CN116215465A

CN116215465A - Locking device, mobile robot and control method

Info

Publication number: CN116215465A
Application number: CN202310343677.4A
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: 2023-06-06

Abstract

The invention discloses a locking device, a mobile robot and a control method, wherein after a driving motor is electrified, the driving motor drives a locking mechanism to move, the locking mechanism releases a wheel to enable the wheel to work normally, and when the driving motor is powered off, the resetting structure enables the locking mechanism to abut against the wheel to lock the wheel. The locking device is used for controlling the locking mechanism to loosen the wheels through the driving motor when the mobile robot works, so that the wheels can work normally, and when the mobile robot stops working, the wheels are locked through the abutting of the reset mechanism, so that the situation that the mobile robot slides or overturns due to insufficient electric quantity of the walking motor, damage of the walking motor or the mobile robot crashes in the using process is prevented.

Description

Locking device, mobile robot and control method

Technical Field

The invention relates to the technical field of power supplies, 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. The intelligent mobile robot is in the during operation, mainly drives intelligent mobile robot walking through walking motor control drive wheel, if intelligent robot walk motor electric quantity insufficient or the walking motor damages in the use, and at this moment intelligent mobile robot is on the slope again or has the load, intelligent mobile robot can appear swift current car or the situation of tipping, easily causes the damage to intelligent mobile robot, influences user's property safety even.

Disclosure of Invention

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

the locking device is arranged on the mobile robot and comprises a base, a driving motor, a locking mechanism and a reset mechanism, wherein the driving motor, the locking mechanism and the reset mechanism are arranged on the base; the driving shaft of the driving motor is mechanically connected with the locking mechanism, and the reset mechanism is connected with the locking mechanism; after the driving motor is electrified, the driving motor drives the locking mechanism to move, the locking mechanism loosens the wheel to enable the wheel to work normally, and when the driving motor is powered off, the reset structure enables the locking mechanism to abut against the wheel to lock the wheel. The locking device is used for controlling the locking mechanism to loosen the wheels through the driving motor when the mobile robot works, so that the wheels can work normally, and when the mobile robot stops working, the wheels are locked through the abutting of the reset mechanism, so that the situation that the mobile robot slides or overturns due to insufficient electric quantity of the walking motor, damage of the walking motor or the mobile robot crashes in the using process is prevented.

Further, the locking mechanism comprises a rotating member, a pushing member, a locking rod and a guiding member, wherein the guiding member is fixedly arranged with the base, a guiding circular hole is formed in the guiding member, the rotating member is sleeved on a rotating shaft of the driving motor, the pushing member is sleeved on the rotating member, one end of the locking rod is fixed with the rotating member, the other end of the locking rod is arranged on the guiding circular hole of the guiding member, the resetting mechanism is an elastic tension piece, one end of the elastic tension piece is fixed with the base, one end of the elastic tension piece is connected with the pushing member, the pushing member is driven to move when rotating along with the rotating shaft of the driving motor, and the pushing member applies tension to the locking rod and the elastic tension piece, so that the locking rod moves in a translational manner along the guiding circular hole of the guiding member to be far away from the wheel and store elastic potential energy of the elastic tension piece. 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, the pushing member is U-shaped, a through hole is formed in one side of the U-shaped pushing member, a protruding block is arranged on the rotating member, the rotating member is arranged in a U-shaped groove of the U-shaped pushing member, the protruding block on the rotating member is located in the through hole, and when the rotating member rotates, pressure is applied to the inner wall of the through hole through the protruding block, so that the U-shaped pushing member moves. The U-shaped pushing component can facilitate the installation and the detachment of the pushing component and the rotating component; the through holes and the protruding blocks play a role in fixing the pushing component and the rotating component, play a role in force transmission, and have high use value.

Further, the top of locking pole is equipped with the cap edge, the bottom of the U type recess of U type pushing member is equipped with places the hole, the locking pole is through the mode setting of outwards extending from U type recess, the cap edge of locking pole is fixed in the opening part of placing the hole. The locking rod is arranged in a mode of extending outwards from the U-shaped groove, so that the locking rod is prevented from being separated from the pushing component in the working process, and the safety is high.

Further, the locking rod is made of metal, the pushing member is made of plastic, and the locking rod is fixed on the pushing member through a screw structure. The locking rod is made of metal, so that the abrasion degree of the locking rod during locking can be reduced, and the service life of the locking rod is prolonged; the pushing component 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.

Further, the locking rod and the pushing member are of an integrated structure, and the locking rod and the pushing member form a locking member of a Y-shaped structure. The integrally arranged locking rod and pushing component can simplify the structure of the locking device, and the locking device is convenient to assemble.

Further, the bottom of the U-shaped pushing member is a plane, the guide member is provided with a facing corresponding to the plane, and when the locking rod abuts against the wheel, the bottom plane of the U-shaped pushing member is attached to the facing of the guide member. When the locking rod abuts against the wheel, the bottom plane of the U-shaped pushing member is attached to the facing of the guiding member, so that the pushing member can be effectively prevented from being displaced, and the locking performance of the locking device is improved.

Further, the elastic tension piece is a tension spring, a hook is arranged on one side of the U-shaped pushing component, one end of the tension spring is connected with the hook, and the other end of the tension spring is connected with the base. The tension spring resets the pushing component to enable the locking rod to lock the wheel, and the wheel is simple in structure and convenient to use.

The mobile robot comprises wheels for walking and the locking device, the locking device comprises a base, a driving motor, a locking mechanism and a reset mechanism, the driving motor, the locking mechanism and the reset mechanism are arranged on the base, the locking mechanism comprises a rotating member, a pushing member, a locking rod and a guiding member, and the wheels are movably arranged on the base. The locking device is used for controlling the locking mechanism to loosen the wheels through the driving motor when the mobile robot works, so that the wheels can work normally, and when the mobile robot stops working, the wheels are locked through the abutting of the reset mechanism, so that the situation that the mobile robot slides or overturns due to insufficient electric quantity of the walking motor, damage of the walking motor or the mobile robot crashes in the using process is prevented.

Further, the wheel comprises a wheel frame, a tire and a tire cover, wherein the tire is sleeved on the wheel frame, one side of the wheel frame is movably connected with the base, the other side of the wheel frame is connected with the tire cover, and the tire cover is used for fixing the tire on the wheel frame. The tire cover is used for fixing the tire on the wheel frame, so that the tire is prevented from falling off the wheel frame in the moving process of the mobile robot, and the safety is high.

Further, the tire is provided with a plurality of grooves which are matched with the locking rods. 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, the locking mechanism is driven to move, and the locking of the wheels is opened, so that the mobile robot normally moves; after the mobile robot stops moving, the driving motor is controlled to stop working, and the reset mechanism drives the locking mechanism to abut against the wheel to lock the wheel, so that the wheel is prevented from moving. The locking device is used for controlling the locking mechanism to loosen the wheels through the driving motor when the mobile robot works, so that the wheels can work normally, and when the mobile robot stops working, the wheels are locked through the abutting of the reset mechanism, so that the situation that the mobile robot slides or overturns due to insufficient electric quantity of the walking motor, damage of the walking motor or the mobile robot crashes in the using process is prevented.

Drawings

Fig. 1 is an exploded view of a locking device according to an embodiment of the present invention.

FIG. 2 is a schematic cross-sectional view of a locking device according to an embodiment of the present invention;

fig. 3 is a schematic perspective view of a locking device according to an embodiment of the invention.

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 invention. 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 includes a base 1, and a driving motor 2, a locking mechanism, and a reset mechanism provided on the base 1; the driving shaft of the driving motor 2 is mechanically connected with the locking mechanism, the reset mechanism is connected with the locking mechanism, and the wheels are movably arranged on the base 1; after the driving motor 2 is electrified, the driving motor 2 drives the locking mechanism to move, the locking mechanism releases the wheels to enable the wheels to work normally, and when the driving motor 2 is powered off, the reset structure enables the locking mechanism to abut against the wheels to lock the wheels. The locking device is used for controlling the locking mechanism to be released through the driving motor 2 when the mobile robot works, so that the wheels work normally, and when the mobile robot stops working, the wheels are locked through the abutting of the reset mechanism, so that the situation that the mobile robot slides or overturns due to insufficient electric quantity of the walking motor, damage of the walking motor or the mobile robot crashes in the using process is prevented.

As one embodiment, the locking mechanism includes a rotating member 3, a pushing member 4, a locking rod 5 and a guiding member 6, where the guiding member 6 is fixedly disposed with the base 1, a guiding circular hole 7 is disposed on the guiding member 6, the rotating member 3 is sleeved on a rotating shaft of the driving motor 2, the pushing member 4 is sleeved on the rotating member 3, one end of the locking rod 5 is fixed with the rotating member 3, the other end is disposed on the guiding circular hole 7 of the guiding member 6, the restoring mechanism is an elastic tension piece, one end of the elastic tension piece is fixed with the base 1, one end of the elastic tension piece is connected with the pushing member 4, when the rotating member 3 rotates along with the rotating shaft of the driving motor 2, the pushing member 4 drives the pushing member 4 to move, the pushing member 5 and the elastic tension piece apply a pulling force to make the locking rod 5 do a translational motion along the guiding circular hole 7 of the guiding member 6 to be far away from the wheel and make the elastic tension piece accumulate elastic potential energy, when the driving motor 2 stops working, the elastic tension piece accumulates elastic potential energy under the action of elastic potential energy, and the pushing member 4 is pulled back to the position along the guiding member 7 to prevent the locking rod from moving along the guiding circular hole 5. The locking mechanism releases or locks the wheel by pushing the locking rod 5 to be far away from or close to the wheel, so that the locking mechanism is simple in structure and high in safety. The drive motor 2 and the guide member 6 are both fixed to the base by means of insertion.

As one example, as shown in fig. 2, the pushing member 4 is U-shaped, a through hole 8 is formed at one side of the U-shaped pushing member 4, a bump 9 is formed on the rotating member 3, the rotating member 3 is disposed in a U-shaped groove of the U-shaped pushing member 4, the bump 9 on the rotating member 3 is located in the through hole 8, and when the rotating member 3 rotates, pressure is applied to an inner wall of the through hole 8 through the bump 9, so that the U-shaped pushing member 4 moves in a direction away from the wheel. The base 1 is provided with a corresponding limit structure which prevents the pushing member 4 from being far away from the wheel and the projection 9 of the rotating member 3 from being separated from the through hole 8. The U-shaped pushing member 4 can facilitate the installation and detachment of the pushing member 4 and the rotating member 3; the through holes 8 and the protruding blocks 9 play a role in fixing the pushing member 4 and the rotating member 3, play a role in force transmission, and have high use value.

As one embodiment, the top of the locking rod 5 is provided with a cap edge, the bottom of the U-shaped groove of the U-shaped pushing member 4 is provided with a placement hole, the locking rod 5 is arranged in a manner of extending outwards from the U-shaped groove, and the cap edge of the locking rod 5 is fixed at the opening of the placement hole. The locking rod 5 is arranged in a mode of extending outwards from the U-shaped groove, so that the locking rod 5 is prevented from being separated from the pushing component 4 in the working process, and the safety is high. When the driving motor 2 works, the rotating member 3 is driven to rotate, when the rotating member 3 rotates, the protruding blocks of the rotating member 3 apply pressure to the through holes 8 of the pushing member 4, at this time, the elastic tension piece and the locking piece 5 can form two parallel guide rails for guiding the pushing member 4 to move, the stress point of the pushing member 4 is between the two parallel guide rails, when the pushing member 4 is stressed, the pushing member 4 only translates and can not rotate along with the rotating member 3, so that the pushing member 4 is driven to be far away from the wheel, and in the moving process of the pushing member 4 far away from the wheel, the locking rod 5 is driven to be far away from the wheel, so that the locking rod 5 is released from the wheel.

As one example, the locking rod 5 is made of metal, the pushing member 4 is made of plastic, and the locking rod 5 is fixed on the pushing member 4 through a screw structure. The locking rod 5 is made of metal, so that the abrasion degree of the locking rod 5 during locking can be reduced, and the service life of the locking rod 5 is prolonged; the pushing member 4 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 5 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 5, and the pushing member 4 may not rub against other components, and a plastic material may be used, so that the lock lever 5 and the pushing member 4 may be separately provided in order to use the lock lever 5 and the pushing member 4 of different materials.

As one embodiment, the locking rod and the pushing member are of an integrated structure, and the locking rod and the pushing member form a locking member of a Y-shaped structure. The integrally arranged locking rod and pushing component can simplify the structure of the locking device, and the locking device is convenient to assemble.

As one example, the bottom of the U-shaped pushing member 4 is a plane, the guiding member 6 is provided with a facing corresponding to the plane, and when the locking lever 5 abuts against the wheel, the bottom plane of the U-shaped pushing member 4 is attached to the facing of the guiding member 6. When the locking rod 5 abuts against the wheel, the bottom plane of the U-shaped pushing member 4 is attached to the surface of the guiding member 6, so that the pushing member 4 can be effectively prevented from being displaced, and the locking performance of the locking device is improved.

As one embodiment, the elastic tension member is a tension spring 10, a hook 11 is disposed at one side of the U-shaped pushing member 4, one end of the tension spring 10 is connected with the hook 11, the tension spring 10 is connected with the hook 11 in a hanging buckle manner, the disassembly and the installation are convenient, the other end of the tension spring is connected with the base 1, and the tension spring 10 is fixed on the base through a screw. The locking rod 5 locks the wheel by resetting the pushing component 4 through the tension spring 10, and the structure is simple and the use is convenient. When the locking device works normally, the tension spring 10 is hung on the hook 11, as shown in fig. 2, when the pushing member 4 is far away from the wheel, the tension spring 10 is pulled, so that the tension spring 10 accumulates elastic potential energy, after the driving motor 2 stops working, the tension spring 10 drives the pushing member 4 to translate towards the direction of the wheel under the action of the elastic potential energy, so that the locking rod 5 abuts against the wheel, the friction force between the locking rod 5 and the wheel is increased, and the wheel is locked. When the mobile robot does not need the locking function of the locking device, the tension spring 10 can be directly detached from the hook 11, as shown in fig. 3, the locking function of the locking device can be canceled, when the locking function is needed, the tension spring 10 is hung on the hook 11, the locking function is realized, the locking function can be opened and canceled without detaching the locking device, and the mobile robot can be conveniently and correspondingly debugged. The elastic tension member may also be a rubber band, and the same function as the tension spring 10 can be achieved by placing the rubber band at the position of the tension spring 10. The reset mechanism can also be a pressure spring, the pressure spring is arranged on one side opposite to the tension spring 10, when the driving motor 2 works, the pushing member 4 is driven to move away from the wheel, the pushing member 4 can compress the pressure spring in the process of moving away from the wheel, so that the pressure spring stores elastic potential energy, after the driving motor 2 stops working, the pressure spring can push the pushing member 4 to the direction of the wheel under the action of the elastic potential energy, so that the locking rod 5 is abutted against the wheel, the friction force between the locking rod 5 and the wheel is increased, and the wheel is locked.

A mobile robot, the mobile robot includes a wheel for walking and the locking device, the locking device includes a base 1, a driving motor 2 arranged on the base, a locking mechanism and a reset mechanism, the locking mechanism includes a rotating member 3, a pushing member 4, a locking rod 5 and a guiding member 6, the wheel is movably arranged on the base 1, and the wheel can be a driving wheel or a steering wheel. The locking device is used for controlling the locking mechanism to be released through the driving motor 2 when the mobile robot works, so that the wheels work normally, and when the mobile robot stops working, the wheels are locked through the abutting of the reset mechanism, so that the situation that the mobile robot slides or overturns due to insufficient electric quantity of the walking motor, damage of the walking motor or the mobile robot crashes in the using process is prevented.

As one example, the wheel comprises a wheel frame 12, a tire 13 and a tire cover 14, wherein the tire 13 is sleeved on the wheel frame 12, one side of the wheel frame 12 is movably connected with the base 1, the other side of the wheel frame 12 is connected with the tire 13 cover, and the tire 13 cover is used for fixing the tire 13 on the wheel frame 12. The tire 13 is fixed on the wheel frame 12 through the tire 13 cover, so that the tire 13 is prevented from falling off the wheel frame 12 in the moving process of the mobile robot, and the safety is high. The wheel frame 12 is provided with a bulge on one surface connected with the tire cover 14, the bulge is provided with a screw hole, the tire cover 14 is provided with a concave corresponding to the bulge, the concave is provided with a screw hole identical to the bulge, the tire cover is fixed on the wheel frame 12 through 4 screws, three of the 4 screws form three corners of an equilateral triangle, and the other screw is positioned at the center point of the equilateral triangle.

As one example, the tyre 13 is provided with a plurality of grooves 15 which cooperate with the locking bars 5. The locking performance of the locking rod 5 is improved by arranging the groove 15 on the tire 13, and the friction force between the wheel and the ground is improved to prevent the wheel from slipping. When the locking rod 5 abuts against the wheel, if the running speed of the wheel is not fast, the locking rod 5 can play a role in locking the wheel whether the locking rod abuts against the smooth surface of the tire 13 or the groove 15 of the tire 13. If the wheel is traveling at a high speed, the wheel may rotate when the lock lever 5 is in contact with the smooth surface of the tire 13. The locking rod 5 firstly decelerates the wheel, and then the locking rod 5 slides into the groove 15 of the tire 13 from the smooth surface of the tire 13 in the rotation process of the wheel, so that the wheel is locked; if the locking rod 5 is directly abutted with the groove 15 of the tire 13, the locking rod 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 2 is controlled to continuously work to drive the locking mechanism to move, and the locking of the wheels is opened to enable the mobile robot to normally move; after the mobile robot stops moving, the driving motor 2 is controlled to stop working, and the reset mechanism drives the locking mechanism to abut against the wheel to lock the wheel, so that the wheel is prevented from moving. The locking device is used for controlling the locking mechanism to be released through the driving motor 2 when the mobile robot works, so that the wheels work normally, and when the mobile robot stops working, the wheels are locked through the abutting of the reset mechanism, so that the situation that the mobile robot slides or overturns due to insufficient electric quantity of the walking motor, damage of the walking motor or the mobile robot crashes in the using process is prevented.

It is obvious that the above-mentioned embodiments are only some embodiments of the present invention, but not all embodiments, and that the technical solutions of the embodiments may be combined with each other. Furthermore, if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are used in the embodiments, the indicated orientation or positional relationship is based on that shown in the drawings, only for convenience in describing the present invention and simplifying the description, and does not indicate or imply that the indicated apparatus or element must have a specific orientation or be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. 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 invention, 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 above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Although embodiments of the present invention 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 invention as defined by the appended claims and their equivalents, which are to be considered as merely preferred embodiments of the present invention and not as limitations as these to one skilled in the art will be able to make various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A locking device for limiting the rotation of a wheel, which is characterized by comprising a base, a driving motor, a locking mechanism and a reset mechanism, wherein the driving motor, the locking mechanism and the reset mechanism are arranged on the base;

the driving shaft of the driving motor is mechanically connected with the locking mechanism, and the reset mechanism is connected with the locking mechanism;

after the driving motor is electrified, the driving motor drives the locking mechanism to move, the locking mechanism loosens the wheel to enable the wheel to work normally, and when the driving motor is powered off, the reset structure enables the locking mechanism to abut against the wheel to lock the wheel.

2. The locking device according to claim 1, wherein the locking mechanism comprises a rotating member, a pushing member, a locking rod and a guiding member, the guiding member is fixedly arranged with the base, a guiding circular hole is formed in the guiding member, the rotating member is sleeved on a rotating shaft of the driving motor, the pushing member is sleeved on the rotating member, one end of the locking rod is fixed with the rotating member, the other end of the locking rod is arranged on the guiding circular hole of the guiding member, the resetting mechanism is an elastic tension piece, one end of the elastic tension piece is fixed with the base, the other end of the elastic tension piece is connected with the pushing member, when the rotating member rotates along with the rotating shaft of the driving motor, the pushing member drives the pushing member to move, and the pushing member applies tension to the locking rod and the elastic tension piece, so that the locking rod moves in a translational manner along the guiding circular hole of the guiding member to be far away from the wheel and the elastic tension piece accumulates elastic potential energy.

3. The locking device according to claim 2, wherein the pushing member is U-shaped, a through hole is formed in one side of the U-shaped pushing member, a protrusion is formed on the rotating member, the rotating member is disposed in a U-shaped groove of the U-shaped pushing member, the protrusion on the rotating member is located in the through hole, and when the rotating member rotates, pressure is applied to an inner wall of the through hole by the protrusion to enable the U-shaped pushing member to move.

4. A locking device according to claim 3, wherein the top of the locking lever is provided with a cap rim, the bottom of the U-shaped groove of the U-shaped pushing member is provided with a placement hole, the locking lever is arranged in such a manner as to protrude outwards from the U-shaped groove, and the cap rim of the locking lever is fixed at the opening of the placement hole.

5. The locking device of claim 4, wherein the locking lever is made of metal, the pushing member is made of plastic, and the locking lever is fixed to the pushing member by a screw structure.

6. A locking device according to claim 3, wherein the locking lever and the pushing member are of an integral structure, and the locking lever and the pushing member constitute a locking member of a Y-shaped structure.

7. A locking device according to claim 3, wherein the bottom of the U-shaped pushing member is a plane, the guiding member is provided with a facing corresponding to the plane, and when the locking lever abuts against the wheel, the bottom plane of the U-shaped pushing member is attached to the facing of the guiding member.

8. A locking device according to claim 3, wherein the elastic tension member is a tension spring, a hook is provided at one side of the U-shaped pushing member, one end of the tension spring is connected to the hook, and the other end is connected to the base.

9. A mobile robot comprising wheels for walking and the locking device according to any one of claims 1 to 8, the locking device comprising a base, and a drive motor, a locking mechanism and a return mechanism provided on the base, the locking mechanism comprising a rotating member, a pushing member, a locking lever and a guide member, the wheels being movably provided on the base.

10. The mobile robot of claim 9, wherein the wheels include a wheel frame, a tire and a tire cover, the tire is sleeved on the wheel frame, one side of the wheel frame is movably connected with the base, the other side of the wheel frame is connected with the tire cover, and the tire cover is used for fixing the tire on the wheel frame.

11. The mobile robot of claim 10, wherein the tire is provided with a plurality of grooves that cooperate with the locking bars.

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, the locking mechanism is driven to move, and the locking of the wheels is opened, so that the mobile robot normally moves;

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