Switchable bidirectional roller self-locking device

Abstract

The application discloses a switchable bidirectional roller self-locking device and relates to the technical field of robot application; the application comprises a base, a rotating sleeve is rotationally connected to the base, a first guide groove is formed in the side wall of the rotating sleeve, a translation sleeve is connected in the first guide groove, and the translation sleeve is sleeved in the rotating sleeve; cylindrical lock cores are symmetrically installed at the two ends of the translation sleeve; and self-locking sleeves are symmetrically installed at the two sides of the base. The application can realize the switching of three locking steady states of a lasso through the cooperation between a steering engine, the rotating sleeve, the translation sleeve and the cylindrical lock cores, has fast response speed, simple control, only needs to control the rotating angle of the steering engine in an instant, has a large contact surface between the clamping column and the rope, effectively improves clamping stability, prolongs the service life of the lasso, and has a very wide prospect in the application of a lasso transmission robot.

Description

Technical Field

[0001] This invention relates to the field of robot application technology, specifically to a switchable bidirectional roller self-locking device. Background Technology

[0002] "Lasso" is a type of rope drive that uses a slender sleeve to construct a flexible and smooth motion transmission path. Due to its flexible structure, lightweight design, and arbitrary transmission path, it is widely used in various robotic systems. Lassos are generally driven by motors. Although single-rope and double-rope drives exist, a single motor can only drive a single joint degree of freedom through a fixedly connected lasso. To meet the motion requirements of multiple joints in a robot, multiple lasso drive devices are needed, which in turn requires multiple motors, increasing system weight, energy consumption, and economic costs, while diminishing the advantages of the lasso's flexible and lightweight nature. Therefore, it is necessary to develop lasso drive devices with lower drive costs and adaptability to more complex and flexible joint motion scenarios, leveraging the lasso's flexible and smooth drive advantages to meet the lightweight, energy-efficient, and biomimetic drive requirements of new robots.

[0003] Traditional lasso clamping devices can generally only achieve clamping and locking in a single direction, and a single drive transducer can only control a single degree of freedom, failing to provide multiple transmission modes, resulting in low robot flexibility. To address this, we propose a switchable bidirectional roller self-locking device. Summary of the Invention

[0004] The purpose of this invention is to provide a switchable bidirectional roller self-locking device that can switch between three locking steady states of the lasso, using a single mechanism to control the three movement modes of the rope, enabling the lasso transmission to cope with more complex working conditions.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a switchable bidirectional roller self-locking device, including a base, a rotating sleeve rotatably connected to the base, a first guide groove being provided on the side wall of the rotating sleeve, a translation sleeve being engaged in the first guide groove, and the translation sleeve being sleeved inside the rotating sleeve.

[0006] The translation sleeve has cylindrical lock cylinders symmetrically installed at both ends, and self-locking sleeves are symmetrically installed on both sides of the base, with the central axes of the self-locking sleeves and the cylindrical lock cylinders coinciding with each other.

[0007] Furthermore, a drive mechanism is installed at one end of the rotating sleeve. The drive mechanism includes a driven wheel installed at one end of the rotating sleeve, a driving wheel rotatably connected to the outer surface of the driven wheel, and a servo motor installed on the driving wheel.

[0008] The driving wheel and the driven wheel mesh with each other.

[0009] Furthermore, the top of the base is fixedly connected to an arc-shaped groove that is adapted to the rotating sleeve, a guide block is fixedly connected to the inner wall of the arc-shaped groove, and an opening is provided on the side wall of the rotating sleeve away from the driven wheel.

[0010] Furthermore, there are two first guide grooves, and the arrangement direction of the two first guide grooves is at a certain angle to the axis of the rotating sleeve.

[0011] Furthermore, a fixing groove is provided on the inner wall of both ends of the translation sleeve, and a sleeve cover is snapped into the fixing groove. A first through hole is provided at the center of the sleeve cover.

[0012] The side wall of the translation sleeve is threaded with a limiting pin that matches the first guide groove.

[0013] Furthermore, the cylindrical lock cylinder has a second through hole inside, and several slots are provided on the side wall of the cylindrical lock cylinder, with a locking pin engaged inside the slot;

[0014] The locking pin is cylindrical in shape, and the locking pin and the locking slot are mutually compatible.

[0015] Furthermore, a number of guide pins are fixedly connected to the outer surface of the cylindrical lock cylinder, and a translation slide is fixedly connected to one end of the cylindrical lock cylinder.

[0016] Furthermore, a pre-tightening spring is fixedly connected between the two cylindrical lock cylinders, and the pre-tightening spring is sleeved inside the translation sleeve.

[0017] Furthermore, a second guide groove adapted to the guide pin is provided on the side wall of the self-locking sleeve, and a self-locking inner cavity is provided inside the self-locking sleeve;

[0018] The second guide groove includes a translation section and a rotation section;

[0019] The self-locking cavity includes an unlocking section and a self-locking section.

[0020] Furthermore, a boss is fixedly connected to the bottom of the self-locking sleeve, and the boss is mounted on the base by screws.

[0021] The present invention has at least the following beneficial effects:

[0022] 1. This invention can achieve switching between three locking steady states of the lasso, and uses one mechanism to control the three movement modes of the rope, enabling the lasso transmission to cope with more complex working conditions.

[0023] 2. This invention is controlled by a servo motor, which has a fast response speed, is simple to control, and only requires a momentary power supply to control the servo motor to rotate the angle to complete a switching operation, resulting in low energy consumption.

[0024] 3. The present invention has a compact overall structure, occupies little space, and has a large contact surface between the clamping post and the rope, which effectively improves the clamping stability and extends the service life of the sling.

[0025] 4. This invention can clamp ropes of different diameters, avoiding the hassle of changing lock heads, and has wide applicability.

[0026] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0027] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the present invention;

[0028] Figure 2 This is an exploded view of the overall structure of the present invention;

[0029] Figure 3 This is a front view schematic diagram of the rotating sleeve structure of the present invention;

[0030] Figure 4 This is a front sectional view of the rotating sleeve structure of the present invention;

[0031] Figure 5 This is a three-dimensional schematic diagram of the cylindrical lock cylinder structure of the present invention;

[0032] Figure 6 This is an exploded view of the cylindrical lock core structure of the present invention;

[0033] Figure 7 This is a three-dimensional schematic diagram of the self-locking sleeve structure of the present invention;

[0034] Figure 8 This is a cross-sectional schematic diagram of the self-locking sleeve structure of the present invention;

[0035] Figure 9 This is a schematic diagram of the left-end locking state of the present invention;

[0036] Figure 10 This is a schematic diagram of the free state of the present invention;

[0037] Figure 11 This is a schematic diagram of the right-end locking state of the present invention.

[0038] Figure label:

[0039] 1. Base; 2. Rotating sleeve; 3. First guide groove; 4. Translation sleeve; 41. Fixed groove; 42. Sleeve cover; 43. First through hole; 44. Limit pin; 5. Cylindrical lock core; 51. Slot; 52. Locking pin; 53. Guide pin; 54. Translation slide; 55. Preload spring; 6. Self-locking sleeve; 61. Second guide groove; 611. Translation section; 612. Rotation section; 62. Self-locking inner cavity; 621. Unlocking section; 622. Self-locking section; 63. Boss; 7. Drive mechanism; 71. Driven wheel; 72. Drive wheel; 73. Servo; 8. Arc groove; 9. Guide block; 10. Opening. Detailed Implementation

[0040] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0041] Please see Figure 1-11 The present invention provides a technical solution: a switchable bidirectional roller self-locking device, including a base 1, a rotating sleeve 2 rotatably connected to the base 1, a first guide groove 3 opened on the side wall of the rotating sleeve 2, a translation sleeve 4 being engaged in the first guide groove 3, and the translation sleeve 4 being sleeved inside the rotating sleeve 2.

[0042] The two ends of the translation sleeve 4 are symmetrically equipped with cylindrical lock cylinders 5, and the two sides of the base 1 are symmetrically equipped with self-locking sleeves 6, and the central axis of the self-locking sleeves 6 and the cylindrical lock cylinders 5 coincide with each other.

[0043] A drive mechanism 7 is installed at one end of the rotating sleeve 2.

[0044] It should be noted that, as Figure 1-2 As shown, the drive mechanism 7 includes a driven wheel 71 mounted on one end of the rotating sleeve 2. A drive wheel 72 is rotatably connected to the outer surface of the driven wheel 71. The drive wheel 72 and the driven wheel 71 mesh with each other. A servo motor 73 is mounted on the drive wheel 72. Activating the servo motor 73 causes the drive wheel 72 to rotate in the forward or reverse direction, which in turn causes the driven wheel 71 to rotate, thereby causing the rotating sleeve 2 to rotate in the forward or reverse direction.

[0045] The servo motor 73 is a position (angle) servo actuator with self-locking performance, suitable for control systems that require continuous angle changes and maintenance. The servo motor 73 mainly consists of a housing, circuit board, drive motor, reducer, and position detection element. Its working principle is as follows: a receiver sends a signal to the servo motor 73, which is then driven by an IC on the circuit board to rotate the coreless motor. Power is transmitted to the swing arm through a reduction gear, while a position detector sends back a signal to determine if the desired position has been reached. The position detector is essentially a variable resistor; its resistance changes as the servo motor 73 rotates, and the rotation angle is determined by detecting the resistance value. A typical servo motor winds thin copper wire around a three-pole rotor. When current flows through the coil, a magnetic field is generated, repelling the magnets surrounding the rotor and thus generating a rotational force. In this invention, the servo motor 73 is powered by an external power source, and the rotation angle of the rotating sleeve 2 can be controlled by controlling the angle at which the servo motor 73 drives the drive wheel 72.

[0046] like Figure 2 As shown, the top of the base 1 is fixedly connected to an arc-shaped groove 8 that is compatible with the rotating sleeve 2, so that the rotating sleeve 2 can rotate. A guide block 9 is fixedly connected to the inner wall of the arc-shaped groove 8, and an opening 10 is provided on the side wall of the rotating sleeve 2 away from the driven wheel 71. The opening 10 is used to avoid the guide block 9 from interfering with the rotating sleeve 2 when it rotates.

[0047] like Figure 2 As shown, there are two first guide grooves 3. The arrangement direction of the two first guide grooves 3 is at a certain angle to the axis of the rotating sleeve 2. The side wall of the translation sleeve 4 is threaded with a limiting pin 44 that matches the first guide groove 3. When the rotating sleeve 2 rotates in the forward or reverse direction, the limiting pin 44 rotates in the first guide groove 3, which can drive the translation sleeve 4 to move left and right. Furthermore, by controlling the rotation angle of the rotating sleeve 2, the distance that the translation sleeve 4 moves can also be controlled.

[0048] Furthermore, such as Figure 2-4 As shown, a fixing groove 41 is provided on the inner wall of both ends of the translation sleeve 4. A sleeve cover 42 is snapped into the fixing groove 41. A first through hole 43 is provided at the center of the sleeve cover 42. The two sleeve covers 42 are provided to facilitate the limiting and guiding of the two cylindrical lock cylinders 5 respectively.

[0049] Furthermore, such as Figure 2-4 As shown, the bottom of the translation sleeve 4 and the sleeve cover 42 is provided with a third guide groove that matches the guide block 9, so as to guide the translation sleeve 4 when it moves.

[0050] like Figure 2As shown, a pre-tensioning spring 55 is fixedly connected between the two cylindrical lock cylinders 5, and the pre-tensioning spring 55 is sleeved inside the translation sleeve 4 to provide pre-tensioning force to the cylindrical lock cylinders 5. A second through hole is opened inside the cylindrical lock cylinder 5 to facilitate the insertion of the lasso, and several slots 51 are opened on the side wall of the cylindrical lock cylinder 5. The slots 51 are engaged with locking posts 52. Specifically, there are three locking posts 52 in this invention. In some embodiments, the shape of the locking posts 52 can be cylindrical, wedge-shaped, or spherical. In this invention, the locking posts 52 are cylindrical, and the locking posts 52 and the slots 51 are mutually adapted. The axial movement of the locking posts 52 is restricted by the slots 51, and the radial movement of the locking posts 52 is restricted by the slots 51 and the second guide groove 61. Therefore, after installation, the locking posts 52 can move radially and axially within a limited space, thereby realizing the clamping and loosening of the rope.

[0051] Furthermore, such as Figure 5-6 As shown, a number of guide pins 53 are fixedly connected to the outer surface of the cylindrical lock cylinder 5. In accordance with the technical solution of the present invention, the guide pins 53 are specifically set to three. One end of the cylindrical lock cylinder 5 is fixedly connected to a translation slide 54. The translation slide 54 facilitates the guidance of the cylindrical lock cylinder 5 during movement. The diameter of the translation slide 54 is larger than that of the first through hole 43. Therefore, the cylindrical lock cylinder 5 will abut against the sleeve cover 42 under the action of the pre-tightening spring 55 in the free state.

[0052] like Figure 7 As shown, a boss 63 is fixedly connected to the bottom of the self-locking sleeve 6, and the boss 63 is mounted on the base 1 by screws. A second guide groove 61 adapted to the guide pin 53 is opened on the side wall of the self-locking sleeve 6. The second guide groove 61 includes a translation section 611 and a rotation section 612. A self-locking inner cavity 62 is opened inside the self-locking sleeve 6 through the translation section 611, such as... Figure 8 As shown, the self-locking inner cavity 62 includes an unlocking section 621 and a self-locking section 622. When the translation sleeve 4 moves, it will drive the internal cylindrical lock cylinder 5 to move accordingly. When the guide pin 53 on the side wall of the cylindrical lock cylinder 5 is engaged in the translation section 611 of the second guide groove 61, the cylindrical lock cylinder 5 will drive the locking pin 52 to extend into the unlocking section 621 of the self-locking inner cavity 62. Then, when it continues to move to the rotation section 612, the cylindrical lock cylinder 5 will rotate under the interaction, and the locking pin 52 will also rotate to the self-locking section 622. At this time, due to the compression of the locking pin 52 by the self-locking section 622, the three locking pins 52 will move along the locking groove 51 towards the second through hole, thereby reducing the gap between each locking pin 52, which can compress and lock the lasso. If unlocking is required, the operation can be reversed.

[0053] The operating principle and process of this invention are as follows: When it is necessary to lock the left end of the lasso, firstly, the servo motor 73 is activated to drive the drive wheel 72 to rotate clockwise. When the drive wheel 72 rotates, it drives the driven wheel 71 to rotate, thereby driving the rotating sleeve 2 to rotate clockwise. When the rotating sleeve 2 rotates, it drives the limiting pin 44 to move within the first guide groove 3, thereby driving the translation sleeve 4 to move to the left. When the translation sleeve 4 moves, it drives the internal cylindrical lock core 5 to move to the left. When the guide pin 53 of the cylindrical lock core 5 is engaged in the translation section 611 of the second guide groove 61, the cylindrical lock core 5 will drive the locking pin 52 to extend into the unlocking section 621 of the self-locking inner cavity 62. Then, when it continues to move to the rotation section 612, the cylindrical lock core 5 will rotate under the interaction, and the locking pin 52 will also rotate to the self-locking section 622. Figure 9 As shown, at this time, due to the compression of the locking pins 52 by the self-locking section 622, the three locking pins 52 will move along the slot 51 towards the second through hole, thereby reducing the gap between the locking pins 52, which can compress and lock the left end of the lasso. At this time, the lasso can only move unidirectionally to the right. When it is necessary to make both the left and right cylindrical lock cylinders 5 free, the servo motor 73 is activated again to rotate it counterclockwise a certain distance. At this time, the driving wheel 72 and the driven wheel 71 can drive the rotating sleeve 2 to rotate in the opposite direction, thereby causing the translation sleeve 4 to move the cylindrical lock cylinder 5 to the initial state, as shown. Figure 10 As shown, at this time, both locking pins 52 are in the unlocking section 621 position, and the lasso can move in both left and right directions. When it is necessary to lock the right end of the lasso, the servo motor 73 is activated again to rotate it counterclockwise a certain distance. This causes the rotating sleeve 2 to rotate in the opposite direction again through the driving wheel 72 and the driven wheel 71. This allows the translation sleeve 4 to move the cylindrical lock cylinder 5 to the rightmost end. At this time, the right locking pin 52 will move to the self-locking section 622 under the action of the guide pin 53 and the second guide groove 61. Figure 11 As shown, the right end of the lasso can be squeezed and locked, at which point the lasso can only move to the left.

[0054] In summary, by using the cooperation between the servo motor 73, the rotating sleeve 2, the translating sleeve 4, and the cylindrical lock core 5, this invention can achieve switching between three locking steady states of the lasso. It has a fast response speed, simple control, and only requires instantaneous power control of the servo motor 73 to rotate the angle. Furthermore, the large contact surface between the locking pin 52 and the rope effectively improves the clamping stability and extends the service life of the lasso. It has a very broad prospect in the application of lasso transmission robots.

[0055] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0056] For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances. When an element is referred to as being "assembled on," "mounted on," "fixed to," or "set on" another element, it may be directly on the other element or there may be an intermediate element present. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible embodiments.

[0057] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

[0058] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A switchable bidirectional roller self-locking device, comprising a base (1), characterized in that, A rotating sleeve (2) is rotatably connected to the base (1). A first guide groove (3) is provided on the side wall of the rotating sleeve (2). A translation sleeve (4) is engaged in the first guide groove (3) and the translation sleeve (4) is sleeved inside the rotating sleeve (2). The translation sleeve (4) is symmetrically equipped with cylindrical lock cylinders (5) at both ends, and self-locking sleeves (6) are symmetrically installed on both sides of the base (1), and the central axis of the self-locking sleeves (6) and the cylindrical lock cylinders (5) coincide with each other. The side wall of the translation sleeve (4) is threaded with a limiting pin (44) that is compatible with the first guide groove (3); The cylindrical lock cylinder (5) has a second through hole inside, and several slots (51) are provided on the side wall of the cylindrical lock cylinder (5), and a locking pin (52) is engaged inside the slot (51). The locking post (52) is cylindrical in shape, and the locking post (52) and the locking groove (51) are mutually compatible; The outer surface of the cylindrical lock cylinder (5) is fixedly connected with several guide pins (53); A pre-tightening spring (55) is fixedly connected between the two cylindrical lock cylinders (5), and the pre-tightening spring (55) is sleeved inside the translation sleeve (4); The self-locking sleeve (6) has a second guide groove (61) adapted to the guide pin (53) on its side wall, and a self-locking inner cavity (62) is provided inside the self-locking sleeve (6); The second guide groove (61) includes a translation section (611) and a rotation section (612); The self-locking inner cavity (62) includes an unlocking section (621) and a self-locking section (622).

2. The switchable bidirectional roller self-locking device according to claim 1, characterized in that: A drive mechanism (7) is installed at one end of the rotating sleeve (2). The drive mechanism (7) includes a driven wheel (71) installed at one end of the rotating sleeve (2). A drive wheel (72) is rotatably connected to the outer surface of the driven wheel (71). A servo motor (73) is installed on the drive wheel (72). The driving wheel (72) and the driven wheel (71) mesh with each other.

3. The switchable bidirectional roller self-locking device according to claim 2, characterized in that: The top of the base (1) is fixedly connected to an arc-shaped groove (8) that is compatible with the rotating sleeve (2). A guide block (9) is fixedly connected to the inner wall of the arc-shaped groove (8), and an opening (10) is provided on the side wall of the rotating sleeve (2) away from the driven wheel (71).

4. The switchable bidirectional roller self-locking device according to claim 2, characterized in that: There are two first guide grooves (3), and the arrangement direction of the two first guide grooves (3) is at a certain angle to the axis of the rotating sleeve (2).

5. The switchable bidirectional roller self-locking device according to claim 4, characterized in that: The inner walls at both ends of the translation sleeve (4) are provided with fixing grooves (41), and a sleeve cover (42) is snapped into the fixing groove (41). A first through hole (43) is provided at the center of the sleeve cover (42).

6. The switchable bidirectional roller self-locking device according to claim 5, characterized in that: One end of the cylindrical lock cylinder (5) is fixedly connected to a translation slide (54).

7. The switchable bidirectional roller self-locking device according to claim 5, characterized in that: The bottom of the self-locking sleeve (6) is fixedly connected to a boss (63), and the boss (63) is installed on the base (1) by screws.

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