Automatic locking device

Abstract

The utility model discloses an automatic locking device which comprises an installation cylinder, a first locking piece, a second locking piece and a locking piece, a containing cavity is formed in the installation cylinder, and a first hole is formed in one end of the installation cylinder in the first direction; the plug pin is movably arranged in the containing cavity between an initial position and an extending position, and a containing groove is formed in the plug pin; the connecting rod assembly is arranged in the containing groove, and the connecting rod assembly has an initial state and a limiting state; the driving assembly is connected with the plug pin and the connecting rod assembly, the automatic locking device can be switched between a locking state and an unlocking state, in the locking state, the plug pin is located at the stretching-out position, in the stretching-out position, one end of the plug pin penetrates through the first hole to stretch out of the containing cavity, and the connecting rod assembly is in a limiting state and located on the outer side of the containing cavity; a part of the connecting rod assembly extends out of the containing groove in the radial direction of the plug pin so as to be used for locking the to-be-locked workpiece. According to the automatic locking device, the workpiece to be locked can be automatically locked, and the structure is simple.

Description

Technical Field

[0001] This invention relates to the field of mechanical control technology, and in particular to an automatic locking device. Background Technology

[0002] Many mechanical devices require automatic locking devices to lock certain workpieces. In related technologies, the locking structure of automatic locking devices is relatively complex, making product design and production more difficult. Utility Model Content

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides an automatic locking device with a relatively simple structure.

[0004] The automatic locking device according to this utility model includes: a mounting cylinder having a receiving cavity formed therein, and a first hole communicating with the receiving cavity being formed at one end of the mounting cylinder in a first direction; a pin movably disposed in the receiving cavity between an initial position and an extended position along the first direction, and having a receiving groove formed on the pin; a connecting rod assembly disposed in the receiving groove, having an initial state and a limited state; and a driving assembly connected to the pin and the connecting rod assembly, for driving the pin to move between the initial position and the extended position, and for driving the connecting rod assembly between the initial state and the limited state. The automatic locking device can switch between locked and unlocked states. In the unlocked state, the pin is located in the initial position, where it is retracted into the receiving cavity, and the linkage assembly is in its initial state, retracted into the receiving groove. In the locked state, the pin is located in the extended position, where one end of the pin extends out of the receiving cavity through the first hole, and the linkage assembly is in a limited state and located outside the receiving cavity. In the limited state, a portion of the linkage assembly extends radially out of the receiving groove along the pin to lock the workpiece to be locked.

[0005] According to the automatic locking device of this utility model, the linkage assembly is driven by the driving component to change its state, and the pin is driven by the driving component to change its position, so as to realize the automatic locking of the workpiece to be locked. Moreover, the structure of the linkage assembly is relatively simple, which can reduce the difficulty of product design and production.

[0006] According to some embodiments of the present invention, the linkage assembly includes: a first rod and a second rod, the first rod and the second rod being rotatably connected, the end of the first rod away from the second rod being rotatably connected to the drive assembly, and the end of the second rod away from the first rod being rotatably connected to the pin.

[0007] According to some embodiments of the present invention, there are multiple connecting rod assemblies, which are arranged at intervals in the circumferential direction of the pin and symmetrically arranged with respect to the axis of the pin.

[0008] According to some embodiments of the present invention, the driving assembly includes a push rod and a first driving motor. The first driving motor is connected to one end of the push rod to drive the push rod to move along the first direction. A through hole communicating with the receiving groove is formed on the pin. The other end of the push rod passes through the through hole and is connected to the connecting rod assembly.

[0009] According to some embodiments of the present invention, the driving assembly further includes: a first elastic member, which is connected between one end of the pin having the through hole and the inner wall of the receiving cavity on the side away from the first hole, wherein the first elastic member is in a compressed state in the initial position.

[0010] According to some embodiments of the present invention, the driving assembly further includes: a second elastic element, the second elastic element being disposed in the receiving groove, the second elastic element being connected between the end of the connecting rod assembly connected to the push rod and the periphery of the through hole, the elastic coefficient of the first elastic element being greater than the elastic coefficient of the second elastic element, the first elastic element and the second elastic element being sleeved on the push rod, and in the initial position, the second elastic element being in a compressed state.

[0011] According to some embodiments of the present invention, a limiting boss is formed at one end of the pin where the through hole is formed, extending outward along the axial direction of the pin. In the extended position, the limiting boss is located inside the receiving cavity and abuts against the periphery of the first hole.

[0012] According to some embodiments of the present invention, the end of the push rod connected to the connecting rod assembly is provided with a slider, the slider is provided with a mounting groove, the mounting groove corresponds one-to-one with the connecting rod assembly, and the connecting rod assembly is rotatably connected to the inner wall of the mounting groove.

[0013] According to some embodiments of the present invention, the automatic locking device further includes: a fixed frame, a movable frame, and a second drive motor. The mounting cylinder is disposed on the movable frame, and the movable frame is movably disposed on the fixed frame along the first direction. The second drive motor is connected to the movable frame to drive the movable frame to move relative to the fixed frame in the first direction.

[0014] According to some embodiments of the present invention, the fixing frame is provided with a rack extending along the first direction, and the automatic locking device further includes: a drive worm and a drive turbine, the drive worm being connected between the second drive motor and the drive turbine, and the drive turbine meshing with the rack.

[0015] According to some embodiments of the present invention, the fixed frame is further provided with a slide rail, the slide rail is formed with a sliding protrusion extending along the first direction, the movable frame is formed with a slide groove extending along the first direction, and the sliding protrusion is engaged in the slide groove.

[0016] According to some embodiments of the present invention, the automatic locking device further includes: a first pressure sensor, a second pressure sensor, and a third pressure sensor. The first pressure sensor is disposed on the fixed frame and is adapted to detect the pressure between the workpiece to be locked and the fixed frame. The second pressure sensor and the third pressure sensor are disposed in the receiving cavity and are arranged at intervals in the first direction. In the initial position, the second pressure sensor is in contact with the pin, and in the extended position, the pin is in contact with the third pressure sensor. A controller is electrically connected to the first pressure sensor, the second pressure sensor, and the third pressure sensor.

[0017] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of an automatic locking device and a workpiece to be locked according to an embodiment of the present utility model;

[0019] Figure 2 This is a schematic diagram of an automatic locking device and a workpiece to be locked according to another embodiment of the present invention;

[0020] Figure 3 yes Figure 2 A cross-sectional view of the automatic locking device and the workpiece to be locked, as shown in the figure;

[0021] Figure 4 This is a cross-sectional view of the automatic locking device according to an embodiment of the present utility model;

[0022] Figure 5 This is a cross-sectional view of an automatic locking device according to another embodiment of the present invention;

[0023] Figure 6 This is a cross-sectional view of the pin according to an embodiment of the present utility model;

[0024] Figure 7 This is a cross-sectional view of the mounting cylinder according to an embodiment of the present utility model.

[0025] Figure label:

[0026] 100. Automatic locking device;

[0027] 10. Mounting cylinder; 11. Receiving cavity; 12. First hole; 13. Second hole;

[0028] 20. Pin; 21. Receiving groove; 22. Through hole; 23. Fixing block; 24. Limiting boss;

[0029] 30. Linkage assembly; 31. First link; 32. Second link;

[0030] 40. Push rod; 41. First drive motor; 42. Slider; 43. Drive nut; 44. Cage;

[0031] 50. First elastic element; 51. Second elastic element;

[0032] 60. Fixture; 61. Rack;

[0033] 70. Movable frame; 71. Second drive motor; 72. Drive worm; 721. Worm support; 73. Drive turbine; 731. Turbine support; 74. Sliding block;

[0034] 80. Slide rail;

[0035] 200. Workpiece to be locked. Detailed Implementation

[0036] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0037] The following is for reference. Figures 1-7 The automatic locking device 100 according to an embodiment of the present utility model is described.

[0038] like Figures 1-7As shown, the automatic locking device 100 according to an embodiment of the present utility model includes: a mounting cylinder 10, a pin 20, a connecting rod assembly 30, and a drive assembly.

[0039] Specifically, a receiving cavity 11 is formed inside the mounting cylinder 10, and a first hole 12 communicating with the receiving cavity 11 is formed at one end of the mounting cylinder 10 in the first direction. The pin 20 is movably disposed in the receiving cavity 11 between the initial position and the extended position along the first direction. A receiving groove 21 is formed on the pin 20. The connecting rod assembly 30 is disposed in the receiving groove 21. The connecting rod assembly 30 has an initial state and a limited state. The driving assembly is connected to the pin 20 and the connecting rod assembly 30 and is used to drive the pin 20 to move between the initial position and the extended position, and to drive the connecting rod assembly 30 to switch between the initial state and the limited state.

[0040] The automatic locking device 100 is switchable between a locked state and an unlocked state. In the unlocked state, the pin 20 is in the initial position and is housed in the receiving cavity 11. The connecting rod assembly 30 is in the initial state and is housed in the receiving groove 21. In the locked state, the pin 20 is in the extended position and one end of the pin 20 extends out of the receiving cavity 11 through the first hole 12. The connecting rod assembly 30 is in the limited state and is located outside the receiving cavity 11. In the limited state, a portion of the connecting rod assembly 30 extends radially out of the receiving groove 21 along the pin 20 to lock the workpiece 200 to be locked.

[0041] A mating hole is formed on the workpiece 200 to be locked. During the operation of the automatic locking device 100, the unlocked automatic locking device 100 is placed next to the workpiece 200 to be locked, and the first hole 12 is aligned with the mating hole on the workpiece 200 in the first direction. During the locking process of the workpiece 200 to be locked, the drive assembly drives the pin 20 from the initial position to the extended position. During this process, the pin 20 gradually passes through the mating hole on the workpiece 200 to be locked. At the same time, the drive assembly drives the connecting rod assembly 30 from the initial state to the limit state. When the pin 20 reaches the extended position, the connecting rod assembly 30 switches to the limit state, and the automatic locking device 100 enters the locking state. A part of the connecting rod assembly 30 extends radially out of the receiving groove 21 along the pin 20. In this way, in the first direction, the connecting rod assembly 30 can prevent the pin 20 from disengaging from the mating hole on the workpiece 200 to be locked, thereby achieving the locking of the workpiece 200 to be locked.

[0042] Understandably, the linkage assembly 30 has a relatively simple structure, and it is also relatively easy to change the state of the linkage assembly 30. In this way, the difficulty of product design and production can be reduced.

[0043] The automatic locking device 100 according to the present utility model can automatically lock the workpiece 200 to be locked by driving the linkage assembly 30 to change its state and driving the pin 20 to change its position through the driving assembly. Moreover, the structure of the linkage assembly 30 is relatively simple, which can reduce the difficulty of product design and production.

[0044] In some embodiments of this utility model, such as Figures 3-5 As shown, the linkage assembly 30 includes a first rod 31 and a second rod 32. The first rod 31 and the second rod 32 are rotatably connected. The end of the first rod 31 away from the second rod 32 is rotatably connected to a drive assembly, and the end of the second rod 32 away from the first rod 31 is rotatably connected to a pin 20. In the initial state, both the first rod 31 and the second rod 32 are located in the receiving groove 21. In the limited state, the first rod 31 and the second rod 32 are folded relative to each other in a first direction. Thus, the connection between the first rod 31 and the second rod 32 extends radially out of the receiving groove 21 along the pin 20. This allows the linkage assembly 30 to change from the initial state to the limited state. Furthermore, the double-link structure is relatively simple, which can further reduce the difficulty of production and product design.

[0045] In some embodiments of this utility model, there are multiple link assemblies 30. For example, there may be two, three, or four link assemblies 30, which are arranged at intervals in the circumferential direction of the pin 20. Thus, each link assembly 30 can limit the pin 20 on the workpiece 200 to be locked, thereby improving the reliability of locking.

[0046] like Figure 4 and Figure 5 As shown, multiple linkage assemblies 30 are arranged symmetrically with respect to the axis of the pin 20. In this way, the force exerted by the linkage assemblies 30 on the pin 20 is more uniform during the movement of the pin 20, thereby improving the stability of the automatic locking device 100 during operation and reducing the probability of the automatic locking device 100 failing due to pin 20 misalignment.

[0047] In some embodiments of this utility model, such as Figure 4 and Figure 5As shown, the drive assembly includes a push rod 40 and a first drive motor 41. The first drive motor 41 is connected to one end of the push rod 40 to drive the push rod 40 to move in a first direction. A through hole 22 communicating with the receiving groove 21 is formed on the pin 20. The other end of the push rod 40 passes through the through hole 22 and is connected to the linkage assembly 30. That is to say, during the operation of the automatic locking device 100, the first drive motor 41 drives the linkage assembly 30 to change its state through the push rod 40. In this way, the structure of the drive assembly is relatively simple, and the transmission structure between the drive assembly and the linkage assembly 30 is also relatively simple, which can further reduce the difficulty of product design and production. Among them, the first drive motor 41 has a fast response speed, which can improve the response speed of the automatic locking device 100.

[0048] Preferably, such as Figure 7 As shown, the end of the mounting cylinder 10 away from the first hole 12 is also provided with a second hole 13, and the end of the mounting cylinder 10 away from the first hole 12 is also provided with a retainer 44. The retainer 44 is provided with a plurality of retaining holes arranged at intervals and opposite each other in the first direction. The retainer extends out of the receiving cavity 11 through the second hole 13 and passes through the plurality of retaining holes in sequence.

[0049] In some embodiments of this utility model, such as Figure 4 and Figure 5 As shown, the drive assembly also includes a first elastic element 50, which is connected between the end of the pin 20 with the through hole 22 and the inner wall of the receiving cavity 11 away from the first hole 12. In the initial position, the first elastic element 50 is in a compressed state.

[0050] Thus, in the initial position, the first elastic element 50 applies a pushing force to the pin 20 in the direction toward the first hole 12, thereby causing the pin 20 to generate a pulling force on the connecting rod assembly 30. As the pin 20 moves from the initial position toward the extended position, the first drive motor 41 drives the push rod 40 to gradually move toward the first hole 12 and extend out of the first hole 12. At the same time, the first elastic element 50 pushes the pin 20 to gradually move toward the first hole 12 and extend out of the first hole 12. Under the pulling force of the pin 20, the connecting rod assembly 30 can be in a straightened state between the pin 20 and the push rod 40. When the pin 20 is limited in the first direction or the compression deformation of the first elastic element 50 ends, the connecting rod assembly 30 has extended out of the mating hole of the workpiece 200 to be locked. The push rod 40 continues to move in the first direction, which will cause the connecting rod assembly 30 to fold in the first direction, thereby causing a part of the connecting rod assembly 30 to extend out of the receiving groove 21 radially along the pin 20. Thus, the automatic locking state can be changed from the unlocked state to the locked state.

[0051] During the process of unlocking the automatic locking device 100, the first drive motor 41 drives the push rod 40 in the opposite direction in the first direction. The push rod 40 pulls the connecting rod assembly 30, causing the folded connecting rod assembly 30 to gradually straighten in the first direction and be stored in the receiving groove 21. After the connecting rod assembly 30 is straightened, the push rod 40 pulls the pin 20 in the first direction to gradually retract into the receiving cavity 11, and the pin 20 gradually compresses the first elastic element 50. When the pin 20 returns to its initial position, the automatic locking device 100 returns to the unlocked state. Thus, the automatic locking device 100 can be changed from the locked state to the unlocked state.

[0052] In some embodiments of this utility model, such as Figure 4 and Figure 5 As shown, the drive assembly also includes a second elastic element 51, which is disposed in the receiving groove 21. The second elastic element 51 is connected between the end of the connecting rod assembly 30 connected to the push rod 40 and the periphery of the through hole 22. The elastic coefficient of the first elastic element 50 is greater than that of the second elastic element 51. Both the first elastic element 50 and the second elastic element 51 are sleeved on the push rod 40. In the initial position, the second elastic element 51 is in a compressed state.

[0053] During the process of the pin 20 extending out of the receiving cavity 11, since the elastic coefficient of the first elastic element 50 is greater than that of the second elastic element 51, the first elastic element 50 will first extend in the first direction. In this way, the first elastic element 50 can push the pin 20 to move toward the first hole 12 in the first direction. When the first elastic element 50 is limited or the deformation force of the first elastic element 50 is less than that of the second elastic element 51, the second elastic element 51 begins to extend, thereby pushing the connecting rod assembly 30 to gradually fold in the first direction, so that the connecting rod assembly 30 gradually extends out of the receiving groove 21 along the radial direction of the pin 20.

[0054] During the process of the pin 20 retracting into the receiving cavity 11, the push rod 40 pulls the connecting rod assembly 30 to gradually straighten in the first direction. Since the elastic coefficient of the first elastic element 50 is greater than that of the second elastic element 51, the second elastic element 51 will be compressed first. After the connecting rod assembly 30 is retracted into the receiving groove 21, the push rod 40 pulls the pin 20 to gradually retract into the receiving cavity 11 through the connecting rod assembly 30. At the same time, the pin 20 gradually compresses the first elastic element 50.

[0055] By providing a second elastic element 51, the force on the linkage assembly 30 in the first direction can be more even, thereby reducing the probability of the linkage assembly 30 jamming and improving the reliability of the automatic locking device 100 during operation.

[0056] Since both the first elastic element 50 and the second elastic element 51 are sleeved on the push rod 40, during the movement of the push rod 40 driven by the first drive motor 41, the push rod 40 can limit the first elastic element 50 and the second elastic element 51, making the angle between the force of the first elastic element 50 and the second elastic element 51 and the first direction smaller, thereby further improving the stability of the automatic locking device 100 during operation. Preferably, the first elastic element 50 and the second elastic element 51 are both springs, which are low in cost and easy to arrange.

[0057] In some embodiments of this utility model, such as Figures 4-6 As shown, the pin 20 has a limiting boss 24 extending outward along the axial direction of the pin 20 at one end where the through hole 22 is formed. In the extended position, the limiting boss 24 is located in the receiving cavity 11 and abuts against the periphery of the first hole 12.

[0058] During the extension of the pin 20, when the pin 20 reaches the extended position, the limiting boss 24 prevents the pin 20 from moving further. The first drive motor 41 drives the connecting rod assembly 30 to fold in the first direction through the push rod 40. At the same time, the second elastic member 51 gradually extends, so that the connecting rod assembly 30 gradually extends out of the receiving groove 21 along the radial direction of the pin 20.

[0059] By setting the limiting boss 24, the pin 20 can be limited and prevented from coming out of the mounting cylinder 10. During the product design process, the overlapping position of the limiting boss 24 and the periphery of the first hole 12 can be adjusted according to the size of the workpiece 200 to be locked, thereby meeting more product design needs.

[0060] In some embodiments of this utility model, such as Figure 4 and Figure 5 As shown, the end of the push rod 40 connected to the connecting rod assembly 30 is provided with a slider 42. The slider 42 has a mounting groove, which corresponds one-to-one with the connecting rod assembly 30. The connecting rod assembly 30 is rotatably connected to the inner wall of the mounting groove. This allows for a rotatable connection between the connecting rod assembly 30 and the push rod 40. Preferably, the receiving groove 21 is provided with a fixing block 23, which has a fixing groove corresponding one-to-one with the connecting rod assembly 30. The end of the connecting rod assembly 30 away from the slider 42 is rotatably connected to the inner wall of the fixing groove. This allows for a rotatable connection between the connecting rod assembly 30 and the pin 20.

[0061] In some embodiments of this utility model, such as Figure 4 and Figure 5As shown, the drive assembly includes a drive nut 43, a push rod 40 with threads, the drive nut 43 being sleeved on the push rod 40 and engaging with the threads, and a first drive motor 41 connected to the drive nut 43. Thus, by rotating the first drive motor 41 forward and backward, the push rod 40 can reciprocate in the first direction, and the threaded engagement between the drive nut 43 and the push rod 40 results in high transmission efficiency. The output shaft of the first drive motor 41 is connected to the drive nut 43 via a drive belt.

[0062] In some embodiments of this utility model, such as Figure 4 and Figure 5 As shown, the automatic locking device 100 further includes: a fixed frame 60, a movable frame 70, and a second drive motor 71. The mounting cylinder 10 is disposed on the movable frame 70, and the movable frame 70 is movably disposed on the fixed frame 60 along a first direction. The second drive motor 71 is connected to the movable frame 70 to drive the movable frame 70 to move relative to the fixed frame 60 in the first direction.

[0063] When the pin 20 passes through the workpiece 200 to be locked and is in the extended position, and the linkage assembly 30 is in the limited position, it is understood that there may be a gap between the workpiece 200 to be locked and the automatic locking device 100. By setting the fixed frame 60, the movable frame 70 and the second drive motor 71, when the linkage assembly 30 is in the limited position, the second drive motor 71 can drive the movable frame 70 to move the linkage assembly 30 toward the workpiece 200 to be locked until the linkage assembly 30 abuts against the workpiece 200 to be locked. Thus, the locking effect of the automatic locking device 100 can be improved.

[0064] In some embodiments of this utility model, such as Figure 4 and Figure 5 As shown, the fixed frame 60 is provided with a rack 61 extending along the first direction. The automatic locking device 100 also includes a drive worm gear 72 and a drive turbine 73. The drive worm gear 72 is connected between the second drive motor 71 and the drive turbine 73, and the drive turbine 73 meshes with the rack 61. During the operation of the automatic locking device 100, the second drive motor 71 drives the drive turbine 73 to rotate through the drive worm gear 72, and the drive turbine 73 moves on the rack 61, thereby allowing the movable frame 70 to move relative to the fixed frame 60 in the first direction. The worm gear transmission has high reliability, which can further improve the reliability of the automatic locking device 100 during operation. The meshing transmission structure of the drive turbine 73 and the rack 61 is relatively simple, which can further reduce the difficulty of product design and manufacturing.

[0065] The drive turbine 73 is mounted on the turbine support 731, and the drive worm 72 is mounted on the worm support 721.

[0066] In some embodiments of this invention, the drive turbine 73 is a helical gear, and the teeth on the rack 61 are helical teeth. Helical gear transmission is relatively smooth and has less noise, thereby further improving the stability of the automatic locking device 100 during operation and reducing the noise generated by the automatic locking device 100 during operation.

[0067] In some embodiments of this utility model, such as Figure 4 and Figure 5 As shown, the fixed frame 60 is also provided with a slide rail 80, on which a sliding protrusion extending along a first direction is formed. The movable frame 70 is formed with a slide groove extending along the first direction, and the sliding protrusion engages in the slide groove. During the movement of the movable frame 70 relative to the fixed frame 60 in the first direction, the engagement of the slide groove and the sliding protrusion can limit and guide the movable frame 70, thereby making the movement of the movable frame 70 smoother and more stable. Preferably, the movable frame 70 is provided with a sliding block 74, and the slide groove is formed on the sliding block 74.

[0068] In some embodiments of this utility model, the automatic locking device 100 further includes: a first pressure sensor, a second pressure sensor, a third pressure sensor, and a controller. The first pressure sensor is disposed on the fixed frame 60 and is adapted to detect the pressure between the workpiece 200 to be locked and the fixed frame 60. The second and third pressure sensors are disposed in the receiving cavity 11 and are spaced apart in a first direction. In the initial position, the second pressure sensor is in contact with the pin 20; in the extended position, the pin 20 is in contact with the third pressure sensor. The controller is electrically connected to the first, second, and third pressure sensors.

[0069] After the pin 20 passes through the mating hole on the workpiece 200 to be locked and the connecting rod assembly 30 is in the limited position, the movable frame 70 drives the connecting rod assembly 30 to move toward the workpiece 200 to be locked. At the same time, the fixed frame 60 moves toward the workpiece 200 to be locked. When the workpiece 200 to be locked contacts the first pressure sensor and the pressure of the workpiece 200 to the first pressure sensor reaches the set value, the controller locks the workpiece 200 to be locked in place and stops the operation of the second drive motor 71. Thus, the locking effect of the automatic locking device 100 on the workpiece 200 to be locked can be further improved.

[0070] During the movement of the pin 20, when the pin 20 contacts the second pressure sensor and the third sensor, the controller determines that the pin 20 has moved into position. Thus, precise control of the movement position of the pin 20 can be achieved, reducing unnecessary impacts between the components of the automatic locking device 100 and improving the service life of the automatic locking device 100.

[0071] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0072] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0073] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0074] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0075] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An automatic locking device, characterized in that, include: The mounting cylinder has a receiving cavity formed inside it, and a first hole communicating with the receiving cavity is formed at one end of the mounting cylinder in a first direction. A pin is movably disposed in the receiving cavity along the first direction between an initial position and an extended position, and a receiving groove is formed on the pin; A linkage assembly, wherein the linkage assembly is disposed within the receiving groove, and the linkage assembly has an initial state and a limited state; A drive assembly, connected to the pin and the linkage assembly, is used to drive the pin to move between the initial position and the extended position, and to drive the linkage assembly to switch between the initial state and the limited state. The automatic locking device can switch between a locked state and an unlocked state. In the unlocked state, the pin is located in the initial position, in which the pin is retracted into the receiving cavity, and the linkage assembly is in the initial state, in which the linkage assembly is retracted into the receiving slot. In the locked state, the pin is in the extended position, in which one end of the pin extends out of the receiving cavity through the first hole, the linkage assembly is in a limited state and is located outside the receiving cavity, in which a portion of the linkage assembly extends radially out of the receiving groove along the pin to lock the workpiece to be locked.

2. The automatic locking device according to claim 1, characterized in that, The linkage assembly includes a first rod and a second rod, the first rod and the second rod being rotatably connected, the end of the first rod away from the second rod being rotatably connected to the drive assembly, and the end of the second rod away from the first rod being rotatably connected to the pin.

3. The automatic locking device according to claim 1, characterized in that, There are multiple link assemblies, which are arranged at intervals around the pin in the circumferential direction and symmetrically with respect to the axis of the pin.

4. The automatic locking device according to claim 1, characterized in that, The drive assembly includes a push rod and a first drive motor. The first drive motor is connected to one end of the push rod to drive the push rod to move along the first direction. A through hole communicating with the receiving groove is formed on the pin. The other end of the push rod passes through the through hole and is connected to the connecting rod assembly.

5. The automatic locking device according to claim 4, characterized in that, The drive assembly further includes a first elastic element, which is connected between the end of the pin where the through hole is formed and the inner wall of the receiving cavity away from the first hole. In the initial position, the first elastic element is in a compressed state.

6. The automatic locking device according to claim 5, characterized in that, The drive assembly further includes a second elastic element, which is disposed in the receiving groove and connected between the end of the connecting rod assembly connected to the push rod and the periphery of the through hole. The elastic coefficient of the first elastic element is greater than that of the second elastic element. Both the first and second elastic elements are sleeved on the push rod. In the initial position, the second elastic element is in a compressed state.

7. The automatic locking device according to claim 5, characterized in that, One end of the pin with the through hole has a limiting boss extending outward along the axial direction of the pin. In the extended position, the limiting boss is located inside the receiving cavity and abuts against the periphery of the first hole.

8. The automatic locking device according to claim 4, characterized in that, The push rod is connected to the connecting rod assembly at one end and has a slider. The slider has a mounting groove, which corresponds to the connecting rod assembly. The connecting rod assembly is rotatably connected to the inner wall of the mounting groove.

9. The automatic locking device according to any one of claims 1-8, characterized in that, Also includes: The system includes a fixed frame, a movable frame, and a second drive motor. The mounting cylinder is disposed on the movable frame, and the movable frame is movably disposed on the fixed frame along the first direction. The second drive motor is connected to the movable frame to drive the movable frame to move relative to the fixed frame in the first direction.

10. The automatic locking device according to claim 9, characterized in that, The fixed frame is provided with a rack extending along the first direction. The automatic locking device further includes a drive worm and a drive turbine. The drive worm is connected between the second drive motor and the drive turbine, and the drive turbine meshes with the rack.

11. The automatic locking device according to claim 9, characterized in that, The fixed frame is also provided with a slide rail, on which a sliding protrusion extending along the first direction is formed, and on the movable frame a slide groove extending along the first direction is formed, with the sliding protrusion engaging in the slide groove.

12. The automatic locking device according to claim 9, characterized in that, The automatic locking device further includes: A first pressure sensor, a second pressure sensor, and a third pressure sensor are provided. The first pressure sensor is disposed on the fixed frame and is adapted to detect the pressure between the workpiece to be locked and the fixed frame. The second pressure sensor and the third pressure sensor are disposed in the receiving cavity and are arranged at intervals in the first direction. In the initial position, the second pressure sensor is in contact with the pin. In the extended position, the pin is in contact with the third pressure sensor. The controller is electrically connected to the first pressure sensor, the second pressure sensor, and the third pressure sensor.

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