Marching fixture and locking control method

Abstract

The application discloses a marching fixing device and a locking control method, and belongs to the technical field of equipment locking devices. Through interference fit between a locking part and a limiting mechanism, the cooperation gap between a movable connecting part and a support seat is completely eliminated, and absolute rigid locking is realized. After power-off, mechanical self-holding is still available, and continuous power supply is not needed, so that accidental unlocking is avoided. Electric cylinders are driven, and the blocking rotation judgment and stroke feedback of an electric control system are matched, so that full-automatic rapid operation conversion is realized, and clear digital state signals are provided. The whole machine structure is compact, and complex hydraulic auxiliary systems are not needed. In cooperation with the antifriction structure and overload protection, the wear and maintenance cost are significantly reduced. The full-metal interference force transmission does not generate micron-level soft gaps under impact and vibration, and is particularly suitable for rapid, reliable and maintenance-free fixing of a mobile platform under harsh road conditions.

Description

Technical Field

[0001] This invention relates to the field of equipment locking devices, specifically a marching restraint and locking control method. Background Technology

[0002] In the field of equipment locking technology, mobile anchors are key safety components for vehicle-mounted systems (such as launching devices and remote work stations). Their primary function is to securely lock the work frame or support arm to the vehicle body during movement and travel, preventing harmful shaking, swaying, or vibration under bumpy or impact conditions. This locking mechanism is crucial for protecting precision structures, ensuring driving safety, and maintaining the reliability of equipment operation.

[0003] Existing field-mounted vehicle restraints, based on their locking principles, mainly suffer from the following problems and limitations: 1. Manual mechanical locking type: These generally employ purely mechanical methods such as screw tightening, pin fixing, or lever pressing. While simple in structure, these devices suffer from severe lack of automation. Switching requires operators to get off the vehicle or manually operate at their workstations, resulting in long conversion cycles that are difficult to adapt to the fast-paced, high-mobility operations of modern manufacturing, easily delaying operational opportunities. Furthermore, the locking force relies entirely on the operator's physical strength and experience, making it difficult to guarantee consistent pre-tightening force, leading to locking gaps and a risk of loosening under strong vehicle impact conditions. Additionally, the device lacks a corresponding sensor feedback structure; whether the locking is in place can only be determined by visual observation and tactile judgment, lacking a quantifiable confirmation signal that can be transmitted and integrated into the vehicle's information system, hindering digital integration and upgrades. 2. Hydraulic / pneumatic driven locking type: These use hydraulic or pneumatic cylinders as a power source, driving the locking block through linear or rotary motion. While this method offers improved automation compared to manual structures, the fluid drive system itself has significant shortcomings. The entire system requires a supporting pump station, control valve group, transmission pipelines, and a large number of sealing elements. With numerous components and a complex pipeline layout, leakage is frequent in harsh environments such as dusty conditions, high and low temperatures, and water immersion, resulting in a large workload for subsequent inspection and routine maintenance. Due to the compressibility of gaseous and oily media and the elastic deformation of seals, the locking force will continuously decrease under long-term load or environmental temperature fluctuations, creating tiny soft gaps within the structure, making it difficult to achieve rigid zero-gap locking. Furthermore, the locking state requires continuous system pressure maintenance, leading to high energy consumption. If the pipeline breaks or the power source loses pressure, unexpected unlocking will occur, posing a significant safety hazard. 3. Simple electric-driven locking: Some solutions use a motor or electric push rod for direct linear pushing. This method avoids the complex pipelines and leakage problems of hydraulic and pneumatic systems, but it does not optimize the locking mechanics from the ground up; it only replaces the power source, and its performance shortcomings remain prominent. These structures often employ single-point, line-contact locking, which concentrates stress and easily leads to localized structural stress overload and rapid component wear. The gears and lead screws within the transmission chain have inherent assembly and movement clearances, which accumulate after being compounded by manufacturing tolerances of various components, making it impossible to achieve completely zero-backlash locking. The industry generally relies on the motor's stall current to determine if locking is in place, but the elastic deformation of the transmission structure can cause signal misinterpretation. Even if the controller detects a stall, a slight amount of looseness remains within the mechanism, making it difficult to meet the stringent standards of high-strength vibration resistance and wobbly-free locking in equipment.

[0004] In summary, existing marching restraints cannot simultaneously achieve the three core performance indicators of high environmental reliability, rapid operational transition, and rigid, gapless locking. The industry urgently needs to develop a new locking mechanism that can autonomously eliminate all degrees of freedom of motion through a purely mechanical structure after the drive source stops outputting thrust, thus completely solving the technical challenges of gap, self-locking, and automated coordination. Summary of the Invention

[0005] The purpose of this invention is to address the aforementioned shortcomings by providing a marching restraint and locking control method that achieves fully electric drive, automatic control, and purely mechanical gapless self-locking, without requiring continuous driving force in the locked state. This ensures that the restrained equipment is rigidly integrated with the supporting foundation after locking, preventing any shaking. To achieve the above objective, this invention provides the following technical solution: A marching restraint includes a support base, a locking element, a limiting mechanism, and a movable connector; the movable connector is connected to an external support frame; the limiting mechanism is partially located on the support base and partially located on the movable connector; after the movable connector drives its upper limiting mechanism to move to the locking position within the support base, the two parts of the limiting mechanism enclose a wedging space; after the locking element enters the wedging space, it is pressurized against the limiting mechanism to lock the movable connector.

[0006] Furthermore, the limiting mechanism includes a first limiting component and a second limiting component; the first limiting component is disposed on the bracket base; the second limiting component is disposed on the movable connector; when the movable connector is in the locked position, the second limiting component is located below the first limiting component, and the centers of the first limiting component and the second limiting component form a vertical height difference, constituting a feed wedging space for the locking component.

[0007] Furthermore, the first limiting component includes at least two first limiting shafts; the two first limiting shafts are arranged parallel to each other above the support base along the width direction of the support base; the second limiting component is disposed on the movable connector.

[0008] Furthermore, the second limiting component includes at least one second limiting shaft; the second limiting shaft is fixed on the movable connector; after the movable connector drives the second limiting shaft to be inserted into the bracket seat, the second limiting shaft is located below two adjacent first limiting shafts and is parallel to the first limiting shafts.

[0009] Furthermore, the locking member is a wedge-shaped structure with an isosceles trapezoidal cross-section, and the cross-sectional dimensions gradually decrease along the direction in which the locking member enters the wedge-fitting space; the upper surface of the locking member is a horizontal plane, and the lower surface is an inclined plane, which gradually slopes upward along the direction in which the locking member enters the wedge-fitting space.

[0010] Furthermore, the upper and lower surfaces of the locking component are provided with lubrication grooves or friction-reducing coatings.

[0011] Furthermore, it also includes a drive mechanism disposed outside the bracket base; the drive mechanism is an electric cylinder; the telescopic rod of the electric cylinder is arranged horizontally and is rigidly connected to one end of the locking member, so that the other end of the locking member faces the direction of the wedge-fitting space.

[0012] Furthermore, the electric cylinder is equipped with a limit switch for controlling the cylinder's travel protection.

[0013] Furthermore, it also includes an electronic control system; the electronic control system is electrically connected to both the electric cylinder and the limit switch, receives position signals from the limit switch, and outputs extension and retraction drive commands to the electric cylinder.

[0014] A locking control method, based on the above-mentioned marching restraint, includes the following steps: lowering the external support frame so that the limiting mechanism closes to form a wedge-shaped space; the electric control system drives the electric cylinder to push the locking component into the wedge-shaped space and press it against the limiting mechanism; after the locking component is in place, the electric cylinder is de-energized, and the self-locking is achieved by relying on the wedge-shaped structure; after receiving the unlocking command, the electric cylinder is controlled to pull back the locking component to release the constraint.

[0015] The beneficial effects of this invention are: This invention discloses a mobile platform fixing device and locking control method. Through the interference fit between the locking component and the limiting mechanism, the gap between the movable connecting component and the support base is completely eliminated, achieving absolute rigid locking. It can still mechanically maintain its position after power failure, requiring no continuous power supply and preventing accidental unlocking. Driven by an electric cylinder, and with the stall detection and stroke feedback of the electronic control system, it achieves fully automatic and rapid operation switching and provides clear digital status signals. The entire machine has a compact structure, eliminating the need for complex hydraulic auxiliary systems. Combined with a friction-reducing structure and overload protection, it significantly reduces wear and maintenance costs. Furthermore, the all-metal interference fit does not generate micron-level soft gaps under impact and vibration, making it particularly suitable for the rapid, reliable, and maintenance-free fixing of mobile platforms in harsh road conditions. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural schematic diagram of the marching restraint device of the present invention; Figure 2 This is a three-dimensional structural diagram of the marching restraint of the present invention when it is locked. Figure 3 This is a three-dimensional structural diagram showing the unhooked marching restraint of the present invention. Figure 4 This is a three-dimensional structural schematic diagram of the movable connector of the present invention; In the attached diagram: 1-bracket base, 2-locking component, 3-first limiting shaft, 4-second limiting shaft, 5-drive mechanism, 6-movable connecting component. Detailed Implementation

[0017] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0018] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also mean including the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0019] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0020] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "over," etc. The meaning of such spatial relative terms includes different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure is flipped, then an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0021] Example 1: See attached Figure 1 ~Appendix Figure 4This embodiment discloses a marching restraint, including a support base 1, a locking member 2, a limiting mechanism, and a movable connecting member 6. The movable connecting member 6 is connected to an external support frame, which is a lifting frame used to support external equipment and drive it to rise and fall. When the external support frame drives the external equipment to rise and fall, the movable connecting member 6, fixed to the bottom of the external support frame, moves along with it. The limiting mechanism consists of two parts: one part is mounted on the support base 1, and the other part is mounted on the movable connecting member 6. When locking is performed, the external support frame drives the equipment to fall, causing the movable connecting member 6 to move into the support base 1. The movable connecting member 6, carrying the limiting mechanism on it, moves to the locking position inside the support base 1. The two limiting mechanisms on the support base 1 and the movable connecting member 6 cooperate with each other to form a wedge-shaped space. The locking member 2 moves towards the wedge space. After entering the wedge space, the locking member 2 forms an interference fit with the limiting mechanism, thereby constraining the movable connecting member 6 and locking the movable connecting member 6, thus completing the locking and fixing of the external support frame.

[0022] Specifically, the limiting mechanism includes a first limiting component and a second limiting component. The first limiting component is mounted on the bracket 1, and the second limiting component is mounted on the movable connector 6. When the movable connector 6 is in the locked position, the second limiting component is positioned below the first limiting component, and a vertical height difference is formed between the centers of the first and second limiting components. Based on this vertical height difference and the spatial positional relationship of the two sets of limiting components, a wedge-fitting space is formed for the insertion of the locking member 2, providing a configuration basis for the interference fit of the locking member 2. The first limiting component includes at least two first limiting shafts 3, and the second limiting component includes at least one second limiting shaft 4. In this embodiment, two first limiting shafts 3 and one second limiting shaft 4 are used. The two first limiting shafts 3 are arranged parallel to each other above the bracket 1 along the width direction of the bracket 1, and the second limiting component is arranged on the movable connector 6. The second limiting shaft 4 is fixedly installed on the movable connecting piece 6. As the movable connecting piece 6 moves downward, it drives the second limiting shaft 4 to be inserted into the bracket seat 1. After it is in place, the second limiting shaft 4 is below the two adjacent first limiting shafts 3, and the second limiting shaft 4 and the first limiting shafts 3 maintain a parallel position to each other. There is a vertical height difference between the plane containing the central axis of the second limiting shaft 4 and the central axes of the two first limiting shafts 3. At the same time, the two first limiting shafts 3 and the second limiting shaft 4 cooperate with each other to form a triangular distribution in spatial projection, forming a basic structure for three-point positioning. Through this three-point positioning layout, the first limiting components and the second limiting components enclose each other to form a wedge-shaped space for the locking piece 2 to be fed. In the locking condition, the three limiting shafts jointly form contact pressure on the locking piece 2 from different directions. Multiple shafts jointly bear the impact load in the locking state, disperse the force, and improve the overall locking stability. In addition, the contact surfaces of the first limiting shafts 3 and the second limiting shaft 4 are hardened to improve wear resistance and repeatability.

[0023] Specifically, the locking element 2 adopts a wedge-shaped structure with an isosceles trapezoidal cross-section. The cross-sectional dimensions of the locking element 2 gradually decrease along its feed direction into the wedge-locking space. The upper surface of the locking element 2 is horizontal, and the lower surface is inclined, gradually sloping upwards along the feed direction. When the locking element 2 feeds into the wedge-locking space, it first contacts the first limiting shaft 3. Due to the height difference and wedge angle, as the locking element 2 continues to advance, it contacts the second limiting shaft 4, forcing the second limiting shaft 4 to undergo downward elastic deformation. Simultaneously, the first limiting shaft 3 may undergo slight upward elastic deformation locally. When the locking element 2 is fully in place, filling the entire channel of the wedge-locking space, the three circular shafts are elastically "spread out" and tightly "lock" the locking element 2. The feed stroke is converted into compressive force, eliminating assembly and movement gaps, achieving rigid locking without gaps. In addition, the upper and lower surfaces of the locking element 2 are provided with lubrication grooves or anti-friction coatings. During the reciprocating insertion and withdrawal of the locking component 2 into and out of the wedge-engaged space, the lubrication groove or anti-friction coating can reduce the sliding friction resistance between the locking component 2 and the limiting mechanism, reduce component wear, make the feeding and retraction of the locking component 2 smoother, and at the same time help ensure the performance after multiple cycles of locking and unlocking.

[0024] Specifically, this marching restraint also includes a drive mechanism 5. The drive mechanism 5 is located outside the support base 1. The drive mechanism 5 is a linear power source, and in this embodiment, an electric cylinder is preferably used. The telescopic rod of the electric cylinder is extended and retracted in the horizontal direction, and the end of the telescopic rod is rigidly connected to one end of the locking member 2, while the other end of the locking member 2 faces the wedge-fitting space. After the electric cylinder is activated, its telescopic rod extends or retracts in the horizontal direction, thereby driving the locking member 2 to enter or exit the wedge-fitting space in the horizontal direction.

[0025] A limit switch is installed inside the electric cylinder to control its travel protection. This switch is triggered and outputs an unlocking signal when the locking element 2 reaches the fully locked end position or completely exits the wedge engagement space. The limit switch can identify the extreme positions of the extension and retraction of the telescopic rod, collect the position signals of the locking element 2 when it is fully fed in and fully retracted, and output the position signals outward to realize position feedback of the movement stroke of the locking element 2, thereby controlling the electric cylinder's travel protection.

[0026] Specifically, this marching restraint also includes an electronic control system, which is electrically connected to the electric cylinder and the limit switch. The electronic control system can receive position signals from the limit switch, determine the actual position of the locking element 2 based on the received position signals, and simultaneously output extension or retraction drive commands to the electric cylinder to control the electric cylinder to complete the corresponding actions. Furthermore, the electronic control system can collect the motor current of the electric cylinder in real time, and when the motor current reaches a preset stall threshold and the limit switch is triggered, it determines that the locking element 2 has been fully locked in place and sends a stop command to the electric cylinder.

[0027] Example 2: This embodiment discloses a locking control method based on the marching restraint in Embodiment 1, including the following steps: In the initial state, the marching restraint is in the open position. The locking element 2 is fully in the retracted position on the side of the electric cylinder, away from the support base 1. The external support frame can freely perform pitch, rotation, and other operations on the external equipment mounted on it.

[0028] When performing the locking operation, if it is necessary to lock the external support frame in a fixed state, firstly, after receiving the "lock" command, the electronic control system controls the external lifting mechanism to smoothly lower the external support frame, and the movable connecting piece 6 is smoothly lowered until the second limiting shaft 4 naturally sits in the bracket seat 1. At this time, the second limiting shaft 4 is located below the two first limiting shafts 3, and the three limiting shafts together form a wedge-shaped space. After receiving the positioning signal, the electronic control system sends a "push" command to the electric cylinder. The telescopic rod of the electric cylinder extends horizontally at a constant speed, pushing the locking piece 2 to move horizontally towards the wedge-shaped space. The upper surface of the locking piece 2 first contacts the first limiting shaft 3, and the lower surface then contacts the second limiting shaft 4. As the locking piece 2 continues to push forward, the three limiting shafts are gradually "spread out"—the two first limiting shafts 3 produce a slight upward elastic deformation, and the second limiting shaft 4 produces a downward elastic deformation. When the locking element 2 is fully engaged in the wedge-shaped space, the three limiting shafts are elastically "spread out" and tightly "lock" the locking element 2, completely eliminating all micro-assembly gaps. At this point, a surface-contact interference fit is formed between the locking element 2 and the three limiting shafts, constraining both the translational and rotational degrees of freedom of the movable connecting element 6 relative to the support base 1. Finally, as the locking element 2 advances further to its endpoint, the load on the electric cylinder increases dramatically, and the motor current rises rapidly. When the electronic control system detects that the motor current of the electric cylinder reaches the preset stall threshold and the limit switch is triggered, the electronic control system determines that the locking element 2 is fully locked and immediately issues a stop command to the electric cylinder, cutting off the power output. At this point, the marching restraint is in a fully locked state. The locking element 2, relying on the static friction between itself and the limiting shafts, the wedge-shaped geometric interference constraint, and the electric cylinder's own reverse self-locking force, stably maintains its locked position, and the locked state is reliably maintained even when the electric cylinder stops outputting power. The movable connector 6, the support base 1, and the external load-bearing frame form a rigid integral module with no relative movement gap.

[0029] When the marching restraint needs to be switched from the locked to the released state, the electronic control system receives an "unlock" command and sends a reverse rotation command to the electric cylinder. The electric cylinder pulls the locking element 2 with a large pulling force in the release direction. Because the wedge angle is smaller than the friction angle between the locking element 2 and the limit shaft, a large force is required in the initial stage of unlocking to overcome the self-locking friction. Once the locking element 2 begins to exit the wedge-engaged space, the constraint is gradually released. When the locking element 2 is completely out of the wedge-engaged space, the limit switch is triggered, sending a "unlocked in place" signal to the electronic control system. The marching restraint enters the released state, and the external support frame can move freely.

[0030] All technical features in this embodiment can be freely combined according to actual needs. The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications and substitutions should be covered within the scope of the claims of the present invention. Technical aspects, shapes, and structures not described in detail in this invention are all well-known technologies.

[0031] The above embodiments are preferred implementations of the present invention. In addition, other implementations are also included. Any obvious substitutions without departing from the concept of the present invention are within the protection scope of the present invention.

Claims

1. A marching restraint, characterized in that: It includes a support base (1), a locking member (2), a limiting mechanism, and a movable connecting member (6); the movable connecting member (6) is connected to an external support frame; the limiting mechanism is partially located on the support base (1) and partially located on the movable connecting member (6); after the movable connecting member (6) drives its upper limiting mechanism to the locking position inside the support base (1), the two limiting mechanisms enclose the wedge-fitting space; after the locking member (2) enters the wedge-fitting space, it is pressurized against the limiting mechanism to lock the movable connecting member (6).

2. The marching restraint according to claim 1, characterized in that: The limiting mechanism includes a first limiting component and a second limiting component; the first limiting component is disposed on the bracket (1); the second limiting component is disposed on the movable connector (6); when the movable connector (6) is in the locked position, the second limiting component is located below the first limiting component, and the centers of the first limiting component and the second limiting component form a vertical height difference, constituting a feed wedge space for the adapter locking component (2).

3. A marching restraint as described in claim 2, characterized in that: The first limiting component includes at least two first limiting shafts (3); the two first limiting shafts (3) are arranged parallel to each other above the support base (1) along the width direction of the support base (1); the second limiting component is located on the movable connector (6).

4. A marching restraint as described in claim 3, characterized in that: The second limiting component includes at least one second limiting shaft (4); the second limiting shaft (4) is fixed on the movable connector (6); after the movable connector (6) drives the second limiting shaft (4) to be inserted into the bracket seat (1), the second limiting shaft (4) is located below two adjacent first limiting shafts (3) and is parallel to the first limiting shafts (3).

5. A marching restraint as described in claim 4, characterized in that: The locking member (2) is a wedge-shaped structure with an isosceles trapezoidal cross-section, and the cross-sectional dimensions gradually decrease along the direction in which the locking member (2) enters the wedge-fitting space. The upper surface of the locking member (2) is a horizontal plane, and the lower surface is an inclined plane, which gradually slopes upward along the direction in which the locking member (2) enters the wedge-fitting space.

6. A marching restraint as described in claim 5, characterized in that: The locking component (2) has lubrication grooves or friction-reducing coatings on both its upper and lower surfaces.

7. A marching restraint as described in claim 5, characterized in that: It also includes a drive mechanism (5) disposed outside the bracket (1); the drive mechanism (5) is an electric cylinder; the telescopic rod of the electric cylinder is arranged horizontally and is rigidly connected to one end of the locking member (2), so that the other end of the locking member (2) faces the wedge space.

8. A marching restraint according to claim 7, characterized in that: The electric cylinder is equipped with a limit switch to control the cylinder's travel protection.

9. A marching restraint as described in claim 8, characterized in that: It also includes an electronic control system; the electronic control system is electrically connected to both the electric cylinder and the limit switch, receives the position signal fed back by the limit switch, and outputs extension and retraction drive commands to the electric cylinder.

10. A locking control method, characterized in that: Based on the marching restraint as described in claim 9, the following steps are included: lowering the external support frame so that the limiting mechanism surrounds and forms a wedge space; the electric control system drives the electric cylinder to push the locking part (2) into the wedge space and press it against the limiting mechanism; after the locking part (2) is in place, the electric cylinder is de-energized, and the self-locking is achieved by relying on the wedge structure; after receiving the unlocking command, the electric cylinder is controlled to pull back the locking part (2) to release the constraint.

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