Telescopic locking structure and traction robotic arm

Abstract

The utility model provides a kind of telescopic locking structure and traction mechanical arm, belong to mechanical arm technical field, including sleeve and the sleeve rod of being worn in sleeve inside;The end of sleeve rod worn in sleeve is equipped with the sliding seat of being slid with sleeve;Sliding seat has the cavity of being set along the radial direction of sleeve, cavity is separated into drive cavity and locking cavity based on the ring table of its cavity wall, and the cavity wall of locking cavity is open away from drive cavity.Locking plate is slidably connected in locking cavity, piston is slidably connected in drive cavity, one end of piston passes through ring table and is abutted with locking plate, and the other end is equipped with elastic member between the cavity wall of drive cavity, and medium cavity is formed between piston and ring table;Locking plate forms unlocking state when medium cavity pressurizes and counterpushes piston, and locking state is formed based on elastic thrust when medium cavity is pressure released.The telescopic locking structure provided by the utility model can improve the telescopic locking reliability and operation convenience of traction mechanical arm.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, specifically relating to a telescopic locking structure and a traction robotic arm. Background Technology

[0002] Traction robotic arms are crucial auxiliary devices in sports medicine surgery. Taking a shoulder joint traction robotic arm as an example, it can apply the required traction force to the arm according to the target posture, assisting in the treatment of conditions such as rotator cuff injuries, muscle ruptures, and fractures, and greatly improving the ease of operation during surgery. To meet the needs of adaptive posture adjustment in various situations, traction robotic arms typically require multiple ball joints and at least one telescopic joint. After the posture adjustment is in place, the ball joints and telescopic joints must be locked to ensure traction stability.

[0003] In existing technologies, the structure of telescopic joints generally involves a sleeve and a telescopic rod slidingly connected. The locking method utilizes a pressure cap screwed to the sleeve end to axially push the conical sleeve, causing the conical sleeve to tighten the fit between the sleeve and the telescopic rod. However, this traditional locking structure requires manual operation during locking and unlocking, which is not only time-consuming and labor-intensive, but also has poor locking reliability. Furthermore, it hinders the rapid and precise adjustment of the predetermined traction posture, thus affecting the smoothness of orthopedic surgical procedures. Therefore, improvements are urgently needed. Utility Model Content

[0004] This utility model provides a telescopic locking structure and a traction robotic arm, aiming to improve the locking reliability and operational convenience of the telescopic joint of the traction robotic arm.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows: Firstly, a telescopic locking structure is provided, including a sleeve and a rod inserted into the sleeve; wherein, one end of the rod inserted into the sleeve is provided with a sliding seat that slides with the sleeve.

[0006] The slide has a cavity arranged radially along the sleeve, which is divided into a driving cavity and a locking cavity based on an annular truncated structure on its cavity wall, with the locking cavity opening away from the cavity wall of the driving cavity;

[0007] A locking plate is slidably connected inside the locking cavity. The locking plate has a locking state in which it extends out of the locking cavity and presses against the inner wall of the sleeve, and an unlocking state in which it retracts into the locking cavity.

[0008] A piston is slidably connected inside the drive chamber. One end of the piston is sealed through the ring platform and abuts against the locking plate. An elastic element is provided between the other end of the piston and the cavity wall of the drive chamber away from the locking chamber. A medium cavity is formed between the piston and the ring platform. The medium cavity is connected to an external pressure medium source. The locking plate is in an unlocked state when the medium cavity is pressurized and pushes the piston back, and in a locked state based on the pushing force of the elastic element when the medium cavity is depressurized.

[0009] In conjunction with the first aspect, in one possible implementation, the locking plate has a threaded hole at its center, and a stud is screwed into the threaded hole. The end of the stud extends out of the threaded hole toward the piston and abuts against the piston, while the other end is recessed into the threaded hole.

[0010] In some embodiments, the bottom of the locking cavity is provided with a plurality of sliding pins spaced apart around the inner hole of the ring platform, and the locking plate is provided with a plurality of sliding holes, each of which is adapted to be inserted into the corresponding sliding pin to form a sliding fit.

[0011] For example, a first sealing ring is embedded in the drive cavity, and the first sealing ring abuts against the ring platform along the axial direction of the drive cavity; a top post is provided at one end of the piston facing the locking cavity, and the top post passes through the first sealing ring and the ring platform to abut against the locking plate.

[0012] For example, the drive cavity is provided with a threaded opening, which is located on the side of the first sealing ring away from the locking cavity. The threaded opening is connected to a pressure cap, which cooperates with the ring platform to clamp the first sealing ring.

[0013] In one possible implementation, a second sealing ring is embedded in the drive cavity. The second sealing ring is located on the side of the gland away from the locking cavity, and the second sealing ring is fitted onto the piston and forms a sliding fit with the piston.

[0014] In some embodiments, an end cap is detachably connected to the end of the drive cavity away from the locking cavity, and the end cap abuts against the second sealing ring along the axial direction of the drive cavity.

[0015] For example, there is a first gap between the gland and the peripheral wall of the drive cavity, and a second gap between the gland and the piston, and the first gap and the second gap communicate to form a medium cavity.

[0016] For example, the slide has a medium inlet channel and a medium outlet channel on its radial sides, which are connected to the first gap, respectively. The medium inlet channel is connected to the pressure medium source, and the medium outlet channel is detachably connected with a plug.

[0017] The beneficial effects of the telescopic locking structure provided by this utility model are as follows: Compared with the prior art, in the telescopic locking structure of this utility model, the sleeve rod utilizes its sliding seat inserted into the sleeve to form a sliding fit with the sleeve. In normal operation, the medium cavity located between the piston and the ring platform inside the sliding seat is in a depressurized state. The elastic element in the driving cavity forms an elastic pushing force on the piston, thereby causing the piston to form a pushing force on the locking plate. This drives the locking plate to extend out of the locking cavity and press tightly against the inner wall of the sleeve to form a locking state. When the sleeve rod needs to extend or retract relative to the sleeve to meet the traction posture adjustment requirements, it is only necessary to pressurize the medium cavity through an external pressure medium source. The medium pressure overcomes the force of the elastic element and pushes the piston in the opposite direction, thereby allowing the locking plate to retract into the locking cavity to form an unlocked state. The sleeve rod can then flexibly extend or retract relative to the sleeve. After adjustment, it is only necessary to depressurize the medium cavity through the pressure medium source to allow the locking plate to return to the locking state under the elastic pushing force of the elastic element.

[0018] Compared to traditional telescopic locking methods, this method is not only simple and convenient to operate, but also utilizes the stable elastic thrust of the elastic element to drive the locking plate against the inner wall of the sleeve through the piston. The resulting locking state is stable and reliable. The unlocking and locking operations can be quickly completed by simply operating the pressure medium source to pressurize and depressurize the medium cavity. This is conducive to accurately completing the adjustment process of the predetermined traction posture and promoting the smooth progress of orthopedic surgery.

[0019] Secondly, this utility model embodiment also provides a traction robotic arm, including at least one telescopic joint configured with the above-mentioned telescopic locking structure.

[0020] The beneficial effects of the traction robotic arm provided by this utility model are as follows: Compared with the prior art, the traction robotic arm of this utility model adopts the above-mentioned telescopic locking structure. Compared with the traditional telescopic locking method, it is not only simple and convenient to operate, but also uses the stable elastic pushing force of the elastic element to drive the locking plate to press against the inner wall of the sleeve through the piston. The resulting locking state is stable and reliable. The unlocking and locking operations can be quickly completed by simply operating the pressure medium source to pressurize and depressurize the medium cavity. This is conducive to accurately completing the adjustment process of the predetermined traction posture and promoting the smooth progress of orthopedic surgery. Attached Figure Description

[0021] Figure 1 A three-dimensional structural diagram of the telescopic locking structure (sleeve cut open) provided in an embodiment of this utility model;

[0022] Figure 2 This is a three-dimensional structural diagram of the slide used in the embodiment of this utility model;

[0023] Figure 3 This is an exploded disassembly diagram of the slide used in the embodiment of this utility model;

[0024] Figure 4 This is a cross-sectional view of the slide used in the embodiment of this utility model;

[0025] Figure 5 For along Figure 4 A magnified schematic diagram of the local structure at point A;

[0026] Figure 6 For along Figure 4 Schematic diagram of the cross-sectional structure of the middle BB line;

[0027] Figure 7 This is a schematic cross-sectional view of the cavity structure of the slide used in the embodiment of this utility model.

[0028] In the diagram: 10, sleeve; 20, sleeve rod; 30, slide block; 31, ring platform; 301, drive cavity; 3011, threaded end; 302, locking cavity; 3021, sliding pin; 303, medium cavity; 3031, first gap; 3032, second gap; 304, medium inlet channel; 305, medium outlet channel; 32, locking plate; 321, stud; 322, sliding hole; 33, piston; 331, top pin; 34, elastic element; 35, first sealing ring; 36, gland; 37, second sealing ring; 38, end cap. Detailed Implementation

[0029] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0030] It should be noted that when an element is referred to as being "set on" or "connected to" another element, it can be directly on or indirectly on the other element. It should be understood that 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. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more of those features. In the description of this application, "a plurality of" or "several" means two or more, unless otherwise explicitly specified.

[0031] As a current technology, for traction robotic arms, due to the complex and variable traction posture, multiple ball joints are required to meet angle adjustment needs, and at least one telescopic joint is needed to adjust the distance between the traction part of the human body, such as the arm, and the traction end. The telescopic adjustment of the telescopic joint is a key factor in meeting the traction force requirements. In this case, during actual posture adjustment, each ball joint must first be unlocked and its angle adjusted, followed by the length adjustment of the telescopic joint. Since the telescopic joint needs to be locked in a stable posture after adjustment, and the locking structure requires manual screwing of the pressure cap to drive the cone sleeve axial movement, the operation is very time-consuming and labor-intensive. Especially when applying traction force to the human body's traction part, changes in the telescopic length are easily caused before locking is completed, resulting in poor stability and reliability of the locking operation and affecting the accuracy of the final traction force application.

[0032] In view of the problems with the locking and unlocking operations of the telescopic parts of the existing traction robotic arm, please refer to the following: Figures 1 to 7 The telescopic locking structure provided by this utility model will now be described. The telescopic locking structure includes a sleeve 10 and a rod 20 passing through the sleeve 10; wherein, one end of the rod 20 that passes through the sleeve 10 is provided with a slide block 30 that slides and engages with the sleeve 10; the slide block 30 has a cavity arranged radially along the sleeve 10, and the cavity is divided into a driving cavity 301 and a locking cavity 302 based on an annular platform 31 provided on its cavity wall, the locking cavity 302 being open away from the cavity wall of the driving cavity 301. A locking plate 32 is slidably connected within the locking cavity 302, the locking plate 32 having a locked state where it extends out of the locking cavity 302 and presses against the inner wall of the sleeve 10, and an unlocked state where it retracts towards the locking cavity 302.

[0033] A piston 33 is slidably connected inside the drive chamber 301. One end of the piston 33 is sealed through the ring platform 31 and abuts against the locking plate 32. An elastic element 34 is provided between the other end of the piston 33 and the cavity wall of the drive chamber 301 away from the locking chamber 302. A medium cavity 303 is formed between the piston 33 and the ring platform 31. The medium cavity 303 is connected to an external pressure medium source. The locking plate 32 is in an unlocked state when the medium cavity 303 is pressurized and pushes the piston 33 back, and in a locked state based on the pushing force of the elastic element 34 when the medium cavity 303 is depressurized.

[0034] It should be noted that in this embodiment, the sleeve 10 is fitted onto the sleeve rod 20 to form a telescopic joint, and the slide block 30 connected to the end of the sleeve rod 20 forms a frictional sliding fit with the inner wall of the sleeve 10. The remaining parts of the sleeve rod 20 have a movement gap with the inner wall of the sleeve 10, thereby avoiding the problems of mutual wear and abnormal noise between the sleeve 10 and the sleeve rod 20.

[0035] It should be understood that in this embodiment, the sliding lock between the sleeve 10 and the sleeve rod 20 relies on the friction lock formed by the locking plate 32 tightly pressing against the inside of the sleeve 10. When the contact force between the locking plate 32 and the inner wall of the sleeve 10 is sufficient, the sliding freedom of the sleeve rod 20 within the sleeve 10 can be locked. When the contact force between the locking plate 32 and the inner wall of the sleeve 10 decreases or even disappears, the slide block 30 can slide flexibly within the sleeve 10, thus forming an unlocked state.

[0036] Based on the above, in this embodiment, an elastic element 34, such as a spring or disc spring, is used in the drive cavity 301 to generate an elastic pushing force on the piston 33, causing it to move towards the locking cavity 302. This causes the piston 33 to push the locking plate 32, which is equivalent to causing the slide 30 to expand radially in the sleeve 10. This allows the peripheral wall of the slide 30 and the locking plate 32 to form a frictional lock with the inner wall of the sleeve 10 based on the increased pressure. Furthermore, the medium cavity 303 and the elastic element 34 are located on opposite sides of the piston 33. Therefore, when a pressure medium is introduced into the medium cavity 303 and pressurized, the pressure... The medium exerts a reverse thrust on the piston 33, thereby gradually reducing the pushing force of the piston 33 on the locking plate 32. The process of the pressure in the medium cavity 303 gradually increasing is the process of the locking plate 32 gradually switching from the locked state to the unlocked state. When the reverse thrust of the pressure medium on the piston 33 exceeds the elastic force of the elastic element 34, it can drive the piston 33 to move in the opposite direction, thereby canceling the pushing force of the piston 33 on the locking plate 32. At this time, the locking plate 32 can freely retract into the locking cavity 302, thereby greatly reducing the friction between the peripheral wall of the slide block 30 and the locking plate 32 and the sleeve 10, forming a sliding unlocked state.

[0037] It should be noted that, in this embodiment, the elastic element 34 can specifically be a spring, a single disc spring, or a combination of disc springs. Considering the compact structure and sufficient elastic force, a combination disc spring is preferred. In this embodiment, the pressure medium can be high-pressure air or hydraulic oil, and the pressure medium source can be a high-pressure air source or a hydraulic source. To facilitate operation, a control valve with a foot switch can be configured for the pressure medium source. When the operator presses the foot switch, the pressure medium source pressurizes the medium cavity 303; when the foot switch is released, the medium cavity 303 depressurizes. It should be understood that the above-mentioned pressure medium source and its control method are commonly used technical means in the fields of hydraulics and pneumatics. This is only an example to illustrate the pressurization and depressurization method of the medium cavity 303 and is not intended to limit the implementation of this application.

[0038] Compared with the prior art, the telescopic locking structure provided in this embodiment utilizes the sliding seat 30 inserted into the sleeve 10 to form a sliding fit with the sleeve 10. Normally, the medium cavity 303 located between the piston 33 and the annular platform 31 inside the sliding seat 30 is in a depressurized state. The elastic element 34 in the drive cavity 301 exerts an elastic pushing force on the piston 33, thereby causing the piston 33 to exert a pushing force on the locking plate 32. This drives the locking plate 32 to extend out of the locking cavity 302 and tightly press against the inner wall of the sleeve 10 to form a locking state. When the telescopic locking structure is engaged, the telescopic locking mechanism is activated. When the sleeve 20 needs to extend or retract relative to the sleeve 10 to meet the traction posture adjustment requirements, it is only necessary to pressurize the medium cavity 303 through the external pressure medium source. The medium pressure overcomes the force of the elastic element 34 and pushes the piston 33 in the opposite direction, so that the locking plate 32 can retract into the locking cavity 302 to form an unlocked state. The sleeve 20 can then flexibly extend or retract relative to the sleeve 10. After the adjustment is in place, it is only necessary to release the pressure of the medium cavity 303 through the pressure medium source to allow the locking plate 32 to return to the locked state under the elastic pushing force of the elastic element 34.

[0039] Compared to traditional telescopic locking methods, this method is not only simple and convenient to operate, but also utilizes the stable elastic thrust of the elastic element 34 to drive the locking plate 32 to press against the inner wall of the sleeve 10 through the piston 33. The resulting locking state is stable and reliable. The unlocking and locking operations can be quickly completed by simply operating the pressure medium source to pressurize and depressurize the medium cavity 303. This is conducive to accurately completing the adjustment process of the predetermined traction posture and promoting the smooth progress of orthopedic surgery.

[0040] In some embodiments, see Figures 2 to 4 The locking plate 32 has a threaded hole in the center, and a stud 321 is screwed into the threaded hole. The end of the stud 321 extends out of the threaded hole and abuts against the piston 33, while the other end is recessed in the threaded hole.

[0041] The stud 321 is threaded into the threaded hole at the center of the locking plate 32 and forms an abutment with the piston 33. By turning the stud 321, the magnitude of the elastic pushing force transmitted from the elastic element 34 to the locking plate 32 through the piston 33 in the locked state can be adjusted. Thus, when locking instability occurs (usually caused by a decrease in the elastic modulus of the elastic element 34 after long-term use), the compression of the elastic element 34 can be adjusted by adjusting the stud 321, so that the locking plate 32 obtains the elastic force that meets the requirements for stable locking, which helps to improve the effective life of the telescopic locking structure.

[0042] As one specific connection structure of the locking plate 32 described above, please refer to Figure 4 The bottom of the locking cavity 302 is provided with a plurality of sliding pins 3021 at intervals around the inner hole of the ring platform 31. The locking plate 32 is provided with a plurality of sliding holes 322, each of which is adapted to be inserted into the corresponding sliding pin 3021 to form a sliding fit.

[0043] By utilizing the sliding pins 3021 distributed in the inner hole of the ring platform 31 and correspondingly connecting them with the sliding holes 322, the locking plate 32 can obtain multiple guides evenly distributed in the direction of movement, thereby avoiding the problem of movement jamming caused by the imbalance of force on the locking plate 32, which helps to improve the unlocking smoothness and locking stability and reliability of the locking plate 32.

[0044] It should be noted that, as Figure 4 As shown, in this embodiment, the drive cavity 301 is fitted with a first sealing ring 35, and the first sealing ring 35 abuts against the ring platform 31 along the axial direction of the drive cavity 301; the piston 33 is provided with a top post 331 at one end facing the locking cavity 302, and the top post 331 passes through the first sealing ring 35 and the ring platform 31 to abut against the locking plate 32.

[0045] By setting the first sealing ring 35, a seal can be formed between the top post 331 and the cavity wall of the drive cavity 301, thereby ensuring the isolation and sealing between the medium cavity 303 and the locking cavity 302 while satisfying the requirement that the top post 331 passes through the ring platform 31 and abuts against the locking plate 32, and preventing the pressure medium from leaking from the gap between the ring platform 31 and the top post 331 when the medium cavity 303 is pressurized.

[0046] For some possible implementations, please refer to [link / reference]. Figure 4 and Figure 7 The drive cavity 301 is provided with a screw port 3011, which is located on the side of the first sealing ring 35 away from the locking cavity 302. The screw port 3011 is threaded with a pressure cap 36, which cooperates with the ring platform 31 to clamp the first sealing ring 35.

[0047] The screw hole 3011 can be understood as a section of cavity wall with internal threads in the drive cavity 301, while the peripheral wall of the pressure cover 36 is provided with external threads. The pressure cover 36 is screwed to the screw hole 3011 to form an abutment limit on the first sealing ring 35, thereby preventing the piston 33 from moving and affecting the sealing reliability. It also facilitates the disassembly and assembly of the first sealing ring 35.

[0048] It should be noted that the pressure cap 36 has multiple blind holes on the side opposite to the locking cavity 302. The blind holes are provided to prevent penetration of the pressure cap 36 from affecting the airtightness of the medium cavity 303, and also to allow the installation and removal tools to be inserted into the blind holes to perform the screwing operation on the pressure cap 36, thereby improving the convenience of operation.

[0049] In this embodiment, as Figure 4As shown, a second sealing ring 37 is embedded in the drive cavity 301. The second sealing ring 37 is located on the side of the pressure cap 36 away from the locking cavity 302. The second sealing ring 37 is fitted onto the piston 33 and forms a sliding fit with the piston 33. The second sealing ring 37 can form a seal between the drive cavity 301 and the peripheral wall of the piston 33, thereby ensuring the airtightness of the medium cavity 303 and preventing the pressure medium from leaking from the fit gap between the piston 33 and the drive cavity 301 during the pressurization process of the medium cavity 303.

[0050] To facilitate the assembly and subsequent disassembly and maintenance of the internal parts of the drive cavity 301, such as... Figure 4 As shown, an end cap 38 is detachably connected to the end of the drive cavity 301 away from the locking cavity 302. The end cap 38 abuts against the second sealing ring 37 along the axial direction of the drive cavity 301. The end cap 38 serves two purposes: firstly, it facilitates the installation of the piston 33, pressure cap 36, first sealing ring 35, and second sealing ring 37 into the drive cavity 301 after removal; secondly, the end of the end cap 38 extending into the drive cavity 301 forms abutment and limiting contact with the second sealing ring 37, thereby preventing the second sealing ring 37 from axially moving within the drive cavity 301 and affecting the sealing reliability.

[0051] Figure 5 and Figure 6 An optional implementation of the above-mentioned medium cavity 303 is shown, wherein there is a first gap 3031 between the pressure cap 36 and the peripheral wall of the drive cavity 301, and a second gap 3032 between the pressure cap 36 and the piston 33, and the first gap 3031 and the second gap 3032 are connected to form the medium cavity 303.

[0052] The first gap 3031 between the gland 36 and the peripheral wall of the drive chamber 301 can meet the requirement that the pressure medium enters the medium chamber 303 from the side wall of the slide 30. The second gap 3032 between the gland 36 and the piston 33 can make the pressure medium entering the second gap 3032 form a counter-thrust force on the piston 33. The overall structure is compact and convenient for arranging the medium flow channel.

[0053] It should be noted that you should refer to [link / reference]. Figure 6 In this embodiment, the slide 30 is provided with a medium input channel 304 and a medium output channel 305 communicating with the first gap 3031 on both radial sides. The medium input channel 304 is connected to the pressure medium source, and the medium output channel 305 is detachably connected with a plug (not shown in the figure).

[0054] When pressurized, the pressure medium enters the first gap 3031 through the medium inlet 304, and then enters the second gap 3032 through the first gap 3031, forming a counter-thrust force on the piston 33. When depressurized, the piston 33, under the action of the elastic element 34, squeezes the pressure medium out of the second gap 3032.

[0055] Considering the presence of multiple telescopic locking structures in the traction manipulator, and the use of an external pressure medium source for pressurization / unlocking and depressurization / locking of the ball joint locking structure, a medium output channel 305 connected to the first gap 3031 is provided. This allows the medium output channel 305 to be connected to the medium input channels 304 of the other telescopic locking structures or ball joint locking structures via pipelines after the plug is removed. This enables the simultaneous unlocking and locking of multiple locking structures using the same pressure medium source, thereby improving the convenience of adjusting the system's traction attitude.

[0056] Based on the same inventive concept, combined with Figures 1 to 7 This application also provides a traction robotic arm, including at least one telescopic joint configured with the above-described telescopic locking structure.

[0057] Compared with the prior art, the traction robotic arm provided in this embodiment adopts the above-mentioned telescopic locking structure. Compared with the traditional telescopic locking method, it is not only simple and convenient to operate, but also uses the stable elastic pushing force of the elastic element 34 to drive the locking plate 32 to press against the inner wall of the sleeve 10 through the piston 33. The resulting locking state is stable and reliable. The unlocking and locking operations can be quickly completed by simply operating the pressure medium source to pressurize and depressurize the medium cavity 303. This is conducive to accurately completing the adjustment process of the predetermined traction posture and promoting the smooth progress of orthopedic surgery.

[0058] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A telescopic locking structure, characterized in that, It includes a sleeve and a rod inserted inside the sleeve; wherein, one end of the rod that enters the sleeve is provided with a sliding seat that slides with the sleeve. The slide has a cavity arranged radially along the sleeve, the cavity being divided into a driving cavity and a locking cavity based on an annular truncated block formed on its cavity wall, the locking cavity being open away from the cavity wall of the driving cavity; A locking plate is slidably connected inside the locking cavity. The locking plate has a locking state in which it extends out of the locking cavity and presses against the inner wall of the sleeve, and an unlocking state in which it retracts into the locking cavity. A piston is slidably connected within the drive chamber. One end of the piston is sealed through the annular platform and abuts against the locking plate. An elastic element is provided between the other end of the piston and the wall of the drive chamber away from the locking chamber. A medium chamber is formed between the piston and the annular platform, and the medium chamber is connected to an external pressure medium source. The locking plate forms the unlocked state when the medium chamber is pressurized and pushes the piston back, and forms the locked state based on the pushing force of the elastic element when the medium chamber is depressurized.

2. The telescopic locking structure as described in claim 1, characterized in that, The locking plate has a threaded hole at its center, and a stud is screwed into the threaded hole. The end of the stud facing the piston extends out of the threaded hole and abuts against the piston, while the other end is recessed into the threaded hole.

3. The telescopic locking structure as described in claim 1, characterized in that, The bottom of the locking cavity is provided with a plurality of sliding pins spaced apart around the inner hole of the ring platform, and the locking plate is provided with a plurality of sliding holes, each of which is adapted to be inserted into the corresponding sliding pin to form a sliding fit.

4. The telescopic locking structure as described in claim 1, characterized in that, The drive cavity is fitted with a first sealing ring, which abuts against the ring platform along the axial direction of the drive cavity; the piston has a top post at one end facing the locking cavity, which passes through the first sealing ring and the ring platform and abuts against the locking plate.

5. The telescopic locking structure as described in claim 4, characterized in that, The drive cavity is provided with a screw opening, which is located on the side of the first sealing ring away from the locking cavity. A pressure cap is threaded into the screw opening, and the pressure cap cooperates with the ring platform to clamp the first sealing ring.

6. The telescopic locking structure as described in claim 5, characterized in that, A second sealing ring is embedded in the drive cavity. The second sealing ring is located on the side of the pressure plate away from the locking cavity. The second sealing ring is fitted onto the piston and forms a sliding fit with the piston.

7. The telescopic locking structure as described in claim 6, characterized in that, An end cap is detachably connected to the end of the drive cavity away from the locking cavity, and the end cap abuts against the second sealing ring along the axial direction of the drive cavity.

8. The telescopic locking structure as described in claim 6, characterized in that, There is a first gap between the gland and the peripheral wall of the drive cavity, and a second gap between the gland and the piston. The first gap and the second gap communicate to form the medium cavity.

9. The telescopic locking structure as described in claim 8, characterized in that, The slide has a medium input channel and a medium output channel on its radial sides, which are respectively connected to the first gap. The medium input channel is connected to the pressure medium source, and the medium output channel is detachably connected with a plug.

10. A traction robotic arm, characterized in that, It includes at least one telescopic joint, the telescopic joint being configured with a telescopic locking structure as described in any one of claims 1-9.

Images