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 locking technology, in particular to Rotation lock device Regarding. [Background technology]

[0002] In the prior art, for example, automatic doors, hidden beds, rotating support rods, etc. Rotation lock device are usually connected via a circular shaft. are Two rotatable bodies Yes Furthermore, the triangular fixing principle (for example, a movable support rod) and the movable stopper Locking device These locking parts are exposed to the outside of the product, which not only significantly affects the overall aesthetics of the product, but also occupies external space and hinders normal use of the product, making them difficult to popularize in daily life. In addition, in the fields of industry, transportation, medicine, aerospace, artificial intelligence, etc., rotary locks are used in, for example, the backrests of automatic seats, robot arms, robot claws, medical equipment, industrial robots, and robotic joints of dolls. Device In the prior art, it is common for products related to this to be rotated using gear and rack drives, worm gear drives, belt drives, chain drives, etc., and to be locked using other locking devices. However, due to the disadvantages of such structures being complicated, high manufacturing costs, and large volume, Range of use For example, the hands of surgical robots, the fingers of humanoid robots, Small robot insect This is not possible for products or parts that have special limitations on shape and appearance, such as: Summary of the Invention [Problem to be solved by the invention]

[0003] The purpose 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 that the movable locking shaft is displaced in the axial direction within the ends of the two connected rotatable bodies, thereby realizing the function of locking and unlocking the two connected rotatable bodies at a predetermined locking angle position, and after the two rotatable bodies are connected by rotating the circular shaft in the past, other complicated steps are required. Locking device The purpose of this is to compensate for the deficiency of locking and unlocking by [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 components in the present invention are as follows: Rotation lock device In order to ensure the normal operation of the rotatable body, either a metal or a non-metal material having rigidity is adopted. Rod-shaped The shape may be, but is not limited to, sheet-like, columnar, or other shapes depending on the shape of the product or part.

[0005] The present invention Rotation lock device The locking mechanism includes at least two rotatable bodies, a movable locking shaft, a drive unit, the drive unit comprising a rotary drive unit and an axial drive unit; and Two interconnected of the rotatable body each The ends are provided with lock shaft holes including non-circular cross-section portions that communicate with each other, and a movable lock shaft including a non-circular cross-section portion that fits into the lock shaft hole is provided inside the lock shaft hole. arrangement The movable lock shaft is Drive unit Under the action of Moves in the axial direction, At the same time, the lock shaft hole walls in the two connected ends Once mated and in the locked position , the two connected ends are Relative rotation is impossible The movable lock shaft is locked. Axial Drive Under the action of When moved axially to the unlocked position, the two connected ends are unlocked, thereby allowing the rotation drive to rotate at least one of the connected ends relative to one another within a predetermined angular range. In some embodiments, the non-circular cross section is a roughened cylindrical or frusto-conical section. In some preferred embodiments, the non-circular cross section is 3 or moreA regular polygon, a concave polygon, a tooth shape, a valve shape, etc., having an axis of symmetry of 3 or more It is an axisymmetric figure with an axis of symmetry.

[0006] Preferably, the two linked The ends are , a connecting shaft end and a movable end provided with a through groove, and the lock shaft hole is drilled perpendicularly to the side surface of the through groove, and the two connected ends are connected through the movable lock shaft Counterpoise The connecting shaft end and the movable lock shaft are connected together so as to be unable to rotate relative to each other as a whole.

[0007] In some embodiments, the rotatable bodies are connected in series, or Parallel rotatable bodies The connected ends may be a single rotatable body or a series of connected Rotatable body In some embodiments, the rotation lock Device In some such embodiments, the degrees of freedom are adjusted by changing the angular position of the rotation axes of the link ends. In some such embodiments, the rotation axes of two adjacent link ends are perpendicular to each other such that two spaced-apart rotatable bodies rotate relative to the rotatable body therebetween in two orthogonal directions.

[0008] Preferably, the movable lock shaft and the lock shaft hole are each other stepped Shape corresponding to and each non-circular step portion has a mating taper, and its cross section is 3 or more The axis of symmetry is the axis of symmetry. Located to the side The maximum non-circular cross-sectional area of ​​the stepped section is On the other hand The area is equal to or less than the minimum non-circular cross-sectional area of ​​the stepped portion.

[0009] Preferably, the Axial Drive The locking mechanism includes an elastic member that is provided directly or indirectly between the movable locking shaft and the rotatable body and that maintains pressure on the movable locking shaft in the locking direction. In some embodiments, the elastic member is a limit spring, and the end of the connecting shaft and the movable locking shaft are simultaneously connected to each other. Limit bolt hole is drilled, and the limit bolt is Limit bolt hole Within Placed , the end of the connecting shaft Limit bolt hole In the locked state, the limit Bolt's Locking direction of the movable lock shaft The side surface and The limit of the movable lock shaft opposite this bolt Hole sidewall and The distance between the movable lock shaft and the locking shaft is equal to or greater than the effective movable distance that the movable lock shaft moves in the axial direction from the unlocked position to the locked position. Limit bolt hole The side wall of the movable lock shaft Locking Direction The limit spring is disposed 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 directly or indirectly against the limit bolt.

[0010] Preferably, the Drive unit is relative to one of the two connected ends Rotatable In some embodiments, the rotary drive or rotary drive shaft is coupled to the Drive unit The drive system is motor Drive , pneumatic Drive, hydraulic drive, worm gear drive 、 The drive system may be gear / rack drive, belt drive, rope drive, etc., or the above. 2 or more types In some embodiments, a rotary drive body through-hole penetrates each end 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 has a drive hole coaxial with the lock shaft hole of the movable end portion and communicating with each other on the side of the movable lock shaft located in the locking direction, and two symmetrical passive bosses are radially provided on the hole wall of the drive hole, 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 rotation drive shaft has two drive bosses radially provided that abut against the passive bosses during rotation, and the intersection line of the plane on which both circumferential sides of each drive boss 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 bosses drive the passive bosses to start rotating, i.e., the movable end portion and the connecting shaft end portion start rotating relative to each other.

[0012] In some such embodiments, A+B<180, and Rotational Drive Unit is bidirectional Rotational Drive Unit A flange is provided in the radial direction of the rotary drive shaft, and a limit spring is provided between the movable lock shaft and the side of the flange facing the locking direction of the movable lock shaft, and the limit spring always presses the movable lock shaft in the locking direction of the movable lock shaft. Note that N (N is a positive integer and N≧2) limit springs are provided on the opposite side of the flange, and are arranged at equal intervals in the circumferential direction. boss are provided, and each adjacent The angle between the relative faces of the boss, and each boss Between both sides of the circumferential direction angle are all C degrees (C=180÷N), and each Boss's The intersection line of the planes on which both sides are located and the rotation axis of the movable end are collinear, Each boss Both sides of the curve are pressure gradient surfaces with degrees of curvature. By doing so, a rotating boss is formed. The head end surface of the movable lock shaft or the inner wall of the through hole of the rotary drive body is The flange Established and The flange is provided with N pressure-receiving grooves in the axial direction that engage with the rotating pressure boss when the movable lock shaft is in the locked position, Both sides of the pressure-receiving groove are pressure-receiving gradient surfaces. When the driving shaft starts to rotate 180-(A+B) degrees from the lock position where the pressure boss and the pressure groove are engaged, i.e., the initial position, the pressure gradient surface is Rotating the pressure-receiving slopeWhen the movable lock shaft moves to the unlocked position, the end face of the rotating pressure boss and the upper part of the pressure receiving gradient surface of the pressure receiving groove come into contact with each other, and the circumferential side face of the driving boss comes into contact with the circumferential side face of the passive boss. Receiving Drive the moving boss 180-(A+B) When the rotation continues for 100 degrees, the two connected ends rotate relatively to the locking position, and at this time, the N rotating bosses simultaneously slide into the pressure receiving grooves and engage with each other, that is, the movable locking shaft moves to the locking position under the pressure of the limit spring. Passive Boss Driven by 180-(A+B) When the movable lock shaft is rotated in the reverse direction by 180 degrees, it moves to the unlocked position and -(A+B) When the movable lock shaft continues to rotate 100 degrees, the two connected ends rotate relative to the initial position. Non-circular The cross section is an axisymmetric convex polygon with three or more axes of symmetry. can be A stopper boss is provided in the radial direction of the side wall of the movable lock shaft, Correspondingly, the movable end The aforementioned Lock shaft hole inner wall Lock angle position for, The movement of the stopper boss Engage A stopper boss groove is provided. The driving boss drives the passive boss, Relative rotation process with respect to the movable lock shaft in The stopper boss presses the axial side wall of the stepped portion of the lock shaft hole of the movable end portion due to the pressure of the limit spring, and slides into the stopper boss groove until the movable end portion rotates to the specified lock angle position, i.e., moves the movable lock shaft to the lock 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 the side surface of the end of the rotary pressure drive shaft, and the pressure receiving groove is provided on the head end surface of the movable lock shaft or on the rotary pressure receiving groove of the movable lock shaft. Transfer The components are provided with a rotatable connection.

[0014] In some such embodiments, Drive unitsimultaneously drives a rotatable body including a plurality of movable ends connected in parallel on the same rotation axis, and the ends of the movable lock shafts on the same rotation axis are connected by a link lever. When the link lever moves from the locked position of the movable lock shafts to the unlocked position, each of the movable lock shafts simultaneously moves from the locked position to the unlocked position under the drive of the link lever.

[0015] In some embodiments, the Axial Drive The rotary drive includes a rotary shaft. Rotating device The bottom of the through groove of the movable end is provided with a rotary drive hole that is in communication with the lock shaft hole of the connecting shaft end along the connecting shaft end direction, and the rotary drive body is provided in the rotary device hole. The rotary rotation shaft is a circular shaft, and a semicircular arc 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 that movably engages with the rotary boss is provided on the side wall of the movable lock shaft, and the rotary boss is located in the rotary boss hole. arrangement The movable lock shaft rotates the axial side wall of the rotating boss hole via the semicircular arc surface on the rotating boss, thereby moving the movable lock shaft to a locked position or an unlocked position.

[0016] In some such embodiments, Rotating device is a pneumatic pressure device fixedly arranged in the pressure device hole. motor , hydraulic motor Or electric motor In some such embodiments, the rotary shaft is integral with the rotary driver, and the rotary driver has an intake hole and an exhaust hole that communicate with each other, and when compressed gas enters the intake hole, The exhaust gas is discharged from the exhaust port in the opposite direction to the rotation, and the exhaust gas interacts with the outside world, generating a reaction force. The rotational driver and trachea are rotated together.

[0017] In some embodiments, a support shaft hole is drilled in each of the two connected ends, and the support shaft is inserted into the support shaft hole. arrangement The support shaft is fixedly connected to one of the connecting ends and is fixed to the other connecting end. RotatableThe support shaft has a lock shaft hole penetrating both ends thereof, and the lock shaft hole includes a lock shaft hole in the connecting shaft end portion including a non-circular cross section portion, and a part of the lock shaft hole in the movable end portion including a non-circular cross section portion. There is a gap between the two connected ends and the movable lock shaft. occurrence In some preferred embodiments, the non-circular cross-section portion on the support shaft is fitted into the non-circular cross-section portion of the inner wall of the support shaft hole of the connecting shaft end portion and fixed in the circumferential direction, Furthermore, the limit bolts drilled in the limit bolt holes of the support shaft and the limit bolt holes at the end of the connecting shaft The limit bolts can also serve as a circumferential fixation, but in some embodiments, the contact points between the limit bolts and the support shaft hole wall are deformed or broken due to stress generated when the limit bolts and the support shaft hole wall rotate.

[0018] In some embodiments, a locking mechanism for sensing a locking angular position between the two connected ends is provided. Angle sensor is attached to the drive unit.

[0019] In some embodiments, the invention may be applied to, for example, robotic arms and robots. Rotation lock device For example, a tension sensor is provided between the two connected ends of two rotatable bodies to detect tension when the bodies grip an object or perform other actions while rotating. Tension sensor is provided.

[0020] In some embodiments, the two connected ends are provided with a reset torsion spring fitted onto 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 connected to the connecting shaft end or another part axially fixed to the connecting shaft end. Locked The reset torsion spring is configured to allow the driving force of the driving device to resist the torsion force. normal Satisfied with rotating.

[0021] In some embodiments, a pretension spring is provided between the two connected ends, the non-circular cross-sectional portion of the mating portion between the movable lock shaft and the movable end has a taper for mating, a gap for disposing the pretension spring is provided between the two opposing side surfaces of the two connected ends that are closer 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. The axial pressure applied by the limit spring to the movable lock shaft is greater than the pressure applied by the pretension spring to the movable lock shaft. Furthermore, 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 not interfere with the limit spring. Pretension spring Under the action of the pressure, the movable lock shaft remains in a locked state even after being displaced in the locking direction, and is locked in close contact with the wall of the lock shaft hole. Rotational Drive Unit is one-way Rotational Drive Unit 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 reset torsion spring causes the two ends to rotate relatively in the opposite direction and reset. 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 the side surface opposite the groove or the bottom of the groove on this side surface. [Effects of the Invention]

[0022] 1. The present invention Rotation lock device The lock function of Two connected ends It has the characteristics of simplicity, beauty, safety and stability, long service life, and easy replacement of parts, and has great economic and practical value, and can be widely applied to several products with special requirements for appearance and structure.

[0023] 2. The present invention Rotation lock deviceBy setting the movable lock shaft and the lock shaft hole to a non-circular cross section, the function of being able to lock and unlock the two connected rotatable bodies at different lock angles is realized. 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 on the corresponding lock shaft hole wall where locking is required, it is possible to smoothly bypass unnecessary lock angle positions during relative rotation between the movable lock shaft and the movable end.

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

[0025] 4. Two connected rotatable bodies Desire When it is not possible to rotate the two rotatable bodies relative to each other to an angle greater than the angle (angle), for example, when it is desired to rotate two connected rotatable bodies relative to each other to a relatively parallel position, this can be achieved by connecting an additional rotatable body having a matching shape and length between the two connected rotatable bodies. [Brief explanation of the drawings]

[0026] [Figure 1] FIG. 1 is a three-dimensional structural view of a rotation lock device according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a schematic diagram of the exploded structure of FIG. 1 (excluding the trachea). [Figure 3] FIG. 3 is a partial cross-sectional view of FIG. [Figure 4] FIG. 4 is a radial cross-sectional view of the middle rotatable body in the first embodiment. [Figure 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 the support shaft in the first embodiment. [Figure 7] FIG. 7 is a cross-sectional view of the rotational 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 three-dimensional structural view of the rotation lock device of the second embodiment. [Figure 10] FIG. 10 is an exploded view of FIG. [Figure 11] FIG. 11 is a schematic diagram of an exploded structure of two connecting end portions in the second embodiment. [Figure 12] FIG. 12 is a cross-sectional view of two connecting ends on the middle rotatable body in the second embodiment. [Figure 13] FIG. 13 is a structural diagram between the movable lock shaft having a passive boss and the drive motor in the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[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 limitations of the present invention.

[0028] Embodiment 1 Referring to Figures 1-8, the rotation lock Device is a set of three rotatable bodies (First stage rotatable body 2a, middle stage rotatable body 2b, and final stage rotatable body 2c) and three movable lock shafts 1, three support shafts 23, a rotary drive body 3, a torsional drive body 5, twelve tracheas 8, a tracheal joint 9, a tracheal lock ring 10, a reset torsion spring 24, a limit spring 7, a positioning bolt 6, Limit bolt 4 include.

[0029] The three rotatable bodies in this embodiment are connected in series, and on both sides of each connected end, there are a support shaft hole 2.2.2 at the connecting shaft end, a support shaft hole 2.2.1 at the movable end, and a lock shaft hole 2.1 at the movable end, which are all connected to each other. A support shaft 23 is inserted in the support shaft hole 2.2.2 at the connecting shaft end and the support shaft hole 2.2.1 at the movable end. It is arranged , here, in the support shaft hole of the movable end placed The outer wall of a part of the support shaft 23 is in contact with the inner wall of the support shaft hole at the movable end. Rotatable to Mated The cross section of the inner wall of the support shaft hole 2.2.2 at the end of the connecting shaft and the outer wall of the corresponding part of the support shaft 23 are axisymmetrical figures with 12 symmetry axes, and fixes the support shaft 23 and the end of the connecting shaft in the circumferential direction. The end of the connecting shaft and the support shaft 23 have connecting shaft end portions that communicate with each other. Limit bolt hole 2.3 and support shaft Limit bolt hole 23.3 is drilled in the radial direction, and the support shaft 23 and the end of the connecting shaft are fixed in the axial direction by limit bolts 4.

[0030] A toothed insertion post 3.2 is provided on the axial end face of the rotary drive 3, which is positioned in the locking direction of the movable locking shaft 1, and a hook groove 3.8 is provided on the end face 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. The inner wall of the through groove at the movable end, on the side axial side, which is positioned in the locking direction of the movable locking shaft 1, is slidably fitted into the drive hole 1.7. Cylindrical boss The cylindrical boss 2.8 has a mounting hole 2.9 at the center thereof for receiving the mounting post 3.2, and the bottom of the mounting hole 2.9 has a hook boss hole 2-6 for receiving two hooks 3.7, which are hung in the hook boss hole 2-6. The end surface of the rotary drive body 3, which is opposite the mounting post 3.2, has a positioning flange that is locked and fitted to the non-circular cross section of the lock shaft hole 2.1 of the movable end, i.e., is fixed circumferentially to the movable end. 3.4 is provided. rotate Driver 3 has a limit spring flange 3.3 A limit spring flange is provided. 3.3 A limit spring 7 is provided between the movable lock shaft 1.7 and the non-circular step in the drive hole 1.7, and the limit spring 7 is configured to resist the rotational force of the rotational boss 5.1 and to prevent the movable lock shaft 1.7 from rotating. of Move to unlocked position to make The inner wall of the boss hole is rotated to the side located in the unlocking direction. to make You have to be satisfied as much as possible.

[0031] Middle row Rotatable body 2b and the final stage Rotatable bodyIn 2c, there are provided gyro holes 2-5 which engage with the gyro drivers 5 and communicate with the lock shaft holes 2.1, and the gyro drivers 5 are provided with positioning ring grooves 5.2 in the circumferential direction. The bottom of the positioning ring groove 5.2 on the rotatable body is provided with positioning bolt holes 2.7, and the gyro drivers 5 are fitted into the gyro holes 2-5 via positioning bolts 6. Rotatable The rotating shaft 3.1 is positioned in the axial direction. A rotating boss 5.1, which has a semicircular arc surface and a diameter equal to that of the rotating shaft 3.1, is provided radially on the shaft cross section of the end of the rotating shaft 3.1. The side wall of the movable lock shaft 1 is connected to the rotating device hole 2-5 and is fitted to the rotating boss 5.1. Rotating boss hole 1.8 The side wall of the support shaft 23 is provided with Rotating boss hole 1.8 The boss 5.1 is provided with a clearance hole 23.2 that communicates with the boss 5.1 and does not interfere with the rotation of the boss. arrangement It has been done.

[0032] The rotary driver has two tracheal holes 5.4 penetrating both axial ends of the rotary driver, and one end of the rotary driver 5 facing the rotary boss is provided with two mutually communicating rotary driver intake holes 5.5 and rotary driver exhaust holes 5.6 parallel to the rotation tangent of the rotary driver. The first-stage rotatable body 2a has two tracheal holes 2a.4 penetrating both sides along the direction of both ends of the rotary driver. Four tracheas 8 pass through the first-stage rotatable body tracheal holes 2a.4 and then pass through tracheal joints 9 to the two rotary driver intake holes 3.5 in the connecting shaft end of the middle-stage rotatable body and the two rotary driver exhaust holes 3.6 in the connecting shaft end of the middle-stage rotatable body. Whirling device hole Four air pipes 8 pass through the drive holes of the first stage rotatable body, of which two air pipes 8 are connected to the air pipes 5.5 of the first stage rotatable body, and the other two air pipes 8 pass through the air pipes 5.4 and connect to the air pipes 3.5 of the first stage rotatable body through the air pipe joints 9. Two air pipes 8 pass through the air pipes 5.4 of the first stage rotatable body outside and connect to the air pipes 3.5 of the first stage rotatable body through the air pipe joints 9. Two air pipes 8 pass through the air pipes 5.4 of the first stage rotatable body outside and connect to the air pipes 3.5 of the first stage rotatable body through the air pipe joints 9. Trachea 8 is inserted into the intake port of the gyro driver outside the first stage rotatable body. The gyro driver outside the first stage rotatable body is connected to an external base or other component, Rotation lock device Form.

[0033] The compressed gas enters the intake port 5.5 of the vortex driver 5 and then exits through the exhaust port 5.6. Reverse rotation After the air is discharged in the direction of the suction, the external reaction force rotates the gyro driver and the trachea 8 together. A lock ring groove 5.7 is provided in the circumferential direction at the intake hole of the gyro driver 5, and the trachea 8 located at the gyro driver intake hole 5.5 is locked via a trachea lock ring 10. The movable lock shaft 1 is fixed to the axial inner wall of the gyro boss hole 1.8 by the gyro boss 5.1. Rotate Similarly, after the compressed gas enters the rotary drive body intake hole 3.5, it is exhausted to the outside in the reverse rotation direction from the rotary drive body exhaust hole 3.6 that communicates with the rotary drive body intake hole 3.5, and the reaction force of the exhausted compressed gas is rotate The driver 3 and the trachea 8 are rotated together. rotate the driver 3, for sensing the angle between the two connected rotatable bodies; Angle sensor can be provided.

[0034] A part of the connecting shaft located on the locking side of the movable lock shaft Support shaft hole 2.2.2 The inner wall of the reset torsion spring 2.0 is provided with a second hole as a reset torsion spring hole 2.0, and the reset torsion spring 24 is provided in the reset torsion spring hole 2.0, with one end thereof engaged in the reset torsion spring reset groove 2.4 at the movable end and the other end engaged in the reset torsion spring reset groove 2.5 at the end of the connecting shaft. The reset torsion spring 24 is urged against the torsion force of the drive device by the drive force. Normal rotation Be content to do what you do. Embodiment 2

[0035] As shown in Figures 9-13, the rotation lock Device is a parallel rotatable body 2h including three connecting shaft ends and one Movable end 2gThe three rotatable bodies gh including only the movable lock shaft 1, the limit spring 7, the support shaft 23, the reset torsion spring 24, the limit bolt 4, the link lever 22, and the drive Motor 3a The parallel rotatable body 2h has three connecting shaft ends each having a One movable end Rotatable body containing only 2g are connected, the locking direction of the movable lock shaft 1 in each connection end is the same, and the three rotation axes are on the same straight line. Here, the non-circular cross section of the lock shaft hole wall corresponding to the movable lock shaft 1 is a regular octagonal trapezoid as a whole. Movable lock shaft 1, it is screwed to the tail portion of the movable lock shaft 1 via the link lever 22 and abuts against the head portion of the movable lock shaft 1.

[0036] On both the connecting shaft end and the movable end, Passing vertically through both sides of the through groove, 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 are connected to each other. is doing. The support shaft 23 is fitted in the support shaft hole 2h.2 at the connecting shaft end and the support shaft hole 2g.2 at the movable end. Placed , fixed to the connecting shaft end in the circumferential direction, and the movable end 2g and Rotatable The inner walls of the support shaft holes 2g.2 at the movable end, which are drilled on both sides of the through groove 2g.6, and the corresponding outer walls of the support shaft 23 are cylindrical walls. At both ends of the support shaft 23, there are support shaft lock shaft holes 23.1 that extend axially, including the inner lock shaft holes at the connecting shaft end and part of the inner lock shaft holes at the movable end.

[0037] Connecting shaft end and Movable lock axis 1 and The support shaft 23 has a bottom wall of the through groove 2g.6 on both sides in the radial direction. of The end of the connecting shaft passes vertically through the mounting hole 2g.3. Limit bolt hole 2h.3, support shaft Limit bolt hole 23.3 and movable lock shaft Limit bolt hole The limit bolt 4 passes through the mounting hole 2g.3 to the end of the connecting shaft. Limit bolt hole Until you reach the bottom wall of 2h.3 It is inserted.The end of the connecting shaft and the support shaft 23 are fixedly connected by a limit bolt 4. In the locked state, the limit bolt is fixed to the movable lock shaft 22, which is opposed to the movable lock shaft 22 from the side facing the locking direction of the movable lock shaft 22. Limit bolt hole The distance to the side wall of 1.2 is equal to or greater than the effective moving distance of the movable lock shaft in the axial direction from the unlocked position to the locked position. Limit bolt hole The side wall of the limit bolt 4 is provided with a limit spring hole 1.4 extending in the locking direction of the movable lock shaft 1, and the 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 limit spring 7 and the limit bolt 4 limit the axial movement of the movable lock shaft 1 to the lock shaft hole. The side wall of the limit bolt 4 is provided with a diagonal groove 4.5 abutting against the limit spring 7, so that the limit bolt 4 receives the diagonal pressure of the limit spring 7 and moves the Limit bolt hole 2h.3 abuts against the bottom wall, 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 a reset torsion spring hole 2h.0 is provided on the inner wall located at one end of the support shaft hole 2h.2 at the end of the connecting shaft near the movable lock shaft head, and a torsion spring limit groove 2g.4 at the movable end inserted in accordance with one end of the reset torsion spring 24 is provided in the axial direction on the side wall of the through groove 2g.6, and a torsion spring limit groove 2g.4 at the movable end inserted in accordance with the other end of the reset torsion spring 24 is provided on the inner wall of the reset torsion spring hole 2h.0. Limit Hole 2h.5 are provided in the radial direction. During the installation process of the reset torsion spring 24, first, one end of the reset torsion spring 24 is connected to the torsion spring at the end of the connecting shaft. Limit Hole 2h.5, and then the reset torsion spring 24 is inserted into the reset torsion spring hole 2h.0, and the other end of the reset torsion spring 24 is deformed when the movable end and the connecting shaft end are mated, and enters the support shaft hole 2g.2 of the movable end, and then is engaged in the torsion spring limit groove 2g.4 of the movable end.

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

[0040] Inside the movable end 、 A drive hole is provided which communicates with the lock shaft hole. are. Locking direction of movable lock shaft 1 in Extended portion of the lock shaft hole wall of, diameter Direction At both ends, Two mating bosses that mate with the drive boss 3a.3 Passive boss 2g-1 is installed These Circumferential direction of two passive bosses 2g-1 Both sides The intersection line and the axis of rotation are collinear, And the two sides The angle is 45 degrees. The head end of the movable lock shaft has 、 A hollow pillar is provided along the locking direction. are. hollow pillar On the inner wall Engage with the rotating boss 3a.2 A pair of symmetrical When the drive shaft 3a.1 rotates 90 degrees from the initial position, the rotating boss 3a.2 is rotated by 90 degrees. The pressure-receiving groove 1.9 is pressed against the pressure-receiving slope surfaces on both sides. The end face of the rotating boss and the upper part of the pressure receiving slope surface of the pressure receiving groove come into contact with each other, the movable lock shaft moves to the unlocked position, and the side faces of the two driving bosses 3a.3 come into contact with both side faces of the two passive bosses 2g-1. As the driving boss 3a.3 continues to rotate the passive boss 2g-1 by 90 degrees, the stopper boss 1.5 moves into the stopper boss groove, and the two rotating bosses 3a.2 simultaneously move into the pressure receiving groove. 1.9 Within EmbedWhen the drive boss 3a.3 rotates 90 degrees in the reverse direction, the rotational slope surface on the other side of the rotational boss 3a.2 rotates to the locking angle position, i.e., the movable locking shaft moves to the locking position under the pressure of the limit spring. presses the pressure-receiving inclined surface on the other side of the pressure-receiving groove 1.9. The end face of the pressure boss 3a.2 comes into contact with the upper part of the pressure receiving slope surface of the pressure receiving groove 1.9. 、 The movable lock shaft 1 moves to the unlocked position, and the driving boss 3a.3 comes into contact with the passive boss 2g. Next, As the driving boss continues to rotate the passive boss 2g-1 90 degrees in the opposite direction, the two connected ends rotate to their initial positions. Three A rotatable body including only the movable end is integral Something like that When simultaneously connected to the components, the drive boss The rotation of the The rotatable bodies are rotated simultaneously.

[0041] When the power is off, if the link lever 22 closest to the locking direction of the movable lock shaft 1 is manually pressed, each movable lock shaft 1 will In conjunction with Simultaneously move from the locked position to the unlocked position do. External force Removal After that, the link lever 22 is The movable lock shaft is secured by elastic force. Move to the initial position with 1.

[0042] The above-described embodiments are merely exemplary embodiments of the present invention and are not intended to limit the present invention. Spirit and basic characteristics The present invention may be embodied in other specific forms without departing from the spirit and scope of the present invention. Therefore, in all respects, the embodiments are to be considered as illustrative and not restrictive. The scope of the present invention is not limited to the above description, but is limited by the appended claims, and it is therefore intended to embrace all changes that come within the meaning and range of equivalency of the claims.

[0043] Industrial applicability The present invention Rotation lock device The present invention can be applied to various fields such as industry, transportation, construction, medicine, aerospace, and artificial intelligence. Rotation lock deviceIt has the characteristics of compact structure, high locking strength, and few parts used, and can be widely applied to products with special requirements for shape, size, and performance, especially robot arms, robot claws, and medical equipment. ,medical care Robots, industrial robots, humanoid robot joints, small mechanical insects, etc. expensive In the work environment required It can be widely applied to products.

Claims

1. A rotation lock device including at least two rotatable bodies, a movable lock shaft, and a drive device, the drive unit includes a rotary drive unit and an axial drive unit; A lock shaft hole including a non-circular cross section communicating with each other is drilled at each end of the two rotatable bodies that are connected to each other, A movable lock shaft including a non-circular cross-section portion that fits into the lock shaft hole is disposed in the lock shaft hole, When the movable lock shaft moves axially under the action of the axial drive device and simultaneously engages with the lock shaft hole walls in the two connected ends to reach a lock position, the two connected ends are locked so that they cannot rotate relative to each other, When the movable lock shaft moves axially to an unlocked position under the action of the axial drive device, the two connected ends are unlocked, and at least one of the connected ends can be rotated relatively within a predetermined angle range by the rotation drive device. A rotation lock device characterized by:

2. The two connected ends are a connecting shaft end and a movable end provided with a through groove, The lock shaft hole is drilled perpendicularly to the side surface of the through groove, The two connected ends are coupled together via the movable lock shaft, The connecting shaft end and the movable lock shaft are connected together so as not to rotate relative to each other.

2. The rotation lock device according to claim 1.

3. The movable lock shaft and the lock shaft hole are generally stepped, the non-circular cross section of each step portion of the movable lock shaft is an axisymmetric 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 (axial 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. The rotation lock device according to claim 1 or 2.

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

3. The rotation lock device according to claim 1 or 2.

5. the drive device includes a rotary drive body or rotary drive shaft rotatably coupled to one of the two coupled ends; 3. The rotation lock device according to claim 1 or 2.

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

3. The rotation lock device according to claim 2.

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

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