Locking module, locking device, locking system, and robot system

Abstract

The invention relates to a locking module, a locking device, a locking system and a robot system. The device comprises a mounting structure, a first clamping mechanism, a first elastic reset mechanism, a mechanical button, a connecting piece and an execution element, the first clamping mechanism comprises an operation end, a clamping end and a pivoting part located between the operation end and the clamping end, and the pivoting part is rotationally connected with the mounting structure; the mechanical button is connected with the operation end and used for driving the operation end to compress the first elastic reset mechanism. The connecting piece is provided with an adjusting hole, and the first clamping mechanism penetrates through the adjusting hole; when the mechanical button drives the operation end to move, the adjusting hole is used for avoiding space for the first clamping mechanism; the execution element is used for driving the connecting piece to move so as to drive the operation end to compress and release the first elastic reset mechanism, and the execution element is started and stopped according to the electric signal. According to the invention, both manual control and electric control are realized, and when the electric control fails, emergency can be carried out by using manual failure, so that the system efficiency is improved.

Description

Technical Field

[0001] The present invention relates to locking technology, and in particular to a locking module, a locking device, a locking system and a robot system. Background Art

[0002] During the cooperation between the master console and the slave robot, there are a locked state and an unlocked state. In the locked state, the master console and the slave robot are connected together, and in the unlocked state, the two are separated from each other.

[0003] In the prior art, the master control console and the slave robot are generally unlocked and locked by electric control. When the two are stuck and cannot be unlocked, the operation of the entire system will be affected. The present invention aims to propose a locking module, which can be applied to a locking device, and further proposes a locking system and a robot system based on the locking device, which have both electric unlocking and mechanical unlocking modes. When the electric unlocking fails, the mechanical unlocking can be manually controlled for emergency. Summary of the invention

[0004] In order to solve or at least partially solve the above technical problems, the present invention provides a locking module, a locking device, a locking system and a robot system. The locking device with the locking module can be applied to the locking system and the robot system, and has both electric unlocking and mechanical unlocking modes.

[0005] The technical solution of the present invention is as follows:

[0006] A locking module comprises a mounting structure, a first clamping mechanism, a first elastic reset mechanism, a mechanical button, a connecting piece and an actuator;

[0007] The first clamping mechanism comprises an operating end, a clamping end and a pivoting portion located between the operating end and the clamping end, and the pivoting portion is rotatably connected to the mounting structure;

[0008] The mechanical button is connected to the operating end and is used to drive the operating end to compress the first elastic reset mechanism;

[0009] The connecting piece is provided with an adjustment hole, and the first clamping mechanism passes through the adjustment hole; when the operating end is driven to move by the mechanical button, the adjustment hole is used to make room for the first clamping mechanism to avoid;

[0010] The actuator is used to drive the connecting member to move, so as to drive the operating end to compress and release the first elastic reset mechanism. The actuator is configured to start and stop according to an electrical signal.

[0011] Optionally, the connecting member is disposed between the operating end and the pivoting portion, and the actuator and the first elastic reset mechanism are located on the same side of the first clamping mechanism.

[0012] Optionally, the connecting member includes a connecting rod having the adjustment hole, wherein the adjustment hole extends along the axial direction of the connecting rod, and when the connecting rod is stationary, the adjustment hole can provide an avoidance space for the first clamping mechanism to switch between a first locking position and a first unlocking position.

[0013] Optionally, the actuator is a solenoid, an electric cylinder, a pneumatic cylinder or a hydraulic cylinder, the solenoid drives the connecting piece through magnetic attraction, and the output end of the electric cylinder, the pneumatic cylinder or the hydraulic cylinder is fixedly connected to the connecting piece.

[0014] Optionally, the first clamping mechanism includes:

[0015] A first clamping member, wherein the first clamping member has the clamping end and the pivoting portion;

[0016] An operating rod, one end of which is fixedly connected to the first clamping member;

[0017] A pressure rod is fixedly connected to the other end of the operating rod.

[0018] Optionally, the first clamping member includes a clamping groove and a guide surface, the opening end of the clamping groove is narrower than an end opposite to the opening end, and the guide surface is used to guide a component corresponding to the clamping groove to the clamping groove.

[0019] Optionally, the first elastic reset mechanism includes a coil spring and a guide member, one end of the coil spring is arranged on the mounting structure, the other end of the coil spring is plugged into the guide member, and the guide member is used to transmit the force between the operating end and the coil spring.

[0020] Optionally, the guide member has a guide hole adapted to the coil spring, and the coil spring is partially inserted into the guide hole and abuts against an end of the guide hole;

[0021] The surface of the guide member for interacting with the operating end is a cylindrical surface.

[0022] A locking device comprises a locking unit and a locking module as described in any one of the above items; the locking unit has a locking hook, and when the locking unit and the clamping end are clamped, the opening of the locking hook faces the clamping end, and after the locking unit and the clamping end are disengaged, the opening of the locking unit faces the locking hole of the mounting structure.

[0023] Optionally, the locking unit includes a second clamping mechanism and a second elastic reset mechanism; the second clamping mechanism is respectively connected to the second elastic reset mechanism and the mounting structure for rotational connection;

[0024] In the locked state, the second clamping mechanism is clamped with the clamping end, and the second elastic reset mechanism has an elastic force to rotate the lock hook toward the lock hole of the mounting structure.

[0025] Optionally, the second clamping member includes a pivoting portion, an inserting portion and a locking portion, the pivoting portion is rotatably connected to the mounting structure, the inserting portion and the locking portion are arranged at intervals and are respectively connected to the pivoting portion, and the inserting portion, the pivoting portion and the locking portion surround the locking hook;

[0026] The second clamping member includes a guiding surface in the shape of a curved slope. During the process of switching from the unlocked state to the locked state, the guiding surface is used to push the first clamping mechanism to rotate until the plug-in portion is inserted into the clamping groove of the first clamping mechanism.

[0027] Optionally, the second elastic reset mechanism includes a torsion spring and a mounting column, the mounting column is arranged on the mounting structure, the main body of the torsion spring is connected to the second clamping piece, the first torsion bar of the torsion spring is arranged on the mounting column, and the second torsion bar of the torsion spring abuts against the second clamping piece.

[0028] Optionally, the mounting structure comprises a first mounting plate and a second mounting plate arranged opposite to each other, the first clamping mechanism, the first elastic reset mechanism, the second clamping mechanism and the second elastic reset mechanism are arranged between the first mounting plate and the second mounting plate; the first clamping mechanism is rotatably connected to the first mounting plate and the second mounting plate respectively; the second clamping mechanism is rotatably connected to the first mounting plate and the second mounting plate respectively; the operating end extends out of the area directly facing the first mounting plate and the second mounting plate;

[0029] The periphery of the first mounting plate is bent toward one side of the second mounting plate to form a first flange, and a local area of ​​the first flange protrudes toward the first clamping mechanism to form a first limiting portion, and when the operating end drives the first clamping mechanism to rotate to abut against the first limiting portion, the first clamping mechanism and the second clamping mechanism are completely separated;

[0030] The periphery of the second mounting plate is bent toward one side of the first mounting plate to form a second flange, and a local area of ​​the second flange protrudes toward the first clamping mechanism to form a second limiting portion. When the operating end is pressed to make the first clamping mechanism abut against the second limiting portion, the first clamping mechanism and the second clamping mechanism are completely disengaged.

[0031] A locking system comprises a lock buckle and the locking device described in any one of the above items; in the unlocked state, the opening of the lock hook is connected to the lock hole, and a force is applied to the lock hook from one side of the lock hole through the lock buckle, so that the second locking mechanism is rotated to be engaged with the first locking mechanism, and the lock buckle is hooked on the lock hook, thereby switching to the locked state.

[0032] A robot system comprises a main console and a slave robot, wherein the main console is provided with any one of the locking devices described above, and the slave robot is provided with a lock buckle matching the locking device.

[0033] Beneficial effects:

[0034] 1. In the present invention, mechanical control of the first clamping mechanism is achieved through a mechanical button, and electric control of the first clamping mechanism is achieved through an actuator and a connector. When the electric control cannot be started, emergency response is performed through mechanical control to first separate the two main consoles and the slave robot to temporarily protect the system from continuing to operate, thereby avoiding the entire shutdown of the system using a locking device due to the jamming of the two main consoles and the slave robot.

[0035] 2. In the present invention, the lock hook is used to cooperate with the lock buckle to lock and unlock. The lock can be achieved by pushing the lock hook with the lock buckle, so that the slave robot equipped with the lock buckle and the main console equipped with the locking device can enter the locked state by relative movement, which is simple to operate.

[0036] 3. In the present invention, the positional relationship between the operating end for controlling the lock hook to enter the unlocked state and the lock hook is more flexible, so that the positional relationship between the operating end and the lock hook can have more options. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention, the following briefly introduces the relevant drawings. It is understood that the drawings described below are only used to illustrate some embodiments of the present invention, and those skilled in the art can also obtain many other technical features and connection relationships not mentioned in this document based on these drawings.

[0038] Figure 1 It is a transient diagram of the locking module according to the first embodiment of the present invention.

[0039] Figure 2 is a schematic structural diagram of the locking device in the locked state according to the first embodiment of the present invention, wherein the installation structure is hidden;

[0040] Figure 3 is a schematic diagram of the structure of the locking device in a transient state according to the first embodiment of the present invention, wherein the installation structure is hidden;

[0041] Figure 4is a three-dimensional schematic diagram of a locking device according to a first embodiment of the present invention, wherein the mounting structure is hidden;

[0042] Figure 5 is a structural schematic diagram of a first clamping mechanism according to a first embodiment of the present invention;

[0043] Figure 6 is a structural schematic diagram of a second clamping mechanism according to a first embodiment of the present invention;

[0044] Figure 7 is a schematic structural diagram of a locking device according to a first embodiment of the present invention, wherein the second mounting plate is omitted;

[0045] Figure 8 is a schematic structural diagram of a locking device according to an embodiment of the present invention;

[0046] Fig. 9 Schematic diagram of the locking system of the second embodiment of the present invention, wherein the installation structure is hidden.

[0047] Description of reference numerals:

[0048] 100. Locking device; 200. Lock catch;

[0049] 10. Locking module; 20. Locking unit;

[0050] 1. Mounting structure; 11. First mounting plate; 111. First flange; 112. First position-limiting portion; 12. Second mounting plate; 121. Second flange; 122. Second position-limiting portion; 13. Lock hole; 14. Mounting seat;

[0051] 2. first clamping mechanism; 21. operating end; 22. operating rod; 23. first clamping member; 231. clamping groove; 232. opening end; 233. guide surface; 234. first pivot hole; 235. clamping body; 236. cylinder; 24. pressure rod; 241. connecting hole; 25. clamping end; 26. pivoting part;

[0052] 3. first elastic reset mechanism; 31. spiral spring; 32. guide member; 321. cylindrical surface;

[0053] 4. second clamping mechanism; 41. second clamping member; 42. pivoting portion; 421. second pivoting hole; 43. plug-in portion; 431. guide surface; 44. locking portion; 45. locking hook; 451. opening of the locking hook;

[0054] 5. Second elastic reset mechanism; 51. Torsion spring; 511. First torsion bar; 512. Second torsion bar; 513. Main body of torsion spring; 52. Mounting column;

[0055] 61. a first pivot axis; 62. a second pivot axis;

[0056] 71. U-shaped buckle; 72. connecting plate;

[0057] 81. Connecting piece; 811. Adjusting hole; 82. Actuating element. DETAILED DESCRIPTION

[0058] The present invention is described in detail below in conjunction with the accompanying drawings.

[0059] The present invention provides a locking module 10, a locking device 100, a locking system and a robot system. The locking module 10 can be applied in the locking device 100, and the locking device 100 can be applied in the locking system and the robot system. Next, the locking module 10 will be integrated into the locking device 100 for explanation, and the locking system and the robot system will be further explained.

[0060] Implementation Method 1

[0061] refer to Figure 1-9 This embodiment provides a locking device 100, which can be used in combination with a lock buckle 200. The matched locking device 100 and lock buckle 200 are respectively installed on different devices. In the locked state, the locking device 100 hooks the lock buckle 200 through the lock hook 45, so that the device where the locking device 100 is located and the device where the lock buckle 200 is located are locked together. When unlocking, the opening 451 of the lock hook in the locking device 100 is directed toward the lock buckle 200, and the lock buckle 200 is no longer constrained by the lock hook 45, so that the device where the locking device 100 is located and the device where the lock buckle 200 is located can be separated freely.

[0062] The locking device 100 includes a locking module 10 and a locking unit 20 , which can be engaged with and disengaged from each other. The locking module 10 has a manual control mode and an electric control mode, both of which can control the relationship between the locking module 10 and the locking unit 20 .

[0063] The locking module 10 includes a mounting structure 1, a first clamping mechanism 2, a first elastic reset mechanism 3, a mechanical button, a connector 81, and an actuator 82. The first clamping mechanism 2 includes an operating end 21, a clamping end 25, and a pivoting portion 26 between the operating end 21 and the clamping end 25. The clamping end 25 is used to be clamped with the locking unit 20. The pivoting portion 26 is rotatably connected to the mounting structure 1. The first clamping mechanism 2 forms a seesaw structure relative to the mounting structure 1 at the pivoting portion 26, so that when the operating end 21 is controlled to move, the clamping relationship between the clamping end 25 and the locking unit 20 can be unlocked.

[0064] The mechanical button is connected to the operating end 21, and the two can be connected directly or indirectly. The mechanical button is set at a position where the hand can operate, which can be on the mounting structure 1 or the locking device 100, or on a component (such as the main console of the robot system) to which the locking device 100 is applied. The mechanical button is used to drive the operating end 21 to compress the first elastic reset mechanism 3. For example, the mechanical knob is connected to the operating end 21. When the mechanical knob is pressed, the operating end 21 moves accordingly and compresses the first elastic reset mechanism 3. Of course, after the pressing force on the mechanical button is removed, the first elastic reset mechanism 3 drives the operating end 21 to move in the opposite direction and reset, and accordingly, the mechanical button is reset together with the operating end 21.

[0065] The connector is provided with an adjustment hole 811, through which the first clamping mechanism 2 passes; when the operating end 21 is driven to move by the mechanical button, the adjustment hole 811 is used to make room for the first clamping mechanism 2, so that the connector 81 will not interfere with the control of the first clamping mechanism 2 by the mechanical button. The actuator 82 is used to drive the connector 81 to move, and the connector 81 drives the operating end 21 to compress and release the first elastic reset mechanism 2, and the actuator 82 is configured to start and stop according to an electrical signal.

[0066] In combination with the above, it can be known that the manual operation mode is to apply force to the operating end 21 through the mechanical button, and the electric operation mode is essentially to apply force to the operating end 21. The mechanical control of the first clamping mechanism 2 is achieved through the mechanical button, and the electric control of the first clamping mechanism 2 is achieved through the actuator 82 and the connector 81. When the electric control cannot be started, the mechanical control is used for emergency, so as to avoid the phenomenon that the entire system (such as a robot system) using the locking device 100 stops running.

[0067] The locking unit 20 includes a second clamping mechanism 4 and a second elastic reset mechanism 5; the above-mentioned lock hook 45 is located on the second clamping mechanism 4. The first clamping mechanism 2 and the second clamping mechanism 4 are respectively rotatably connected to the mounting structure 1, so that the direction of the opening 451 of the lock hook can be adjusted by controlling the first clamping mechanism 2 and the second clamping mechanism 4 to rotate relative to the mounting structure 1.

[0068] like Figure 2 As shown, in the locked state, the first clamping mechanism 2 and the second clamping mechanism 4 are clamped, and the opening 451 of the lock hook of the second clamping mechanism 4 faces the first clamping mechanism 2, so as to lock the lock buckle 200 (refer to Fig. 9 );refer to Figure 3 It is understood that in the unlocked state, the opening 451 of the lock hook faces the lock hole 13 of the mounting structure 1, and the positional relationship between the opening 451 of the lock hook and the lock hole 13 is as shown in FIG. Figure 8 shown.

[0069] Combination Figure 2 and Figure 3 To understand the switching process of the locking device 100 between the locked state and the unlocked state, Figure 3 The figure shows a transient state when switching from the locked state to the unlocked state, in which the lines with arrows show the movement direction of the corresponding parts. When switching from the locked state to the unlocked state: the operating end 21 of the first clamping mechanism 2 compresses the first elastic reset mechanism 3 under the action of external force, and when the first clamping mechanism 2 rotates to disengage from the second clamping mechanism 4, the second clamping mechanism 4 rotates forward under the action of the second elastic reset mechanism 5 until the opening 451 of the lock hook faces the lock hole 13.

[0070] When switching from unlocked state to locked state, the motion relationship of each part is Figure 3 The direction is opposite to the direction indicated by the middle arrow. The operating end is not subjected to the force of the mechanical button and the connecting member 81, and the second clamping mechanism 4 is reversely rotated until it is clamped with the first clamping mechanism 2. In specific applications, the power for the reverse rotation of the second clamping mechanism 4 can be provided by the lock buckle 200. For example, after the lock buckle 200 and the lock hole 13 are aligned, the lock buckle 200 is controlled to gradually penetrate into the lock hook 45. After the lock hole 13 contacts the surface of the lock hook 45, the lock hook 45 is pushed to overcome the elastic force of the second elastic reset mechanism 5 and move.

[0071] As can be seen from the above, there is a locking and unlocking relationship between the locking device 100 and the lock buckle 200, and there is a layer of locking and unlocking relationship inside the locking device 100, that is, the engagement and disengagement relationship between the first engagement mechanism 2 and the second engagement mechanism 4. In this embodiment, the lock buckle 200 can be used to push the lock hook 45 to achieve locking, and the operating end 21 can be used to compress the first elastic reset mechanism 3 to achieve unlocking, and the two layers of locking and unlocking relationships interact and influence each other.

[0072] refer to Figure 1 In this embodiment, the connecting member 81 is disposed between the operating end 21 and the pivoting portion 26, which not only improves the compactness of the locking module 10, but also prevents the first clamping mechanism 2 and the connecting member 81 from being separated, thereby improving the reliability of the locking module 10. In other embodiments, as an alternative, the connecting member 81 can also be disposed on a side of the operating end 21 away from the clamping end.

[0073] In this embodiment, the actuator 82 and the first elastic reset mechanism 3 are located on the same side of the first clamping mechanism 2, which reduces the space occupied by the locking module 10. In other embodiments, as an alternative, the actuator 82 and the first elastic reset mechanism 3 can also be respectively arranged on both sides of the first clamping mechanism 2.

[0074] The connecting member 81 includes a connecting rod having the adjusting hole 811, and the adjusting hole 811 extends along the axial direction of the connecting rod. When the connecting rod is stationary, the adjusting hole 811 is a space for the first clamping mechanism 2 to switch between the first locking position and the first unlocking position, that is, the length of the adjusting hole 811 can meet the requirement of controlling the locking device 100 separately through the mechanical button. Among them, the first locking position is the position where the first clamping mechanism 2 can be clamped with the second clamping mechanism 4, and when the first clamping mechanism 2 is in the first unlocking position, it can be completely separated from the second clamping mechanism 4.

[0075] In this embodiment, the actuator 82 is an electric cylinder, an air cylinder, a hydraulic cylinder or a solenoid, and the solenoid drives the connecting member 81 through magnetic attraction, and the output end (such as a piston rod) of the electric cylinder, the air cylinder, and the hydraulic cylinder is fixedly connected to the connecting member 81. It should be noted that the air cylinder and the hydraulic cylinder extend and retract when powered, and therefore are also components that start and stop according to electrical signals.

[0076] refer to Figure 1-5 , Figure 7 and Fig. 9 Understand. In this embodiment, the first clamping mechanism 2 includes an operating rod 22 and a first clamping member 23 that are fixedly connected, and the two can be fixedly connected by plug-in fixation, welding fixation or other existing methods. The first clamping member 23 has the above-mentioned clamping end 21 and the pivot part 26. One end of the operating rod 22 is connected to the first clamping member 23, and the other end corresponds to the above-mentioned operating end 21. For example, the other end of the operating rod 22 is used as the operating end 21, or the other end of the operating rod 22 is installed with other components, and the other components are used as the operating end 21, or the other end of the operating rod 22 and other components installed thereat are used together as the operating end 21.

[0077] The first clamping member 23 is used to clamp with the second clamping mechanism 4. In this embodiment, a clamping groove 231 is provided on the first clamping member 23. The opening of the clamping groove 231 faces the second clamping mechanism 4. The second clamping mechanism 4 is clamped into the first clamping member 23 for connection. The opening end 232 of the clamping groove 231 is narrower than the end opposite to the opening end 232 to improve the stability in the locked state. In some other embodiments, as an alternative, the clamping groove 231 can be provided on the second clamping mechanism 4. The first clamping member 23 is clamped into the first clamping member 23 of the first clamping mechanism 2 for connection. Accordingly, the opening of the clamping groove 231 faces the first clamping member 23.

[0078] In this embodiment, the first clamping member 23 further includes a guide surface 233, which gradually extends from the opening end 232 of the clamping groove 231 in a direction away from the second clamping mechanism 4, and the guide surface 233 can be a plane or a curved surface. The guide surface 233 is used to guide one end of the second clamping mechanism 4 so that the first clamping mechanism 2 and the second clamping mechanism 4 are smoothly clamped. In the process of switching from the unlocked state to the locked state, one end of the second clamping mechanism 4 moves along the guide surface 233 into the clamping groove 231.

[0079] In this embodiment, the first clamping member 23 is rotatably connected to the mounting structure 1 via the first pivot shaft 61, and a first pivot hole 234 is provided on the first clamping member 23. The first clamping member 23 is rotatably connected to the mounting structure 1 via the first pivot shaft 61 at the first pivot hole 234. The first pivot hole 234 includes three sections, which are respectively formed by a clamping body 235 of the first clamping member 23 and two cylinders 236 provided on both sides of the clamping body 235. The three-section structure has a better supporting effect on the first pivot shaft 61, thereby improving the stability of both.

[0080] The first clamping mechanism 2 further includes a pressing rod 24, which is fixedly connected to one end of the operating rod 22 away from the first clamping member 23, and the extending direction of the pressing rod 24 is different from the extending direction of the operating rod 22. In this embodiment, the pressing rod 24 and the operating rod 22 are vertically arranged, and the first elastic reset mechanism 3 can be compressed by pressing the pressing rod 24. In this embodiment, the middle area of ​​the pressing rod 24 is connected to the operating rod 22. In other embodiments, as an alternative, one end of the pressing rod 24 can also be connected to the operating rod 22.

[0081] In this embodiment, the pressure rod 24 is provided with a connection hole 241, and the shape of the connection hole 241 matches the shape of the operating rod 22. After the operating rod 22 passes through the connection hole 241, a bolt or other fastener passes through the connection hole 241 from the outside of the pressure rod 24 and is connected to the operating rod 22, thereby achieving the fixation of the pressure rod 24 and the operating rod 22. Of course, in other embodiments, as an alternative, the pressure rod 24 and the operating rod 22 can be connected by interference fit, welding or other existing fixing methods.

[0082] In this embodiment, the first elastic reset mechanism 3 includes a coil spring 31 and a guide member 32. One end of the coil spring 31 is fixed to the mounting structure 1, and the other end of the coil spring 31 is inserted into the guide member 32. The guide member 32 is used to transmit the force between the operating end 21 and the coil spring 31.

[0083] Specifically, the mounting structure 1 is provided with a mounting seat 14 of the coil spring 31 for fixing the coil spring 31. The guide member 32 is provided with a guide hole, and the coil spring 31 is partially inserted into the guide hole, and the end of the coil spring 31 abuts against the guide hole so as to interact with the guide member 32. The surface of the end of the guide member 32 for interacting with the operating end is in the form of a cylindrical surface 321, and the cylindrical surface 321 is used to interact with the pressure rod 24, and the friction between the two is small, and the relative movement is smooth and not easy to get stuck.

[0084] refer to Figure 1-4 , Figure 6 , Figure 7 and Fig. 9 The second clamping mechanism 4 includes a second clamping member 41 , which is connected to the mounting structure 1 via a second pivot shaft 62 , and is used to be clamped with the first clamping mechanism 2 , and a locking hook 45 is disposed on the second clamping member 41 .

[0085] The second clamping member 41 includes a pivoting portion 42, an inserting portion 43 and a locking portion 44. The pivoting portion 42 is provided with a second pivot hole 421 connected to the second pivot shaft 62. The inserting portion 43 and the locking portion 44 are arranged at intervals and respectively connected to the pivoting portion 42. The inserting portion 43, the pivoting portion 42 and the locking portion 44 form a lock hook 45. The length of the locking portion 44 is shorter than that of the inserting portion 43, so that in the unlocked state, the lock buckle 200 can smoothly pass through the opening 451 of the lock hook and abut against the inserting portion 43, thereby applying a thrust to the inserting portion 43 to reversely rotate the second clamping member 41.

[0086] like Figure 6 As shown, the second clamping member 41 includes a guiding surface 431 in the shape of a curved slope. During the process of switching from the unlocked state to the locked state, the guiding surface 431 pushes the first clamping mechanism 2 to rotate until the plug-in portion 43 is inserted into the clamping groove 231 of the first clamping mechanism 2, wherein the guiding surface 431 first generates a sliding relationship with the guide surface 233 of the first clamping member 23, and at the same time, the first clamping member 23 rotates around the first pivot axis 61 under the action of the second clamping member 41 until the guiding surface 431 falls into the clamping groove 231.

[0087] refer to Figure 1-4 , Figure 7 and Fig. 9 The second elastic reset mechanism 5 includes a torsion spring 51 and a mounting post 52, the mounting post 52 is fixed on the mounting structure 1, the first torsion bar 511 of the torsion spring 51 is fixed on the mounting post 52, and the second torsion bar 512 of the torsion spring 51 abuts against the second clamping member 41, so that when the second clamping member 41 rotates, the elastic force of the torsion spring 51 changes, and then the torsion spring 51 can drive the torsion spring 51 to rotate toward the side of the lock hole 13 after the first clamping member 23 and the second clamping member 41 are disengaged.

[0088] Specifically, the mounting post 52 and the locking hole 13 are respectively located on both sides of the second clamping member 41 . A groove is provided on one side of the second clamping member 41 close to the mounting post 52 . The free end of the second torsion bar 512 is bent and abuts against the groove.

[0089] refer to Figure 7 and Figure 8 The mounting structure 1 comprises a first mounting plate 11 and a second mounting plate 12 which are arranged opposite to each other, and a first clamping mechanism 2 , a first elastic reset mechanism 3 , a second clamping mechanism 4 and a second elastic reset mechanism 5 are arranged between the first mounting plate 11 and the second mounting plate 12 .

[0090] The first clamping mechanism 2 is rotatably connected to the first mounting plate 11 and the second mounting plate 12 respectively. The two ends of the first pivot shaft 61 are respectively provided with fasteners, and the heads of the two fasteners (such as bolts) are arranged in contact with the outer surface of the mounting structure 1. Of course, in some other embodiments, as an alternative, the first pivot shaft 61 can be installed only on the first mounting plate 11 or the second mounting plate 12.

[0091] The second clamping mechanism 4 is rotatably connected to the first mounting plate 11 and the second mounting plate 12 respectively. The two ends of the second pivot shaft 62 are respectively provided with fasteners, and the heads of the two fasteners (such as bolts) are arranged in contact with the outer surface of the mounting structure 1. Of course, in some other embodiments, as an alternative, the second rotating shaft can be installed only on the first mounting plate 11 or the second mounting plate 12.

[0092] In this embodiment, the pressure rod 24 and the portion of the operating rod 22 connected to the pressure rod 24 are used as the operating end 21. Figure 8 As shown, the operating end 21 extends out of the area directly facing the first mounting plate 11 and the second mounting plate 12, so as to load a force on the operating end 21 from the outside of the mounting structure 1, that is, to facilitate the mechanical button to load a force on the operating end 21. When in use, in the locked state, the mechanical button is used to press down any position of the pressing rod 24 until the first clamping member 23 and the second clamping member 41 are disengaged, and the second clamping member 41 rotates toward the lock hole 13 under the action of the torsion spring 51. After the pressing force is released, the spiral spring 31 pushes the pressing rod 24 to move in the opposite direction through the guide member 32, so that the opening faces the lock hole 13.

[0093] As described above, the pressing force on the operating end 21 can be realized by manual operation or by electric operation, wherein one end of the pressing rod 24 extends out of the device where the locking device 100 is located, and a mechanical button provided on the device is fixedly connected to the pressing rod 24. Manual control is realized by manually pressing the mechanical button, and the actuator 82 controls the connecting piece to move according to the electrical signal. Figure 1In the downward movement shown, the adjusting hole 81 of the connecting member 81 and the operating rod 22 abut against each other, driving the operating rod 22 to rotate, indirectly applying a force to the operating end 21, and realizing electric control.

[0094] like Figure 7 and Figure 8 As shown, a local peripheral edge of the first mounting plate 11 is bent toward one side of the second mounting plate 12 to form a first flange 111, and a local area of ​​the first flange 111 protrudes toward the first clamping member 23 of the first clamping mechanism 2 to form a first limiting portion 112. When the operating end 21 is pressed to make the first clamping member 23 of the first clamping mechanism 2 abut against the first limiting portion 112, the first clamping member 23 of the first clamping mechanism 2 and the second clamping member 41 of the second clamping mechanism 4 are completely disengaged. After the pressing force of the operating end 21 is withdrawn, the first limiting portion 112 is used to prevent the first clamping mechanism 2 from flipping over, so that the second clamping member 41 of the second clamping mechanism 4 contacts and pushes the first clamping member 23 of the first clamping mechanism 2 so that the two can be clamped. In other words, the first limiting portion 112 and the first elastic reset mechanism 3 jointly constrain the first clamping mechanism 2, so that the first clamping mechanism 2 can be effectively locked and unlocked with the second clamping mechanism 4.

[0095] A partial periphery of the second mounting plate 12 is bent toward one side of the first mounting plate 11 to form a second flange 121, and a partial area of ​​the second flange 121 protrudes toward the first clamping mechanism 2 to form a second limiting portion 122. When the operating end 21 is pressed to make the first clamping mechanism 2 abut against the second limiting portion 122, the first clamping mechanism 2 and the second clamping mechanism 4 are completely disengaged. After the pressing force of the operating end 21 is withdrawn, the second limiting portion 122 is used to prevent the first clamping mechanism 2 from flipping over, so that the second clamping mechanism 4 can be clamped when contacting and pushing the first clamping mechanism 2. In other words, the second limiting portion 122 and the first elastic reset mechanism 3 jointly constrain the first clamping mechanism 2, so that the first clamping mechanism 2 can be effectively locked and unlocked with the second clamping mechanism 4.

[0096] In this embodiment, the first flange 111 and the second flange 121 are provided at the same time, the side of the first flange 111 and the side of the second flange 121 are provided in close contact, and the first limit portion 112 and the second limit portion 122 are provided symmetrically. In other embodiments, as an alternative, only one of the first flange 111 and the second flange 121 may be provided.

[0097] Implementation Method 2

[0098] refer to Figure 1-9 This embodiment provides a locking system, including a lock buckle 200 and a locking device 100, and the locking device 100 is implemented by the above solution. The lock buckle 200 includes a U-shaped buckle 71 and a connecting plate

[0099] 72, the two free ends of the U-shaped buckle 71 are fixed on the connecting plate 72. In the unlocked state, the lock hook 45 is loaded with a force from one side of the lock hole 13, and when the second clamping mechanism 4 rotates to be clamped with the first clamping mechanism 2, the lock buckle 200 is hooked on the lock hook 45 and switched to the locked state.

[0100] Implementation Method 3

[0101] This embodiment provides a robot system, including a master console and a slave robot, wherein the master console has a locking device 100 as described in any one of the above items, and the slave robot is provided with a lock buckle 200 matching the locking device 100. The locking device 100 and the lock buckle 200 cooperate with each other to achieve locking and unlocking of the master console and the slave robot.

[0102] Finally, it should be noted that those skilled in the art can understand that in order to enable readers to better understand the present invention, the embodiments of the present invention provide many technical details. However, even without these technical details and various changes and modifications based on the above-mentioned embodiments, the technical solutions claimed for protection by the claims of the present invention can be basically achieved. Therefore, in practical applications, various changes can be made to the above-mentioned embodiments in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A locking module, characterized in that: It includes a mounting structure, a first clamping mechanism, a first elastic reset mechanism, a mechanical button, a connecting piece and an actuator; The first clamping mechanism comprises an operating end, a clamping end and a pivoting portion located between the operating end and the clamping end, and the pivoting portion is rotatably connected to the mounting structure; The mechanical button is connected to the operating end and is used to drive the operating end to compress the first elastic reset mechanism; The connecting piece is provided with an adjustment hole, and the first clamping mechanism passes through the adjustment hole; when the operating end is driven to move by the mechanical button, the adjustment hole is used to make room for the first clamping mechanism to avoid; The actuator is used to drive the connecting member to move, so as to drive the operating end to compress and release the first elastic reset mechanism. The actuator is configured to start and stop according to an electrical signal.

2. The locking module according to claim 1, characterized in that: The connecting member is arranged between the operating end and the pivoting portion, and the actuator and the first elastic reset mechanism are located on the same side of the first clamping mechanism.

3. The locking module according to claim 1, characterized in that: The connecting member includes a connecting rod having the adjusting hole, wherein the adjusting hole extends along the axial direction of the connecting rod. When the connecting rod is stationary, the adjusting hole can provide a space for the first clamping mechanism to switch between a first locking position and a first unlocking position.

4. The locking module according to claim 1, characterized in that: The actuator is a solenoid, an electric cylinder, an air cylinder or a hydraulic cylinder. The solenoid drives the connecting piece through magnetic attraction. The output end of the electric cylinder, the air cylinder or the hydraulic cylinder is fixedly connected to the connecting piece.

5. The locking module according to claim 1, characterized in that: The first clamping mechanism comprises: A first clamping member, wherein the first clamping member has the clamping end and the pivoting portion; An operating rod, one end of which is fixedly connected to the first clamping member; A pressure rod is fixedly connected to the other end of the operating rod.

6. The locking module according to claim 1, characterized in that: The first clamping member includes a clamping groove and a guide surface, the opening end of the clamping groove is narrower than an end opposite to the opening end, and the guide surface is used to guide the component corresponding to the clamping groove to the clamping groove.

7. The locking module according to claim 1, characterized in that: The first elastic reset mechanism includes a coil spring and a guide member, one end of the coil spring is arranged on the mounting structure, the other end of the coil spring is plugged into the guide member, and the guide member is used to transmit the force between the operating end and the coil spring.

8. The locking module according to claim 7, characterized in that: The guide member has a guide hole adapted to the coil spring, and the coil spring is partially inserted into the guide hole and abuts against the end of the guide hole; The surface of the guide member for interacting with the operating end is a cylindrical surface.

9. A locking device, characterized in that: It comprises a locking unit and the locking module according to any one of claims 1 to 8; the locking unit has a locking hook, when the locking unit and the clamping end are clamped, the opening of the locking hook faces the clamping end, after the locking unit and the clamping end are disengaged, the opening of the locking unit faces the locking hole of the mounting structure.

10. The locking device according to claim 9, characterized in that: The locking unit comprises a second clamping mechanism and a second elastic reset mechanism; the second clamping mechanism is respectively connected to the second elastic reset mechanism and the mounting structure for rotational connection; In the locked state, the second clamping mechanism is clamped with the clamping end, and the second elastic reset mechanism has an elastic force to rotate the lock hook toward the lock hole of the mounting structure.

11. The locking device according to claim 10, characterized in that: The second clamping member includes a pivoting portion, an inserting portion and a locking portion, the pivoting portion is rotatably connected to the mounting structure, the inserting portion and the locking portion are arranged at intervals and are respectively connected to the pivoting portion, and the inserting portion, the pivoting portion and the locking portion surround the locking hook; The second clamping member includes a guiding surface in the shape of a curved slope. During the process of switching from the unlocked state to the locked state, the guiding surface is used to push the first clamping mechanism to rotate until the plug-in portion is inserted into the clamping groove of the first clamping mechanism.

12. The locking device according to claim 10, characterized in that: The second elastic reset mechanism includes a torsion spring and a mounting column, wherein the mounting column is arranged on the mounting structure, the main body of the torsion spring is connected to the second clamping member, the first torsion bar of the torsion spring is arranged on the mounting column, and the second torsion bar of the torsion spring abuts against the second clamping member.

13. The locking device according to claim 10, characterized in that: The mounting structure comprises a first mounting plate and a second mounting plate which are arranged opposite to each other; the first clamping mechanism, the first elastic reset mechanism, the second clamping mechanism and the second elastic reset mechanism are arranged between the first mounting plate and the second mounting plate; the first clamping mechanism is rotatably connected to the first mounting plate and the second mounting plate respectively; the second clamping mechanism is rotatably connected to the first mounting plate and the second mounting plate respectively; the operating end extends out of the area directly facing the first mounting plate and the second mounting plate; The periphery of the first mounting plate is bent toward one side of the second mounting plate to form a first flange, and a local area of ​​the first flange protrudes toward the first clamping mechanism to form a first limiting portion, and when the operating end drives the first clamping mechanism to rotate to abut against the first limiting portion, the first clamping mechanism and the second clamping mechanism are completely separated; The periphery of the second mounting plate is bent toward one side of the first mounting plate to form a second flange, and a local area of ​​the second flange protrudes toward the first clamping mechanism to form a second limiting portion. When the operating end is pressed to make the first clamping mechanism abut against the second limiting portion, the first clamping mechanism and the second clamping mechanism are completely disengaged.

14. A locking system, characterized in that: comprising a lock buckle and a locking device as claimed in any one of claims 9 to 13; In the unlocked state, the opening of the lock hook is connected to the lock hole, and the lock buckle is used to load a force to the lock hook from one side of the lock hole, so that the second locking mechanism rotates to engage with the first locking mechanism, and the lock buckle is hooked on the lock hook, thereby switching to the locked state.

15. A robot system, characterized in that: It comprises a main console and a slave robot, wherein the main console is provided with a locking device as described in any one of claims 1 to 13, and the slave robot is provided with a lock buckle matching the locking device.

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