CN108287050A - A kind of rigid mechanical locking mechanism and lock or unlock method - Google Patents
A kind of rigid mechanical locking mechanism and lock or unlock method Download PDFInfo
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- CN108287050A CN108287050A CN201711447408.3A CN201711447408A CN108287050A CN 108287050 A CN108287050 A CN 108287050A CN 201711447408 A CN201711447408 A CN 201711447408A CN 108287050 A CN108287050 A CN 108287050A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/06—Multidirectional test stands
Abstract
A kind of novel rigid mechanical lock mechanism and method is locked or unlocked, the invention belongs to space flight optical remote sensor technical fields to have devised a kind of novel rigid mechanical locking mechanism for the specific requirements of camera scanning mechanism.The novel rigid mechanical lock mechanism that the present invention designs is assembled to sweep mechanism shafting both sides; can instruction realization be sent by controller at any time to lock or unlock sweep mechanism shafting; rigid locking is carried out to sweep mechanism shafting before satellite launch; launching phase shafting vibration overload is born by rigid mechanical locking mechanism, and the protection of shaft support component is realized by the high support stiffness of rigid mechanical locking mechanism.Locking running precision and locking unlocked position feedback accuracy are realized by optimizing the reduction ratio of reduction assemblies and first straight line kinematic pair, speedup component and second straight line kinematic pair；High support stiffness is realized by the mounting arrangements mode and pretightning force that design straight support pair；Locking pin uses big cone angle design, it is ensured that self-locking will not occur after locking.
Description
Technical field
The present invention relates to a kind of rigid mechanical locking mechanism and method is locked or unlocked, for the specific of camera scanning mechanism
Demand belongs to space flight optical remote sensor technical field.
Background technology
Sweep mechanism is the core component of camera, it is required that high certainty of measurement, long lifespan, load are greatly, limits sweep mechanism
The principal element of service life and measurement accuracy is service life and its bearing capacity of shafting support component, and overload is to axis when satellite launch
Being the destruction of support component will cause in-orbit sweep mechanism measurement accuracy and service life to decline, therefore there is an urgent need for a kind of rigid mechanicals to lock machine
Structure, transmitting when to sweep mechanism shafting carry out rigid locking, that is, utilize rigid mechanical locking mechanism to sweep mechanism shafting into
Row rigid locking plays the role of protecting sweep mechanism shafting support component.
Currently, on sweep mechanism there are mainly three types of common locking mechanism schemes：It is bolt limitation locking, electromagnetic locking, soft
Property seizes locking.Bolt limitation locking generally uses memorial alloy or priming system as unlock power source, and disadvantage is not weighing
Multiple to use, sweep mechanism is both needed to unlock debugging in whole star each stage, and part exchanging work can not be carried out in whole star；Electromagnetism
Locking principle is to generate magnetic force by power-up, and to limit shafting rotation, disadvantage is that shaft rigid support work can not be played
With；Flexibility seizes locking and generally holds rotation axis tightly using the method for tensing flexible-belt, and to limit shafting rotation, disadvantage is also nothing
Method plays the role of shaft rigid support.In view of the above analysis, it can be seen that：Three kinds of common locking schemes are difficult to meet camera
The demand of sweep mechanism.
Invention content
Present invention solves the technical problem that being：It overcomes the shortage of prior art, a kind of novel rigid mechanical lock mechanism is provided
And method is locked or unlocked, which is assembled to camera scanning mechanism shafting both sides, can be sent out at any time by controller
It send instruction to realize to sweep mechanism shafting locking/unlocking function, instruction is sent to sweep mechanism by controlling it before satellite launch
Shafting carries out rigid locking, plays the role of limiting shafting rotation and shaft support component provides rigid support, in transmitting rank
Section shafting vibration overload is born by rigid mechanical lock, to play the role of protecting shafting support component.Satellier injection steady operation
Afterwards, instruction is sent by controller to unlock sweep mechanism.The novel rigid mechanical lock mechanism that the present invention designs has and can weigh
Multiple use locks big rigidity, locking precision and repeats to lock advantage with high accuracy, to solve high-precision, the long-life, bear greatly
Carry sweep mechanism launching phase shafting support component overload protection problem.
The technical solution that the present invention solves is：A kind of novel rigid mechanical lock mechanism, including：Linear motion component subtracts
Fast drive component, speedup drive component, position sensor assembly and lock support component, pedestal；
Linear motion component, deceleration component, speedup drive component and position sensor assembly are mounted on pedestal, lock
Support component is determined on linear motion component；Linear motion component, linear motion component are driven by deceleration component
It pushes lock support component to move along a straight line between locking unlocked position, judges that linear motion component is by position sensor assembly
No arrival locks unlocked position, if reaching, lock support component locks or unlocks lock object, if not reaching linear motion group
Part continues to run with.
Linear motion component, including：First straight line kinematic pair (9), first straight line support are secondary (10)；Deceleration component,
Including：Reduction assemblies (1), driving motor (5)；
Driving motor (5) drives movable plate (14) along first straight line by reduction assemblies (1) and first straight line kinematic pair (9)
Support secondary (10) translation.
Position sensor assembly do not include：Speedup component (2), unlocked position sensor (3), lock position sensor (4),
Second straight line support secondary (6), position signal trigger (7), second straight line kinematic pair (8)；
Driving motor (5) passes through speedup component (2) and second straight line kinematic pair (8) pushing position signal trigger (7) edge
Second straight line support secondary (6) moves along a straight line between unlocked position sensor (3) and lock position sensor (4), until
Activation point signal trigger (7) action to lock position sensor (4) or unlocked position signalling means (3) triggers；
Lock support component：Lock Moving plate (12), locking disk (11), locking pin (13)；
After position sensor (4) or unlocked position signalling means (3) triggering, locking Moving plate (12) drives locking pin (13) to be inserted into
Or it is detached from locking disk (11), completion locks or unlocks action.
Lock object is sweep mechanism, and rigid mechanical locking mechanism is to be assemblied in sweep mechanism shafting support base by pedestal
On.
A locking disk (11) is fixedly mounted in sweep mechanism shafting both sides respectively, and locking pin (13) is fixedly mounted dynamic with locking
On disk (12), locking Moving plate (12) is mounted on movable plate (14), and driving motor (5), first straight line support secondary (10) are mounted in base
On seat (14), first straight line support secondary (10) is two, move along a straight line secondary (9) by bearing support on pedestal, and be located at two
Between a first straight line support secondary (10)
Second straight line support secondary (6) is fixedly mounted on pedestal, and second straight line kinematic pair (8) passes through bearing and second straight line
Secondary (6) parallel support of support is on pedestal；By bearing support on pedestal, second straight line supports second straight line kinematic pair (8)
Secondary (6) and second straight line kinematic pair (8) are connected by activation point signal trigger (7), unlocked position sensor (3) and locking
Position sensor (4) is mounted on pedestal.
The driving wheel of reduction assemblies (1), including driving wheel and driven wheel, reduction assemblies (1) is mounted on driving motor (5)
On, the driven wheel of reduction assemblies (1) is mounted on first straight line kinematic pair (9)；The driving wheel of reduction assemblies (1) drives driven wheel
Rotation, driven wheel drive first straight line kinematic pair (9) that movable plate (14) is pushed to support secondary (10) horizontal movement along first straight line, move
Movable plate (14) drive locking Moving plate (12) move so that locking pin (13) be inserted into or be detached from locking disk (11), complete locking or
Unlocking motion
The driving wheel of speedup component (2), including driving wheel and driven wheel, speedup component (2) is mounted on driving motor (5)
On, the driven wheel of speedup component (2) is mounted on second straight line kinematic pair (8)；The driven wheel drive second of speedup component (2) is straight
Line kinematic pair (8) supports secondary (6) to move along second straight line；To driving position signal trigger (7) in position sensor (4) and
Unlocked position signalling means moves between (3), can feed back lock after lock position sensor (4) and unlocked position signalling means (3) triggering
Fixed or unlocking signal
A kind of novel rigid mechanical lock mechanism locks or unlocks method, and steps are as follows：
(1) driving wheel of reduction assemblies (1) drives driven wheel rotation；
(2) driven wheel drives first straight line kinematic pair (9) that movable plate (14) is pushed to support secondary (10) horizontal along first straight line
Movement,
(3) movable plate (14) drives locking Moving plate (12) to move, to drive locking pin (13) to be inserted into or be detached from locking disk
(11), it completes to lock or unlock action.
(4) reduction assemblies (1) driving wheel drives the rotation of speedup component (2) driving wheel, speedup component while step 1
(2) driving wheel drives driven wheel, the driven wheel of speedup component (2) that second straight line kinematic pair (8) is driven to support pair along second straight line
(6) it moves；
(5) second straight line support secondary (6) drives position signal trigger (7) to believe in position sensor (4) and unlocked position
It is moved between number device (3), it can feedback lock or unlock letter after lock position sensor (4) and unlocked position signalling means (3) triggering
Number.
The advantages of the present invention over the prior art are that：
(1) the novel rigid mechanical lock mechanism that the present invention designs is assembled to two side shafting support base of sweep mechanism shafting
On, can instruction realization be sent by controller at any time and sweep mechanism shafting is locked or unlocked, it is right before satellite launch
Sweep mechanism shafting carries out rigid locking, and launching phase shafting vibration overload is born by rigid mechanical lock, locked by rigid mechanical
Determine the protection that the high support stiffness of mechanism realizes shaft support component.
(2) reduction ratio, the speedup group of the optimization of rigid mechanical locking mechanism reduction assemblies and first straight line kinematic pair of the present invention
It is anti-to realize that locking running precision is no more than 0.005mm, locking unlocked position for the speed increasing ratio of part speed increasing ratio and second straight line kinematic pair
Present precision be no more than 0.01mm, it is ensured that after locking will not shaft support component bring extra load.
(3) the preload amount of the linear guide of the present invention calculates true according to the weight and transmitting vibration level of locked shafting component
It is fixed, suitable pretightning force is then selected by guide rail stiffness curve, ensure that the support stiffness and fortune of rigid mechanical locking mechanism
Row precision.
(4) locking pin of the present invention uses big-taper-angle taper pin, the taper pin-hole Combined machining in locking disk and locking Moving plate, taper pin
With taper pin-hole facing-up, processing and assembling is good, and with pin hole self-locking will not occur for taper pin after locking.
(5) present invention, which has, adapts to the shaftings rigid lockings such as all kinds of camera scanning mechanisms or two-dimensional pointing mechanism, and adapts to
In industrialized production.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the pedestal schematic diagram of the present invention；
Fig. 3 is the movable plate schematic diagram of the present invention.
Specific implementation mode
The present invention is described in further detail in the following with reference to the drawings and specific embodiments.
Sweep mechanism is mainly by groups such as rotation axis system, shafting support base, shafting support component, driving element, feedback elements
Rotation axis is driven when normal work by driving element on shafting support base by the support of shafting support component at, rotation axis system
System rotates around shafting support component, feeds back rotational angle information by feedback element, angle-measurement accuracy is better than 1 rad, bears
10Kg, service life are carried up to 108Cycle, it is desirable that the overload during satellite launch will not have an impact its precision and service life.Therefore
A novel rigid mechanical lock mechanism is designed, the axis of sweep mechanism shafting both sides is assemblied in by rigid mechanical locking mechanism pedestal
It is to be locked to sweep mechanism shafting in the satellite launch stage on support base, it is ensured that the overload in emission process does not interfere with
Rotating accuracy to shafting support component and service life.
As shown in Figure 1, rigid mechanical locking mechanism is by reduction assemblies (1), speedup component (2), unlocked position sensor
(3), lock position sensor (4), driving motor (5), second straight line support secondary (6), activation point signal trigger (7), the
Two linear motions secondary (8), first straight line kinematic pair (9), first straight line support secondary (10), locking disk (11), locking Moving plate (12),
Locking pin (13), movable plate (14), pedestal (15) composition, locking pin (13) are installed and are locked on Moving plate (12)；Locking disk (11)
Installation and sweep mechanism shafting both sides.
As shown in Fig. 2, reduction assemblies (1), speedup component (2), unlocked position sensor (3), lock position sensor
(4), driving motor (5), second straight line support secondary (6), activation point signal trigger (7), second straight line kinematic pair (8), the
One straight line kinematic pair (9), first straight line support secondary (10) are respectively in installation and pedestal (15).
As shown in figure 3, in first straight line support secondary (10) installation to movable plate (14), first straight line kinematic pair (9) passes through
Two pins are connect with movable plate, realize that first straight line kinematic pair (9) pushes movable plate (14) to be supported secondary (10) along first straight line
Motor function, so that movable plate (14) drives locking Moving plate (12) to move.
As shown in Figure 1, pushing movable plate by reduction assemblies (1) and first straight line kinematic pair (9) by driving motor (5)
(14) secondary (10) are supported to move along first straight line, movable plate (14) drives locking Moving plate (12) to move so that locking pin (13) is inserted
Enter or be detached from locking disk (11) pin hole, while driving motor (5) is pushed away by speedup component (2) and second straight line kinematic pair (8)
Dynamic activation point signal trigger (7) supports secondary (6) to move along second straight line, to drive position signal trigger (7) locking
Determine to move between position sensor (4) and unlocked position sensor (3), when locking Moving plate (12) drive locking pin (13) be inserted into or
When being detached from locking disk (11), lock position sensor (4) or unlocked position sensor (3) feedback lock or unlock signal in place,
To realize rigid locking or the unlock to sweep mechanism rotation axis system.
Driving motor (5) generally uses stepper motor, motor step angle and step angle error to be determined by locking running precision,
Latching force vibrates overload by transmitting and determines.
It is movable plate (14) offer support to use two first straight lines support secondary (10), and by movable plate (14) by first
Linear motion secondary (9) and first straight line support secondary (10) link together, and first straight line kinematic pair (9) is set to two first directly
Line support secondary (10) is intermediate, to improve lock support rigidity.
Optimization reduction assemblies (1) and first straight line kinematic pair (9), speedup component (2) and second straight line kinematic pair (8) subtract
Speed ratio, to improve locking running precision and feedback accuracy.
Lock position sensor (4) and unlocked position sensor (3) generally use switch element, feedback lock or unlock
Position signal can also use linear element to implement feedback rigid mechanical and lock running position signal.
Locking pin uses taper pin, taper to be determined according to the friction coefficient of taper pin and taper hole, and transmitting vibration overload is avoided to cause
With the pin hole in locking disk self-locking occurs for locking pin；Taper pin diameter vibrates overload according to transmitting and determines, prevents transmitting vibration overload
Locking pin is caused to be broken.
Preferred embodiment is as follows：
(1) sweep mechanism load 10Kg, launching phase vibration are no more than 30g, shafting support component for flexibility in embodiment
Pivot, flexible pivot rigidity is 4728.6N/mm, bearing capacity is no more than 251.8N, locks precision 0.01mm, and sweep mechanism is swept
It retouches control accuracy and is better than 3 rads, the requirement of rigid mechanical locking mechanism shape envelope.
(2) rigid mechanical locking mechanism shape envelope limits, and first straight line support is secondary to use single sliding block spherical guide, and second
Straight support pair uses linear bearing, and first straight line kinematic pair and second straight line kinematic pair are all made of ball-screw, reduction assemblies
Using level-one parallel gears, driving motor is required to use stepper motor according to control system.
(3) driving motor selects J55BYG450 stepper motors, and stepper motor power-up locking torque is 0.4Nm, step angle is
0.9°。
(4) it is vibrated according to sweep mechanism load, launching phase and locking required precision, reduction assemblies gear pair reduction ratio is set
4 are calculated as, first straight line kinematic pair ball screw assembly, helical pitch is designed as 2, and locking precision is up to 0.00125mm.
(5) according to locking required precision, speedup component gear pair speed increasing ratio is designed as 4, second straight line kinematic pair ball wire
Thick stick pair helical pitch is designed as 1, and position feedback precision is up to 0.02mm.
(6) it is required according to sweep mechanism load and launching phase vibration, rigid mechanical locking mechanism locking branch known to analysis
It supports rigidity and is not less than 56285.2N/mm.Spherical guide support stiffness during first straight line support is secondary is designed as radial rigidity and is
200000N/mm (anti-radial be 105882.3N/mm), lateral rigidity 150000N/mm, span is set between two spherical guides
It is calculated as 65mm, lock support rigidity is up to 282352.8N/mm, and locking rigidity safety margin is up to 4.
(7) position sensor in position sensing component use photoelectricity pair, photoelectricity to being made of luminous tube and reception pipe,
Thang-kng gap is designed between luminous tube and reception pipe, the activation point signal trigger partial dislocation that is in the light shines when locking or unlocking
Between pipe and adopter.High level signal is fed back when non-locking and unlocked position, operation is low to being fed back when locking or unlocking position
Level ensures to lock precision by adjusting stepper motor operation step number.
(8) locking pin is designed as taper pin, and a diameter of φ 8mm of locking pin are designed according to load requirement；Pin surface is locked to use
Coat MoS2Solid lubricant film, solid lubricant film friction coefficient are 0.12, and self-locking is calculated most according to solid lubricant film friction coefficient
Small-angle is 6.843 °, therefore it is 1 to design taper pin taper：4, it is ensured that self-locking will not occur after locking.
(9) sweep mechanism completes tri- directions X, Y, Z and checks and accepts grade mechanical test, tri- direction pairwise orthogonals of X, Y, Z, difference
Low amounts grade random vibration has been carried out, grade random vibration has been checked and accepted, checks and accepts grade sine sweep test, has tested tri- directions X, Y, Z
Vibration response curve, a feature level sine sweep is respectively carried out before and after every vibration test, and the front and back fundamental frequency of detection experiment becomes
Change.Sine sweep fundamental frequency before and after sinusoidal vibration and random vibration is compared, before tri- direction vibration tests of X, Y, Z
It is as shown in table 1 to scan fundamental frequency variation.
The vibration test traversing of probe frequency meter in tri- directions table 1X, Y, Z
The present invention is by analyzing feature level scan data, during tri- direction vibration tests of X, Y, Z, each direction
It is preferable to check and accept the front and back feature level scanning curve accordance of grade experiment, checks and accepts the front and back feature level scanning vibration of grade experiment in X, Y, Z tri-
The frequency drift in a direction is respectively：0.41%, 2.18%, 0.81%, frequency drift is both less than 3%, shows sweep mechanism during experiment
Significant change does not occur for system stiffness after rotation axis system is locked by rigid mechanical locking mechanism；Pass through control after mechanical test
Device sends unlock instruction and is unlocked to sweep mechanism, and carries out electromechanical setting test, scanning control to the sweep mechanism after unlock
Precision processed still meets 3 rads of demands, and the locking ability of rigid mechanical locking mechanism is examined.
Claims (10)
1. a kind of novel rigid mechanical lock mechanism, it is characterised in that including：Linear motion component, deceleration component, speedup
Drive component, position sensor assembly and lock support component, pedestal；
Linear motion component, deceleration component, speedup drive component and position sensor assembly are mounted on pedestal, locking branch
Support component is mounted on linear motion component；Linear motion component, linear motion component is driven to push by deceleration component
Lock support component moves along a straight line between locking unlocked position, by position sensor assembly judge linear motion component whether to
Up to locking unlocked position, if reaching, lock support component locks or unlocks lock object, if do not reach linear motion component after
Reforwarding row.
2. a kind of novel rigid mechanical lock mechanism according to claim 1, it is characterised in that：Linear motion component, packet
It includes：First straight line kinematic pair (9), first straight line support are secondary (10)；Deceleration component, including：Reduction assemblies (1), driving electricity
Machine (5)；
Driving motor (5) drives movable plate (14) to be supported along first straight line by reduction assemblies (1) and first straight line kinematic pair (9)
Secondary (10) translation.
3. a kind of novel rigid mechanical lock mechanism according to claim 1, it is characterised in that：Position sensor assembly does not have
Including：Speedup component (2), unlocked position sensor (3), lock position sensor (4), second straight line support secondary (6), position letter
Number trigger (7), second straight line kinematic pair (8)；
Driving motor (5) is by speedup component (2) and second straight line kinematic pair (8) pushing position signal trigger (7) along second
Straight support pair (6) moves along a straight line between unlocked position sensor (3) and lock position sensor (4), until driving
Position signal trigger (7) action to lock position sensor (4) or unlocked position signalling means (3) triggers.
4. a kind of novel rigid mechanical lock mechanism according to claim 1, it is characterised in that：Lock support component：Lock
Determine Moving plate (12), locking disk (11), locking pin (13)；
After position sensor (4) or unlocked position signalling means (3) triggering, locking Moving plate (12) drives locking pin (13) to be inserted into or take off
From locking disk (11), completion locks or unlocks action.
5. a kind of novel rigid mechanical lock mechanism according to claim 1, it is characterised in that：Lock object is scanning machine
Structure, rigid mechanical locking mechanism are assemblied on sweep mechanism shafting support base by pedestal.
6. a kind of novel rigid mechanical lock mechanism according to claim 5, it is characterised in that：Sweep mechanism shafting both sides
A locking disk (11) is fixedly mounted respectively, locking pin (13) is fixedly mounted on locking Moving plate (12), and locking Moving plate (12) is pacified
On movable plate (14), on pedestal (14), first straight line support is secondary for driving motor (5), first straight line support secondary (10)
(10) be two, move along a straight line secondary (9) by bearing support on pedestal, and positioned at two first straight lines supports secondary (10) it
Between.
7. a kind of novel rigid mechanical lock mechanism according to claim 3, it is characterised in that：Second straight line support is secondary
(6) it is fixedly mounted on pedestal, second straight line kinematic pair (8) is by bearing and secondary (6) parallel support of second straight line support in base
On seat；For second straight line kinematic pair (8) by bearing support on pedestal, second straight line supports secondary (6) and second straight line kinematic pair
(8) it is connected by activation point signal trigger (7), unlocked position sensor (3) and lock position sensor (4) are mounted on base
On seat.
8. a kind of novel rigid mechanical lock mechanism according to claim 2, it is characterised in that：Reduction assemblies (1), including
The driving wheel of driving wheel and driven wheel, reduction assemblies (1) is mounted on driving motor (5), and the driven wheel of reduction assemblies (1) is installed
On first straight line kinematic pair (9)；The driving wheel of reduction assemblies (1) drives driven wheel rotation, driven wheel to drive first straight line fortune
Dynamic pair (9) pushes movable plate (14) to support secondary (10) horizontal movement along first straight line, moves movable plate (14) and drives locking Moving plate
(12) it moves so that locking pin (13) is inserted into or is detached from locking disk (11), and completion locks or unlocks action.
9. a kind of novel rigid mechanical lock mechanism according to claim 3, it is characterised in that：Speedup component (2), including
The driving wheel of driving wheel and driven wheel, speedup component (2) is mounted on driving motor (5), and the driven wheel of speedup component (2) is installed
On second straight line kinematic pair (8)；The driven wheel of speedup component (2) drives second straight line kinematic pair (8) to be supported along second straight line
Secondary (6) movement；To drive position signal trigger (7) to be transported between position sensor (4) and unlocked position signalling means (3)
It is dynamic, it can feedback lock or unlocking signal after lock position sensor (4) and unlocked position signalling means (3) triggering.
10. a kind of novel rigid mechanical lock mechanism according to one of claim 1--9 locks or unlocks method,
It is characterized in that steps are as follows：
(1) driving wheel of reduction assemblies (1) drives driven wheel rotation；
(2) driven wheel drives first straight line kinematic pair (9) that movable plate (14) is pushed to support secondary (10) horizontal movement along first straight line,
(3) movable plate (14) drives locking Moving plate (12) to move, to drive locking pin (13) to be inserted into or be detached from locking disk (11),
Completion locks or unlocks action；
(4) reduction assemblies (1) driving wheel drives the rotation of speedup component (2) driving wheel, speedup component (2) main while step 1
Driving wheel drives driven wheel, the driven wheel of speedup component (2) that second straight line kinematic pair (8) is driven to support secondary (6) to transport along second straight line
It is dynamic；
(5) second straight line support secondary (6) drives position signal trigger (7) in position sensor (4) and unlocked position signalling means
(3) it is moved between, it can feedback lock or unlocking signal after lock position sensor (4) and unlocked position signalling means (3) triggering.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711447408.3A CN108287050B (en) | 2017-12-27 | 2017-12-27 | Rigid mechanical locking mechanism and locking or unlocking method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711447408.3A CN108287050B (en) | 2017-12-27 | 2017-12-27 | Rigid mechanical locking mechanism and locking or unlocking method |
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| CN108287050B CN108287050B (en) | 2020-11-10 |
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