Miniaturized locking device for indexing mechanism and indexing mechanism

Abstract

The invention relates to a miniaturized locking device for an indexing mechanism and the indexing mechanism, is suitable for three self-inertial measurement units, and solves the technical problems of incapability of independently locking an outer frame, easiness in unlocking clamping stagnation, lower precision, poorer stability and larger size and weight in the prior art. The locking device comprises a locking motor, a locking motor base and a locking pin. The locking motor base comprises a rotating cylinder, an inner boss and an input cavity; a worm is arranged in the input cavity, a turbine shaft is arranged in the rotating cylinder, and the worm and the turbine shaft are matched to form a turbine worm; a lead screw sleeved with a pin lock ejector block is arranged in the rotating cylinder, and the pin lock ejector block and the lead screw are matched to form a lead screw thread pair. The pin lock ejector block is sleeved with a dense ball frame. A guide through hole with a guide steel ball is formed in the dense ball frame, and the guide steel ball makes contact with the bottom of a sliding groove formed in the pin lock ejector block and the locking motor base. A taper hole is formed in the inner wall of the pin lock ejector block, and the taper hole is matched with the conical face of the locking pin and used for being matched with the locking pin to achieve shafting locking when the pin lock ejector block is pushed out.

Description

Technical Field

[0001] The invention relates to a locking device and a transfer mechanism in an inertial navigation system, and in particular to a miniaturized locking device and a transfer mechanism for a transfer mechanism, which are suitable for a three-inertial navigation group. Background Art

[0002] Inertial navigation systems can generally be divided into platform inertial navigation systems and strapdown inertial navigation systems. Platform inertial navigation systems can realize dual-degree-of-freedom infinite-angle continuous rotation of the platform, and ensure that when missiles, spacecraft, rockets and other aircraft make various posture changes, the coordinate system of the inertial instrument installed on the platform always coincides with the earth coordinate system, thereby providing accurate orientation and attitude recognition for the aircraft to achieve navigation functions. The strapdown inertial navigation system is an inertial navigation system developed after the platform inertial navigation system. The advanced inertial algorithm it uses allows the coordinate system of the inertial instrument to coincide directly with the aircraft coordinate system. By real-time monitoring of the data changes of the inertial instrument, the software algorithm is used to automatically complete the orientation and attitude calculation of the aircraft.

[0003] With the continuous increase in the demand for weapons and equipment, the three-auto strapdown inertial group system (abbreviated as three-auto inertial group) came into being. It combines the characteristics of the platform inertial navigation system and the strapdown inertial navigation system, and not only has the function of rotating the axis system, but also has the strapdown state, that is, the locking function of the axis system. Therefore, the transfer mechanism of the three-auto inertial group must be able to achieve a certain angle of rotation, and can be locked and unlocked at the same time. In addition, in some special occasions, such as a vehicle-mounted laser strapdown inertial group, the transfer mechanism also needs to achieve an infinite angle rotation function to facilitate power-on self-alignment debugging.

[0004] The transfer mechanism of the three-inertial group often uses a double-axis transfer mechanism, including the inner frame, the inner frame motor shaft end, the inner frame grating shaft end, and the outer frame, the outer frame motor shaft end, the outer frame grating shaft end and other components. The rotor of the inner frame shaft system is installed on the inner frame, and the stator of the inner frame shaft system is installed on the outer frame; at the same time, the corresponding locking devices of the inner frame and the outer frame are configured. The locking device commonly uses electric locks and mechanical locks. Most three-inertial groups have electric lock functions, and are supplemented by mechanical locks to enhance locking stability; common mechanical locks include shaft end gear locks, such as Chinese patent CN115789180A, and rotary latch locks, such as Chinese patent CN206257267U.

[0005] Figure 1-Figure 2The basic structural diagram of the existing shaft end gear lock includes a fixed gear 016, a movable gear 014, a locking seat 013, a gear lock motor 015, a first guide slide 011 and a second guide slide 012, and locking is achieved through the fixed gear 016 and the movable gear 014. The fixed gear 016 of the shaft end gear lock is installed using the part of the rotor 017 that extends outward, and is fastened to the rotor 017 as a whole; the main part of the shaft end gear lock includes the movable gear 014, which can be pushed out by the gear lock motor 015 to drive the transmission mechanism to axially engage and lock with the fixed gear 016 on the inner frame shaft system. The engagement process is manifested as a micro-elastic extrusion deformation of multiple small V-shaped teeth to ensure the stability of the shaft system locking engagement. Among them, the movable gear 014 is limited in its rotational freedom by two to three guide slides, thereby achieving the purpose of limiting the rotation of the inner frame shaft system rotor 017. The problems and shortcomings of the shaft end gear lock are as follows:

[0006] (1) The locking process is actually to lock the inner frame through the inner frame shaft installed at the waist of the outer frame, which is equivalent to locking the outer frame and the inner frame at the same time. The outer frame cannot be locked alone.

[0007] (2) Under the operating temperature of the three-speed inertia group, the multiple small V-shaped teeth between the movable gear plate and the fixed gear plate will expand or contract due to the material's own characteristics, making it easy for the unlocking to become stuck.

[0008] Figure 3 The basic structural diagram of the existing rotary latch lock includes components such as a reducer 023, a latch lock motor 024, and a brake 025. The end actuator is a rocker arm + latch structure. The rocker arm 021 is installed on the output shaft of the reducer 023 through a key connection, and the latch 022 is connected to the rocker arm 021 through a screw. The latch lock motor 024 drives the output shaft of the reducer 023 to rotate, driving the rocker arm 021 to rotate, and driving the latch 022 thereon to rotate to a certain position. The V-shaped surface at the end of the latch 022 cooperates with the V-shaped notch on the locked frame, and then the brake 025 locks the motor shaft to maintain the locked state. The problems and shortcomings of the rotary latch lock are as follows:

[0009] (1) Since mechanical structures such as gears, cams, latches, rocker arms or cantilevers are used in the locking process, the accuracy and stability are not satisfactory and cannot meet the requirements of the current mechanical environment.

[0010] (2) They are large in size and weight and cannot be applied to smaller usage scenarios. In addition, due to their structural limitations, miniaturization and lightweighting are difficult.

[0011] (3) The locking is performed by locking the motor shaft, but the gear backlash and rocker arm structure of the final reducer will introduce a large system cumulative deviation, resulting in low locking stability and reliability. Summary of the invention

[0012] The purpose of the present invention is to solve the technical problems in the prior art that the outer frame cannot be locked separately, unlocking is prone to jamming, or the accuracy is low, the stability is poor, and the volume and weight are large, and to provide a miniaturized locking device and a transfer mechanism for the transfer mechanism.

[0013] In order to achieve the above-mentioned invention object, the technical solution provided by the present invention is as follows:

[0014] A miniaturized locking device for an indexing mechanism, which is special in that it includes a locking motor, a locking motor seat mounted on the locking motor, and a locking pin;

[0015] The locking motor seat comprises a rotating cylinder, an inner boss arranged in the middle of the inner wall of the rotating cylinder, and an input cavity perpendicular to the rotating cylinder, the input cavity is located on one side of the inner boss along the axial direction, and the side is defined as the bottom cavity, and the other side is defined as the top cavity; the input cavity is connected with the bottom cavity;

[0016] A worm is rotatably arranged in the input cavity, and the worm is coaxially connected to the output end of the locking motor; a turbine shaft is rotatably arranged in the bottom cavity of the rotating cylinder, and a turbine is sleeved on the turbine shaft, and the turbine and the worm cooperate to form a turbine-worm structure;

[0017] A lead screw coaxially connected to the turbine shaft is arranged in the top cavity of the rotating cylinder, a pin lock top block is sleeved on the lead screw, and the outer diameter of the pin lock top block is larger than the inner diameter of the inner boss; an inner thread is arranged on the inner wall of the pin lock top block near one end of the bottom cavity, and the inner thread cooperates with the lead screw to form a lead screw thread secondary structure;

[0018] The outer wall of the pin lock top block is sleeved with a dense bead rack, on which evenly distributed dense beads are arranged, and each dense bead is interference-fitted with the inner wall of the rotating cylinder and the outer wall of the pin lock top block;

[0019] A guide through hole is also provided on the bead rack, an axial top block slide groove is correspondingly provided on the outer wall of the pin lock top block, and an axial motor seat slide groove is correspondingly provided on the inner wall of the rotating cylinder; a guide steel ball is provided in the guide through hole, and two sides of the guide steel ball are respectively in contact with the bottom of the top block slide groove and the bottom of the motor seat slide groove;

[0020] The locking motor seat is used to be fixed on the external shell body, and the locking pin is used to be installed on the frame of the transfer mechanism and corresponds to the position of the pin lock top block; a tapered hole is provided on the inner wall of the other end of the pin lock top block, and the tapered hole is adapted to the tapered surface of the locking pin, and is used to cooperate with the locking pin to realize shaft system locking when the pin lock top block is pushed out.

[0021] Furthermore, the guide steel balls are respectively located at one end of the top block slot and one end of the motor seat slot when in the unlocked state, and the other end of the top block slot extends along the outer wall of the pin lock top block toward the bottom cavity; the other end of the motor seat slot extends along the inner wall of the rotating cylinder toward the bottom cavity.

[0022] Furthermore, it includes an infrared monitoring device installed on the locking motor seat, and the infrared monitoring device is used to monitor the locking state of the locking device.

[0023] Furthermore, the infrared monitoring device includes an infrared lever and an infrared seat. The infrared seat is installed on the locking motor seat. Light-emitting diodes and phototransistors are arranged opposite to each other on the infrared seat, and the direction of the light path is perpendicular to the axis of the pin lock top block. One end of the infrared lever is connected to the pin lock top block, and the other end cooperates with the light-emitting diode and the phototransistor to judge the position of the pin lock top block through the on-off relationship of the light path of the light-emitting diode and the phototransistor, thereby monitoring the locking state of the locking device.

[0024] Furthermore, the infrared gear lever includes a fixed ring and an L-shaped gear lever connected to the outer periphery of the fixed ring and located in the same plane as its axis; an annular step is provided on the outer periphery of the other end of the pin lock top block, and the fixed ring is installed on the annular step; a gear lever slot is provided at the end of the top cavity of the rotating cylinder, and the L-shaped gear lever passes through the gear lever slot, and its end is located between the light-emitting diode and the phototransistor.

[0025] Furthermore, the turbine shaft can be rotatably arranged in the rotating cylinder through a bearing group; the bearing group includes two bearings which are sleeved on the turbine shaft and adapted thereto, and are respectively located on both sides of the turbine along the axial direction, and the outer rings of the two bearings respectively cooperate with the motor seat cover and the inner boss installed at the bottom cavity opening; the worm can be rotatably arranged in the input cavity through another group of bearings.

[0026] Furthermore, a speed reduction mechanism is arranged inside the locking motor; and a self-lubricating material is arranged between the pin lock top block and the lead screw.

[0027] The present invention also provides a transfer mechanism, comprising a housing, an inner frame shaft system and an outer frame shaft system arranged in the housing, the special features of which are:

[0028] It also includes two of the above-mentioned miniaturized locking devices for the indexing mechanism corresponding one to one with the inner frame shaft system and the outer frame shaft system;

[0029] The locking pins of the two locking devices are respectively installed at the frame shoulder positions of the inner frame shaft system and the outer frame shaft system; and the two locking motor seats are respectively fixed at the corresponding positions of the shell.

[0030] The beneficial effects of the present invention compared with the prior art are as follows:

[0031] 1. The present invention provides a miniaturized locking device for a transfer mechanism, which is designed with a pin lock top block and a locking pin. The transfer mechanism is locked by the tapered hole and tapered pin of the two, which ensures the locking accuracy while avoiding the problem of unlocking jam. Due to the locking structure with tapered hole and tapered pin, the locking force and unlocking force of the locking device will be at corresponding angles. When locking, only the component of the unlocking force is balanced with the locking force, so the locking reliability is high. In addition, the design reduces the locking actuator at the end of the locking device, which can further compress the height, volume and weight of the locking device, providing more available space for the transfer mechanism and various inertial group products.

[0032] 2. The present invention provides a miniaturized locking device for a transfer mechanism, which uses a tapered hole and a tapered pin for locking, and the guide steel ball used for guiding and the locking actuator at the end are integrated. The guide steel ball and the two guide slots are used to realize the rotation constraint of the pin lock top block around the axis, so that the locking device has a compact and simple structure and is easy to disassemble and assemble, reducing the complexity. Therefore, the installation layout of the locking device is flexible, and it can be adjusted according to the structural requirements to realize the individual locking of the target axis system frame. For example, when used in a dual-axis transfer mechanism, two sets of locking devices can realize four locking states of the inner and outer frames, which can meet more working state requirements of the inertial group.

[0033] 3. The present invention provides a miniaturized locking device for a transfer mechanism, which adopts a turbine worm structure and a lead screw thread pair structure for transmission, that is, a two-stage self-locking structure is connected in series, thereby realizing the power-off holding function of the locking device. After locking, the locking motor does not need to be continuously blocked to achieve reliable cooperation between the pin lock top block and the locking pin, thereby ensuring both the locking accuracy and stability of the locking device and the locking reliability.

[0034] 4. The present invention provides a miniaturized locking device for a transfer mechanism, which includes an infrared monitoring device, which contains a light-emitting diode and a phototransistor arranged opposite to each other. The position of the pin lock top block can be judged by the on-off relationship of the optical path of the light-emitting diode and the phototransistor, thereby judging the locking state of the locking device, providing a basis for the next action instruction, and performing more accurate locking.

[0035] 5. The present invention provides a miniaturized locking device for a transfer mechanism. The locking actuator at the end of the locking device assumes the main locking function. The transfer mechanism only needs to install a locking pin on the shaft system frame, so that a conductive slip ring can be installed at the shaft end, fully realizing the infinite angle continuous rotation function of the shaft end of the transfer mechanism.

[0036] 6. The miniaturized locking device for the indexing mechanism provided by the present invention has a screw thread pair structure composed of a pin lock top block and a screw, and is matched with self-lubricating materials, which has little wear during the locking process and has a strong ability to maintain reverse self-locking performance. In addition, the raw materials and components of the locking device are conventional and easy to obtain, the processing technology is simple, and there are no special requirements for assembly and installation, which is low in cost.

[0037] 7. The present invention provides a transfer mechanism, which includes a miniaturized locking device that can be independently installed on the shoulders of different axis frames on the three-axis inertia group, respectively controlling the locking of different axis frames of the transfer mechanism to achieve independent continuous rotation of different axis frames. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic diagram of the structure of the existing shaft end gear lock Figure 1 ;

[0039] Figure 2 This is a schematic diagram of the structure of the existing shaft end gear lock Figure 2 ;

[0040] Figure 3 It is a structural diagram of an existing rotary latch lock.

[0041] The following are the descriptions of the figures:

[0042] 011-first guide slide bar; 012-second guide slide bar; 013-locking seat; 014-moving gear plate; 015-sprocket plate lock motor; 016-fixed gear plate; 017-rotor;

[0043] 021- rocker arm; 022- latch; 023- reducer; 024- latch lock motor; 025- brake.

[0044] Figure 4 It is a structural cross-sectional view of an embodiment of a miniaturized locking device for an indexing mechanism of the present invention;

[0045] Figure 5 It is a transmission schematic diagram of an embodiment of a miniaturized locking device for a transfer mechanism of the present invention;

[0046] Figure 6 It is a schematic diagram of an embodiment of a miniaturized locking device for a transfer mechanism of the present invention applied to a double-axis transfer mechanism.

[0047] The following are the descriptions of the figures:

[0048] 1-locking motor seat, 101-rotating cylinder, 102-inner boss, 103-input cavity, 104-motor seat slide; 2-turbine shaft, 201-screw, 202-turbine; 3-pin lock top block, 301-top block slide; 4-dense bead rack, 401-guide through hole; 5-guide steel ball; 6-bearing group; 7-motor seat cover; 8-infrared monitoring device, 801-infrared gear lever, 802-infrared seat; 9-locking motor; 10-locking pin. DETAILED DESCRIPTION

[0049] The specific technical solutions in the embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0050] The present invention is based on the requirement that a transfer mechanism in a vehicle-mounted laser strapdown inertial group needs to realize an infinite angle rotation function and needs to realize a separate locking function for an inner and outer frame of the dual-axis transfer mechanism. A miniaturized locking device for a transfer mechanism and a transfer mechanism with the locking device are designed. The locking device is driven by a locking motor. After passing through a worm gear reduction mechanism with a high transmission ratio, the locking motor amplifies the output torque and locks it through the worm gear output.

[0051] Figure 4-Figure 5 A miniaturized locking device for an indexing mechanism provided by an embodiment of the present invention specifically comprises a locking motor 9, a locking motor base 1 mounted on the locking motor 9 through a flange and screws, an infrared monitoring device 8 mounted on the locking motor base 1, and a locking pin 10; a reduction mechanism (i.e., a self-contained reducer) is arranged inside the locking motor 9;

[0052] The locking motor base 1 includes a rotating cylinder 101, an inner boss 102 arranged in the middle of the inner wall of the rotating cylinder 101, and an input cavity 103 perpendicular to the rotating cylinder 101. The input cavity 103 is located on one side of the inner boss 102 along the axial direction, which is defined as the bottom cavity and the other side as the top cavity; the input cavity 103 is connected to the bottom cavity.

[0053] A worm is rotatably arranged in the input cavity 103, and the worm is coaxially connected to the output end of the locking motor 9; a turbine shaft 2 is rotatably arranged in the bottom cavity of the rotating cylinder 101, and a turbine 202 is sleeved on the turbine shaft 2. The turbine 202 and the worm cooperate to form a turbine-worm structure. The turbine shaft 2 is rotatably arranged in the rotating cylinder 101 through a bearing group 6; the bearing group 6 includes two bearings sleeved on the turbine shaft 2 and adapted thereto, and are respectively located on both sides of the turbine 202 along the axial direction. The outer rings of the two bearings are respectively matched with the motor seat cover 7 and the inner boss 102 installed at the bottom cavity opening; the worm is rotatably arranged in the input cavity 103 through another group of bearings, and is 90° with the turbine.

[0054] A lead screw 201 is provided in the top cavity of the rotating cylinder 101, which is coaxially connected to the turbine shaft 2 and is integrated with the turbine shaft 2. A pin lock top block 3 is sleeved on the lead screw 201, and the outer diameter of the pin lock top block 3 is larger than the inner diameter of the inner boss 102; an internal thread is provided on the inner wall of the pin lock top block 3 near one end of the bottom cavity, and the internal thread cooperates with the lead screw 201 to form a lead screw thread sub-structure, and the lead screw thread sub-structure is matched with self-lubricating material.

[0055] The outer wall of the pin lock top block 3 is sleeved with a dense bead rack 4, on which are evenly distributed dense beads, each of which is interference fit with the inner wall of the rotating cylinder 101 and the outer wall of the pin lock top block 3 to ensure the positioning accuracy of its axis.

[0056] A guide through hole 401 is also provided on the bead rack 4, and a guide steel ball 5 is provided in the guide through hole 401. An axial top block slide groove 301 is correspondingly provided on the outer wall of the pin lock top block 3, and an axial motor seat slide groove 104 is correspondingly provided on the inner wall of the rotating cylinder 101. When in the unlocked state, the guide steel ball 5 is respectively located at one end of the top block slide groove 301 and one end of the motor seat slide groove 104, and the other end of the top block slide groove 301 extends along the outer wall of the pin lock top block 3 toward the bottom cavity; the other end of the motor seat slide groove 104 extends along the inner wall of the rotating cylinder 101 toward the direction away from the bottom cavity.

[0057] The diameter of the guide steel ball 5 is matched with the sum of the groove depth of the top block slide groove 301, the thickness of the dense bead rack 4, and the groove depth of the motor seat slide groove 104. The two sides are respectively in contact with the groove bottom of the top block slide groove 301 and the groove bottom of the motor seat slide groove 104, thereby limiting the radial rotation of the pin lock top block 3, thereby utilizing the lead screw 201 to convert the rotation of the worm gear 202 into the linear motion of the pin lock top block 3, thereby pushing the pin lock top block 3 to perform the locking action.

[0058] The locking motor seat 1 is fixed on the external shell, and the locking pin 10 is installed on the frame of the transfer mechanism and corresponds to the position of the pin lock top block 3; the inner wall of the other end of the pin lock top block 3 is provided with a tapered hole, which is adapted to the tapered surface of the locking pin 10. After the pin lock top block 3 is pushed out, the locking pin 10 is cooperated to realize the locking of the shaft system.

[0059] The infrared monitoring device 8 includes an infrared lever 801 and an infrared seat 802. The infrared seat 802 is installed on the locking motor seat 1. The infrared seat 802 is provided with a light emitting diode and a phototransistor facing each other, and the direction of the optical path is perpendicular to the axis of the pin lock top block 3. The infrared lever 801 includes a fixed ring and an L-shaped lever connected to the outer periphery of the fixed ring and located in the same plane as its axis. The outer periphery of the other end of the pin lock top block 3 is provided with an annular step, and the fixed ring is installed on the annular step. The top cavity end of the rotating cylinder 101 is provided with a lever notch, and the L-shaped lever passes through the lever notch, and its end is located between the light emitting diode and the phototransistor for the cooperation of the optical path switch. During the locking and unlocking process, the pin lock top block 3 drives the infrared lever 801 to move, and the position of the pin lock top block 3 is monitored by the optical path on-off relationship of the light emitting diode and the phototransistor, thereby monitoring the locking state of the locking device. The reading of the locking state can clarify the locking / unlocking state of the indexing mechanism for the system when the three-inertial group is initially powered on, and provide a basis for the next action instruction.

[0060] In the embodiment of the present invention, the worm gear and the lead screw thread pair form a two-stage reverse self-locking function. After locking, the motor does not need to be continuously blocked to achieve reliable cooperation between the pin lock top block 3 and the locking pin 10. When unlocking, the locking motor 9 reversely rotates and drives the worm gear to make the pin lock top block 3 retreat until the inner boss 102 is mechanically limited, and then the locking motor 9 stops rotating to achieve unlocking.

[0061] When the embodiment of the present invention is applied to a dual-axis indexing mechanism of a three-axis inertia group, two sets of locking devices can be independently installed on the three-axis inertia group to control the locking states of the inner frame shaft and the outer frame shaft respectively. Figure 6 As shown, the locking pin 10 in the locking device is installed on the inner frame shoulder and the outer frame shoulder respectively, and the lock body of the locking device is installed at the corresponding position. Through the combination of the two locking devices, two rotation modes can be realized: the inner frame rotates independently and the outer frame and the inner frame rotate simultaneously. There are four locking combination modes in total, which can realize four locking states of the dual-axis indexing mechanism:

[0062] (1) The inner frame lock is locked and the outer frame lock is disengaged, so that the inner and outer frames are locked at the same time;

[0063] (2) The inner frame lock is locked, and the outer frame lock is locked, so that the inner and outer frames are locked at the same time;

[0064] (3) The inner frame lock is disengaged and the outer frame lock is locked, so that the outer frame is locked and the inner frame rotates;

[0065] (4) The inner frame lock and the outer frame lock are disengaged, so that the inner and outer frames can rotate simultaneously.

[0066] Among the above four locking states, the locking functions achieved by the first two are the same, but there are differences in locking performance, mainly in that: compared with state (1), the rigidity of the inner and outer frame shaft systems of the transfer mechanism in state (2) is higher and the adaptability to the mechanical environment is better.

[0067] The working process of the embodiment of the present invention is as follows:

[0068] Locking process:

[0069] The locking motor 9 receives the locking command, and its output shaft drives the worm to rotate, and the worm drives the worm wheel 202 to rotate. Under the joint action of the lead screw thread pair and the guide steel ball 5, the pin lock top block 3 has only an axial translation movement tendency. The pin lock top block 3 is pushed outward, and the ball rolls at the same time, ensuring that the axis of the pin lock top block 3 is centered during movement.

[0070] After the pin lock top block 3 is pushed out, it cooperates with the conical surface of the locking pin 10 installed on the frame, and after applying a certain pre-pressure, the locking action is completed. After the locking motor 9 loses power, the screw thread pair and the worm gear both have a reverse self-locking function, forming a two-stage series self-locking to maintain the locking state.

[0071] During the locking process, when the pin lock top block 3 is pushed out, it drives the infrared blocking rod 801 to move outward. After moving to a certain position, the infrared blocking rod 801 no longer blocks the light path formed by the light-emitting diode and the phototransistor in the infrared seat 802, which can be used as a basis for identifying the state of the locking device.

[0072] Unlocking process:

[0073] After receiving the unlocking command, the output end of the locking motor 9 rotates in the reverse direction, the worm gear releases self-locking and drives the worm wheel 202 to rotate in the reverse direction, thereby driving the lead screw thread pair to release self-locking and drive the pin lock top block 3 to retract, completing the unlocking.

[0074] During the unlocking process, when the pin lock top block 3 is retracted, it drives the infrared blocking rod 801 to move together. After reaching a certain position, the light path in the infrared seat 802 is cut off by the infrared blocking rod 801. The state of the locking device can be identified before the next action, which serves as the basis for the next action instruction.

[0075] The above content is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A miniaturized locking device for an indexing mechanism, characterized in that: It comprises a locking motor (9), a locking motor seat (1) mounted on the locking motor (9), and a locking pin (10); The locking motor seat (1) comprises a rotating cylinder (101), an inner boss (102) arranged in the middle of the inner wall of the rotating cylinder (101), and an input cavity (103) perpendicular to the rotating cylinder (101), wherein the input cavity (103) is located on one side of the inner boss (102) along the axial direction, and the side is defined as the bottom cavity, and the other side is defined as the top cavity; A worm is rotatably arranged in the input cavity (103), and the worm is coaxially connected to the output end of the locking motor (9); a turbine shaft (2) is rotatably arranged in the bottom cavity of the rotating cylinder (101), a turbine (202) is sleeved on the turbine shaft (2), and the turbine (202) and the worm cooperate to form a turbine-worm structure; A lead screw (201) coaxially connected to the turbine shaft (2) is provided in the top cavity of the rotating cylinder (101), a pin lock top block (3) is sleeved on the lead screw (201), the outer diameter of the pin lock top block (3) is larger than the inner diameter of the inner boss (102); an inner thread is provided on the inner wall of the pin lock top block (3) near one end of the bottom cavity, and the inner thread cooperates with the lead screw (201) to form a lead screw thread auxiliary structure; The outer wall of the pin lock top block (3) is sleeved with a dense bead rack (4), on which evenly distributed dense beads are arranged, and each dense bead is interference-fitted with the inner wall of the rotating cylinder (101) and the outer wall of the pin lock top block (3); The bead rack (4) is also provided with a guide through hole (401); the outer wall of the pin lock top block (3) is correspondingly provided with an axial top block slide groove (301); the inner wall of the rotating cylinder (101) is correspondingly provided with an axial motor seat slide groove (104); a guide steel ball (5) is provided in the guide through hole (401); two sides of the guide steel ball (5) are respectively in contact with the bottom of the top block slide groove (301) and the bottom of the motor seat slide groove (104); The locking motor seat (1) is used to be fixed on the external housing, and the locking pin (10) is used to be installed on the frame of the indexing mechanism and corresponds to the position of the pin locking top block (3); the inner wall of the other end of the pin locking top block (3) is provided with a tapered hole, which is adapted to the tapered surface of the locking pin (10) and is used to cooperate with the locking pin (10) to achieve shaft system locking when the pin locking top block (3) is pushed out.

2. A miniaturized locking device for an indexing mechanism according to claim 1, characterized in that: The guide steel ball (5) is respectively located at one end of the top block slide groove (301) and one end of the motor seat slide groove (104) when in the unlocked state; the other end of the top block slide groove (301) extends along the outer wall of the pin lock top block (3) toward the bottom cavity; the other end of the motor seat slide groove (104) extends along the inner wall of the rotating cylinder (101) toward the bottom cavity.

3. A miniaturized locking device for an indexing mechanism according to claim 1 or 2, characterized in that: It comprises an infrared monitoring device (8) installed on the locking motor seat (1), and the infrared monitoring device (8) is used to monitor the locking state of the locking device.

4. A miniaturized locking device for an indexing mechanism according to claim 3, characterized in that: The infrared monitoring device (8) comprises an infrared lever (801) and an infrared seat (802), wherein the infrared seat (802) is mounted on the locking motor seat (1), and a light emitting diode and a phototransistor are arranged on the infrared seat (802) facing each other, and the direction of the light path is perpendicular to the axis of the pin locking top block (3); One end of the infrared gear lever (801) is connected to the pin lock top block (3), and the other end cooperates with the light emitting diode and the phototransistor, and is used to determine the position of the pin lock top block (3) through the on-off relationship of the light path of the light emitting diode and the phototransistor, thereby monitoring the locking state of the locking device.

5. A miniaturized locking device for an indexing mechanism according to claim 4, characterized in that: The infrared gear lever (801) comprises a fixing ring and an L-shaped gear lever connected to the outer periphery of the fixing ring and located in the same plane as the axis of the fixing ring; The outer circumference of the other end of the pin lock top block (3) is provided with an annular step, and the fixing ring is installed on the annular step; A shift rod slot is provided at the top cavity end of the rotating cylinder (101), the L-shaped shift rod passes through the shift rod slot, and the end of the L-shaped shift rod is located between the light emitting diode and the phototransistor.

6. A miniaturized locking device for an indexing mechanism according to claim 3, characterized in that: The turbine shaft (2) is rotatably arranged in the rotating cylinder (101) via a bearing group (6); the bearing group (6) comprises two bearings sleeved on the turbine shaft (2) and adapted thereto, and respectively located on two sides of the turbine (202) along the axial direction, and the outer rings of the two bearings respectively cooperate with a motor seat cover (7) installed at the bottom cavity opening and an inner boss (102); The worm is rotatably arranged in the input cavity (103) via another set of bearings.

7. A miniaturized locking device for an indexing mechanism according to claim 1, characterized in that: A speed reduction mechanism is provided inside the locking motor (9); A self-lubricating material is provided between the pin lock top block (3) and the lead screw (201).

8. A transfer mechanism, comprising a housing, an inner frame shaft system and an outer frame shaft system arranged in the housing, characterized in that: It also includes two miniaturized locking devices for indexing mechanisms according to claim 1 corresponding one to one with the inner frame shaft system and the outer frame shaft system; The locking pins (10) of the two locking devices are respectively installed at the frame shoulder positions of the inner frame shaft system and the outer frame shaft system; the two locking motor seats (1) are respectively fixed at corresponding positions of the shell.

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