In-plane freely rotatable self-locking joint

Abstract

The utility model provides a kind of self-locking joint that can be freely rotated in plane, belong to self-locking mechanism field, including fixed end;Mounting pad in fixed end;Rotary end is fixed in mounting pad;Bearing-latch seat is fixed on fixed end;Latch is inserted into fixed end by bearing-latch seat;Four stop pieces are installed in bearing-latch seat by bearing and screw respectively;The outer edge of four stop pieces is equipped with chamfered end and round corner;Two stop pieces chamfered end are connected by a spring, and the chamfered end of other two stop pieces is connected by another spring.The utility model can be freely rotated in the same plane, and self-locking can be realized at any position, with the advantages of modularization, stackable use, solves the problems that existing self-locking joint has high manufacturing cost, overall structure is too complicated, too dependent on motor and speed reducer to realize design function and cannot realize 360 degrees free rotation and self-locking.

Description

Technical Field

[0001] This invention belongs to the field of self-locking mechanism technology, specifically relating to a self-locking joint that can rotate freely in a plane. Background Technology

[0002] With the development of modern science and technology, many industries use self-locking mechanisms. Previously, different self-locking mechanisms on the market could only meet the needs of a single industry, which had certain shortcomings. Now, automobiles, machinery, and even furniture all need self-locking mechanisms to achieve certain self-locking functions. Modern industry is pursuing lightweighting, which means reducing the weight of each part as much as possible, so that the overall effect can be reflected.

[0003] Currently, the self-locking joints of robotic arms are bulky, complex in structure, have dead angles, and cannot rotate or self-lock in multiple planes. They are also costly, inconvenient, and prone to malfunction. Solving these problems can be approached not only through material improvements but also by altering the original mechanical structure to achieve lightweight self-locking joints in robotic arms.

[0004] Chinese patent CN102371589A discloses a magnetically controlled robotic arm joint brake with a power-off self-locking function. It mainly comprises an inner stator, an inner mover, an outer mover, an outer stator, and a fixed shaft. Each of the inner, outer, and outer movers has multiple permanent magnets, and the inner, inner, outer movers, and outer stators are coaxially arranged by the fixed shaft. The inner mover rotates relative to the inner stator to provide power output for the brake. Utilizing the attraction between the outer mover and the multiple permanent magnets of the outer stator, a high-torque state is automatically switched to be the brake when power is off, generating a large locking force to lock the rotation of the inner mover. The disadvantages of this robotic arm are high manufacturing cost, overly complex overall structure, and excessive reliance on motors and reducers to achieve its design functions.

[0005] Chinese Patent Publication No. CN209466262U discloses a rotary self-locking joint and a robotic arm, comprising an upper rotary seat and a lower rotary seat rotatably connected about the same rotation center line. The lower part of the upper rotary seat has a downwardly protruding first conical surface whose axis is coaxial with the rotation center line. The upper part of the lower rotary seat has a concave second conical surface that mates with the first conical surface. The lower part of the upper rotary seat has several upper sliding grooves, and the upper part of the lower rotary seat has several lower sliding grooves. When the upper and lower sliding grooves are aligned, they form a slide. The lower rotary seat has a connecting hole along the direction of the rotation center line, and all the lower sliding grooves communicate with the connecting hole. Several ball bearings and a push rod for pushing the ball bearings are disposed within the connecting hole. When the rotary self-locking joint rotates to a designated position, the push rod pushes the ball bearings into the slide, and the upper and lower rotary seats are relatively fixed by the resistance of the ball bearings. This rotary self-locking joint has a simple structure, convenient switching between unlocked and locked states, and low cost. Although the robotic arm joint is a mechanical joint that can rotate, it cannot achieve 360-degree free rotation and self-locking due to the certain width of the slot, and has a self-locking dead angle. Summary of the Invention

[0006] To address the problems of high manufacturing costs, overly complex overall structure, excessive reliance on motors and reducers to achieve design functions, and inability to achieve 360-degree free rotation and self-locking in existing self-locking joints, this invention provides a self-locking joint that can rotate freely in a plane.

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

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

[0009] Fixed end;

[0010] A pad installed in the fixed end;

[0011] The rotating end is fixed in the pad block;

[0012] Bearing-pin holder fixed to the fixed end;

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

[0014] The first, second, third, and fourth baffles are respectively installed in the bearing-pin housing via bearings and screws;

[0015] The spring, bearing, bearing-pin seat, first baffle, second baffle, third baffle and 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 ends of the first and fourth baffles are connected by a spring, and the chamfered ends of the second and third baffles are connected by another spring.

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

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

[0020] Furthermore, the rounded ends of the first, second, third, and fourth baffles are at a certain distance from the inner wall of the rotating end.

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

[0022] Furthermore, it also includes: a pad that is fitted onto the screw and fixed to the bearing-pin seat.

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

[0024] Furthermore, the rotating end has a rotating end interface on its side and a through hole at its center.

[0025] Furthermore, the pin has a pin protrusion in the middle, and the upper surface of the pin protrusion has a conical surface; when the pin is normally inserted into the central protrusion of the fixed end, the inner edges of the first, second, third, and fourth baffles are in contact with the conical surface; when the pin is pulled outward, the conical surface of the pin applies a rotational driving force to the first, second, third, and fourth baffles, thereby causing the first, second, third, and fourth baffles to rotate.

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

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

[0028] Furthermore, the bearing-pin seat has a central through hole, and four mounting holes are provided around the central through hole of the bearing-pin seat. Each mounting hole contains a bearing, and the inner ring of the bearing is fixed to the lower end of the screw. The number of screws is the same as the number of bearings.

[0029] The beneficial effects of this invention are:

[0030] This invention discloses a self-locking joint that can rotate freely within a plane, enabling free rotation and self-locking at any position. It mainly consists of a pin, a rotating end, and a fixed end, with the fixed end and rotating end self-locking each other. In the non-self-locking state, the rotating end can rotate freely 360 degrees, and it offers the advantages of modularity and stackability. Compared with existing technologies, this 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 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. Rotational structure: Compared with existing technical solutions, the self-locking joint of the present invention can achieve rotation and self-locking without dead angles in the same plane, and does not require a motor or air pump. It can self-lock by its own structure alone. It is a pure mechanical structure with high reliability.

[0033] 3. Modular connection of 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 baffles of different shapes to realize the rotation of the same joint in different planes.

[0034] 4. Human-computer interaction: Compared with existing technical solutions, the self-locking joint of the present invention is simple to operate after structural expansion, which greatly improves the user's operating experience. Attached Figure Description

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

[0039] In the picture,

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

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

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

[0043] 4. Spring;

[0044] 5. Pad;

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

[0046] 7. Bearings;

[0047] 8. Bearing-pin housing; 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 Implementation

[0052] The present invention will be further described in detail below with reference to the accompanying drawings.

[0053] See Figures 1 to 4 The present invention provides a self-locking joint that can rotate freely in a plane. This is a mechanical joint that can rotate freely in a single plane and achieve self-locking at any angle. It mainly includes the following components:

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

[0055] In this invention, a ring-shaped pad mounting groove 101 is provided in the fixed end 1, a central protrusion 102 is provided in the pad mounting groove 101, and a fixed end interface 103 is provided at the lower end of the fixed end 1.

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

[0057] 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 and increasing the practicality and application scenarios of the present invention.

[0058] In this invention, the pin 3 has a pin protrusion 301 in the middle, and the upper surface of the pin protrusion 301 is a conical surface 3011.

[0059] In this 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 this invention, the pad 5 has a central through hole, and screw holes are provided around the central through hole of the pad 5.

[0061] In this invention, the pad 6 has a central through hole 601, and an annular groove 602 is provided on the edge of the central through hole 601 of the pad 6.

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

[0063] In this invention, the bearing-pin seat 8 has a central through hole 801, and four mounting holes 802 are respectively provided around the central through hole 801 of the bearing-pin seat 8. Each mounting hole 802 is equipped with a bearing 7. The inner ring of the bearing 7 is fixed to the lower end of the screw 803. The number of screws 803 is the same as the number of bearings 7.

[0064] In this invention, spring 4, pad 5, bearing 7, bearing-pin seat 8, first baffle 9, second baffle 10, third baffle 11, and fourth baffle 12 are all installed inside the rotating end 2; pad 6 is installed in pad mounting groove 101 of fixed end 1; the lower end of rotating end 2 is fixed in an annular groove 602 of pad 6; pad 5 is fitted onto screw 803 and fixed to bearing-pin seat 8 to limit the bearing 7; bearing-pin seat 8 is fixed on the central protrusion 102 of fixed end 1; pin 3 passes through pad 5 and bearing-pin seat 8 from top to bottom and is inserted into the central protrusion 102 of fixed end 1; first baffle 9, second baffle 10, third baffle 11, and fourth baffle 12 are all installed inside the rotating end 2; pad 6 is installed in pad mounting groove 101 of fixed end 1; the lower end of rotating end 2 is fixed in an annular groove 602 of pad 6; pad 5 is fitted onto screw 803 and fixed to bearing-pin seat 8 to limit the bearing 7; bearing-pin seat 8 is fixed in a central protrusion 102 of fixed end 1; pin 3 passes through pad 5 and bearing-pin seat 8 from top to bottom and is inserted into central protrusion 102 of fixed end 1; first baffle 9, second baffle 10, third baffle 11, and fourth baffle 12 are all installed inside the rotating end 2 ... The plates 12 are respectively fixed on four screws 803. 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. When the 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 of the pin 3. When the pin 3 is pulled outward, the conical surface 3011 of the pin 3 applies a rotational driving force to the first baffle 9, the second baffle 10, the third baffle 11 and the fourth baffle 12, thereby causing the first baffle 9, the second baffle 10, the third baffle 11 and the fourth baffle 12 to rotate.

[0065] In this invention, 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 and rounded ends. Each baffle has a spring connecting post at its chamfered end for connecting to a spring 4. The chamfered ends of the first baffle 9 and the fourth baffle 12 are connected by a spring 4, and the chamfered ends of the second baffle 10 and the third baffle 11 are connected 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 self-lock, and the rotating end 2 can rotate freely 360 degrees in the non-self-locking state.

[0067] like Figure 4 As shown, in the default state, the pin 3 is deeply inserted and both the first stop plate 9 and the second stop plate 10 are inwardly rotated. The spring force of the spring 4 creates a large positive pressure between the chamfered ends of the first stop plate 9 and the second stop plate 10 and the inner wall of the rotating end 2. If the rotating end 2 wants to rotate clockwise, a large static friction force will be generated, thus preventing clockwise rotation. Similarly, in the default state, the pin 3 is deeply inserted and both the third stop plate 11 and the fourth stop plate 12 are outwardly rotated. The spring force of the spring 4 creates a large positive pressure between the chamfered ends of the third stop plate 11 and the fourth stop plate 12 and the inner wall of the rotating end 2. If the rotating end 2 wants to rotate counterclockwise, a large static friction force will be generated, thus preventing counterclockwise rotation. Therefore, without removing the pin 3, the first stop plate 9, the second stop plate 10, the third stop plate 11, and the fourth stop plate 12 can keep the rotating end 2 stationary, achieving a self-locking function between the fixed end 1 and the rotating end 2.

[0068] When the pin 3 is pulled outward, the diameter of the pin 3 increases. Through the action of the conical surface 3011 of the pin 3, the first baffle 9 and the second baffle 10 can rotate counterclockwise by a certain angle. At this time, the first baffle 9 and the second baffle 10 are in an outward rotation state. Through the action of the conical surface 3011 of the pin 3, the third baffle 11 and the fourth baffle 12 can 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 ranges from 0 to 2 mm; when the distance is 0, there is no gap and it is in a stuck state; when the distance is greater than 0 and less than or equal to 2 mm, it is in an unlocked state), by pulling the pin 3 outward, 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 this invention, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to facilitate the description of this invention and to simplify the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. However, these modifications or substitutions do not cause the essence of the corresponding technical solutions to 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 pad (6) installed in the fixed end (1); Rotating end (2) fixed in pad (6); Bearing-pin seat (8) fixed on the fixed end (1); The pin (3) is inserted into the fixed end (1) by the bearing-pin seat (8); The first baffle (9), the second baffle (10), the third baffle (11) and the fourth baffle (12) are respectively installed in the bearing-pin seat (8) via bearing (7) and screw (803); Two springs (4); The two springs (4), bearing (7), bearing-pin seat (8), first baffle (9), second baffle (10), third baffle (11) and 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) 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); The fixed end (1) and the rotating end (2) are self-locking; In the non-locking state, the rotating end (2) can rotate freely 360 degrees.

2. The self-locking joint that can rotate freely in a plane according to claim 1, characterized in that, The rounded ends of the first baffle (9), the second baffle (10), the third baffle (11) and the fourth baffle (12) are at a certain distance from 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) are installed in the same direction, and the third baffle (11) and the fourth baffle (12) are installed in the same direction.

4. A self-locking joint that can rotate freely in a plane according to claim 1, characterized in that, Also includes: A pad (5) is fitted onto a screw (803) and fixed to a 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 mounting groove (101), the pad mounting 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 mounting groove (101); the bearing-pin seat (8) is fixed on the central protrusion (102); 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, The rotating end (2) has a rotating end interface (201) on its side and a through hole in its center.

7. A self-locking joint that can rotate freely in a plane according to claim 1, characterized in that, The pin (3) has a pin protrusion (301) in the middle, and the upper surface of the pin protrusion (301) has a conical surface (3011). When the 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 pin (3) is pulled outward, the conical surface (3011) of the pin (3) applies a rotational driving force to the first baffle (9), the second baffle (10), the third baffle (11), and the fourth baffle (12), 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 posts for connecting springs (4).

9. A self-locking joint that can rotate freely in a plane according to claim 1, characterized in that, The pad (6) has a central through hole (601) and an annular groove (602) is provided on the edge of the central through hole (601) of the pad (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-pin seat (8) has a central through hole (801). The central through hole (801) of the bearing-pin seat (8) has four mounting holes (802) around it. Each mounting hole (802) has a bearing (7) installed in it. The inner ring of the bearing (7) is fixed to the lower end of the screw (803). The number of screws (803) is the same as the number of bearings (7).

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