A wheel self-locking device of a mobile vehicle, a mobile vehicle and a hybrid mobile device

Abstract

The application discloses a wheel self-locking device of a mobile vehicle, the mobile vehicle and a hybrid mobile device. The wheel self-locking device comprises a locking and unlocking part and an elastic reset part. The locking and unlocking part has a braking end and a driving end. When the locking and unlocking part is in a self-locking state, the braking end is in contact with an electric wheel to lock the electric wheel. When the locking and unlocking part is in an unlocking state, the braking end is separated from the electric wheel to unlock the electric wheel. The elastic reset part is used for making the locking and unlocking part have an active tendency to keep in the self-locking state. When a humanoid robot moves to a set position of a vehicle body, a matching part of the humanoid robot pushes the driving end to make the locking and unlocking part move to the unlocking state. The wheel self-locking device is a pure mechanical structure, low in cost and robust and durable. The whole self-locking and unlocking process does not need any electric control signal or manual intervention, so that the interaction between the humanoid robot and the mobile vehicle realizes automatic closed loop at a physical level.

Description

Technical Field

[0001] This utility model relates to the field of robotics, specifically to a wheel self-locking device for a mobile vehicle, a mobile vehicle, and a hybrid mobile device. Background Technology

[0002] Currently, the self-locking and unlocking solutions for transport vehicles, such as the locking mechanisms of many handcarts (e.g., foot pedal type, handle type), are primarily designed for human operation. Their triggering and unlocking rely entirely on the physical force applied by the operator. In automated processes, more advanced AGVs integrate wheel locking systems to achieve autonomous locking, including electronic control units, sensors, actuators (motors or electromagnets), and independent power and communication systems. However, in applications where small automata (automated guided vehicles) are mounted on AGVs, existing self-locking technologies suffer from the following technical problems: In AGV applications, using an electronically controlled active locking system requires a complex electronic control system, drastically increasing the overall system's procurement cost, deployment difficulty, and maintenance burden. This solution also increases the vehicle's electronic failure points (such as power outages, signal loss, and controller malfunctions), potentially reducing the overall system's stability and reliability. Utility Model Content

[0003] In view of the above-mentioned problems and to overcome at least one deficiency, this utility model proposes a wheel self-locking device for a mobile vehicle, a mobile vehicle, and a hybrid mobile device.

[0004] The technical solution adopted by this utility model is as follows:

[0005] A wheel self-locking device for a mobile vehicle used to carry a humanoid robot, the mobile vehicle including a vehicle body and electric wheels mounted on the vehicle body, the wheel self-locking device including a locking and unlocking component and a resilient reset component:

[0006] The locking and unlocking component is movably mounted on the vehicle body, and the locking and unlocking component has a braking end and a driving end;

[0007] The locking and unlocking component has a self-locking state and an unlocking state. When the locking and unlocking component is in the self-locking state, the braking end contacts the electric wheel and locks the electric wheel. When the locking and unlocking component is in the unlocking state, the braking end disengages from the electric wheel and the electric wheel is unlocked.

[0008] One end of the elastic reset member cooperates with the locking and unlocking member, and the other end cooperates with the vehicle body, so that the locking and unlocking member has a tendency to remain in a self-locking state.

[0009] The humanoid robot has a mating part, and the driving end is used to cooperate with the mating part of the humanoid robot. When the humanoid robot moves to the set position of the vehicle body, the mating part of the humanoid robot pushes the driving end, so that the locking and unlocking member overcomes the elastic force of the elastic reset member and moves to the unlocked state.

[0010] The wheel self-locking device of this application enables the mobile vehicle to be in a self-locking state through an elastic reset component. When the humanoid robot moves to the set position on the vehicle body, the robot's mating part can push the drive end, causing the locking and unlocking component to overcome the elastic force of the elastic reset component and move to the unlocked state. This achieves the function of unlocking when the humanoid robot gets on the vehicle and automatically locking when it gets off. The entire self-locking and unlocking process requires no electrical control signals or manual intervention, realizing a physical-level automated closed loop for the interaction between the humanoid robot and the mobile vehicle. The wheel self-locking device of this application is a purely mechanical structure, which is low in cost, robust and durable, adaptable to more complex environments, and significantly improves the long-term operational reliability of the mobile vehicle.

[0011] The wheel self-locking device of this application can achieve the following effect: reliable and automatic locking and unlocking control of the moving vehicle without adding any electrical components.

[0012] In one embodiment of this utility model, the elastic reset member is a tension spring, a compression spring, a torsion spring, a sheet spring, or a non-metallic elastic block.

[0013] In one embodiment of this utility model, the locking and unlocking component is rotatably mounted on the vehicle body.

[0014] In one embodiment of this utility model, the locking and unlocking component is slidably disposed on the vehicle body, and the braking end of the locking and unlocking component is a braking slope that cooperates with the electric wheel.

[0015] In practical application, the vehicle body has a guide rail, and the locking and unlocking parts move on the guide rail. In the initial state, under the action of the elastic reset part, the braking ramp contacts the wheel to achieve locking. When the humanoid robot moves to the set position of the vehicle body, the humanoid robot's cooperating part directly pushes the locking and unlocking parts to move along the guide rail, so that the braking ramp disengages from the electric wheel.

[0016] In one embodiment of this utility model, the locking and unlocking component is rotatably mounted on the vehicle body;

[0017] The locking and unlocking mechanism is either a single lever structure or a multi-link structure.

[0018] In one embodiment of the present invention, the braking end is used to contact and engage with the side wall of the electric wheel.

[0019] In one embodiment of the present invention, the side wall of the electric wheel has a ring of teeth, which forms a gear structure or a ratchet structure. The braking end is provided with a locking part, which is a locking pin or a pawl that can be inserted into the teeth.

[0020] With this setting, the braking force is stronger when the brakes are locked, as it is no longer friction braking.

[0021] In one embodiment of the present invention, a brake disc is fixed on the shaft of the electric wheel, and a brake pad is installed on the brake end, the brake pad cooperating with the brake disc.

[0022] This application also discloses a mobile vehicle, including a vehicle body, two electric wheels respectively installed on the left and right sides of the vehicle body, and at least one omnidirectional wheel, and also includes the wheel self-locking device of the mobile vehicle described above.

[0023] This application also discloses a hybrid mobility device, including a humanoid robot and the mobile vehicle described above.

[0024] In one embodiment of the present invention, the humanoid robot has a main controller and a power module connected to the main controller. The mobile vehicle is a passive mobile vehicle. The mobile vehicle also includes a motor driver connected to the electric wheel and a first positive electrode plate, a first negative electrode plate, and a first signal electrode plate connected to the motor driver. The legs or feet of the humanoid robot have a second positive electrode plate, a second negative electrode plate, and a second signal electrode plate. The second positive electrode plate and the second negative electrode plate are connected to the power module or the main controller. The second signal electrode plate is connected to the main controller.

[0025] The mating part is located on the legs or feet of the humanoid robot, and the mating part is a side wall or a rotatable cam on the humanoid robot;

[0026] The hybrid mobile device has a coupled state. When the hybrid mobile device is in the coupled state, the humanoid robot moves onto the vehicle body. The humanoid robot's mating part engages with the drive end, causing the locking and unlocking parts to switch to the unlocked state. At the same time, the first positive electrode plate contacts the second positive electrode plate, the first negative electrode plate contacts the second negative electrode plate, and the first signal electrode plate contacts the second signal electrode plate. The motor driver drives the electric wheel to rotate by receiving control signals and electrical energy from the humanoid robot.

[0027] In existing technologies, humanoid robots and mobile vehicles are two independent systems, each requiring its own independent power supply module and control system. This not only increases the complexity of the overall structure and manufacturing cost but also poses challenges to energy management and system coordination. The hybrid mobile device of this application directly interfaces the second positive electrode plate, second negative electrode plate, and second signal electrode plate of the humanoid robot with the first positive electrode plate, first negative electrode plate, and first signal electrode plate of the mobile vehicle. The humanoid robot supplies power to and controls the mobile vehicle, eliminating the need for the mobile vehicle itself to carry a power supply and complex control unit. This significantly simplifies the overall system structure and substantially reduces manufacturing costs and maintenance difficulty.

[0028] The electric wheel described in this application refers to a wheel whose rotation is controlled by a motor. The motor driver in this application is a simple motor driver, used only for receiving electrical energy and controlling the motor's rotation. In practical applications, the motor specification for the electric wheel can be M0603B.

[0029] The humanoid robot of this application possesses autonomous walking capabilities, and the main controller is responsible for all motion control, environmental perception, and decision-making of the humanoid robot. This application enables the humanoid robot to intelligently switch between two modes: "slow, precise walking" and "rapid, loaded cruising," combining the flexible operation advantages of humanoid robots (legged robots) with the efficient mobility of wheeled vehicles, greatly expanding the effective working range and task execution efficiency of the humanoid robot.

[0030] The mobile vehicle of this application has a low manufacturing cost, making it suitable for application scenarios that require a large number of mobile vehicles for circulation and buffering, and conforms to the principle of economic efficiency.

[0031] The beneficial effects of this utility model are as follows: The wheel self-locking device of this application enables the mobile vehicle to be in a self-locking state through the elastic reset member. When the humanoid robot moves to the set position on the vehicle body, the cooperating part of the humanoid robot can push the drive end, causing the locking and unlocking member to overcome the elastic force of the elastic reset member and move to the unlocked state. That is, it can realize the function of unlocking when the humanoid robot gets on the vehicle and automatically locking when it gets off. The entire self-locking and unlocking process does not require any electronic control signals or manual intervention, realizing a physical-level automated closed loop in the interaction between the humanoid robot and the mobile vehicle. The wheel self-locking device of this application is a purely mechanical structure, which is low in cost, robust and durable, can adapt to more complex environments, and significantly improves the long-term operational reliability of the mobile vehicle. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of a hybrid mobile device;

[0033] Figure 2 This is a schematic diagram of a mobile vehicle;

[0034] Figure 3This is a schematic diagram of a wheel self-locking device with the locking and unlocking components in a self-locking state;

[0035] Figure 4 yes Figure 3 Enlarged view of point A in the middle;

[0036] Figure 5 This is a schematic diagram of a wheel self-locking device with the locking and unlocking components in the unlocked state;

[0037] Figure 6 yes Figure 5 Enlarged view of point B in the middle;

[0038] Figure 7 This is a schematic diagram showing the interaction between the mating parts and the drive end of a humanoid robot;

[0039] Figure 8 This is a framework diagram of a hybrid mobile device.

[0040] The labels for the attached figures are as follows:

[0041] The locking and unlocking mechanism has a self-locking state and a status state.

[0042] 1. Humanoid robot; 11. Main controller; 12. Power module; 13. Legs; 14. Feet; 141. Fitting part; 15. Second positive electrode plate; 16. Second negative electrode plate; 17. Second signal electrode plate; 2. Mobile vehicle; 21. Vehicle body; 22. Electric wheel; 23. Universal wheel; 24. Motor driver; 241. First positive electrode plate; 242. First negative electrode plate; 243. First signal electrode plate; 20. Wheel self-locking device; 25. Locking and unlocking component; 251. Braking end; 252. Driving end; 26. Elastic reset component. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0044] In the description of this application, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and for 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. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0045] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0046] The present invention will now be described in detail with reference to the accompanying drawings.

[0047] like Figure 1 As shown, this embodiment discloses a hybrid mobile device, including a humanoid robot 1 and a mobile vehicle 2 for carrying the humanoid robot 1.

[0048] like Figure 2 , 3 As shown in Figures 4, 5, 6, and 7, the mobile vehicle 2 in this embodiment includes a vehicle body 21, two electric wheels 22 respectively installed on the left and right sides of the vehicle body 21, and at least one omnidirectional wheel 23, as follows: Figure 2 , 3 As shown in Figure 5, the mobile vehicle 2 in this embodiment is also equipped with a wheel self-locking device 20, which includes a locking / unlocking component 25 and an elastic reset component 26.

[0049] The locking / unlocking component 25 is movably mounted on the vehicle body 21, and the locking / unlocking component 25 has a braking end 251 and a driving end 252.

[0050] The locking and unlocking component 25 has a self-locking state and an unlocking state. When the locking and unlocking component 25 is in the self-locking state, the braking end 251 contacts the electric wheel 22 and locks the electric wheel 22. When the locking and unlocking component 25 is in the unlocking state, the braking end 251 disengages from the electric wheel 22 and the electric wheel 22 is unlocked.

[0051] One end of the elastic reset member 26 is engaged with the locking and unlocking member 25, and the other end is engaged with the vehicle body 21, so that the locking and unlocking member 25 has an active tendency to remain in the self-locking state.

[0052] The humanoid robot 1 has a mating part 141 and a drive end 252 for mating with the mating part 141 of the humanoid robot 1. When the humanoid robot 1 moves to the set position of the vehicle body 21, the mating part 141 of the humanoid robot 1 pushes the drive end, causing the locking and unlocking member 25 to overcome the elastic force of the elastic reset member 26 and move to the unlocked state.

[0053] The wheel self-locking device 20 of this application enables the mobile vehicle 2 to be in a self-locking state through the elastic reset member 26. When the humanoid robot 1 moves to the set position of the vehicle body 21, the cooperating part 141 of the humanoid robot 1 can push the drive end, causing the locking and unlocking member 25 to overcome the elastic force of the elastic reset member 26 and move to the unlocked state. This enables the humanoid robot 1 to unlock upon entering the vehicle and automatically lock upon exiting. The entire self-locking and unlocking process requires no electronic control signals or manual intervention, realizing a physical-level automated closed loop for the interaction between the humanoid robot 1 and the mobile vehicle 2. The wheel self-locking device 20 of this application is a purely mechanical structure, which is low in cost, robust and durable, adaptable to more complex environments, and significantly improves the long-term operational reliability of the mobile vehicle 2.

[0054] The wheel self-locking device 20 of this application can achieve the following effect: reliable and automatic locking and unlocking control of the mobile vehicle 2 without adding any electrical components.

[0055] like Figure 4 As shown, in this embodiment, the elastic reset member 26 is a tension spring. In other embodiments, it can also be a compression spring, torsion spring, sheet metal, or non-metallic elastic block.

[0056] like Figure 4 As shown, in this embodiment, the locking / unlocking component 25 is rotatably mounted on the vehicle body 21, and the locking / unlocking component 25 is a single lever structure. In other embodiments, the locking / unlocking component 25 can also be a multi-link structure.

[0057] In other embodiments, the locking / unlocking member 25 can also be slidably mounted on the vehicle body 21. In this case, the braking end 251 of the locking / unlocking member 25 is a braking ramp that cooperates with the electric wheel 22. At this time, the vehicle body 21 has a guide rail, and the locking / unlocking member 25 moves on the guide rail. In the initial state, under the action of the elastic reset member 26, the braking ramp contacts the wheel to achieve locking. When the humanoid robot 1 moves to the set position of the vehicle body 21, the cooperating part 141 of the humanoid robot 1 directly pushes the locking / unlocking member 25 to move along the guide rail, so that the braking ramp disengages from the electric wheel 22.

[0058] like Figure 4 and 6 As shown, in this embodiment, the braking end 251 is used to contact and engage with the side wall of the electric wheel 22.

[0059] In other embodiments, the sidewall of the electric wheel 22 may have a ring of teeth, forming a gear structure or a ratchet structure. The braking end 251 is provided with a locking part, which is a locking pin or pawl that can be inserted into the teeth. With this configuration, the braking force is no longer friction braking in the locked state, resulting in stronger braking capability.

[0060] In other embodiments, a brake disc may be fixed on the shaft of the electric wheel 22, and a brake pad may be installed on the brake end 251, with the brake pad cooperating with the brake disc.

[0061] like Figure 1 and 8 As shown, in this embodiment, the humanoid robot 1 has a main controller 11 and a power module 12 connected to the main controller 11. The mobile vehicle 2 is a passive mobile vehicle 2. The mobile vehicle 2 also includes a motor driver 24 connected to the electric wheel 22 and a first positive electrode plate 241, a first negative electrode plate 242 and a first signal electrode plate 243 connected to the motor driver 24. The legs 13 or feet 14 of the humanoid robot 1 have a second positive electrode plate 15, a second negative electrode plate 16 and a second signal electrode plate 17. The second positive electrode plate 15 and the second negative electrode plate 16 are connected to the power module 12 or the main controller 11, and the second signal electrode plate 17 is connected to the main controller 11.

[0062] The mating part 141 is located on the leg 13 or foot 14 of the humanoid robot 1. The mating part 141 is a side wall or a rotatable cam on the humanoid robot 1.

[0063] The hybrid mobile device has a coupled state. When the hybrid mobile device is in the coupled state, the humanoid robot 1 moves onto the vehicle body 21. The mating part 141 of the humanoid robot 1 engages with the drive end 252, causing the locking and unlocking part 25 to switch to the unlocked state. At the same time, the first positive electrode 241 contacts the second positive electrode 15, the first negative electrode 242 contacts the second negative electrode 16, and the first signal electrode 243 contacts the second signal electrode 17. The motor driver 24 drives the electric wheel 22 to rotate by receiving control signals and electrical energy from the humanoid robot 1.

[0064] In the prior art, the humanoid robot 1 and the mobile vehicle 2 are two independent systems, each requiring its own independent power supply module 12 and control system. This not only increases the complexity of the overall structure and manufacturing cost but also poses difficulties for energy management and system coordination. The hybrid mobile device of this application directly interfaces the second positive electrode 15, second negative electrode 16, and second signal electrode 17 of the humanoid robot 1 with the first positive electrode 241, first negative electrode 242, and first signal electrode 243 of the mobile vehicle 2. The humanoid robot 1 supplies power to and controls the mobile vehicle 2, eliminating the need for the mobile vehicle 2 itself to carry a power supply and complex control unit. This greatly simplifies the overall system structure and significantly reduces manufacturing costs and maintenance difficulty.

[0065] The electric wheel 22 in this application refers to a wheel whose rotation is controlled by a motor. The motor driver 24 in this application is a simplified motor driver 24, used only for receiving electrical energy and controlling the rotation of the motor. In practical applications, the motor of the electric wheel 22 can adopt the M0603B specification.

[0066] The humanoid robot 1 of this application possesses autonomous walking capabilities, and the main controller 11 is responsible for all motion control, environmental perception, and decision-making of the humanoid robot 1. This application enables the humanoid robot 1 to intelligently switch between two modes: "slow, precise walking" and "rapid, loaded cruising," combining the flexible operation advantages of the humanoid robot 1 (legged robot) with the efficient mobility of a wheeled vehicle, greatly expanding the effective working range and task execution efficiency of the humanoid robot 1.

[0067] The mobile vehicle 2 of this application has a low manufacturing cost, making it suitable for application scenarios that require a large number of mobile vehicles 2 for circulation and buffering, and conforms to the principle of economic efficiency.

[0068] The above description is only a preferred embodiment of the present utility model and does not limit the scope of patent protection of the present utility model. Any equivalent structural transformations made based on the content of the present utility model specification and drawings, whether directly or indirectly applied to other related technical fields, are similarly included within the scope of protection of the present utility model.

Claims

1. A wheel self-locking device for a mobile vehicle used to carry a humanoid robot, the mobile vehicle comprising a vehicle body and electric wheels mounted on the vehicle body, characterized in that, The wheel self-locking device includes a locking / unlocking component and a resilient reset component: The locking and unlocking component is movably mounted on the vehicle body, and the locking and unlocking component has a braking end and a driving end; The locking and unlocking component has a self-locking state and an unlocking state. When the locking and unlocking component is in the self-locking state, the braking end contacts the electric wheel and locks the electric wheel. When the locking and unlocking component is in the unlocking state, the braking end disengages from the electric wheel and the electric wheel is unlocked. One end of the elastic reset member cooperates with the locking and unlocking member, and the other end cooperates with the vehicle body, so that the locking and unlocking member has a tendency to remain in a self-locking state. The humanoid robot has a mating part, and the driving end is used to cooperate with the mating part of the humanoid robot. When the humanoid robot moves to the set position of the vehicle body, the mating part of the humanoid robot pushes the driving end, so that the locking and unlocking member overcomes the elastic force of the elastic reset member and moves to the unlocked state.

2. The wheel self-locking device of the mobile vehicle as described in claim 1, characterized in that, The elastic reset element is a tension spring, compression spring, torsion spring, sheet spring, or non-metallic elastic block.

3. The wheel self-locking device of the mobile vehicle as described in claim 1, characterized in that, The locking and unlocking components are rotatably mounted on the vehicle body; Alternatively, the locking and unlocking mechanism may be slidably mounted on the vehicle body, with the braking end of the locking and unlocking mechanism being a braking ramp that engages with the electric wheel.

4. The wheel self-locking device of the mobile vehicle as described in claim 1, characterized in that, The locking and unlocking components are rotatably mounted on the vehicle body; The locking and unlocking mechanism is either a single lever structure or a multi-link structure.

5. The wheel self-locking device of the mobile vehicle as described in claim 1, characterized in that, The braking end is used to contact and engage with the side wall of the electric wheel.

6. The wheel self-locking device of the mobile vehicle as described in claim 5, characterized in that, The sidewall of the electric wheel has a ring of teeth, which forms a gear structure or ratchet structure. The braking end is provided with a locking part, which is a locking pin or pawl that can be inserted into the teeth.

7. The wheel self-locking device of the mobile vehicle as described in claim 1, characterized in that, A brake disc is fixed on the axle of the electric wheel, and a brake pad is installed on the brake end, the brake pad cooperating with the brake disc.

8. A mobile vehicle, characterized in that, It includes a vehicle body, two electric wheels respectively installed on the left and right sides of the vehicle body, and at least one omnidirectional wheel, and also includes the wheel self-locking device of the mobile vehicle as described in any one of claims 1 to 7.

9. A hybrid mobile device, characterized in that, This includes humanoid robots and the mobile vehicle as described in claim 8.

10. The hybrid mobility device as claimed in claim 9, characterized in that, The humanoid robot has a main controller and a power module connected to the main controller. The mobile vehicle is a passive mobile vehicle. The mobile vehicle also includes a motor driver connected to the electric wheels and a first positive electrode plate, a first negative electrode plate, and a first signal electrode plate connected to the motor driver. The legs or feet of the humanoid robot have a second positive electrode plate, a second negative electrode plate, and a second signal electrode plate. The second positive electrode plate and the second negative electrode plate are connected to the power module or the main controller. The second signal electrode plate is connected to the main controller. The mating part is located on the legs or feet of the humanoid robot, and the mating part is a side wall or a rotatable cam on the humanoid robot; The hybrid mobile device has a coupled state. When the hybrid mobile device is in the coupled state, the humanoid robot moves onto the vehicle body. The humanoid robot's mating part engages with the drive end, causing the locking and unlocking parts to switch to the unlocked state. At the same time, the first positive electrode plate contacts the second positive electrode plate, the first negative electrode plate contacts the second negative electrode plate, and the first signal electrode plate contacts the second signal electrode plate. The motor driver drives the electric wheel to rotate by receiving control signals and electrical energy from the humanoid robot.

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