodiment, the support frame further has a second opening communicating with the mounting cavity, the second opening being arranged along the second direction;

[0022] The locking device further includes a driving member and a second elastic member. The driving member is disposed on the support frame and can pass through the second opening and abut against the sliding member to drive the sliding member to move along the second direction toward the guide member.

[0023] One end of the second elastic member abuts against the guide member, and the other end abuts against the first side plate.

[0024] In an optional embodiment, the first side plate is provided with a first mounting groove on the side facing the guide member, the guide member is provided with a second mounting groove in the direction facing the first side plate, one end of the second elastic member abuts against the first mounting groove, and the other end of the second elastic member abuts against the second mounting groove.

[0025] In an optional embodiment, the locking device further includes a blocking member disposed at the second opening. The blocking member is used to restrict the sliding member from sliding out of the second opening, and the blocking member has a connecting port that communicates with the second opening and is smaller than the second opening.

[0026] In an optional embodiment, the driving member includes a driving part and a pushing part, the driving part is connected to the pushing part, the driving part is used to drive the pushing part to move, and the end of the pushing part away from the driving part has an arc-shaped surface.

[0027] In an optional embodiment, a Hall sensor is provided at the bottom of the support frame, and a magnetic element that cooperates with the Hall sensor is provided on the slider. The Hall sensor is electrically connected to the driving element. When the driving element drives the slider to a preset position, the magnetic element triggers the Hall sensor, and the Hall sensor triggers the driving element to stop working.

[0028] In an optional embodiment, the support frame has a clearance groove communicating with the mounting cavity along the third direction, and the clearance groove extends along the second direction;

[0029] The locking device further includes a gripping member, which passes through the clearance groove and is connected to the sliding member. The gripping member moves along the clearance groove, which can drive the sliding member to move in the second direction.

[0030] Secondly, this application provides a robot that includes the locking device described in any of the foregoing embodiments.

[0031] The robot provided in the second aspect of this application has a locking device according to any of the above embodiments. Therefore, the beneficial effect of having the above locking device is to improve the space utilization and assembly efficiency inside the robot. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This illustration shows a perspective view of the locking member of a locking device provided in some embodiments of this application in a retracted state.

[0034] Figure 2 It shows Figure 1 A schematic diagram of the locking device from one perspective;

[0035] Figure 3 It shows Figure 2 A schematic diagram of the cross-sectional structure along the AA direction shown in the figure;

[0036] Figure 4 It shows Figure 2 The schematic diagram of the cross-sectional structure along the BB direction shown;

[0037] Figure 5 It shows Figure 1 Another perspective structural diagram of the locking device in the middle;

[0038] Figure 6 It shows Figure 1 Another structural diagram of the locking device in the image;

[0039] Figure 7 This illustration shows a perspective view of the locking member of a locking device provided in some embodiments of this application in an extended state.

[0040] Figure 8 It shows Figure 7 A cross-sectional view of the locking device shown in the diagram;

[0041] Figure 9 This illustration shows a cross-sectional view of the locking member of a locking device provided in another embodiment of this application in an extended state.

[0042] Figure 10 This shows another cross-sectional view of the locking member of the locking device provided in another embodiment of this application in the extended state;

[0043] Figure 11 This paper shows a perspective view of the support frame provided in some embodiments of the present application.

[0044] Figure 12 This paper shows a perspective view of the support frame provided in some embodiments of this application.

[0045] Figure 13 This paper shows a perspective view of the locking member provided in some embodiments of the present application.

[0046] Figure 14 This illustration shows a cross-sectional view of a guide component provided in one embodiment of this application.

[0047] Figure 15 This illustration shows a cross-sectional view of a guide component provided in another embodiment of this application.

[0048] Figure 16 This paper shows a schematic diagram of the support frame provided in one embodiment of the present application from one perspective.

[0049] Figure 17 This paper shows a schematic diagram of the support frame provided in one embodiment of the present application from another perspective.

[0050] Figure 18 This illustration shows another perspective structural diagram of the support frame provided in one embodiment of the present application;

[0051] Figure 19 This illustration shows another perspective structural diagram of the support frame provided in one embodiment of the present application;

[0052] Figure 20 This illustration shows a perspective view of the support frame provided in one embodiment of the present application.

[0053] Explanation of key component symbols:

[0054] 100 - Locking device; 110 - Support frame; 1101 - Mounting cavity; 1102 - First opening; 1103 - Second opening; 1104 - Clearance groove; 111 - Front plate; 112 - Base plate; 1121 - Mounting position; 1122 - Receiving groove; 1123 - Mounting part; 113 - Top plate; 114 - Left side plate; 115 - Right side plate; 116 - Base plate; 120 - Sliding member; 1201 - Receiving space; 1202 - First clearance opening; 1203 - Second clearance opening; 1204 - Third clearance opening; 121 - First side plate; 1211 - First mounting groove; 1212 - Groove; 122 - Second side plate; 1221 - Second sliding surface; 123 - Protrusion ; 1231-First sliding surface; 130-Guide component; 1301-Notch; 1302-Second mounting groove; 131-First guide section; 132-Second guide section; 133-Through hole; 1331-First hole section; 1332-Second hole section; 1333-Step surface; 140-Locking component; 141-Rolling component; 142-Body section; 1421-Curved chamfer; 143-Limiting section; 150-Second elastic component; 151-First elastic component; 160-Drive component; 161-Pushing part; 162-Drive part; 163-Curved surface; 170-Holding component; 180-Hall sensor; 181-Magnetic component; 190-Blocking component; 1901-Connecting port. Detailed Implementation

[0055] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein 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 with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0056] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0057] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0058] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0059] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0060] Embodiments of this application provide a locking device 100 and a robot. The locking device 100 is mainly applied to the robot for a stable connection during the replacement process of the robot with other components or functional modules. For example, it is used for locking and unlocking the robot when docking with a purification module, a cleaning module, a security inspection module, or a delivery module.

[0061] like Figures 1 to 3 As shown, the locking device 100 includes a support frame 110, a sliding member 120, a guide member 130, a first elastic member 151, and a locking member 140.

[0062] The support frame 110 has a first direction, a second direction, and a third direction that are perpendicular to each other. For ease of description of the various embodiments, the first direction is the height direction of the support frame 110, the second direction is the length direction of the support frame 110, and the third direction is the width direction of the support frame 110, which will be used as an example for explanation.

[0063] Combination Figure 17As shown, the support frame 110 has a mounting cavity 1101 and a first opening 1102 communicating with the mounting cavity 1101. The first opening 1102 is arranged along a first direction.

[0064] Combination Figure 4 , Figure 8 and Figure 9 As shown, the sliding member 120 is slidably disposed in the mounting cavity 1101 along the second direction. The sliding member 120 is used to drive the rolling member 141 to move during the movement, and finally realize the reciprocating movement of the locking member 140 along the first direction.

[0065] Combination Figure 14 As shown, the guide member 130 has a through hole 133 extending through the guide member 130 along a first direction, and a notch 1301 is formed on at least one side of the guide member 130 along a third direction, extending along a second direction. The rolling member 141 passes through the notch 1301. The guide member 130 is at least partially located within the mounting cavity 1101. In some embodiments, the guide member 130 has notches 1301 on both opposite sides along a third direction.

[0066] In some embodiments, a portion of the guide 130 protrudes outside the first opening 1102. Of course, in other embodiments, the guide 130 may be completely located within the mounting cavity 1101. Additionally, the bottom of the guide 130 may be open, with the first elastic member 151 abutting against the bottom wall of the mounting cavity via the guide 130. Alternatively, the bottom of the guide 130 may be closed, with the bottom of the first elastic member 151 abutting against the bottom of the guide 130.

[0067] Combination Figure 13 As shown, the locking member 140 is movably disposed through the through hole 133. A rolling member 141 is disposed along a third direction on the locking member 140, passing through the notch 1301. The rolling member 141 can abut against the sliding member 120. The locking member 140 is used to cooperate with the lock hole of the functional module, for insertion or disengagement from the lock hole, to achieve docking and locking or unlocking of the locking device 100 and the functional module, that is, to achieve docking and locking or unlocking of the robot and the functional module, and to achieve a stable connection between the robot and the functional module.

[0068] Combination Figure 4 As shown, the first elastic member 151 abuts against the wall between the locking member 140 and the mounting cavity 1101 along the second direction. When the first elastic member 151 is in a compressed state, it can apply an elastic force to the locking member 140 so that the locking member 140 extends out of the first opening 1102 and engages with the lock hole for locking.

[0069] The sliding member 120 slides along the second direction close to the guide member 130, which can drive the rolling member 141 to move along the first direction, so that the locking member 140 moves into the mounting cavity 1101 through the first opening, so as to realize that the locking member 140 disengages from the lock hole of the functional module; the sliding member 120 slides away from the guide member 130 along the second direction, and the first elastic member 151 can make the locking member 140 move out of the mounting cavity 1101 through the first opening 1102, so as to realize that the locking member 140 cooperates with the lock hole of the functional module for insertion into the lock hole.

[0070] The locking device 100 provided in this application embodiment is applied to a robot for a stable connection between the robot and a functional module. In this embodiment, the guide member 130, locking member 140, first elastic member 151, and sliding member 120 are integrated and mounted on the support frame 110, so that each component forms a locking module. This module can be installed on the robot or the functional module that works with the robot, facilitating assembly and disassembly and improving assembly efficiency. At the same time, since all components are integrated on the support frame 110, the problem of low space utilization caused by the scattered distribution of locking and positioning devices in the prior art is solved.

[0071] like Figure 3 and Figure 12 As shown, in one embodiment, the slider 120 has a receiving space 1201. The slider 120 is provided with a first sliding surface 1231 that abuts against the rolling element 141. The first sliding surface 1231 is located within the receiving space 1201 and is inclined relative to a first direction. The first sliding surface 1231 is inclined from one end near the guide member 130 to the end away from the guide member 130, gradually tilting away from the first opening 1102. When the slider 120 drives the rolling element 141 to move along the first direction, the rolling element 141 abuts against the first sliding surface 1231 and can slide along the first sliding surface 1231.

[0072] In this embodiment, the distance between the first sliding surface 1231 and the bottom of the support frame 110 gradually decreases from the end closer to the guide member 130 to the end farther away from the guide member 130. In this way, when the sliding member 120 moves toward the guide member 130, the first sliding surface 1231 presses against the rolling member 141, so that the rolling member 141 slides relative to the first sliding surface 1231 and drives the locking member 140 to move downward, thereby realizing that the locking member 140 slides out of the lock hole, which facilitates the cooperation with the guide member 130 and the rolling member 141.

[0073] like Figure 10 and Figure 11As shown, in the above embodiment, the slider 120 includes a first side plate 121 and two second side plates 122 disposed opposite to each other along a third direction. Along the second direction, the first side plate 121 is connected to one end of the two second side plates 122. The first side plate 121 and the two second side plates 122 enclose and define a receiving space 1201. A protrusion 123 is provided on the second side plate 122, and a first sliding surface 1231 is formed on the protrusion 123. When the slider 120 drives the rolling member 141 to move along the first direction, the guide member 130 is at least partially located between the two second side plates 122. In some embodiments, when the slider 120 drives the rolling member 141 to move along the first direction, a portion of the guide member 130 is located between the two second side plates 122. Of course, in other embodiments, when the slider 120 drives the rolling member 141 to move along the first direction, the guide member 130 may also be entirely located between the two second side plates 122.

[0074] In this embodiment, the protrusion 123 protrudes into the receiving space 1201 to form an inclined first sliding surface 1231, so that the first sliding surface 1231 cooperates with the rolling element 141 and can exert downward pressure on the rolling element 141 when the sliding element 120 slides. The protrusion 123 is provided in the receiving space 1201, which reduces the space occupied by the sliding element 120, thereby reducing the volume of the sliding element 120, and thus reducing the overall volume of the locking device 100.

[0075] like Figure 10 As shown, in the embodiment of the slider 120 described above, the top and bottom ends of the second side plate 122 respectively form second sliding surfaces 1221 that cooperate with the cavity wall of the mounting cavity 1101. In this embodiment, by providing second sliding surfaces 1221 at the top and bottom ends of the second side plate 122, the second sliding surfaces 1221 abut against and slide with the cavity wall of the mounting cavity 1101, facilitating the sliding of the slider 120 within the mounting cavity 1101 and improving operating efficiency.

[0076] like Figure 13 and Figure 14 As shown, in one embodiment, the locking member 140 includes a body segment 142 and a limiting segment 143. One end of the body segment 142 is connected to the limiting segment 143, and the diameter of the limiting segment 143 is larger than the diameter of the body segment 142, so that the limiting segment 143 and the body segment 142 define a stepped structure.

[0077] The through hole 133 includes a first hole segment 1331 and a second hole segment 1332. The diameter of the first hole segment 1331 is smaller than the diameter of the second hole segment 1332, so that the first hole segment 1331 and the second hole segment 1332 define a stepped hole.

[0078] In this embodiment, the diameter of the first hole segment 1331 is smaller than the diameter of the limiting segment 143. After the locking member 140 springs back, that is, after the locking member 140 disengages from the lock hole of the functional module, the limiting segment 143 of the locking member 140 abuts against the stepped surface 1333. Through the structural cooperation between the limiting segment 143 and the stepped surface 1333 of the stepped hole, the locking member 140 is prevented from moving outside the second opening 1103.

[0079] like Figure 14 As shown, in some embodiments, the guide member 130 includes a first guide segment 131 and a second guide segment 132. One end of the first guide segment 131 is connected to the second guide segment 132. The diameter of the first guide segment 131 is smaller than the diameter of the second guide segment 132. The top of the second guide segment 132 abuts against the top wall of the mounting cavity 1101, and the bottom of the second guide segment 132 abuts against the bottom wall of the mounting cavity 1101.

[0080] like Figure 3 and Figure 8 As shown, in the embodiment of the locking member 140 and the guide member 130 described above, a portion of the first guide segment 131 protrudes from the first opening 1102. In this embodiment, a portion of the body segment 142 extends out of the first guide segment 131 and engages with the lock hole.

[0081] Of course, in other embodiments, the first guide segment 131 may not protrude from the first opening 1102. It is understood that in the initial state, under the action of the first elastic member 151, the locking member 140 is always in the extended state, and the highest position of the locking member 140 in the first direction is set according to the structure between the guide member 130 and the locking member 140.

[0082] like Figure 15 As shown, in another embodiment, the guide 130 can also be a cylindrical structure with an equal outer diameter, and the stepped hole penetrates the cylindrical structure.

[0083] like Figure 13 As shown, in the embodiment of the locking member 140 described above, an arc-shaped chamfer 1421 is formed at the end of the body segment 142 away from the limiting segment 143. In this embodiment, the arc-shaped chamfer 1421 formed in the body segment 142 serves as a guide, facilitating insertion into the lock hole.

[0084] like Figure 5 As shown, in some embodiments, the support frame 110 is further provided with a second opening 1103 communicating with the mounting cavity 1101, and the second opening 1103 is arranged along the second direction.

[0085] The locking device 100 further includes a driving member 160 and a second elastic member 150. The driving member 160 is disposed on the support frame 110. The driving member 160 can pass through the second opening 1103 and abut against the sliding member 120 to drive the sliding member 120 to move along the second direction toward the guide member 130.

[0086] One end of the second elastic member 150 abuts against the guide member 130, and the other end abuts against the first side plate 121.

[0087] When the slider 120 moves to the preset position, the drive member 160 stops driving the slider 120 to move. It should be noted that when the slider 120 is in the initial position, the drive member 160 can be completely outside the mounting cavity 1101. In order to drive the slider 120, the drive member 160 moves closer to the mounting cavity 1101 and passes through the second opening 1103. Even when the slider 120 is not in contact with the guide member 130, the drive member 160 may already be passing through the second opening 1103.

[0088] It should be noted that the slider 120 can move towards the guide 130 under the drive of the drive member 160, and then move away from the guide 130 by the elastic action of the second elastic member 150. Of course, the slider 120 can also reciprocate along the second direction, that is, reciprocate towards or away from the guide 130, by the drive of the drive member 160.

[0089] It should be noted that the slider 120 moves to a preset position, which refers to the position where the slider 120 is closest to the guide 130, that is, the position where the slider 120 is when it slides to the foremost position, that is, when the locking member 140 disengages from the lock hole of the functional module and descends to the lowest position.

[0090] like Figure 11 and Figure 14 As shown, in some embodiments, a first mounting groove 1211 is provided on the side of the first side plate 121 facing the guide member 130, and a second mounting groove 1302 is provided on the guide member 130 facing the first side plate 121. One end of the second elastic member 150 abuts against the first mounting groove 1211, and the other end of the second elastic member 150 abuts against the second mounting groove 1302. In this embodiment, the provision of the first mounting groove 1211 and the second mounting groove 1302 facilitates the installation of the second elastic member 150. Simultaneously, when the second elastic member 150 is in a compressed state, the first mounting groove 1211 and the second mounting groove 1302 can improve the connection strength of the second elastic member 150, thereby improving the reliability of the locking device 100.

[0091] like Figure 10 and Figure 11 As shown, in some embodiments, the slider 120 has a first clearance opening 1202 facing the second opening 1103, and the slider 120 has a second clearance opening 1203 facing the guide 130. The second elastic member 150 passes through the second clearance opening 1203 and abuts against the guide 130 and the cavity wall of the receiving space 1201. That is, one end of the second elastic member 150 passes through the second clearance opening 1203 and abuts against the guide 130, and the other end of the second elastic member 150 is located in the receiving space 1201 and abuts against the cavity wall of the receiving space 1201.

[0092] The bottom of the slider 120 has a third clearance opening 1204, which is used to avoid the bottom of the guide member 130 when the slider 120 slides, so as to facilitate the movement of the slider 120.

[0093] like Figure 8 and Figure 12 As shown, in any of the above embodiments, a Hall sensor 180 is provided at the bottom of the support frame 110, and a magnetic component 181 cooperating with the Hall sensor 180 is provided on the slider 120. The Hall sensor 180 is electrically connected to the drive component 160. This electrical connection can be achieved through a cable, or through a signal connection, Bluetooth connection, etc. In other embodiments, the Hall sensor 180 can also be provided on the top or side of the support frame 110.

[0094] When the driving component 160 drives the sliding component 120 to a preset position, the magnetic component 181 triggers the Hall sensor 180, which in turn triggers the driving component 160 to stop working. The magnetic component 181 is mounted on the sliding component 120. When the sliding component 120 slides to its foremost position along the second direction, i.e., when the locking component 140 descends to its lowest position along the first direction, the Hall sensor 180 can detect the signal from the magnetic component 181, thereby sending a signal to stop the driving component 160. This facilitates the driving control of the driving component 160, enabling precise sliding of the sliding component 120, and ultimately causing the locking component 140 to slide out of the lock hole, thus unlocking the device.

[0095] It should be noted that when the driving member 160 drives the sliding member 120 to the preset position, the preset position refers to when the sliding member 120 slides to the foremost position along the second direction, which is when the locking member 140 descends to the lowest position along the first direction.

[0096] It should be noted that the signal detected by the Hall sensor 180 of the magnetic element 181 can be sent to the controller electrically connected to the drive element 160, and the controller can control the drive element 160 to stop working. The signal detected by the Hall sensor 180 of the magnetic element 181 can also be sent to the control circuit electrically connected to the drive element 160, and then control the drive element 160 to stop working. Alternatively, the above signal can be sent directly to the internal control module of the drive element 160, and the control module can control the drive element 160 to stop working.

[0097] In the above embodiments, the magnetic component 181 is a magnet or other component capable of generating magnetic induction.

[0098] Specifically, the support frame 110 is provided with a receiving groove 1122 for mounting the Hall sensor 180, so as to facilitate the installation of the Hall sensor 180, and the sliding member 120 is provided with a groove 1212 for mounting the magnetic member 181, so as to facilitate the installation of the magnetic member 181.

[0099] like Figure 12 As shown, in one embodiment, the first side plate 121 of the slider 120 has a groove 1212 for mounting the magnetic component 181.

[0100] It should be noted that when a portion of the locking element 140 is located within the lock hole of the functional module, the Hall sensor 180 does not detect the signal from the magnetic element 181.

[0101] like Figure 7 and Figure 8 As shown, in any of the above embodiments, the locking device 100 further includes a blocking member 190. The blocking member 190 is disposed at the second opening 1103 and is used to restrict the sliding member 120 from sliding out of the second opening 1103. The blocking member 190 has a connecting port 1901, which communicates with the second opening 1103, and the connecting port 1901 is smaller than the second opening 1103. The driving end of the driving member 160 can pass through the connecting port 1901 and abut against the sliding member 120. In this embodiment, by providing the blocking member 190 at the second opening 1103, the blocking member 190 prevents the sliding member 120 from continuing to slide backward after the driving end of the driving member 160 retracts, preventing the sliding member 120 from sliding out of the second opening 1103, thus improving the reliability of the locking device 100.

[0102] like Figure 1 and Figure 3As shown, in one embodiment, the blocking member 190 is a blocking plate with a connection port 1901. Of course, in other embodiments, the blocking member 190 may also be two pillars at the second opening 1103, the two pillars defining the connection port 1901, each pillar being able to abut against the sliding member 120 to restrict its sliding out of the second opening 1103.

[0103] In another embodiment, the blocking member 190 is a gate-shaped structural member.

[0104] like Figure 1 , Figure 2 and Figure 7 As shown, in one embodiment, the driving member 160 includes a driving part 162 and a pushing part 161. The driving part 162 is connected to the pushing part 161 and is used to drive the pushing part 161 to move. The end of the pushing part 161 away from the driving part 162 has an arc-shaped surface 163. In this embodiment, the end of the pushing part 161 away from the driving part 162 can abut against the sliding member 120. The end of the pushing part 161 that abuts against the sliding member 120 is the driving end of the driving member 160. The driving member 160 includes the driving part 162 and the pushing part 161, and its structure is simple. For example, the driving member 160 is an electric push rod. Of course, the driving member 160 can also be a driving cylinder.

[0105] Meanwhile, the end of the pushing part 161 that contacts the sliding member 120 is an arc-shaped surface 163, so that the pushing part 161 and the sliding member 120 form a linear contact, which can adapt to the shaking of the sliding member 120 during the movement.

[0106] like Figure 13 As shown, in any of the above embodiments, the rolling element 141 is a bearing; for example, the rolling element 141 is a screw bearing. Of course, in other embodiments, the rolling element 141 may also be other bearings or rollers mounted on the locking element 140 via a rotating shaft.

[0107] like Figure 8 and Figure 17 As shown, in one embodiment, the support frame 110 includes a base plate 112, a front plate 111, a top plate 113, a left side plate 114, and a right side plate 115. The base plate 112, front plate 111, top plate 113, left side plate 114, and right side plate 115 enclose a mounting cavity 1101. The top plate 113 has a first opening 1102, and the left side plate 114, right side plate 115, and base plate 112 define a second opening 1103. In this embodiment, the support frame 110 forms a square structure, reducing the space occupied by the support frame 110.

[0108] like Figure 5 and Figure 6As shown, in one embodiment, the support frame 110 further includes a base plate 116, which is connected to the base plate 112. The drive unit 160 is mounted on the base plate 116 to facilitate the installation of the drive unit 160.

[0109] like Figure 19 As shown, in the embodiment of the support frame 110 described above, at least one of the left side plate 114 and the right side plate 115 has an clearance groove 1104.

[0110] like Figure 16 , Figure 18 and Figure 20 As shown, for example, the base plate 112 is provided with a mounting position 1121 for the first elastic member 151 and a receiving groove 1122 for mounting the Hall sensor 180. Also for example, the base plate 112 is further provided with a mounting portion 1123 for mounting the guide member 130.

[0111] In one embodiment, both the first elastic element 151 and the second elastic element 150 are springs. Of course, in other embodiments, the first elastic element 151 and the second elastic element 150 may also be sheet metal or elastic bodies.

[0112] like Figure 5 and Figure 7 As shown, in some embodiments, the support frame 110 has a clearance groove 1104 communicating with the mounting cavity 1101 along the third direction, and the clearance groove 1104 extends along the first direction;

[0113] The locking device 100 further includes a gripping member 170, which passes through the clearance groove 1104 and is connected to the sliding member 120. The gripping member 170 moves along the clearance groove 1104, which can drive the sliding member 120 to move in the second direction.

[0114] In this embodiment, when a portion of the locking member 140 is located within the lock hole of the functional module, i.e., when the locking device 100 is locked to the functional module, under the action of external force, the drive member 170 can be selected to drive the sliding member 120 to move towards the guide member 130. The sliding member 120, through its cooperation with the rolling member 141, drives the locking member 140 to slide out and retract from the lock hole, thereby sliding the locking member 140 out of the lock hole to achieve unlocking. That is, when the drive member 160 or other electronic components controlling the drive member 160 are damaged, the sliding member 120 can be moved by the drive member 170 to drive the locking member 140 to unlock. The unlocking operation is diverse and convenient, improving the maintenance efficiency of the robot.

[0115] like Figure 8 and Figure 11As shown, in one embodiment, the gripper 170 is mounted on the side of the second side plate 122 opposite to the second elastic member 150.

[0116] Specifically, the working principle of the locking device 100 is explained as follows:

[0117] like Figures 7 to 9 As shown, the locking device 100 is in its initial state, i.e., the locking member 140 is in the extended state. From the extended state to the retracted state, the driving unit 162 drives the pushing unit 161 forward, which in turn pushes the sliding member 120 forward, bringing the sliding member 120 into contact with the rolling member 141. The driving unit 162 further drives the pushing unit 161 forward, pushing the sliding member 120 forward further, and the rolling member 141 slides on the first sliding surface 1231, causing the locking member 140 to retract. When the Hall sensor 180 detects the magnetic member 181, the locking member 140 retracts, i.e., descends to its lowest position, and the driving unit 162 stops moving. At this time, the locking member 140 descends to its lowest position, the first elastic member 151 and the second elastic member 150 are in a compressed state, the rolling member 141 contacts the first sliding surface 1231 of the sliding member 120, and the Hall sensor 180 detects the signal from the magnetic member 181, thereby sending a signal to the controller to stop the driving unit 160.

[0118] like Figure 3 and Figure 8 As shown, from the retracted state to the extended state, the locking member 140 moves as follows: the driving part 162 drives the pushing part 161 to retract to its limit position (this limit position is the position of the pushing part 161 in its minimum extended state from the driving part 162). Under the elastic potential energy of the first elastic member 151, the locking member 140 moves upward, and the sliding member 120 moves backward under the combined action of the locking member 140 and the second elastic member 150, until the limiting section 143 of the locking member 140 contacts the stepped surface 1333 of the stepped hole. At this time, the relationship between the components returns to the initial state. Since the upward movement of the locking member 140 relies on the first elastic member 151, when the locking holes (i.e., positioning holes) on other parts or functional modules of the robot are shallow, it can adapt (i.e., at this time, the top of the limiting section 143 of the locking member 140 does not contact the step surface 1333 of the stepped hole, and the uppermost end face of the locking member 140 is in close contact with the end face inside the locking hole on other parts or functional modules of the robot), so that the locking device 100 has good structural adaptability.

[0119] Manual unlocking mode: When the locking device 100 is in the initial state (the locking member 140 is in the extended state), you only need to push the handle 170 on the slider 120 forward by hand to retract the locking member 140 and unlock it.

[0120] In any of the above embodiments, it should be noted that the locking device 100 is in an initial state, which means that the locking member 140 is engaged with the lock hole of the functional module. At this time, the locking member 140 is in an extended state, and the locking member 140 is extended outside the first opening 1102.

[0121] It should be noted that the direction in which the driving part 162 drives the pushing part 161 to push the sliding member 120 to move is the forward direction, the direction in which the driving part 162 drives the pushing part 161 to retract is the rearward direction, the direction in which the locking member 140 extends is the upward direction, and the direction in which the locking member 140 retracts is the downward direction.

[0122] Embodiments of this application also provide a robot including the locking device 100 of any of the foregoing embodiments.

[0123] The robot provided in this embodiment has a locking device 100 of any of the above embodiments. Therefore, the advantages of having the locking device 100 are that it improves the space utilization and assembly efficiency inside the robot. In addition, it facilitates the connection of the robot with other components or functional modules and facilitates the maintenance of the robot, thereby improving maintenance efficiency.

[0124] In one embodiment, the robot includes a main body and multiple functional modules. The main body is equipped with a locking device 100, and each functional module has a lock hole. When the locking member 140 of the locking device 100 extends into the lock hole of the functional module, it is in a locked state, i.e., the initial state in any of the above embodiments. When the locking member 140 of the locking device 100 disengages from the lock hole, it is in an unlocked state, i.e., the locking member 140 described in any of the above embodiments is in a retracted state.

[0125] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above 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 one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0126] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A locking device, characterized in that, include: A support frame has a first direction, a second direction and a third direction that are perpendicular to each other. The support frame has a mounting cavity and a first opening that communicates with the mounting cavity. The first opening is arranged along the first direction. A guide member has a through hole along the first direction, and a notch is provided along the third direction. The guide member is at least partially located within the mounting cavity. A locking member is movably disposed through the through hole, and a rolling element is disposed along the third direction of the locking member, the rolling element passing through the notch; The first elastic element abuts against the locking element and the cavity wall of the mounting cavity along the first direction; A sliding member is slidably disposed within the mounting cavity along the second direction; The sliding member slides close to the guide member along the second direction, which can drive the rolling member to move along the first direction, so that the locking member moves into the mounting cavity through the first opening; the sliding member slides away from the guide member along the second direction, and the first elastic member can make the locking member move out of the mounting cavity through the first opening.

2. The locking device according to claim 1, characterized in that, The slider has a receiving space, and the slider is provided with a first sliding surface that abuts against the rolling element. The first sliding surface is located in the receiving space. The first sliding surface is inclined relative to the first direction. The first sliding surface gradually tilts away from the first opening from the end near the guide to the end away from the guide. When the slider drives the rolling element to move along the first direction, the rolling element abuts against the first sliding surface and can slide along the first sliding surface.

3. The locking device according to claim 2, characterized in that, The sliding member includes a first side plate and two second side plates disposed opposite each other along the third direction. Along the second direction, the first side plate is connected to one end of the two second side plates. The first side plate and the two second side plates enclose and define the receiving space. A protrusion is provided on the second side plate, and the first sliding surface is formed on the protrusion. When the slider drives the rolling element to move along the first direction, the guide element is at least partially located between the two second side plates.

4. The locking device according to claim 1, characterized in that, The locking member includes a body section and a limiting section, one end of the body section is connected to the limiting section, and the diameter of the limiting section is larger than the diameter of the body section; The through hole includes a first hole segment and a second hole segment, wherein the diameter of the first hole segment is smaller than the diameter of the second hole segment, and the diameter of the first hole segment is smaller than the diameter of the limiting segment. The body section passes through the first hole section, and the limiting section passes through the second hole section.

5. The locking device according to claim 3, characterized in that, The support frame is also provided with a second opening communicating with the mounting cavity, and the second opening is arranged along the second direction; The locking device further includes a driving member and a second elastic member. The driving member is disposed on the support frame and can pass through the second opening and abut against the sliding member to drive the sliding member to move along the second direction toward the guide member. One end of the second elastic member abuts against the guide member, and the other end abuts against the first side plate.

6. The locking device according to claim 5, characterized in that, The first side plate is provided with a first mounting groove on the side facing the guide member, and the guide member is provided with a second mounting groove in the direction facing the first side plate; One end of the second elastic member abuts against the first mounting groove, and the other end of the second elastic member abuts against the second mounting groove.

7. The locking device according to claim 5, characterized in that, The locking device further includes a blocking member disposed at the second opening. The blocking member is used to restrict the sliding member from sliding out of the second opening. The blocking member has a connection port that communicates with the second opening and is smaller than the second opening.

8. The locking device according to claim 6, characterized in that, The driving component includes a driving part and a pushing part. The driving part is connected to the pushing part and is used to drive the pushing part to move. The end of the pushing part away from the driving part has an arc-shaped surface.

9. The locking device according to claim 6, characterized in that, The support frame is equipped with a Hall sensor, and the slider is equipped with a magnetic element that cooperates with the Hall sensor. When the driving element drives the slider to a preset position, the magnetic element triggers the Hall sensor, and the Hall sensor triggers the driving element to stop working.

10. The locking device according to any one of claims 1 to 9, characterized in that, The support frame has a clearance groove communicating with the mounting cavity along the third direction, and the clearance groove extends along the second direction; The locking device further includes a gripping member, which passes through the clearance groove and is connected to the sliding member. The gripping member moves along the clearance groove, which can drive the sliding member to move in the second direction.

11. A robot, characterized in that, Includes the locking device as described in any one of claims 1 to 10.

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