CN115217925B - Mechanical locking device with self-locking function - Google Patents
Mechanical locking device with self-locking function Download PDFInfo
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- CN115217925B CN115217925B CN202210917311.9A CN202210917311A CN115217925B CN 115217925 B CN115217925 B CN 115217925B CN 202210917311 A CN202210917311 A CN 202210917311A CN 115217925 B CN115217925 B CN 115217925B
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- Prior art keywords
- connecting rod
- rotating shaft
- locking
- hinged
- self
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- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions
- F16H21/52—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions for interconverting rotary motion and oscillating motion
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Lock And Its Accessories (AREA)
- Clamps And Clips (AREA)
Abstract
The invention relates to a mechanical locking device with a self-locking function, which comprises a frame, wherein a driving cylinder is fixed on the frame, a connecting seat is fixed at the upper end of a piston rod of the driving cylinder, locking branched chains distributed along the periphery of the driving cylinder are arranged, each locking branched chain comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod, the lower end of the first connecting rod is hinged with the frame, the upper end of the first connecting rod is hinged with the outer end of the second connecting rod, the lower end of the third connecting rod is hinged with the frame, the upper end of the third connecting rod is hinged with the middle part of the second connecting rod, the middle part of the third connecting rod is hinged with the outer end of the fourth connecting rod, one end of the fifth connecting rod is hinged with the frame, the other end of the fifth connecting rod is hinged with the inner end of the fourth connecting rod, the outer end of the sixth connecting rod is hinged with the middle part of the fourth connecting rod, and the inner end of the sixth connecting rod is hinged with the connecting seat. The locking device has the advantages of compact structure, convenient operation, large clamping force and reliable locking.
Description
Technical Field
The invention relates to a locking device, in particular to a mechanical locking device with a self-locking function.
Background
In the aerospace field, the existing rocket fulcrum is mainly locked and unlocked manually. The mode is low in working efficiency and high in labor intensity, and has potential safety hazards.
Disclosure of Invention
The invention aims to provide a mechanical locking device with a self-locking function, which has the advantages of compact structure, convenient operation, high clamping force, reliable locking and high safety.
In order to solve the problems in the prior art, the mechanical locking device with the self-locking function comprises a rack, wherein a vertical driving cylinder is fixed on the rack, a connecting seat is fixed at the upper end of a piston rod of the driving cylinder, locking branched chains distributed along the periphery of the driving cylinder are arranged on the periphery of the driving cylinder, each locking branched chain comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod, the lower end of the first connecting rod is hinged with the rack through a first rotating shaft, the upper end of the first connecting rod is hinged with the outer end of the second connecting rod through a second rotating shaft, the lower end of the third connecting rod is hinged with the rack through a third rotating shaft, the upper end of the third connecting rod is hinged with the middle of the second connecting rod through a fourth rotating shaft, the middle of the third connecting rod is hinged with the outer end of the fourth connecting rod through a fifth rotating shaft, one end of the fifth connecting rod is hinged with the rack through a sixth rotating shaft, the other end of the fifth connecting rod is hinged with the inner end of the fourth connecting rod through a eighth rotating shaft, and the inner end of the sixth connecting rod is hinged with the connecting seat through a ninth rotating shaft; the first rotating shaft, the second rotating shaft, the third rotating shaft, the fourth rotating shaft, the fifth rotating shaft, the sixth rotating shaft, the seventh rotating shaft, the eighth rotating shaft and the ninth rotating shaft are mutually parallel, the axis connecting lines of the first rotating shaft, the second rotating shaft, the third rotating shaft and the fourth rotating shaft form a parallelogram, and after the first rotating shaft, the second rotating shaft, the third rotating shaft and the fourth rotating shaft are locked in place, the fifth rotating shaft, the sixth rotating shaft and the seventh rotating shaft are positioned in the same plane.
Furthermore, the mechanical locking device with the self-locking function is characterized in that three locking branched chains are arranged, two first connecting rods, two second connecting rods, two fourth connecting rods and two fifth connecting rods in each locking branched chain are respectively arranged and symmetrically distributed on two sides of the third connecting rods and two sides of the sixth connecting rods, wherein the two first connecting rods are correspondingly positioned on the outer sides of the two second connecting rods, and the two fifth connecting rods are correspondingly positioned on the outer sides of the two fourth connecting rods.
Further, the mechanical locking device with the self-locking function provided by the invention is characterized in that the second connecting rod comprises an inclined rod section and a straight rod section which are connected into a whole, the straight rod section is positioned at the inner side of the inclined rod section, and after the locking is in place, the straight rod section is in a horizontal state.
Furthermore, the mechanical locking device with the self-locking function is characterized in that the position height of the third rotating shaft is larger than that of the first rotating shaft, and the position height of the fourth rotating shaft is larger than that of the second rotating shaft.
Furthermore, the mechanical locking device with the self-locking function is characterized in that a groove is formed in the middle of the frame, and the driving cylinder is located in the groove of the frame.
Furthermore, the mechanical locking device with the self-locking function is characterized in that a supporting lug is fixed at a position corresponding to the first connecting rod on the frame, and the lower end of the first connecting rod is connected with the supporting lug through a first rotating shaft.
Furthermore, the mechanical locking device with the self-locking function is characterized in that a support is fixed at a position on the frame corresponding to the third connecting rod, and the lower end of the third connecting rod is connected with the support through a third rotating shaft.
Furthermore, the mechanical locking device with the self-locking function is characterized in that a hinge seat is fixed at a position on the frame corresponding to the fifth connecting rod, and one end of the fifth connecting rod is connected with the hinge seat through a sixth rotating shaft.
Furthermore, the invention relates to a mechanical locking device with a self-locking function, wherein the driving cylinder is an electric cylinder, an oil cylinder or an air cylinder.
Furthermore, the invention relates to a mechanical locking device with a self-locking function, wherein the driving cylinder is an electric cylinder.
Compared with the prior art, the mechanical locking device with the self-locking function has the following advantages: according to the invention, a rack is arranged, a vertical driving cylinder is fixed on the rack, a connecting seat is fixed at the upper end of a piston rod of the driving cylinder, and locking branched chains distributed along the circumference are arranged at the periphery of the driving cylinder; the locking branched chain is provided with a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod, wherein the lower end of the first connecting rod is hinged with the frame through a first rotating shaft, the upper end of the first connecting rod is hinged with the outer end of the second connecting rod through a second rotating shaft, the lower end of the third connecting rod is hinged with the frame through a third rotating shaft, the upper end of the third connecting rod is hinged with the middle part of the second connecting rod through a fourth rotating shaft, the middle part of the third connecting rod is hinged with the outer end of the fourth connecting rod through a fifth rotating shaft, one end of the fifth connecting rod is hinged with the frame through a sixth rotating shaft, the other end of the fifth connecting rod is hinged with the inner end of the fourth connecting rod through a seventh rotating shaft, and the inner end of the sixth connecting rod is hinged with the connecting seat through a ninth rotating shaft; the first rotating shaft, the second rotating shaft, the third rotating shaft, the fourth rotating shaft, the fifth rotating shaft, the sixth rotating shaft, the seventh rotating shaft, the eighth rotating shaft and the ninth rotating shaft are mutually parallel, the axis connecting lines of the first rotating shaft, the second rotating shaft, the third rotating shaft and the fourth rotating shaft form a parallelogram, and after the locking is in place, the fifth rotating shaft, the sixth rotating shaft and the seventh rotating shaft are positioned in the same plane. Therefore, the mechanical locking device is compact in structure, convenient to operate and control, high in clamping force, reliable in locking and high in safety. In practical application, the rocket fulcrum is positioned in a space surrounded by each locking branched chain, when the rocket fulcrum is locked, the connecting seat is driven to move downwards by the driving cylinder, and the second connecting rod of each locking branched chain moves towards the center and clamps the rocket fulcrum under the inward pulling action of the sixth connecting rod, so that the locking purpose is realized; when unlocking, the connecting seat is driven to move upwards by the driving cylinder, and the second connecting rod of each locking branched chain is far away from the center and loosens the clamping of the rocket fulcrum under the pushing action of the sixth connecting rod, so that the unlocking purpose is realized. According to the invention, the driving cylinder, the connecting seat and the locking branched chains distributed along the circumferential direction are arranged, and the unlocking and locking functions can be realized only by driving the connecting seat to move up and down through the driving cylinder; for any locking branched chain, the axis connecting lines of the first rotating shaft, the second rotating shaft, the third rotating shaft and the fourth rotating shaft form a parallelogram, so that smoothness of motion is guaranteed, clamping stagnation can be effectively avoided, after the locking is in place, the fifth rotating shaft, the sixth rotating shaft and the seventh rotating shaft are located in the same plane, the fourth connecting rod and the fifth connecting rod form a two-force rod structure, self-locking can be realized without providing additional driving force by a driving cylinder, infinite clamping force can be provided theoretically, and reliability of locking is enhanced.
The following describes in further detail a mechanical locking device with self-locking function according to the present invention with reference to the embodiments shown in the drawings.
Drawings
FIG. 1 is a front view of a mechanical locking device with self-locking function according to the present invention;
FIG. 2 is a top view of a mechanical locking device with self-locking function according to the present invention;
FIG. 3 is an isometric view of an unlocked state of a mechanical locking device with self-locking function according to the present invention;
FIG. 4 is an isometric view of a locking state of a mechanical locking device with self-locking function according to the present invention;
FIG. 5 is an elevation view of a locking arm of the present invention;
fig. 6 is an isometric view of a locking arm of the present invention.
Detailed Description
First, it should be noted that the terms of up, down, left, right, front, back, etc. in the present invention are merely described according to the drawings, so as to facilitate understanding, and are not limited to the technical solution of the present invention and the scope of protection claimed.
The embodiment of the mechanical locking device with the self-locking function comprises a frame 1, wherein a vertical driving cylinder 2 is fixed on the frame 1, a connecting seat 3 is fixed at the upper end of a piston rod of the driving cylinder 2, and locking branched chains 4 distributed along the circumference are arranged at the periphery of the driving cylinder 2. Let the locking branched chain 4 set up first connecting rod 41, second connecting rod 42, third connecting rod 43, fourth connecting rod 44, fifth connecting rod 45 and sixth connecting rod 46, wherein, the lower extreme of first connecting rod 41 articulates with frame 1 through first pivot 411, the upper end of first connecting rod 41 articulates with the outer end of second connecting rod 42 through second pivot 412, the lower extreme of third connecting rod 43 articulates with frame 1 through third pivot 431, the upper end of third connecting rod 43 articulates with the middle part of second connecting rod 42 through fourth pivot 432, the middle part of third connecting rod 43 articulates with the outer end of fourth connecting rod 44 through fifth pivot 433, one end of fifth connecting rod 45 articulates with frame 1 through sixth pivot 451, the other end of fifth connecting rod 45 articulates with the inner end of fourth connecting rod 44 through seventh pivot 452, the outer end of sixth connecting rod 46 articulates with the middle part of fourth connecting rod 44 through eighth pivot 461, the inner end of sixth connecting rod 46 articulates with connecting seat 3 through ninth pivot 462. After the first rotation shaft 411, the second rotation shaft 412, the third rotation shaft 431, the fourth rotation shaft 432, the fifth rotation shaft 433, the sixth rotation shaft 451, the seventh rotation shaft 452, the eighth rotation shaft 461 and the ninth rotation shaft 462 are parallel to each other, and the axis connecting lines of the first rotation shaft 411, the second rotation shaft 412, the third rotation shaft 431 and the fourth rotation shaft 432 form a parallelogram, the fifth rotation shaft 433, the sixth rotation shaft 451 and the seventh rotation shaft 452 are in the same plane after being locked in place.
The mechanical locking device with compact structure, convenient operation, high clamping force, reliable locking and high safety is formed through the structure. In practical application, the rocket fulcrum is located in the space surrounded by each locking branched chain 4, when in locking, the connecting seat 3 is driven to move downwards by the driving cylinder 2, and the second connecting rod 42 of each locking branched chain 4 moves (is closed) towards the center under the inward pulling action of the sixth connecting rod 46 and clamps the rocket fulcrum, so that the locking purpose is realized; during unlocking, the connecting seat 3 is driven to move upwards by the driving cylinder 2, and the second connecting rod 42 of each locking branched chain 4 is far away from the center (opened) and releases the clamping of the rocket fulcrum under the pushing action of the sixth connecting rod 46, so that the unlocking purpose is realized. According to the invention, the driving cylinder 2, the connecting seat 3 and the locking branched chains 4 distributed along the circumferential direction are arranged, and the unlocking and locking functions can be realized only by driving the connecting seat 3 to move up and down through the driving cylinder 2; for any locking branched chain 4, the axis connecting lines of the first rotating shaft 411, the second rotating shaft 412, the third rotating shaft 431 and the fourth rotating shaft 432 form a parallelogram, so that smoothness of motion is ensured, the clamping stagnation phenomenon can be effectively avoided, after the locking is in place, the fifth rotating shaft 433, the sixth rotating shaft 451 and the seventh rotating shaft 452 are positioned in the same plane, the fourth connecting rod 44 and the fifth connecting rod 45 form a two-force rod structure, self locking can be realized without providing additional driving force by a driving cylinder, infinite clamping force can be theoretically provided, and the locking reliability is enhanced. It should be noted that the invention is not limited to the locking device used as a rocket fulcrum, and can be applied to other occasions or used as a manipulator; the driving cylinder can adopt various modes such as an electric cylinder, an oil cylinder or an air cylinder, and the like, and the electric cylinder is preferably adopted, so that the locking reliability is improved by utilizing the locking function of the electric cylinder. The inner end and the outer end are centered on the driving cylinder, the inner end is the end closer to the driving cylinder (center), and the outer end is the end farther from the driving cylinder (center); the formation of the parallelogram by the axis connection of the first, second, third and fourth shafts means that the parallelogram is formed by the axis connection on the projection plane perpendicular to each shaft.
As a specific embodiment, the present invention provides three locking branches 4 to ensure locking and clamping capability. The first connecting rod 41, the second connecting rod 42, the fourth connecting rod 44 and the fifth connecting rod 45 in each locking branched chain 4 are respectively provided with two, and are symmetrically distributed on two sides of the third connecting rod 43 and the sixth connecting rod 46, wherein the two first connecting rods 41 are correspondingly positioned on the outer sides of the two second connecting rods 42, and the two fifth connecting rods 45 are correspondingly positioned on the outer sides of the two fourth connecting rods 44, so that the stability of structure and action is improved, and the locking reliability is enhanced. It should be noted that the number of the locking branches 4 is not limited to three, and four or more may be provided as long as clamping can be achieved, and the locking branches 4 may be provided in two as a robot.
As a specific embodiment, the present invention makes the second connecting rod 42 adopt a two-section rod structure, so that the reliability of locking is enhanced by making the straight rod section 422 be in a horizontal state after locking in place, and the second connecting rod 42 specifically comprises an inclined rod section 421 and a straight rod section 422 which are connected into a whole, wherein the straight rod section 422 is positioned at the inner side of the inclined rod section 421. In practical applications, the present invention generally makes the position height of the third rotating shaft 431 greater than the position height of the first rotating shaft 411, and correspondingly makes the position height of the fourth rotating shaft 432 greater than the position height of the second rotating shaft 412, so as to improve the compactness of the structure and the sensitivity of the motion. However, it should be noted that the height positions of the first rotating shaft 411, the second rotating shaft 412, the third rotating shaft 431 and the fourth rotating shaft 432 are not limited to the above list, and the reverse design may be adopted, i.e. the position height of the first rotating shaft 411 is greater than the position height of the third rotating shaft 431, and correspondingly, the position height of the second rotating shaft 412 is greater than the position height of the fourth rotating shaft 432, which can also achieve the technical purpose of the present invention.
In practical application, in order to facilitate structural layout and installation connection, the invention is provided with a groove in the middle of the frame 1, and the driving cylinder 2 is arranged in the groove of the frame 1. Meanwhile, the invention fixes the support lug 11 on the frame 1 at the position corresponding to the first connecting rod 41, and the lower end of the first connecting rod 41 is connected with the support lug 11 through the first rotating shaft 411; a support 12 is fixed on the frame 1 at a position corresponding to the third connecting rod 43, and the lower end of the third connecting rod 43 is connected with the support 12 through a third rotating shaft 431; a hinge base 13 is fixed to the frame 1 at a position corresponding to the fifth link 45, and one end of the fifth link 45 is connected to the hinge base 13 through a sixth rotation shaft 451.
The above examples are merely illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the invention as claimed, and various modifications made by those skilled in the art according to the technical solution of the present invention should fall within the scope of the invention as defined in the claims without departing from the design concept of the present invention.
Claims (10)
1. The mechanical locking device with the self-locking function is characterized by comprising a frame (1), wherein a vertical driving cylinder (2) is fixed on the frame (1), a connecting seat (3) is fixed at the upper end of a piston rod of the driving cylinder (2), locking branched chains (4) distributed along the circumference are arranged at the periphery of the driving cylinder (2), each locking branched chain (4) comprises a first connecting rod (41), a second connecting rod (42), a third connecting rod (43), a fourth connecting rod (44), a fifth connecting rod (45) and a sixth connecting rod (46), the lower end of the first connecting rod (41) is hinged with the frame (1) through a first rotating shaft (411), the upper end of the first connecting rod (41) is hinged with the outer end of the second connecting rod (42) through a second rotating shaft (412), the lower end of the third connecting rod (43) is hinged with the frame (1) through a third rotating shaft (431), the upper end of the third connecting rod (43) is hinged with the middle part of the second connecting rod (42) through a fourth rotating shaft (432), the middle part of the third connecting rod (43) is hinged with the outer end of the fourth connecting rod (45) through a fifth rotating shaft (433), the middle part of the third connecting rod (44) is hinged with the outer end of the fifth connecting rod (45) through a fifth rotating shaft (45) and the other end of the fifth connecting rod (45) is hinged with the fifth connecting rod (45), the outer end of the sixth connecting rod (46) is hinged with the middle part of the fourth connecting rod (44) through an eighth rotating shaft (461), and the inner end of the sixth connecting rod (46) is hinged with the connecting seat (3) through a ninth rotating shaft (462); the first rotating shaft (411), the second rotating shaft (412), the third rotating shaft (431), the fourth rotating shaft (432), the fifth rotating shaft (433), the sixth rotating shaft (451), the seventh rotating shaft (452), the eighth rotating shaft (461) and the ninth rotating shaft (462) are mutually parallel, axis connecting lines of the first rotating shaft (411), the second rotating shaft (412), the third rotating shaft (431) and the fourth rotating shaft (432) form a parallelogram, and after the locking is in place, the fifth rotating shaft (433), the sixth rotating shaft (451) and the seventh rotating shaft (452) are positioned in the same plane.
2. A mechanical locking device with self-locking function according to claim 1, characterized in that the locking branched chains (4) are provided with three, the first connecting rod (41), the second connecting rod (42), the fourth connecting rod (44) and the fifth connecting rod (45) in each locking branched chain (4) are respectively provided with two, and symmetrically distributed on two sides of the third connecting rod (43) and the sixth connecting rod (46), wherein the two first connecting rods (41) are correspondingly positioned on the outer sides of the two second connecting rods (42), and the two fifth connecting rods (45) are correspondingly positioned on the outer sides of the two fourth connecting rods (44).
3. A mechanical locking device with self-locking function according to claim 2, wherein the second connecting rod (42) comprises an inclined rod section (421) and a straight rod section (422) which are connected into a whole, the straight rod section (422) is positioned at the inner side of the inclined rod section (421), and after locking in place, the straight rod section (422) is in a horizontal state.
4. A mechanical locking device with self-locking function according to claim 3, characterized in that the position height of the third rotation shaft (431) is larger than the position height of the first rotation shaft (411), and the position height of the fourth rotation shaft (432) is larger than the position height of the second rotation shaft (412).
5. A mechanical locking device with self-locking function according to claim 4, characterized in that the middle part of the frame (1) is provided with a groove, and the driving cylinder (2) is located in the groove of the frame (1).
6. The mechanical locking device with the self-locking function according to claim 4, wherein a support lug (11) is fixed on the frame (1) at a position corresponding to the first connecting rod (41), and the lower end of the first connecting rod (41) is connected with the support lug (11) through a first rotating shaft (411).
7. The mechanical locking device with the self-locking function according to claim 4, wherein the support (12) is fixed on the frame (1) at a position corresponding to the third connecting rod (43), and the lower end of the third connecting rod (43) is connected with the support (12) through the third rotating shaft (431).
8. The mechanical locking device with the self-locking function according to claim 4, wherein a hinge seat (13) is fixed on the frame (1) at a position corresponding to the fifth connecting rod (45), and one end of the fifth connecting rod (45) is connected with the hinge seat (13) through a sixth rotating shaft (451).
9. A mechanical locking device with self-locking function according to claim 4, characterized in that the driving cylinder (2) is an electric cylinder, an oil cylinder or an air cylinder.
10. A mechanical locking device with self-locking function according to claim 9, characterized in that the driving cylinder (2) is an electric cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210917311.9A CN115217925B (en) | 2022-08-01 | 2022-08-01 | Mechanical locking device with self-locking function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210917311.9A CN115217925B (en) | 2022-08-01 | 2022-08-01 | Mechanical locking device with self-locking function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115217925A CN115217925A (en) | 2022-10-21 |
| CN115217925B true CN115217925B (en) | 2024-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210917311.9A Active CN115217925B (en) | 2022-08-01 | 2022-08-01 | Mechanical locking device with self-locking function |
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| CN (1) | CN115217925B (en) |
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| CN111623668A (en) * | 2020-04-29 | 2020-09-04 | 北京航天发射技术研究所 | Diversion device lowering mechanism and control method thereof |
| CN111717410A (en) * | 2020-05-25 | 2020-09-29 | 北京航天发射技术研究所 | Turnover system with variable turning points and use method thereof |
| CN111959386A (en) * | 2020-07-28 | 2020-11-20 | 北京航天发射技术研究所 | Lock arrow mechanism with direction function |
| CN112193137A (en) * | 2020-10-10 | 2021-01-08 | 北京航天发射技术研究所 | Cabin synchronous retraction device |
| WO2022077952A1 (en) * | 2020-10-13 | 2022-04-21 | 中国民航大学 | Parallel-connection mechanism comprising exact-constrained and compound driving branched chain |
| CN112223823A (en) * | 2020-10-23 | 2021-01-15 | 重庆江东机械有限责任公司 | Whole locking device of built-in press |
| WO2022122048A1 (en) * | 2020-12-07 | 2022-06-16 | 中国民航大学 | Split-type five-degrees-of-freedom parallel mechanism |
| CN114001589A (en) * | 2021-10-29 | 2022-02-01 | 北京航天发射技术研究所 | Locking device |
| CN114012710A (en) * | 2021-12-14 | 2022-02-08 | 江西制造职业技术学院 | Two-translation picking robot containing parallelogram closed-loop sub-chain with variable rod length |
| CN114227649A (en) * | 2022-01-06 | 2022-03-25 | 清华大学 | Three-movement two-rotation five-freedom-degree parallel drive robot |
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