Locking device, locking system, and robot system

Abstract

The invention relates to the technical field of locking equipment, in particular to 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 second clamping mechanism and a second elastic reset mechanism, the first clamping mechanism and the second clamping mechanism are rotationally connected to the mounting structure; in a locking state, the first clamping mechanism and the second clamping mechanism are clamped, and an opening of a lock hook of the second clamping mechanism faces the first clamping mechanism; in an unlocking state, an opening of the lock hook faces a lock hole of the mounting structure; the latch hook can utilize a lock catch. The lock catch can be used for pushing the lock hook to achieve locking, operation is convenient, and the position relation between the operation end for controlling the lock hook to enter the unlocking state and the lock hook is more flexible.

Description

Technical Field

[0001] The present application relates to locking technology, and in particular to 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. The present invention aims to provide a locking device that can be applied to a locking system and a robot system to realize the switching of the master console and the slave robot between the unlocked state and the locked state. Summary of the invention

[0003] In order to solve or at least partially solve the above technical problems, the present application provides a locking device, a locking system and a robot system. The locking device can be applied to the locking system and the robot system to solve the problem of locking and unlocking between the master console and the slave robot.

[0004] The technical solution of the present invention is as follows:

[0005] A locking device comprises a mounting structure, a first clamping mechanism, a first elastic reset mechanism, a second clamping mechanism and a second elastic reset mechanism; the first clamping mechanism and the second clamping mechanism are respectively rotatably connected to the mounting structure;

[0006] In the locked state, the first clamping mechanism and the second clamping mechanism are clamped, and the opening of the lock hook of the second clamping mechanism faces the first clamping mechanism; in the unlocked state, the opening of the lock hook faces the lock hole of the mounting structure;

[0007] When switching from the locked state to the unlocked state: the operating end of the first clamping mechanism compresses the first elastic reset mechanism under the action of the pressing force, and when the first clamping mechanism rotates to be disengaged from the second clamping mechanism, the second clamping mechanism rotates forward under the action of the second elastic reset mechanism until the opening of the lock hook faces the lock hole;

[0008] When switching from the unlocked state to the locked state: the operating end is not subjected to external force, and the second engaging mechanism is reversely rotated until it engages with the first engaging mechanism.

[0009] Optionally, the first clamping mechanism includes:

[0010] A first clamping member, the first clamping member is used to clamp with the second clamping mechanism, and the first clamping member is rotatably connected with the mounting structure through a first pivot shaft;

[0011] An operating rod, one end of which is fixedly connected to the first clamping member;

[0012] A pressure rod, wherein the pressure rod is fixedly connected to the other end of the operating rod.

[0013] Optionally, the first clamping member includes a clamping groove for clamping the second clamping mechanism, the opening of the clamping groove faces the second clamping mechanism; in the clamping groove, the opening end is narrower than the end opposite to the opening end;

[0014] The first clamping member also includes a guide surface, which gradually extends from the opening end of the clamping slot in a direction away from the second clamping mechanism. During the process of switching from the unlocked state to the locked state, one end of the second clamping mechanism moves along the guide surface into the clamping slot.

[0015] Optionally, the first elastic reset mechanism includes a coil spring and a guide member, one end of the coil spring is fixed to 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.

[0016] Optionally, the second clamping mechanism includes a second clamping member, the second clamping member is connected to the mounting structure via a second pivot shaft, the second clamping member is used to be clamped with the first clamping mechanism, and the locking hook is located on the second clamping member.

[0017] Optionally, the second clamping member includes a pivoting portion, an inserting portion and a locking portion, the pivoting portion is provided with a second pivot hole connected to the second pivot shaft, 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;

[0018] 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 pushes the first clamping mechanism to rotate until the plug-in portion is inserted into the clamping groove of the first clamping mechanism.

[0019] Optionally, the second elastic reset mechanism includes a torsion spring and a mounting column, the mounting column is fixed to the mounting structure, the main body of the torsion spring is fixedly connected to the second clamping piece, the first torsion bar of the torsion spring is fixed to the mounting column, and the second torsion bar of the torsion spring rests on the second clamping piece.

[0020] Optionally, the mounting structure includes a first mounting plate and a second mounting plate that are arranged opposite to each other, and 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.

[0021] Optionally, the first clamping mechanism is rotatably connected to the first mounting plate and the second mounting plate respectively; and / or,

[0022] The second clamping mechanism is rotatably connected to the first mounting plate and the second mounting plate respectively; and / or,

[0023] The operating end extends out of the area directly facing the first mounting plate and the second mounting plate; and / or,

[0024] 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. When the operating end is pressed to make the first clamping mechanism abut against the first limiting portion, the first clamping mechanism and the second clamping mechanism are completely separated. After the pressing force of the operating end is withdrawn, the first limiting portion is used to prevent the first clamping mechanism from flipping over, so that the second clamping mechanism contacts and pushes the first clamping mechanism and the two can be clamped; and / or,

[0025] The peripheral edge 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. After the pressing force of the operating end is withdrawn, the second limiting portion is used to prevent the first clamping mechanism from flipping over, so that the second clamping mechanism contacts and pushes the first clamping mechanism and the two can be clamped.

[0026] A locking system, comprising a lock buckle and a locking device as described in any one of the above items;

[0027] In the unlocked state, the lock hook applies a force to the lock hook from one side of the lock hole, and when the second engaging mechanism rotates to engage with the first engaging mechanism, the lock buckle is hooked on the lock hook and switched to the locked state.

[0028] A robot system comprises a main console and a slave robot, wherein the main console has a locking device as described in any one of the above items, and the slave robot is provided with a lock buckle matching the locking device.

[0029] Beneficial effects:

[0030] 1. In the present invention, the lock hook is used to cooperate with the lock buckle to lock and unlock. The lock buckle can be used to push the lock hook to achieve locking, 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.

[0031] 2. 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

[0032] In order to more clearly illustrate the implementation of the present application, the following is a brief introduction to the relevant drawings. It is understood that the drawings described below are only used to illustrate some implementations of the present application, 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.

[0033] Figure 1 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;

[0034] Figure 2 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;

[0035] Figure 3 is a three-dimensional schematic diagram of a locking device according to a first embodiment of the present invention, wherein the mounting structure is hidden;

[0036] Figure 4 is a structural schematic diagram of a first clamping mechanism according to a first embodiment of the present invention;

[0037] Figure 5 is a structural schematic diagram of a second clamping mechanism according to a first embodiment of the present invention;

[0038] Figure 6 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;

[0039] Figure 7 is a schematic structural diagram of a locking device according to an embodiment of the present invention;

[0040] Figure 8 Schematic diagram of the locking system of the second embodiment of the present invention, wherein the installation structure is hidden.

[0041] Description of reference numerals:

[0042] 100, locking device; 200, lock;

[0043] 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;

[0044] 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;

[0045] 3. first elastic reset mechanism; 31. spiral spring; 32. guide member; 321. cylindrical surface;

[0046] 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;

[0047] 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;

[0048] 6. a first pivot axis;

[0049] 7. A second pivot axis;

[0050] 8. U-shaped buckle;

[0051] 9. Connecting plate; DETAILED DESCRIPTION

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

[0053] Implementation Method 1

[0054] refer to Figure 1-8 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.

[0055] The locking device 100 includes a mounting structure 1, a first clamping mechanism 2, a first elastic reset mechanism 3, 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.

[0056] like Figure 1 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 Figure 8 );refer to Figure 2 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 .

[0057] Combination Figure 1 and Figure 2 To understand the switching process of the locking device 100 between the locked state and the unlocked state, Figure 2 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.

[0058] When switching from unlocked state to locked state, the motion relationship of each part is Figure 2 The direction is opposite to the direction indicated by the middle arrow. The operating end 21 is not subjected to external force, 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, and the lock hole 13 contacts the surface of the lock hook 45 to push the lock hook 45 to move.

[0059] 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 locking and unlocking relationship inside the locking device 100, that is, the locking and disengaging relationship between the first locking mechanism 2 and the second locking mechanism 4. In this embodiment, the lock buckle 200 can be used to push the lock hook 45 to achieve locking, and the positional relationship between the operating end that controls the lock hook to enter the unlocked state and the lock hook is more flexible, so that the positional relationship between the operating end 21 and the lock hook 45 can have more options, such as the two can be set farther apart, and for another example, the two can correspond to different surfaces of the mounting structure 1.

[0060] refer to Figure 1-4 , Figure 6 and Figure 8Understand. 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. 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 the other components installed there are used together as the operating end 21.

[0061] 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. In the clamping groove 231, the opening end 232 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 second clamping mechanism 4 for connection. Accordingly, the opening of the clamping groove 231 faces the first clamping member 23.

[0062] 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.

[0063] In this embodiment, the first clamping member 23 is rotatably connected to the mounting structure 1 via the first pivot shaft 6, 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 6 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, and have better stability.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] Specifically, the mounting structure 1 is provided with a mounting seat 14 of the coil spring 31, which is used to fix the coil spring 31. The guide member 32 is provided with a guide hole, and the coil spring 31 is inserted into the guide hole. The end of the coil spring 31 abuts against the guide hole so as to interact with the guide member 32. The end of the guide member 32 is in the form of a cylindrical surface 321, and the cylindrical surface 321 is used to interact with the pressure rod 24. The friction between the two is small, and the relative movement is smooth and not easy to get stuck.

[0068] refer to Figure 1-3 , Figure 5 , Figure 6 and Figure 8 The second clamping mechanism 4 comprises a second clamping member 41 , which is connected to the mounting structure 1 via a second pivot shaft 7 , and is used for clamping with the first clamping mechanism 2 , and a locking hook 45 is disposed on the second clamping member 41 .

[0069] 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 7. 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.

[0070] like Figure 5As 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 6 under the action of the second clamping member 41 until the guiding surface 431 falls into the clamping groove 231.

[0071] refer to Figure 1-3 , Figure 6 and Figure 8 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.

[0072] 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.

[0073] refer to Figure 6 and Figure 7 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 .

[0074] 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 6 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 6 can be installed only on the first mounting plate 11 or the second mounting plate 12.

[0075] 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 7 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.

[0076] 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 7 As shown, the operating end 21 extends out of the area where the first mounting plate 11 and the second mounting plate 12 face each other, so that a force is applied to the operating end 21 from the outside of the mounting structure 1. When in use, in the locked state, the pressing rod 24 is directly or indirectly pressed down at any position 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.

[0077] The pressing force borne by the operating end 21 can be realized by manual operation, for example, one end of the pressing rod 24 extends out of the device where the locking device 100 is located, and the extended part is manually pressed. For another example, other mechanisms are set on the device where the locking device 100 is located, and the input end of the mechanism is located on the surface of the device, and the output end is connected to the pressing rod 24. When the input end is manually operated in the locked state, the output end outputs linear motion to control the pressing rod 24 to press the guide member 32. As an alternative, the pressing force borne by the operating end 21 can also be realized by electric control, hydraulic control or pneumatic control.

[0078] like Figure 6 and Figure 7 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.

[0079] 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.

[0080] 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.

[0081] Implementation Method 2

[0082] refer to Figure 1-8 Understand. 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 8 and a connecting plate 9, and the two free ends of the U-shaped buckle 8 are fixed on the connecting plate 9. In the unlocked state, the lock hook 45 loads a force on the lock hook 45 from one side of the lock hole 13. When the second clamping mechanism 4 rotates to clamp with the first clamping mechanism 2, the lock buckle 200 is hooked on the lock hook 45 and switched to the locked state.

[0083] Implementation Method 3

[0084] This embodiment provides a robot system, including a master console and a slave robot, wherein the master console has a locking device as described in any of the above embodiments, and the slave robot has a lock. After the locking device locks the lock, the master console and the slave robot are connected, and after the locking device unlocks the lock, the connection between the master console and the slave robot is released.

[0085] Finally, it should be noted that those skilled in the art can understand that in order to enable readers to better understand the present application, the embodiments of the present application 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 application can be basically realized. 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 application.

Claims

1. A locking device, characterized in that: It comprises a mounting structure, a first clamping mechanism, a first elastic reset mechanism, a second clamping mechanism and a second elastic reset mechanism; the first clamping mechanism and the second clamping mechanism are respectively rotatably connected to the mounting structure; In the locked state, the first clamping mechanism and the second clamping mechanism are clamped, and the opening of the lock hook of the second clamping mechanism faces the first clamping mechanism; in the unlocked state, the opening of the lock hook faces the lock hole of the mounting structure; When switching from the locked state to the unlocked state: the operating end of the first clamping mechanism compresses the first elastic reset mechanism under the action of the pressing force, and when the first clamping mechanism rotates to be disengaged from the second clamping mechanism, the second clamping mechanism rotates forward under the action of the second elastic reset mechanism until the opening of the lock hook faces the lock hole; When switching from the unlocked state to the locked state: the operating end is not subjected to external force, and the second engaging mechanism is reversely rotated until it engages with the first engaging mechanism.

2. The locking device according to claim 1, characterized in that: The first clamping mechanism comprises: A first clamping member, the first clamping member is used to clamp with the second clamping mechanism, and the first clamping member is rotatably connected with the mounting structure through a first pivot shaft; An operating rod, one end of which is fixedly connected to the first clamping member; A pressure rod, wherein the pressure rod is fixedly connected to the other end of the operating rod.

3. The locking device according to claim 2, characterized in that: The first clamping member comprises a clamping groove for clamping the second clamping mechanism, the opening of the clamping groove faces the second clamping mechanism; in the clamping groove, the opening end is narrower than the end opposite to the opening end; The first clamping member also includes a guide surface, which gradually extends from the opening end of the clamping slot in a direction away from the second clamping mechanism. During the process of switching from the unlocked state to the locked state, one end of the second clamping mechanism moves along the guide surface into the clamping slot.

4. The locking device 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 fixed to 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.

5. The locking device according to claim 1, characterized in that: The second clamping mechanism comprises a second clamping piece, the second clamping piece is connected to the mounting structure via a second pivot shaft, the second clamping piece is used for clamping with the first clamping mechanism, and the locking hook is located on the second clamping piece.

6. The locking device according to claim 5, characterized in that: The second clamping member comprises a pivoting portion, an inserting portion and a locking portion, the pivoting portion is provided with a second pivoting hole connected to the second pivot shaft, the inserting portion and the locking portion are arranged at intervals and 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 pushes the first clamping mechanism to rotate until the plug-in portion is inserted into the clamping groove of the first clamping mechanism.

7. The locking device according to claim 5, characterized in that: The second elastic reset mechanism includes a torsion spring and a mounting column, the mounting column is fixed on the mounting structure, the main body of the torsion spring is fixedly connected to the second clamping piece, the first torsion bar of the torsion spring is fixed on the mounting column, and the second torsion bar of the torsion spring abuts against the second clamping piece.

8. The locking device according to any one of claims 1 to 7, characterized in that: The mounting structure comprises a first mounting plate and a second mounting plate which are arranged opposite to each other, and 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.

9. The locking device according to claim 8, characterized in that: The first clamping mechanism is rotatably connected to the first mounting plate and the second mounting plate respectively; and / or, The second clamping mechanism is rotatably connected to the first mounting plate and the second mounting plate respectively; and / or, The operating end extends out of the area directly facing the first mounting plate and the second mounting plate; and / or, 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. When the operating end is pressed to make the first clamping mechanism abut against the first limiting portion, the first clamping mechanism and the second clamping mechanism are completely separated. After the pressing force of the operating end is withdrawn, the first limiting portion is used to prevent the first clamping mechanism from flipping over, so that the second clamping mechanism contacts and pushes the first clamping mechanism and the two can be clamped; and / or, The peripheral edge 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. After the pressing force of the operating end is withdrawn, the second limiting portion is used to prevent the first clamping mechanism from flipping over, so that the second clamping mechanism contacts and pushes the first clamping mechanism and the two can be clamped.

10. A locking system, characterized in that: comprising a lock buckle and a locking device as claimed in any one of claims 1 to 9; In the unlocked state, the lock hook applies a force to the lock hook from one side of the lock hole, and when the second engaging mechanism rotates to engage with the first engaging mechanism, the lock buckle is hooked on the lock hook and switched to the locked state.

11. A robot system, comprising a master console and a slave robot, characterized in that: The main console has a locking device as described in any one of claims 1 to 9, and the slave robot is provided with a lock that matches the locking device.

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