A five degree of freedom seamless contact catch device

Abstract

The application provides a five-degree-of-freedom seamless contact lock device, and belongs to the technical field of chassis lock devices. A first shell of the lock device is arranged above a chassis, a second shell of the lock device is arranged below the chassis, a plurality of bolts are embedded in the first shell, pass through the chassis, and are connected with the second shell, a first transmission assembly pushes a sliding block to be in contact with a side wall of a clamping groove and is fixed, a second transmission assembly drives a jacking assembly arranged inside the sliding block to jack up in four directions, i.e., upward, downward, leftward and rightward, and pushes a jacking plate to be in contact with four inner clamping groove surfaces of the clamping groove, the jacking assembly is divided into a plurality of jacking mechanisms, each jacking mechanism is provided with two friction type torque coupling shafts, when one of the jacking plates is in full contact with the clamping groove surface, the jacking plate cannot be jacked up any more, and the excess torque is converted into energy generated by slipping of the friction type torque coupling shaft, at this time, the jacking is continued by applying a margin until all the jacking plates are in corresponding contact.

Description

Technical Field

[0001] This invention relates to the field of chassis locking technology, specifically to a five-degree-of-freedom seamless contact locking device. Background Technology

[0002] Currently, chassis supporting mechanisms with overturning or torsional moments typically require sufficient constraint support or counterweights to overcome these moments. However, using counterweights increases structural weight and volume, making it unsuitable in some scenarios. In these scenarios, a pin-and-axle structure is usually used to adequately constrain the chassis. To ensure chassis stability, the pins generally have a tight fit, and multiple pins are typically used for constraint to improve structural stress distribution. In large structures, it is difficult to simultaneously achieve the required positional accuracy of multiple pin holes for a tight fit with the pins, especially considering errors in structural installation and manufacturing, as well as stress deformation. Summary of the Invention

[0003] To overcome the shortcomings of existing technologies, this invention provides a five-degree-of-freedom seamless contact locking device. The locking device has a first housing positioned above the chassis and a second housing positioned below the chassis. Several bolts are embedded in the first housing, pass through the chassis, and connect to the second housing. A first transmission assembly pushes a slider to contact and fix it against the side wall of the slot. A second transmission assembly drives a lifting assembly, located inside the slider, which lifts the slider on four sides (up, down, left, and right), pushing the lifting plate to contact the four inner sides of the slot. The lifting assembly consists of several lifting mechanisms, each containing two friction-type torque couplings. When one lifting plate has made full contact with the slot surface, the excess torque is converted into energy generated by the slippage of the friction-type torque couplings, allowing the remaining force to continue lifting the other lifting plate until all lifting plates have made corresponding contact. This invention solves the problem of difficulty in achieving a tight fit between the pin and the pin hole when there is a certain deviation in the relative position of the pin.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A five-degree-of-freedom seamless contact locking device includes a lifting plate, a housing, a slider, a first transmission assembly, a second transmission assembly, and a lifting assembly; the lifting plate is used to contact the slot surface; the housing is used to fix the chassis and parts; the slider provides lateral constraint; the first transmission assembly drives the slider to move; the second transmission assembly drives the lifting assembly; the lifting assembly is used to drive the lifting plate to contact the slot surface. The first transmission assembly includes a first motor, two flanges and bearings fixed to the first housing, a first shaft, two pulleys on both sides of the first shaft, a belt, a worm, a worm wheel, two bearings and two flanges on both sides of the worm, a bearing fitted with the worm wheel, a screw threaded to the worm wheel, and the screw is a hollow screw. The first transmission assembly can drive the slider to move back and forth and make lateral contact with the slot surface for fixation. The second transmission assembly includes a second motor, a third motor, four pulleys, a second shaft, a pair of meshing gear sets, and two bearings for fixing the second shaft; the second shaft is housed within a hollow screw. There are four lifting plates: upper lifting plate, lower lifting plate, left lifting plate, and right lifting plate. There are two shells, namely shell No. 1 and shell No. 2; shell No. 1 and shell No. 2 are clamped on the upper and lower sides of the fixed base and connected by several nuts, and clamped to the base; The slider is driven by the first transmission component and contacts and is fixed to the side surface of the slot, providing a fixed constraint for the left or right degree of freedom. The lifting assembly includes a third shaft, two bearings, four helical gears, and a bearing end cap. The two bearings are fixed to the inner side of the slider. The lifting assembly also includes eight lifting mechanisms: lifting mechanism 1, lifting mechanism 2, lifting mechanism 3, lifting mechanism 4, lifting mechanism 5, lifting mechanism 6, lifting mechanism 7, and lifting mechanism 8. Helical gear 1 engages with lifting mechanism 1 and lifting mechanism 2; helical gear 2 engages with lifting mechanism 3 and lifting mechanism 4; helical gear 3 engages with lifting mechanism 5 and lifting mechanism 6; and helical gear 4 engages with lifting mechanism 7 and lifting mechanism 8. The lifting assembly provides fixed constraints for four degrees of freedom: up, down, left, and right.

[0005] Furthermore, in the first transmission assembly, the first flange and the first bearing are embedded and installed on the side of the first housing near the first motor, and the second flange and the second bearing are embedded and installed on the other side away from the first motor. The first bearing and the second bearing jointly support the first shaft, on which the first pulley and the second pulley are arranged. The first pulley and the second pulley are respectively connected to the third pulley and the fourth pulley on both sides of the smooth section of the worm gear through the first belt and the second belt. The third bearing and the third flange are assembled on the left side of the third pulley; the fourth bearing and the fourth flange are assembled on the right side of the fourth pulley. The worm gear and the worm gear cooperate with each other, and a support bearing is provided inside the worm gear. The worm gear is screwed to the screw, which is hollow and connected to the slider.

[0006] Furthermore, in the lifting assembly, a first spiral gear, a second spiral gear, a third spiral gear, and a fourth spiral gear are installed on the third shaft. The third shaft has a seventh bearing and an eighth bearing at both ends for axial fixation. The first spiral gear engages with the first and second lifting mechanisms; the second spiral gear engages with the third and fourth lifting mechanisms; the third spiral gear engages with the fifth and sixth lifting mechanisms; and the fourth spiral gear engages with the seventh lifting mechanism... The No. 8 lifting mechanism works in conjunction with the No. 1, No. 2, No. 5, and No. 6 lifting mechanisms are connected to and drive the left and right lifting plates, respectively; the No. 3, No. 4, No. 7, and No. 8 lifting mechanisms are connected to and drive the upper and lower lifting plates, respectively; the parts and assemblies of the No. 1, No. 2, No. 5, and No. 6 lifting mechanisms are identical; the parts and assemblies of the No. 3, No. 4, No. 7, and No. 8 lifting mechanisms are identical.

[0007] Furthermore, the first lifting mechanism is a lifting mechanism that restricts the left and right degrees of freedom. The first helical gear meshes with the fifth helical gear, and the fifth helical gear connects the left friction torque coupling and the right friction torque coupling. The left and right friction torque couplings are splined to the left screw and the right screw, respectively. The left and right friction torque couplings are respectively provided with a left external spline and a right external spline. The left and right external splines respectively mate with the left internal spline and the right internal spline. The internal splines are located inside the screws on both sides. The left screw and the right screw are screwed to the inside of the slider. The left retaining ring of the left screw is embedded in the left circular cylinder groove. The right retaining ring of the right screw is embedded in the right circular cylinder groove. The left circular cylinder and the right circular cylinder are respectively connected to the left lifting plate and the right lifting plate.

[0008] Furthermore, the third lifting mechanism is a lifting mechanism that restricts the vertical degrees of freedom. The second helical gear meshes with the sixth helical gear, and the sixth helical gear connects the upper friction torque coupling and the lower friction torque coupling. The upper friction torque coupling has an upper external spline at its end, which connects to the internal spline of the upper screw. The lower friction torque coupling has a lower external spline at its end, which engages with the internal spline of the lower screw. The upper screw and the lower screw are screwed to the slider. The smooth sections at the ends of the upper screw and the lower screw are provided with upper retaining rings and lower retaining rings, respectively. The upper screw and the lower screw are respectively embedded in the upper retaining groove of the upper lifting plate and the lower retaining groove of the lower lifting plate through the upper retaining ring and the lower retaining ring, respectively.

[0009] Beneficial effects:

[0010] When the slider is embedded in the slot, four lifting plates inside the slider will push out from four different directions (up, down, left, and right) to fully contact all four contact surfaces inside the slot. This invention can be used to connect chassis and machine tool plates with moving parts, minimizing the vibration amplitude generated by the chassis during movement and providing stabilizing forces in five directions (up, down, left, right, and side) to the chassis. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only for the present invention and protect some embodiments. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a structural diagram of a five-degree-of-freedom seamless contact locking device according to the present invention. Figure 2 The present invention provides a structure for a five-degree-of-freedom seamless contact locking device. Figure 1 ; Figure 3 The present invention provides a structure for a five-degree-of-freedom seamless contact locking device. Figure 2 ; Figure 4 The present invention provides a structure for a five-degree-of-freedom seamless contact locking device. Figure 3 ; Figure 5 This is a structural diagram of the present invention excluding the shell; Figure 6 This is a structural diagram of the No. 1 transmission assembly; Figure 7 This is a structural diagram of the second transmission assembly; Figure 8 This is a structural diagram of a set of meshing gears in the second transmission assembly; Figure 9 This is a diagram of the lifting assembly mechanism; Figure 10 A structural diagram of the lifting assembly from another perspective; Figure 11 This is a structural diagram of the No. 1 lifting mechanism and the left and right lifting plates. Figure 12 This is a structural diagram of the inner and outer splines on the left side of the No. 1 lifting mechanism; Figure 13 This is another structural view of the left side of the No. 1 lifting mechanism; Figure 14 This is a structural diagram of the inner and outer splines on the right side of the No. 1 lifting mechanism; Figure 15This is another structural view of the right side of the No. 1 lifting mechanism; Figure 16 This is a structural diagram of the No. 3 lifting mechanism and the upper and lower lifting plates. Figure 17 This is a structural diagram from the upper side of the No. 3 lifting mechanism; Figure 18 This is a structural diagram from the lower side of the No. 3 lifting mechanism.

[0013] Among them, 1-lifting plate, 2-shell, 3-slider, 4-first transmission assembly, 5-second transmission assembly, 6-lifting assembly; 101-upper lifting plate, 102-lower lifting plate, 103-left lifting plate, 104-right lifting plate; 201-first shell, 202-second shell; 401-first motor, 402-first belt, 403-second pulley, 404-first pulley, 405-third pulley, 406-fourth pulley, 407-third flange, 408-fourth flange, 409-third bearing, 410-fourth bearing, 411-worm gear, 412-worm wheel, 413-support bearing, 41 4-Screw; 415-Second bearing; 416-Second flange; 417-First bearing; 418-First flange; 419-Second belt; 420-Shaft No. 1; 501-Motor No. 2; 502-Motor No. 3; 503-Third belt; 504-Fourth belt; 505-Fifth pulley; 506-Sixth pulley; 507-Seventh pulley; 508-Eighth pulley; 509-Fifth bearing; 510-Sixth bearing; 511-Gear No. 1; 512-Gear No. 2; 513-Shaft No. 2; 601-Helical gear No. 1; 602-Helical gear No. 2; 603-Helical gear No. 3; 604-Helical gear No. 4 Wheel, 605-Shaft No. 3, 606-Seventh Bearing, 607-Bearing End Cover, 608-Eighth Bearing; 61-Lifting Mechanism No. 1, 62-Lifting Mechanism No. 2, 63-Lifting Mechanism No. 3, 64-Lifting Mechanism No. 4, 65-Lifting Mechanism No. 5, 66-Lifting Mechanism No. 6, 67-Lifting Mechanism No. 7, 68-Lifting Mechanism No. 8; 611-Helical Gear No. 5, 612-Left Friction Torque Coupling, 613-Left Screw, 614-Left Circular Cylinder, 615-Right Friction Torque Coupling, 616-Right Screw, 617-Right Circular Cylinder, 618-Left Internal Spline, 619-Left... Side external spline, 6110-right external spline, 6111-right internal spline, 6112-left retaining ring, 6113-left circular cylindrical retaining groove, 6114-right retaining ring, 6115-right circular cylindrical retaining groove; 631-helical gear No. 6, 632-upper friction torque coupling, 633-upper external spline, 634-upper internal spline, 635-upper screw, 636-lower friction torque coupling, 637-lower external spline, 638-lower internal spline, 639-lower screw; 6310-upper retaining ring, 6311-upper retaining groove, 6312-lower retaining ring, 6313-lower retaining groove. Detailed Implementation

[0014] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0015] like Figures 1-5 As shown, a five-degree-of-freedom seamless contact locking device of the present invention includes a lifting plate 1, a housing 2, a slider 3, a first transmission component 4, a second transmission component 5, and a lifting component 6.

[0016] The first transmission assembly 4 includes a first motor 401, a second flange 416, a first flange 418, a second bearing 415, a first bearing 417, a first shaft 420, second pulleys 403 and first pulleys 404 on both sides of the first shaft 420, a second belt 419, a first belt 402, a worm gear 411, third bearings 409 and fourth bearings 410 on both sides of the worm gear 411, a third flange 407, a fourth flange 408, a worm wheel 412 that cooperates with the worm gear 411, a support bearing 413 that is fitted with the worm wheel 412, and a hollow screw 414 that is screwed to the worm wheel 412; the driveable slider 3 of the first transmission assembly 4 moves back and forth and is fixed in lateral contact with the slot surface; The second transmission assembly 5 includes a second motor 501, a third motor 502, a fifth pulley 505, a sixth pulley 506, a seventh pulley 507, an eighth pulley 508, a second shaft 513, a meshing gear set, a sixth bearing 510 for fixing the second shaft 513, and a fifth bearing 509; the second shaft 513 is disposed in a hollow screw 414; the meshing gear set includes a first gear 511 and a second gear 512.

[0017] There are four lifting plates 1, namely, upper lifting plate 101, lower lifting plate 102, left lifting plate 103, and right lifting plate 104; There are two shells 2, namely shell 201 and shell 202; shell 201 and shell 202 are clamped on the upper and lower sides of the fixed chassis and connected by several bolts, and clamped to the chassis. The slider 3 is driven by the first transmission component 4 and makes contact with the side surface of the slot to fix it, providing a fixed constraint for the forward degree of freedom; The lifting assembly 6 includes a third shaft 605, a seventh bearing 606 and an eighth bearing 608 for axially fixing the third shaft 605, a bearing end cover 607, a first helical gear 601, a second helical gear 602, a third helical gear 603, and a fourth helical gear 604. The bearing end cover 607, the seventh bearing 606, and the eighth bearing 608 are fixed to the slider 3. The lifting assembly 6 also includes eight lifting mechanisms, namely a first lifting mechanism 61, a second lifting mechanism 62, a third lifting mechanism 63, a fourth lifting mechanism 64, a fifth lifting mechanism 65, a sixth lifting mechanism 66, a seventh lifting mechanism 67, and an eighth lifting mechanism 68. The lifting assembly 6 provides fixed constraints for four degrees of freedom: up, down, left, and right.

[0018] like Figure 2 As shown, the first housing 201 is connected and fixed to the second housing 202 by several bolts. The two housings are clamped on the panel of the fixed chassis, and the drive motor is installed on the first housing 201.

[0019] like Figure 6 As shown, the first flange 418 and the first bearing 417 are embedded in the first housing 201 on the side near the first motor 401, and the second flange 416 and the second bearing 415 are embedded in the other side away from the motor. The first bearing 417 and the second bearing 415 together support the first shaft 420. The first flange 418 and the second flange 416 are used for bearing positioning and fixing. The first shaft 420 is equipped with a first pulley 404 and a second pulley 403; the first pulley 404 and the second pulley 403... Wheel 403 is connected to the fourth pulley 406 and the third pulley 405 on both sides of the worm 411 via the first belt 402 and the second belt 419 respectively; the third pulley 405 is equipped with the third bearing 409 and the third flange 407 on the left side; the fourth pulley 406 is equipped with the fourth bearing 410 and the fourth flange 408 on the right side; the worm wheel 412 cooperates with the worm 411, and the worm wheel 412 is equipped with a support bearing 413 inside; the worm wheel 412 is screwed to the screw 414, and the screw 414 is connected to the slider 3.

[0020] Specifically, the first motor 401 rotates, driving the second pulley 403 and the first pulley 404 to rotate. This, in turn, transmits torque to the third pulley 405 and the fourth pulley 406 on both sides of the worm 411 through the second belt 419 and the first belt 402. This drives the worm 411 and the worm wheel 412 to rotate. The rotation of the worm wheel 412 then drives the centrally screwed screw 414 to move forward, which in turn drives the slider 3 to move forward. When the slider 3 moves forward to a certain position, its front end face will make full contact with the corresponding wall surface of the slot, thereby completing the lateral positioning.

[0021] like Figure 7 , Figure 8As shown, motor 501 and motor 502 are respectively equipped with an eighth pulley 508 and a seventh pulley 507. The two pulleys are connected to the fifth pulley 505 and the sixth pulley 506 on shaft 513 via a third belt 503 and a fourth belt 504, respectively. Gear 1 511 meshes with gear 2 512. The sixth bearing 510 and the fifth bearing 509 are located on the smooth sections at the front and rear ends of shaft 513, respectively, and together support shaft 513. Specifically, the rotation of motor 501 and motor 502 drives the eighth pulley 508 and the seventh pulley 507, which in turn transmit torque to the fifth pulley 505 and the sixth pulley 506 through the third belt 503 and the fourth belt 504, thereby driving the rotation of shaft 513. The torque of shaft 513 is transmitted to shaft 605 through meshing gears 511 and 512. Shaft 605 rotates, thereby driving the rotation of helical gears 601, 602, 603, and 604.

[0022] like Figure 9 , Figure 10 As shown, the lifting assembly 6 includes a first lifting mechanism 61, a second lifting mechanism 62, a third lifting mechanism 63, a fourth lifting mechanism 64, a fifth lifting mechanism 65, a sixth lifting mechanism 66, a seventh lifting mechanism 67, an eighth lifting mechanism 68, a third shaft 605, a first spiral gear 601, a second spiral gear 602, a third spiral gear 603, a fourth spiral gear 604, a seventh bearing 606, an eighth bearing 608, and a bearing end cover 607.

[0023] The first spiral gear 601, the second spiral gear 602, the third spiral gear 603, and the fourth spiral gear 604 are mounted on the third shaft 605; the seventh bearing 606 and the eighth bearing 608 are mounted on the inner wall of the slider 3 to axially fix the third shaft 605.

[0024] Specifically, the rotation of the first spiral gear 601 drives the first lifting mechanism 61 and the second lifting mechanism 62 to start operating; the rotation of the second spiral gear 602 drives the third lifting mechanism 63 and the fourth lifting mechanism 64 to start operating; the rotation of the third spiral gear 603 drives the fifth lifting mechanism 65 and the sixth lifting mechanism 66 to start operating; and the rotation of the fourth spiral gear 604 drives the seventh lifting mechanism 67 and the eighth lifting mechanism 68 to start operating.

[0025] The first spiral gear 601 is engaged with the first lifting mechanism 61 and the second lifting mechanism 62 respectively; the second spiral gear 602 is engaged with the third lifting mechanism 63 and the fourth lifting mechanism 64 respectively; the third spiral gear 603 is engaged with the fifth lifting mechanism 65 and the sixth lifting mechanism 66 respectively; and the fourth spiral gear 604 is engaged with the seventh lifting mechanism 67 and the eighth lifting mechanism 68 respectively.

[0026] Specifically, lifting mechanism 61, lifting mechanism 62, lifting mechanism 65, and lifting mechanism 66 are connected to and drive the left lifting plate 103 and the right lifting plate 104 respectively; lifting mechanism 63, lifting mechanism 64, lifting mechanism 67, and lifting mechanism 68 are connected to and drive the upper lifting plate 101 and the lower lifting plate 102 respectively.

[0027] Specifically, the upper lifting plate 101 provides contact constraints on the upper surface; the lower lifting plate 102 provides contact constraints on the lower surface; the left lifting plate 103 provides contact constraints on the left surface; the right lifting plate 104 provides contact constraints on the right surface; and the contact constraints on the lateral surface are provided by the lateral movement of the slider 3 and its contact with the side groove surface.

[0028] Preferably, the four lifting mechanisms, namely No. 1 lifting mechanism 61, No. 2 lifting mechanism 62, No. 5 lifting mechanism 65, and No. 6 lifting mechanism 66, have identical parts and assemblies; the four lifting mechanisms, namely No. 3 lifting mechanism 63, No. 4 lifting mechanism 64, No. 7 lifting mechanism 67, and No. 8 lifting mechanism 68, have identical parts and assemblies.

[0029] Here, we will focus on the No. 1 lifting mechanism 61 and the No. 3 lifting mechanism 63 for explanation. Other similar groups will not be explained again due to their identical settings.

[0030] like Figures 11 to 15As shown, the first lifting mechanism 61 is a lifting mechanism that restricts the left and right degrees of freedom. The fifth helical gear 611 connects the left friction torque coupling 612 and the right friction torque coupling 615. The left and right friction torque couplings are splined to the left screw 613 and the right screw 616, respectively. The left and right friction torque couplings are respectively provided with a left external spline 619 and a right external spline 6110. The left and right external splines mate with the left internal spline 618 and the right internal spline 6111, respectively. The internal splines are located inside the left and right screws. The left screw 613 and the right screw 616 are screwed to the slider 3. The left retaining ring 6112 of the left screw 613 is embedded in the left circular cylinder retaining groove 6113. The right retaining ring 6114 of the right screw 616 is embedded in the right circular cylinder retaining groove 6115. The side circular cylinder 614 and the right circular cylinder 617 are respectively connected to the left lifting plate 103 and the right lifting plate 104. The left screw 613 and the right screw 616 move to the left and right respectively while being driven to rotate, thereby pushing the left circular cylinder 614 and the right circular cylinder 617 to the left and right respectively. At the same time, the left lifting plate 103 and the right lifting plate 104 move to the left and right respectively, so that the left lifting plate 103 and the right lifting plate 104 contact the left and right slot surfaces. When one of the lifting plates has made full contact with the slot surface, since this lifting plate can no longer lift, the screw stops spiraling. The excess torque will be converted into the energy generated by the slippage of the friction torque coupling. At this time, the other lifting plate continues to lift until both lifting plates have made corresponding contact.

[0031] like Figures 16 to 18As shown, the third lifting mechanism 63 is a lifting mechanism that restricts the vertical degrees of freedom. When the second helical gear 602 rotates, it drives the meshing sixth helical gear 631 to rotate. The sixth helical gear 631 drives the upper external spline 633 and the lower external spline 637 to rotate through the upper friction torque coupling 632 and the lower friction torque coupling 636. Then, through the upper internal spline 634 and the lower internal spline 638, it transmits torque to the upper screw 635 and the lower screw 639. The upper screw 635 and the lower screw 639 are screwed to the slider 3. While rotating, the upper screw 635 and the lower screw 639 move upward and downward respectively. The smooth sections at the ends of the upper screw 635 and the lower screw 639 are equipped with upper retaining rings 6310 and lower retaining rings 6310 and 6310 respectively. A retaining ring 6312; the upper screw 635 and the lower screw 639 are respectively embedded in the upper groove 6311 of the upper lifting plate 101 and the lower groove 6313 of the lower lifting plate 102 through the upper retaining ring 6310 and the lower retaining ring 6312 respectively; when the upper screw 635 and the lower screw 639 rotate spirally, they move upward and downward respectively, while the upper lifting plate 101 and the lower lifting plate 102 lift upward and downward respectively, so that the upper lifting plate 101 and the lower lifting plate 102 contact the upper and lower groove surfaces; when one of the lifting plates has made full contact with the groove surface, since this lifting plate can no longer lift, the screw stops spiraling, and the excess torque will be converted into the energy generated by the slippage of the friction torque coupling. At this time, the other lifting plate continues to lift until both lifting plates have made corresponding contact.

[0032] The control methods of the aforementioned electronic control components are existing technologies, and to avoid redundancy, they will be explained here.

[0033] In the description of this specification, reference to the terms "an embodiment," "example," "specific example," etc., means that the specific features, structures, materials, or characteristics described in connection with that embodiment or example are included in at least one embodiment or example of the present invention. 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.

[0034] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A five-degree-of-freedom seamless contact locking device, characterized in that, The system includes a lifting plate, a housing, a slider, a first transmission assembly, a second transmission assembly, and a lifting assembly. The lifting plate is used to contact the slot surface. The housing is used to fix the chassis and parts. The slider provides lateral constraint. The first transmission assembly drives the slider to move. The second transmission assembly drives the lifting assembly. The lifting assembly is used to drive the lifting plate to contact the slot surface. There are two shells, namely shell No. 1 and shell No. 2; shell No. 1 and shell No. 2 are clamped on the upper and lower sides of the fixed chassis and connected by several bolts, and clamped to the chassis. The first transmission component pushes the slider to contact and fix it against the side wall of the slot; the second transmission component drives the lifting component, which is located inside the slider and lifts it up, down, left and right respectively, pushing the lifting plate to contact the four inner slot surfaces of the slot. The first transmission assembly includes a first motor, a first flange, a second flange, a first bearing, a second bearing, a first shaft, two pulleys on both sides of the first shaft, a first belt, a second belt, a worm, a worm wheel, third and fourth bearings and third and fourth flanges on both sides of the worm, a bearing fitted with the worm wheel, and a screw threaded to the worm wheel. The screw is a hollow screw and is connected to a slider. The first transmission assembly can drive the slider to move back and forth and make lateral contact with the slot surface for fixation. The slider is driven by the first transmission component and makes lateral contact with the slot surface to fix it, providing a fixed constraint for the lateral forward or backward degree of freedom. The second transmission assembly includes a second motor, a third motor, four pulleys, a second shaft, a pair of meshing gear sets, and two bearings for fixing the second shaft; the second shaft is housed within a hollow screw. There are four lifting plates: upper lifting plate, lower lifting plate, left lifting plate, and right lifting plate. The lifting assembly includes a third shaft, two bearings, four helical gears, and a bearing end cap. The two bearings are fixed to the inner side of the slider. Helical gears No. 1, No. 2, No. 3, and No. 4 are mounted on the third shaft. The torque of the second shaft is transmitted to the third shaft through gear meshing. The lifting assembly also includes eight lifting mechanisms: lifting mechanism No. 1, lifting mechanism No. 2, lifting mechanism No. 3, lifting mechanism No. 4, lifting mechanism No. 5, lifting mechanism No. 6, lifting mechanism No. 7, and lifting mechanism No.

8. Helical gear No. 1 engages with lifting mechanism No. 1 and lifting mechanism No. 2; helical gear No. 2 engages with lifting mechanism No. 3 and lifting mechanism No. 4; helical gear No. 3 engages with lifting mechanism No. 5 and lifting mechanism No. 6; and helical gear No. 4 engages with lifting mechanism No. 7 and lifting mechanism No.

8. The lifting assembly provides fixed constraints for four degrees of freedom: up, down, left, and right.

2. The five-degree-of-freedom seamless contact locking device according to claim 1, characterized in that, In the first transmission assembly, the first flange and the first bearing are embedded in the first housing on the side close to the first motor, and the second flange and the second bearing are embedded in the other side away from the first motor. The first bearing and the second bearing jointly support the first shaft. The two pulleys on both sides of the first shaft are the first pulley and the second pulley. The first pulley and the second pulley are respectively connected to the third pulley and the fourth pulley on the smooth sections on both sides of the worm gear through the first belt and the second belt. The third bearing and the third flange are assembled on the left side of the third pulley. The fourth bearing and the fourth flange are assembled on the right side of the fourth pulley. The worm gear and the worm gear cooperate with each other, and the bearing fitted with the worm gear is a support bearing set inside the worm gear. The center of the worm gear is screwed to the screw.

3. The five-degree-of-freedom seamless contact locking device according to claim 1, characterized in that, In the lifting assembly, a first spiral gear, a second spiral gear, a third spiral gear, and a fourth spiral gear are installed on the third shaft. The third shaft has a seventh bearing and an eighth bearing at both ends for axial fixation. The first spiral gear engages with the first and second lifting mechanisms; the second spiral gear engages with the third and fourth lifting mechanisms; the third spiral gear engages with the fifth and sixth lifting mechanisms; and the fourth spiral gear engages with the seventh and eighth lifting mechanisms. The lifting mechanisms work together; Lifting mechanisms No. 1, No. 2, No. 5, and No. 6 are connected to and drive the left and right lifting plates respectively; Lifting mechanisms No. 3, No. 4, No. 7, and No. 8 are connected to and drive the upper and lower lifting plates respectively; The parts and assemblies of lifting mechanisms No. 1, No. 2, No. 5, and No. 6 are identical; The parts and assemblies of lifting mechanisms No. 3, No. 4, No. 7, and No. 8 are identical.

4. A five-degree-of-freedom seamless contact locking device according to claim 3, characterized in that, The first lifting mechanism is a lifting mechanism that restricts the left and right degrees of freedom. The first helical gear meshes with the fifth helical gear. The fifth helical gear connects the left and right friction torque couplings. The left and right friction torque couplings are splined to the left and right screws, respectively. The left and right friction torque couplings are respectively provided with left external splines and right external splines. The left and right external splines mate with left internal splines and right internal splines, respectively. The internal splines are located inside the screws on both sides. The left and right screws are screwed to the inside of the slider. The left retaining ring of the left screw is embedded in the left circular cylinder groove. The right retaining ring of the right screw is embedded in the right circular cylinder groove. The left and right circular cylinders are respectively connected to the left lifting plate and the right lifting plate.

5. A five-degree-of-freedom seamless contact locking device according to claim 3, characterized in that, The third lifting mechanism is a lifting mechanism that restricts vertical freedom. The second and sixth helical gears mesh, and the sixth helical gear connects the upper friction torque coupling and the lower friction torque coupling. The upper friction torque coupling has an upper external spline at its end, which connects to the internal spline of the upper screw. The lower friction torque coupling has a lower external spline at its end, which engages with the internal spline of the lower screw. The upper and lower screws are screwed to the slider. The smooth sections at the ends of the upper and lower screws are provided with upper and lower retaining rings, respectively. The upper and lower screws are respectively embedded in the upper and lower retaining rings of the upper and lower lifting plates, connecting the upper and lower lifting plates.

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