Miniaturized locking device for an indexing mechanism and indexing mechanism

Abstract

The application relates to a miniaturized locking device for a indexing mechanism and the indexing mechanism, which is suitable for a three-self-inertia group, and solves the technical problems that the prior art cannot lock the outer frame alone, is prone to unlocking jamming, has low precision, poor stability, and large volume and weight. The application 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 is arranged in the rotating cylinder and sleeved with a pin locking top block, the lead screw and the pin locking top block are matched to form a lead screw threaded pair, the pin locking top block is sleeved with a tight bead holder, a guide through hole with a guide steel ball is formed in the tight bead holder, the guide steel ball is in contact with the bottom of a sliding groove formed in the pin locking top block and the locking motor base, a taper hole is arranged on the inner wall of the pin locking top block, the taper hole is matched with the tapered surface of the locking pin, and the taper hole is used for cooperating with the locking pin to realize shaft locking when the pin locking top block is pushed out.

Description

Technical Field

[0001] This invention relates to locking devices and indexing mechanisms in inertial navigation systems, specifically to a miniaturized locking device and indexing mechanism for indexing mechanisms, applicable to three-auto inertial navigation systems. Background Technology

[0002] Inertial navigation systems (INS) can generally be divided into platform INS and strapdown INS. Platform INS enables continuous, two-degree-of-freedom rotation of the platform at infinite angles, ensuring that the coordinate system of the inertial instruments mounted on the platform always coincides with the Earth's coordinate system when missiles, spacecraft, rockets, and other aircraft undergo various attitude changes. This provides the aircraft with accurate azimuth and attitude recognition for navigation. Strapdown INS, developed after platform INS, employs advanced inertial algorithms that allow the coordinate system of the inertial instruments to directly coincide with the aircraft's coordinate system. By monitoring real-time changes in the inertial instrument data, software algorithms automatically calculate the aircraft's azimuth and attitude.

[0003] With the ever-increasing demands of weaponry and equipment, the three-auto strapdown inertial navigation system (hereinafter referred to as three-auto inertial navigation system) has emerged. Combining the characteristics of platform inertial navigation systems and strapdown inertial navigation systems, it not only has the rotation function of the axis system but also the strapdown state, i.e., the locking function of the axis system. Therefore, the indexing mechanism of the three-auto inertial navigation system must be able to achieve a certain angle of rotation and simultaneously lock and unlock. In addition, in some special cases, such as a vehicle-mounted laser strapdown inertial navigation system, the indexing mechanism also needs to achieve unlimited angle rotation to facilitate power-on self-alignment and debugging.

[0004] The indexing mechanism of a three-auto inertial navigation system (SAS) typically employs a dual-axis indexing mechanism, comprising an inner frame, an inner frame motor shaft end, an inner frame grating shaft end, an outer frame, an outer frame motor shaft end, and an outer frame grating shaft end. The rotor of the inner frame shaft system is mounted on the inner frame, and the stator of the inner frame shaft system is mounted on the outer frame. Corresponding locking devices are also configured for the inner and outer frames. Common locking devices include electric locks and mechanical locks. Most SASs have electric lock functionality, supplemented by mechanical locks to enhance locking stability. Common mechanical locks include shaft-end gear locks, such as Chinese patent CN115789180A, and rotary pin locks, such as Chinese patent CN206257267U.

[0005] Figures 1-2This is a schematic diagram of the basic structure of an existing shaft-end geared disc lock, including a fixed geared disc 016, a movable geared disc 014, a locking seat 013, a geared disc lock motor 015, a first guide slide rod 011, and a second guide slide rod 012. Locking is achieved through the fixed geared disc 016 and the movable geared disc 014. The fixed geared disc 016 of the shaft-end geared disc lock is mounted using the outward extension of the rotor 017 and is fastened to the rotor 017 as a single unit. The main body of the shaft-end geared disc lock includes the movable geared disc 014, which can be pushed out by the transmission mechanism driven by the geared disc lock motor 015. The movable geared disc 014 engages axially with the fixed geared disc 016 on the inner frame shaft system, locking it in place. The engagement process involves the micro-elastic compression deformation of multiple small V-shaped teeth to ensure the stability of the shaft system locking engagement. The movable geared disc 014 has its rotational freedom limited by two to three guide slide rods, thereby restricting the rotation of the inner frame shaft system rotor 017. The problems and shortcomings of the shaft-end geared disc lock are as follows:

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

[0007] (2) At the operating temperature of the three-auto inertial group, the multiple small V-shaped teeth between the moving tooth disk and the fixed tooth disk will expand or contract due to the material properties themselves, which can easily lead to problems such as unlocking jamming.

[0008] Figure 3 This is a schematic diagram of the basic structure of an existing rotary bolt lock, including components such as a reducer 023, a bolt lock motor 024, and a brake 025. Its end actuation unit is a rocker arm + bolt structure. The rocker arm 021 is keyed to the output shaft of the reducer 023, and the bolt 022 is connected to the rocker arm 021 with screws. The bolt lock motor 024 drives the output shaft of the reducer 023 to rotate, which in turn rotates the rocker arm 021, causing the bolt 022 to rotate to a certain position. The V-shaped surface at the end of the bolt 022 then mates with the V-groove on the locked frame. The brake 025 then locks the motor shaft, maintaining the locked state. The problems and shortcomings of the rotary bolt lock are as follows:

[0009] (1) Due to the use of mechanical structures such as gears, cams, pins, rocker arms or cantilever arms in the locking process, the accuracy and stability are not impressive and cannot meet the requirements of the current mechanical environment.

[0010] (2) It is large in size and weight, making it unsuitable for smaller application scenarios. Furthermore, due to its structural limitations, miniaturization and weight reduction are difficult.

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

[0012] The purpose of this invention is to solve the technical problems of existing technologies, such as the inability to lock the outer frame independently, easy unlocking jamming, low accuracy, poor stability, and large size and weight, and to provide a miniaturized locking device and indexing mechanism for indexing mechanisms.

[0013] To achieve the above-mentioned objectives, the present invention provides the following technical solution:

[0014] A miniaturized locking device for a rotation mechanism is characterized by comprising a locking motor, a locking motor mount on the locking motor, and a locking pin.

[0015] The locking motor base includes a rotating cylinder, an inner boss located 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, which is defined as the bottom cavity, and the other side is defined as the top cavity; the input cavity is in communication with the bottom cavity.

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

[0017] The top cavity of the rotating cylinder is equipped with a lead screw coaxially connected to the turbine shaft. A pin locking block is sleeved on the lead screw, and the outer diameter of the pin locking block is larger than the inner diameter of the inner boss. The inner wall of the pin locking block near the bottom cavity is provided with an internal thread, and the internal thread and the lead screw cooperate to form a lead screw thread pair structure.

[0018] The outer wall of the pin-locking top block is fitted with a bead rack, on which are evenly distributed beads. Each bead is interference-fitted with the inner wall of the rotating cylinder and the outer wall of the pin-locking top block.

[0019] The bead frame is also provided with guide through holes, and the outer wall of the pin-lock top block is provided with an axial top block groove, and the inner wall of the rotating cylinder is provided with an axial motor seat groove. Guide steel balls are provided in the guide through holes, and the two sides of the guide steel balls are in contact with the bottom of the top block groove and the bottom of the motor seat groove, respectively.

[0020] The locking motor base is used to fix it on the outer housing, and the locking pin is used to install on the frame of the indexing mechanism and corresponds to the position of the pin locking block; the inner wall of the other end of the pin locking block is provided with a tapered hole, which is adapted to the tapered surface of the locking pin and is used to cooperate with the locking pin to lock the shaft system when the pin locking block is pushed out.

[0021] Furthermore, when in the unlocked state, the guide steel balls are located at one end of the top block slide groove and one end of the motor base slide groove, respectively. The other end of the top block slide groove extends along the outer wall of the pin-locked top block towards the bottom cavity; the other end of the motor base slide groove extends along the inner wall of the rotating cylinder away from the bottom cavity.

[0022] Furthermore, it includes an infrared monitoring device mounted on the locking motor mount, which is used to monitor the locking status of the locking device.

[0023] Furthermore, the infrared monitoring device includes an infrared stop bar and an infrared base. The infrared base is mounted on the locking motor base, and light-emitting diodes and phototransistors are arranged facing each other on the infrared base, with the light path direction perpendicular to the axis of the locking pin block. One end of the infrared stop bar is connected to the locking pin block, and the other end cooperates with the light-emitting diode and phototransistor to determine the position of the locking pin block by the on / off relationship of the light path of the light-emitting diode and phototransistor, thereby monitoring the locking status of the locking device.

[0024] Furthermore, the infrared stop bar includes a fixed ring and an L-shaped stop bar 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 stop bar slot is provided at the top cavity end of the rotating cylinder, the L-shaped stop bar passes through the stop bar slot, and its end is located between the light-emitting diode and the phototransistor.

[0025] Furthermore, the turbine shaft is rotatably mounted inside the rotating cylinder via a bearing assembly; the bearing assembly includes two bearings sleeved on and adapted to the turbine shaft, 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 inner boss installed in the bottom cavity opening; the worm gear is rotatably mounted inside the input cavity via another set of bearings.

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

[0027] The present invention also provides a rotation mechanism, comprising a housing, an inner frame shaft system and an outer frame shaft system disposed within the housing, characterized in that:

[0028] It also includes two miniaturized locking devices for the indexing mechanism that correspond 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 on the frame shoulders of the inner frame shaft system and the outer frame shaft system; the two locking motor seats are respectively fixed in the corresponding positions of the housing.

[0030] The advantages of this invention compared to the prior art are:

[0031] 1. This invention provides a miniaturized locking device for indexing mechanisms, featuring a pin-locking top block and a locking pin. The indexing mechanism is locked via a tapered hole and pin engagement, ensuring locking accuracy while preventing unlocking jamming. Due to the tapered hole and pin engagement locking structure, the locking force and unlocking force of the locking device are at corresponding angles. During locking, only the component of the unlocking force balances the locking force, resulting in high locking reliability. Furthermore, this design reduces the size of the locking actuator at the end of the locking device, further compressing its height, volume, and weight, providing more usable space for indexing mechanisms and various inertial navigation systems (INS) products.

[0032] 2. This invention provides a miniaturized locking device for a rotation mechanism. It employs a tapered hole and pin engagement for locking, and the guide steel ball used for guidance is integrated with the locking actuator at the end. The guide steel ball, in conjunction with two guide grooves, constrains the pin-lock top block's rotation around the axis. This results in a compact, simple, and easy-to-assemble / disassemble locking device, reducing complexity. Therefore, the installation layout of the locking device is flexible, and adjustments can be made according to structural needs to achieve individual locking of the target shaft frame. For example, when applied in a dual-axis rotation mechanism, the two locking devices can achieve four locking states for the inner and outer frames, meeting the needs of more inertial navigation system operating conditions.

[0033] 3. The present invention provides a miniaturized locking device for a rotation mechanism, which uses a worm gear structure and a screw thread pair structure for transmission, that is, a two-stage self-locking structure in series, realizing the power failure retention function of the locking device. After locking, the locking motor does not need to be continuously stalled to achieve reliable cooperation between the pin lock top block and the locking pin, which not only ensures the locking accuracy and stability of the locking device, but also ensures the locking reliability.

[0034] 4. The present invention provides a miniaturized locking device for a rotation mechanism, comprising an infrared monitoring device, which includes a light-emitting diode and a phototransistor arranged in opposite directions. The position of the pin locking block can be determined by the on / off relationship of the light path of the light-emitting diode and the phototransistor, thereby determining the locking state of the locking device and providing a basis for the next action command for more precise locking.

[0035] 5. The present invention provides a miniaturized locking device for indexing mechanisms. The locking actuator at the end of the locking device undertakes the main locking function. Only the indexing mechanism needs to install a locking pin on the shaft frame. Therefore, a conductive slip ring can be installed at the shaft end, which can fully realize the function of infinite angle continuous rotation of the shaft end of the indexing mechanism.

[0036] 6. This invention provides a miniaturized locking device for an indexing mechanism. The lead screw thread pair structure formed by the pin lock top block and the lead screw is made of self-lubricating materials, resulting in minimal wear during the locking process and strong reverse self-locking performance. Furthermore, the raw materials and components of the locking device are readily available, the processing technology is simple, and there are no special requirements for assembly and installation, resulting in low cost.

[0037] 7. The present invention provides a typesetting mechanism, which includes miniaturized locking devices that can be independently installed on the shoulder positions of different shaft frames on a three-axis inertial navigation system, thereby controlling the locking of different shafts of the typesetting mechanism and realizing the individual continuous rotation of different shaft frames. Attached Figure Description

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

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

[0040] Figure 3 This is a schematic diagram of an existing rotary bolt lock.

[0041] The symbols in the attached image are explained as follows:

[0042] 011-First guide slide rod; 012-Second guide slide rod; 013-Locking seat; 014-Moving gear disc; 015-Gear disc lock motor; 016-Fixed gear disc; 017-Rotor;

[0043] 021-Rocker arm; 022-Pin; 023-Reducer; 024-Pin lock motor; 025-Brake.

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

[0045] Figure 5 This is a transmission schematic diagram of an embodiment of a miniaturized locking device for a rotation mechanism according to the present invention;

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

[0047] The symbols in the attached image are explained as follows:

[0048] 1- Locking motor base, 101- Rotating cylinder, 102- Inner boss, 103- Input cavity, 104- Motor base slide groove; 2- Turbine shaft, 201- Lead screw, 202- Turbine; 3- Pin lock top block, 301- Top block slide groove; 4- Closed ball holder, 401- Guide through hole; 5- Guide steel ball; 6- Bearing assembly; 7- Motor base cover; 8- Infrared monitoring device, 801- Infrared stop bar, 802- Infrared base; 9- Locking motor; 10- Locking pin. Detailed Implementation

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

[0050] This invention addresses the requirement in a vehicle-mounted laser strapdown inertial navigation system that the indexing mechanism needs to achieve unlimited angle rotation and separate locking of the inner and outer frames of the dual-axis indexing mechanism. A miniaturized locking device for the indexing mechanism and an indexing mechanism incorporating this locking device are designed. The locking device is driven by a locking motor, which, after passing through a high-ratio worm gear reducer, amplifies the output torque and outputs it through the worm gear for locking.

[0051] Figures 4-5 This invention provides a miniaturized locking device for a rotation mechanism, specifically including a locking motor 9, a locking motor base 1 mounted on the locking motor 9 via a flange and screws, an infrared monitoring device 8 mounted on the locking motor base 1, and a locking pin 10; the locking motor 9 is internally equipped with a reduction mechanism (i.e., a built-in reducer).

[0052] The locking motor base 1 includes a rotating cylinder 101, an inner boss 102 disposed 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, and this side is defined as the bottom cavity, and the other side is defined as the top cavity; the input cavity 103 communicates with the bottom cavity.

[0053] A worm gear is rotatably mounted inside the input cavity 103, and the worm gear is coaxially connected to the output end of the locking motor 9. A turbine shaft 2 is rotatably mounted inside the bottom cavity of the rotating cylinder 101, and a turbine 202 is fitted onto the turbine shaft 2. The turbine 202 and the worm gear cooperate to form a worm-worm gear structure. The turbine shaft 2 is rotatably mounted inside the rotating cylinder 101 via a bearing assembly 6. The bearing assembly 6 includes two bearings fitted onto and adapted to the turbine shaft 2, located on both sides of the turbine 202 along the axial direction. The outer rings of the two bearings respectively cooperate with the motor seat cover 7 and the inner boss 102 installed at the bottom cavity opening. The worm gear is rotatably mounted inside the input cavity 103 via another set of bearings, at a 90° angle to the turbine.

[0054] The top cavity of the rotating cylinder 101 is provided with a lead screw 201 that is coaxially connected to the turbine shaft 2 and is integral with the turbine shaft 2. A pin locking block 3 is sleeved on the lead screw 201. The outer diameter of the pin locking block 3 is larger than the inner diameter of the inner boss 102. The inner wall of the pin locking block 3 near the bottom cavity is provided with an internal thread. The internal thread and the lead screw 201 cooperate to form a lead screw thread pair structure. The lead screw thread pair structure is paired with a self-lubricating material.

[0055] The outer wall of the pin-locking top block 3 is fitted with a bead holder 4, on which bead holder 4 is provided evenly distributed beads. Each bead is interference-fitted with the inner wall of the rotating cylinder 101 and the outer wall of the pin-locking top block 3 to ensure the positioning accuracy of its axis.

[0056] The bead holder 4 is also provided with a guide through hole 401, and a guide steel ball 5 is provided in the guide through hole 401. The outer wall of the pin lock top block 3 is provided with an axial top block groove 301, and the inner wall of the rotating cylinder 101 is provided with an axial motor seat groove 104. When the unlocked state, the guide steel ball 5 is located at one end of the top block groove 301 and one end of the motor seat groove 104, respectively. The other end of the top block groove 301 extends along the outer wall of the pin lock top block 3 towards the bottom cavity. The other end of the motor seat groove 104 extends along the inner wall of the rotating cylinder 101 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 301, the thickness of the dense ball frame 4, and the groove depth of the motor seat slide 104. The two sides respectively contact the bottom of the groove of the top block slide 301 and the bottom of the groove of the motor seat slide 104, restricting the radial rotation of the pin lock top block 3. Thus, the rotation of the worm gear 202 is converted into the linear motion of the pin lock top block 3 by the lead screw 201, which pushes the pin lock top block 3 to perform the locking action.

[0058] The locking motor base 1 is fixed on the outer housing, and the locking pin 10 is installed on the frame of the indexing mechanism and corresponds to the position of the pin locking block 3. The inner wall of the other end of the pin locking block 3 is provided with a tapered hole, which is adapted to the tapered surface of the locking pin 10. After the pin locking block 3 is pushed out, it cooperates with the locking pin 10 to lock the shaft system.

[0059] The infrared monitoring device 8 includes an infrared stop bar 801 and an infrared base 802. The infrared base 802 is mounted on the locking motor base 1. An LED and a phototransistor are arranged facing each other on the infrared base 802, with the light path direction perpendicular to the axis of the locking block 3. The infrared stop bar 801 includes a fixing ring and an L-shaped stop bar connected to the outer circumference of the fixing ring and located in the same plane as its axis. An annular step is formed on the outer circumference of the other end of the locking block 3, and the fixing ring is mounted on the annular step. A stop bar slot is formed at the top cavity end of the rotating cylinder 101. The L-shaped stop bar passes through the stop bar slot, and its end is positioned between the LED and the phototransistor for optical path switching. During locking and unlocking, the locking block 3 drives the infrared stop bar 801 to move. The position of the locking block 3 is monitored by the optical path continuity relationship between the LED and the phototransistor, thereby monitoring the locking status of the locking device. Reading the locking status can clarify the locking / unlocking status of the rotation mechanism for the system when the three-auto inertial navigation system is initially powered on, providing a basis for the next action command.

[0060] In this embodiment of the 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 continuously stall to achieve reliable engagement between the pin lock top block 3 and the locking pin 10. During unlocking, the locking motor 9 rotates in the reverse direction to drive the worm gear, causing the pin lock top block 3 to retract until the inner boss 102 is mechanically limited, at which point the locking motor 9 stops, thus unlocking.

[0061] When this invention is applied to a dual-axis indexing mechanism for a three-auto inertial navigation system, two sets of locking devices can be independently installed on the three-auto inertial navigation system to control the locking states of the inner frame shaft and the outer frame shaft respectively. For example... Figure 6 As shown, the locking pins 10 in the locking device are respectively installed on the inner frame shoulder and the outer frame shoulder, and the locking body of the locking device is installed in the corresponding position. Through the combination and variation of the two locking devices, two rotation modes can be achieved: independent rotation of the inner frame and simultaneous rotation of the outer and inner frames. There are four locking combinations, enabling four locking states for the dual-axis indexing mechanism:

[0062] (1) The inner frame lock is tightened 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 tightened and the outer frame lock is tightened, 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 tightened, thereby locking the outer frame and rotating the inner frame;

[0065] (4) The inner frame lock is disengaged and the outer frame lock is disengaged, so that the inner and outer frames can rotate at the same time.

[0066] Of the four locking states mentioned above, the first two achieve the same locking function, but there are differences in locking performance. The main difference is that, compared to state (1), the inner and outer frame shaft systems of the indexing mechanism in state (2) have higher stiffness and better adaptability to the mechanical environment.

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

[0068] Locking process:

[0069] When the locking motor 9 receives the locking command, its output shaft drives the worm gear to rotate, which in turn drives the worm wheel 202 to rotate. Under the combined action of the lead screw thread pair and the guide steel balls 5, the pin lock top block 3 only has a tendency to move axially. The pin lock top block 3 is pushed outward, while the guide balls roll, ensuring the axial alignment of the pin lock top block 3 during movement.

[0070] After the locking pin block 3 is pushed out, it engages with the conical surface of the locking pin 10 installed on the frame. After applying a certain preload, the locking action is completed. After the locking motor 9 loses force, the lead screw thread pair and the worm gear both have reverse self-locking functions, forming a two-stage series self-locking to maintain the locked state.

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

[0072] Unlocking process:

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

[0074] During the unlocking process, when the top lock block 3 retracts, it drives the infrared stop bar 801 to move together. After reaching a certain position, the light path inside the infrared seat 802 is cut off by the infrared stop bar 801. The locking device status can be identified before the next action, which serves as the basis for the next action command.

[0075] The above description is merely one embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any equivalent structural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are included within the scope of patent protection of the present invention.

Claims

1. A miniaturized locking device for a rotation mechanism, characterized in that: Includes a locking motor (9), a locking motor mount (1) mounted on the locking motor (9), and a locking pin (10); The locking motor base (1) includes a rotating cylinder (101), an inner boss (102) disposed 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, and this side is defined as the bottom cavity, and the other side is defined as the top cavity. A worm gear is rotatably disposed in the input cavity (103), and the worm gear is coaxially connected to the output end of the locking motor (9); a turbine shaft (2) is rotatably disposed 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 gear cooperate to form a turbine worm gear structure. The top cavity of the rotating cylinder (101) is provided with a lead screw (201) coaxially connected to the turbine shaft (2). A pin locking block (3) is sleeved on the lead screw (201). The outer diameter of the pin locking block (3) is larger than the inner diameter of the inner boss (102). The inner wall of the pin locking block (3) near the bottom cavity is provided with an internal thread. The internal thread and the lead screw (201) cooperate to form a lead screw thread pair structure. The outer wall of the pin-locking top block (3) is fitted with a bead frame (4), and the bead frame (4) is provided with evenly distributed beads. Each bead is interference-fitted with the inner wall of the rotating cylinder (101) and the outer wall of the pin-locking top block (3). The bead holder (4) is also provided with a guide through hole (401), the outer wall of the pin-lock top block (3) is provided with an axial top block groove (301), and the inner wall of the rotating cylinder (101) is provided with an axial motor seat groove (104); the guide through hole (401) is provided with a guide steel ball (5), and the two sides of the guide steel ball (5) are in contact with the bottom of the top block groove (301) and the bottom of the motor seat groove (104) respectively; The locking motor base (1) is used to fix it on the outer housing, and the locking pin (10) is used to install on the frame of the indexing mechanism and corresponds to the position of the pin locking block (3); the inner wall of the other end of the pin locking 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 lock the shaft system when the pin locking block (3) is pushed out.

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

3. A miniaturized locking device for a rotation mechanism according to claim 1 or 2, characterized in that: It includes an infrared monitoring device (8) installed on the locking motor base (1), which is used to monitor the locking status of the locking device.

4. A miniaturized locking device for a rotation mechanism according to claim 3, characterized in that: The infrared monitoring device (8) includes an infrared stop bar (801) and an infrared base (802). The infrared base (802) is installed on the locking motor base (1). Light-emitting diodes and phototransistors are arranged facing each other on the infrared base (802), and the light path direction is perpendicular to the axis of the pin lock top block (3). One end of the infrared stop bar (801) is connected to the pin lock top block (3), and the other end is connected to the light-emitting diode and the phototransistor. It is used to determine the position of the pin lock top block (3) by the light path connection and disconnection relationship of the light-emitting diode and the phototransistor, thereby monitoring the locking status of the locking device.

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

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

7. A miniaturized locking device for a rotation mechanism according to claim 1, characterized in that: The locking motor (9) is equipped with a speed reduction mechanism; A self-lubricating material is provided between the pin locking block (3) and the lead screw (201).

8. A rotation mechanism, comprising a housing, an inner frame shaft system and an outer frame shaft system disposed within the housing, characterized in that: It also includes two miniaturized locking devices for a rotation mechanism as described in claim 1, which correspond 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 the corresponding positions of the housing.

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