Rotation lock device or mechanism

Abstract

The present invention relates to a rotation locking device or mechanism that provides a locking function within the connecting ends of two connected rotatable bodies. [Solution] By moving the movable lock shaft in the axial direction, the function of rotating and locking two connected rotatable bodies within a predetermined angle range is realized. By setting the non-circular cross-sectional shape of the movable lock shaft and the lock shaft hole, the function of locking and unlocking the two connected rotatable bodies at different lock angles is realized. By changing the angular position of the rotation axis of the two connected ends, the degree of freedom is adjusted or set. The rotation lock device or mechanism of the present invention can be applied to various fields such as industry, transportation, construction, medicine, aerospace, artificial intelligence, and daily life.

Description

[Technical field]

[0001] The present invention relates to the field of locks, and in particular to a rotation locking device or mechanism. [Background technology]

[0002] In the prior art, for example, automatic doors, hidden beds, rotating support rods, and other general rotating locking devices or mechanisms usually connect two rotatable bodies connected through a circular shaft, and further utilize the triangular fixing principle (for example, a movable support rod), or use a locking device or mechanism such as a movable plug to lock or unlock. These locking parts are exposed to the outside of the product, which not only greatly affects the aesthetics of the entire product, but also occupies external space and hinders the normal use of the product, making it difficult to popularize in life. In addition, in the fields of industry, transportation, medicine, aerospace, artificial intelligence, and other fields, there are commonly products related to rotating locking mechanisms, such as automatic seat backs, robot arms, robot claws, medical equipment, industrial robots, and doll robot joints, and in the prior art, it is common to rotate by gear-rack drive, worm gear, belt drive, chain drive, etc., and further lock using other locking devices. Due to its disadvantages such as its complex structure, high manufacturing cost, and large volume, its scope of use is limited, and it cannot be realized in products or parts that have special restrictions on shape and appearance, such as the hands of surgical robots, the fingers of humanoid robots, and small robot insects. Summary of the Invention [Problem to be solved by the invention]

[0003] The objective of the present invention is to overcome the shortcomings of the prior art and make up for the defects of the prior art. The technical problem to be solved is to realize the function of locking and unlocking the two connected rotatable bodies at a predetermined locking angle position by displacing a movable locking shaft in the axial direction within the ends of the two connected rotatable bodies, thereby making up for the defect of the prior art that after the two rotatable bodies are connected by rotating a circular shaft, other complicated locking devices or mechanisms are further used to lock and unlock. [Means for solving the problem]

[0004] The "movable lock shaft head" in the present invention means that the movable lock shaft is located at the axial end in the locking direction. The contact points between the movable lock shaft, the rotatable body, and other parts in the present invention are all made of metal or non-metallic materials with rigidity to ensure the normal operation of the rotary lock device or mechanism. The overall shape of the rotatable body in the present invention is block-shaped, striped, sheet-shaped, columnar, or determined according to the shape of the product or part, but is not limited thereto.

[0005] The rotation lock device or mechanism according to the present invention includes at least two rotatable bodies, a movable lock shaft, a drive device or mechanism, and the drive device or mechanism includes a rotation drive device or mechanism and an axial drive device or mechanism, and two ends connected between the rotatable bodies are provided with a lock shaft hole including a non-circular cross-sectional portion communicating with each other, and a movable lock shaft including a non-circular cross-sectional portion that fits into the lock shaft hole is provided in the lock shaft hole, and when the movable lock shaft moves axially under the action of the axial drive device or mechanism to a lock position where it is simultaneously engaged and locked with the lock shaft hole walls in the two connected ends, the two connected ends are locked, and when the movable lock shaft moves axially under the action of the axial drive device or mechanism to an unlock position where at least one connected end can be rotated relatively within a predetermined angle range by the rotation drive device or mechanism, the two connected ends are unlocked. In some embodiments, the non-circular cross-sectional portion is a cylindrical portion or a truncated cone portion having a rough surface. In some preferred embodiments, the non-circular cross-section is an axisymmetric figure having three or more axes of symmetry, such as a regular polygon, a concave polygon, a tooth shape, or a valve shape having three or more axes of symmetry.

[0006] Preferably, each of the two connected ends is a movable end provided with a connecting shaft end and a through groove, the lock shaft hole is drilled perpendicularly into the side surface of the through groove, the two connected ends are inserted and connected via the movable lock shaft, and the connecting shaft end and the movable lock shaft are connected together so as not to rotate relative to each other overall.

[0007] In some embodiments, the rotatable bodies are connected in series, or a single rotatable body or a series-connected rotating movable body is connected to a connecting end connected in parallel to the rotatable bodies. In some embodiments, the degree of freedom is adjusted in the rotation lock mechanism by changing the angular position of the rotation axis of the connecting end. In some such embodiments, the rotation axes of two adjacent connecting ends are perpendicular to each other such that two rotatable bodies connected at a distance rotate in two orthogonal directions with respect to the rotatable body therebetween.

[0008] Preferably, the movable lock shaft and the lock shaft hole are stepped, each non-circular step portion has a taper that fits therewith, and the cross section is an axisymmetric figure having three or more axes of symmetry. Of two adjacent step portions, the maximum non-circular cross-sectional area of ​​the step portion closer to the locking direction of the movable lock shaft is equal to or smaller than the minimum non-circular cross-sectional area of ​​the other step portion.

[0009] Preferably, the axial drive device or mechanism includes an elastic member that is provided directly or indirectly between the movable lock shaft and the rotatable body and that holds pressure in the locking direction on the movable lock shaft. In some embodiments, the elastic member is a limit spring, and limit holes that communicate with each other are drilled in the connecting shaft end and the movable lock shaft at the same time, and the limit bolt is drilled in the limit hole and axially fixed to the limit hole in the connecting shaft end. In the locked state, the distance between the side of the limit bolt facing the locking direction of the movable lock shaft and the side wall of the limit hole of the movable lock shaft facing the side wall of the limit bolt is equal to or greater than the effective movable distance of the movable lock shaft moving in the axial direction from the unlocked position to the locked position. A limit spring hole is drilled in the side wall of the limit hole in the movable lock shaft toward the locking direction of the movable lock shaft. The limit spring is provided in the limit spring hole, one end of which abuts against the bottom wall of the limit spring hole, and the other end of which abuts against the limit bolt directly or indirectly.

[0010] Preferably, the drive device or mechanism includes a rotary drive body or a rotary drive shaft connected to one of the two connected ends so as to be rotatable relative to one another. In some embodiments, the drive system of the drive device or mechanism is a motor drive, a gas drive, a hydraulic drive, a worm gear drive, a gear and rack drive, a belt drive, a rope drive, or the like, or a redundant drive system or a mixed drive system including two or more of the above. In some embodiments, a rotary drive body through hole penetrates both ends of the movable lock shaft, the rotary drive body or the rotary drive shaft is provided in the rotary drive body through hole and is axially fixed to the movable end, and the limit spring is provided in the rotary drive body through hole, one end of which abuts against the movable lock shaft and the other end of which abuts against the rotary drive body or the rotary drive shaft.

[0011] In some embodiments, the movable end portion is provided with a drive hole that is coaxial with the lock shaft hole of the movable end portion and communicates with each other on the side located in the lock direction of the movable lock shaft, and two symmetrical passive bosses are provided in the hole wall of the drive hole in the radial direction, and the intersection line of the plane on which both circumferential sides of the passive bosses are located is collinear with the rotation axis, and the angle between the two sides is B degrees. The rotating drive shaft is provided with two drive bosses in the radial direction that abut against the passive bosses during rotation, and the intersection line of the plane on which both circumferential sides of the drive bosses are located is collinear with the rotation axis, and the angle between the two sides is A degrees (A+B≦180). When the movable lock shaft is in the unlocked position, the drive boss drives the passive boss to start rotating, that is, the movable end portion and the connecting shaft end portion start to rotate relative to each other.

[0012] In some such embodiments, A+B<180, the rotary drive device or mechanism is a bidirectional rotary drive device or mechanism, a flange is provided in the radial direction of the rotary drive shaft, a limit spring is provided between the movable lock shaft and the side of the flange facing the lock direction of the movable lock shaft, the limit spring always presses the movable lock shaft in the lock direction of the movable lock shaft, and N (N is a positive integer and N≧2) equally spaced circumferential pressure bosses are provided on the opposite side of the flange, the spacing arc degree between adjacent circumferential pressure bosses and the arc degree between both sides of the circumferential pressure bosses are both C degrees (C=180÷N), the intersection line of the plane on which each side is located and the rotation axis of the movable end are collinear, and both sides of the circumferential pressure boss are circumferential pressure gradient surfaces with arc degrees. A flange provided radially on the head end face of the movable lock shaft or on the inner wall of the through hole of the rotary drive body has N pressure grooves in the axial direction that engage with the rotating boss when the movable lock shaft is in the locked position, and when the drive rotary shaft starts to rotate 180-(A+B) degrees from the locked position where the rotating boss and the pressure groove are engaged, i.e., from the initial position, the rotating gradient surface rotates the pressure gradient surface so that the end face of the rotating boss and the upper part of the pressure groove abut each other and the circumferential side surface of the drive boss abuts against the circumferential side surface of the passive boss. When the drive boss continues to drive the pressure boss to rotate (A+B+C)-180 degrees, the two connected ends rotate relatively to the locked position, and at this time, the N rotating bosses slide into the pressure grooves at the same time and engage with each other, i.e., the movable lock shaft moves to the locked position due to the pressure of the limit spring. Similarly, when the driving boss drives the pressure-receiving boss to rotate it in the reverse direction by 180-A+B degrees, the movable lock shaft moves to the unlocked position, and when it continues to rotate further by (A+B+C)-180 degrees, the two connected ends rotate relatively to the initial position. If the cross-sectional portion of the movable lock shaft is an axisymmetric convex polygon having three or more axes of symmetry, and the number of sides is X (X≧4), when D≧360÷X, a stopper boss is provided in the radial direction of the side wall of the movable lock shaft, and a stopper boss groove is opened in the lock angle position on the lock shaft hole wall in accordance with the movement of the stopper boss.During the process of the driving boss driving the relative rotation of the pressure-receiving boss with respect to the movable lock shaft, the stopper boss presses the axial side wall of the stepped portion of the lock shaft hole of the movable end portion by the pressure of the limit spring, and slides into the stopper boss groove until the movable end portion rotates to a predetermined lock angle position, i.e., moves the movable lock shaft to the locked position, thereby smoothly bypassing unnecessary lock angle positions during the relative rotation between the movable lock shaft and the movable end portion.

[0013] In some embodiments, the drive boss is provided on a side surface of the end of the rotary drive shaft, and the pressure-receiving groove is provided on a head end surface of the movable lock shaft or a part rotatably connected to the movable lock shaft.

[0014] In some such embodiments, the drive device or mechanism simultaneously drives a rotatable body including multiple movable ends connected in parallel on the same rotation axis, the movable lock shaft ends on the same rotation axis being connected by a link lever, and when the link lever moves from a locked position to an unlocked position of the movable lock shafts, each of the movable lock shafts moves from the locked position to the unlocked position simultaneously under the drive of the link lever.

[0015] In some embodiments, the axial drive device or mechanism is a rotary drive device or mechanism having a rotary drive body including a rotary rotation shaft, and a rotary drive hole is drilled in the bottom of the through groove of the movable end along the connecting shaft end direction and communicating with the lock shaft hole of the connecting shaft end, and the rotary drive body is provided in the rotary device hole. The rotary rotation shaft is a circular shaft, and a semicircular arc surface rotary boss having the same diameter as the circular shaft is provided in the radial direction on the shaft cross section of the circular shaft end, and a rotary boss hole is drilled in the side wall of the movable lock shaft to movably engage with the rotary boss, and the rotary boss is drilled in the rotary boss hole, and the movable lock shaft rotates the axial side wall of the rotary boss hole via the semicircular arc surface on the rotary boss to move to the locked position or the unlocked position.

[0016] In some such embodiments, the gyro or mechanism is a pneumatic motor, hydraulic motor, or electric motor fixedly disposed in the bore of the gyro. In some such embodiments, the gyro rotating shaft is integral with the gyro driver, and the gyro driver has an intake hole and an exhaust hole that communicate with each other, and when the compressed gas enters the intake hole, it is discharged from the exhaust hole in the opposite direction to the rotation, and then the gyro driver and the trachea are rotated together by the reaction force generated outside.

[0017] In some embodiments, a support shaft hole is drilled in each of the two connected ends, the support shaft is drilled in the support shaft hole, and the support shaft is fixedly connected to one of the connecting ends and rotatably connected to the other connecting end. A support shaft lock shaft hole penetrates both ends of the support shaft, and the support shaft lock shaft hole includes a lock shaft hole in the connecting shaft end including a non-circular cross-sectional portion and a part of a lock shaft hole in the movable end including a non-circular cross-sectional portion. The two connected ends and the movable lock shaft are supported by the support shaft so that stress generated between them does not interfere with the rotation of the movable end. In some preferred embodiments, the non-circular cross-sectional portion on the support shaft is fitted into the non-circular cross-sectional portion of the inner wall of the support shaft hole of the connecting shaft end and fixed in the circumferential direction, and is drilled in the support shaft limit hole and fixedly connected in the axial direction to the limit bolt of the limit hole of the connecting shaft end. The limit bolts can also serve to fix the bearing in the circumferential direction, but in some embodiments, the contact areas between the limit bolts and the support shaft hole walls are deformed or broken due to stress generated during rotation.

[0018] In some embodiments, an angle sensor is attached to the driver for sensing the locked angular position between the two coupled ends.

[0019] In some embodiments, a tension sensor is provided between two connected ends to detect tension when two connected rotatable bodies grip an object or other motion while rotating, such as in a rotation lock mechanism for application in a robot arm or robot, etc.

[0020] In some embodiments, the two connected ends are provided with a reset torsion spring fitted on the movable lock shaft or support shaft, one end of the reset torsion spring is locked to the movable end, and the other end is provided on the connecting shaft end or another part axially fixed to the connecting shaft end. The reset torsion spring satisfies that the driving force of the driving device normally rotates against its torsion force.

[0021] In some embodiments, a pretension spring is provided between the two connected ends, the non-circular cross-sectional portion of the fitting portion between the movable lock shaft and the movable end has a fitting taper, a gap for disposing a pretension spring is provided between the two opposing side surfaces of the two connected ends that are close to the head of the movable lock shaft, and the pretension spring is provided in the gap so that the hole wall of the movable end lock shaft hole and the movable lock shaft are always in contact with each other. The axial pressure applied to the movable lock shaft by the limit spring is greater than the pressure applied to the movable lock shaft by the pretension spring. Even if the lock shaft hole expands due to wear between the movable lock shaft and the corresponding lock shaft hole wall as the number of uses increases, these slightly tapered movable lock shaft and lock shaft hole wall will be in close contact with the lock shaft hole wall and locked in a locked state under the action of the pressure of the limit spring and pre-lock spring even after the movable lock shaft is displaced in its locking direction. In some embodiments, the rotary drive device or mechanism is a unidirectional rotary drive device or mechanism, and when the two connected ends rotate relatively to a predetermined angular position under the action of a driving force and the driving is stopped, the two ends rotate relatively in the opposite direction and are reset by the reset torsion spring. In some embodiments, a groove that engages with the pretension spring is provided on a side surface of the gap, and one end of the pretension spring presses against the bottom of the groove, and the other end presses against a side surface opposite to the groove or the bottom of the groove on this side surface. Effect of the Invention

[0022] 1. The locking function of the rotary locking device or mechanism of the present invention is realized within two connected ends, and has the characteristics of simplicity, beauty, safety and stability, long service life, and easy replacement of parts, etc., which has extremely great economic and usage value and can be widely applied to several products with special requirements for appearance and structure.

[0023] 2. The rotation lock device or mechanism of the present invention realizes the function of locking and unlocking at different lock angles between two connected rotatable bodies by setting the movable lock shaft and the lock shaft hole to a non-circular cross-sectional shape. By providing a stopper boss in the radial direction of the side wall of the movable lock shaft and opening a stopper boss groove that matches the movement of the stopper boss at the lock angle position where locking is required on the corresponding lock shaft hole wall, it is possible to smoothly bypass unnecessary lock angle positions during the relative rotation between the movable lock shaft and the movable end.

[0024] 3. Adjust or set the degree of freedom by changing the angular position of the rotation axis of the two connected ends.

[0025] 4. When two connected rotatable bodies cannot rotate relative to each other to a predetermined angle, for example when it is desired to realize two connected rotatable bodies rotate relative to each other in a relatively parallel position, this can be realized by connecting an additional rotatable body of matching shape and length between the two connected rotatable bodies. [Brief description of the drawings]

[0026] [Figure 1] FIG. 1 is a perspective view of a rotation lock mechanism according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a schematic diagram of the exploded structure of FIG. 1 (excluding the trachea). [Diagram 3] FIG. 3 is a front cross-sectional view of FIG. [Figure 4] FIG. 4 is a radial cross-sectional view of a middle rotatable body in the first embodiment. [Diagram 5]FIG. 5 is a cross-sectional view of the final stage rotatable body in the first embodiment. [Figure 6] FIG. 6 is a structural diagram of a support shaft in the first embodiment. [Figure 7] FIG. 7 is a cross-sectional view of the rotary pressure driver in the first embodiment. [Figure 8] FIG. 8 is a structural diagram of the rotational drive body in the first embodiment. [Figure 9] FIG. 9 is a perspective view of the rotation lock mechanism of the second embodiment. [Figure 10] FIG. 10 is a perspective view of FIG. [Figure 11] FIG. 11 is a schematic diagram of an exploded structure of two connecting ends in the second embodiment. [Figure 12] FIG. 12 is a cross-sectional view of two connecting ends on a middle rotatable body in the second embodiment. [Figure 13] FIG. 13 is a structural diagram between a movable lock shaft having a pressure-receiving boss and a drive motor in the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] The present invention will be described in more detail below with reference to the drawings and examples. It should be understood that the specific embodiments described below are only used to illustrate the present invention and do not constitute the limitation of the present invention.

[0028] EMBODIMENT 1 Referring to Figures 1 to 8, the rotation lock mechanism includes three rotatable bodies 2, three movable lock shafts 1, three support shafts 23, a rotation drive body 3, a torsional drive body 5, twelve tracheas 8, a tracheal joint 9, a trachea lock ring 10, a reset torsion spring 24, a limit spring 7, and a positioning bolt 6.

[0029] The three rotatable bodies in this embodiment are connected in series with each other, and on both sides of the two connected ends, the support shaft hole 2.2.2 of the connecting shaft end, the support shaft hole 2.2.1 of the movable end, and the lock shaft hole 2.1 of the movable end are simultaneously inserted. The support shafts 23 are drilled in the support shaft hole 2.2.2 of the connecting shaft end and the support shaft hole 2.2.1 of the movable end, and here, the outer wall of the part of the support shaft 23 drilled in the support shaft hole of the movable end is a cylindrical wall that is rotatably attached to the inner wall of the support shaft hole of the movable end. The cross section of the inner wall of the support shaft hole 2.2.2 of the connecting shaft end and the outer wall of the part of the support shaft 23 corresponding to it are axially symmetrical figures with 12 symmetry axes, and the support shaft 23 and the connecting shaft end are fixed in the circumferential direction. The connecting shaft end and the support shaft 23 are radially drilled with limit holes 2.3 and 23.3, which are in communication with each other, and the support shaft 23 and the connecting shaft end are fixed in the axial direction by limit bolts 4.

[0030] A toothed insertion post 3.2 is provided on the axial end surface located in the locking direction of the movable locking shaft 1 on the rotary drive 3, a hook groove 3.8 is provided on the end surface of the insertion post 3.2, and two hooks 3.7 higher than the hook groove 3.8 are provided at the bottom of the hook groove 3.8. A cylindrical boss 2.8 is provided on the side axial direction located in the locking direction of the movable locking shaft 1 on the inner wall of the through groove of the movable end, which slides into the drive hole 1.7, and a insertion post hole 2.9 is provided in the center of the cylindrical boss 2.8 to insert and fit with the insertion post 3.2, and a hook boss hole 2-6 is provided at the bottom of the insertion post hole 2.9 to fit with the two hooks 3.7, and the two hooks 3.7 are hung in the hook boss hole 2-6. The end surface of the rotary driver 3 facing / opposed to the insertion post 3.2 is provided with a positioning flange 3.3 that is lock-fitted with the non-circular cross-section of the lock shaft hole 2.1 of the movable end, i.e., fixed circumferentially with the movable end. The driver 3 is provided with a limit spring flange 3.4, and a limit spring 7 is provided between the limit spring flange 3.4 and the step of the non-circular section of the driver hole 1.7, and the limit spring 7 must be satisfied so that the rotating pressure of the rotating boss 5.1 can rotate against the pressure to the side located in the unlocking direction of the inner wall of the rotating boss hole until the movable lock shaft 1 moves to the unlocking position.

[0031] The middle stage rotatable body 2b and the final stage rotatable body 2c are provided with a rotatable device hole 2-5 that engages with the rotatable drive body 5 and communicates with the lock shaft hole 2.1, and the rotatable drive body 5 is provided with a positioning ring groove 5.2 in the circumferential direction. A positioning bolt hole 2.7 is provided at the bottom of the positioning ring groove 5.2 on the rotatable body, and the rotatable drive body 5 is rotatably positioned in the rotatable device hole 2-5 via a positioning bolt 6. A rotatable boss 5.1, the end of which is a semicircular arc surface having the same diameter as the rotatable rotation shaft 3.1, is provided in the radial direction on the shaft cross section. A rotatable boss hole 5.3 is drilled in the side wall of the movable lock shaft 1, which communicates with the rotatable device hole 2-5 and rotates and fits into the rotatable boss 5.1. A relief hole 23.2 that communicates with the swiveling boss hole 1.1 and does not interfere with the rotation of the swiveling boss is drilled in the side wall of the support shaft 23, and the swiveling boss 5.1 is drilled within the swiveling boss hole.

[0032] The rotary driver has two axial ends through which the rotary driver air ducts 5.4 penetrate, and one end of the rotary driver 5 facing the rotary boss is provided with two mutually communicating rotary driver air ducts 5.5 and rotary driver air ducts 5.6 parallel to the rotation tangent of the rotary driver. The first stage rotatable body air ducts 2a.4 penetrate both sides of the first stage rotatable body 2a along the direction of both ends of the rotary driver. After passing through the first stage rotatable body air ducts 2a.4, four air tubes 8 are connected to the two rotary driver air ducts 3.5 in the connecting shaft end of the middle stage rotatable body and the two rotary driver air ducts 5.5 in the rotary drive device hole of the middle stage rotatable body via air tube joints 9. Four air tubes pass through the driver holes of the first stage rotatable body, of which two air tubes 8 connect with the gyro driver intake holes 5.5 inside the first stage rotatable body, and the other two air tubes 8 pass through the gyro driver gas holes 5.4 and connect with the gyro driver intake holes 3.5 in the connecting shaft end of the first stage rotatable body through the air tube joint 9. Two air tubes 8 pass through the gyro driver air tube holes 5.4 outside the first stage rotatable body and connect with the gyro driver intake holes on the movable end of the first stage rotatable body through the air tube joint 9. The two air tubes 9 are inserted into the gyro driver intake holes outside the first stage rotatable body. The gyro driver outside the first stage rotatable body is connected to an external base or other parts to form a rotation lock device or mechanism.

[0033] After the compressed gas enters the intake hole 5.5 of the rotary driver 5, it is discharged from the exhaust hole 5.6 in the reverse rotation direction, and the reaction force generated outside rotates the rotary driver and the trachea 8 together. The intake hole of the rotary driver 5 is provided with a lock ring groove 5.7 in the circumferential direction, and the trachea 8 located at the rotary driver intake hole 5.5 is locked via the trachea lock ring 10. The movable lock shaft 1 rotates the axial inner wall of its rotary boss hole 1.8 by the rotary boss 5.1 to move to the locked position or the unlocked position. Similarly, after the compressed gas enters the rotary driver intake hole 3.5, it is discharged to the outside in the reverse rotation direction from the rotary driver exhaust hole 3.6 communicating with the rotary driver intake hole 3.5, and the reaction force by the discharged compressed gas rotates the driver 3 and the trachea 8 together. In this embodiment, the driver 3 may be provided with an angle sensor for sensing the angle between the two connected rotatable bodies.

[0034] A second hole serving as a reset torsion spring hole 2.0 is enlarged on the inner wall of a portion of the support shaft hole 2.2 located on the locking direction side of the movable lock shaft in the connecting shaft end, and a reset torsion spring 24 is provided in the reset torsion spring hole 2.0, one end of which is engaged in a reset torsion spring reset groove 2.4 at the movable end, and the other end of which is engaged in a reset torsion spring reset groove 2.5 at the connecting shaft end. The reset torsion spring 24 satisfies the requirement that the driving force of the driving device will normally rotate against its torsion force.

[0035] EMBODIMENT 2 As shown in Figs. 9 to 13, the rotation lock mechanism includes a parallel rotatable body 2h including three connecting shaft ends, three rotatable bodies gh including only one movable end, a movable lock shaft 1, a limit spring 7, a support shaft 23, a reset torsion spring 24, a limit bolt 4, a link lever 22, and a drive motor 3a. A rotatable body 2g including only a movable end is connected to each of the three connecting shaft ends of the parallel rotatable body 2h, and the lock direction of the movable lock shaft 1 in each connecting end is the same, and the three rotation axes are on the same straight line. Here, the non-circular cross-sectional portion of the lock shaft hole wall corresponding to the movable lock shaft 1 is a regular octagonal trapezoid as a whole. Between adjacent movable lock shafts 1, a link lever 22 is screwed to the tail of the movable lock shaft 1 and abuts against the head of the movable lock shaft 1.

[0036] On both sides of the connecting shaft end and the movable end, the connecting shaft end support shaft hole 2h.2, the movable end support shaft hole 2g.2, and the movable end lock shaft hole 2g.1 pass through each other vertically on both sides of the through groove, and the support shaft 23 is drilled in the connecting shaft end support shaft hole 2h.2 and the movable end support shaft hole 2g.2, is fixed to the connecting shaft end in the circumferential direction, and is rotatably connected to the movable end, and the inner wall of the movable end support shaft hole 2g.2 drilled on both sides of the through groove 2g.6 and the corresponding outer wall of the support shaft 23 are cylindrical walls. At both ends of the support shaft 23, the support shaft lock shaft hole 23.1 including the connecting shaft end inner lock shaft hole and a part of the movable end inner lock shaft hole passes through in the axial direction.

[0037] The connecting shaft end limit hole 2h.3, the support shaft limit hole 23.3, and the movable lock shaft limit hole 1.2, which are vertically connected to the bottom wall mounting through hole 2g.3 of the through groove 2g.6, simultaneously penetrate the connecting shaft end end, both radial sides of the movable lock shaft 1, and both radial sides of the support shaft 23. The limit bolt 4 is drilled from the mounting through hole 2g.3 to the bottom wall of the limit hole 2h.3 of the connecting shaft end, and the connecting shaft end and the support shaft 23 are fixedly connected by the limit bolt 4. In the locked state, the distance from the side of the limit bolt facing the lock direction of the movable lock shaft to the opposing side wall of the movable lock shaft limit hole 1.2 is equal to or greater than the effective movable distance of the movable lock shaft moving axially from the unlocked position to the locked position. A limit spring hole 1.4 extending in the locking direction of the movable lock shaft 1 is provided in the side wall of the limit hole 1.2 of the movable lock shaft, and a limit spring 7 is provided in the limit spring hole 1.4 with one end abutting against the bottom wall of the limit spring hole 14 and the other end abutting against the limit bolt 4. The axial movement of the movable lock shaft 1 is limited to the lock shaft hole by the limit spring 7 and the limit bolt 4. A diagonal groove 4.5 abutting against the limit spring 7 is provided in the side wall of the limit bolt 4, so that the limit bolt 4 receives the diagonal pressure of the limit spring 7 and abuts against the bottom wall of the limit hole 2h.3 at the connecting shaft end, preventing the stopper bolt 4 from entering the mounting through hole 2g.3 and interfering with the movable end.

[0038] A second hole serving as the reset torsion spring hole 2h.0 is provided on the inner wall located at one end of the support shaft hole 2h.2 of the connecting shaft end near the movable lock shaft head, a movable end torsion spring limit groove 2g.4 is provided in the axial direction on the side wall of the through groove 2g.6, and a connecting shaft end torsion spring limit hole 2h.5 is provided in the radial direction on the inner wall of the reset torsion spring hole 2h.0, which is inserted to match one end of the reset torsion spring 24. During the installation process of the reset torsion spring 24, first, one end of the reset torsion spring 24 is inserted into the torsion spring limit hole 2h.5 of the connecting shaft end, and then the reset torsion spring 24 is placed in the reset torsion spring hole 2h.0, and the other end is deformed when the movable end and the connecting shaft end are inserted, and then is locked in the movable end torsion spring limit groove 2g.4.

[0039] A bidirectional rotary drive motor 3a is provided on one end of the movable lock shaft on the parallel rotatable body 2h, which is located in the locking direction, and is coaxial with the three connecting ends. A hollow pillar corresponding to the head of the movable lock shaft 1 is provided in the axial direction on the end face of the drive shaft 3a.1 of the motor 3a. Two symmetrical rotating bosses 3a.2 are provided in the circumferential direction of the hollow pillar, and two symmetrical drive bosses 3a.3 are provided in the radial direction of the hollow pillar. The intersection line of the plane on which both circumferential sides of the two drive bosses 3a.3 are located is collinear with the rotation axis, and the angle between the two sides is 45 degrees.

[0040] A drive hole communicating with the lock shaft hole is provided within the movable end, and two symmetrical passive bosses 2g-1 that engage with the drive bosses 3a.3 are provided at both diametrical ends located in the extending portion of the lock shaft hole wall in the locking direction of the movable lock shaft 1, and the intersection line of the plane on which both circumferential sides of the two passive bosses 2g-1 are located is collinear with the rotation axis and forms an angle of 45 degrees between them. A hollow pillar is provided along the locking direction on the head end face of the movable lock shaft, and two symmetrical pressure-receiving grooves 1.9 that engage with the rotational bosses 3a.2 are provided on the end face of the hollow pillar. When the driving shaft 3a.1 rotates 90 degrees from the initial position, the end faces of the rotating boss 3a.2 and the upper part of the pressure receiving groove contact each other, the movable locking shaft moves to the unlocked position, and the side faces of the two driving bosses 3a.3 contact both sides of the passive bosses 2g-1, rotating the pressure receiving groove 1.9. As the driving boss 3a.3 continues to rotate the passive boss 2g-1 90 degrees, the stopper boss 1.5 moves into the stopper boss groove, and the two rotating bosses 3a.2 simultaneously slide into the pressure receiving groove 19, and the two connected ends rotate to the lock angle position, that is, the movable locking shaft moves to the lock position by the pressure of the limit spring. When the driving boss 3a.3 rotates 90 degrees in the reverse direction, the end face of the turning boss 3a.2 abuts against the upper part of the pressure receiving gradient surface of the pressure receiving groove 1.9, and the movable lock shaft 1 moves to the unlocked position, and the driving boss 3a.3 presses against the passive boss 2g-1, rotating the pressure receiving gradient surface on the other side of the pressure receiving groove. When the driving boss continues to rotate the passive boss 2g-1 in the reverse direction by 90 degrees, the two connected ends rotate to their initial positions. When three rotatable bodies including only the movable ends are simultaneously connected to a single part, the driving boss simultaneously rotates the three rotatable bodies including the movable ends during rotation.

[0041] When the power is off, by manually pressing the link lever 22 close to the locking direction of the movable lock shaft 1, each movable lock shaft 1 simultaneously moves from the locked position to the unlocked position under the driving of the link lever 22, and after the external force is canceled, the link lever 22 moves to the initial position together with the movable lock shaft 1 under the driving of the limit spring 7.

[0042] The above-mentioned embodiment is merely an exemplary embodiment of the present invention, and is not intended to limit the present invention, and the present invention can be realized in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, in all respects, the embodiment should be considered as illustrative and not limiting. The scope of the present invention is not limited to the above description, but is limited by the appended claims, and it is intended to include all changes that come within the meaning and scope of the equivalent requirements of the claims.

[0043] Regarding industrial applicability, The rotary lock device or mechanism of the present invention can be applied to various fields such as industry, transportation, engineering construction, medicine, aerospace, artificial intelligence, etc. The rotary lock device or mechanism of the present invention has characteristics such as a compact structure, high locking strength, and a small number of parts used, and can be widely applied to products with special requirements for shape, size, and performance, and can be widely applied to products with high requirements for the working environment, such as robot arms, robot claws, medical devices and robots, industrial robots, humanoid robot joints, and small mechanical insects.

Claims

1. A rotation lock device or mechanism including at least two rotatable bodies, a movable lock shaft, and a drive device or mechanism, the drive device or mechanism includes a rotational drive device or mechanism and an axial drive device or mechanism; A lock shaft hole having a non-circular cross section communicating with each other is drilled in two ends connected between the rotatable bodies, A movable lock shaft having a non-circular cross-sectional portion that fits into the lock shaft hole is drilled in the lock shaft hole, When the movable lock shaft moves axially under the action of the axial drive device or mechanism to a locking position where it is simultaneously engaged and locked with the lock shaft hole walls in the two connected ends, the two connected ends are locked; When the movable lock shaft moves axially to an unlocked position where at least one of the connecting ends can be relatively rotated within a predetermined angle range by the rotational drive device or mechanism under the action of the axial drive device or mechanism, the two connected ends are unlocked.

1. A rotation lock device or mechanism comprising:

2. Each of the two connected ends is a connecting shaft end and a movable end provided with a through groove, The lock shaft hole is formed perpendicularly to a side surface of the through groove, The two connected ends are connected through the movable lock shaft, The connecting shaft end and the movable lock shaft are connected to each other so as to be unable to rotate relative to each other as a whole.

2. A rotation locking device or mechanism according to claim 1.

3. a shaft cross section of the movable lock shaft and the lock shaft hole are generally stepped, and a non-circular cross section of the stepped portion of each movable lock shaft is an axially symmetrical figure having three or more axes of symmetry; Of the two adjacent step portions, the maximum non-circular cross-sectional area of ​​the step portion closer to the locking direction of the movable lock shaft is equal to or smaller than the minimum non-circular cross-sectional area of ​​the other step portion.

3. A rotation locking device or mechanism according to claim 1 or 2.

4. The axial drive device or mechanism is provided directly or indirectly between the movable lock shaft and the rotatable body, and includes an elastic member that holds pressure on the movable lock shaft in the locking direction.

3. A rotation locking device or mechanism according to claim 1 or 2.

5. The drive device or mechanism includes a rotary drive body or shaft pivotally coupled to one of the two coupled ends.

3. A rotation locking device or mechanism according to claim 1 or 2.

6. The device further includes a support shaft, a support shaft hole is formed in each of the two connected ends, the support shaft is formed in the support shaft hole, and the support shaft is fixedly connected to one of the connecting ends and rotatably connected to the other connecting end, A support shaft lock shaft hole penetrates both ends of the support shaft, and the support shaft lock shaft hole includes a lock shaft hole in the connecting shaft end portion including a non-circular cross-sectional portion and a part of a lock shaft hole in the movable end portion including a non-circular cross-sectional portion.

3. A rotation locking device or mechanism according to claim 1 or 2.

7. further comprising a sensor for sensing a relationship between the two coupled rotatable bodies; 3. A rotation locking device or mechanism according to claim 1 or 2.

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