Locking mechanism and robot

Abstract

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

Description

Technical Field

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

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

[0003] In related technologies, locking the functional modules and chassis requires occupying a large space in a single direction, resulting in an excessively large chassis size in that direction. Utility Model Content

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

[0005] This application provides a locking mechanism, including:

[0006] Base;

[0007] The drive assembly is mounted on the base;

[0008] A transmission component is disposed at the end of the drive component. The transmission component is connected to the drive component in a transmission manner and is slidably mounted on the base in a first direction. A first inclined surface is provided at the end of the transmission component away from the drive component.

[0009] A pin assembly is disposed at the end of the transmission assembly away from the drive assembly and is slidably mounted on the base along a second direction. The end of the pin assembly near the transmission assembly is provided with a second inclined surface, and the second inclined surface slidably fits against the first inclined surface.

[0010] In some possible implementations, the transmission assembly includes a connecting rod and a sliding seat, the sliding seat being fixedly connected to one end of the connecting rod, and the end of the connecting rod away from the sliding seat being drively connected to the drive assembly;

[0011] The sliding seat has a first side and a second side disposed opposite to each other, the second side facing the pin assembly, and the first inclined surface is formed on the second side;

[0012] The first inclined surface gradually slopes away from the end away from the drive component to the end closer to the drive component, moving away from the first side.

[0013] In some possible implementations, the drive assembly includes a drive element and a cam, the drive element being mounted on the base;

[0014] The cam is connected to the output shaft of the drive unit, and the cam is configured with a rotation axis parallel to a third direction, which is perpendicular to both the first direction and the second direction.

[0015] The cam includes two oppositely arranged protrusions and two oppositely arranged concave portions. The two protrusions and the two concave portions are arranged alternately around the rotation axis. The driving member can drive the cam to rotate so that the transmission component abuts against the protrusions and the concave portions alternately at one end facing the driving component.

[0016] In some possible implementations, a limiting groove is provided on the circumferential surface of the cam surrounding the axis of rotation, the transmission assembly is inserted into the limiting groove at one end facing the drive assembly, and is located in the limiting groove at the upper limit in the third direction.

[0017] In some possible implementations, the transmission assembly has a rolling roller at one end facing the drive assembly, the rotation axis of the roller being parallel to the rotation axis of the cam, the roller being confined in the limiting groove and rollingly engaging with the bottom of the limiting groove.

[0018] In some possible implementations, the locking mechanism includes a locked state, and each of the two protrusions is provided with a first positioning groove at one end that is far apart from each other;

[0019] When the locking mechanism is in the locked state, the roller is confined in one of the first positioning slots.

[0020] In some possible implementations, the locking mechanism includes an unlocked state, and each of the two recesses has a second positioning groove on the side that is far apart from each other.

[0021] When the locking mechanism is in the unlocked state, the roller is positioned in a second positioning groove.

[0022] In some possible implementations, the pin assembly includes a base and a rod, the base being connected to one end of the rod and protruding relative to the periphery of the rod, and the second inclined surface being formed on the side of the base opposite to the rod.

[0023] The locking mechanism further includes an elastic element and a first guide element. The first guide element is slidably sleeved on the insertion rod and spaced apart from the base. The first guide element includes a connected bushing portion and a limiting edge. The limiting edge protrudes from the periphery of the bushing portion away from the base. The elastic element is sleeved on the periphery of the bushing portion and limited between the base and the limiting edge.

[0024] In some possible implementations, the locking mechanism further includes a guide rail, one side of which is provided with a guide groove;

[0025] The end of the pin assembly away from the transmission assembly slides through the guide rail and is telescopically arranged relative to the guide groove.

[0026] In addition, this application also provides a robot, including a chassis and functional modules connected together, wherein the chassis includes the locking mechanism provided in the above embodiments;

[0027] When the functional module is connected to the chassis, the locking mechanism is plugged into the functional module.

[0028] The beneficial effects of this application are as follows: The locking mechanism provided by this application has a transmission component that is slidably disposed along a first direction and is connected to the drive component and the pin component, while the pin component is slidably disposed along a second direction. The transmission component enables power transmission between the drive component and the pin component, and also allows for a change in the direction of power. This avoids the locking mechanism occupying a large volume in the second direction, reduces the size of the chassis in the second direction, lowers the chassis center of gravity, and improves chassis stability. Attached Figure Description

[0029] 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.

[0030] Figure 1 A schematic diagram of the locking mechanism in the unlocked state is shown in some embodiments;

[0031] Figure 2 A schematic diagram of the locking mechanism in the locked state is shown in some embodiments;

[0032] Figure 3 Exploded structural diagrams of the locking mechanism in some embodiments are shown;

[0033] Figure 4 A three-dimensional structural schematic diagram of the locking mechanism in some embodiments is shown;

[0034] Figure 5 Schematic diagrams of the cam structure are shown in some embodiments;

[0035] Figure 6 A three-dimensional structural schematic diagram of the cam is shown in some embodiments;

[0036] Figure 7 A partial exploded structural diagram of the locking mechanism is shown in some embodiments;

[0037] Figure 8 It shows Figure 7 A magnified schematic diagram of part A in the middle section;

[0038] Figure 9 Cross-sectional structural schematic diagrams of the transmission assembly and the latch assembly in some embodiments are shown;

[0039] Figure 10 Schematic diagrams of the chassis and functional modules in some embodiments are shown;

[0040] Figure 11 A cross-sectional structural diagram of the chassis and functional connections in some embodiments is shown.

[0041] Explanation of key component symbols:

[0042] 1000 - Locking mechanism; 1001 - Unlocked state; 1002 - Locked state;

[0043] 100 - Drive assembly; 110 - Drive element; 120 - Cam; 121 - Protrusion; 1211 - First positioning groove; 122 - Recess; 1221 - Second positioning groove; 123 - Limiting groove;

[0044] 200 - Transmission assembly; 210 - Connecting rod; 220 - Sliding seat; 2201 - First side; 2202 - Second side; 221 - First inclined surface; 222 - Guide wing plate; 230 - Roller; 240 - Connecting seat; 250 - Second guide member;

[0045] 300-Pin assembly; 310-Base; 311-Second inclined surface; 312-Limiting plate; 313-Limiting protrusion; 314-Guide groove; 315-Counter groove; 320-Pin rod;

[0046] 400 - Mounting base;

[0047] 500 - First guide component; 510 - Bushing portion; 520 - Limiting edge;

[0048] 600 - Guide rail; 610 - Guide groove;

[0049] 700 - Elastic component;

[0050] 2000 - Chassis; 3000 - Functional module; 3100 - Guide section; 3200 - Locking slot;

[0051] X - First direction; Y - Second direction; Z - Third direction; L - Rotation axis. Detailed Implementation

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] like Figure 1 , Figure 10 and Figure 11 As shown, the embodiment provides a locking mechanism 1000, which can be applied to the chassis 2000 of a robot. When the functional module 3000 of the robot is connected to the chassis 2000, the functional module 3000 can be locked.

[0058] like Figure 1 and Figure 3 As shown, in some embodiments, the locking mechanism 1000 includes a base, a drive assembly 100, a transmission assembly 200, and a pin assembly 300. The base may be part of the main structure of the chassis 2000. The drive assembly 100 may be mounted on the base and is located approximately at the center of the base in the first direction X. In this embodiment, the transmission assembly 200 includes two sets, which are respectively disposed on opposite sides of the drive assembly 100. The ends of both sets of transmission assemblies facing the drive assembly 100 are driveably connected to the drive assembly 100, and the transmission assemblies 200 are slidably mounted on the base along the first direction X. The other end of the transmission assembly 200 away from the drive assembly 100 is provided with a first inclined surface 221.

[0059] Preferably, the pin assembly 300 includes two sets, which are correspondingly disposed at the ends of the two transmission assemblies 200 away from the drive assembly 100. The pin assembly 300 is slidably mounted on the base along the second direction Y. Furthermore, the position of the pin assembly 300 on the base can be kept fixed along the first direction X. The second direction Y is perpendicular to the first direction X. The end of the pin assembly 300 facing the transmission assembly 200 is provided with a second inclined surface 311, which slidably engages with the first inclined surface 221.

[0060] like Figure 1 , Figure 10 and Figure 11 As shown, during use, the drive assembly 100 can drive the transmission assembly 200 to slide along the first direction X. It can be understood that the transmission assembly 200 and the pin assembly 300 are in a beveled fit. When the transmission assembly 200 slides along the first direction X, it can drive the pin assembly 300 to slide along the second direction Y, thereby enabling the pin assembly 300 to move in the second direction Y. By applying the locking mechanism 1000 to the chassis 2000, the locking and unlocking of the functional module 3000 can be achieved through the extension and retraction of the pin assembly 300.

[0061] In this embodiment, the power transmission between the drive assembly 100 and the pin assembly 300 can be realized through the transmission assembly 200, and the power direction can be changed at the same time. This avoids the locking mechanism 1000 occupying a large volume in the second direction Y, reduces the size of the chassis 2000 in the second direction Y, lowers the center of gravity of the chassis 2000, and improves the stability of the chassis 2000.

[0062] Furthermore, in this application, by driving two sets of transmission components 200 and pin components 300 through the same set of drive components 100, the number of drive components 100 can be reduced. On the one hand, this reduces the number of parts in the locking mechanism 1000, thereby lowering its material cost. On the other hand, it reduces the space occupied by the locking mechanism 1000, improving the space utilization within the chassis 2000.

[0063] like Figure 1 , Figure 2 and Figure 11 As shown, in some embodiments, the locking mechanism 1000 may include an unlocked state 1001 and a locked state 1002. When the locking mechanism 1000 is in the locked state 1002, the end of the pin assembly 300 away from the transmission assembly 200 can be inserted into the functional module 3000 to lock the functional module 3000 to the chassis 2000, preventing the functional module 3000 from arbitrarily disengaging from the chassis 2000. When the locking mechanism 1000 is in the unlocked state 1001, the pin assembly 300 can be separated from the functional module 3000, allowing the functional module 3000 to be separated from the chassis 2000.

[0064] like Figures 1 to 6 As shown, in some embodiments, the drive assembly 100 may include a drive member 110 and a cam 120. The drive member 110 may be fixedly mounted on one side of the mounting base 400. The mounting base 400 may be fixedly connected to the base by means of screws or the like. The cam 120 is rotatably disposed on the side of the mounting base 400 away from the drive member 110. The cam 120 may have a rotation axis L parallel to a third direction Z, which may be perpendicular to both a first direction X and a second direction Y. The output shaft of the drive member 110 passes through the mounting base 400 and is fixedly connected to the cam 120. Thus, the drive member 110 can drive the cam 120 to rotate about the rotation axis L.

[0065] In some embodiments, the drive unit 110 may be a servo motor.

[0066] In other embodiments, the drive element 110 may be a motor.

[0067] In some embodiments, the cam 120 may include two oppositely arranged protrusions 121 and two oppositely arranged recesses 122. The two protrusions 121 and the two recesses 122 are arranged alternately around the rotation axis L. In some embodiments, the two protrusions 121 and the two recesses 122 may be arranged in a cross shape. One end of the transmission assembly 200 facing the drive assembly 100 may abut against the peripheral surface of the cam 120 around the rotation axis L, and correspondingly, the transmission assembly 200 may abut against the protrusions 121 and the recesses 122 alternately.

[0068] In some embodiments, a limiting groove 123 may be configured on the circumferential surface of the cam 120 surrounding the rotation axis L. The limiting groove 123 surrounds the circumference of the cam 120, i.e., the limiting groove 123 may be a closed annular structure. One end of the transmission assembly 200 facing the cam 120 may be inserted into the limiting groove 123, and may be positioned within the limiting groove 123 at its upper limit in the third direction Z. This prevents misalignment between the transmission assembly 200 and the cam 120, thereby ensuring smooth power transmission.

[0069] In some embodiments, each of the two protrusions 121 has a first positioning groove 1211 on its opposite side. Each of the two recesses 122 has a second positioning groove 1221 on its opposite side. When the locking mechanism 1000 is in the locked state 1002, the two protrusions 121 face the two sets of transmission components 200 one-to-one, and the two sets of transmission components 200 are positioned and inserted into the two first positioning grooves 1211 one-to-one, preventing the transmission components 200 and the cam 120 from moving relative to each other arbitrarily. When the locking mechanism 1000 is in the unlocked state 1001, the two recesses 122 face the two sets of transmission components 200 one-to-one, and the two sets of transmission components 200 are positioned and inserted into the two second positioning grooves 1221 one-to-one, preventing the transmission components 200 and the cam 120 from moving relative to each other arbitrarily.

[0070] In other embodiments, the drive assembly 100 may include a drive member 110, a gear, and two racks. The gear may be fixedly connected to the output shaft of the drive member 110 and can be driven to rotate by the drive member 110. The rotation axis of the gear may be parallel to the second direction Y. The two racks are both parallel to the first direction X and are located on opposite sides of the gear along a third direction Z. Both racks are meshed with the gear. Furthermore, one end of each rack may be correspondingly abutted or fixedly connected to the connecting rods 210 in the two sets of transmission assemblies 200.

[0071] like Figures 1 to 8 As shown, in some embodiments, the transmission assembly 200 may include a connecting rod 210, a sliding seat 220, and a roller 230. The axial direction of the connecting rod 210 may be parallel to the first direction X. The sliding seat 220 may be fixedly connected to one end of the connecting rod 210. In some embodiments, the connecting rod 210 and the sliding seat 220 may be an integral structure, with both the connecting rod 210 and the sliding seat 220 slidably mounted on the base along the first direction X.

[0072] In some embodiments, the roller 230 is rotatably connected to the end of the connecting rod 210 away from the sliding seat 220 via the connecting seat 240. The connecting seat 240 is fixedly connected to the connecting rod 210 by means of screws or the like. The roller 230 is rotatably mounted on the side of the connecting seat 240 opposite to the connecting rod 210, and the rotation axis of the roller 230 can be parallel to a third direction Z.

[0073] In this embodiment, the side of the roller 230 furthest from the connecting rod 210 can be inserted into the limiting groove 123 and roll in cooperation with the bottom of the limiting groove 123. This reduces the resistance when the roller 230 moves relative to the drive assembly 100, improving the smoothness of the relative movement between the transmission assembly 200 and the cam 120. Additionally, the roller 230 can be positioned within the limiting groove 123 at its upper limit in the third direction Z.

[0074] In some embodiments, the slide seat 220 may include a first side 2201 and a second side 2202, which may be distributed on opposite sides of the slide seat 220 along a second direction Y. The second side 2202 may be disposed towards the pin assembly 300. A first inclined surface 221 may be formed on the second side 2202. In some embodiments, the first inclined surface 221 may gradually slope away from the first side 2201 from the end away from the drive assembly 100 to the end closer to the drive assembly 100.

[0075] In other embodiments, the first inclined surface 221 may also gradually slope from the end away from the drive component 100 to the end closer to the drive component 100 towards the first side 2201.

[0076] like Figure 1 , Figure 2 as well as Figure 10 As shown, in some embodiments, the locking mechanism 1000 further includes a second guide member 250, which may be a linear bearing. The outer ring of the second guide member 250 may be fixedly connected to the base, and the axial direction of the second guide member 250 may be parallel to the first direction X. The connecting rod 210 may slide along the first direction X through the second guide member 250 and cooperate with the retainer of the second guide member 250, ensuring that the connecting rod 210 can slide smoothly along the first direction X while also providing a guiding function for the connecting rod 210.

[0077] like Figure 1 , Figures 7 to 9 As shown, in some embodiments, the pin assembly 300 may include a base 310 and a pin 320. The axial direction of the pin 320 may be parallel to the second direction Y. The base 310 may be connected to the end of the pin 320 near the transmission assembly 200. In some embodiments, the base 310 and the pin 320 may be fixedly connected by means of screws or the like.

[0078] In other embodiments, the base 310 and the insertion rod 320 may also be fixedly connected by means of integral molding or welding.

[0079] In some embodiments, the second inclined surface 311 may be formed on the side of the base 310 away from the insertion rod 320, the second inclined surface 311 may be parallel to the first inclined surface 221, and the second inclined surface 311 and the first inclined surface 221 may slide against each other.

[0080] In some embodiments, the base 310 has two spaced-apart opposing limiting plates 312 protruding from the side opposite to the insertion rod 320. The two limiting plates 312 cooperate to form a guide groove 314 parallel to the second inclined surface 311, wherein the second inclined surface 311 can serve as the bottom of the guide groove 314. Each of the two limiting plates 312 has a limiting protrusion 313 protruding from its end away from the insertion rod 320, opposite to the second inclined surface 311. The two limiting protrusions 313 are spaced-apart opposite to each other. Along the third direction Z, guide wing plates 222 protrude from both sides of the sliding seat 220 near the second side 2202. The end of the sliding seat 220 with the first inclined surface 221 is slidably inserted into the guide groove 314, and the first inclined surface 221 and the second inclined surface 311 are slidably engaged. The two limiting protrusions 313 are located on the side of the two guide vanes 222 away from the second inclined surface 311, thereby preventing the base 310 and the sliding seat 220 from separating arbitrarily in the second direction Y and the third direction Z.

[0081] In some embodiments, the locking mechanism 1000 further includes two first guide members 500, which are slidably sleeved on the insert rods 320 of the two pin assemblies 300 in a one-to-one correspondence, and the first guide members 500 are spaced apart from the base 310.

[0082] In some embodiments, the first guide member 500 may include an integral bushing portion 510 and a limiting edge 520. The bushing portion 510 may have a tubular structure, slidably sleeved on the periphery of the insertion rod 320, and spaced apart from the base 310. The limiting edge 520 may protrude from the periphery of the end of the bushing portion 510 away from the base 310. Correspondingly, the limiting edge 520 may be opposite to the base 310. Furthermore, the insertion rod 320 may be telescopically oriented relative to the side of the limiting edge 520 opposite to the base 310.

[0083] In some embodiments, the first guide member 500 may also be a linear bearing, and the first guide member 500 may be fixedly connected to the base via a structure such as a bracket. In some embodiments, the axial direction of the first guide member 500 may be parallel to the second direction Y. The outer ring of the first guide member 500 may be fixedly disposed relative to the base, and the insertion rod 320 may slide through the first guide member 500 and cooperate with the retainer inside the first guide member 500. Thus, the first guide member 500 may restrict the movement of the pin assembly 300 in the first direction X. When the pin assembly 300 moves along the second direction Y under the drive of the transmission assembly 200, it may be ensured that the pin assembly 300 moves smoothly along the second direction Y, and the first guide member 500 may also provide a guiding function for the pin assembly 300.

[0084] In some embodiments, the locking mechanism 1000 further includes two elastic members 700, which are correspondingly sleeved on the bushing portions 510 of the two first guide members 500. The elastic members 700 can be confined between the base 310 and the limiting edge 520 at corresponding positions. When the locking mechanism 1000 is in the unlocked state 1001, the elastic members 700 can be in a compressed state or a naturally extended state. When the locking mechanism 1000 switches from the locked state 1002 to the unlocked state 1001, the elastic members 700 can drive the pin assembly 300 and the corresponding transmission assembly 200 to reset.

[0085] In some embodiments, the elastic element 700 may be a spring.

[0086] In other embodiments, the elastic element 700 may also be a flexible column, a spring sheet, or other structure.

[0087] In other embodiments, the pin assembly 300 can also move and reset under the action of gravity, and can drive the transmission assembly 200 to move and reset together.

[0088] In some embodiments, the base 310 has a recess 315 surrounding the insert rod 320 on the side facing the insert rod 320. The end of the elastic member 700 away from the limiting edge 520 can be limited in the recess 315, which can reduce the sway of the elastic member 700 in the radial direction of the bushing portion 510 and further ensure that the elastic member 700 can provide a stable and reliable elastic restoring force.

[0089] like Figures 1 to 4 As shown, in some embodiments, the locking mechanism 1000 further includes two spaced-apart guide rails 600. The two guide rails 600 can be configured one-to-one with the two pin assemblies 300. In each embodiment, a guide groove 610 is provided on the opposite side of each of the two guide rails 600, and the guide groove 610 can be parallel to a third direction Z.

[0090] In some embodiments, the first guide member 500 may pass through a guide rail 600 at a relative position, and the limiting edge 520 may be embedded in the side of the guide rail 600 facing the guide groove 610. In an embodiment, the surface of the limiting edge 520 away from the bushing portion 510 may be flush with the bottom of the guide groove 610. In addition, the limiting edge 520 may be fixedly connected to the guide rail 600 by means of screw connection or the like. The guide rail 600 may also be fixedly connected to the base by a structure such as a bracket. Correspondingly, the end of the insertion rod 320 away from the base 310 may be telescopically arranged relative to the guide groove 610.

[0091] like Figures 1 to 4 as well as Figure 10 , Figure 11As shown in the embodiment, the locking mechanism 1000 is applied to the chassis 2000 of the robot. When the functional module 3000 is connected to the chassis 2000, the locking mechanism 1000 can be in the unlocked state 1001, and the insertion rod 320 can retract relative to the guide groove 610. The opposing guide portions 3100 on both sides of the functional module 3000 can be inserted one-to-one into the guide grooves 610 of the two guide rails 600 along the third direction Z. The guide rails 600 can provide a guiding function for the insertion and connection of the functional module 3000 and the chassis 2000. After the functional module 3000 and the chassis 2000 are connected in place, the locking mechanism 1000 can be switched from the unlocked state 1001 to the locked state 1002.

[0092] During the transition of the locking mechanism 1000 from the unlocked state 1001 to the locked state 1002, the drive member 110 drives the cam 120 to rotate. As the cam 120 rotates, the rollers 230 of both sets of transmission components 200 gradually move out of the second positioning grooves 1221 of the corresponding recesses 122. When the two protrusions 121 rotate to a position where the two sets of transmission components 200 are aligned, the two rollers 230 are positioned in the two first positioning grooves 1211, and the drive member 110 stops operating. During the transition of the cam 120 from the recess 122 to the point where the protrusion 121 is aligned with the transmission component 200, the two sets of transmission components 200 can be pushed to move away from each other along the first direction X. Because the pin assembly 300 is relatively fixed in the first direction X, under the pressing action of the first inclined surface 221 and the second inclined surface 311, the transmission assembly 200 can push the corresponding pin assembly 300 to move along the second direction Y. Specifically, the pin assembly 300 can gradually compress the elastic member 700 and extend relative to the guide groove 610 of the guide rail 600 to gradually insert into the functional module 3000. Thus, the pin assembly 300 can prevent the functional module 3000 from detaching from the chassis 2000.

[0093] When the functional module 3000 needs to be removed from the chassis 2000, the locking mechanism 1000 can be switched from the locked state 1002 to the unlocked state 1001. During this process, the drive member 110 can drive the cam 120 to rotate, causing the two rollers 230 to move out of the first positioning groove 1211 of the corresponding protrusion 121, and causing the two recesses 122 to gradually rotate until they correspond one-to-one with the two sets of transmission components 200. When the two recesses 122 rotate to correspond one-to-one with the two sets of transmission components 200, the rollers 230 of the two sets of transmission components 200 can be positioned one-to-one in the two second positioning grooves 1221, and the drive member 110 can stop operating. During the process of the cam 120 switching from the convex part 121 to the concave part 122 and facing the transmission assembly 200, the elastic element 700 can gradually release elastic potential energy and drive the pin assembly 300 to move away from the guide groove 610, so that the pin assembly 300 gradually separates from the functional module 3000 and retracts relative to the guide groove 610. Under the squeezing action of the first inclined surface 221 and the second inclined surface 311, the two sets of transmission assemblies 200 can move towards each other.

[0094] like Figure 10 and Figure 11 As shown, the embodiment also provides a robot, including a chassis 2000 and a functional module 3000, which is detachably mounted relative to the chassis 2000. The chassis 2000 may include a locking mechanism 1000 provided in the embodiment. When the functional module 3000 is connected to the chassis 2000, the pin assembly 300 of the locking mechanism 1000 can be inserted into the locking slot 3200 of the functional module 3000, thereby locking the functional module 3000 to the chassis 2000 and preventing the functional module 3000 from moving freely relative to the chassis 2000.

[0095] 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.

[0096] 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 mechanism, characterized in that, include: Base; The drive assembly is mounted on the base; A transmission component is disposed at the end of the drive component. The transmission component is connected to the drive component in a transmission manner and is slidably mounted on the base in a first direction. A first inclined surface is provided at the end of the transmission component away from the drive component. A pin assembly is disposed at the end of the transmission assembly away from the drive assembly and is slidably mounted on the base along a second direction. The end of the pin assembly near the transmission assembly is provided with a second inclined surface, and the second inclined surface slidably fits against the first inclined surface.

2. The locking mechanism according to claim 1, characterized in that, The transmission assembly includes a connecting rod and a sliding seat. The sliding seat is fixedly connected to one end of the connecting rod, and the end of the connecting rod away from the sliding seat is connected to the driving assembly in a transmission manner. The sliding seat has a first side and a second side disposed opposite to each other, the second side facing the pin assembly, and the first inclined surface is formed on the second side; The first inclined surface gradually slopes away from the end away from the drive component to the end closer to the drive component, moving away from the first side.

3. The locking mechanism according to claim 1 or 2, characterized in that, The drive assembly includes a drive element and a cam, and the drive element is mounted on the base; The cam is connected to the output shaft of the drive unit, and the cam is configured with a rotation axis parallel to a third direction, which is perpendicular to both the first direction and the second direction. The cam includes two oppositely arranged protrusions and two oppositely arranged concave portions. The two protrusions and the two concave portions are arranged alternately around the rotation axis. The driving member can drive the cam to rotate so that the transmission component abuts against the protrusions and the concave portions alternately at one end facing the driving component.

4. The locking mechanism according to claim 3, characterized in that, The cam has a limiting groove on its circumferential surface surrounding the rotation axis. The end of the transmission component facing the drive component is inserted into the limiting groove, and the upper limit of the transmission component is located in the limiting groove in the third direction.

5. The locking mechanism according to claim 4, characterized in that, The transmission assembly has a roller at one end facing the drive assembly. The rotation axis of the roller is parallel to the rotation axis of the cam. The roller is confined in the limiting groove and rolls with the bottom of the limiting groove.

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

7. The locking mechanism according to claim 5, characterized in that, The locking mechanism includes an unlocked state, and each of the two recesses, on the side away from each other, is fitted with a second positioning groove; When the locking mechanism is in the unlocked state, the roller is positioned in a second positioning groove.

8. The locking mechanism according to claim 1, characterized in that, The pin assembly includes a base and a rod, the base being connected to one end of the rod and protruding relative to the periphery of the rod, and the second inclined surface being formed on the side of the base opposite to the rod. The locking mechanism further includes an elastic element and a first guide element. The first guide element is slidably sleeved on the insertion rod and spaced apart from the base. The first guide element includes a connected bushing portion and a limiting edge. The limiting edge protrudes from the periphery of the bushing portion away from the base. The elastic element is sleeved on the periphery of the bushing portion and limited between the base and the limiting edge.

9. The locking mechanism according to claim 1 or 8, characterized in that, The locking mechanism also includes a guide rail, one side of which is provided with a guide groove; The end of the pin assembly away from the transmission assembly slides through the guide rail and is telescopically arranged relative to the guide groove.

10. A robot, characterized in that, It includes a connected chassis and functional modules, the chassis including a locking mechanism as described in any one of claims 1 to 9; When the functional module is connected to the chassis, the locking mechanism is plugged into the functional module.

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