CN114619481B - Rapid locking damping rotating shaft, handle, joint and multi-section synchronous unlocking mechanical arm - Google Patents

Abstract

The invention discloses a fast locking damping rotating shaft, a handle, a joint and a multisection synchronous unlocking mechanical arm, belonging to the field of rotating shafts, wherein the rotating shaft comprises an outer shaft sleeve, an inner shaft sleeve and a conical shaft which are coaxially sleeved from outside to inside, a transition groove is arranged on the conical shaft, a ball is arranged between the transition groove and the outer shaft sleeve, a ball through hole for accommodating the ball is arranged on the inner shaft sleeve, the distance between the transition groove and the outer shaft sleeve is gradually changed from the diameter smaller than the ball to the diameter larger than the ball, a first elastic component for forcing the conical shaft to press the ball on the inner wall of the outer shaft sleeve is arranged between the inner shaft sleeve and the conical shaft, the rotating shaft can be switched between a locking state and an unlocking state, the part for forming damping is not easy to wear due to frequent adjustment, stepless adjustment can be realized when the rotating angle is adjusted, the rotating shaft can be locked again at any angle after being adjusted, the movement of the conical shaft can be transmitted one by one when a plurality of rotating shafts are connected in series, so that the rotating shafts can be unlocked and adjusted simultaneously and locked and fixed simultaneously after adjustment.

Description

Rapid locking damping rotating shaft, handle, joint and multi-section synchronous unlocking mechanical arm

Technical Field

The invention relates to a rapid locking damping rotating shaft, a handle, a joint and a multi-section synchronous unlocking mechanical arm, and belongs to the field of rotating shafts.

Background

The traditional rotating shaft angle adjusting device is locked by a damping rotating shaft and a pin bush more commonly.

The principle of the damping rotating shaft is that friction force is generated by extrusion between the gaskets, and the magnitude of the friction force is related to the number of the installed gaskets and the tightness of the nuts. The proper damping sense can avoid the situation that the operator has insufficient reaction time due to the excessive acceleration generated under the gravity action of the load. The most common problem of the traditional damping rotating shaft is that a gasket between the rotating shafts is easy to wear, so that the damping effect is reduced. Therefore, for products (such as mechanical arms and the like) which need to support objects with heavy weight and need to frequently and movably switch angles, the current position can be fixed after the products are rotated to any angle, and the friction force between the gaskets can be increased only. This may cause problems in that the operator is liable to have muscle damage and the life span of the damping rotary shaft is reduced if the position is frequently adjusted for a long time.

The pin sleeve locking structure realizes position locking by matching an elastic positioning pin in the sleeve with a locking hole on the shaft, and has the advantages of reliable locking function, but poor continuity of angle adjustment. If the gear is adjusted by increasing the angle, the number of lock holes on the shaft needs to be increased; this results in the rigidity of the main body of the rotating shaft structure becoming poor, which affects the mechanical properties of the machine.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a rapid locking damping rotating shaft capable of switching a locking state and an unlocking state, which can steplessly adjust a rotating angle, correspondingly provides a handle for controlling the rotating shaft to switch between the locking state and the unlocking state, simultaneously provides a joint using the rotating shaft, and also provides a multi-section synchronous unlocking mechanical arm using the rotating shaft.

The technical scheme adopted by the invention for solving the technical problems is as follows:

in a first aspect, the application provides a quick locking damping pivot, including outside-in coaxial suit's outer axle sleeve, interior axle sleeve and conical shaft, the conical shaft is including consecutive biography pressure section, functional section and pressurized section, be provided with the transition recess in the functional section, the transition recess with be provided with the ball between the outer axle sleeve, be provided with on the interior axle sleeve and hold the ball through-hole of ball, the transition recess with distance between the outer axle sleeve is by being less than along the axial the diameter gradual change of ball is to being greater than the diameter of ball, interior axle sleeve with be provided with the trend between the conical shaft will pass the pressure section bullet to the pressurized section is in order to force the conical shaft will the ball is pressed the first elasticity subassembly of outer axle sleeve inner wall.

The application provides a quick locking damping pivot can be through promoting the conical shaft and switching between locking state and unlocking state, can rotate under the unlocking state with infinitely variable control, can lock at arbitrary angle after rotatory again.

Furthermore, the outer diameter of the joint of the functional section and the compression section is gradually reduced and then increased to form the transition groove. When the ball rolls to the position with smaller outer diameter of the conical shaft, the outer shaft sleeve, the ball and the conical shaft are in clearance fit, and the outer shaft sleeve and the inner shaft sleeve can rotate relatively; when the ball rolls to the larger part of the external diameter of the conical shaft, the outer shaft sleeve and the conical shaft clamp the ball, and the inner shaft sleeve cannot rotate relative to the outer shaft sleeve due to the fact that the ball through hole is abutted to the ball.

Further, be provided with one-level ladder on the biography pressure section, be provided with the spring chamber in the interior axle sleeve, the ladder is located the spring intracavity, first elasticity subassembly include with the spring chamber retaining ring that the inner wall of spring chamber one end offseted, with the toper axle retaining ring that the ladder offseted and compression are in reset spring between spring chamber retaining ring and the toper axle retaining ring. When unlocking, the elastic force of the return spring needs to be overcome by means of external force; after the external force is withdrawn, the pressure transmission section is pushed to the pressure receiving section by the reset spring, so that the outer shaft sleeve and the tapered shaft clamp the ball, and the rotating shaft is locked again.

Further, the surface of the inner shaft sleeve is provided with a protruding portion, and one side of the protruding portion is provided with a second elastic component which is connected with the inner shaft sleeve and presses the outer shaft sleeve to the protruding portion. So that the outer shaft sleeve and the inner shaft sleeve have certain damping feeling when rotating after unlocking.

Further, the surface of the inner shaft sleeve, which is not wrapped by the outer shaft sleeve, is provided with an external thread, the second elastic component comprises a disc-shaped reed and an adjusting nut meshed with the external thread, and the disc-shaped reed is compressed between the adjusting nut and the outer shaft sleeve. Through the rotary adjusting nut, the strength of damping when the outer shaft sleeve and the inner shaft sleeve rotate after unlocking can be adjusted.

Further, a first wear-resisting piece is arranged between the outer shaft sleeve and the protruding portion, and a second wear-resisting piece is arranged between the outer shaft sleeve and the butterfly-shaped spring leaf.

The second aspect, the application provides a handle, expose including holding shell and part hold the extrusion piece of shell, it is provided with the center post in the shell to hold, the extrusion piece with the center post is articulated, be provided with the transmission round pin on the extrusion piece, it will to hold to be provided with in the shell the circular motion of transmission round pin turns into rectilinear motion's ejector pad, the terminal transmission of ejector pad is connected to the first aspect the pressurized section of quick locking damping pivot.

When the handle is held by hand to extrude the extrusion block, the thrust of the push block is converted into a force pressing to the pressed section, so that the damping rotating shaft is unlocked and locked quickly.

In a third aspect, the present application provides a joint, which includes an elbow casing, wherein one end of the elbow casing is provided with a first interface, the other end of the elbow casing is provided with a second interface, a transition seat is arranged at a bending position in the elbow casing, a first sliding groove and a second sliding groove which are communicated with each other at a certain included angle are arranged in the transition seat, the first sliding groove is connected with a first sliding block in a sliding manner, the second sliding groove is connected with a second sliding block in a sliding manner, one end of the first sliding block and one end of the second sliding block are in a sliding or rolling and abutting relationship at a communication position between the first sliding groove and the second sliding groove, the second sliding block is connected with a third elastic component which forces the second sliding block to abut against the first sliding block, the first sliding block faces a pressure transmission section of the first interface or is in a transmission connection manner, the first sliding block is connected to the end of the push block of the handle in the second aspect, and one end of the second sliding block facing the second interface is in transmission connection with a pressed section of the quick locking damping rotating shaft of the other first aspect. The joint can be used for joints of mechanical arms or other scenes needing locking after angle adjustment, and can be adjusted in a stepless mode.

In a fourth aspect, the application provides a multisection synchronous unlocking mechanical arm, including the second aspect handle one and the third aspect the joint be a plurality of, the handle with first joint's first interface connection, the end transmission of ejector pad is connected to first joint's first sliding block, the rest the following one of joint first interface connection last one the form of joint's second interface connects gradually, adjacent two the joint passes through first aspect quick locking damping pivot swivelling joint, be connected with first connecting block on the inner spindle, be connected with the second connecting block on the outer spindle, second connecting block rigid connection last one the second interface of joint, first connecting block rigid connection is next the first interface of joint.

When holding handle extrusion pressing block, the thrust of ejector pad turns into the power of pressing to the pressurized section of first quick locking damping pivot, passes the pressure section along with pressurized section global motion, and the motion of the pressure section of last quick locking damping pivot later turns into the power of pressing the pressurized section of next quick locking damping pivot, therefore all joints can unblock simultaneously, release handle back auto-lock simultaneously.

Furthermore, it is adjacent still to have set up the extension arm body between the joint, the one end and the next of extension arm body the first interface rigid connection of joint, the other end passes through quick locking damping pivot and last one the second interface swivelling joint of joint, first connecting block with extend arm body rigid connection, the second connecting block with last one the second interface rigid connection of joint.

The invention has the beneficial effects that: although the damping rotating shaft capable of being locked quickly is limited to rotate through damping, the limitation can be switched between a locking state and an unlocking state, the part forming the damping is not easy to wear due to frequent adjustment, stepless adjustment can be achieved when the rotating angle is adjusted, the damping rotating shaft can be locked again at any angle after adjustment is completed, and the movement of the conical shafts can be transmitted one by one when a plurality of rotating shafts are connected in series, so that the rotating shafts can be unlocked and adjusted simultaneously, and the rotating shafts can be locked and fixed simultaneously after adjustment.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

Fig. 1 is a schematic structural diagram of a fast locking damping rotating shaft provided in an embodiment of the present application.

FIG. 2 is a front view of a tapered shaft according to an embodiment of the present application.

Fig. 3 is a perspective view of the fast-locking damping rotating shaft provided by the embodiment of the application after the outer shaft sleeve is detached.

Fig. 4 is a schematic view of an internal structure of a handle provided in an embodiment of the present application.

Fig. 5 is a schematic internal structural diagram of a joint provided in an embodiment of the present application.

Fig. 6 is a perspective view of a multi-joint synchronous unlocking mechanical arm provided by an embodiment of the application.

Fig. 7 is a schematic view of the internal structure at a in fig. 6.

Fig. 8 is a schematic view of the internal structure at B in fig. 6.

Reference numerals: 1. a tapered shaft; 11. a pressure transfer section; 12. a functional segment; 121. a step; 13. a pressure section; 14. a transition groove; 142. a ball bearing; 2. holding the housing by hand; 211. a central column; 222. a slideway block; 240. a push block; 241. a drive pin runner; 250. extruding the block; 270. a drive pin; 3. an inner sleeve; 310. a disc-shaped reed; 311. adjusting the nut; 34. fixing a nut; 37. a spring cavity; 371. a spring cavity retainer ring; 372. a tapered shaft retainer ring; 373. a return spring; 38. a projection; 39. a ball through hole; 4. a bent pipe housing; 410. a transfer seat; 411. a bolt chute; 412. a bolt; 420. a first slider; 421. a first slot; 470. a second slider; 471. a second slot; 472. a third spring; 473. inserting plates; 48. a second interface; 49. a first interface; 5. a first connection block; 6. an extension arm body; 61. an extension shaft; 620. a sleeve; 7. an outer sleeve; 76. a first wear pad; 79. a second wear pad; 8. and a second connection block.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Moreover, the present invention may repeat reference numerals and/or reference letters in the various examples, which have been repeated for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or configurations discussed.

Referring to fig. 1, 2 and 3, a fast locking damping rotating shaft includes an outer shaft sleeve 7, an inner shaft sleeve 3 connected in the outer shaft sleeve 7 in a local rotating manner, and a tapered shaft 1 connected in the inner shaft sleeve 3 in a rotating manner, where the tapered shaft 1 includes a pressure transmitting section 11, a functional section 12 and a pressure receiving section 13 connected in sequence, a transition groove 14 is provided on the functional section 12, a ball 142 is provided between the transition groove 14 and the outer shaft sleeve 7, a ball through hole 39 for accommodating the ball 142 is provided on the inner shaft sleeve 3, a distance between the transition groove 14 and the outer shaft sleeve 7 gradually changes from a diameter smaller than the ball 142 to a diameter larger than the ball 142 along an axial direction, and a first elastic component tending to elastically push the pressure transmitting section 11 to the pressure receiving section 13 to force the tapered shaft 1 to press the ball 142 on an inner wall of the outer shaft sleeve 7 is provided between the inner shaft sleeve 3 and the tapered shaft 1.

When the rotation angle needs to be adjusted, an external force acts on the tapered spindle 1, the elastic force of the first elastic component is overcome, the pressing of the outer shaft sleeve 7 and the tapered spindle 1 on the balls 142 is relieved, the balls 142 can roll freely, and the inner shaft sleeve 3 can rotate freely relative to the outer shaft sleeve 7. After the regulation is accomplished, remove the external force that acts on conical shaft 1, first elasticity subassembly will pass and press section 11 elasticity to the pressurized section, and conical shaft 1 presses ball 142 at outer axle sleeve 7 inner wall, and ball 142 is unable to move about, and ball through-hole 39 is blockked also can't move about by ball 142 for inner sleeve 3 can not be rotatory outer axle sleeve 7 relatively, realizes locking. Although this embodiment is rotatory through the restriction of damping, this restriction can switch between locking state and unblock state, and convenient the regulation forms damped part and is difficult to because of often adjusting wearing and tearing, can accomplish infinitely variable control when adjusting rotation angle, can lock at arbitrary angle after adjusting again, and the removal of conical shaft 1 can transmit one by one when a plurality of such pivots are established ties for a plurality of pivots can unblock the regulation simultaneously, and it is fixed to lock simultaneously after the regulation.

Specifically, the outer diameter of the joint of the functional section 12 and the pressed section 13 is gradually reduced and then increased to form the transition groove 14. The minimum distance between the transition groove 14 and the outer shaft sleeve 7 is smaller than the diameter of the ball 142, and the maximum distance between the transition groove 14 and the outer shaft sleeve 7 is larger than the diameter of the ball 142. When the balls 142 roll to the position where the outer diameter of the functional section 12 is smaller, the outer shaft sleeve 7, the balls 142 and the conical shaft 1 are in clearance fit, and the outer shaft sleeve 7 and the inner shaft sleeve 3 can rotate relatively; when the balls 142 roll to the position where the outer diameter of the functional section 12 is large, the outer sleeve 7 and the tapered shaft 1 clamp the balls 142, and the inner sleeve 3 cannot rotate relative to the outer sleeve 7 due to the fact that the balls 142 abut against the ball through holes 39.

Describing the position shown in fig. 1, the first resilient member tends to urge the tapered spindle to the right, the distance between the functional section 12 and the outer hub 7 becomes smaller and smaller, the balls 142 are gripped, the balls 142 are self-locking in rolling relative to the outer hub 7, and the balls 142 are self-locking in sliding relative to the outer hub 7. When external force makes the tapered spindle move leftwards, the transition groove 14 moves to the position of the ball 142, the ball can roll freely, and when the inner shaft sleeve 3 rotates relative to the outer shaft sleeve 7, the ball through hole 39 drives the ball 142 to rotate.

The first elastic component may be disposed outside the inner sleeve 3, specifically, a tension spring, to pull the tapered shaft 1 toward the pressure transmitting section 11. Preferably, in some embodiments, a first step 121 is disposed on the pressure transfer section 11, a spring cavity 37 is disposed in the inner shaft sleeve 3, the step 121 is located in the spring cavity 37, and the first elastic member includes a spring cavity retaining ring 371 abutting against an inner wall of one end of the spring cavity 37, a conical shaft retaining ring 372 abutting against the step 121, and a return spring 373 compressed between the spring cavity retaining ring 371 and the conical shaft retaining ring 372. Compare in first elasticity subassembly setting outside inner sleeve 3, this preferred embodiment can reduce the volume of whole quick locking damping pivot, vacates the both ends of conical shaft 1, and then connects other mechanisms at the both ends of conical shaft 1, enlarges this application scene of quick locking damping pivot.

Preferably, the surface of the inner hub 3 is provided with a protrusion 38, and one side of the protrusion 38 is provided with a second elastic member which is connected to the inner hub 3 and presses the outer hub 7 toward the protrusion 38. The second elasticity subassembly presses outer axle sleeve 7 to bulge 38 for have certain damping sense after the unblock when outer axle sleeve 7 and inner shaft sleeve 3 rotate, avoid excessive smooth after the unblock, have certain damping sense and more make things convenient for angle of rotation.

Further, the surface of the inner hub 3 not covered by the outer hub 7 is provided with an external thread, and the second elastic member includes a disc spring 310 and an adjustment nut 311 engaged with the external thread, the disc spring 310 being compressed between the adjustment nut 311 and the outer hub 7. With this configuration, the damping feeling of the outer hub 7 and the inner hub 3 can be adjusted by manually rotating the adjustment nut 311, and the adjustment nut 311 increases the damping feeling to the left and the adjustment nut 311 decreases the damping feeling to the right, as described with reference to the position shown in fig. 1.

A first wear plate 76 is provided between the outer sleeve 7 and the projection 38, and a second wear plate 79 is provided between the outer sleeve 7 and the disc spring 310. The first wear-resisting piece 76 and the second wear-resisting piece 79 are made of alloy steel with high surface hardness and good wear resistance, so that the wear is reduced, and the service life of the rotating shaft is prolonged. The balls 142 can be quenching steel balls, the number of the balls is 4-5, the balls are uniformly distributed and arranged on the inner shaft sleeve 3, the diameter of an inner common tangent circle of the quenching steel balls is smaller than the maximum shaft diameter of the functional section 12, and the diameter of an outer common tangent circle is slightly smaller than (about 0.1 mm) the inner diameter of the outer shaft sleeve 7; the fit clearance between the conical shaft 1 and the inner shaft sleeve 3 is about 0.1mm, so that the conical shaft 1 can move smoothly in the inner shaft sleeve 3, and the conical surface with a specific angle on the conical shaft 1 is contacted with the quenching steel balls.

The quick locking damping rotating shaft can realize axial self-locking at any position, so that the rotating shaft can be locked and rotated at any time without pause and frustration; the service life of the damping rotating shaft is not reduced while the flexibility and the bearing capacity of the rotating shaft are greatly improved.

Referring to fig. 4, the present embodiment provides a handle, which is directly connected or indirectly connected in a transmission relationship with the fast locking damping spindle, and is configured to control the fast locking damping spindle to lock or unlock, including a hand-held housing 2 and an extrusion block 250 partially exposed out of the hand-held housing 2, the hand-held housing 2 is provided with a center post 211, the extrusion block 250 is hinged to the center post 211, the extrusion block 250 is provided with a transmission pin 270, the hand-held housing 2 is provided with a push block 240 for converting a circular motion of the transmission pin 270 into a linear motion, a terminal of the push block 240 is connected to a pressed section 13 of the fast locking damping spindle in a transmission manner, and the other end of the push block 240 is provided with a transmission pin sliding slot 241 matched with the transmission pin 270. At least one side of the push block 240 is provided with a slide stopper 222 for limiting the push block 240 to move only linearly along the slide stopper 222. The further the drive pin 270 is located from the center post 211, the less effort is required for adjustment.

When the squeezing block 250 is squeezed manually to the hand-held housing 2, the squeezing block 250 makes a circular motion around the center post 211, the driving pin 270 makes a circular motion along with the squeezing block 250, and the driving pin 270 also slides in the driving pin sliding slot 241, so that the pushing block 240 makes a linear motion. The movement of the push block 240 is transmitted to the pressed section 13 of the fast locking damping rotating shaft, and the pressed section 13 moves towards the pressure transmitting section 11, so that the fast locking damping rotating shaft is unlocked.

A fourth elastic component, which may be a spring or a tension spring, is disposed in the handle to restore the pressing block 250, and one end of the fourth elastic component is connected to the hand-held housing 2 and the other end is connected to the pressing block 250 or the pushing block 240. When the external force acting on the extrusion block 250 disappears, the fourth elastic component makes the push block 240 move back, the pressed section 13 is reset by the elastic force of the first elastic component, and the fast locking damping rotating shaft is locked again.

Referring to fig. 5, this embodiment provides a joint, which includes an elbow casing 4, one end of the elbow casing 4 is provided with a first interface 49, the other end is provided with a second interface 48, a bending portion is provided with an adapter 410 inside the elbow casing 4, the adapter 410 is provided with a first sliding groove and a second sliding groove which are communicated with each other at a certain included angle, the first sliding groove is connected with a first sliding block 420 in a sliding manner, the second sliding groove is connected with a second sliding block 470 in a sliding manner, one end of the first sliding block 420 and one end of the second sliding block 470 are in sliding or rolling contact at the communication portion of the first sliding groove and the second sliding groove, the second sliding block 470 is connected with a third elastic component which forces the second sliding block 470 to push the first sliding block 420, one end of the first sliding block 420 facing the first interface 49 is connected to a pressure transmission section 11 of a fast locking damping rotating shaft in a transmission manner or connected to the end of a pushing block 240 of the handle in a transmission manner, the second sliding block 470 drives the pressed section 13 connected to the other fast locking damping spindle towards one end of the second interface 48.

For example, in fig. 5, the first sliding block 420 and the second sliding block 470 are both provided with inclined surfaces, and the inclined surfaces are abutted against each other, and preferably, the first sliding groove is perpendicular to the second sliding groove, and tan45 ° =1 is known from trigonometric functions, so that a transmission ratio of 1:1 can be obtained. The first slider 420 and the second slider 470 are not shown in the figures, but specifically, the first slider 420 and the second slider 470 are both provided with a roller capable of freely rotating, and the two rollers abut against each other.

The third elastic member includes an inserting plate 473 and a third spring 472, wherein a portion of the inserting plate 473 is inserted into the second sliding block 470, and another portion is connected to the third spring 472 and pressed against the adaptor 410 by the elastic force of the third spring 472. The third resilient member provides both a return capability and prevents the second slider 470 from falling out of the second slide channel during movement.

The adapter 410 is provided with a latch sliding groove 411 at one side of the first sliding groove, a latch 412 is inserted into the first sliding block 420, a part of the latch 412 is inserted into the first sliding block 420, and the other part is connected with the latch sliding groove 411 in a sliding manner. The engagement of the latch 412 with the latch slide slot 411 serves to prevent the first slide block 420 from falling out of the first slide slot during movement.

One end of the first sliding block 420, which faces away from the second sliding block 470, is provided with a first slot 421, and the first slot 421 is used for inserting the pushing block 240, the pressure transmitting section 11 or the extending shaft 61. An end of the second sliding block 470 opposite to the first sliding block 420 is provided with a second slot 471, and the second slot 471 is used for inserting the pressed segment 13 or the extending shaft 61. The extending shaft 61 is a cylinder which is used for transmission and can move axially, and is arranged between the push block 240 and the pressure-bearing section 13 or between the last pressure-transmitting section 11 and the next pressure-bearing section 13 in two adjacent conical shafts 1.

Describing the motion of the joint in the positional relationship of fig. 5, when the first slider 420 is subjected to a right external force, the first slider 420 moves to the right along the first sliding groove and pushes against the second slider 470, the inclined surface on the second slider 470 slides relative to the inclined surface of the first slider 420, and the second slider 470 moves downward, thereby transmitting the force of the first interface 49 to the second interface 48. When the external force disappears, the third elastic component springs the second sliding block 470 upwards, the inclined plane on the first sliding block 420 slides relative to the inclined plane of the second sliding block 470, and the first sliding block 420 retracts to the left, thereby resetting. The first interface 49 is fixedly connected with the inner shaft sleeve 3 of the last quick-locking damping rotating shaft, and the second interface 48 is fixedly connected with the outer shaft sleeve 7 of the next quick-locking damping rotating shaft, so that two parts connected with the joint can be lockably and steplessly adjusted.

Referring to fig. 6, 7 and 8, the embodiment provides a multi-joint synchronous unlocking mechanical arm, which comprises a handle and a plurality of joints, wherein the handle is connected with a first interface 49 of a first joint, the tail end of a push block 240 is in transmission connection with a first sliding block 420 of the first joint, the first interface 49 of the next joint is connected with a second interface 48 of the previous joint in sequence, two adjacent joints are in rotary connection through a quick-locking damping rotating shaft, a first connecting block 5 is connected on an inner shaft sleeve 3, a second connecting block 8 is connected on an outer shaft sleeve 7, the second connecting block 8 is rigidly connected to the second interface 48 of the previous joint, and the first connecting block 5 is rigidly connected to the first interface 49 of the next joint.

Referring to fig. 1, the outer surface of the inner sleeve 3 is provided with external threads, one side of the protruding portion 38 away from the outer sleeve 7 is provided with a fixing nut 34, the fixing nut 34 is mounted on the inner sleeve 3 through the external threads, and the fixing nut 34 and the protruding portion 38 clamp the first connecting block 5.

An example of two joints directly connected is shown in fig. 7, the first sliding block 420 of the previous joint is subjected to an external force towards the right, the source of the external force is the extrusion block 250 of the handle, the first sliding block 420 of the previous joint transmits the external force to the second sliding block 470 of the same joint, the second sliding block 470 is directly connected with the pressed section 13, the tapered shaft 1 moves downwards, the quick-locking damping rotating shaft between the two joints is unlocked, the inner shaft sleeve 3 can rotate relative to the outer shaft sleeve 7, the inner shaft sleeve 3 is rigidly connected with the second interface 48 of the previous joint through the first connecting block 5, the outer shaft sleeve 7 is rigidly connected with the first interface 49 of the next joint through the second connecting block 8, and the two joints can rotate relative to each other after unlocking. After extrusion of the extrusion block 250 is stopped, the first elastic component forces the conical shaft 1 to reset, the third elastic component also assists the conical shaft 1 to reset, and the quick-locking damping rotating shaft is locked again.

Referring to fig. 8, an extension arm body 6 is further added between adjacent joints, one end of the extension arm body 6 is rigidly connected with the first interface 49 of the next joint, the other end of the extension arm body is rotationally connected with the second interface 48 of the previous joint through a fast locking damping rotating shaft, the first connecting block 5 is rigidly connected with the extension arm body 6, and the second connecting block 8 is rigidly connected with the second interface 48 of the previous joint. The extension arm body 6 plays a role in extending joints and axial transmission, an extension shaft 61 is arranged in the extension arm body 6, and the extension shaft 61 can be directly inserted into the first slot 421 or the second slot 471. As shown in fig. 8, one end of the extension shaft 61 abuts against the pressure transmission section 11 of the previous quick-locking damping rotating shaft, and the other end is directly inserted into the first slot 421, so as to transmit the force at the previous joint to the next joint. The sleeve 620 is arranged outside the extension shaft 61, the sleeve 620 is fixedly connected with the extension arm body 6, the extension shaft 61 is inserted into the sleeve 620 during assembly, and the sleeve 620 is used for protecting the extension shaft 61 from bending deformation when being axially stressed.

The structure according to fig. 7 and 8 can be assembled into a mechanical arm as shown in fig. 6, all joints can be synchronously unlocked after the handle is squeezed, so that the mechanical arm can be manually swung and randomly adjusted, and can be locked again after the handle is released after being adjusted to a proper position. It should be noted that the included angle between the two interfaces of the joint is not necessarily a right angle, and assembling the joints with various included angles can make the mechanical arm obtain more complex postures.

In the description of the present specification, reference to the terms "one embodiment," "certain embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

Claims (7)

1. The quick locking damping rotating shaft is characterized by comprising an outer shaft sleeve (7), an inner shaft sleeve (3) and a conical shaft (1) which are coaxially sleeved from outside to inside, wherein the conical shaft (1) comprises a pressure transmission section (11), a functional section (12) and a pressure receiving section (13) which are sequentially connected, a transition groove (14) is formed in the functional section (12), balls (142) are arranged between the transition groove (14) and the outer shaft sleeve (7), ball through holes (39) for containing the balls (142) are formed in the inner shaft sleeve (3), the distance between the transition groove (14) and the outer shaft sleeve (7) is gradually changed from the diameter smaller than the balls (142) to the diameter larger than the balls (142) along the axial direction, and a tendency is formed between the inner shaft sleeve (3) and the conical shaft (1) to enable the pressure transmission section (11) to be sprung to the pressure receiving section (13) so that the balls (142) are forced to be pressed on the conical shaft (1) A first elastic component on the inner wall of the outer shaft sleeve (7); the surface of the inner shaft sleeve (3) is provided with a convex part (38), and one side of the convex part (38) is provided with a second elastic component which is connected with the inner shaft sleeve (3) and presses the outer shaft sleeve (7) to the convex part (38); the surface of the inner shaft sleeve (3) which is not wrapped by the outer shaft sleeve (7) is provided with an external thread, the second elastic component comprises a disc-shaped spring leaf (310) and an adjusting nut (311) meshed with the external thread, and the disc-shaped spring leaf (310) is compressed between the adjusting nut (311) and the outer shaft sleeve (7); a first wear-resistant piece (76) is arranged between the outer shaft sleeve (7) and the protruding part (38), and a second wear-resistant piece (79) is arranged between the outer shaft sleeve (7) and the disc-shaped reed (310).

2. The fast-locking damping spindle according to claim 1, characterized in that the outer diameter of the connecting portion of the functional section (12) and the pressure section (13) is gradually reduced and then increased to form the transition groove (14).

3. The quick locking damping rotating shaft according to claim 1, wherein a first step (121) is arranged on the pressure transmitting section (11), a spring cavity (37) is arranged in the inner shaft sleeve (3), the step (121) is located in the spring cavity (37), the first elastic component comprises a spring cavity retainer ring (371) abutting against the inner wall of one end of the spring cavity (37), a conical shaft retainer ring (372) abutting against the step (121), and a return spring (373) compressed between the spring cavity retainer ring (371) and the conical shaft retainer ring (372).

4. A handle, comprising a hand-held shell (2) and an extrusion block (250) partially exposed out of the hand-held shell (2), wherein a central column (211) is arranged in the hand-held shell (2), and the extrusion block (250) is hinged with the central column (211), characterized in that a transmission pin (270) is arranged on the extrusion block (250), a push block (240) for converting the circular motion of the transmission pin (270) into a linear motion is arranged in the hand-held shell (2), and the end transmission of the push block (240) is connected to the pressed section (13) of the fast locking damping rotating shaft according to any one of claims 1 to 3.

5. A joint comprises a bent pipe shell (4), wherein one end of the bent pipe shell (4) is provided with a first interface (49), the other end of the bent pipe shell is provided with a second interface (48), the joint is characterized in that a transition seat (410) is arranged at the inner bending position of the bent pipe shell (4), a first sliding groove and a second sliding groove which are communicated with each other at a certain included angle are arranged in the transition seat (410), a first sliding block (420) is connected in the first sliding groove in a sliding manner, a second sliding block (470) is connected in the second sliding groove in a sliding manner, one end of the first sliding block (420) and one end of the second sliding block (470) are in a sliding or rolling manner at the communication position of the first sliding groove and the second sliding groove, the second sliding block (470) is connected with a third elastic component which forces the second sliding block (470) to prop against the first sliding block (420), the first sliding block (420) is connected to the pressure transmission section (11) of the quick-locking damping rotating shaft of any one of claims 1-3 or the end of the pushing block (240) of the handle of claim 4 in a transmission way towards one end of the first interface (49), and the second sliding block (470) is connected to the pressure receiving section (13) of the other quick-locking damping rotating shaft of any one of claims 1-3 in a transmission way towards one end of the second interface (48).

6. A multi-joint synchronous unlocking mechanical arm is characterized by comprising one handle in claim 4 and a plurality of joints in claim 5, wherein the handle is connected with a first interface (49) of a first joint, the tail end of the push block (240) is in transmission connection with a first sliding block (420) of the first joint, the rest joints are sequentially connected in a mode that the first interface (49) of the next joint is connected with a second interface (48) of the previous joint, two adjacent joints are in rotary connection through a quick locking damping rotating shaft in any one of claims 1 to 3, the inner shaft sleeve (3) is connected with the first connecting block (5), the outer shaft sleeve (7) is connected with the second connecting block (8), and the second connecting block (8) is rigidly connected with the second interface (48) of the previous joint, the first connecting block (5) is rigidly connected to the first interface (49) of the next joint.

7. The multi-joint synchronous unlocking mechanical arm as claimed in claim 6, wherein an extension arm body (6) is additionally arranged between adjacent joints, one end of the extension arm body (6) is rigidly connected with a first interface (49) of the next joint, the other end of the extension arm body is rotationally connected with a second interface (48) of the previous joint through the quick locking damping rotating shaft, the first connecting block (5) is rigidly connected with the extension arm body (6), and the second connecting block (8) is rigidly connected with the second interface (48) of the previous joint.

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