A rotary locking device

Abstract

The present invention relates to a rotary locking device that realizes the locking function in the connecting end of two connected rotatable bodies. By axially moving the movable locking shaft, the function of locking and unlocking the two connected rotatable bodies at a specified angular position is realized. By setting the non-circular cross-sectional shape of the movable locking shaft and the locking shaft hole, the function of locking and unlocking the two connected rotatable bodies at different locking angles is realized. By setting a certain angle between the rotation axes of each connecting end of the rotary locking device formed by connecting a plurality of rotatable bodies in series, the relative freedom direction between each connecting end is adjusted. The rotary locking device of the present invention can be applied to a variety of different fields, such as industry, transportation, engineering construction, medical treatment, aerospace, artificial intelligence, and daily necessities.

Description

Technical Field

[0001] The invention relates to the technical field of locking, and in particular to a rotary locking device. Background Art

[0002] In the prior art, common rotary locking devices generally connect two connected rotatable bodies through a circular shaft, and then use the principle of triangular fixation (such as a support rod) or a locking device such as a movable bolt to lock them, such as automatic doors, hidden beds, rotary support rods, etc. These locking accessories are exposed on the outside of the product, which not only greatly affects the overall aesthetics of the product, but also occupies external space and even hinders the normal use of the product, so it is difficult to be popularized in life; in addition, products involving rotary locking mechanisms are commonly found in the fields of industry, transportation, medical treatment, aerospace, artificial intelligence, etc. Products, such as automatic seat backs, robotic arms, mechanical claws, medical instruments or robots, industrial robots, and humanoid robot joints, etc., are basically connected by circular shaft rotation in the prior art, rotated by gear rack drive or worm gear drive, belt drive or chain drive, and then locked by other locking devices; due to its complex structure, high manufacturing cost, large size and other disadvantages, its scope of use is limited, especially for some products or accessories with special restrictions on shape and appearance, it is difficult to achieve, such as surgical robot hands, humanoid robot fingers, small robot insects, etc. Summary of the invention

[0003] The technical problem solved by the present invention is to overcome the shortcomings of the prior art and make up for the gaps in the prior art. The technical problem solved is: by axially displacing the movable locking shaft in the ends of the two connected rotatable bodies, the function of locking and positioning the two connected rotatable bodies at a set locking angle position is realized, which makes up for the defect that the traditional rotatable bodies are connected by a circular shaft and then locked and positioned by other complex locking devices arranged outside the connecting ends.

[0004] The present invention can be widely used in a variety of different fields, such as mechanical arms, mechanical claws, medical instruments or robots, industrial robots, and humanoid robot joints in the fields of industry, transportation, engineering construction, medical treatment, aerospace, artificial intelligence, etc., especially products involving a rotary locking mechanism that can rotate and lock in a narrow space or a narrow curved space, such as humanoid robot fingers, surgical robot hands, small robot insects, etc. In addition, in daily necessities, for some products with high requirements for appearance, the rotary locking device of the present invention can realize barrier-free rotation, extension, and locking, such as invisible tables, invisible beds, invisible doors, invisible rods, etc.

[0005] The "active locking shaft head" mentioned in the present invention refers to the axial end of the active locking shaft in the locking direction; the contact parts between the active locking shaft, the rotatable body and the internal accessories on the rotary locking device of the present invention are made of rigid metal or rigid non-metal materials to ensure the normal operation of the rotary locking device. The overall shape of the rotatable body on the rotary locking device of the present invention is not limited, such as block, strip, sheet, column, or according to the shape of the product or accessory.

[0006] The rotary locking device of the present invention comprises at least two rotatable bodies, a movable locking shaft, and a driving device, and is characterized in that: the driving device comprises a rotary driving device and an axial driving device; the two ends connected between the rotatable bodies are provided with locking shaft holes containing non-circular cross-section segments that are interconnected, and the locking shaft holes are provided with a movable locking shaft containing a non-circular cross-section segment that cooperates with the locking shaft holes; when the movable locking shaft moves axially to a locking position where it is simultaneously embedded and locked with the locking shaft hole walls in the two connected ends under the action of the axial driving device, the two connected ends are locked; when the movable locking shaft moves axially to an unlocking position where the rotary driving device enables at least one connecting end to rotate relative to it within a specified angle range under the action of the axial driving device, the two connected ends are unlocked. In some embodiments, the non-circular cross-section is a circle with a rough surface, that is, the non-circular cross-section segment is a cylindrical segment or a truncated cone segment with a rough surface. In some preferred embodiments, the non-circular cross-section is an axially symmetrical figure with three or more axes of symmetry, such as a regular polygon, concave polygon, tooth shape, or petal shape with three or more axes of symmetry.

[0007] Preferably, the two connected ends are respectively a coupling end and a movable end with a through slot; the locking shaft hole is vertically penetrated through the side of the through slot; the two connected ends are plugged and connected through the movable locking shaft; the coupling end and the movable locking shaft are connected as a whole in a manner that they cannot rotate relative to each other. In some embodiments, the rotatable bodies are connected in series, or each connecting end on the parallel rotatable body is connected to the rotatable body or multiple rotatable bodies connected in series. In some embodiments, by setting a certain angle between the rotation axes of two adjacent connecting ends, the relative freedom directions between multiple degrees of freedom of a rotation locking mechanism formed by connecting multiple rotatable bodies in series can be adjusted; in some such embodiments, the rotation axes of two adjacent connecting ends are perpendicular to each other to enable the two rotatable bodies connected at intervals to rotate along two orthogonal directions relative to the rotatable body in the middle; in some embodiments, when the two connected rotatable bodies cannot rotate relative to each other to a certain expected angle, or when it is necessary to achieve relative rotation of the two connected rotatable bodies to a relatively parallel position, a rotatable body with a matching shape and length can be connected between the two rotatable bodies connected at intervals to achieve this with the help of the two rotatable bodies connected at intervals.

[0008] Preferably, the movable locking shaft and the locking shaft hole are overall stepped, and each non-circular step segment has a fitting taper, and the non-circular cross-section of each step segment is an axially symmetrical figure with three or more axes of symmetry; in two adjacent step segments, the maximum non-circular cross-sectional area of ​​the step segment close to the locking direction of the movable locking shaft is less than or equal to the minimum non-circular cross-sectional area of ​​the other step segment.

[0009] Preferably, the axial drive device includes an elastic member, which is directly or indirectly arranged between the active locking shaft and the rotatable body, and keeps applying pressure to the active locking shaft in its locking direction. In some embodiments, the elastic member is a limit spring, and the end of the connecting shaft and the active locking shaft are simultaneously penetrated with mutually connected limit bolt holes, and the limit bolt is penetrated in the limit bolt hole and axially fits with the limit bolt hole of the end of the connecting shaft; in the locked state, the distance between the limit bolt located on the side facing the locking direction of the active locking shaft and the inner wall of the limit bolt hole in the active locking shaft opposite thereto is greater than or equal to the effective moving distance of the active locking shaft axially moving from the locking position to the unlocking position. A limit spring hole extending in the locking direction of the active locking shaft is penetrated on the inner wall of the limit bolt hole in the active locking shaft; the limit spring is arranged in the limit spring hole, one end of which presses against the bottom wall of the limit spring hole, and the other end directly or indirectly presses against the limit bolt.

[0010] Preferably, the driving device comprises a rotating driving body or a rotating driving shaft, and the rotating driving body or the rotating driving shaft is rotatably connected to one of the two connected ends. In some embodiments, the driving mode of the driving device is a motor drive, a pneumatic drive, a hydraulic drive, a worm gear drive, a gear rack drive, a belt drive, a rope drive, or a redundant drive mode including two or more of the above drive modes. In some embodiments, both ends of the movable locking shaft are penetrated by a rotating driving body through hole, the rotating driving body is arranged in the rotating driving body through hole and is axially fixed to the movable end portion, the limiting spring is arranged between the rotating driving body and the movable locking shaft, one end of which presses the movable locking shaft and the other end presses the rotating driving body, and the movable locking shaft is embedded and locked with the corresponding locking shaft hole wall under the action of the pressure of the limiting spring; in some embodiments, the limiting device is limited by two opposite forces acting on the axial ends of the movable locking shaft. For example, an air inlet and an exhaust hole are respectively provided at both ends of the movable locking shaft, and an air pipe is connected to the air inlet hole. The recoil force generated by the compressed air discharged from the exhaust hole pushes the movable locking shaft to move axially to the unlocking position or the locking position.

[0011] In some embodiments, two symmetrical driving bosses are respectively provided at radial positions of the rotating driving body or the rotating driving shaft located in the through hole of the driving body, the intersection line of the planes on both sides of each driving boss is collinear with the rotation axis, and the angle between the two sides is A degree; two symmetrical driven bosses that movably cooperate with the driving boss are provided at positions corresponding to the two ends of the rotating driving body or the rotating driving shaft in the movable end, the intersection line of the planes on both sides of the driven boss is collinear with the rotation axis, and the angle between the two sides is B degrees, when the driving boss rotates C degrees and abuts against the driven boss, the driving boss drives the driven boss to start rotating, that is, the movable end and the connecting shaft end start to rotate relative to each other; the cross-sectional section of the movable locking shaft is set to be an axisymmetric convex polygon with more than three axes of symmetry, and the number of sides is X (X≥4). In some such embodiments, the rotary drive device is a bidirectional rotary drive device, and a flange is radially provided on the rotary drive shaft in the through hole of the driving body. On the flange, a limit spring is provided between the side facing the locking direction of the movable locking shaft and the movable locking shaft, and two symmetrical spinning bosses are provided on the other side facing the unlocking direction of the movable locking shaft, and the intersection lines of the planes on both sides of the spinning bosses are colinear with the rotation axis of the movable end, and the two sides of the two spinning bosses are respectively made into curved spinning slopes; an inner flange is protruded on the inner circumferential wall of the through hole of the driving body toward the axial direction, and three equal flanges are provided on the inner flange on the side facing the spinning boss. The two sides of each of the three pressure grooves are made into pressure slopes that match the spinning slopes. When the rotating drive shaft rotates C degrees from the initial position, the spinning slope spins the pressure slope until the movable locking shaft moves to the unlocking position, the end face of the spinning boss and the end face of the pressure groove are pressed against each other, and the two sides of the driving boss are in conflict with the two sides of the driven boss. When the driving boss drives the driven boss to rotate continuously for D degrees, the two connected ends rotate to the locking angle position, and the two spinning bosses slide into the pressure grooves at the same time, that is, the movable locking shaft moves to the locking position under the pressure of the limit spring. When the driving boss rotates in the opposite direction (180-AB) degrees, the spun slope of the spun boss spun the pressure slope of the pressure groove until the movable locking shaft moves to the unlocking position, and the end face of the spun boss and the end face of the pressure groove press against each other, the movable locking shaft moves to the unlocking position, and the driving boss conflicts with the driven boss; when the driving boss drives the driven boss to continuously rotate in the opposite direction D degrees, the two connected ends rotate to the locking angle position, and the two spun bosses slide into the pressure grooves in the initial position at the same time.When D≥360÷X, a stop boss is radially provided on the side wall of the movable locking shaft, and a stop boss groove cooperating with the stop boss is opened on the corresponding locking shaft hole wall for the locking angle position that needs to be locked; when the movable locking shaft moves from the locking position to the unlocking position, the stop boss moves from one end of the stop boss groove to the other end that does not interfere with the rotation of the movable end, and during the rotation process, the stop boss presses against the axial side wall of the stepped section of the locking shaft hole of the movable end under the action of the pressure of the limit spring until the movable end rotates to the set locking angle position and slides into the stop boss groove, that is, the movable locking shaft moves to the locking position, so that the movable locking shaft and the movable end can smoothly bypass the angle position that does not need to be locked during the relative rotation.

[0012] In certain embodiments, according to the aforementioned implementation mode, the driving shaft is arranged on the outside of the connecting end coaxial with the two connected ends, the driving boss is arranged on the side of the end of the driving shaft, and the driven boss is arranged on the extended section of the locking shaft hole wall located in the locking direction of the movable locking shaft in the movable end; the spinning boss is arranged on the end face of the driving shaft, and the pressure groove is arranged on the end face of the movable locking shaft head or the end face of the accessory rotatably connected to the movable locking shaft.

[0013] In some such embodiments: the driving device simultaneously drives multiple parallel movable ends on the same rotation axis, and the ends of the movable locking shafts on the same rotation axis are connected by connecting rods; when one of the connecting rods moves from the locking position of the movable locking shaft to the unlocking position, each of the movable locking shafts is driven by the connecting rod to move from the locking position to the unlocking position at the same time.

[0014] In some embodiments, the axial driving device is a spinning device, and the spinning device includes a spinning body including a spinning shaft, a spinning body hole is penetrated in the end portion of the connecting shaft, and the spinning body hole includes a spinning shaft hole which is interconnected with the locking shaft hole. The spinning body is arranged in the spinning body hole, and the spinning shaft is penetrated in the spinning shaft hole and rotates against the spinning shaft hole on both sides of the axial direction of the movable locking shaft; a spinning boss is provided on the side surface of the end of the spinning shaft along the tangential direction, and the cross-section of the spinning boss and the end of the spinning shaft forms a shape with a rectangular middle and symmetrical semicircular arc surface on both sides; a spinning boss hole which is movably matched with the spinning boss is provided on the inner wall of the locking shaft hole, and the spinning boss is penetrated in the spinning boss hole, and during the rotation of the spinning shaft, the movable locking shaft spins the side wall of the spinning boss hole in its axial direction through the semicircular arc surface on the spinning boss to move it to a locking position or an unlocking position.

[0015] In some such embodiments, the spinning device is a pneumatic motor, a hydraulic motor or an electric motor fixedly arranged in the hole of the spinning body; in some such embodiments, the spinning shaft and the spinning body are integrated, and an air inlet hole and an exhaust hole are provided on the spinning body, and the air inlet hole is connected to an air pipe; compressed gas enters the air inlet hole of the spinning body, and is exhausted to the outside from the exhaust hole connected to the air inlet hole in the opposite direction of rotation, so that the recoil force generated by the exhausted compressed gas drives the spinning body and the air pipe to rotate together.

[0016] In some such embodiments, the rotary driving device is a pneumatic motor or an electric motor fixedly arranged in the through hole of the driving body; in some such embodiments, the rotary driving body and the rotary driving shaft are integrated, and an air inlet hole and an exhaust hole are provided on the rotary driving body, and the air inlet hole is connected to an air pipe; compressed gas enters the air inlet hole of the rotary driving body through the air pipe, and is exhausted to the outside in the opposite direction of rotation from the exhaust hole connected to the air inlet hole, so that the recoil force generated by the exhausted compressed gas drives the rotary driving body and the air pipe to rotate together.

[0017] In some embodiments, the two connected ends are penetrated with support shaft holes at the same time, and a support shaft is penetrated in the support shaft hole, and the support shaft is fixedly connected to one of the connecting ends and rotatably connected to the other connecting end; the two ends of the support shaft are penetrated with support shaft locking shaft holes, and the support shaft locking shaft holes include the locking shaft hole in the connecting shaft end with a non-circular cross-section segment and a partial segment of the locking shaft hole in the movable end with a non-circular cross-section segment. The two connected ends and the movable locking shaft are supported by the support shaft to avoid the stress generated between them interfering with the rotation of the movable end. In some preferred embodiments, the support shaft and the connecting shaft end are embedded and circumferentially fixed through the outer wall and inner wall of the non-circular cross-section segment between the two, and are axially fixedly connected by the stop bolt penetrated in the support shaft stop bolt hole and the stop bolt hole of the connecting shaft end; although the stop bolt can also play a role of circumferential fixing, in some embodiments, the contact part between the stop bolt and the support shaft hole wall is deformed or broken due to the stress generated during rotation.

[0018] In some embodiments, an angle sensor is mounted on the drive device to sense the locking angle position between the two connected ends.

[0019] In some embodiments, a tension sensor is provided between the two connected ends to detect the tensile stress of the two connected rotatable bodies when grasping objects or performing other actions during rotation, such as a rotation locking mechanism used in a manipulator or robot.

[0020] In some embodiments, a return torsion spring is provided in the two connected ends, and the return torsion spring is sleeved on the movable locking shaft or the support shaft. One end of the return torsion spring is clamped on the movable end, and the other end is clamped on the connecting shaft end or other accessories axially fixed to the connecting shaft end; the return torsion spring is satisfied with the driving force of the driving device to overcome its torque and rotate normally.

[0021] In some embodiments, a preload spring is provided between the two connected ends, and the non-mirror circular cross-section step sections of the embedded portion of the movable locking shaft and the movable end have a taper that fits in with each other; in the two connected ends, a gap that fits the preload activity is provided between the axial side surface of the movable end and the side surface of the connecting shaft end opposite thereto; the preload spring is arranged between the two side surfaces of one of the gaps that enables the movable end to move relative to the connecting shaft end in the unlocking direction of the movable locking shaft and to be locked with the movable locking shaft; the axial pressure applied by the limit spring on the movable locking shaft is greater than the reverse pressure applied by the preload spring on the movable locking shaft. In addition, as the number of uses increases, even if the locking shaft hole expands due to wear between the movable locking shaft and the corresponding locking shaft hole wall, these slightly tapered movable locking shafts and locking shaft hole walls, under the action of the limit spring and the preload spring pressure, make the movable locking shaft still remain in a locked state and tightly fit with the locking shaft hole wall after it is displaced in its locking direction; in some embodiments, the driving device is a one-way driving device, and the driving stops when the rotary driving mechanism rotates to the set locking angle position. At this time, under the action of the reset torsion spring, the movable end rotates to the initial position relative to the connecting shaft end. In some embodiments, a groove that cooperates with the preload spring is provided on the side of the preload spring gap, and one end of the preload spring presses against the bottom of the groove, and the other end presses against the side opposite to the groove or the groove on the side.

[0022] The beneficial effects of the present invention compared with the prior art are:

[0023] 1. The locking function of the rotary locking device of the present invention is realized in two connected connection ends, and has the characteristics of simplicity, beauty, safety and stability, long service life, easy replacement of accessories, etc., and has great economic value and use value, and can be widely used in some products with special requirements for appearance and structure. The locking function of the rotary locking device of the present invention is realized in two connected connection ends, and has the characteristics of simplicity, beauty, safety and stability, long service life, easy replacement of accessories, etc., and has great economic value and use value, and can be widely used in some products with special requirements for appearance and structure.

[0024] 2. The rotary locking device of the present invention realizes the function of locking and unlocking the two connected rotatable bodies at different locking angles by setting the non-circular cross-sectional shapes of the movable locking shaft and the locking shaft hole. By providing a stop boss radially on the side wall of the movable locking shaft, and providing a stop boss groove that cooperates with the stop boss for the locking angle position that needs to be locked on the corresponding locking shaft hole wall, the movable locking shaft and the movable end can smoothly bypass the angle position that does not need to be locked during the relative rotation.

[0025] 3. By setting a certain angle between the rotation axes of the connection ends of the rotary locking mechanism formed by connecting a plurality of rotatable bodies in series, the relative freedom direction between the connection ends can be adjusted.

[0026] 4. When two connected rotatable bodies cannot rotate relative to each other to a certain expected angle, or when it is necessary to realize the relative rotation of two connected rotatable bodies to a relatively parallel position, a rotatable body with a matching shape and length can be connected between the two rotatable bodies connected at an interval to achieve the rotation with the help of the two rotatable bodies connected at an interval.

[0027] 5. The rotary locking device of the present invention has the characteristics of compact structure, high locking strength, and few accessories. It can be widely used in products with special requirements for shape, size and performance, especially some products with high requirements for the working environment, such as surgical robot arms, humanoid robot fingers, small robot insects, etc.

[0028] 6. The rotary locking device of the present invention can be applied to a variety of different fields, such as robotic arms, mechanical claws, medical instruments or robots, industrial robots, and humanoid robots in the fields of industry, transportation, engineering construction, medical treatment, aerospace, artificial intelligence, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a three-dimensional structural schematic diagram of a rotary locking mechanism in the first embodiment of the present invention.

[0030] Figure 2 It is a schematic diagram of the exploded structure of the first embodiment without the air pipe.

[0031] Figure 3 It is a main cross-sectional view of the overall structure of a rotary locking mechanism of the first embodiment.

[0032] Figure 4 It is a radial cross-sectional view of the middle section rotatable body in the first embodiment.

[0033] Figure 5 It is a cross-sectional view of the first section of the rotatable body in the first embodiment.

[0034] Figure 6 Schematic diagram of the structure of the support shaft in the first embodiment.

[0035] Figure 7 It is a cross-sectional view of the spun body in the first embodiment.

[0036] Figure 8 Schematic diagram of the structure of the rotary driving body in the first embodiment.

[0037] Fig. 9 It is a three-dimensional structural schematic diagram of a rotary locking mechanism of the second embodiment.

[0038] Fig.10 is an exploded view of the second embodiment.

[0039] Fig.11 FIG. 1 is a schematic diagram of the exploded structure of one of the connecting ends in the second embodiment.

[0040] Fig.12 is a cross-sectional view of one of the connection ends in the second embodiment.

[0041] Fig.13 It is a schematic diagram of the structure between the movable locking shaft with a pressure boss and the drive motor in the second embodiment. DETAILED DESCRIPTION

[0042] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described below are only used to explain the present invention and do not constitute a limitation of the present invention.

[0043] Example 1: Reference Figure 1-8 A rotary locking mechanism includes three rotatable bodies (a first section rotatable body 2a, a middle section rotatable body 2b and a last section rotatable body 2c), three movable locking shafts 1, three supporting shafts 23, a rotary driving body 3, a spinning body 5, an air pipe 8, an air pipe joint 9, an air pipe locking ring 10, a reset torsion spring 24, a limit spring 7, a positioning bolt 6, and a limit bolt 4.

[0044] The coupling end 2-p and the movable end 2-y are provided with a coupling end support shaft hole 2.2.2, a movable end support shaft hole 2.2 and a movable end locking shaft hole 2.1 which are vertically connected to each other and pass through both sides of the through slot 2.6; the support shaft 23 is passed through the coupling end support shaft hole 2.2.2 and the movable end support shaft hole 2.2, and is circumferentially fixed to the coupling end and rotatably connected to the movable end; wherein the inner wall of the movable end support shaft hole 2.2 passed through both sides of the through slot 2.6 and the corresponding outer wall 23.4 of the support shaft 23 section are cylindrical walls; a support shaft including an inner locking shaft hole of the coupling end and an inner locking shaft hole of a part of the movable end is axially passed through both ends of the support shaft 23 Locking shaft hole 23.1; the inner wall of the partial support shaft hole 2.2.2 located in the end of the coupling is tightly locked with the corresponding partial support shaft 23, and its cross section is a multi-axis symmetrical figure, so that the support shaft 23 is circumferentially fixed to the end of the coupling; the coupling end and the support shaft 23 are radially penetrated with interconnected coupling end limit bolt holes 2.3 and support shaft limit bolt holes 23.3, and the support shaft 23 is axially fixed to the coupling end by the limit bolt 4; although the support shaft 23 and the coupling end can also be circumferentially fixed by the limit bolt 4, in some embodiments, the limit bolt 4 has to withstand frequent rotation activities and the pressure of supporting heavy objects, which may easily cause it to loosen or break, so its durability cannot be guaranteed.

[0045] Rotation drive device holes 1.7 are penetrated at both ends of the movable locking shaft, and the rotation drive body 3 is movably arranged in the rotation drive device holes 1.7. A toothed plug-in column 3.2 is provided on the axial end face of the driving body 3 located in the locking direction of the movable locking shaft 1; a hook groove 3.8 is provided on the end face of the plug-in column 3.2, and two hooks 3.7 higher than the hook groove 3.8 are provided at the bottom of the hook groove 3.8; a cylindrical boss 2.8 is axially provided at the bottom of the locking shaft hole located in the locking direction of the movable locking shaft 1, and its cylindrical surface is axially slidably fitted with the inner wall of the rotation drive device hole 1.7; a plug-in column hole 2.9 that is plug-matched with the plug-in column 3.2 is provided in the center of the cylindrical boss 2.8, and a hook boss hole 2-6 that is matched with the two hooks 3.7 is provided at the bottom of the plug-in column hole 2.9, and the two hooks 3.7 are hung in the hook boss holes 2-6; a positioning flange 3.4 that is locked and matched with the non-circular cross-section section in the locking shaft hole 2.1 of the movable end, that is, circumferentially fixed to the movable end, is provided on the end face of the rotating driving body 3 located at the end facing / backward to the plug-in column 3.2.

[0046] A spinning device hole 2-5 is provided in the middle section rotatable body 2b and the first section rotatable body 2a, respectively, which is matched with the spinning body 5 and communicated with the supporting shaft hole 2.2.2 at the end of the connecting shaft; a positioning ring groove 5.2 is provided circumferentially on the spinning body, and a positioning bolt hole 2.7 communicating with the positioning ring groove is provided at a position corresponding to the positioning ring groove 5.2 on the rotatable body, and the spinning body 5 is rotatably arranged in the spinning device hole 2-5 through the positioning bolt 6; a spinning shaft 3 at the axial end of the spinning body 5 .1 side wall is radially provided with a semicircular arc surface of the same diameter as the spinning shaft 3.1; a spinning boss hole 1.8 connected with the spinning device hole 2-5 and rotatably matched with the spinning boss 5.1 is penetrated in the side wall of the movable locking shaft 1; an avoidance hole 23.2 connected with the spinning boss hole 1.8 and not interfering with the rotation of the spinning boss is penetrated in the side wall of the support shaft 23, and the spinning boss 5.1 is penetrated in the spinning boss hole; a limit spring flange 3.3 is provided on the rotary driving body 3, and a limit spring 7 is provided between the limit spring flange 3.3 and the non-circular segment step in the rotary driving device hole 1.7, and the limit spring 7 must be satisfied with enabling the spinning force of the spinning boss 5.1 to overcome its pressure and spin on the inner wall of the spinning boss hole located on the side of its unlocking direction until the movable locking shaft 1 moves to the unlocking position.

[0047] The two axial ends of the spinning body 5 are penetrated by the spinning body air pipe holes 5.4, and the end of the spinning body facing the spinning boss is provided with a spinning body air inlet hole 5.5 parallel to the spinning body rotation tangent and a spinning body exhaust hole 5.6 parallel to and connected to the spinning body air inlet hole 5.5; the two sides of the first section rotatable body 2a are penetrated by the rotatable body air pipe holes 2a-2. Four air pipes are inserted into the middle section rotatable body 2b through the rotatable body air pipe holes 2a-2, of which two air pipes 8 are plugged into the spinning body air inlet holes 5.5 through the air pipe joints 9, and the other two air pipes are inserted into the rotation drive device hole of the shaft end of the middle section rotatable body 2b through the spinning body air pipe holes 5.4, and connected to the drive body air inlet hole 3.5 through the air pipe joints 9.

[0048] A locking ring groove 5.7 is circumferentially provided at the air inlet hole 5.5 of the spun body, and the air pipe 8 section located at the air inlet hole 5.5 of the spun body is locked with the spun body 5 through an air pipe locking ring 10.

[0049] Compressed air enters the air inlet 5.5 of the spinning body, and is exhausted to the outside in the opposite direction of rotation from the exhaust hole 5.6 of the spinning body connected to the air inlet, so that the recoil force generated by the discharged compressed gas drives the spinning body 5 and the air pipe 8 to rotate together. The movable locking shaft 1 spins the axial inner wall of the spinning boss hole 1.8 through the spinning boss 5.1 to move it to the locking position or the unlocking position. Similarly, compressed gas enters the air inlet 3.5 of the driving body, and is exhausted to the outside in the opposite direction from the exhaust hole 3.6 of the driving body connected to the air inlet 3.5, so that the recoil force generated by the discharged compressed gas drives the rotating driving body 3 and the air pipe 8 to rotate together. An angle sensor for sensing the angle between the two connected rotatable bodies is provided on the rotating driving body 3.

[0050] A reset torsion spring hole 2.0 is set on the inner wall of the partial support shaft hole 2.2.2 located on the locking direction side of the movable locking shaft in the end of the coupling. A reset torsion spring 24 is arranged in the reset torsion spring hole 2.0, one end of which is clamped in the torsion spring limiting groove 2.4 of the movable end, and the other end is clamped in the torsion spring limiting groove 2.5 at the end of the coupling; the reset torsion spring 24 is satisfied with the driving force of the driving device to overcome its torque and rotate normally.

[0051] Embodiment 2, as Figure 9-13 As shown, a rotary locking mechanism comprises a parallel rotatable body 2h with three connecting shaft ends 2h-p, three rotatable bodies 2g with only one movable end 2g-y, a movable locking shaft 1, a limit spring 7, a support shaft 23, a return torsion spring 24, a limit bolt 4, a connecting rod 22 and a driving motor 3a; the rotatable bodies 2g with only movable ends 2g-y are respectively connected to the three connecting shaft ends 2h-p of the parallel rotatable body 2h, the locking direction of the movable locking shaft 1 in each connecting end is the same, and the three rotation axes are on the same straight line, wherein the movable locking shaft 1 and the non-circular cross-section segment of the corresponding locking shaft hole wall are in the shape of a regular octagonal pyramid as a whole; the connecting rod 22 is screwed to the tail of the movable locking shaft 1 between adjacent movable locking shafts 1 and abuts against the head of the movable locking shaft 1.

[0052] On both sides of the coupling end 2h-p and the movable end 2g-y, there are a coupling end support shaft hole 2h.2, a movable end support shaft hole 2g.2 and a movable end locking shaft hole 2g.1 which are vertically connected to each other and pass through both sides of the through groove 2g.6; the support shaft 23 is penetrated by the coupling end support shaft hole 2h.2 and the movable end support shaft hole 2g.2, and is circumferentially fixed to the coupling end 2h-p and rotatably connected to the movable end 2g-y; wherein, the inner wall of the movable end support shaft hole 2g.2 penetrated by the through groove 2g.6 and the outer wall of the corresponding support shaft 23 section are cylindrical walls; and the support shaft locking shaft holes 23.1 including the inner locking shaft hole of the coupling end and the inner locking shaft hole of part of the movable end are axially penetrated at both ends of the support shaft 23.

[0053] The coupling end, the radial sides of the movable locking shaft 1 and the radial sides of the support shaft 23 are simultaneously provided with a coupling end limit bolt hole 2h.3, a support shaft limit bolt hole 23.3 and a movable locking shaft limit bolt hole 1.2 which pass vertically through the bottom wall mounting through hole 2g.3 of the through groove 2g.6; the limit bolt 4 penetrates from the mounting through hole 2g.3 until it contacts the bottom wall 2h.6 of the coupling end limit bolt hole 2h.3; the coupling end is fixedly connected to the support shaft 23 by the limit bolt 4; the movable locking shaft limit bolt hole 1.2 is widened in the locking direction of the movable locking shaft until the distance between the inner wall of the limit bolt hole 1.2 of the movable locking shaft 1 in the locked state and the opposite side wall of the limit pin 4 is greater than The said effective movable distance, and a limit spring hole 1.4 extending in the locking direction of the movable locking shaft 1 is provided on the side wall of the limit bolt hole 1.2 of the movable locking shaft; the limit spring 7 is arranged in the limit spring hole 1.4, one end of which presses against the bottom wall of the limit spring hole 1.4, and the other end presses against the limit bolt 4; the movable locking shaft 1 is axially movable and limited in the locking shaft hole by the limit spring 7 and the limit bolt 4; an inclined groove 4.5 is provided on the side wall of the limit bolt 4, which is against the limit spring 7, so that the limit bolt 4 is kept against the bottom wall 2h.6 of the limit bolt hole 2h.3 at the end of the connecting shaft by the oblique pressure of the limit spring 7, thereby preventing the limit bolt 4 from entering the mounting through hole 2g.3 and interfering with the movable end.

[0054] A second hole serving as a reset torsion spring hole 2h.0 is provided on the inner wall of the supporting shaft hole 2h.2 at the end of the coupling shaft near one end of the movable locking shaft head, and a movable end torsion spring limiting groove 2g.4 for inserting one end of the reset torsion spring 24 is axially provided on the side wall of the through groove 2g.6, and a coupling end torsion spring limiting hole 2h.5 for inserting the other end of the reset torsion spring 24 is radially provided on the inner wall of the reset torsion spring hole 2h.0; during the installation of the reset torsion spring 24, one end of the reset torsion spring 24 is first inserted into the torsion spring limiting hole 2h.5 at the end of the coupling shaft, and then the reset torsion spring 24 is installed into the reset torsion spring hole 2h.0, and the other end enters the movable end supporting shaft hole 2g.2 through deformation when the movable end is plugged into the coupling end, and is then clamped in the movable end torsion spring limiting groove 2g.4.

[0055] A bidirectional rotating drive motor 3a coaxial with the three connecting ends is provided on the parallel rotatable body at one end in the locking direction of the movable locking shaft, and a hollow column is axially provided on the end face of the driving shaft 3a.1 of the driving motor 3a, which is gap-matched with the locking shaft hole wall corresponding to the head of the movable locking shaft 1, and two symmetrical spun bosses 3a.2 are provided at both ends of the diameter of the end face of the hollow column, and two symmetrical driving bosses 3a.3 are provided on both sides of the diameter of the hollow column, and the intersection lines of the planes on the circumferential sides of the two driving bosses 3a.3 are colinear with the rotation axis, and the angle between the two sides is 45 degrees.

[0056] In the movable end portion near the driving motor 3a, two symmetrical driven bosses 2g-1 are provided at both ends of the diameter on the extended section of the locking shaft hole wall located in the locking direction of the movable locking shaft 1, and cooperate with the driving boss 3a.3; the intersection of the planes on both sides of the circumference of the two driven bosses 2g-1 is collinear with the rotation axis, and the angle between them is 45 degrees; two symmetrical pressure grooves 1.9 are provided at both ends of the diameter of the end face of the movable locking shaft head, and cooperate with the said spun boss 3a.2. When the driving shaft 3a.1 starts to rotate 90 degrees from the initial position, the spun slopes on both sides of the spun boss 3a.2 and the pressure slopes on both sides of the spun pressure groove 1.9 press against each other to the end faces of the spun bosses and the end faces of the pressure grooves, the movable locking shaft moves to the unlocking position, and the two sides of the driving boss 3a.3 collide with the two sides of the driven boss 2g-1; when the driving boss 3a.3 drives the driven boss 2g-1 to rotate continuously by 90 degrees, the stop boss 1.5 moves to the relative position of the stop boss groove, and the two spun bosses 3a.2 slide into the pressure groove 1.9 at the same time, that is, the two connected ends rotate to the locking angle position, and the movable locking shaft moves to the locking position under the pressure of the limit spring. When the driving boss 3a.3 rotates 90 degrees in the opposite direction, the other side of the spun boss 3a.2 and the other side of the spun pressure groove are pressed until the end face of the spun boss 3a.2 abuts against the end face of the pressure groove 1.9. At this time, the movable locking shaft 1 moves to the unlocking position, and the driving boss 3a.3 abuts against the driven boss 2g-1; when the driving boss drives the driven boss 2g-1 to continuously rotate 90 degrees in the opposite direction, the two connected ends rotate to the initial position.

[0057] When the power is off, when the connecting rod 22 close to the locking direction of the movable locking shaft 1 is manually pushed, each movable locking shaft 1 is moved from the locking position to the unlocking position at the same time under the drive of the connecting rod 22. After the external force is removed, the connecting rod 22 is driven by the limit spring 7 and is reset to the locking position together with the movable locking shaft 1 at the same time.

[0058] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. The present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-limiting; the scope of the present invention is limited by the appended claims, rather than by the above description, and therefore, it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention.

Claims

1. A rotary locking device, comprising at least two rotatable bodies, a movable locking shaft, and a driving device, characterized in that: The driving device includes a rotation driving device and an axial driving device; the two ends connected between the rotatable bodies, that is, the two connected connecting ends, are provided with locking shaft holes containing non-circular cross-section segments that are interconnected, and the locking shaft holes are provided with a movable locking shaft containing a non-circular cross-section segment that cooperates with the locking shaft holes; when the movable locking shaft moves axially to a locking position where it is simultaneously embedded and locked with the locking shaft hole walls in the two connected ends under the action of the axial driving device, the two connected ends are locked; when the movable locking shaft moves axially to an unlocking position under the action of the axial driving device, that is, when the unlocking position where at least one connecting end can rotate relative to the movable locking shaft within a specified angle range through the action of the rotation driving device, the two connected ends are unlocked.

2. A rotary locking device according to claim 1, characterized in that: The two connected ends are respectively a coupling end and a movable end with a through slot; the locking shaft hole is vertically penetrated through the side of the through slot; the two connected ends are plug-connected through the movable locking shaft; the coupling end is connected to the movable locking shaft in a manner that they cannot rotate relative to each other.

3. A rotary locking device according to claim 1 or 2, characterized in that: The movable locking shaft and the locking shaft hole are overall stepped, and the non-circular cross-section of each step segment is an axially symmetrical figure with more than three axes of symmetry; in two adjacent step segments, the maximum non-circular cross-sectional area of ​​the step segment close to the locking direction of the movable locking shaft is less than or equal to the minimum non-circular cross-sectional area of ​​the other step segment.

4. A rotary locking device according to claim 1, characterized in that: The axial drive device comprises an elastic member, which is directly or indirectly arranged between the movable locking shaft and the rotatable body and keeps applying pressure to the movable locking shaft in its locking direction.

5. A rotary locking device according to claim 1, characterized in that: The rotary drive device comprises a rotary drive body, and the rotary drive body is rotatably connected to one of the two connected ends.

6. A rotary locking device according to claim 1 or 2, characterized in that: It also includes a support shaft, the two connected ends are simultaneously penetrated by support shaft holes, the support shaft is penetrated in the support shaft hole, the support shaft is fixedly connected to one of the connecting ends, and is rotatably connected to the other connecting end; support shaft locking shaft holes are penetrated at both ends of the support shaft, and the support shaft locking shaft holes include a locking shaft hole in the connecting shaft end containing a non-circular cross-section segment and a partial section of the locking shaft hole in the movable end containing a non-circular cross-section segment.

7. A rotary locking device according to claim 1 or 2, characterized in that: A sensor is also included, and the sensor is used to sense the relationship between the two connected ends.

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