Self-locking joint capable of freely rotating in plane

Abstract

The invention discloses a self-locking joint capable of freely rotating in a plane, and belongs to the field of self-locking mechanisms. The cushion block is arranged in the fixed end; the rotating end is fixed in the cushion block; the bearing-bolt seat is fixed on the fixed end; the bolt is inserted into the fixed end through the bearing-bolt seat; the four separation blades are respectively arranged in the bearing-bolt seat through bearings and screws; chamfered ends and rounded ends are arranged on the outer edges of the four separation blades; the chamfered ends of the two separation blades are connected through one spring, and the chamfered ends of the other two separation blades are connected through the other spring. According to the invention, free rotation in the same plane can be realized, self-locking can be realized at any position, and the advantages of modularization and superposed use are realized; the problems that an existing self-locking joint is high in manufacturing cost, the overall structure is too tedious, the design function is achieved excessively depending on a motor and a speed reducer, and 360-degree free rotation and self-locking cannot be achieved are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of self-locking mechanisms, and in particular relates to a self-locking joint which can rotate freely in a plane. Background Art

[0002] With the development of modern science and technology, many industries will use self-locking mechanisms. Previously, different self-locking mechanisms on the market could only meet the needs of a single industry and had certain shortcomings. Today's cars, machinery and even furniture all need self-locking mechanisms to achieve certain self-locking functions. Modern industry is pursuing lightweight, and lightweight means that each part should reduce the weight as much as possible, which can eventually be reflected in the whole.

[0003] At present, the self-locking joints of the robot arm are large in mass and volume, complex in structure, have dead angles in the joints, and cannot rotate and self-lock in multiple planes. They are costly and inconvenient, and some parts are prone to failure. To solve this problem, we can not only start from the material aspect, but also change the original mechanical structure to achieve the purpose of lightweighting the self-locking joints of the robot arm.

[0004] The Chinese patent with publication number CN102371589A discloses a magnetically controlled robot arm joint brake with a power-off self-locking function, which mainly includes an inner stator, an inner mover, an outer mover, an outer stator and a fixed shaft. The inner mover, the outer mover and the outer stator respectively have a plurality of permanent magnets, and the inner stator, the inner mover, the outer mover and the outer stator are simultaneously penetrated by the fixed shaft to form a coaxial configuration. The inner mover rotates relative to the inner stator to provide the power output of the brake. In this way, the detent effect of the outer mover and the multiple permanent magnets of the outer stator are utilized, and when the power is off, the brake can be automatically switched to a high detent torque state, generating a large locking force to lock the rotation state of the inner mover. The disadvantages of this robot arm are high manufacturing cost, overly complicated overall structure, and over-reliance on motors and reducers to achieve the design function.

[0005] The Chinese patent with publication number CN209466262U discloses a rotary self-locking joint and a mechanical arm, comprising an upper rotary seat and a lower rotary seat connected to each other rotatably around the same rotation center line, the lower part of the upper rotary seat is provided with a first conical surface protruding downward and the axis line is coaxial with the rotation axis line, the upper part of the lower rotary seat is provided with a second conical surface concave and matching with the first conical surface, the lower part of the upper rotary seat is provided with a plurality of upper slide grooves, the upper part of the lower rotary seat is provided with a plurality of lower slide grooves, and the upper slide grooves and the lower slide grooves are aligned to form a slideway, the lower rotary seat is provided with a connecting hole along the direction of the rotation center line, all the lower slide grooves are connected with the connecting hole, and a plurality of balls and a push rod for pushing the ball are provided in the connecting hole. When the rotary self-locking joint rotates to a specified position, the push rod pushes the ball into the slideway, and the upper rotary seat and the lower rotary seat can be relatively fixed under the obstruction of the ball. The rotary self-locking joint has a simple structure, is easy to switch between the unlocked state and the locked state, and has low cost. Although the robot arm joint is a mechanical joint that can realize rotation, it cannot realize 360-degree free rotation and self-locking due to the certain width of the slot, and there is a self-locking dead angle. Summary of the invention

[0006] In order to solve the problems of existing self-locking joints, such as high production cost, overly complicated overall structure, over-reliance on motors and reducers to realize designed functions, and inability to achieve 360-degree free rotation and self-locking, the present invention provides a self-locking joint that can rotate freely in a plane.

[0007] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0008] The present invention provides a self-locking joint that can rotate freely in a plane, comprising:

[0009] Fixed end;

[0010] A spacer installed in the fixed end;

[0011] A swivel end fixed in a pad;

[0012] A bearing-latch seat fixed on the fixed end;

[0013] A latch pin inserted into the fixed end by a bearing-latch pin seat;

[0014] A first baffle, a second baffle, a third baffle and a fourth baffle respectively mounted in the bearing-latch seat through bearings and screws;

[0015] The spring, the bearing, the bearing-pin seat, the first baffle, the second baffle, the third baffle and the fourth baffle are all installed inside the rotating end;

[0016] The outer edges of the first baffle, the second baffle, the third baffle and the fourth baffle are all provided with chamfered ends and rounded ends;

[0017] The chamfered end of the first baffle is connected to the chamfered end of the fourth baffle via a spring, and the chamfered end of the second baffle is connected to the chamfered end of the third baffle via another spring;

[0018] The fixed end and the rotating end can be self-locking;

[0019] In a non-self-locking state, the rotating end can freely rotate 360 ​​degrees.

[0020] Furthermore, there is a certain distance between the rounded ends of the first baffle, the second baffle, the third baffle and the fourth baffle and the inner wall of the rotating end.

[0021] Further, the first baffle and the second baffle are installed in the same direction, and the third baffle and the fourth baffle are installed in the same direction.

[0022] Furthermore, it also includes: a pad which is sleeved on the screw and fixed on the bearing-latch seat.

[0023] Furthermore, an annular pad installation groove is provided in the fixed end, a center protrusion is provided in the pad installation groove, and a fixed end interface is provided at the lower end of the fixed end; the pad is installed in the pad installation groove; the bearing-pin seat is fixed on the center protrusion; and the pin is inserted into the center protrusion.

[0024] Furthermore, a rotating end interface is provided at the side end of the rotating end, and a through hole is provided at the center of the rotating end.

[0025] Furthermore, a latch protrusion is provided in the middle of the latch, and a conical surface is provided on the upper surface of the latch protrusion; when the latch is normally inserted into the central protrusion of the fixed end, the inner edges of the first baffle, the second baffle, the third baffle and the fourth baffle are all in contact with the conical surface; when the latch is pulled outward, a rotational driving force is applied to the first baffle, the second baffle, the third baffle and the fourth baffle through the action of the conical surface of the latch, thereby causing the first baffle, the second baffle, the third baffle and the fourth baffle to rotate.

[0026] Furthermore, the chamfered ends of the first baffle, the second baffle, the third baffle and the fourth baffle are all provided with spring connecting columns for connecting springs.

[0027] Furthermore, the cushion block is provided with a central through hole, and an annular groove is provided at the edge of the central through hole of the cushion block; the lower end of the rotating end is fixed in the annular groove.

[0028] Furthermore, the bearing-latch seat is provided with a central through hole, and four mounting holes are respectively arranged around the central through hole of the bearing-latch seat. A bearing is installed in each mounting hole, and the inner ring of the bearing is fixed to the lower end of the screw, and the number of the screws is the same as that of the bearings.

[0029] The beneficial effects of the present invention are:

[0030] The self-locking joint of the present invention can rotate freely in the same plane and can realize self-locking at any position. It is mainly composed of a latch, a rotating end, and a fixed end. The fixed end and the rotating end can be self-locking. In the non-self-locking state, the rotating end can rotate freely 360 degrees and has the advantages of modularization and stacking. Compared with the prior art, the present invention has the following advantages:

[0031] 1. Self-locking structure: Compared with the existing technical solutions, the self-locking joint of the present invention mainly utilizes the inherent characteristics of the spring and the inherent shape of the baffle to achieve the purpose of self-locking with strong static friction. The structure is simple and clear and easy to maintain.

[0032] 2. Rotation structure: Compared with the existing technical solutions, the self-locking joint of the present invention can realize rotation and self-locking without dead angles in the same plane, and does not require a motor or an air pump. It can be self-locking only by its own structure. It is a purely mechanical structure with strong reliability.

[0033] 3. Modular connection of the overall structure: Compared with the existing technical solutions, the self-locking joint of the present invention is more modular and practical. It can be connected by using baffles of different shapes to achieve the rotation of the same joint in different planes.

[0034] 4. Human-computer interaction: Compared with the existing technical solutions, the self-locking joint of the present invention is simple to operate after the structure is expanded, which greatly improves the user's operating experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is an overall structural diagram of a self-locking joint that can rotate freely in a plane provided by the present invention.

[0036] Figure 2 A cross-sectional view of a self-locking joint that can rotate freely in a plane provided by the present invention.

[0037] Figure 3 An exploded view of a self-locking joint that can rotate freely in a plane provided by the present invention.

[0038] Figure 4 A schematic diagram of locking of a self-locking joint that can rotate freely in a plane provided by the present invention.

[0039] In the figure,

[0040] 1. Fixed end; 101. Pad mounting groove; 102. Center protrusion; 103. Fixed end interface;

[0041] 2. Rotating end; 201. Rotating end interface;

[0042] 3. Latch; 301. Latch protrusion; 3011. Conical surface;

[0043] 4. Spring;

[0044] 5. Pad;

[0045] 6. Pad; 601. Center through hole; 602. Annular groove;

[0046] 7. Bearings;

[0047] 8. Bearing-pin seat; 801. Center through hole; 802. Mounting hole; 803. Screw;

[0048] 9. First baffle;

[0049] 10. Second baffle;

[0050] 11. First baffle;

[0051] 12. Second baffle. DETAILED DESCRIPTION

[0052] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0053] See also Figures 1 to 4 To illustrate, the present invention provides a self-locking joint that can rotate freely in a plane, which is a mechanical joint that can rotate freely in a single plane and can achieve self-locking at any angle, and it mainly includes the following components:

[0054] Fixed end 1, rotating end 2, latch 3, spring 4, pad 5, pad 6, bearing 7, bearing-latch seat 8, first baffle 9, second baffle 10, first baffle 11 and second baffle 12.

[0055] In the present invention, an annular pad installation groove 101 is provided in the fixed end 1 , a central protrusion 102 is provided in the pad installation groove 101 , and a fixed end interface 103 is provided at the lower end of the fixed end 1 .

[0056] In the present invention, a rotating end interface 201 is provided at the side end of the rotating end 2 , and a through hole is provided at the center of the rotating end 2 .

[0057] Among them, the fixed end interface 103 on the fixed end 1 and the rotating end interface 201 on the rotating end 2 can be connected to other components or to themselves, thereby realizing the modular use of the self-locking joint, increasing the practicality and application scenarios of the present invention.

[0058] In the present invention, a latch protrusion 301 is arranged in the middle of the latch 3, and the upper surface of the latch protrusion 301 is arranged as a conical surface 3011.

[0059] In the present invention, there are two springs 4 , one of which is used to connect the first baffle 9 and the fourth baffle 12 , and the other is used to connect the second baffle 10 and the third baffle 11 .

[0060] In the present invention, the backing plate 5 is provided with a central through hole, and screw holes are respectively arranged around the central through hole of the backing plate 5 .

[0061] In the present invention, the cushion block 6 is provided with a central through hole 601 , and an annular groove 602 is provided at the edge of the central through hole 601 of the cushion block 6 .

[0062] In the present invention, the number of bearings 7 is four.

[0063] In the present invention, the bearing-latch seat 8 is provided with a central through hole 801, and four mounting holes 802 are respectively arranged around the central through hole 801 of the bearing-latch seat 8. A bearing 7 is installed in each mounting hole 802, and the inner ring of the bearing 7 is fixed to the lower end of the screw 803, and the number of the screw 803 is the same as that of the bearing 7.

[0064] In the present invention, the spring 4, the pad 5, the bearing 7, the bearing-latch seat 8, the first baffle 9, the second baffle 10, the third baffle 11 and the fourth baffle 12 are all installed inside the rotating end 2; the pad 6 is installed in the pad installation groove 101 of the fixed end 1; the lower end of the rotating end 2 is fixed in the annular groove 602 of the pad 6; the pad 5 is sleeved on the screw 803 and the pad 5 is fixed on the bearing-latch seat 8 to limit the bearing 7; the bearing-latch seat 8 is fixed on the central protrusion 102 of the fixed end 1; the latch 3 passes through the pad 5 and the bearing-latch seat 8 from top to bottom in sequence and is inserted into the central protrusion 102 of the fixed end 1; the first baffle 9, the second baffle 10, the third baffle 11, the fourth baffle 12 The pieces 12 are respectively fixed on the four screws 803, wherein the first baffle 9 and the second baffle 10 are installed in the same direction, and the third baffle 11 and the fourth baffle 12 are installed in the same direction, and when the plug 3 is normally inserted into the central protrusion 102 of the fixed end 1, the inner edges of the first baffle 9, the second baffle 10, the third baffle 11, and the fourth baffle 12 are in contact with the conical surface 3011 of the plug 3; when the plug 3 is pulled outward, the conical surface 3011 of the plug 3 applies a rotational driving force to the first baffle 9, the second baffle 10, the third baffle 11, and the fourth baffle 12, so that the first baffle 9, the second baffle 10, the third baffle 11, and the fourth baffle 12 can rotate.

[0065] In the present invention, the outer edge of the first baffle 9 is provided with a chamfered end and a rounded end, the outer edge of the second baffle 10 is provided with a chamfered end and a rounded end, the outer edge of the third baffle 11 is provided with a chamfered end and a rounded end, and the outer edge of the fourth baffle 12 is provided with a chamfered end and a rounded end, wherein the chamfered end of each baffle is provided with a spring connecting column for connecting the spring 4. The chamfered end of the first baffle 9 is connected to the chamfered end of the fourth baffle 12 by a spring 4, and the chamfered end of the second baffle 10 is connected to the chamfered end of the third baffle 11 by another spring 4.

[0066] The present invention provides a self-locking joint that can rotate freely in a plane, wherein the fixed end 1 and the rotating end 2 can be self-locked, and in a non-self-locking state, the rotating end 2 can rotate freely 360 degrees.

[0067] like Figure 4 As shown, in the default state, the latch 3 is in a deep insertion state and the first baffle 9 and the second baffle 10 are both in an inward rotation state. The elastic force of the spring 4 generates a large positive pressure between the chamfered ends of the first baffle 9 and the second baffle 10 and the inner wall of the rotating end 2. If the rotating end 2 is to rotate clockwise, a large static friction force will be generated to prevent the rotating end 2 from rotating clockwise. Similarly, in the default state, the latch 3 is in a deep insertion state and the third baffle 11 and the fourth baffle 12 are both in an outward rotation state. The elastic force of the spring 4 generates a large positive pressure between the chamfered ends of the third baffle 11 and the fourth baffle 12 and the inner wall of the rotating end 2. If the rotating end 2 is to rotate counterclockwise, a large static friction force will be generated to prevent the rotating end 2 from rotating counterclockwise. Therefore, when the latch 3 is not pulled out, the rotating end 2 can be kept stationary by the first baffle 9, the second baffle 10, the third baffle 11, and the fourth baffle 12, thereby realizing the self-locking function between the fixed end 1 and the rotating end 2.

[0068] When the plug pin 3 is pulled out, the diameter of the plug pin 3 becomes larger, and the conical surface 3011 of the plug pin 3 can make the first baffle 9 and the second baffle 10 rotate counterclockwise by a certain angle. At this time, the first baffle 9 and the second baffle 10 are in an outward rotation state, and the conical surface 3011 of the plug pin 3 can make the third baffle 11 and the fourth baffle 12 rotate clockwise by a certain angle. At this time, the third baffle 11 and the fourth baffle 12 are in an inward rotation state. Since there is a small distance between the rounded end of each baffle and the inner wall of the rotating end 2 under normal conditions (the distance range is 0-2mm, when the distance is 0, there is no gap and it is a stuck state; when the distance is greater than 0 and less than or equal to 2mm, it is an unlocked state), therefore, by pulling the plug pin 3 out, the chamfered end of each baffle can be disengaged from the inner wall of the rotating end 2, thereby allowing the rotating end 2 to rotate freely 360 degrees.

[0069] In the description of the present invention, it is necessary to understand that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the protection content of the present invention.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein, but these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-locking joint that can rotate freely in a plane, characterized in that: include: Fixed end (1); A spacer (6) mounted in the fixed end (1); A rotating end (2) fixed in a spacer (6); A bearing-latch seat (8) fixed on the fixed end (1); A latch (3) is inserted into the fixed end (1) through a bearing-latch seat (8); A first baffle (9), a second baffle (10), a third baffle (11) and a fourth baffle (12) respectively mounted in the bearing-latch seat (8) via a bearing (7) and a screw (803); The spring (4), the bearing (7), the bearing-pin seat (8), the first baffle (9), the second baffle (10), the third baffle (11) and the fourth baffle (12) are all installed inside the rotating end (2); The outer edges of the first baffle (9), the second baffle (10), the third baffle (11) and the fourth baffle (12) are all provided with chamfered ends and rounded ends; The chamfered end of the first baffle (9) is connected to the chamfered end of the fourth baffle (12) via a spring (4), and the chamfered end of the second baffle (10) is connected to the chamfered end of the third baffle (11) via another spring (4); The fixed end (1) and the rotating end (2) are capable of self-locking; In a non-self-locking state, the rotating end (2) can rotate freely 360 degrees.

2. A self-locking joint that can rotate freely in a plane according to claim 1, characterized in that: There is a certain distance between the rounded ends of the first baffle (9), the second baffle (10), the third baffle (11) and the fourth baffle (12) and the inner wall of the rotating end (2).

3. A self-locking joint that can rotate freely in a plane according to claim 1, characterized in that: The first baffle (9) and the second baffle (10) have the same installation direction, and the third baffle (11) and the fourth baffle (12) have the same installation direction.

4. A self-locking joint that can rotate freely in a plane according to claim 1, characterized in that: Also includes: A backing plate (5) is sleeved on the screw (803) and fixed on the bearing-pin seat (8).

5. A self-locking joint that can rotate freely in a plane according to claim 1, characterized in that: The fixed end (1) is provided with an annular pad installation groove (101), the pad installation groove (101) is provided with a central protrusion (102), and the lower end of the fixed end (1) is provided with a fixed end interface (103); the pad (6) is installed in the pad installation groove (101); the bearing-pin seat (8) is fixed on the central protrusion (102); and the pin (3) is inserted into the central protrusion (102).

6. A self-locking joint that can rotate freely in a plane according to claim 1, characterized in that: A rotating end interface (201) is provided at the side end of the rotating end (2), and a through hole is provided at the center of the rotating end (2).

7. A self-locking joint that can rotate freely in a plane according to claim 1, characterized in that: A latch protrusion (301) is provided in the middle of the latch pin (3), and a conical surface (3011) is provided on the upper surface of the latch protrusion (301); when the latch pin (3) is normally inserted into the central protrusion (102) of the fixed end (1), the inner edges of the first baffle (9), the second baffle (10), the third baffle (11), and the fourth baffle (12) are in contact with the conical surface (3011); when the latch pin (3) is pulled outward, a rotational driving force is applied to the first baffle (9), the second baffle (10), the third baffle (11), and the fourth baffle (12) through the action of the conical surface (3011) of the latch pin (3), thereby causing the first baffle (9), the second baffle (10), the third baffle (11), and the fourth baffle (12) to rotate.

8. A self-locking joint that can rotate freely in a plane according to claim 1, characterized in that: The chamfered ends of the first baffle (9), the second baffle (10), the third baffle (11) and the fourth baffle (12) are all provided with spring connecting columns for connecting the spring (4).

9. A self-locking joint that can rotate freely in a plane according to claim 1, characterized in that: The cushion block (6) is provided with a central through hole (601), and an annular groove (602) is provided at the edge of the central through hole (601) of the cushion block (6); the lower end of the rotating end (2) is fixed in the annular groove (602).

10. A self-locking joint that can rotate freely in a plane according to claim 1, characterized in that: The bearing-latch seat (8) is provided with a central through hole (801), and four mounting holes (802) are respectively arranged around the central through hole (801) of the bearing-latch seat (8), and a bearing (7) is installed in each mounting hole (802), and the inner ring of the bearing (7) is fixed to the lower end of the screw (803), and the number of the screw (803) is the same as that of the bearing (7).

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