Rotary joint linkage locking device

Abstract

The invention discloses a rotary joint linkage locking device which comprises a lock disc, a joint lock, a steel wire rope, an operation part, a first rotary part, a second rotary part, an operation table and a rotary joint. The lock disc and a lock pin of the joint lock are fixed to the first rotating component and the second rotating component respectively, the first rotating component and the second rotating component rotate relatively, the lock disc is provided with lock grooves corresponding to the lock pin, and a plurality of different locking positions correspond to a plurality of different lock grooves. The lock pin is fixedly connected with one end of the swing rod, the other end of the swing rod can rotate around the fixing shaft, one end of the swing rod is connected with the operation piece at the far end through a steel wire rope, and the operation piece is connected with the operation table. Linkage locking and unlocking of multiple rotary joints of the auxiliary mechanical arm without a power source are achieved, and meanwhile the linkage locking mechanism has the beneficial effects of being convenient to operate and reliable in locking.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of auxiliary mechanical arm, especially to a rotating joint linkage locking device. BACKGROUND

[0002] Auxiliary mechanical arm is a commonly used equipment in maintenance, usually has multiple rotating joints. The auxiliary mechanical arm without power source usually needs to be manually locked or unlocked at certain positions during use, which is inconvenient to operate.

[0003] Therefore, it is necessary to develop a rotating joint linkage locking device which is convenient to operate. SUMMARY

[0004] The present application provides a rotating joint linkage locking device to solve the problems of the prior art.

[0005] The rotating joint linkage locking device comprises a lock disc, a joint lock, a steel wire rope, an operating part, a rotating part one, a rotating part two, an operating table and a rotating joint.

[0006] The lock disc and the joint lock are fixed on the rotating part one and the rotating part two, respectively.

[0007] The lock disc is provided with a lock groove one and a lock groove two.

[0008] The joint lock is provided with a base, a rotating shaft, a swing rod, a lock pin, a spring and a limiting pin.

[0009] The lock disc is provided with a limiting part.

[0010] The operating part is provided with a fixing seat, a rotating handle and a retaining spring.

[0011] When locked, the operating handle is pulled to drive the steel wire rope to move, the swing rod drives the lock pin to enter the lock groove under the action of the spring, the joint rotation is limited, and the locking is realized.

[0012] Wherein, the distal end of the unlocking steel wire of the multi-rotation joint is connected to the same operating member, realizing the linkage locking and unlocking of the multiple rotation joints.

[0013] Wherein, the rotation joint comprises rotation joint one and rotation joint two.

[0014] Wherein, the operating member is provided with a rotation center.

[0015] Beneficial effects: Compared with the prior art, the present application has the following remarkable advantages: the present application is provided with a joint lock at the multiple rotation joints of the auxiliary mechanical arm, and each joint is provided with multiple locking positions, so that the locking and unlocking of different positions can be realized. The multiple locking devices adopt the same unlocking operating member, so that the remote linkage unlocking and locking can be realized.

[0016] The present application is provided with a locking disc and a locking pin on the two parts that make relative rotation, the locking disc is provided with a locking groove matched with the locking pin, and the locking pin enters or exits the locking groove by rotating around one end, so that the locking and unlocking are realized. The locking pin of the present application is connected with the distal operating member through a steel wire, so that the remote locking and unlocking operation is realized. The operating end of the steel wire connected with the locking pins of the multiple rotation joints is fixed on the same operating member, so that the linkage locking and unlocking are realized. The locking disc of the present application is provided with a limiting part, which cooperates with the locking pin when the joint rotates in the unlocking state, so that the one-way limiting of the rotation joint in the unlocking state is realized. The elastic device + over dead point design of the unlocking operating device of the present application is adopted, so that the locking state and the unlocking state are maintained. The design that the unlocking force arm is greater than the resistance arm realizes the labor-saving effect when unlocking. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a structure diagram of the present application Figure 1 ;

[0018] Figure 2 It is a structure diagram of the present application Figure 2 ;

[0019] Figure 3 It is a structure diagram of the unlocking state of the present application

[0020] Figure 4 It is a structure diagram of the locking state of the present application

[0021] Figure 5 It is a limiting structure diagram of the present application

[0022] Figure 6 It is a use state of the present application Figure 1 ;

[0023] Figure 7 It is a use state of the present application Figure 2 ;

[0024] Figure 1 is a lock disc; 11 is a lock slot one; 12 is a lock slot two; 15 is a limiting part; 2 is a joint lock; 21 is a base; 22 is a rotating shaft; 23 is a swing lever; 24 is a lock pin; 25 is a spring; 26 is a limiting pin; 3 is a steel wire rope; 4 is an operating part; 41 is a fixed seat; 42 is a rotating handle; 43 is a retaining spring; 5 is a rotating part one; 6 is a rotating part two; 7 is an operating table; 8 is a rotating joint one; 9 is a rotating joint two; 10 is a rotating center. DETAILED DESCRIPTION

[0025] The technical solutions of the present application will be further described below in combination with the drawings and specific embodiments.

[0026] The rotating joint linkage locking device of the present application mainly comprises a lock disc 1, a joint lock 2, a steel wire rope 3, and an operating part 4. The lock disc 1 is provided with a lock slot one 11, a lock slot two 12, and a limiting part 15, and the joint lock 2 is provided with a base 21, a rotating shaft 22, a swing lever 23, a lock pin 24, a spring 25, and a limiting pin 26. The operating part 4 mainly comprises a fixed seat 41, a rotating handle 42, and a retaining spring 43.

[0027] As shown in Figure 1 , Figure 2 , Figure 3 , the lock disc 1 is fixedly connected to a rotating part one 5 which is relatively movable with a rotating joint, and the joint lock 2 is fixedly connected to another rotating part two 6 which is relatively movable with the rotating joint, and the two can relatively rotate. The lock disc 1 is provided with multiple lock slots corresponding to different locking positions: a lock slot one 11, a lock slot two 12, and a limiting part 15. The rotating shaft 22 is fixedly connected to the base 21, one end of the swing lever 23 is rotatably connected to the rotating shaft 22, the lock pin 24 is fixedly connected to the swing lever 23, and the spring 25 has two ends respectively connected to the swing lever 23 and the base 21, and the spring force always pulls the swing lever 23 in the locking direction. The limiting pin 26 is fixedly connected to the base 21. The operating part 4 is fixedly connected to the distal operating table 7 area, and the steel wire rope 3 has two ends respectively connected to the swing lever 23 and the operating part 4.

[0028] Figure 3 As shown in Figure 4 , in the locked state, the lock pin 24 is located in the lock slot one 11, and the rotation of the lock disc 1 is limited, and the relative rotation of the joint is limited.As shown, during unlocking, operating the unlocking mechanism 4 causes the steel wire rope 3 to pull the swing arm 23 around the rotating shaft 22 in the unlocking direction. The locking pin 24 disengages from the locking groove 11, the locking disc 1 is released from its limit, and the relative rotational movement restriction of the joint is released, thus unlocking the rotating joint. During locking, operating the unlocking mechanism 4 in the opposite direction causes the swing arm 23 to rotate in the locking direction under the tension of the spring 25. When there is a slight deviation between the locking pin 24 and the locking groove 11, preventing it from entering the groove, the locking pin 24 contacts the surface of the locking disc 1. Slightly rotating the rotating joint at the end of the robotic arm causes the locking pin 24 to slide on the surface of the locking disc 1 until it enters the locking groove under the tension of the spring 25, achieving locking. The locking disc 1 has multiple locking grooves 11, allowing for locking at different positions according to actual usage requirements.

[0029] like Figure 4 As shown, in the unlocked state, the rotation of the lever 23 in the unlocking direction is restricted by the limiting pin 26. When the rotary joint rotates to the limit angle, the locking pin 24 contacts the limiting part 15, and the rotational movement of the rotary joint in one direction is restricted to prevent excessive rotation.

[0030] like Figure 5 As shown, one end of the steel wire rope 3 of the locking device for multiple rotating joints can be integrated and connected to the operating component 4 to realize the linkage locking and unlocking of multiple rotating joints.

[0031] The spring 43 is kept in a stretched state, with its two ends connected to the fixed base 41 of the unlocking operation component 4 and the rotating handle 42 respectively. Figure 6 As shown, operating component 4 is in the locked state, and rotating handle 42 is held in the unlocked position by the spring force. To unlock, operating rotating handle 42 is rotated clockwise as shown in the figure, passing the dead center position and reaching... Figure 7 The device is positioned as shown in the unlock position and remains in the unlock position under the action of spring force.

[0032] like Figure 3 , Figure 4 As shown, when the steel wire rope 3 is pulled to unlock, it is necessary to overcome the resistance of the spring 25 and the frictional resistance between the locking pin 24 and the locking groove 11. The steel wire rope pulls the swing arm 23 to rotate the power arm, which is greater than the frictional resistance arm of the locking pin 24 and the tension resistance arm of the spring 25, thus achieving the effect of saving effort when unlocking.

[0033] The locking device of the application sets a lock pin and a lock disc at the rotary joint to realize locking and unlocking of the rotary joint. The lock slots at multiple positions on the lock disc can realize locking at different rotary positions; the locking device is connected with a remote operating member through a steel wire, and the operator can realize remote and convenient operation at a remote workbench; the operating ends of the multiple rotary joint lock pins connected with the steel wire are fixed on the same operating member to realize linkage locking and unlocking, thereby simplifying the operation action; according to the use characteristics of the auxiliary mechanical arm, a limiting part is arranged on the lock disc at the rotary limit position when the joint rotates in the unlocked state, and the limiting part cooperates with the limiting pin on the fixed seat and the lock pin to realize one-way limiting when the rotary joint rotates in the unlocked state, thereby preventing excessive rotation; the elastic device + over dead point design is adopted for the unlocking operation device to realize locking state and locking state maintenance, thereby simplifying the operation and improving the reliability; the design that the unlocking force arm of the steel wire is greater than the resistance arm realizes the labor-saving effect when multiple joints are locked and unlocked.

Claims

1. A rotary joint interlock apparatus, characterized by: Including lock disc (1), joint lock (2), steel wire rope (3), operating part (4), rotating part one (5), rotating part two (6), operating platform (7), rotating joint, the lock disc (1) and the lock pin (24) of joint lock (2) are fixed on the rotating part one (5) and the rotating part two (6) of relative rotation respectively, the lock disc (1) is equipped with the lock slot corresponding with the lock pin (24), and several different lock slots correspond to several different lock positions;The lock pin (24) is fixedly connected with one end of the swing bar (23), the other end of the swing bar (23) can rotate around the fixed shaft, the swing bar (23) one end is connected with the distal operating part (4) through the steel wire rope (3), and the operating part (4) is connected with the operating platform (7).

2. The rotational joint linked locking device according to claim 1, characterized in that: The swing bar (23) and the base (21) are provided with a spring (25), and the spring (25) always brings the lock pin (24) to the lock slot side.

3. The rotational joint linked locking device of claim 1, wherein: The lock disc (1) is provided with lock slot one (11) and lock slot two (12).

4. The rotational joint linked locking device of claim 1, wherein: The joint lock (2) is provided with base (21), pivot (22), swing bar (23), lock pin (24), spring (25) and limit pin (26).

5. The rotational joint linked locking device of claim 4, wherein: The lock disc (1) is provided with a limit part (15), and in the unlocking state, the joint rotates, and the lock pin (24) and the limit pin (26) on the base (21) are matched to realize the one-way limit of the rotating joint in the unlocking state rotating movement process.

6. The rotational joint linked locking device of claim 1, wherein: The operating part (4) is provided with a fixed seat (41), a rotating handle (42) and a retaining spring (43).

7. The rotational joint linked locking device of claim 1, wherein: When locking, the operating handle is pulled to drive the steel wire rope (3) to move, the swing bar (23) drives the lock pin (24) to enter the lock slot under the action of the spring (25), the joint rotation is limited, and the locking is realized;When unlocking, the operating handle is pulled to drive the steel wire rope (3) to move, so as to drive the swing bar (23) to rotate in the opposite direction, the lock pin (24) exits the lock slot, the joint rotation is released, and the unlocking is realized.

8. The rotational joint linked locking device of claim 7, wherein: The distal end of the unlocking steel wire rope (3) of the multiple rotating joints is connected on the same operating part (4), realizing the linkage locking and unlocking of multiple rotating joints.

9. The rotational joint linked locking device of claim 8, wherein: The rotating joint includes rotating joint one (8) and rotating joint two (9).

10. The rotational joint linked locking device of claim 8, wherein: The operating part (4) is provided with a rotating center (10).

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