Electric drive screw clamping and locking mechanism

Abstract

The application discloses a kind of electric drive screw rod clamping locking mechanism, including clamping mechanism and locking mechanism;Clamping mechanism includes clamping shell and two symmetrical clamping arms, each clamping arm includes clamping base and clamping component, clamping base is connected with clamping shell, clamping component is arranged at the bottom of clamping base and is rotatably connected with clamping base;Locking mechanism includes stopper and two link mechanisms symmetrically arranged on the stopper, two ends of the stopper are arranged on the clamping base of two clamping arms respectively, and the stopper can move along the height direction of clamping base, the bottom surface of the stopper is provided with clamping surface, each link mechanism is connected with the clamping component on the same side respectively, when the stopper moves upward, the clamping component is rotated outward to unlock the clamped object by link mechanism.The application can realize the adaptive clamping and locking of different shaped objects, and meet the connection and locking between different modules.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of mechanical transmission systems and automation technology, and particularly relates to an electric drive screw clamping and locking mechanism for modular robot docking. BACKGROUND

[0002] Robot modularization is a design concept that aims to decompose a robot system into independent functional modules or components, and assemble these modules into a complete robot system within a small error range. This modular design is widely used in various application scenarios, including industrial manufacturing, service robots, medical assistance, etc., and is the core and foundation of robot technology development. In robot modularization, assembly mechanisms play a crucial role. Assembly mechanisms are components that directly perform operations such as clamping, handling, and placing on robot modules, and their design and performance directly affect the assembly quality and efficiency of the robot system. By optimizing the design of assembly mechanisms, the assembly precision and production efficiency of the robot system can be improved, thereby promoting the progress and industrial application of robot technology. Therefore, assembly mechanisms play a vital role in robot modularization and directly affect the performance and reliability of the robot system. By continuously improving the design and technology of assembly mechanisms, different application scenarios can be better met, and the widespread application and development of robot technology can be promoted.

[0003] Locking mechanisms are an important form of assembly mechanisms. Locking mechanisms are mechanical structures whose main function is to fix or restrict the relative movement of two or more components, usually used to ensure the stability, safety, and reliability of assembly. However, due to the limitations of traditional locking mechanisms on system flexibility and degrees of freedom, additional assembly steps and regular maintenance and maintenance are required, thus unable to achieve fast, accurate, stable, and automated docking functions.

[0004] However, as the robot system develops towards automation and modularity, the docking between different robot modules tends to be automated, and the flexibility and freedom of the robot system need to be ensured, so the traditional locking mechanism is difficult to meet the docking needs of the modular robot system. The previous solution is generally to adopt a mechanical connection mechanism or a magnetic attraction connection mechanism. For example, Zou Lingyun of China University of Defense Technology designed a self-locking structure of a latch and a locking disc. The locking disc locks the latch through a return spring to achieve locking, and then rotates the locking disc manually to achieve unlocking. It can better realize the locking function, but the processing precision of the latch and the locking disc is too high, and it cannot realize automation (Zou Lingyun. Modular reconfigurable robot structure design and preliminary research on automatic docking[D]. University of Defense Science and Technology, 2003.). For example, Longge of Harbin Institute of Technology designed an electric permanent magnet connection mechanism, which uses the property that the soft magnetic field is easy to change, so that the electric permanent magnet can realize state switching, thereby realizing the connection and release between different modules. In addition to the strong magnet with the same magnetic field strength but not easy to change, it realizes the switching of the magnetic field strength from nothing to something (Longge. Development of modular self-reconfigurable robot unit and docking technology research[D]. Harbin Institute of Technology, 2022. DOI:10.27061 / d.cnki.ghgdu.2022.004510). But its connection is unstable, and the shear resistance is poor, which is easy to be disturbed by external magnetic field, thereby reducing the stability of docking. SUMMARY

[0005] The present application aims to overcome the problems of poor universality, poor stability and low efficiency of existing locking mechanisms, and provides an electric drive screw rod clamping locking mechanism. The present application can realize mechanical locking, has the advantages of compact structure, small size and light weight, and can also be used to realize the clamping object function.

[0006] In order to achieve the purpose of the present application, the present application provides an electric drive screw rod clamping locking mechanism, which comprises a clamping mechanism and a locking mechanism,

[0007] The clamping mechanism is a symmetrical structure, and the clamping mechanism comprises a clamping shell and two symmetrical clamping arms. Each clamping arm comprises a clamping base and a clamping assembly. The clamping base is connected with the clamping shell, and the clamping assembly is arranged at the bottom of the clamping base and is rotationally connected with the clamping base.

[0008] The locking mechanism comprises a limiting device and two linkage mechanisms symmetrically arranged on the limiting device. The two ends of the limiting device are arranged on the clamping bases of the two clamping arms respectively, and the limiting device is movable along the height direction of the clamping base. The bottom surface of the limiting device is provided with a clamping surface. Each linkage mechanism is connected with the limiting device and the clamping assembly on the same side respectively. When the locking operation is performed, the limiting device moves downward to cooperate with the two clamping assemblies to lock the clamped object. When the limiting device moves upward, the clamping assemblies are driven by the linkage mechanisms to rotate outward to unlock the clamped object.

[0009] The two clamping bases are symmetrically arranged about the axis and are connected with the clamping shell through the threaded holes, the screw and the nut. The two clamping assemblies are symmetrically arranged about the axis and are connected with the clamping base through the through holes and the locking shaft.

[0010] Preferably, the bottom of the clamping base is provided with an inclined surface for limiting the rotation of the clamping assembly during the locking operation.

[0011] Preferably, the clamping arm further comprises a tension spring, and the clamping shell is connected with the clamping assembly through the tension spring. The tension spring plays a resetting role. After the clamped object presses the clamping assembly, the clamping assembly can be automatically reset.

[0012] Preferably, the linkage mechanism is connected with the clamping assembly through a spring or a tension spring, and the movement of the linkage mechanism can be limited.

[0013] Preferably, each linkage mechanism comprises two linkages. The two linkages of one linkage mechanism are defined as a first linkage and a third linkage, and the two linkages of the other linkage mechanism are defined as a second linkage and a fourth linkage. The two ends of the first linkage are connected with the limiting device and the third linkage through the locking shaft respectively. The two ends of the second linkage are connected with the limiting device and the fourth linkage through the locking shaft respectively. The first linkage and the second linkage are connected with the corresponding clamping assemblies through the spring or the tension spring respectively. The mounting surface of the clamping assembly, on which the spring or the tension spring is connected, is provided with a groove. The third linkage and the fourth linkage are connected with the corresponding clamping assemblies through the locking shaft respectively.

[0014] Preferably, the length of the first linkage is greater than the length of the third linkage, and the length of the second linkage is greater than the length of the fourth linkage. The limiting device and the clamping assembly are connected through two linkages with different lengths, so that the upward and downward movements of the limiting device can drive the rotation of the clamping assembly.

[0015] Preferably, the free end of the clamping assembly is a clamping surface, and the limiting device and the clamping surface of the clamping assembly are made of a material with a large friction coefficient.

[0016] Preferably, the clamping base is provided with a first guide groove and a second guide groove with a certain length and width for the upward and downward movements of the limiting device.

[0017] Preferably, the locking mechanism is a symmetrical structure, further comprising a motor, a screw rod, and a limit stop connected to the screw rod through a threaded hole, the screw rod being connected to the motor, the limit stop being embedded in the first guide groove and the second guide groove of the first clamping base and the second clamping base and being connected to the clamping assembly through a connecting rod mechanism.

[0018] Preferably, the locking mechanism further comprises a motor and a screw rod, the screw rod being connected to the motor, and the limit stop being threadedly connected to the screw rod. The rotation of the motor drives the rotation of the screw rod, thereby controlling the up-and-down movement of the limit stop.

[0019] Preferably, a groove with a certain length and width is arranged in the first clamping assembly and the second clamping assembly to meet the movement of the first connecting rod, the second connecting rod, the third connecting rod, and the fourth connecting rod.

[0020] Preferably, grooves are arranged on the clamping assembly and the clamping housing respectively for connecting the tension spring.

[0021] Preferably, grooves are arranged on the first connecting rod and the second connecting rod for connecting the clamping assembly through the tension spring.

[0022] Preferably, the bottom surface of the limit stop is provided with a clamping surface in the form of a trapezoidal groove. It can be understood that the clamping surface can be designed to adapt to different shapes and sizes of the clamped and locked objects. For example, cylindrical and square shapes, so that the mechanical locking of the butt joint structure with cylindrical and square butt joint surfaces can be achieved.

[0023] Preferably, the clamping surface of the limit stop and the clamping surface of the clamping assembly are made of rubber material.

[0024] Preferably, the free end of the clamping assembly is provided with a rounded corner capable of being pressed against the clamped object.

[0025] Preferably, the bottom of the clamping base is provided with an inclined surface for limiting the rotation of the clamping assembly.

[0026] Preferably, a groove with a certain length and width is arranged on the clamping assembly to meet the rotational movement of the first connecting rod. When the limit stop moves downward, the first connecting rod is rotated into the groove in the clamping assembly under the action of the spring force, the limit stop exerts downward force and friction force on the clamped object, and the clamping assembly cannot rotate inward due to the limitation of the inclined surface on the clamping base, so the clamping assembly is fixed and cannot rotate, thereby achieving locking.

[0027] The overall connection relationship of the electric drive screw rod clamping and locking mechanism is: the motor is fixedly connected with the screw rod; the screw rod is connected with the clamping shell and the position limiter through the threaded holes on the clamping shell and the threaded holes on the position limiter; the clamping base is fixedly connected with the clamping shell through a screw nut; the position limiter is connected with the clamping base through the first guide groove and the second guide groove arranged on the clamping base and can move up and down through the guide grooves; the clamping assembly is connected with the clamping base through a locking shaft; the clamping assembly is connected with the position limiter through the first connecting rod and the second connecting rod, and the rotation of the clamping assembly is driven by the up and down movement of the position limiter; the first connecting rod and the second connecting rod are connected through the locking shaft; the clamping assembly is connected with the clamping shell through a spring; and the second connecting rod is connected with the clamping assembly through a spring.

[0028] Compared with the prior art, the beneficial effects of the present application are at least as follows:

[0029] (1) The present application can realize adaptive clamping and locking of different shaped objects, and meet the connection and locking between different modules;

[0030] (2) The free end of the clamping assembly can be provided with a rounded corner, which can contact and extrude the clamped object, thereby realizing the clamping, locking and unlocking functions and ensuring the speed and convenience thereof;

[0031] (3) The position limiter drives the clamping assembly to move up and down through the connecting rod, and realizes the locking and unlocking functions more quickly through the extrusion of the clamping assembly and the clamped object, and the overall structure is simple, the connection is stable, and the automatic connection, locking and unlocking are easy to realize;

[0032] (4) The movement of the position limiter driven by the motor and the screw rod can realize the clamping function, the locking and unlocking functions, has great strength and ensures the speed and reliability thereof, and the overall structure is simple and compact, small in size and light in weight, and realizes light weight. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is the overall structure diagram of the electric drive screw rod clamping and locking mechanism provided by the embodiment of the present application.

[0034] Figure 2 is the structure schematic diagram of the clamping mechanism in the embodiment of the present application.

[0035] Figure 3 is the structure schematic diagram of the locking mechanism in the embodiment of the present application.

[0036] Figure 4 In the figure, (a) is the A-A sectional view in the figure (b), and (b) is the side view of the clamping mechanism in the embodiment of the present application. Figure 4 Please note to verify after modification

[0037] Figure 5Fig. 1 is a front view of the clamping mechanism in the embodiment of the present application, and Fig. 2 is a B-B sectional view of Fig. 1.

[0038] Figure 6 Fig. 3 is an A-A sectional view of Fig. 2, and Fig. 4 is a side view of the locking mechanism in the embodiment of the present application.

[0039] Figure 7 Fig. 5 is a B-B sectional view of Fig. 4, and Fig. 6 is a front view of the locking mechanism in the embodiment of the present application.

[0040] Fig. 1 is a front view of the clamping mechanism in the embodiment of the present application, and Fig. 2 is a B-B sectional view of Fig. 1. DETAILED DESCRIPTION

[0041] The specific embodiments of the present application are further described in detail below with reference to the accompanying drawings, which should be considered in the context of the specification. It should be noted that the specific embodiments are merely illustrative and are not intended to limit the present application.

[0042] Referring to the accompanying drawings Figure 1 The present application provides an electric drive screw clamping and locking mechanism, which comprises a clamping mechanism 1 and a locking mechanism 2, and can be applied to the self-adaptive clamping and locking of various shapes of butt joint surfaces such as cylindrical and square surfaces.

[0043] Referring to the accompanying drawings Figure 2, the clamping mechanism 1 is a symmetrical structure, comprising a clamping shell 1-1, a first clamping arm 1-2 and a second clamping arm 1-3, the first clamping arm 1-2 comprises a first clamping base 1-2-1, a first nut 1-2-2, a first screw 1-2-3, a first tension spring 1-2-4, a second tension spring 1-2-5, a first clamping assembly 1-2-6, a first locking shaft 1-2-7, a first through hole 1-2-8 and a first guide slot 1-2-9, the second clamping arm 1-3 comprises a second clamping base 1-3-1, a second nut 1-3-2, a second screw 1-3-3, a third tension spring 1-3-4, a fourth tension spring 1-3-5, a second clamping assembly 1-3-6, a second locking shaft 1-3-7, a second through hole 1-3-8 and a second guide slot 1-3-9, the first clamping base 1-2-1 and the second clamping base 1-3-1 are symmetrically arranged about an axis, the first clamping base 1-2-1 is fixedly connected with the clamping shell 1-1 through cooperation of the first nut 1-2-2 and the first screw 1-2-3, and the second clamping base 1-3-1 is connected through cooperation of the second nut 1-3-2 and the second screw 1-3-3; the first clamping assembly 1-2-6 is connected with the first clamping base 1-2-1 through the first locking shaft 1-2-7; and the second clamping assembly 1-3-6 is connected with the second clamping base 1-3-1 through the second locking shaft 1-3-7.

[0044] In the present application, referring to the accompanying drawings Figure 3 , the locking mechanism 2 is a symmetrical structure, comprising a motor 2-1, a lead screw 2-2, a limit stop 2-3, a third locking shaft 2-4-1, a fourth locking shaft 2-4-2, a first connecting rod 2-5-1, a second connecting rod 2-5-2, a fifth locking shaft 2-6-1, a sixth locking shaft 2-6-2, a third connecting rod 2-7-1, a fourth connecting rod 2-7-2, a seventh locking shaft 2-8-1 and an eighth locking shaft 2-8-2, the motor 2-1 is connected with the lead screw 2-2 through a coupling 2-9, the lead screw 2-2 is connected with the limit stop 2-3 through a threaded hole in the limit stop 2-3, the limit stop 2-3 is connected with the first connecting rod 2-5-1 through the third locking shaft 2-4-1, the limit stop 2-3 is connected with the second connecting rod 2-5-2 through the fourth locking shaft 2-4-2, the first connecting rod 2-5-1 is connected with the third connecting rod 2-7-1 through the fifth locking shaft 2-6-1, and the second connecting rod 2-5-2 is connected with the fourth connecting rod 2-7-2 through the sixth locking shaft 2-6-2.

[0045] In the application, the first tension spring 1-2-4 is connected with the first clamping assembly 1-2-6 and the first clamping base 1-2-1 through a groove; the second tension spring 1-2-5 is connected with the first clamping assembly 1-2-6 and the first connecting rod 2-5-1 through a groove; the third tension spring 1-3-4 is connected with the second clamping assembly 1-3-6 and the second clamping base 1-3-1 through a groove; the fourth tension spring 1-3-5 is connected with the second clamping assembly 1-3-6 and the second connecting rod 2-5-2 through a groove; the third connecting rod 2-7-1 is connected with the first clamping assembly 1-2-6 in the clamping mechanism 1 through the first through hole 1-2-8 in the clamping mechanism 1 and the seventh locking shaft 2-8-1; the fourth connecting rod 2-7-2 is connected with the second clamping assembly 1-3-6 in the clamping mechanism 1 through the second through hole 1-3-8 in the clamping mechanism 1 and the eighth locking shaft 2-8-2; the first clamping base 1-2-1 and the second clamping base 1-3-1 are respectively provided with the first guide groove 1-2-9 and the second guide groove 1-3-9; the stopper 2-3 moves up and down through the first guide groove 1-2-9 in the first clamping base 1-2-1 and the second guide groove 1-3-9 in the second clamping base 1-3-1 to realize the locking function.

[0046] In some embodiments of the application, the lengths of the first connecting rod 2-5-1 and the second connecting rod 2-5-2 are the same, the lengths of the third connecting rod 2-7-1 and the fourth connecting rod 2-7-2 are the same, and the lengths of the first connecting rod 2-5-1 and the second connecting rod 2-5-2 are greater than the lengths of the third connecting rod 2-7-1 and the fourth connecting rod 2-7-2. The stopper 2-3 is connected with the clamping assembly through two connecting rods with different lengths, so that the up and down movement of the stopper 2-3 drives the rotation of the clamping assembly.

[0047] In some embodiments of the application, the holes for installing the locking shafts are through holes, and the hole for installing the screw rod is a threaded hole.

[0048] In some embodiments of the application, the whole is made of aluminum alloy material, which can greatly enhance the structural strength while realizing light weight.

[0049] In some embodiments of the application, the free end of the first clamping assembly 1-2-6 and the second clamping assembly 1-3-6 is provided with a rounded corner.

[0050] The clamping surface of the stopper and the clamping surface of the clamping assembly are made of a material with a large friction coefficient, so as to provide greater friction and make the clamping more stable. In some embodiments of the application, the clamping surface of the stopper 2-3 is wrapped with rubber, and the rounded corner of the first clamping assembly 1-2-6 and the second clamping assembly 1-3-6 is also wrapped with rubber. In other embodiments, other materials with a large friction coefficient can also be used.

[0051] A first inclined surface and a second inclined surface are respectively arranged at the end of the first clamping base and the second clamping base below the first guide slot 1-2-9 and the second guide slot 1-3-9, so that when the clamping assembly rotates inwardly (i.e. Figure 4 When the first clamping assembly rotates clockwise and the second clamping assembly rotates counterclockwise as shown in the figure, the inclined surfaces arranged thereon cannot limit the rotation of the clamping assembly to lock the first clamping assembly and the second clamping assembly.

[0052] The overall connection relationship of the electric drive screw rod clamping and locking mechanism provided by the foregoing embodiments of the present application is as follows: the clamping mechanism 1 and the locking mechanism 2 are connected through the threaded hole provided in the clamping shell 1-1, and the limiter 2-3 is connected with the first guide groove 1-2-9 and the second guide groove 1-3-9 through the protrusions on two sides, respectively; the first clamping base 1-2-1 and the second clamping base 1-3-1 are both installed on the clamping shell 1-1 and are fixed by the first nut 1-2-2 and the first screw 1-2-3 and the second nut 1-3-2 and the second screw 1-3-3, respectively; the first clamping assembly 1-2-6 and the second clamping assembly 1-3-6 are installed on the first clamping base 1-2-1 and the second clamping base 1-3-1, respectively, and are fixed by the first locking shaft 1-2-7 and the second locking shaft 1-3-7, respectively, and can rotate; the first tension spring 1-2-4 connects the first clamping base 1-2-1 and the first clamping assembly 1-2-6 through the grooves in the first clamping base 1-2-1 and the first clamping assembly 1-2-6; the third tension spring 1-3-4 connects the second clamping base 1-3-1 and the second clamping assembly 1-3-6 through the grooves in the second clamping base 1-3-1 and the second clamping assembly 1-3-6; the motor 2-1 is connected with the screw rod 2-2 through the connecting shaft 2-9; the screw rod 2-2 is connected with the limiter 2-3 through the threaded hole in the center of the limiter 2-3; the first connecting rod 2-5-1 is connected with the limiter 2-3 and is fixed by the third locking shaft 2-4-1 and can rotate relatively; the first connecting rod 2-5-1 is connected with the third connecting rod 2-7-1 and is fixed by the fifth locking shaft 2-6-1 and can rotate relatively; the second connecting rod 2-5-2 is connected with the limiter 2-3 and is fixed by the fourth locking shaft 2-4-2 and can rotate relatively; the second connecting rod 2-5-2 is connected with the fourth connecting rod 2-7-2 and is fixed by the sixth locking shaft 2-6-2 and can rotate relatively; the third connecting rod 2-7-1 is connected with the first clamping assembly 1-2-6 and is fixed by the seventh locking shaft 2-8-1 through the first through hole 1-2-8; the fourth connecting rod 2-7-2 is connected with the second clamping assembly 1-3-6 and is fixed by the eighth locking shaft 2-8-2 through the second through hole 1-3-8; the second tension spring 1-2-5 connects the first clamping assembly 1-2-6 and the first connecting rod 2-5-1 through the grooves in the first clamping assembly 1-2-6 and the first connecting rod 2-5-1; and the fourth tension spring 1-3-5 connects the second clamping assembly 1-3-6 and the second connecting rod 2-5-2 through the grooves in the second clamping assembly 1-3-6 and the second connecting rod 2-5-2.

[0053] The working process of the electric drive screw rod clamping and locking mechanism provided by the embodiment of the application is as follows: firstly, the electric drive screw rod clamping and locking mechanism is assembled as shown in the figure, and the electric drive screw rod clamping mechanism is installed on the docking platform; when docking, the mechanism vertically contacts the clamped object and moves towards the clamped object; when the clamped object (such as a cylinder) contacts the first clamping assembly 1-2-6 and the second clamping assembly 1-3-6, the docking cylinder is extruded on the fillets of the first clamping assembly 1-2-6 and the second clamping assembly 1-3-6, so that the first clamping assembly 1-2-6 and the second clamping assembly 1-3-6 are respectively rotated towards the directions of the first clamping base 1-2-1 and the second clamping base 1-3-1; when the docking cylinder is between the first guide groove 1-2-9 and the second guide groove 1-3-9, the docking cylinder no longer contacts the first clamping assembly 1-2-6 and the second clamping assembly 1-3-6, the first clamping assembly 1-2-6 is reset by the tension of the first tension spring 1-2-4, and the second clamping assembly 1-3-6 is reset by the tension of the third tension spring 1-3-4; at this time, the motor 2-1 is loaded with power, the screw rod 2-2 is rotated through the connecting shaft 2-9, the limit stop 2-3 moves downwards, the first connecting rod 2-5-1 moves in the direction of the groove arranged on the first clamping assembly 1-2-6 under the tension of the second tension spring 1-2-5, the second connecting rod 2-5-2 moves in the direction of the groove arranged on the second clamping assembly 1-3-6 under the tension of the fourth tension spring 1-3-5, so that the limit stop 2-3 can continuously move downwards until contacting the docking cylinder, the docking cylinder moves downwards under the downward pressure and contacts the first clamping assembly 1-2-6 and the second clamping assembly 1-3-6 again, however, the first clamping assembly 1-2-6 and the second clamping assembly 1-3-6 are locked by the inclined surface arranged below the first guide groove 1-2-9 and the second guide groove 1-3-9 and located at the ends of the first clamping base and the second clamping base, the first clamping assembly 1-2-6 and the second clamping assembly 1-3-6 remain unchanged, the docking cylinder cannot move up and down, and the limit stop 2-3 has a large friction coefficient due to the friction coefficient of the clamping surface being large (such as rubber), a large pressure is applied to the docking cylinder, so that the docking cylinder cannot move forward, backward, leftward and rightward, and the locking function is realized.When the docking cylinder is unlocked and released, the motor 2-1 is powered, the shaft 2-9 drives the screw rod 2-2 to rotate, the position limiter 2-3 moves upward, the first connecting rod 2-5-1 and the second connecting rod 2-5-2 move upward under the action of the position limiter 2-3, the third connecting rod 2-7-1 and the fourth connecting rod 2-7-2 move upward under the action of the first connecting rod 2-5-1 and the second connecting rod 2-5-2 respectively, because the third connecting rod 2-7-1 and the fourth connecting rod 2-7-2 are connected with the first clamping assembly 1-2-6 and the second clamping assembly 1-3-6 respectively, so the third connecting rod 2-7-1 and the fourth connecting rod 2-7-2 move upward to drive the first clamping assembly 1-2-6 and the second clamping assembly 1-3-6 to rotate to the outside of the locking mechanism (that is, the first clamping assembly 1-2-6 rotates counterclockwise and the second clamping assembly 1-3-6 rotates clockwise under the action of the first connecting rod 2-5-1 and the second connecting rod 2-5-2 respectively), at this time, the space between the two free ends (the rounded ends of the foregoing embodiment) of the first clamping assembly 1-2-6 and the second clamping assembly 1-3-6 increases, so that the docking cylinder can move away from the clamping mechanism and the locking mechanism, and the unlocking is realized. Figure 4

[0054] The device provided by the foregoing embodiment of the application is suitable for clamping and locking various shaped products such as cylindrical products and square products, has stronger applicability and simpler and more compact design, realizes the clamping and locking functions, provides a feasible method for realizing modular connection, is realized by cooperation of the motor and the screw rod, has strong in-place information feedback, strong clamping and locking capacity, is safe and efficient, is used for clamping and carrying various shaped objects such as cylindrical objects and square objects, for example, oil pipes, rod-shaped materials and wooden boxes, has greater adaptability and compatibility, can also be used as a connecting mechanism for modular connection, improves the expansibility of the application, and improves the application range and application value.

[0055] The foregoing embodiments of the application are merely examples for clearly illustrating the application, and are not intended to limit the implementation modes of the application. Based on the above description, those skilled in the art can make other different forms of changes or modifications. All the implementation modes do not need to be exhausted here. Any modification, equivalent replacement and improvement made within the spirit and principle of the application shall be included in the protection scope of the claims of the application.​

Claims

1. An electrically driven screw clamp locking mechanism, characterized in that, The clamping mechanism comprises a clamping housing and two symmetrical clamping arms, each of which comprises a clamping base and a clamping component. The locking mechanism comprises a limiting device and two symmetrical connecting rod mechanisms arranged on the limiting device. The bottom surface of the limiting device is provided with a clamping surface. The bottom of the clamping base is provided with an inclined surface for limiting the rotation of the clamping component during locking operation. Each clamping arm further comprises a tension spring, and the clamping housing is connected with the clamping component through the tension spring, for resetting the clamping component.

2. An electrically driven screw clamp locking mechanism according to claim 1, wherein, The connecting rod mechanism is connected with the clamping component through a spring or a tension spring.

3. An electrically driven screw clamp locking mechanism according to claim 1, wherein, Each connecting rod mechanism comprises two connecting rods.

4. An electrically driven screw clamp locking mechanism according to claim 3, wherein, The two ends of the first connecting rod are connected with the limiting device and the third connecting rod through locking shafts, and the two ends of the second connecting rod are connected with the limiting device and the fourth connecting rod through locking shafts.

5. An electrically driven screw clamp locking mechanism according to claim 1, wherein, The length of the first connecting rod is greater than that of the third connecting rod, and the length of the second connecting rod is greater than that of the fourth connecting rod.

6. An electrically driven screw clamp locking mechanism according to claim 1, wherein, The end of the clamping component is provided with a round corner.

7. An electrically driven screw clamp locking mechanism according to claim 1, wherein The free end of the clamping component is a clamping surface.

8. An electrically driven screw clamp locking mechanism according to any one of claims 1 to 7, wherein, The limiting device and the clamping surface of the clamping component use materials with large friction coefficients. The locking mechanism further comprises a motor and a lead screw driven by the motor, and the limiting device is threadedly connected with the lead screw to move up and down under the driving of the motor. Two clamping bases of the two clamping arms are each provided with a guide groove in the height direction, and the two ends of the limiting device are slidingly arranged in the two guide grooves.

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