Locking mechanism

Abstract

The present invention discloses a locking mechanism. The locking mechanism includes: a mounting base; a driving shaft, on which a plurality of locking heads are provided, and the plurality of locking heads at least include a first locking head and a second locking head, and both the first locking head and the second locking head are coaxially arranged with the driving shaft; a driving mechanism, which is arranged on the mounting base and is used for driving the driving shaft to rotate. According to the locking mechanism of the present invention, due to the provision of a plurality of locking heads, the versatility and locking efficiency of the locking mechanism can be improved, so that the locking mechanism can simultaneously meet the automatic locking of a plurality of nuts, and the product has strong consistency and good quality.

Description

Technical Field

[0001] The present invention relates to the technical field of general machinery, and more particularly, to a locking mechanism. Background Art

[0002] Currently, the breathing nuts and water softener nuts of dishwashers can only be locked one by one manually, often resulting in slipping and damage to the nut surface, leading to poor product consistency and potential product quality problems. In addition, the locking force of the water softener requires 1100 Ncm, resulting in high manual labor intensity. Moreover, there are also problems such as high production costs and low production efficiency. Summary of the Invention

[0003] The present invention aims to at least partly solve one of the above technical problems in the prior art. To this end, the present invention provides a locking mechanism that can achieve automatic locking of nuts.

[0004] The locking mechanism according to an embodiment of the present invention includes: a mounting base; a drive shaft provided with a plurality of locking heads, the plurality of locking heads including at least a first locking head and a second locking head, the first locking head and the second locking head being coaxially arranged with the drive shaft; and a drive mechanism provided on the mounting base and configured to drive the drive shaft to rotate.

[0005] Due to the provision of a plurality of locking heads, the locking mechanism according to an embodiment of the present invention can improve the versatility and locking efficiency of the locking mechanism, enabling the locking mechanism to simultaneously satisfy the automatic locking of multiple nuts.

[0006] According to some embodiments of the present invention, the first locking head and the second locking head are provided at the same end of the drive shaft.

[0007] According to some embodiments of the present invention, the first locking head and the second locking head are provided at different ends of the drive shaft.

[0008] According to some embodiments of the present invention, the first locking head and / or the second locking head is adapted to move in the axial direction of the drive shaft.

[0009] According to some embodiments of the present invention, the first locking head and / or the second locking head is adapted to swing at a certain angle relative to the axial direction of the drive shaft.

[0010] According to some embodiments of the present invention, the first locking head and the second locking head are coaxially nested, and the first locking head is disposed at the center of the second locking head.

[0011] The locking mechanism further includes: a first locking head seat fixed to the second locking head, and the first locking head is telescopically connected to the first locking head seat through a first elastic member.

[0012] Furthermore, the locking mechanism further includes: a fastening screw, which includes a screw fixing section and a screw bearing section. The screw fixing section passes through the first lock head and is fixed to the first lock head seat, and the screw bearing section passes through the first lock head. The first elastic member is sleeved on the screw bearing section, and one end of the first elastic member abuts against the first lock head seat, and the other end abuts against the first lock head.

[0013] According to some embodiments of the present invention, an installation groove is formed on one of the first lock head seat and the first lock head, and an installation protrusion is provided on the other. The installation protrusion is adapted to be inserted into the installation groove to lock the relative radial positions of the first lock head seat and the first lock head.

[0014] According to some embodiments of the present invention, a bit lock block is provided on the drive shaft. The second lock head is fixed to the bit lock block, and the bit lock block is telescopically connected to the drive shaft through a second elastic member.

[0015] Specifically, the bit lock block has an installation hole for the drive shaft to pass through. The installation hole includes a limit hole section and a mating hole section. The limit hole section is located on the side of the mating hole section close to the installation seat, and a limit hole step surface is formed at the connection between the limit hole section and the mating hole section;

[0016] The drive shaft includes a mating shaft section and a connecting shaft section. The mating shaft section passes through the mating hole section, and the connecting shaft section passes through the limit hole section. A limit shaft step surface is formed at the connection between the mating shaft section and the connecting shaft section, and the limit shaft step surface is disposed opposite to the limit hole step surface.

[0017] Furthermore, at least one plunger hole penetrating the thickness direction of the bit lock block is formed on the mating hole section. A ball head plunger is disposed in the plunger hole, and a fastening nut is provided at the outer end of at least one of the ball head plungers for adjusting the gap between the inner peripheral surface of the mating hole section and the outer peripheral surface of the mating shaft section.

[0018] According to some embodiments of the present invention, a position sensor bracket is provided on the installation seat, and a position sensor is provided on the position sensor bracket. The position sensor is used to detect the axial position of the bit lock block.

[0019] According to some embodiments of the present invention, the drive shaft includes a first shaft and a second shaft arranged coaxially. A torque sensor is provided between the first shaft and the second shaft. One end of the torque sensor is connected to the first shaft through a first coupling, and the other end of the torque sensor is connected to the second shaft through a second coupling. The bit lock block is connected to the second shaft.

[0020] According to some embodiments of the present invention, the first lock head is located on a side of the second lock head away from the first axis.

[0021] According to some embodiments of the present invention, the mounting base includes: a flange connecting member and a frame body. One end of the flange connecting member is fixed to the frame body, and the other end of the flange connecting member has a manipulator connecting portion.

[0022] Specifically, the frame body includes: side plates arranged oppositely and a camera side mounting plate, and both the side plates and the camera side mounting plate are fixed to the flange connecting member.

[0023] Further, the frame body further includes: a transmission shaft mounting plate and a lock head mounting plate. The transmission shaft mounting plate and the lock head mounting plate are connected between the side plates and the camera side mounting plate, and the transmission shaft mounting plate and the lock head mounting plate are separated from each other. A receiving cavity is formed among the side plates, the camera side mounting plate, the transmission shaft mounting plate, and the lock head mounting plate, and the lock head extends out of the receiving cavity.

[0024] According to some embodiments of the present invention, a light source plate and a camera plate are arranged on a side of the camera side mounting plate facing away from the side plates. A light source is mounted on the light source plate, a camera is mounted on the camera plate, and the camera is located on a side of the light source facing the lock head.

[0025] Further, a camera shield is arranged on a side of the camera side mounting plate facing away from the side plates. A camera cavity is formed between the camera shield and the camera plate, and a side of the camera cavity facing the lock head is open.

[0026] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. Brief Description of the Drawings

[0027] Figure 1 is a perspective view of the locking mechanism;

[0028] Figure 2 is a front view of the locking mechanism;

[0029] Figure 3 is a sectional view of the locking mechanism;

[0030] Figure 4 is a perspective view of the second shaft;

[0031] Figure 5 is a perspective view of the bit lock block;

[0032] Figure 6 is a semi-sectional view of the bit lock block;

[0033] Figure 7 is a three-dimensional schematic diagram of a fastening screw;

[0034] Figure 8 is a schematic diagram showing that the axial direction of the bit lock block relative to the drive shaft does not swing;

[0035] Figure 9 is a schematic diagram showing that the axial direction of the bit lock block relative to the drive shaft swings at a certain angle;

[0036] Figure 10 is a connection schematic diagram of the first lock head and the first lock head seat;

[0037] Figure 11 is a structural schematic diagram of the second lock head of another embodiment.

[0038] Reference numerals:

[0039] Flange connector 1, manipulator connection part 101, drive motor 2, speed reducer 3, side plate 4, tension plate 5, synchronous belt cover 6, lever 7, drive shaft mounting plate 8, bearing seat 9, first coupling 10, torque sensor bracket 11, torque sensor 12, camera side connection plate 13, light source 14, camera cover 15, second coupling 16, camera side mounting plate 17, position sensor bracket 18, lock head mounting plate 19, camera 20, bit lock block 21, limit hole section 211, mating hole section 212, lock block flange 213, plunger hole 214, limit hole step surface 215, second lock head 22, position sensor 23, first lock head seat 24, fastening screw 25, screw fixing section 251, screw bearing section 252, first lock head 26, ball head plunger 27, bearing baffle 28, camera cavity 29, synchronous belt 30, first synchronous pulley 31, first shaft 32, tension plate 33, first deep groove ball bearing 34, light source plate 35, camera lens 36, camera plate 37, second deep groove ball bearing 38, second shaft 39, mating shaft section 391, connecting shaft section 392, limit shaft step surface 395, second elastic member 40, second synchronous pulley 41, fastening nut 42, first elastic member 43. Detailed Description of the Invention

[0040] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0041] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation on the present invention.

[0042] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0043] In the present invention, unless otherwise clearly specified and limited, the terms "mounted", "connected", "joined", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, or a connection capable of mutual communication; it can be directly connected, or indirectly connected through an intermediate medium, and can be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] The following will Figures 1 - 11 describe in detail the locking mechanism according to an embodiment of the present invention.

[0045] Referring to Figures 1 - 3 as shown, the locking mechanism according to an embodiment of the present invention may include: a mounting base, a driving shaft, and a driving mechanism. A plurality of locking heads are provided on the driving shaft, and the driving mechanism is arranged on the mounting base and is used to drive the driving shaft to rotate. When the driving shaft rotates, the driving shaft drives the locking heads to rotate, and when the locking heads rotate, they are adapted to lock the fasteners.

[0046] Taking the fastener as a nut as an example, generally, the nut has a positioning groove, and the locking head has a positioning protrusion. The positioning protrusion of the locking head is fitted with the positioning groove of the nut. In this way, when the locking head rotates, the nut can rotate synchronously with the locking head to achieve the locking of the nut. Of course, when the driving shaft rotates in the reverse direction, the nut can be loosened. For the sake of simplicity of description below, the locking of the nut is taken as an example for illustration.

[0047] In some embodiments, the types of multiple locking heads may be the same, so that the locking mechanism can lock multiple nuts of the same type at the same time; in other embodiments, the types of multiple locking heads may also be different, so that the locking mechanism can lock different types of nuts.

[0048] The plurality of lock heads at least include a first lock head 26 and a second lock head 22, and the first lock head 26 and the second lock head 22 are both coaxially arranged with the drive shaft. In this way, the same drive shaft can drive the first lock head 26 and the second lock head 22 to rotate, so that the first lock head 26 locks and loosens the first type of nut, and the second lock head 22 locks and loosens the second type of nut, thereby improving the versatility of the locking mechanism.

[0049] In some embodiments not shown, the multiple locks may include three locks, four locks or more locks, and each lock may correspond to a nut of a specification to further improve the versatility of the locking mechanism, or multiple locks may correspond to nuts of the same specification to improve the working efficiency of the locking mechanism.

[0050] The locking mechanism according to the embodiment of the present invention can realize automatic locking of the nut, and since a plurality of locking heads are provided, the versatility and locking efficiency of the locking mechanism can be improved, so that the locking mechanism can simultaneously lock a plurality of nuts.

[0051] Reference Figures 1 - 2 As shown, the driving mechanism includes: a driving motor 2, and the driving motor 2 is connected to the driving shaft through a belt drive. When the driving motor 2 rotates, it drives the driving shaft to rotate, thereby achieving power transmission. Figures 1 - 3 In the embodiment shown, the driving mechanism further includes: a reducer 3, the driving motor 2 is connected to the reducer 3, a first synchronous wheel 31 is provided at the output shaft of the reducer 3, a second synchronous wheel 41 is provided on the driving shaft, and the first synchronous wheel 31 and the second synchronous wheel 41 are connected through a synchronous belt 30. Therefore, after the power of the driving motor 2 is decelerated by the reducer 3, it is transmitted to the driving shaft through the first synchronous wheel 31, the synchronous belt 30, and the second synchronous wheel 41, so that the driving shaft rotates.

[0052] Optionally, the driving motor 2 is a servo motor.

[0053] A synchronous wheel cover 6 is provided on the mounting seat, and the synchronous wheel cover 6 is arranged outside the first synchronous wheel 31, the synchronous belt 30 and the second synchronous wheel 41 to protect the first synchronous wheel 31, the synchronous belt 30 and the second synchronous wheel 41 to prevent the belt transmission mechanism from being exposed to cause danger and accelerate aging.

[0054] exist Figures 1 - 3In the illustrated embodiment, the first lock head 26 and the second lock head 22 are provided at the same end of the drive shaft. In this way, with the lock heads provided at the same end of the drive shaft, the drive mechanism can be provided at the other end of the drive shaft, which can make the overall structure of the locking mechanism more compact.

[0055] In some embodiments not shown in the drawings, the first lock head 26 and the second lock head 22 can be provided at different ends of the drive shaft. Thus, when operating on the first type of nut, the end with the first lock head 26 is aligned with the first type of nut; when operating on the second type of nut, the end with the second lock head 22 is aligned with the second type of nut.

[0056] The first lock head 26 and / or the second lock head 22 are adapted to move in the axial direction of the drive shaft. In a specific embodiment, both the first lock head 26 and the second lock head 22 can be arranged to move in the axial direction of the drive shaft. In this way, when docking the first lock head 26 or the second lock head 22 with the corresponding nut, the first lock head 26 and the second lock head 22 can perform position adjustment in the axial direction to prevent the lock head from making too hard contact with the nut and damaging the nut.

[0057] The first lock head 26 and / or the second lock head 22 are adapted to swing at a certain angle relative to the axial direction of the drive shaft. In a specific embodiment, the second lock head 22 can be arranged to be deflectable at a certain angle relative to the axis of the drive shaft. In this way, when docking the first lock head 26 or the second lock head 22 with the corresponding nut, the lock head swings at a certain angle around the drive shaft. When locking the nut, it can prevent the lock head from not fitting onto the nut and ensure that the lock head can accurately fit into the nut without damaging the nut.

[0058] Referring to Figures 1 - 3 as shown, the first lock head 26 and the second lock head 22 are coaxially nested, and the first lock head 26 is arranged at the center of the second lock head 22. In this way, the first lock head 26 and the second lock head 22 are offset from each other, and when in use, the first lock head 26 and the second lock head 22 do not interfere with each other.

[0059] Referring to Figure 1 、 Figure 3 as shown, the locking mechanism further includes: a first lock head seat 24, the first lock head seat 24 is fixed to the second lock head 22, and the first lock head 26 is telescopically connected to the first lock head seat 24 through a first elastic member 43. The first elastic member 43 can reduce the stress at the connection between the first lock head 26 and the first lock head seat 24.

[0060] Furthermore, referring to Figure 1 、 Figure 3 、 Figure 7As shown, the locking mechanism further includes: a fastening screw 25, and the first lock head 26 is fixed to the first lock head seat 24 by the fastening screw 25. Specifically, the fastening screw 25 may include: a screw fixing section 251 and a screw bearing section 252. The screw fixing section 251 passes through the first lock head 26 and is fixed to the first lock head seat 24, and the screw bearing section 252 passes through the first lock head 26. The first elastic member 43 is sleeved on the screw bearing section 252, and one end of the first elastic member 43 abuts against the first lock head seat 24, and the other end abuts against the first lock head 26.

[0061] Optionally, the first elastic member 43 is a compression spring. In this way, when the first lock head 26 is used to lock the nut, the first elastic member 43 undergoes compressive deformation and is in a compressed state. When the first lock head 26 is not used, the first elastic member 43 can return to its original state or a state with a smaller compression amount.

[0062] Optionally, the fastening screw 25 is a cylinder head shoulder screw. As Figure 7 shown, the fastening screw 25 has a screw head 253. The outer diameter of the screw head 253 is greater than the outer diameter of the screw bearing section 252, and the outer diameter of the screw bearing section 252 is greater than the outer diameter of the screw fixing section 251. The screw bearing section 252 may be a smooth rod, and the screw fixing section 251 may have an external thread. The first lock head seat 24 has a threaded hole. The screw bearing section 252 passes through the first lock head 26 and the screw fixing section 251 is fixed to the first lock head seat 24. There is a certain adjustment distance between the first lock head 26 and the first lock head seat 24. The screw head 253 is located in the limit groove of the first lock head 26, so that the axial movement amount of the first lock head 26 can be restricted.

[0063] In other words, after the fastening screw 25 is fixed to the first lock head seat 24, the axial movement amount of the first lock head 26 is restricted. The first lock head 26 can move axially upward to a position where the upper end surface of the first lock head 26 abuts against the lower end surface of the first lock head seat 24, or can move axially downward to a position where the top wall of the limit groove of the first lock head 26 abuts against the upper end surface of the screw head 253.

[0064] An installation groove is formed on one of the first lock head seat 24 and the first lock head 26, and an installation protrusion is provided on the other. The installation protrusion is adapted to be inserted into the installation groove to lock the relative radial positions of the first lock head seat 24 and the first lock head 26. Thus, when the drive shaft drives the first lock head seat 24 to rotate, the first lock head seat 24 can drive the first lock head 26 to rotate synchronously, so as to transmit the torque of the drive shaft to the first lock head 26 through the first lock head seat 24. In Figure 10In the illustrated embodiment, the installation groove is provided on the first lock head seat 24, and the installation protrusion is provided on the first lock head 26. The number of the installation protrusions and the installation grooves can both be multiple, and the number and positions of the installation protrusions and the installation grooves correspond to each other one by one. Thus, the stress conditions of the first lock head seat 24 and the first lock head 26 during torque transmission can be improved, thereby extending the service life of the first lock head seat 24 and the first lock head 26.

[0065] Referring to Figure 3 As shown, a bit lock block 21 is provided on the drive shaft, and the second lock head 22 is fixed to the bit lock block 21. In this way, the first lock head seat 24, the second lock head 22, and the bit lock block 21 are fixed to each other. And the bit lock block 21 and the drive shaft are telescopically connected through a second elastic member 40. One end of the second elastic member 40 abuts against the mounting seat, and the other end abuts against the bit lock block 21. The second elastic member 40 can reduce the stress at the connection between the bit lock block 21 and the drive shaft.

[0066] Optionally, the second elastic member 40 can be a compression spring. In this way, when using the second lock head 22 to lock the nut, the second elastic member 40 is compressed and deformed and is in a compressed state. When the second lock head 22 is not in use, the second elastic member 40 can return to its original state.

[0067] Specifically, referring to Figures 3 - 5 As shown, the bit lock block 21 has a mounting hole for the drive shaft to pass through. The mounting hole includes: a limiting hole section 211 and a mating hole section 212. The limiting hole section 211 is located on the side of the mating hole section 212 close to the mounting seat, and a limiting hole step surface 215 is formed at the connection between the limiting hole section 211 and the mating hole section 212.

[0068] The drive shaft includes: a mating shaft section 391 and a connecting shaft section 392. The mating shaft section 391 passes through the mating hole section 212, and the connecting shaft section 392 passes through the limiting hole section 211. A limiting shaft step surface 395 is formed at the connection between the mating shaft section 391 and the connecting shaft section 392. The limiting shaft step surface 395 is disposed opposite to the limiting hole step surface 215.

[0069] The limiting shaft step surface 395 can limit the axial movement amount of the bit lock block 21. For example, when using the second lock head 22 to lock the nut, the bit lock block 21 moves upward along the axis, the second elastic member 40 is compressed and deformed, and the limiting hole step surface 215 moves above the limiting shaft step surface 395 and separates from the limiting shaft step surface 395. When the second lock head 22 is not in use, the second lock head 22 moves downward along the axis, the compression amount of the second elastic member 40 decreases until the limiting hole step surface 215 moves to fit with the limiting shaft step surface 395. At this time, due to the limiting effect of the limiting hole step surface 215, the bit lock block 21 will not fall off the drive shaft.

[0070] The mating hole section 212 can be configured as a non-circular hole, such as a square hole. The mating shaft section 391 has a structure consistent with the shape of the mating hole section 212. For example, the mating shaft section 391 can be a square shaft. In this way, when the drive shaft rotates, the mating shaft section 391 can transmit the torque of the drive shaft to the bit locking block 21, and the bit locking block 21 further transmits the torque to the second locking head 22, the first locking head seat 24, and the first locking head 26.

[0071] Furthermore, referring to Figure 3 , Figures 5 - 6 As shown, at least one plunger hole 214 penetrating the thickness direction of the bit locking block 21 is formed in the mating hole section 212. The ball head plunger 27 is arranged in the plunger hole 214, and a fastening nut 42 is arranged at the outer end of at least one ball head plunger 27. The fastening nut 42 is used to adjust the gap between the inner peripheral surface of the mating hole section 212 and the outer peripheral surface of the mating shaft section 391. When the gap between the inner peripheral surface of the mating hole section 212 and the outer peripheral surface of the drive shaft is large, the bit locking block 21 can rotate around the axis relative to the drive shaft, can also move radially, and can also swing and deflect at a certain angle relative to the axial direction of the drive shaft, so as to facilitate adjusting the angle of the bit locking block 21, making the bit locking block 21 swing at a certain angle around the drive shaft. When locking the nut, it can prevent the locking head from not fitting onto the nut, ensuring that the locking head can accurately fit into the nut without damaging the nut.

[0072] Referring to Figures 8 - 9 As shown, the bit locking block 21 is sleeved on the drive shaft (specifically, the second shaft 39), and there is a gap between the mating hole section 212 of the bit locking block 21 and the mating shaft section 391 of the drive shaft. In the Figure 8 example, the axis B of the bit locking block 21 and the axis A of the drive shaft are on the same straight line. In the Figure 9 example, the bit locking block 21 swings and deflects at a certain angle relative to the axial direction of the drive shaft, so that the axis B of the bit locking block 21 and the axis A of the drive shaft are on different straight lines. For example, there is an included angle α between the axis B of the bit locking block 21 and the axis A of the drive shaft.

[0073] When locking the nut using the locking mechanism of the embodiment of the present invention, if the axis A of the drive shaft and the axis of the nut are not on the same straight line but have a certain angle deviation, at this time, since there is a gap between the matching hole section 212 of the screwdriver bit locking block 21 and the matching shaft section 391 of the drive shaft, the axis B of the screwdriver bit locking block 21 can be automatically adjusted to a position where it is not colinear with the axis A of the drive shaft but colinear with the axis of the nut. Since the axes of the first locking head 26 and the second locking head 22 are both colinear with the axis B of the screwdriver bit locking block 21, there is also a certain angle α between the axes of the first locking head 26 and the second locking head 22 and the axis A of the drive shaft, thereby ensuring that the axes of the first locking head 26 and the second locking head 22 can be colinear with the axis of the nut, thereby facilitating the subsequent locking of the nut.

[0074] The ball plunger 27 can ensure that a gap is formed between the bit locking block 21 and the drive shaft, while not affecting the torque transmission between the bit locking block 21 and the drive shaft.

[0075] exist Figures 1 - 3 In the embodiment shown, the first locking head 26 can lock the first type of nut, and the second locking head 22 can lock the second type of nut. If the structures of the first locking head 26 and the second locking head 22 are changed, each of the first locking head 26 and the second locking head 22 can lock both types of nuts. Figure 11 The second lock head 22 shown has an inner octagonal inner locking surface 221 and an outer octagonal outer locking surface 222. The inner locking surface 221 can lock one type of nut, and the outer locking surface 222 can lock another type of nut. Thus, the second lock head 22 can lock two types of nuts, and the function of the second lock head 22 is expanded without increasing the number of lock heads. In this way, the second lock head 22 is replaced by Figure 11 The lock head structure shown can increase the types of nuts that can be locked by the locking mechanism without increasing the number of lock heads, which is beneficial to improving the versatility of the locking mechanism.

[0076] Of course, in some embodiments not shown, the second lock head 22 may also be a lock head with an inner hexagon or an outer hexagon, or a lock head with an inner plum blossom or an outer plum blossom. The shape of the lock head may be selected according to actual conditions and is not limited to the types listed in the present invention.

[0077] In other embodiments not shown, the types of nuts that can be locked by the locking mechanism can be increased by increasing the number of locking heads, and the number of drive shafts can be increased to drive the corresponding locking heads. The structure will not be described in detail here.

[0078] A position sensor bracket 18 is provided on the mounting base. The position sensor bracket 18 can be fixed on the lock head mounting plate 19. A position sensor 23 is provided on the position sensor bracket 18. The position sensor 23 is used to detect the axial position of the bit lock block 21. When using the lock head to lock the nut, the bit lock block 21 will rise. When the rising amount of the bit lock block 21 is less than the preset rising threshold, it means that the locking is not in place, and the drive motor 2 continues to rotate; when the rising amount of the bit lock block 21 reaches the preset rising threshold, it means that the locking is in place, and the drive motor 2 stops rotating.

[0079] Optionally, the position sensor 23 can be an optical fiber.

[0080] Refer to Figure 3 As shown, the bit lock block 21 has a lock block flange 213. The lock block flange 213 extends to directly below the position sensor 23, so that the position sensor 23 can master the floating height of the bit lock block 21 by detecting the axial position of the lock block flange 213, thereby detecting whether the nut is locked in place.

[0081] The number of the position sensors 23 can be multiple, for example, two. By taking the average value of the data collected by the multiple position sensors 23, the measurement accuracy can be improved.

[0082] Refer to Figure 3 As shown, the drive shaft can include: a first shaft 32 and a second shaft 39 arranged coaxially. A torque sensor 12 is provided between the first shaft 32 and the second shaft 39. One end of the torque sensor 12 is connected to the first shaft 32 through a first coupling 10, and the other end of the torque sensor 12 is connected to the second shaft 39 through a second coupling 16. The bit lock block 21 is provided on the second shaft 39, and the bit lock block 21 is connected to the second shaft 39.

[0083] The torque sensor 12 can include a sensor body, a first measurement end and a second measurement end. The sensor body is fixed on the mounting base through a torque sensor bracket 11. The first measurement end is connected to the first shaft 32 through a first coupling 10, and the second measurement end is connected to the second shaft 39 through a second coupling 16. When the first shaft 32 drives the second shaft 39 to rotate, the torque sensor 12 detects the transmission torque on the drive shaft to indirectly monitor the torque of the lock head.

[0084] Refer to Figure 4 As shown, the second shaft 39 can further include a bearing section 393 and a coupling section 394. A second deep groove ball bearing 38 is installed on the bearing section 393 to support the better rotation of the second shaft 39. The coupling section 394 is adapted to be connected to the second coupling 16.

[0085] In some embodiments, the torque sensor 12 can transmit the torque value to the control system of the drive motor 2, and the control system adjusts the rotational speed of the drive motor 2 according to the torque value, so as to ensure a constant lock head torque, or adjust the torque value according to user requirements to ensure that the lock head tightens the nut without damaging the nut. In other embodiments, the operator can adjust the rotational speed of the drive motor 2 according to the torque value detected by the torque sensor 12.

[0086] The first lock head 26 is located on the side of the second lock head 22 away from the first shaft 32. The lock head is ingeniously arranged, making the locking mechanism simple, compact, space-saving, and the locking action is rapid, reliable, with a fast beat, strong continuity in use, low cost, and high production efficiency.

[0087] Referring to Figures 1 - 2 As shown, the mounting base includes: a flange connector 1 and a frame body. One end of the flange connector 1 is fixed to the frame body, and the other end of the flange connector 1 has a manipulator connection portion 101. The manipulator connection portion 101 is adapted to be connected to the manipulator of the robot, so that the manipulator can move the locking mechanism to any position and any angle, facilitating the locking of nuts at various positions and angles.

[0088] Specifically, referring to Figures 1 - 2 As shown, the frame body may include: relatively arranged side plates 4 and a camera side mounting plate 17, and both the side plates 4 and the camera side mounting plate 17 are fixed to the flange connector 1.

[0089] Furthermore, the frame body may further include: a transmission shaft mounting plate 8 and a lock head mounting plate 19. The transmission shaft mounting plate 8 and the lock head mounting plate 19 are connected between the side plates 4 and the camera side mounting plate 17, and the transmission shaft mounting plate 8 and the lock head mounting plate 19 are separated. A receiving cavity is formed among the side plates 4, the camera side mounting plate 17, the transmission shaft mounting plate 8, and the lock head mounting plate 19, and the lock head extends out of the receiving cavity. A part of the drive shaft and the speed reducer 3 may be located in the receiving cavity.

[0090] The speed reducer 3 can be mounted on the transmission shaft mounting plate 8, for example, on the side of the transmission shaft mounting plate 8 facing the receiving cavity.

[0091] The side plates 4 and the camera side mounting plate 17 can be arranged in parallel, and the transmission shaft mounting plate 8 and the lock head mounting plate 19 can be arranged in parallel.

[0092] As Figure 1 As shown, one end of the transmission shaft mounting plate 8 is fixed to the side plate 4, and the other end is fixed to the camera side mounting plate 17 through the camera side connecting plate 13. The side plate 4 and the camera side connecting plate 13 are connected through the tension plate 5. The tension plate 5 and the camera side connecting plate 13 can laterally pull and reinforce the connection between the side plate 4 and the camera side mounting plate 17, making the structure of the mounting base more reliable.

[0093] AsFigure 1 , Figure 3 As shown, on one side of the transmission shaft mounting plate 8 facing the accommodation cavity, a bearing seat 9 is fixedly arranged. On the side of the lock head mounting plate 19 facing away from the accommodation cavity, a bearing baffle 28 is fixedly arranged. The bearing seat 9 and the bearing baffle 28 are separated. A first deep groove ball bearing 34 is arranged between the bearing seat 9 and the drive shaft, and a second deep groove ball bearing 38 is arranged between the bearing baffle 28 and the drive shaft. The bearing baffle 28 is located below the bearing seat 9. The bearing seat 9 is used to shield and limit the first deep groove ball bearing 34, and the bearing baffle 28 is used to shield and limit the second deep groove ball bearing 38. The drive shaft is supported on the mounting seat by the spaced-apart first deep groove ball bearing 34 and second deep groove ball bearing 38.

[0094] On the side of the camera side mounting plate 17 facing away from the side plate 4, a light source plate 35 and a camera plate 37 are arranged. A light source 14 is mounted on the light source plate 35. In other words, the light source 14 is fixed on the camera side mounting plate 17 through the light source plate 35. A camera 20 is mounted on the camera plate 37, and the camera 20 is located on the side of the light source 14 facing the lock head. The camera 20 is used to take pictures and / or images of the position of the lock head, and the camera 20 accurately gives the specific position of the nut through the vision system, ensuring that the lock head can accurately fit over the nut. The light source 14 is adapted to emit light towards the position of the nut, ensuring clear vision at the nut position and better clarity of the pictures taken by the camera 20, which is beneficial to improving the positioning accuracy of the nut.

[0095] Furthermore, on the side of the camera side mounting plate 17 facing away from the side plate 4, a camera shield 15 is arranged. A camera cavity 29 is formed between the camera shield 15 and the camera plate 37. The side of the camera cavity 29 facing the lock head is open, thus facilitating taking pictures and / or images of the position of the lock head. The camera 20 has a camera lens 36. Both the camera 20 and the camera lens 36 are located within the camera cavity 29 to protect the camera 20 and the camera lens 36.

[0096] By setting up the camera 20 and the camera lens 36 to form a vision system, the position of the nut to be locked can be locked, with relatively high positioning efficiency. And after positioning is completed, it is convenient for the subsequent lock head to lock the nut.

[0097] The camera 20 can be electrically connected to the control and analysis module. When the camera 20 works, it takes images and / or videos of the nut and transmits the image and / or video data to the control and analysis module. The control and analysis module calculates the accurate position of the nut through a preset algorithm. The camera 20 can also be electrically connected to the control system of the drive motor 2 and the robot. Thus, the control system adjusts the rotational speed of the drive motor 2 or the actions of the robot manipulator according to the position information collected by the camera 20, enabling the lock head to better fit over the nut.

[0098] The camera 20 can continuously or regularly take pictures of the nut.

[0099] When using the camera 20 to capture images and / or videos of the nut to find the position of the nut, due to certain visual errors, there is a certain angular deviation between the axis of the nut and the axis A of the drive shaft. At this time, since the second locking head 22 can swing at a certain angle relative to the axial direction of the drive shaft, the locking mechanism can compensate for this visual error value, so as to accurately dock the locking head with the nut to lock the nut.

[0100] A lever 7 can be arranged on the frame body. The lever 7 is used to toggle parts to avoid the nut to be locked. For example, when using the locking mechanism to lock the nut of a dishwasher, if the spray arm of the dishwasher blocks the nut to be locked, the robot drives the lever 7 of the locking mechanism to move to the spray arm and toggle the spray arm by a certain angle to expose the nut for the locking head to cooperate with the nut.

[0101] In some alternative embodiments, the locking mechanism can be used for a dishwasher. At this time, the first locking head 26 can be a breather locking head to lock the breather nut, and the second locking head 22 can be a water softener locking head to lock the water softener nut.

[0102] The locking mechanism of the present invention accurately locates the product (such as a nut) through a vision system, combines the servo system of the drive motor 2, the torque detection system of the torque sensor 12, and the depth detection system of the position sensor 23, and completes the locking of the nut through a clever structural design. Adopting a modular design, it has the advantages of high automation, high production efficiency, strong production continuity, strong product consistency, and high quality.

[0103] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

[0104] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A locking mechanism, characterized in that, it includes: a mounting base; a drive shaft, on which a plurality of lock heads are arranged, and the plurality of lock heads at least include a first lock head (26) and a second lock head (22), and the first lock head (26) and the second lock head (22) are both coaxially arranged with the drive shaft; a drive mechanism, which is arranged on the mounting base and is used to drive the drive shaft to rotate; the first lock head (26) and the second lock head (22) are arranged at the same end of the drive shaft, and the first lock head (26) is arranged at the center of the second lock head (22); a bit lock block (21) is arranged on the drive shaft, the second lock head (22) is fixed to the bit lock block (21), and the bit lock block (21) is telescopically connected to the drive shaft through a second elastic member (40); the bit lock block (21) has a mounting hole for the drive shaft to pass through, and the mounting hole includes: a limiting hole section (211) and a mating hole section (212), the limiting hole section (211) is located on the side of the mating hole section (212) close to the mounting base, and a limiting hole step surface (215) is formed at the connection between the limiting hole section (211) and the mating hole section (212); the drive shaft includes: a mating shaft section (391) and a connecting shaft section (392), the mating shaft section (391) passes through the mating hole section (212), the connecting shaft section (392) passes through the limiting hole section (211), a limiting shaft step surface (395) is formed at the connection between the mating shaft section (391) and the connecting shaft section (392), and the limiting shaft step surface (395) is arranged opposite to the limiting hole step surface (215); at least one plunger hole (214) penetrating the thickness direction of the bit lock block (21) is formed on the mating hole section (212), a ball head plunger (27) is arranged in the plunger hole (214), and a fastening nut (42) is arranged at the outer end of at least one of the ball head plungers (27), and the fastening nut (42) is used to adjust the gap between the inner peripheral surface of the mating hole section (212) and the outer peripheral surface of the mating shaft section; the mounting base includes: a flange connecting member (1) and a frame body, one end of the flange connecting member (1) is fixed to the frame body, and the other end of the flange connecting member (1) has a manipulator connecting portion (101).

2. The locking mechanism according to claim 1, characterized in that, the first lock head (26) and / or the second lock head (22) is adapted to move in the axial direction of the drive shaft.

3. The locking mechanism according to claim 1, characterized in that, the first lock head (26) and / or the second lock head (22) is adapted to swing at a certain angle relative to the axial direction of the drive shaft.

4. The locking mechanism according to claim 1, characterized in that, the first lock head (26) and the second lock head (22) are coaxially nested.

5. The locking mechanism according to claim 4, characterized in that, it further includes: The first lock head seat (24), the first lock head seat (24) is fixed to the second lock head (22), and the first lock head (26) is telescopically connected to the first lock head seat (24) through a first elastic member (43).

6. The locking mechanism according to claim 5, wherein, it further includes: A fastening screw (25), the fastening screw (25) includes: a screw fixing section (251) and a screw bearing section (252), the screw fixing section (251) passes through the first lock head (26) and is fixed to the first lock head seat (24), the screw bearing section (252) passes through the first lock head (26), the first elastic member (43) is sleeved on the screw bearing section (252), and one end of the first elastic member (43) abuts against the first lock head seat (24), and the other end abuts against the first lock head (26).

7. The locking mechanism according to claim 6, wherein, One of the first lock head seat (24) and the first lock head (26) is provided with an installation groove, and the other is provided with an installation protrusion, and the installation protrusion is adapted to be inserted into the installation groove to lock the relative radial positions of the first lock head seat (24) and the first lock head (26).

8. The locking mechanism according to claim 1, wherein, A position sensor bracket (18) is provided on the mounting seat, a position sensor (23) is provided on the position sensor bracket (18), and the position sensor (23) is used to detect the axial position of the bit lock block (21).

9. The locking mechanism according to claim 1, wherein, The drive shaft includes: a first shaft (32) and a second shaft (39) arranged coaxially, a torque sensor (12) is arranged between the first shaft (32) and the second shaft (39), one end of the torque sensor (12) is connected to the first shaft (32) through a first coupling (10), the other end of the torque sensor (12) is connected to the second shaft (39) through a second coupling (16), and the bit lock block (21) is connected to the second shaft (39).

10. The locking mechanism according to claim 1, wherein, The frame body includes: side plates (4) and a camera side mounting plate (17) arranged oppositely, both the side plates (4) and the camera side mounting plate (17) are fixed to the flange connecting member (1), a light source plate (35) and a camera plate (37) are arranged on the side of the camera side mounting plate (17) facing away from the side plates (4), a light source (14) is installed on the light source plate (35), a camera (20) is installed on the camera plate (37), and the camera (20) is located on the side of the light source (14) facing the lock head.

Images