Root locking mechanism applied to spatial extension arm

Abstract

The invention discloses a root locking mechanism applied to a spatial extension arm, which is used for locking a supporting disc and a sleeve of the spatial extension arm, the supporting disc is perpendicular to the axial direction of the sleeve, and the root locking mechanism is characterized by comprising a locking mechanism unit, an anti-overturning mechanism assembly and a structural locking groove in the inner wall of the sleeve, wherein the four anti-overturning mechanism assemblies are installed on the four locking mechanism units in a one-to-one correspondence mode, one ends of the four anti-overturning mechanism assemblies make contact with the inner wall of the sleeve, and a supporting effect is provided for the root locking mechanism; the bottom ends of the four locking mechanism units and the four corners of the supporting disc are installed in a one-to-one correspondence mode. Four structure locking grooves are evenly distributed in the inner wall of the sleeve and matched with the upper ends of the four locking mechanism units for locking. The locking device has the advantages of being compact in structure, stable and reliable in the working process, high in locking rigidity, convenient to unlock, capable of being repeatedly used and the like.

Description

Technical Field

[0001] The invention relates to a root locking mechanism applied to a space extension arm, belonging to the technical field of space machinery. Background Art

[0002] With the development of aerospace industry, in order to meet the needs of various load detection, higher requirements are put forward for the reliability of the extension arm system used in the space environment. The root locking mechanism is used to locate and lock the root of the space extension arm after it is fully extended, ensuring its structural rigidity and precision, and plays a vital role in the reliable and stable operation of the space extension arm system.

[0003] The mainstream root locking method at present is the latch-type locking mechanism. The latch-type locking mechanism mainly uses the positional coordination between the positioning pin and the positioning hole to realize the positioning and locking between the last deployment unit of the extension arm and the driving mechanism, such as "A total satellite-borne deployable antenna extension arm locking mechanism" (CN201410119950.6) published by Xiao Meng of Xidian University, and "Telescopic connecting rod locking mechanism" (CN200810064202.7) published by Deng Zongquan of Harbin Institute of Technology. The success or failure of the latch-type locking mechanism is constrained by the positional relationship between the positioning pin and the positioning hole, and the magnitude of the locking force depends entirely on the magnitude of the compression spring preload. It is generally used in scenarios with low requirements for precision and stiffness. The root locking mechanism used in the space extension arm needs to have high stiffness, high precision, high reliability and other characteristics. The latch-type locking mechanism cannot meet the use requirements of the space extension arm. Summary of the invention

[0004] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art and to provide a root locking mechanism for a space extension arm, which has the advantages of compact structure, stable and reliable working process, high locking stiffness, convenient unlocking and reusability.

[0005] The technical solution of the present invention is: a root locking mechanism applied to a space extension arm, used to lock the support plate and sleeve of the space extension arm, the support plate is perpendicular to the axial direction of the sleeve; the root locking mechanism includes a locking mechanism unit, an anti-overturning mechanism component, and a structural locking groove on the inner wall of the sleeve, wherein:

[0006] The four anti-overturning mechanism components are mounted on the four locking mechanism units one by one, and one end is in contact with the inner wall of the sleeve to provide support for the root locking mechanism;

[0007] The bottom ends of the four locking mechanism units are installed correspondingly to the four corners of the support plate;

[0008] Four structural locking grooves are evenly distributed on the inner wall of the sleeve, which are respectively matched with the upper ends of the four locking mechanism units for locking.

[0009] Preferably, the root locking mechanism unit comprises: a frame, a lifting handle, a locking spring pressure cylinder, a spring pressure cover, a locking spring, a return spring, a return spring cover, a sliding rod, a short connecting rod and a long connecting rod; wherein:

[0010] The frame is the shell of the root locking mechanism unit, and the bottom is connected to the support plate; a protrusion structure is provided at one end of the upper part of the frame, and a hole is provided on it, and the hole is used to connect one end of the short connecting rod to form a rotating pair connection, and the other end of the short connecting rod is connected to one end of the long connecting rod, and the other end of the long connecting rod is connected to one end of the sliding rod; the other end of the sliding rod passes through the shaft hole in the middle of the frame frame to form a moving pair; the above sliding rod, long connecting rod, short connecting rod and frame are combined to form a four-bar linkage;

[0011] The outer diameter of the slide bar decreases step by step from one end connected to the long connecting rod to the other end; the locking spring pressure cylinder is located inside the frame and sleeved on the end of the slide bar with a larger diameter; the spring pressure cover is rigidly fixed to the middle position of the slide bar and moves with the slide bar during the working process; the locking spring is sleeved on the slide bar and located between the spring pressure cover and the locking spring pressure cylinder, and the spring pressure cover and the locking spring pressure cylinder work together to compress the locking spring; the reset spring cover is located inside the frame and sleeved on the end of the slide bar with a smaller diameter; the reset spring is sleeved on the slide bar and located between the spring pressure cover and the reset spring cover, and the spring pressure cover and the reset spring cover work together to compress the reset spring;

[0012] The lifting handle is S-shaped and located at the upper part of the frame. One end of the lifting handle is rigidly connected to the outer side of the locking spring compression cylinder and is provided with a secondary roller. The other end is placed on the upper end of the frame and a main roller is provided on the lower surface of the end. The main roller and the secondary roller constrain the freedom of the lifting handle so that it can only perform linear motion.

[0013] Preferably, the anti-overturning mechanism assembly comprises: an anti-overturning rod, a sliding ball, a sliding ball cover, a sliding ball rod, an anti-overturning spring, an anti-overturning spring cover and an anti-overturning spring sleeve; wherein:

[0014] One end of the anti-rollover rod is connected to the middle position of the frame, and an anti-rollover spring sleeve is installed on the upper part of the other end, and a baffle structure integrally formed with the anti-rollover rod is provided at the lower part; the anti-rollover spring cover is located inside the anti-rollover spring sleeve, and the anti-rollover spring is located between the anti-rollover spring cover and the baffle structure of the anti-rollover rod; the lower end of the sliding ball rod passes through the through hole on the upper end surface of the anti-rollover spring sleeve, the corresponding through hole on the anti-rollover spring cover, the anti-rollover spring and the through hole correspondingly arranged on the baffle structure of the anti-rollover rod in sequence; the sliding ball cover is located at the upper end of the sliding ball rod, and the sliding ball and the sliding ball cover are connected by a ball pair, which can realize free rolling at the end of the sliding ball rod.

[0015] Preferably, during operation of the anti-overturning mechanism assembly, the sliding ball is always in contact with the inner cylindrical side wall of the sleeve and rolls freely, providing support for the root locking mechanism.

[0016] Preferably, the inner wall of the sleeve is provided with a positioning structure that cooperates with a protruding structure provided at one end of the upper portion of the frame, and the corresponding structural locking groove is provided on a straight line parallel to the axial direction of the sleeve.

[0017] Preferably, when the structural locking groove cooperates with the upper end of the locking mechanism unit for locking:

[0018] The external pulling force F acts on the lifting handle, and the root locking mechanism moves in the direction of the pulling force F. When the protruding structure set at one end of the upper part of the frame is completely in contact with the positioning structure of the inner wall of the sleeve, and the root locking mechanism unit no longer moves, the reset spring and the locking spring are compressed in turn, driving the sliding rod to move along the pulling force direction, thereby driving the entire four-bar linkage to start moving; the short connecting rod gradually turns into a horizontal state, and the long connecting rod gradually turns into a vertical state, and finally the upper end of the long connecting rod is completely in contact with the locking groove of the sleeve to complete the locking.

[0019] Preferably, when the external tension is released, the root locking mechanism is automatically unlocked, specifically:

[0020] The return spring and the locking spring are no longer compressed by the external pulling force, and they gradually return to their original length on their own. Under the action of the elastic force, the sliding rod moves in the opposite direction to that in the locking stage, thereby driving the entire four-bar linkage to start unlocking, that is, the long connecting rod separates from the sleeve lock groove, completing the unlocking.

[0021] Preferably, the distance between the positioning structure on the inner wall of the sleeve and the corresponding structural locking groove is determined according to the size of the four-bar linkage and the compression amount of the return spring and the locking spring.

[0022] Compared with the prior art, the present invention has the following advantages:

[0023] (1) The present invention utilizes a unidirectional preload force to achieve full positioning and locking functions between the extension arm and the sleeve in the axial, radial and circumferential directions, and utilizes the elastic support of the anti-overturning assembly to achieve automatic posture adjustment of the mechanism to achieve a high-precision locking function;

[0024] (2) The present invention utilizes the lever effect of the four-bar linkage to amplify the locking force, thereby achieving the requirement of high-rigidity locking;

[0025] (3) The present invention utilizes a combination of multiple springs to simultaneously maintain the preload force of the mechanism and achieve self-reset of the mechanism, thereby achieving the reuse of the mechanism;

[0026] (4) The present invention utilizes a purely mechanical method to realize the functions of self-amplification of the locking force, full-position locking, and self-resetting of the locking mechanism, thereby enhancing its wide adaptability in the task of locking an extended arm in space. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a connection diagram of the root locking mechanism unit and the anti-overturning mechanism assembly of the present invention;

[0028] Figure 2 It is the connection diagram between the root locking mechanism unit and the support plate;

[0029] Figure 3 This is a connection diagram of the sleeve and the structural lock groove of the present invention;

[0030] Figure 4 The figure is a diagram of the root locking mechanism and the sleeve of the present invention; wherein (a) is a front view of the root locking mechanism and the sleeve, and (b) is a cross-sectional view of the root locking mechanism and the sleeve;

[0031] Figure 5 This is a diagram showing the components of the locking mechanism unit of the present invention;

[0032] Figure 6 Schematic diagram of the anti-overturning assembly of the present invention; wherein (a) is a diagram showing the composition of the anti-overturning assembly, and (b) is a diagram showing the contact relationship between the anti-overturning assembly and the sleeve;

[0033] Figure 7 Schematic diagram of the four working stages of the root locking mechanism of the present invention, wherein (a) is the initial stage, (b) is the positioning stage, (c) is the locking stage, and (d) is the unlocking stage. DETAILED DESCRIPTION

[0034] The present invention proposes a root locking mechanism based on a four-bar linkage, which has a compact structure, stable and reliable working process, high locking rigidity, convenient unlocking and reusability, and has a locking force amplification function, and has a wide range of adaptability to complete the task of locking the space extension arm. Specifically:

[0035] A root locking mechanism for a space extension arm, the root locking mechanism is used to lock the support plate 3 and sleeve 4 of the space extension arm, the support plate 3 is perpendicular to the axial direction of the sleeve 4, and the root locking mechanism mainly consists of a locking mechanism unit 1, an anti-overturning mechanism component 2, and a structural locking groove 401 on the inner wall of the sleeve 4. The anti-overturning mechanism component 2 is connected to the locking mechanism unit 1 by screw fastening, such as Figure 1 The four locking mechanism units 1 are evenly distributed and installed on a support plate by bolt fastening to form a complete root locking mechanism, as shown in FIG. Figure 2 The sleeve 4 is evenly distributed with four structural locking grooves 401, which are connected to the sleeve by screw fastening. Figure 3 Finally, the root locking mechanism utilizes the engagement connection between the locking mechanism unit 1 and the structural locking groove 401, as shown in FIG. Figure 4 As shown in (a) and (b), the root locking mechanism is locked relative to the sleeve 4.

[0036] Each root locking mechanism unit 1 comprises a frame 101, a lifting handle 102, a locking spring pressure cylinder 103, a spring pressure cover 104, a locking spring 105, a return spring 106, a return spring cover 107, a slide bar 108, a short connecting rod 109 and a long connecting rod 110. Figure 5 As shown. Among them, the frame 101 is the shell of the root locking mechanism unit 1, which provides support and protection for the mechanism. The outer diameter of the slide bar 108 decreases step by step from one end to the other end in a step-like manner. The slide bar 108 and the hole on the frame 101 form an axial hole to form a moving pair; the large diameter end of the slide bar 108, the long connecting rod 110 and the short connecting rod 109 are matched with the axial holes in sequence from head to tail to form a rotating pair and connected together. A protruding structure is provided at one end of the upper part of the frame 101, on which a hole is provided, and the other end of the short connecting rod 109 is connected to the hole on the frame 101 to form a rotating pair. Finally, the slide bar 108, the long connecting rod 110, the short connecting rod 109 and the frame 101 are combined to form a four-bar linkage.

[0037] The locking spring cylinder 103 is sleeved on the slide bar 108 and is located in the middle of the frame of the frame 101; the spring pressure cover 104 is rigidly fixed to the middle position of the slide bar 108 by means of a nut, and moves with the slide bar during the working process. The locking spring 105 is sleeved on the slide bar 108 and is located between the spring pressure cover 104 and the locking spring cylinder 103. The spring pressure cover 104 and the locking spring cylinder 103 work together to compress the locking spring 105. The reset spring 106 is also sleeved on the slide bar 108 and is located between the spring pressure cover 104 and the reset spring cover 107. The spring pressure cover 104 and the reset spring cover 107 work together to compress the reset spring 106.

[0038] The lifting handle 102 is S-shaped and is located at the upper part of the frame 101. One end of the lifting handle 102 is rigidly connected to the outer side of the locking spring compression cylinder 103 by screws, and the upper and lower surfaces of the other end are provided with a main roller 111 and a secondary roller 112 to constrain its freedom, so that the lifting handle 102 can only move linearly.

[0039] The anti-overturning mechanism assembly 2 comprises an anti-overturning rod 201, a sliding ball 202, a sliding ball cover 203, a sliding ball rod 204, an anti-overturning spring 205, an anti-overturning spring cover 206 and an anti-overturning spring sleeve 207. One end of the anti-overturning rod 201 is connected to the middle position of the frame 101, such as Figure 6(a) As shown. An anti-overturn spring sleeve 207 is installed on the upper part of the other end of the anti-overturn rod 201. The anti-overturn spring cover 206 is located inside the anti-overturn spring sleeve 207, and the anti-overturn spring 205 is located between the anti-overturn spring cover 206 and the anti-overturn rod 201 itself. The lower end of the sliding ball rod 204 passes through the through hole on the upper end surface of the anti-overturn spring sleeve 207, the corresponding through hole on the anti-overturn spring cover 206, the anti-overturn spring 205 and the corresponding through hole on the anti-overturn rod 201 itself in sequence; the sliding ball cover 203 is located at the upper end of the sliding ball rod 204, and the sliding ball 202 and the sliding ball cover 203 are connected by a ball pair, which can realize free rolling at the end of the sliding ball rod. During the operation of the anti-overturn mechanism assembly 2, the sliding ball 202 is always in contact with the inner cylindrical side wall of the sleeve 4 and rolls freely, providing support for the root locking mechanism, such as Figure 6 (b) as shown.

[0040] The inner wall of the sleeve 4 is provided with a positioning structure that cooperates with the protruding structure provided at one end of the upper portion of the frame 101 , and the corresponding structural locking groove 401 is provided on a straight line parallel to the axial direction of the sleeve 4 .

[0041] The distance between the positioning structure of the inner wall of the sleeve 4 and the corresponding structural locking groove 401 is determined according to the size of the four-bar linkage and the compression amount of the return spring 106 and the locking spring 105 .

[0042] Combine the following Figure 7 The present invention is further described.

[0043] (1) In the initial stage of the root locking mechanism, Figure 7 As shown in (a): an external pulling force F acts on the lifting handle 102. The lifting handle 102 pulls up the locking spring compression cylinder 103, further transmitting the external force to the locking spring 105, the spring pressure cover 104 and the return spring 106, and finally transmitting the force to the frame 101. However, since there is a gap between the root locking mechanism and the sleeve 4 in the initial state, that is, the spacing L≥0, the root locking mechanism will move in the direction of the pulling force F until L=0 in this stage.

[0044] (2) During the positioning stage of the root locking mechanism, Figure 7(b) shows: the root locking mechanism is completely fitted with the sleeve 4, that is, the spacing L = 0. The external tension F continues to act on the lifting handle 102, and the force is transmitted to the frame 101 in the same force transmission method as the initial stage. However, since the frame 101 of the root locking mechanism is completely fitted with the sleeve 4, the frame 101 of the root locking mechanism will not move further, and the locking spring 105 and the return spring 106 begin to be compressed. Since the preload force of the return spring 106 in the mechanism is less than the preload force of the locking spring 105, in this stage, as the external tension F acts, the return spring 106 is first compressed, and the spring pressure cover 104 can then move in the direction of the tension. At the same time, because the spring pressure cover 104 and the slide bar 108 are rigidly connected, the slide bar 108 is finally moved in the direction of the tension at this stage, thereby driving the entire four-bar linkage to start moving. The short connecting rod 109 gradually changes to a horizontal state, and the long connecting rod 110 gradually changes to a vertical state, until the long connecting rod 110 contacts the sleeve locking groove 401 and starts to lock.

[0045] (3) During the locking stage of the root locking mechanism, Figure 7 As shown in (c): the external pulling force F continues to pull up the lifting handle 102, and the force transmission method is the same as that in the positioning stage, and the reset spring 106 continues to be compressed. However, since the upper end of the long connecting rod 110 in the root locking mechanism is completely in contact with the sleeve locking groove 401, the four-bar linkage is locked, resulting in the sliding rod 108 of the root locking mechanism and the spring gland 104 rigidly connected thereto not moving further. At this time, the reset spring 106 stops being compressed, and the locking spring 105 starts to be compressed until the locking spring 105 reaches the maximum compression position, completing the locking process.

[0046] When the root locking mechanism is locked, the external pulling force is amplified by multiples, specifically:

[0047] The slide bar 108, the long connecting rod 110, the short connecting rod 109 and the frame 101 are combined to form a four-bar linkage, and the short connecting rod 109 is the fulcrum. The elastic force acting on the slide bar 108 is multiplied by the lever action of the short connecting rod 109 and the long connecting rod 110, so that the end of the long connecting rod 110 is locked with the sleeve locking groove 401 with a high preload force, and the locking is completed.

[0048] (4) During the unlocking phase of the root locking mechanism, Figure 7As shown in (d): After the locking is completed, when the external pulling force is released, the root locking mechanism begins to unlock automatically. The reset spring 106 and the locking spring 105 are no longer compressed by the external pulling force, and gradually return to their original lengths. Under the action of the elastic force, the spring pressure cover 104 of the root locking mechanism and the sliding rod 108 rigidly connected thereto move in the opposite direction to the locking stage, thereby driving the entire four-bar linkage to begin unlocking, that is, the long connecting rod 110 is separated from the sleeve lock groove 401, and the unlocking is completed.

[0049] Example:

[0050] The weight of the root locking mechanism is 2.5kg, the support force of the anti-overturning spring is 104N, the short connecting rod length is 17mm, the long connecting rod length is 60mm, the locking force is magnified by 4 times compared with the preload force, and the locking is achieved in the 1200mm extension arm sleeve. In the locked state, the locking force of the locking spring is 1890N, and the reset force of the reset spring is 157N.

[0051] Finally, it should be noted that the above implementation cases are only used to illustrate the technical solution of the present invention, not to limit it. Any modification or equivalent replacement of the solution of the present invention shall not deviate from the spirit and scope of the technical solution of the present invention and shall be included in the claims of the present invention.

[0052] The root locking mechanism of the present invention utilizes the elastic potential energy generated by the different deformations of two springs to realize the locking and resetting functions of the mechanism. In the locked state, the locking spring deforms to store elastic potential energy, and the stored elastic potential energy is used to provide the preload force in the locked state. The preload force generated by the locking spring is amplified based on the four-bar linkage and acts on the lock slot assembly. In the reset state, the elastic potential energy stored by the reset spring in the locked state is released to provide the reset force required for the reset state to work, so that the mechanism can reset itself to the initial position in the absence of external force, in preparation for repeated locking actions. In the process of the root locking mechanism moving with the extension arm, the rolling metal ball and compression spring in the anti-overturning assembly are used to elastically support the root locking mechanism, and the position of the root locking mechanism in the extension arm sleeve is dynamically adjusted to ensure a smooth working process.

[0053] The contents not described in detail in the specification of the present invention belong to the prior art known to the professional and technical personnel in this field.

Claims

1. A root locking mechanism applied to a space extension arm, used to lock a support plate (3) and a sleeve (4) of the space extension arm, wherein the support plate (3) is perpendicular to the axial direction of the sleeve (4), and is characterized in that: The root locking mechanism comprises: a locking mechanism unit (1), an anti-overturning mechanism assembly (2), and a structural locking groove (401) on the inner wall of a sleeve (4), wherein: The four anti-overturning mechanism components (2) are mounted on the four locking mechanism units (1) in a one-to-one correspondence, and one end of the components contacts the inner wall of the sleeve (4) to provide support for the root locking mechanism; The bottom ends of the four locking mechanism units (1) are installed in one-to-one correspondence with the four corners of the support plate (3); Four structural locking grooves (401) are evenly distributed on the inner wall of the sleeve (4) and are respectively matched with the upper ends of the four locking mechanism units (1) for locking.

2. The root locking mechanism for a space extension arm according to claim 1, characterized in that: The root locking mechanism unit (1) comprises: a frame (101), a lifting handle (102), a locking spring pressure cylinder (103), a spring pressure cover (104), a locking spring (105), a return spring (106), a return spring cover (107), a sliding rod (108), a short connecting rod (109) and a long connecting rod (110); wherein: The frame (101) is a shell of the root locking mechanism unit (1), and the bottom is connected to the support plate (3); a protrusion structure is arranged at one end of the upper part of the frame (101), and a hole is arranged on the protrusion structure, and the hole is used to connect one end of a short connecting rod (109) to form a rotating pair connection, and the other end of the short connecting rod (109) is connected to one end of a long connecting rod (110), and the other end of the long connecting rod (110) is connected to one end of a sliding rod (108); the other end of the sliding rod (108) passes through the shaft hole in the middle of the frame of the frame (101) to form a moving pair; the above-mentioned sliding rod (108), the long connecting rod (110), the short connecting rod (109) and the frame (101) are combined to form a four-bar linkage; The outer diameter of the slide bar (108) decreases step by step from one end connected to the long connecting rod (110) to the other end; the locking spring pressure cylinder (103) is located inside the frame of the frame (101) and is sleeved on the end of the slide bar (108) with a larger diameter; the spring pressure cover (104) is rigidly fixed at the middle position of the slide bar (108) and moves with the slide bar during the working process; the locking spring (105) is sleeved on the slide bar (108) and is located between the spring pressure cover (104) and the locking spring pressure cylinder (103). The spring pressure cover (104) and the locking spring pressure cylinder (103) work together to compress the locking spring (105); the return spring cover (107) is located inside the frame of the frame (101) and is sleeved on the end of the slide bar (108) with a smaller diameter; the return spring (106) is sleeved on the slide bar (108) and is located between the spring pressure cover (104) and the return spring cover (107); the spring pressure cover (104) and the return spring cover (107) work together to compress the return spring (106); The lifting handle (102) is S-shaped and is located at the upper part of the frame (101). One end of the lifting handle (102) is rigidly connected to the outer side of the locking spring compression cylinder (103) and is provided with a secondary roller (112). The other end is placed on the upper end of the frame of the frame (101) and a main roller (111) is provided on the lower surface of the end. The main roller (111) and the secondary roller (112) constrain the freedom of the lifting handle (102) so that it can only perform linear motion.

3. The root locking mechanism for a space extension arm according to claim 1, characterized in that: The anti-overturning mechanism assembly (2) comprises: an anti-overturning rod (201), a sliding ball (202), a sliding ball cover (203), a sliding ball rod (204), an anti-overturning spring (205), an anti-overturning spring cover (206) and an anti-overturning spring sleeve (207); wherein: One end of the anti-overturning rod (201) is connected to the middle position of the frame (101), and the upper part of the other end is equipped with an anti-overturning spring sleeve (207), and the lower part has a baffle structure integrally formed with the anti-overturning rod (201); the anti-overturning spring cover (206) is located inside the anti-overturning spring sleeve (207), and the anti-overturning spring (205) is located between the anti-overturning spring cover (206) and the baffle structure of the anti-overturning rod (201); the sliding ball The lower end of the rod (204) passes through the through hole on the upper end surface of the anti-overturning spring sleeve (207), the corresponding through hole on the anti-overturning spring cover (206), the anti-overturning spring (205) and the corresponding through hole on the anti-overturning rod (201) baffle structure in sequence; the sliding ball cover (203) is located at the upper end of the sliding ball rod (204), and the sliding ball (202) and the sliding ball cover (203) are connected by a ball pair, so that free rolling can be achieved at the end of the sliding ball rod.

4. The root locking mechanism for a space extension arm according to claim 3, characterized in that: During the operation of the anti-overturning mechanism assembly (2), the sliding ball (202) is always in contact with the inner cylindrical side wall of the sleeve (4) and rolls freely, providing support for the root locking mechanism.

5. The root locking mechanism for a space extension arm according to claim 2, characterized in that: The inner wall of the sleeve (4) is provided with a positioning structure that cooperates with a protruding structure provided at one end of the upper portion of the frame (101), and the corresponding structural locking groove (401) is provided on a straight line parallel to the axial direction of the sleeve (4).

6. The root locking mechanism for a space extension arm according to claim 5, characterized in that: When the structural locking groove (401) and the upper end of the locking mechanism unit (1) are matched and locked: The external pulling force F acts on the lifting handle (102), and the root locking mechanism moves in the direction of the pulling force F. When the protruding structure arranged at one end of the upper part of the frame (101) is completely fitted with the positioning structure of the inner wall of the sleeve (4), and the root locking mechanism unit (1) no longer moves, the return spring (106) and the locking spring (105) are compressed in turn, driving the sliding rod (108) to move along the pulling force direction, thereby driving the entire four-bar linkage to start moving; the short connecting rod (109) gradually changes to a horizontal state, and the long connecting rod (110) gradually changes to a vertical state, and finally the upper end of the long connecting rod (110) is completely in contact with the sleeve locking groove (401), completing the locking.

7. The root locking mechanism for a space extension arm according to claim 6, characterized in that: When the external tension is released, the root locking mechanism automatically unlocks, specifically: The return spring (106) and the locking spring (105) are no longer compressed by the external pulling force and gradually return to their original lengths. Under the action of the elastic force, the slide bar (108) moves in the opposite direction to that in the locking stage, thereby driving the entire four-bar linkage to begin unlocking, i.e., the long link (110) is separated from the sleeve lock groove (401), completing the unlocking.

8. The root locking mechanism for a space extension arm according to claim 5, characterized in that: The distance between the positioning structure on the inner wall of the sleeve (4) and the corresponding structural locking groove (401) is determined according to the size of the four-bar linkage and the compression amount of the return spring (106) and the locking spring (105).

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