Foot restraint extravehicular transfer device for on-orbit servicing

Abstract

The present application relates to the technical fields of on-orbit servicing of spacecraft, and particularly relates to an extravehicular transfer device for foot limiter cabin on-orbit servicing, which comprises an extension rod and a clamping mechanism; the extension rod is used for extending the transmission distance; the clamping mechanism is used for clamping the handle of the foot limiter; the clamping mechanism comprises a clamping seat, two clamping jaws, a sliding shaft, a first locking part and a second locking part; the clamping seat is fixedly installed at one end of the extension rod; the two clamping jaws are rotatably installed at the end of the clamping seat away from the extension rod; the sliding shaft is axially slidably installed in the clamping seat, and the end away from the extension rod is respectively hinged to each clamping jaw; the first locking part is installed on the clamping seat and can be actuated to restrict the sliding shaft from sliding along the axial direction of the clamping seat towards the clamping jaw or release the restriction on the sliding shaft; and the second locking part is installed at the end of the extension rod close to the clamping seat and can be actuated to restrict the first locking part from being actuated or release the restriction on the first locking part.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of spacecraft on-orbit maintenance, and particularly relates to a foot limiter extravehicular transfer device for on-orbit maintenance. BACKGROUND

[0002] With the space station of China entering the application and development stage, the core cabin solar wing on-orbit transfer task is steadily advancing. When the spacecraft is stably running on-orbit, there is a working condition that the solar wing needs to be installed on the truss. In the process of installing the solar wing on the truss by the astronauts, the foot position of the astronaut in the weightless state needs to be limited by the foot limiter, so that the maintenance work can be carried out more smoothly. Since the straight-line distance between the astronaut located at the mechanical arm and the astronaut located at the truss is far, the foot limiter cannot be directly transmitted through the arm. Therefore, how to complete the long-distance transmission of the foot limiter in the weightless state has become a technical problem to be solved by the technical personnel in the field. SUMMARY

[0003] The present application provides a foot limiter extravehicular transfer device for on-orbit maintenance, which solves the problem of how to complete the long-distance transmission of the foot limiter in the weightless state.

[0004] The present application provides a foot limiter extravehicular transfer device for on-orbit maintenance, which solves the problem of how to complete the long-distance transmission of the foot limiter in the weightless state.

[0005] The extension rod;

[0006] The clamping mechanism is installed at one end of the extension rod and is used for clamping the handle of the foot limiter; the clamping mechanism comprises:

[0007] The clamping seat is fixedly installed at one end of the extension rod;

[0008] The clamping jaw is two, which is rotatably installed at the end of the clamping seat away from the extension rod; the two clamping jaws form a clamping cavity matched with the handle of the foot limiter;

[0009] The sliding shaft is axially slidably installed in the clamping seat, and the end away from the extension rod is hingedly connected with each clamping jaw;

[0010] The first locking part is installed on the clamping seat and can act to limit the sliding shaft from sliding along the axis of the clamping seat towards the clamping jaw or release the limitation on the sliding shaft;

[0011] The second locking part is installed at the end of the extension rod close to the clamping seat and can act to limit the first locking part from acting or release the limitation on the first locking part;

[0012] When the two clamping jaws rotate towards each other to clamp the handle of the foot limiter, the sliding shaft is driven to slide along the clamping seat in the axial direction away from the clamping jaws, the first locking part is capable of being actuated to restrict the sliding of the sliding shaft along the clamping seat in the axial direction towards the clamping jaws, and the second locking part is capable of being actuated to restrict the actuation of the first locking part; when the second locking part releases the restriction on the first locking part, the first locking part is capable of being actuated to release the restriction on the sliding shaft, and the sliding shaft is capable of sliding along the clamping seat in the axial direction towards the clamping jaws to drive the two clamping jaws to rotate away from each other to release the handle of the foot limiter.

[0013] In some embodiments, the middle part of the sliding shaft is provided with a limiting ring;

[0014] The first locking part comprises:

[0015] The locking members are two and are rotatably installed on opposite sides of the middle part of the clamping seat away from the one end of the extension rod, and are respectively provided with hooks matched with the limiting ring; one of the locking members is inwardly bent near the one end of the extension rod to form a pressing part;

[0016] The torsion springs are two; the lower part of one of the locking members is connected to the clamping seat through one of the torsion springs, and the lower part of the other locking member is connected to the clamping seat through the other torsion spring;

[0017] The pressing part is capable of pressing on the second locking part to restrict the rotation of the two locking members away from each other; when the pressing part and the second locking part are separated from each other, the two locking members are capable of rotating away from each other to make the hooks of the two locking members separated from the limiting ring, and the sliding shaft is capable of sliding along the clamping seat in the axial direction towards the clamping jaws; when the two clamping jaws rotate towards each other, the sliding shaft is driven to slide along the clamping seat in the axial direction away from the clamping jaws, and the two locking members are capable of rotating towards each other by means of the two torsion springs to make the hooks of the two locking members respectively press on the end face of the limiting ring away from the extension rod to restrict the sliding of the sliding shaft along the clamping seat in the axial direction towards the clamping jaws.

[0018] In some embodiments, the second locking part comprises:

[0019] The rotating shaft is rotatably installed in the interior of the one end of the extension rod near the clamping seat; the rotating shaft is provided with a pressure receiving part; when the rotating shaft rotates, the pressure receiving part is capable of contacting or separating from the pressing part.

[0020] In some embodiments, the second locking part further comprises:

[0021] The push plates are two and are respectively installed on opposite sides of the rotating shaft.

[0022] In some embodiments, the one end of the extension rod near the clamping seat is provided with a connecting seat; the middle part of the connecting seat is provided with an anti-disengagement groove;

[0023] The second locking part further comprises:

[0024] The first anti-dropping piece is installed on one side of the rotating shaft and is matched with the anti-dropping groove.

[0025] In some embodiments, a limiting groove is arranged on the side wall of the rotating shaft.

[0026] The second locking part further comprises:

[0027] The jackscrews are two and are respectively installed on opposite sides of one end of the extension rod close to the clamping seat.

[0028] The jacking springs are two and are respectively sleeved on the jackscrews in one-to-one correspondence.

[0029] The jacking balls are two and are respectively installed on one end of the jacking springs away from the jackscrews in one-to-one correspondence; when the rotating shaft rotates, the two jacking balls are alternately located in the limiting groove.

[0030] In some embodiments, a supporting seat is arranged inside one end of the clamping seat close to the extension rod; a gap hole is formed in the middle of the supporting seat for the sliding shaft to pass through.

[0031] The clamping mechanism further comprises:

[0032] The driving spring is sleeved on the sliding shaft, one end of which abuts against one end face of the limiting ring close to the extension rod, and the other end of which abuts against one end face of the supporting seat away from the extension rod.

[0033] In some embodiments, the clamping mechanism further comprises:

[0034] The second anti-dropping piece is installed on one end of the sliding shaft close to the extension rod.

[0035] In some embodiments, anti-dropping protrusions are respectively arranged on the inner walls of the two clamping jaws.

[0036] In some embodiments, baffles are respectively arranged on opposite sides of one end of the clamping seat away from the extension rod.

[0037] The beneficial effects of the present application are as follows: the on-orbit maintenance foot limiter extravehicular transfer device of the present application is provided with an extension rod and a clamping mechanism, the extension rod is used for extending the transmission distance, and the clamping mechanism is used for clamping the handle of the foot limiter. When the astronauts located at the mechanical arm transmit the foot limiter to the astronauts located at the truss, the long-distance transmission task of the foot limiter can be completed by means of the on-orbit maintenance foot limiter extravehicular transfer device, and the reliability and safety of the transmission task are ensured. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 is a structural schematic diagram of some specific embodiments of the on-orbit maintenance foot limiter extravehicular transfer device of the present application.

[0039] Figure 2is Figure 1 Structure diagram of some specific embodiments of the clamping mechanism in the extravehicular transfer device for the foot limiter of on-orbit maintenance is shown in the figure.

[0040] Figure 3 is Figure 2 Structure diagram of the clamping mechanism when releasing the foot limiter is shown in the figure.

[0041] Figure 4 is Figure 2 Structure diagram of the clamping mechanism when clamping the foot limiter is shown in the figure.

[0042] Figure 5 is Figure 1 Structure diagram of some specific embodiments of the second locking part of the clamping mechanism in the extravehicular transfer device for the foot limiter of on-orbit maintenance is shown in the figure.

[0043] Figure 6 is Figure 1 The cross-sectional view of the clamping mechanism in the extravehicular transfer device for the foot limiter of on-orbit maintenance is shown in the figure.

[0044] In the drawings, 110, extension rod; 111, connecting seat; 112, adapter; 120, clamping mechanism; 121, clamping seat; 1211, support seat; 1212, baffle; 1213, mounting plate; 122, clamping jaw; 1221, anti-dropping protrusion; 123, sliding shaft; 1231, limiting ring; 124, first locking part; 1241, locking piece; 12411, hook; 12412, pressing part; 1242, torsional spring; 125, second locking part; 1251, rotating shaft; 12511, pressure receiving part; 1252, push piece; 1253, first anti-dropping piece; 1254, jackscrew; 1255, jacking spring; 1256, jacking ball; 126, driving spring; 127, second anti-dropping piece. DETAILED DESCRIPTION

[0045] The technical solutions of the present application will be described clearly and completely below in conjunction with embodiments. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0046] As described in the background, there are working conditions that require the installation of solar wings on the truss when the spacecraft is in stable operation in orbit. During the process of installing the solar wings on the truss by astronauts, the foot limiters are used to limit the position of the feet of astronauts in weightlessness, so that the maintenance work can be carried out more smoothly. Since the straight-line distance between the astronaut at the mechanical arm and the astronaut at the truss is far, the foot limiter cannot be directly transmitted by the arm. Therefore, how to complete the long-distance transmission of the foot limiter in a weightless state has become a technical problem to be solved by those skilled in the art.

[0047] It should be noted that the foot limiter for on-orbit maintenance has a handle in the form of a "T" structure to facilitate the gripping of the human hand. The human hand holding the handle of the foot limiter can complete the short-distance transmission.

[0048] To solve the above problems, with reference to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 , the present application provides an extravehicular transfer device for a foot limiter for on-orbit maintenance, comprising an extension rod 110 and a clamping mechanism 120. The extension rod 110 is used to extend the transmission distance. The clamping mechanism 120 is installed at one end of the extension rod 110 and is used to clamp the handle of the foot limiter. When the handle of the foot limiter is clamped by the clamping mechanism 120, it can move with the clamping mechanism 120. The clamping mechanism 120 comprises a clamping seat 121, two clamping jaws 122, a sliding shaft 123, a first locking part 124 and a second locking part 125. The clamping seat 121 is fixedly installed at one end of the extension rod 110. The two clamping jaws 122 are rotatably installed at the end of the clamping seat 121 away from the extension rod 110. A clamping cavity adapted to the handle of the foot limiter is formed between the two clamping jaws 122. The sliding shaft 123 is axially slidably installed in the clamping seat 121, and the end away from the extension rod 110 is hingedly connected to each clamping jaw 122. The first locking part 124 is installed on the clamping seat 121 and can act to restrict or release the sliding shaft 123 from sliding along the axis of the clamping seat 121 towards the clamping jaw 122. The second locking part 125 is installed at the end of the extension rod 110 close to the clamping seat 121 and can act to restrict or release the first locking part 124 from acting.

[0049] When the spacecraft is in stable operation in orbit, the process and principle of long-distance transmission of the foot limiter by the astronaut in weightlessness are as follows:

[0050] Firstly, the astronaut's hand at the mechanical arm drives the two clamping jaws 122 to rotate towards each other to clamp the handle of the foot limiter. In this process, the two clamping jaws 122 drive the sliding shaft 123 to slide along the clamping seat 121 axially away from the clamping jaws 122, the first locking part 124 can be actuated to limit the sliding shaft 123 from sliding along the clamping seat 121 axially towards the clamping jaws 122, and the sliding shaft 123 is locked once to prevent the foot limiter from being separated from the clamping jaws 122. Then, the astronaut's hand at the mechanical arm drives the second locking part 125 to be actuated to limit the first locking part 124 from being actuated, and the second locking of the sliding shaft 123 is completed to prevent the foot limiter from being separated from the clamping jaws 122. After that, the astronaut at the mechanical arm moves the clamping mechanism 120 and the extension rod 110 towards the astronaut at the truss, and the foot limiter moves stably with the clamping mechanism 120. When the astronaut's hand at the truss contacts the foot limiter, the astronaut's hand at the truss drives the second locking part 125 to be actuated to release the limitation of the first locking part 124, so as to release the second locking state. Then, the astronaut's hand at the truss drives the first locking part 124 to be actuated again to release the first locking state. The actuated first locking part 124 releases the limitation of the sliding shaft 123, and the sliding shaft 123 can slide along the clamping seat 121 axially towards the clamping jaws 122 to drive the two clamping jaws 122 to rotate away from each other to release the handle of the foot limiter. When the astronaut at the mechanical arm delivers the foot limiter to the astronaut at the truss, the long-distance delivery task of the foot limiter can be smoothly completed by means of the foot limiter extravehicular transfer device for on-orbit maintenance, and the reliability and safety of the delivery task are ensured.

[0051] Preferably, two sliding grooves are arranged on opposite sides of the end of the clamping seat 121 away from the extension rod 110. The end of the two clamping jaws 122 close to the sliding shaft 123 is respectively provided with a sliding pin. The two sliding pins can slide along the corresponding sliding grooves and rotate to enable the two clamping jaws 122 to rotate towards each other or away from each other.

[0052] Specifically, in the exemplary embodiment, reference is made to Figure 6A limiting ring 1231 is arranged at the middle of the sliding shaft 123. The first locking part 124 comprises two locking members 1241 and two torsion springs 1242. The two locking members 1241 are rotatably arranged on the opposite sides of the middle of the clamping seat 121, and are respectively provided with a hook 12411 adapted to the limiting ring 1231 at the end away from the extension rod 110. The one locking member 1241 is inwardly bent to form a pressing part 12412 near the end away from the extension rod 110. The lower part of the one locking member 1241 is connected to the clamping seat 121 through one torsion spring 1242, and the lower part of the other locking member 1241 is connected to the clamping seat 121 through the other torsion spring 1242. Since the two torsion springs 1242 are respectively arranged at the lower parts of the corresponding locking members 1241, the effective pressing area of the locking members 1241 is reduced, thereby reducing the risk of accidental opening. The pressing part 12412 can press against the second locking part 125 to limit the reverse rotation of the two locking members 1241. When the human hand drives the second locking part 125 to move, the pressing part 12412 can be separated from the second locking part 125. At this time, the human hand drives the two locking members 1241 to rotate reversely, so that the hooks 12411 of the two locking members 1241 are separated from the limiting ring 1231, and the sliding shaft 123 slides along the axial direction of the clamping seat 121 towards the clamping jaw 122. It should be noted that the pressing force for driving the two locking members 1241 to rotate reversely is not more than 88N, and the torsion force of the torsion spring 1242 is not more than 50N. When the human hand is separated from the two locking members 1241, the force for restoring the deformation of the torsion spring 1242 drives the hooks 12411 of the two locking members 1241 to press against the side wall of the limiting ring 1231. When the human hand drives the two clamping jaws 122 to rotate towards each other to clamp the handle of the foot limiting device, the two clamping jaws 122 drive the sliding shaft 123 to slide along the axial direction of the clamping seat 121 away from the clamping jaw 122, and the force for restoring the deformation of the two torsion springs 1242 drives the two locking members 1241 to rotate towards each other, so that the hooks 12411 of the two locking members 1241 press against the end face of the limiting ring 1231 away from the extension rod 110, to limit the sliding of the sliding shaft 123 along the axial direction of the clamping seat 121 towards the clamping jaw 122.

[0053] Preferably, the side wall of the limiting ring 1231 is provided with an anti-slip groove adapted to the hook 12411, to avoid the relative sliding between the limiting ring 1231 and the hook 12411.

[0054] Preferably, the material of each locking member 1241 is different from that of the sliding shaft 123, to reduce the risk of cold welding.

[0055] Preferably, the end of each locking member 1241 away from the extension rod 110 is arc-shaped, to prevent the finger from slipping off.

[0056] Preferably, the limiting ring 1231 is in a circular ring structure, a square ring structure, or a cross section of the limiting ring 1231 along the axial direction is in an inverted trapezoidal structure.

[0057] Specifically, in the exemplary embodiment, the second locking part 125 includes a rotating shaft 1251, two push plates 1252, a first anti-falling part 1253, two jackscrews 1254, two pre-tightening springs 1255, and two pre-tightening balls 1256. The rotating shaft 1251 is rotatably installed in the inner portion of the extension rod 110 near one end of the clamping seat 121. A pressure receiving portion 12511 is arranged on the rotating shaft 1251. When the rotating shaft 1251 rotates, the pressure receiving portion 12511 can be in contact with or separated from the pressure receiving portion 12412. The two push plates 1252 are respectively installed on opposite sides of the rotating shaft 1251. The human hand pushes the push plates 1252 to make the rotating shaft 1251 rotate. The clamping seat 121 near one end of the extension rod 110 is provided with a mounting plate 1213, and the extension rod 110 near one end of the clamping seat 121 is provided with a connecting seat 111. The mounting plate 1213 and the connecting seat 111 can be fixedly connected by bolts to fixedly connect the clamping seat 121 and the extension rod 110. The mounting plate 1213 and the connecting seat 111 increase the contact area when the clamping seat 121 and the extension rod 110 are connected, thereby improving the stability of the connection. A scale line is arranged on the outer periphery of the mounting plate 1213. An end of each push plate 1252 away from the rotating shaft 1251 is bent towards the extension rod 110 to form an indicating needle, so as to facilitate the determination of whether the rotating shaft 1251 is rotated to the position. The connecting seat 111 is provided with an anti-falling groove in the middle. The first anti-falling part 1253 is installed on one side of the rotating shaft 1251 and matched with the anti-falling groove, so as to prevent the rotating shaft 1251 from falling into the extension rod 110. A limiting groove is arranged on the side wall of the rotating shaft 1251. The two jackscrews 1254 are respectively installed on opposite sides of one end of the extension rod 110 near the clamping seat 121. The two pre-tightening springs 1255 are sleeved on the jackscrews 1254 one by one. The two pre-tightening balls 1256 are installed on one end of the pre-tightening springs 1255 away from the jackscrews 1254 one by one. The initial pre-tightening force of the pre-tightening balls 1256 on the rotating shaft 1251 can be adjusted by rotating the jackscrews 1254. The initial pre-tightening force is about 10N-50N. When the rotating shaft 1251 rotates, the two pre-tightening balls 1256 are alternately located in the limiting groove to realize gear damping. In addition, a fan-shaped groove can be arranged on the connecting seat 111 to limit the rotation angle of the rotating shaft 1251. Each pre-tightening ball 1256 can be an iron ball, a steel ball, or a copper ball.

[0058] Specifically, in the exemplary embodiment, the clamping seat 121 is internally provided with a support seat 1211 near one end of the extension rod 110. The middle part of the support seat 1211 is formed with a clearance hole for the sliding shaft 123 to pass through. The clamping mechanism 120 further comprises a driving spring 126 and a second anti-disengagement piece 127. The driving spring 126 is sleeved on the sliding shaft 123, one end of which abuts against one end face of the limiting ring 1231 near the extension rod 110, and the other end of which abuts against one end face of the support seat 1211 away from the extension rod 110. When the two hooks 12411 of the two locking pieces 1241 abut against the one end face of the limiting ring 1231 away from the extension rod 110, the driving spring 126 is in a compressed state, and when the two hooks 12411 of the two locking pieces 1241 are disengaged from the limiting ring 1231, the sliding shaft 123 is driven to slide along the axial direction of the clamping seat 121 towards the clamping jaw 122 by the force of the driving spring 126 recovering deformation. The second anti-disengagement piece 127 is detachably installed on one end of the sliding shaft 123 near the extension rod 110, so as to avoid that the sliding shaft 123 moves too much when moving towards the clamping jaw 122 and disengages from the clamping seat 121.

[0059] Preferably, the second anti-disengagement piece 127 is a screw, and correspondingly, a threaded hole is arranged on one end of the sliding shaft 123 near the extension rod 110, so as to facilitate the disassembly and assembly of the second anti-disengagement piece 127.

[0060] Preferably, the inner walls of the two clamping jaws 122 are respectively provided with anti-disengagement protrusions 1221 matched with the grooves on the handle of the foot limiter, which can effectively prevent the handle of the foot limiter from disengaging from the clamping jaw 122, and improve the stability and reliability of clamping.

[0061] Preferably, the opposite sides of one end of the clamping seat 121 away from the extension rod 110 are respectively provided with baffles 1212, so as to prevent the slide pin from disengaging from the slide groove.

[0062] Preferably, the cross section of the extension rod 110 is a square structure, and one end of the extension rod 110 away from the clamping mechanism 120 is provided with an adapter 112, so as to be connected with a universal handle. The universal handle is used for the human hand to hold, so as to facilitate the operation of the extension rod 110. The extension rod 110 is chamfered on the periphery, so as to prevent scratching the space suit. In addition, the extension rod 110 can be hung with an extravehicular safety belt. The profile of the clamping cavity formed between the two clamping jaws 122 can be matched with the cross section of the handle of the foot limiter, or matched with the cross section of the handrail of the in-cabin operation table.

[0063] In the description of the application, it is to be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0064] In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", etc. can explicitly or implicitly include at least one of the features. In the description of the application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0065] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or communicate with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0066] In the present application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0067] Although the embodiments of the present application have been shown and described above, it is to be understood that the above embodiments are exemplary and cannot be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. An EVA device for an EVA foot restraint for on-orbit servicing, characterized in that, The utility model relates to a foot limit ware clamping mechanism, including: Extension rod; Clamping mechanism, install in one end of extension rod, be used for clamping the handle of foot limit ware, The clamping mechanism includes: Clamping seat, fixedly installed in one end of extension rod, Clamping jaw, two, install in the end of clamping seat away from extension rod rotatably or back to rotatably, form the clamping cavity with the handle of foot limit ware between two clamping jaw, Sliding shaft, install in the clamping seat axially slidably, the end away from extension rod is hinged with each clamping jaw respectively, First locking portion, install on the clamping seat, can act to limit the sliding shaft along the axial direction of clamping seat to the clamping jaw or release the limitation of sliding shaft, Second locking portion, install in the end of extension rod close to clamping seat, can act to limit the first locking portion to act or release the limitation of first locking portion, When two clamping jaw rotatably clamps the handle of foot limit ware, sliding shaft is driven along the axial direction of clamping seat back to clamping jaw, first locking portion can act to limit the sliding shaft along the axial direction of clamping seat to the clamping jaw, second locking portion can act to limit the first locking portion to act, when second locking portion releases the limitation of first locking portion, first locking portion can act to release the limitation of sliding shaft, sliding shaft can be slid along the axial direction of clamping seat to the clamping jaw to drive two clamping jaw back to rotatably to release the handle of foot limit ware, The middle part of sliding shaft is provided with a limit ring, The first locking portion includes: Locking piece, two, install on the opposite sides of the middle part of clamping seat rotatably or back to rotatably, the end away from extension rod is provided with the hook claw matched with limit ring respectively, one locking piece is bent inwards to form the abutting portion close to the end of extension rod, The second locking portion includes: Rotating shaft, rotatably install in the inside of the end of extension rod close to clamping seat, the abutting portion is provided on rotating shaft, when rotating shaft rotates, abutting portion can contact or separate from abutting portion, Abutting portion can abut on abutting portion to limit two locking piece back to rotatably, when abutting portion separates from abutting portion, two locking piece can back to rotatably to make the hook claw of two locking piece separate from limit ring, sliding shaft slides along the axial direction of clamping seat to the clamping jaw.

2. The EVA device according to claim 1, wherein, The first locking portion further includes: Torsion spring, two, the lower part of one locking piece is connected with clamping seat through torsion spring, and the lower part of another locking piece is connected with clamping seat through another torsion spring, When the two clamping jaws rotate towards each other, the sliding shaft is driven to slide along the axial direction of the clamping seat away from the clamping jaws, and the two locking members can rotate towards each other by means of the two torsion springs, so that the claws of the two locking members are pressed against the end face of the limiting ring away from the extension rod, thereby limiting the sliding of the sliding shaft along the axial direction of the clamping seat towards the clamping jaws.

3. The EVA device according to claim 2, wherein, The second locking part further comprises: The two shift plates are respectively installed on the opposite sides of the rotating shaft.

4. The EVA device according to claim 2, wherein, The end of the extension rod close to the clamping seat is provided with a connecting seat, and the middle part of the connecting seat is provided with an anti-disengagement groove. The second locking part further comprises: The first anti-disengagement member is installed on one side of the rotating shaft and is matched with the anti-disengagement groove.

5. The EVA device of claim 2, wherein, The side wall of the rotating shaft is provided with a limiting groove. The second locking part further comprises: The two top screws are respectively installed on the opposite sides of the end of the extension rod close to the clamping seat. The two top screws are respectively installed on the opposite sides of the end of the extension rod close to the clamping seat. The two top screws are respectively installed on the opposite sides of the end of the extension rod close to the clamping seat.

6. The EVA device of claim 2, wherein, The two top screws are respectively installed on the opposite sides of the end of the extension rod close to the clamping seat. The two top screws are respectively installed on the opposite sides of the end of the extension rod close to the clamping seat. The two top screws are respectively installed on the opposite sides of the end of the extension rod close to the clamping seat.

7. The EVA device according to any one of claims 1 to 6, wherein, The inside of the end of the clamping seat close to the extension rod is provided with a supporting seat, and the middle part of the supporting seat is formed with a gap hole for the sliding shaft to pass through. The clamping mechanism further comprises:

8. The EVA device according to any one of claims 1 to 6, wherein, The driving spring is sleeved on the sliding shaft, one end abuts against the end face of the limiting ring close to the extension rod, and the other end abuts against the end face of the supporting seat away from the extension rod.

9. The EVA device according to any one of claims 1 to 6, wherein, The clamping mechanism further comprises: The second anti-disengagement member is installed on the end of the sliding shaft close to the extension rod. The inner walls of the two clamping jaws are respectively provided with anti-disengagement protrusions. The opposite sides of the end of the clamping seat away from the extension rod are respectively provided with baffles.

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