Electromagnetic lasso transmission three-stable locking device

Abstract

The application discloses an electromagnetic lasso transmission three-stable-state locking device and relates to the technical field of robot application. The device comprises a base, a pressing sleeve is slidably connected in the base, self-locking rods are arranged on the left and right ends of the pressing sleeve, and a self-locking spring is arranged between the two self-locking rods; a limiting unit is mounted on the top of the base through screws, a first self-locking sleeve coaxial with the self-locking rod is detachably mounted on one end of the base, a pressing spring is arranged between the first self-locking sleeve and the pressing sleeve, and a second self-locking sleeve coaxial with the self-locking rod is further arranged on the end of the base away from the first self-locking sleeve. The device has the advantages of small structure, fast response speed, simple control, large clamping force, and the ability to realize three-stable-state switching only by instant energization of the electromagnet, and has a very broad prospect in the application of the single-motor-controlled multi-joint lasso transmission mechanism.

Description

Technical Field

[0001] This invention relates to the field of robot application technology, specifically to an electromagnetic lasso transmission tristable 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. This increases system weight, energy consumption, and economic costs, and diminishes the advantages of the lasso's smooth 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 smooth and flexible drive advantages to meet the lightweight, energy-efficient, and biomimetic drive requirements of new robots.

[0003] Traditional lasso gripping 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. Summary of the Invention

[0004] The purpose of this invention is to provide an electromagnetic lasso transmission tristable locking device, which can realize three transmission modes under a single driving lasso, meet the various motion requirements of robots such as multi-joint switching drive, motion holding and locking, and change the traditional lasso's single transmission mode that is completely controlled by the drive motor.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an electromagnetic lasso transmission tristable locking device, comprising a base, wherein a pressing sleeve is slidably connected inside the base, and self-locking rods are sleeved on both the left and right ends of the pressing sleeve, and a self-locking spring is installed between the two self-locking rods;

[0006] The top of the base is fitted with a limit unit by screws. One end of the base is detachably fitted with a first self-locking sleeve that coincides with the axis of the self-locking rod. A pressing spring is installed between the first self-locking sleeve and the pressing sleeve. The end of the base away from the first self-locking sleeve is also fitted with a second self-locking sleeve that coincides with the axis of the self-locking rod.

[0007] Furthermore, an electromagnetic drive unit for pressing the sleeve is installed on one side of the base. The electromagnetic drive unit includes an electromagnet, a push rod driven by the electromagnet, and a pressure plate that cooperates with the push rod.

[0008] Furthermore, the side wall of the base is provided with a push rod groove that is compatible with the push rod and the pressure plate.

[0009] Furthermore, both ends of the pressing sleeve are threaded with sleeve caps, and the central axis of the sleeve caps coincides with the central axis of the self-locking rod.

[0010] Furthermore, a limiting groove is provided at the top of the pressing sleeve. The limiting groove includes limiting segment one, limiting segment two, and limiting segment three, and limiting segment one, limiting segment two, and limiting segment three are connected end to end to form a loop.

[0011] The limiting section includes a positioning curved surface, a guide groove, and a thrust ramp.

[0012] Limiting section two includes positioning curved surface two, guide groove two, and thrust inclined surface two;

[0013] The limiting section three includes the positioning curved surface three, the guide groove three, and the thrust inclined surface three.

[0014] Furthermore, the self-locking rod includes a guide boss, a cylindrical boss one is fixedly connected to the side wall of the guide boss, a conical boss is fixedly connected to the side wall of the cylindrical boss one, a slot is provided on the side wall of the conical boss, a limiter is installed inside the slot, and a cylindrical boss two is fixedly connected to the side wall of the conical boss.

[0015] The limiting component is a steel ball, and the slot and the steel ball are mutually compatible;

[0016] The diameter of the cylindrical boss is smaller than that of the guide boss, and a limiting inclined surface is provided between the cylindrical boss and the guide boss.

[0017] Furthermore, the self-locking spring is installed inside the pressing sleeve, and both ends of the self-locking spring are respectively fixedly connected to the guide bosses of the two self-locking rods.

[0018] Furthermore, the limiting unit includes a top cover, and a guide groove is provided on the inner wall of the top cover. A limiting pin is slidably connected inside the guide groove, and the limiting pin is slidably connected to the inner wall of the limiting groove.

[0019] Furthermore, one end of the first self-locking sleeve is fixedly connected to a mounting plate, and a screw hole is provided on the side wall of the mounting plate. A fixing plate corresponding to the mounting plate is fixedly connected to the side wall of the base, and a screw hole is also provided on the fixing plate. The first self-locking sleeve and the base are detachably installed by screws.

[0020] A fixing groove is provided on the side wall of the first self-locking sleeve. One end of the pressing spring is fixedly connected in the fixing groove, and the other end is fixedly connected to the sleeve cover of the pressing sleeve.

[0021] Both the first self-locking sleeve and the second self-locking sleeve have self-locking cavities inside.

[0022] Furthermore, the self-locking cavity includes a cylindrical cavity and a conical cavity, and the conical cavity is adapted to the conical boss on the self-locking rod.

[0023] The present invention has at least the following beneficial effects:

[0024] 1. This invention can achieve tristable control, using one mechanism to control three modes of rope movement, enabling the lasso transmission to cope with more complex working conditions;

[0025] 2. This invention is controlled by a push-pull electromagnet, which has a fast response speed, simple control, and only requires a momentary power supply to complete a gear shifting operation, resulting in low energy consumption.

[0026] 3. The present invention has a compact overall structure, strong clamping force, and light weight, making it suitable for use in places with relatively narrow working spaces;

[0027] 4. This invention has low requirements for the power source, requiring only an ordinary battery to drive it. Compared with traditional pneumatic or hydraulic chucks, it greatly reduces the impact of the power source on the robot structure.

[0028] 5. This invention can clamp ropes of different diameters, avoiding the hassle of changing lock heads, and has wide applicability;

[0029] 6. This invention has no special requirements for materials and has low manufacturing costs;

[0030] 7. This invention makes the lasso transmission method more flexible and has a very broad prospect in the application of lasso transmission mechanisms.

[0031] 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

[0032] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the present invention;

[0033] Figure 2 This is an exploded view of the overall structure of the present invention;

[0034] Figure 3 This is a three-dimensional schematic diagram of the pressing sleeve structure of the present invention;

[0035] Figure 4 This is a three-dimensional schematic diagram of the self-locking rod structure of the present invention;

[0036] Figure 5 This is a side view of the overall structure of the present invention;

[0037] Figure 6This is a cross-sectional schematic diagram of the first locking state of the present invention;

[0038] Figure 7 This is a cross-sectional schematic diagram of the second locking state of the present invention;

[0039] Figure 8 This is a cross-sectional schematic diagram of the locking state three of the present invention.

[0040] Figure label:

[0041] 1. Base; 2. Pressing sleeve; 21. Sleeve cap; 22. Limiting groove; 23. Limiting section one; 231. Positioning surface one; 232. Guide groove one; 233. Thrust slope one; 24. Limiting section two; 241. Positioning surface two; 242. Guide groove two; 243. Thrust slope two; 25. Limiting section three; 251. Positioning surface three; 252. Guide groove three; 253. Thrust slope three; 3. Self-locking rod; 31. Guide boss; 32. Cylindrical boss one; 33. Conical... 331. Boss; 332. Slot; 34. Second cylindrical boss; 4. Self-locking spring; 5. Limiting unit; 51. Top cover; 52. Guide groove; 53. Limiting pin; 6. First self-locking sleeve; 7. Pressing spring; 8. Second self-locking sleeve; 9. Electromagnetic drive unit; 91. Electromagnet; 92. Push rod; 93. Pressure plate; 10. Push rod groove; 11. Mounting plate; 12. Fixing plate; 13. Fixing groove; 14. Self-locking cavity; 141. Cylindrical cavity; 142. Conical cavity. Detailed Implementation

[0042] 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.

[0043] Please see Figure 1-8 The present invention provides a technical solution: an electromagnetic lasso transmission tristable locking device, including a base 1, a pressing sleeve 2 slidably connected inside the base 1, and self-locking rods 3 sleeved on both the left and right ends of the pressing sleeve 2. A self-locking spring 4 is installed between the two self-locking rods 3. The elastic potential energy provided by the self-locking spring 4 is used to provide a pre-tightening force for the two self-locking rods 3.

[0044] A limit unit 5 is installed on the top of the base 1 by screws. A first self-locking sleeve 6 that coincides with the axis of the self-locking rod 3 is detachably installed at one end of the base 1. A pressing spring 7 is installed between the first self-locking sleeve 6 and the pressing sleeve 2. A second self-locking sleeve 8 that coincides with the axis of the self-locking rod 3 is also installed at the end of the base 1 away from the first self-locking sleeve 6.

[0045] It should be noted that both ends of the pressing sleeve 2 are threaded with sleeve caps 21. The central axis of the sleeve cap 21 coincides with the central axis of the self-locking rod 3. A first through hole is opened at the center of the sleeve cap 21. The sleeve cap 21 is used to limit and guide the self-locking rod 3 fitted inside the pressing sleeve 2.

[0046] like Figure 2-3 As shown, a limiting groove 22 is provided on the top of the pressing sleeve 2. The limiting groove 22 includes a limiting segment 1 23, a limiting segment 24, and a limiting segment 3 25. The limiting segments 1 23, 24, and 3 25 are connected end to end to form a loop. According to the technical solution of the present invention, the limiting segments 1 23 and 24 are 3mm deep, and the guide groove (532) of the limiting segment 3 25 has a certain slope and is 1.5mm deep at one end of the limiting groove 22. By using the limiting segments 1 23, 24, and 3 25, three steady-state self-locking controls can be achieved.

[0047] Furthermore, such as Figure 3 As shown, the first limiting segment 23 includes a positioning surface 231, a guide groove 232, and a thrust ramp 233; the second limiting segment 24 includes a positioning surface 241, a guide groove 242, and a thrust ramp 243; the third limiting segment 25 includes a positioning surface 251, a guide groove 252, and a thrust ramp 253.

[0048] The self-locking rod 3 includes a guide boss 31, and a cylindrical boss 32 is fixedly connected to the side wall of the guide boss 31. The diameter of the cylindrical boss 32 is smaller than that of the guide boss 31, and a limiting slope is provided between the cylindrical boss 32 and the guide boss 31. When the self-locking rod 3 moves inside the pressing sleeve 2, the guide boss 31 facilitates guidance, and the limiting slope is used to lock onto the first through hole of the sleeve cover 21, facilitating the limiting of the self-locking rod 3. A conical boss 33 is fixedly connected to the side wall of the cylindrical boss 32, and a slot 331 is provided on the side wall of the conical boss 33. 1 has an internally installed limiting member 332. In some embodiments, the overall shape of the limiting member 332 can be set as spherical, cylindrical or prismatic. For the technical solution of the present invention, the overall shape of the limiting member 332 is set as spherical, preferably steel ball. It should be understood that no matter what shape the limiting member 332 is set, the slot 331 is always adapted to the limiting member 332 to accommodate and limit the limiting member 332. A cylindrical boss 2 34 is fixedly connected to the side wall of the conical boss 33. The diameter of the cylindrical boss 2 34 is smaller than that of the cylindrical boss 1 32.

[0049] Furthermore, an electromagnetic drive unit 9 is installed on one side of the base 1 to act on the pressing sleeve 2. The electromagnetic drive unit 9 includes an electromagnet 91, a push rod 92 driven by the electromagnet 91, and a pressure plate 93 that cooperates with the push rod 92. The pressure plate 93 and the push rod 92 are connected by screws. When the electromagnet 91 is energized, it drives the push rod 92, which in turn moves the pressure plate 93, thereby squeezing the pressing sleeve 2 and moving the pressing sleeve 2. The side wall of the base 1 is provided with a push rod groove 10 that is compatible with the push rod 92 and the pressure plate 93. The push rod groove 10 helps to avoid interference from the base 1 when the push rod 92 and the pressure plate 93 move.

[0050] Furthermore, the limiting unit 5 includes a top cover 51, which is mounted on the base 1 by screws. A guide groove 52 is formed on the inner wall of the top cover 51. A limiting pin 53 is slidably connected inside the guide groove 52, and the limiting pin 53 is slidably connected to the inner wall of the limiting groove 22. When the top cover 51 moves, it drives the limiting pin 53 to move within the guide groove 52, and simultaneously drives the limiting pin 53 to move left and right within the limiting groove 22. In the initial state, the pressing sleeve 2 is subjected to the pre-tightening pressure of the pressing spring 7, and the limiting pin 53 and the limiting section... When the positioning surface 231 of the first 23 contacts and locks at the positioning surface 231, the device is in the first stable state and the right side of the device is in the locked state. When the limiting pin 53 is locked at the positioning surface 241 of the second limiting segment 24, the mechanism is in the second stable state. At this time, the self-locking rods 3 at both ends are located in the conical cavity 142 and the cylindrical cavity 141, and the device is in the free state. When the limiting pin 53 is locked at the positioning surface 251 of the third limiting segment 25, the device is in the third stable state and the left side of the device is in the locked state.

[0051] Furthermore, one end of the first self-locking sleeve 6 is fixedly connected to a mounting plate 11, and a screw hole is provided on the side wall of the mounting plate 11. A fixing plate 12 corresponding to the mounting plate 11 is fixedly connected to the side wall of the base 1, and a screw hole is also provided on the fixing plate 12. The first self-locking sleeve 6 and the base 1 are detachably installed by screws.

[0052] A fixing groove 13 is provided on the side wall of the first self-locking sleeve 6. One end of the pressing spring 7 is fixedly connected in the fixing groove 13, and the other end is fixedly connected to the sleeve cover 21 of the pressing sleeve 2. The elastic potential energy provided by the pressing spring 7 can drive the pressing sleeve 2 to reset.

[0053] Both the first self-locking sleeve 6 and the second self-locking sleeve 8 have a self-locking cavity 14 inside. The self-locking cavity 14 includes a cylindrical cavity 141 and a conical cavity 142. The conical cavity 142 is adapted to the conical boss 33 on the self-locking rod 3. When the pressing sleeve 2 moves in the base 1, it drives the self-locking rod 3 to be inserted into the first self-locking sleeve 6 or the second self-locking sleeve 8. At this time, the conical boss will be inserted into the conical cavity. As the conical cavity squeezes the steel ball on the conical boss, the steel ball will be gathered in the middle in the slot 331, which can clamp and lock the sling inserted inside the self-locking rod 3.

[0054] Specifically, such as Figure 6 As shown, in the initial state, the pressing sleeve 2 is subjected to the pre-tightening pressure of the pressing spring 7. The limiting pin 53 contacts the positioning surface 231 of the limiting section 23 and locks at the positioning surface 231. At this time, the conical boss 33 of the right self-locking rod 3 is located in the conical cavity 142 of the second self-locking sleeve 8. The conical cavity 142 squeezes the conical boss 33, causing the steel ball to be squeezed and converge inward. The conical boss 33 of the left self-locking rod 3 is located in the cylindrical cavity 141 of the second self-locking sleeve 8. The steel ball is not squeezed and is in a dispersed state. At this time, the entire device clamps and locks the right side, and the lasso can only move to the left.

[0055] like Figure 7 As shown, when the electromagnet 91 in the electromagnetic drive unit 9 is energized, it will drive the push rod 92 and the pressure plate 93 to move in the push rod groove 10, thereby pushing the pressing sleeve 2 to move to the left and compressing the pressing spring 7. At this time, the limiting pin 53 will move relative to the guide groove. When the limiting pin 53 hits the thrust inclined surface 233 of the limiting section 1 23, the pressing sleeve 2 stops moving. At this time, the electromagnet 91 retracts the push rod 92, and the pressing spring 7 will push the pressing sleeve 2 to the right. The limiting pin 53 hits and locks to the positioning curved surface 241 of the limiting section 24. At this time, the conical bosses 33 of the self-locking rods 3 at both ends are located at the connection between the conical cavity 142 and the cylindrical cavity 141. The steel balls on the conical bosses 33 on both sides are in a dispersed state, and the lasso can move left and right in the self-locking rod 3.

[0056] Then, the electromagnet 91 is activated again, driving the push rod 92 and the pressure plate 93 to push the pressing sleeve 2. The limiting pin 53 moves relative to the guide groove 242 of the limiting section 24. The pressing sleeve 2 moves to the left, compressing the pressing spring 7. When the limiting pin 53 hits the thrust inclined surface 243 of the limiting section 24, the pressing sleeve 2 stops moving to the left. At this time, the electromagnetic drive unit 9 is reset, and the pressing spring 7 pushes the pressing sleeve 2 so that the limiting pin 53 hits the positioning curved surface 251 of the limiting section 35. At this time, the conical boss 33 of the left self-locking rod 3 is located in the conical cavity 142 of the first self-locking sleeve 6. The steel balls on the conical boss 33 are compressed and in a state of aggregation. The conical boss of the right self-locking rod 3 is located between the conical cavity 142 and the cylindrical cavity 141 of the second self-locking sleeve 8. The steel balls are in a state of dispersion. At this time, the entire device clamps and locks the left side, and the lasso can only move to the right.

[0057] The operating principle and process of this invention: Initially, the pressing sleeve 2 is subjected to the pre-tightening pressure of the pressing spring 7. The limiting pin 53 contacts the positioning surface 231 of the limiting segment 23 and locks at the positioning surface 231. At this time, the conical boss 33 of the right self-locking rod 3 is located in the conical cavity 142 of the second self-locking sleeve 8. The conical cavity 142 squeezes the conical boss 33, causing the steel balls to be squeezed inward and converge. The conical boss 33 of the left self-locking rod 3 is located in the cylindrical cavity 141 of the second self-locking sleeve 8. The steel balls are not squeezed and are in a dispersed state. At this time, the assembly... The entire assembly clamps and locks the right side, allowing the lasso to move only to the left. When the electromagnet 91 in the electromagnetic drive unit 9 is energized, it drives the push rod 92 and pressure plate 93 to move within the push rod groove 10, thereby pushing the pressing sleeve 2 to the left. The pressing spring 7 is compressed, and the limiting pin 53 moves relative to the guide groove. When the limiting pin 53 hits the thrust slope 233 of the limiting section 23, the pressing sleeve 2 stops moving. At this time, the electromagnet 91 retracts the push rod 92, and the pressing spring 7 pushes the pressing sleeve 2 to the right. The limiting pin 53 hits and locks to the limiting section. At the positioning surface 241 of section 24, the conical bosses 33 of the self-locking rods 3 at both ends are located at the connection between the conical cavity 142 and the cylindrical cavity 141. The steel balls on the conical bosses 33 on both sides are in a dispersed state, and the lasso can move left and right within the self-locking rod 3. Then, the electromagnet 91 is activated again to drive the push rod 92 and the pressure plate 93 to push the pressing sleeve 2. The limiting pin 53 moves relative to the guide groove 242 of the limiting section 24, and the pressing sleeve 2 moves to the left, compressing the pressing spring 7. When the limiting pin 53 hits the thrust inclined surface 243 of the limiting section 24, When the pressing sleeve 2 stops moving to the left, the electromagnetic drive unit 9 resets, and the pressing spring 7 pushes the pressing sleeve 2 so that the limiting pin 53 hits the positioning curved surface 251 of the limiting segment 25. At this time, the conical boss 33 of the left self-locking rod 3 is located in the conical cavity 142 of the first self-locking sleeve 6, and the steel balls on the conical boss 33 are compressed and in a state of aggregation. The conical boss of the right self-locking rod 3 is located between the conical cavity 142 and the cylindrical cavity 141 of the second self-locking sleeve 8, and the steel balls are in a state of dispersion. At this time, the entire device clamps and locks the left side, and the lasso can only move to the right.

[0058] In summary, the device of the present invention has a compact structure, fast response speed, simple control, and large clamping force. Furthermore, the mechanism can realize three transmission modes under a single driving lasso, which can meet the various motion requirements of robots such as multi-joint switching drive, motion holding and locking. It changes the traditional single transmission mode of lasso that is completely controlled by the drive motor, increases the flexibility of the robot, reduces the drive motor requirements of multi-joint robot systems, and has a very broad prospect in the application of lasso transmission mechanisms that control multiple joints with a single motor.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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. An electromagnetic lasso transmission tristable locking device, comprising a base (1), characterized in that, The base (1) is slidably connected to a pressing sleeve (2), and a self-locking rod (3) is fitted on both the left and right ends of the pressing sleeve (2), and a self-locking spring (4) is installed between the two self-locking rods (3); The top of the base (1) is fitted with a limit unit (5) by screws. One end of the base (1) is detachably fitted with a first self-locking sleeve (6) that coincides with the axis of the self-locking rod (3). A pressing spring (7) is installed between the first self-locking sleeve (6) and the pressing sleeve (2). A second self-locking sleeve (8) that coincides with the axis of the self-locking rod (3) is also installed at the end of the base (1) away from the first self-locking sleeve (6). The limiting unit (5) includes a top cover (51), and a guide groove (52) is provided on the inner wall of the top cover (51). A limiting pin (53) is slidably connected inside the guide groove (52), and the limiting pin (53) is slidably connected to the inner wall of the limiting groove (22). An electromagnetic drive unit (9) for pressing the sleeve (2) is installed on one side of the base (1). The electromagnetic drive unit (9) includes an electromagnet (91), a push rod (92) driven by the electromagnet (91), and a pressure plate (93) that cooperates with the push rod (92). The top of the pressing sleeve (2) is provided with a limiting groove (22), which includes a limiting segment one (23), a limiting segment two (24) and a limiting segment three (25), and the limiting segment one (23), the limiting segment two (24) and the limiting segment three (25) are connected end to end to form a loop; The limiting section 1 (23) includes a positioning curved surface 1 (231), a guide groove 1 (232), and a thrust ramp 1 (233); Limiting section two (24) includes positioning surface two (241), guide groove two (242) and thrust ramp two (243); The limiting section three (25) includes the positioning curved surface three (251), the guide groove three (252), and the thrust inclined surface three (253).

2. The electromagnetic lasso transmission tristable locking device according to claim 1, characterized in that: The base (1) has a push rod groove (10) on its side wall that is compatible with the push rod (92) and the pressure plate (93).

3. The electromagnetic lasso transmission tristable locking device according to claim 2, characterized in that: Both ends of the pressing sleeve (2) are threaded with sleeve caps (21), and the central axis of the sleeve caps (21) coincides with the central axis of the self-locking rod (3).

4. The electromagnetic lasso transmission tristable locking device according to claim 2, characterized in that: The self-locking rod (3) includes a guide boss (31), a cylindrical boss (32) is fixedly connected to the side wall of the guide boss (31), a conical boss (33) is fixedly connected to the side wall of the cylindrical boss (32), a slot (331) is provided on the side wall of the conical boss (33), a limiting component (332) is installed inside the slot (331), and a cylindrical boss (34) is fixedly connected to the side wall of the conical boss (33). The limiting component (332) is a steel ball, and the slot (331) and the steel ball are mutually compatible; The diameter of the cylindrical boss (32) is smaller than that of the guide boss (31), and a limiting slope is provided between the cylindrical boss (32) and the guide boss (31).

5. The electromagnetic lasso transmission tristable locking device according to claim 4, characterized in that: The self-locking spring (4) is installed inside the pressing sleeve (2), and the two ends of the self-locking spring (4) are respectively fixedly connected to the guide bosses (31) of the two self-locking rods (3).

6. The electromagnetic lasso transmission tristable locking device according to claim 5, characterized in that: One end of the first self-locking sleeve (6) is fixedly connected to a mounting plate (11). The mounting plate (11) has screw holes on its side wall, and the base (1) has a fixing plate (12) corresponding to the mounting plate (11) fixedly connected to its side wall. The fixing plate (12) also has screw holes. The first self-locking sleeve (6) and the base (1) are detachably installed by screws. A fixing groove (13) is provided on the side wall of the first self-locking sleeve (6). One end of the pressing spring (7) is fixedly connected in the fixing groove (13), and the other end is fixedly connected to the sleeve cover (21) of the pressing sleeve (2). Both the first self-locking sleeve (6) and the second self-locking sleeve (8) have a self-locking cavity (14) inside.

7. The electromagnetic lasso transmission tristable locking device according to claim 6, characterized in that: The self-locking cavity (14) includes a cylindrical cavity (141) and a conical cavity (142), and the conical cavity (142) is adapted to the conical boss (33) on the self-locking rod (3).

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