CN116176516A

CN116176516A - Locking device, mobile robot and control method

Info

Publication number: CN116176516A
Application number: CN202310343827.1A
Authority: CN
Inventors: 王学全; 孙土春; 金儒彬
Original assignee: Zhuhai 1 Micro Robot Technology Co ltd
Current assignee: Zhuhai 1 Micro Robot Technology Co ltd
Priority date: 2023-04-03
Filing date: 2023-04-03
Publication date: 2023-05-30

Abstract

The application discloses a locking device, a mobile robot and a control method, wherein when a driving motor is electrified, the driving motor drives a locking mechanism to enable the locking mechanism to be far away from a wheel so as to release the locking of the wheel; when the driving motor is powered off, the reset mechanism pushes the locking mechanism to enable the locking mechanism to abut against the wheel so as to lock the wheel; the guide member is used to guide the locking mechanism to move in parallel away from the wheel or against the wheel. When the mobile robot works, the locking mechanism is driven by the driving motor to move to unlock the wheels, so that the wheels work normally, when the mobile robot stops working, the locking mechanism is abutted against the wheels by the reset mechanism to lock the wheels, so that the situation that the mobile robot slides or overturns when the mobile robot stops working on a slope is prevented, and the reliability of the mobile robot is improved.

Description

Locking device, mobile robot and control method

Technical Field

The application relates to the technical field of intelligent robots, in particular to a locking device, a mobile robot and a control method.

Background

Along with the development of science and technology, more and more intelligent mobile robots are in our lives, and convenience is brought to our lives. When the intelligent mobile robot works, the intelligent mobile robot is driven to walk mainly by controlling the driving wheel through the walking motor. The intelligent mobile robot generally only sets up the brake equipment that is used for reducing the travel speed, can not set up the locking device who is used for locking the wheel, if the intelligent mobile robot does not set up the locking device who is used for locking the wheel, when the intelligent mobile robot stops working on the slope, the condition that intelligent mobile robot can appear swift current car or tip over, leads to intelligent mobile robot to be damaged.

Disclosure of Invention

In order to solve the problems, the application provides a locking device, a mobile robot and a control method. The specific technical scheme of the application is as follows:

a locking device for restricting rotation of a wheel, the locking device comprising a locking mechanism, a drive motor, a reset mechanism and a guide member; the reset mechanism, the locking mechanism and the guide member are sequentially connected, and the driving motor is mechanically connected with the locking mechanism; when the driving motor is electrified, the driving motor drives the locking mechanism to enable the locking mechanism to be far away from the wheel so as to release the locking of the wheel; when the driving motor is powered off, the reset mechanism pushes the locking mechanism to enable the locking mechanism to abut against the wheel so as to lock the wheel; the guide member is used to guide the locking mechanism to move in parallel away from the wheel or against the wheel. When the mobile robot works, the locking mechanism is driven by the driving motor to move to unlock the wheels, so that the wheels work normally, when the mobile robot stops working, the locking mechanism is abutted against the wheels by the reset mechanism to lock the wheels, so that the situation that the mobile robot slides or overturns when the mobile robot stops working on a slope is prevented, and the reliability of the mobile robot is improved.

Further, the locking mechanism comprises a sliding seat, a locking rod and a stirring cap, wherein a guide circular hole is formed in the guide member, one end of the locking rod is fixed to the first side face of the sliding seat, the other end of the locking rod is arranged in the guide circular hole of the guide member and can extend out of or retract into the guide circular hole, a containing cavity is formed in the sliding seat, the stirring cap is located in the containing cavity of the sliding seat, the stirring cap is fixedly arranged with a rotating shaft of the driving motor, when the stirring cap rotates along with the rotating shaft of the driving motor, the stirring cap applies thrust to the sliding seat to enable the sliding seat to move, and the sliding seat drives the locking rod in the moving process, so that the locking rod is retracted into the guide circular hole, and the wheel is loosened. The locking mechanism releases or locks the wheel by pushing the locking rod to be far away from or close to the wheel, and the locking mechanism has a simple structure and higher safety.

Further, stir the cap and include triangular prism shape's upper end and columniform lower extreme, stir the lower extreme of cap and pass through the fixed continuous of axis of rotation of screw and driving motor, when stirring the cap and rotating along with driving motor's axis of rotation, stir the upper end of cap and exert thrust to the inner wall of the holding chamber of sliding seat. The poking cap in the shape of the water drop is simple in structure, occupies small space and is convenient for pushing the sliding seat.

Further, the distance between the highest point of the upper end part and the highest point of the lower end part of the water drop-shaped poking cap is larger than or equal to the length of the locking rod extending out of the guide round hole when the locking rod abuts against the wheel. When the driving motor works, the locking rod can be completely retracted into the guide round hole, and the locking rod is prevented from affecting the rotation of the wheels.

Further, the reset mechanism comprises a spring seat and a spring, a spring groove is formed in the second side face of the sliding seat, the spring is arranged in the spring groove, and the spring seat is sleeved at an opening of the spring groove; when the poking cap pushes the sliding seat, the spring groove is retracted into the spring seat and compresses the spring, so that the spring stores elastic potential energy, when the driving motor stops working, the spring which stores the elastic potential energy applies pushing force to the inner wall of the spring groove to enable the sliding seat to move, and in the moving process of the sliding seat, the locking rod is pushed to extend out of the guide round hole and abut against the wheel, so that the wheel is locked. The sliding seat is pushed by the spring to lock the wheels by the locking rod, so that the locking device is simple in structure and convenient to use.

Further, when the spring accumulating elastic potential energy applies pushing force to the sliding seat, the length of the spring groove extending out of the spring seat is equal to the length of the locking rod extending out of the guide round hole. When the spring groove is fully retracted into the spring seat, the locking lever is also fully retracted into the guide circular hole, preventing the locking lever from affecting the rotation of the wheel.

Further, the locking device further comprises a base, the guide member, the driving motor and the spring seat are arranged on the base in an inserting mode, and the driving motor and the spring seat are fixed with the base through screws. The guide member, the driving motor and the spring seat are arranged on the base in an inserting mode, so that the guide member, the driving motor and the spring seat are convenient to install and detach.

Further, the guide member includes upper end and tip, the upper end of guide member is equipped with the direction round hole, the lower tip both sides of guide member are equipped with the spacing groove, be equipped with the guide member mount pad on the base, be equipped with in the guide member mount pad with spacing groove assorted sand grip, the upper end of shown guide member be equipped with slide holder first side matched with wainscot, when the locking lever butt wheel, the first side of slide holder is laminated with the wainscot of guide member. Simple structure, easy to assemble and disassemble.

Further, one end of the locking rod is provided with a thread, the first side surface of the sliding seat is provided with a screw hole, and the locking rod is fixed with the first side surface of the sliding seat through the thread and the screw hole. The locking rod is fixed on the sliding seat through the screw structure, and when the locking rod is worn, the locking rod is convenient to replace.

A mobile robot comprising wheels for walking and the locking device described above, the locking device comprising a base and a locking mechanism, a drive motor, a reset mechanism and a guide member arranged on the base, the wheels being movably arranged on the base. When the mobile robot works, the locking mechanism is driven by the driving motor to move to unlock the wheels, so that the wheels work normally, when the mobile robot stops working, the locking mechanism is abutted against the wheels by the reset mechanism to lock the wheels, so that the situation that the mobile robot slides or overturns when the mobile robot stops working on a slope is prevented, and the reliability of the mobile robot is improved.

Further, the locking mechanism comprises a locking rod, the wheel comprises a tire, and the tire is provided with a groove matched with the locking rod. The locking performance of the locking rod is improved by arranging the grooves on the tire, the friction force between the wheels and the ground is improved, and the wheels are prevented from slipping.

A control method of a mobile robot for controlling the mobile robot, comprising the steps of: when the mobile robot starts to work, the driving motor is controlled to continuously work, and drives the locking mechanism to move, so that the locking of the wheels is opened, and the mobile robot moves normally; after the mobile robot stops moving, the driving motor is controlled to stop working, and the reset mechanism pushes the locking mechanism to abut against the wheel to lock the wheel, so that the wheel is prevented from rotating. When the mobile robot works, the locking mechanism is driven by the driving motor to move to unlock the wheels, so that the wheels work normally, when the mobile robot stops working, the locking mechanism is abutted against the wheels by the reset mechanism to lock the wheels, so that the situation that the mobile robot slides or overturns when the mobile robot stops working on a slope is prevented, and the reliability of the mobile robot is improved.

Drawings

FIG. 1 is an exploded view of a locking device according to one embodiment of the present application;

figure 2 is a schematic view of a locking device according to an embodiment of the present application in a configuration for releasing a wheel;

figure 3 is a schematic view of a locking device according to an embodiment of the present application for locking a wheel.

Description of the embodiments

In the following description, specific details are given to provide a thorough understanding of the embodiments. However, it will be understood by those of ordinary skill in the art that the embodiments may be practiced without these specific details. For example, circuits may be shown in block diagrams in order not to obscure the embodiments in unnecessary detail. In other instances, well-known circuits, structures and techniques may not be shown in detail in order not to obscure the embodiments.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

As used in this application, the term "if" may be interpreted as "when …" or "upon" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".

When the mobile robot works, the driving wheel is controlled by the walking motor to drive the mobile robot to walk, if the electric quantity of the walking motor is insufficient, the walking motor is damaged or the mobile robot is dead, the intelligent mobile robot is on a slope or has a load, and the intelligent mobile robot can possibly slip or roll over.

As shown in fig. 1 to 3, a locking device for restricting rotation of a wheel 13 includes a locking mechanism, a driving motor 1, a reset mechanism, and a guide member 2; the reset mechanism, the locking mechanism and the guide member 2 are sequentially connected, and the driving motor 1 is mechanically connected with the locking mechanism; when the driving motor 1 is electrified, the driving motor 1 drives the locking mechanism to make the locking mechanism far away from the wheel 13 so as to unlock the wheel 13; when the driving motor 1 is powered off, the reset mechanism pushes the locking mechanism to enable the locking mechanism to abut against the wheel 13 so as to lock the wheel 13; the guide member 2 is used to guide the locking mechanism for parallel movement away from the wheel 13 or against the wheel 13. When the mobile robot works, the locking mechanism is driven by the driving motor 1 to move so as to unlock the wheels 13, so that the wheels 13 work normally, when the mobile robot stops working, the locking mechanism is abutted against the wheels 13 through the reset mechanism to lock the wheels 13, and when the mobile robot stops working on a slope, the situation that the mobile robot slides or overturns is prevented, and the reliability of the mobile robot is improved.

As one embodiment, the locking mechanism includes a sliding seat 3, a locking rod 4 and a stirring cap 5, a guiding circular hole 6 is formed on the guiding member 2, one end of the locking rod 4 is fixed to a first side surface of the sliding seat 3, the other end of the locking rod 4 is disposed in the guiding circular hole 6 of the guiding member 2 and can extend out of or retract into the guiding circular hole 6, a containing cavity is formed in the sliding seat 3, the stirring cap 5 is disposed in the containing cavity of the sliding seat 3, the stirring cap 5 is fixedly disposed with a rotating shaft of the driving motor 1, when the stirring cap 5 rotates along with the rotating shaft of the driving motor 1, the stirring cap 5 applies a pushing force to the sliding seat 3 to enable the sliding seat 3 to move, and in the moving process of the sliding seat 3, the locking rod 4 is driven to retract into the guiding circular hole 6, so that the wheels 13 are loosened. The locking mechanism releases or locks the wheel 13 by pushing the locking rod 4 away from or close to the wheel 13, so that the locking mechanism has simple structure and higher safety.

As one embodiment, the cross-sectional view of the poking cap 5 is in a water drop shape, the poking cap 5 comprises a triangular prism-shaped upper end and a cylindrical lower end, the triangular prism-shaped upper end and the cylindrical lower end are integrally arranged, the side surface of the triangular prism-shaped upper end, which is in contact with the cylindrical lower end, is an arc surface, the lower end of the poking cap 5 is fixedly connected with the rotating shaft of the driving motor 1 through a screw, and when the poking cap 5 rotates along with the rotating shaft of the driving motor 1, the upper end of the poking cap 5 applies thrust to the inner wall of the accommodating cavity of the sliding seat 3. The poking cap 5 with the cross section in the shape of a water drop is simple in structure, the occupied space of the upper end part in the shape of a triangular prism is small, and the sliding seat 3 is conveniently pushed by increasing the contact area between the side surface and the sliding seat 3; the lower end of the cylinder can be sleeved on the rotating shaft of the driving motor 1 and is also convenient to rotate in the sliding seat 3.

As one example, the distance between the highest point of the upper end portion and the highest point of the lower end portion of the drop-shaped toggle cap 5 is greater than or equal to the length of the locking lever 4 extending out of the guide circular hole 6 when abutting against the wheel 13. When the drive motor 1 is in operation, the locking rod 4 can be completely retracted into the guide circular hole 6, and the locking rod 4 is prevented from affecting the rotation of the wheels 13.

As one embodiment, the reset mechanism comprises a spring seat 7 and a spring 8, a spring groove 9 is formed in the second side surface of the sliding seat 3, the spring 8 is arranged in the spring groove 9, and the spring seat 7 is sleeved at an opening of the spring groove 9; when the poking cap 5 pushes the sliding seat 3, the spring groove 9 is retracted into the spring seat 7 and compresses the spring 8, so that the spring 8 accumulates elastic potential energy, when the driving motor 1 stops working, the spring 8 after accumulating elastic potential energy applies pushing force to the inner wall of the spring groove 9 to enable the sliding seat 3 to move, and the sliding seat 3 pushes the locking rod 4 in the moving process, so that the locking rod 4 extends out of the guide round hole 6 and abuts against the wheel 13, and the wheel 13 is locked. The sliding seat 3 is pushed by the spring 8 to lock the wheels 13 by the locking rod 4, so that the structure is simple and the use is convenient. As shown in fig. 2, the sliding seat 3, the locking rod 4, the poking cap 5, the spring seat 7, the spring 8 and the spring groove 9 in fig. 2 are sectional views, when the driving motor 1 works, the poking cap 5 rotates along with the rotation shaft of the driving motor, the upper end part of the poking cap 5 applies pressure to the inner wall of the accommodating cavity of the sliding seat 3, so that the sliding seat 3 moves to the right side in parallel in the drawing, and in the process of moving to the right side in parallel, the sliding seat drives the locking rod 4 to move to the left, so that the locking rod 4 retracts into the guide round hole 6 of the guide member 2, and the wheels 13 are loosened. The sliding seat 3 can push the spring groove 9 into the spring seat 7 in the rightward parallel movement process, and the spring groove 9 can compress the spring 8 when entering the spring seat 7, so that the spring 8 accumulates elastic potential energy. As shown in fig. 3, the sliding seat 3 and the toggle cap 5 in fig. 3 are sectional views, when the driving motor 1 stops working, the spring 8 accumulating elastic potential energy applies pushing force to the inner wall of the spring groove 9, so that the sliding seat 3 moves in parallel to the left in the drawing, the spring groove 9 is driven to extend from the spring seat 7, the locking rod 4 is pushed to the left, the locking rod 4 extends from the guide round hole 6 of the guide mechanism 2 and abuts against the wheel 13, and the wheel is locked. Wherein the first side surface and the second side surface of the sliding seat 3 are respectively provided with two opposite sides of the sliding seat 3.

As one embodiment, when the spring 8 accumulating elastic potential energy applies pushing force to the sliding seat 3, the length of the spring slot 9 extending out of the spring seat 7 is equal to the length of the locking rod 4 extending out of the guiding circular hole 6. When the spring groove 9 is fully retracted into the spring seat 7, the locking lever 4 is also fully retracted into the guide circular hole 6, preventing the locking lever 4 from affecting the rotation of the wheel 13.

As one of the embodiments, the locking device further comprises a base 10, the guide member 2, the driving motor 1 and the spring seat 7 are disposed on the base 10 by inserting, and the driving motor 1 and the spring seat 7 are fixed to the base 10 by screws. The guide member 2, the driving motor 1 and the spring seat 7 are arranged on the base 10 in an inserting manner, so that the installation and the disassembly are convenient.

As one embodiment, the guide member 2 includes an upper end and an end, the upper end of the guide member 2 is provided with a guide circular hole 6, two sides of the lower end of the guide member 2 are provided with limit grooves 11, the base 10 is provided with a guide member mounting seat 12, and the guide member mounting seat 12 is provided with a raised line matched with the limit grooves 11. Simple structure, easy to assemble and disassemble. The guide member 2 is provided with a facing matched with the first side surface of the sliding seat 3, and when the locking rod 4 abuts against the wheel, the first side surface of the sliding seat 3 is attached to the facing of the guide member 2. When the locking rod 4 abuts against the wheel, the first side surface of the sliding seat 3 is attached to the surface of the guide member 2, so that the sliding seat 3 can be effectively prevented from being displaced, and the locking performance of the locking device is improved.

As one embodiment, one end of the locking rod 4 is provided with a thread, the first side surface of the sliding seat 3 is provided with a screw hole, and the locking rod 4 is fixed with the first side surface of the sliding seat 3 through the thread and the screw hole. The locking rod 4 is fixed on the sliding seat 3 through a screw structure, and when the locking rod 4 is worn, the locking rod 4 is convenient to replace. The locking rod 4 is made of metal, the sliding seat 3 is made of plastic, and the locking rod 4 is fixed on the sliding seat 3 through a screw structure. The locking rod 4 is made of metal, so that the abrasion degree of the locking rod 4 during locking can be reduced, and the service life of the locking rod 4 is prolonged; the sliding seat 3 is made of plastic, so that the weight of the locking device can be reduced, and the production cost of the locking device can be reduced. The lock lever 4 may rub against the surface of the wheel when the wheel is locked, so that a wear-resistant material is required as the lock lever 4, and the slide holder 3 may not rub against other members, and a plastic material may be used, so that the lock lever 4 and the slide holder 3 may be separately provided in order to use the lock lever 4 and the slide holder 3 of different materials. The locking rod 4 and the sliding seat 3 can be of an integrated structure, and the locking rod 4 and the sliding seat 3 which are integrally arranged can simplify the structure of the locking device, so that the locking device is convenient to assemble.

A mobile robot comprising wheels 13 for walking and the locking device described above, the locking device comprising a base 10 and a locking mechanism, a drive motor 1, a reset mechanism and a guide member 2 arranged on the base 10, the wheels 13 being movably arranged on the base 10. When the mobile robot works, the locking mechanism is driven by the driving motor 1 to move so as to unlock the wheels 13, so that the wheels 13 work normally, when the mobile robot stops working, the locking mechanism is abutted against the wheels 13 through the reset mechanism to lock the wheels 13, and when the mobile robot stops working on a slope, the situation that the mobile robot slides or overturns is prevented, and the reliability of the mobile robot is improved.

As an example, the locking mechanism comprises a locking lever 4, the wheel 13 comprises a tyre 14, the tyre 14 being provided with a recess 15 for co-operating with the locking lever 4. The locking performance of the locking lever 4 is improved by providing the grooves 15 on the tire 14, and the friction force of the wheels 13 and the ground is improved, preventing the wheels 13 from slipping. When the lock lever 4 abuts against the wheel 13, the lock lever 4 can lock the wheel, regardless of whether it abuts against the smooth surface of the tire 14 or the groove 15 of the tire 14, if the running speed of the wheel 13 is not high. If the wheel 13 is traveling at a high speed, the lock lever 4 may first abut on the smooth surface of the tire 14, and the wheel 13 may rotate during the abutment. The locking lever 4 firstly decelerates the wheel 13, and then the locking lever 4 slides into the groove 15 of the tire 14 from the smooth surface of the tire 14 during the rotation of the wheel 13, so that the wheel is locked; if the locking bar 4 is in direct abutment with the groove 15 of the tyre 14, the locking bar directly locks the wheel.

A control method of a mobile robot for controlling the mobile robot, comprising the steps of: when the mobile robot starts to work, the driving motor 1 is controlled to continuously work, the driving motor 1 drives the locking mechanism to move, the locking of the wheels 13 is released, and the mobile robot is enabled to normally move; after the mobile robot stops moving, the driving motor 1 is controlled to stop working, and the reset mechanism pushes the locking mechanism to abut against the wheel 13 to lock the wheel 13, so that the wheel 13 is prevented from rotating. When the mobile robot works, the locking mechanism is driven by the driving motor 1 to move so as to unlock the wheels 13, so that the wheels 13 work normally, when the mobile robot stops working, the locking mechanism is abutted against the wheels 13 through the reset mechanism to lock the wheels 13, and when the mobile robot stops working on a slope, the situation that the mobile robot slides or overturns is prevented, and the reliability of the mobile robot is improved.

It is obvious that the above-mentioned embodiments are only some embodiments of the present application, but not all embodiments, and that the technical solutions between the embodiments may be combined with each other. Furthermore, if terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in the embodiments, their indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the indicated devices or elements must have a specific orientation or be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. If the terms "first," "second," "third," etc. are used in an embodiment to facilitate distinguishing between related features, they are not to be construed as indicating or implying a relative importance, order, or number of technical features.

In addition, in the description of the present application, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.

Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the spirit and scope of the application, which is defined solely by the appended claims and their equivalents as set forth herein above as a preferred embodiment of the application and not as a limitation of the application, but that various changes and variations will occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A locking device for limiting rotation of a wheel, the locking device comprising a locking mechanism, a drive motor, a reset mechanism and a guide member;

the reset mechanism, the locking mechanism and the guide member are sequentially connected, and the driving motor is mechanically connected with the locking mechanism;

when the driving motor is electrified, the driving motor drives the locking mechanism to enable the locking mechanism to be far away from the wheel so as to release the locking of the wheel;

when the driving motor is powered off, the reset mechanism pushes the locking mechanism to enable the locking mechanism to abut against the wheel so as to lock the wheel;

the guide member is used to guide the locking mechanism to move in parallel away from the wheel or against the wheel.

2. The locking device according to claim 1, wherein the locking mechanism comprises a sliding seat, a locking rod and a poking cap, a guide circular hole is formed in the guide member, one end of the locking rod is fixed to the first side face of the sliding seat, the other end of the locking rod is arranged in the guide circular hole of the guide member and can extend out of or retract into the guide circular hole, a containing cavity is formed in the sliding seat, the poking cap is located in the containing cavity of the sliding seat, the poking cap is fixedly arranged with a rotating shaft of the driving motor, when the poking cap rotates along with the rotating shaft of the driving motor, the poking cap applies pushing force to the sliding seat to enable the sliding seat to move, and the sliding seat drives the locking rod to retract into the guide circular hole in the moving process, so that the wheels are loosened.

3. The locking device according to claim 2, wherein the toggle cap comprises an upper end portion in a triangular prism shape and a cylindrical lower end portion, the lower end portion of the toggle cap is fixedly connected with the rotating shaft of the driving motor through a screw, and when the toggle cap rotates along with the rotating shaft of the driving motor, the upper end portion of the toggle cap applies a pushing force to the inner wall of the accommodating cavity of the sliding seat.

4. A locking device according to claim 3, wherein the distance between the highest point of the upper end portion and the highest point of the lower end portion of the drop-shaped toggle cap is greater than or equal to the length of the locking lever extending out of the guide circular hole when abutting against the wheel.

5. The locking device according to claim 2, wherein the return mechanism comprises a spring seat and a spring, the second side of the sliding seat is provided with a spring groove, the spring is arranged in the spring groove, and the spring seat is sleeved at an opening of the spring groove;

when the poking cap pushes the sliding seat, the spring groove is retracted into the spring seat and compresses the spring, so that the spring stores elastic potential energy, when the driving motor stops working, the spring which stores the elastic potential energy applies pushing force to the inner wall of the spring groove to enable the sliding seat to move, and in the moving process of the sliding seat, the locking rod is pushed to extend out of the guide round hole and abut against the wheel, so that the wheel is locked.

6. The locking device according to claim 5, wherein the spring groove extends out of the spring seat by a length equal to a length of the locking lever extending out of the guide circular hole when the spring accumulating elastic potential energy applies pushing force to the sliding seat.

7. The locking device of claim 5, further comprising a base, wherein the guide member, the drive motor, and the spring seat are disposed on the base by insertion, and wherein the drive motor and the spring seat are secured to the base by screws.

8. The locking device according to claim 7, wherein the guide member comprises an upper end and an end, the upper end of the guide member is provided with a guide circular hole, both sides of the lower end of the guide member are provided with limit grooves, the base is provided with a guide member mounting seat, the guide member mounting seat is provided with a convex strip matched with the limit grooves, the upper end of the guide member is provided with a facing matched with the first side of the sliding seat, and when the locking rod abuts against the wheel, the first side of the sliding seat is attached to the facing of the guide member.

9. A locking device according to claim 2, wherein one end of the locking bar is provided with a screw thread, the first side of the sliding seat is provided with a screw hole, and the locking bar is fixed to the first side of the sliding seat by the screw thread and the screw hole.

10. A mobile robot comprising wheels for walking and the locking device of any one of claims 1 to 9, the locking device comprising a base, and a locking mechanism, a drive motor, a reset mechanism and a guide member provided on the base, the wheels being movably provided on the base.

11. A mobile robot as claimed in claim 10, wherein the locking mechanism comprises a locking bar and the wheel comprises a tyre provided with a recess for co-operation with the locking bar.

12. A control method of a mobile robot, characterized in that the control method is for controlling the mobile robot according to claim 11, the control method comprising the steps of:

when the mobile robot starts to work, the driving motor is controlled to continuously work, and the driving motor drives the locking mechanism to move, so that the locking of the wheels is released, and the mobile robot moves normally;

after the mobile robot stops moving, the driving motor is controlled to stop working, and the reset mechanism pushes the locking mechanism to abut against the wheel to lock the wheel, so that the wheel is prevented from rotating.