CN117021156A - Device for robot limb assembly - Google Patents

Abstract

The invention discloses a device for assembling robot limbs, which includes a sleeve and a cover plate; the sleeve and the cover plate are fixedly installed, forming a cavity inside, and a mandrel, a locking part and a pushing part are arranged in the cavity; and the cover plate A mandrel is set on the mandrel; the mandrel sleeve has a spring and a limiting component is set on the end; the push piece is set on the mandrel and is squeezed by the spring; the push piece is evenly surrounded by n inclined wedges, and at least two inverted teeth are set. A relief groove is formed between two adjacent inverted teeth; the locking piece is rotatable but cannot move axially at the bottom of the cavity; the locking piece is evenly surrounded by n hook claws, and at least one set of helical teeth is provided. The end of the claw is provided with a hook tip, which is located in the relief groove, and the helical teeth are provided with two bevels; the limb parts to be locked are evenly surrounded by n lock teeth, and a relief space is formed between each adjacent two sets of lock teeth. The locking teeth are provided with at least two slopes; the locking part rotates cyclically under the action of the pushing part, and cooperates with the parts to be locked to achieve automatic locking and automatic unlocking.

Description

A device for robotic limb assembly

Technical field

The invention relates to the field of robot products, and in particular to a device for assembling robot limbs.

Background technique

With the continuous advancement of science and technology, the level of robots in the world is getting higher and higher, and the application fields of robots are becoming more and more extensive. There are currently a large number of humanoid household robots with limbs and heads on the market, such as humanoid remote control robot toys. , humanoid educational robots, and humanoid programming enlightenment robots. This type of robot is used more frequently. The limbs are traditionally installed with a closed cover and connected to the shell, resulting in low strength at the limb joints and easy damage when accidents such as tipping occur. , it is inconvenient to disassemble and assemble, which is not conducive to repair and maintenance; maintenance personnel are required to have certain relevant disassembly and assembly experience, which increases product costs and is not conducive to maintenance cost control; the production and manufacturing process can only be carried out step by step in accordance with the assembly process sequence, which reduces the cost Productivity.

Contents of the invention

The purpose of the present invention is to solve the problems of low production efficiency and inconvenient later maintenance of the above-mentioned robot. Here, a modular design of the robot is proposed, and the robot body and limbs are designed separately as separate functional modules, and a method is provided. Device for robotic limb assembly.

The object of the present invention is achieved through the following technical solutions: a device for assembling robot limbs, including a sleeve, a cover plate and limb parts to be locked; the sleeve and cover plate are fixedly installed, and a cavity is formed inside , a mandrel, a spring, a locking member and a pushing member are provided in the cavity; the mandrel is provided on the cover plate; the mandrel sleeve has a spring, and a limiting component is provided on the end of the mandrel; The push piece is sleeved on the mandrel, can move linearly along the axial direction of the mandrel without rotating, and is squeezed by the spring; the push piece is evenly surrounded by n inclined wedges, and at least two inverted wedges are provided. teeth, and a relief groove is formed between each two adjacent inverted teeth; the bevel wedge is provided with a first bevel surface of the bevel wedge; the locking member is rotatably but non-axially movable and is installed at the bottom of the cavity; the The locking member is evenly surrounded by n hook claws, and at least one set of helical teeth is provided. The end of the hook claws is provided with a hook tip, and the hook tip is located in the relief groove. The helical teeth are provided with a first helical tooth. The bevel and the second bevel of the bevel teeth; the limb parts to be locked are evenly arranged with n sets of lock teeth, and a space is formed between each adjacent two sets of lock teeth, and the lock teeth are provided with a second bevel of the lock teeth. and the fourth slope of the lock tooth; among them, n≥2.

Further, the device implements locking and unlocking specifically as follows:

When locking, the limb parts to be locked are inserted into the sleeve, so that the giving space corresponds to the giving way, and thrust is applied, so that the limb parts to be locked push the pusher and move inward along the direction of the core axis, compressing Spring; with the cooperation of the first bevel of the bevel wedge and the first bevel of the bevel tooth, the locking member is rotated until the hook tip of the hook is above the lock tooth; the thrust is removed, and under the rebound action of the spring, the hook tip is The hook tip is pressed into the lock teeth to achieve locking;

When unlocking, push force is applied to cause the limb component to be locked to push the pushing member and move inward along the direction of the core axis. With the cooperation of the first bevel of the bevel wedge and the second bevel of the bevel tooth, the locking member is rotated to the hook. The hook tip is located above the giving-away space; remove the thrust, and under the rebound action of the spring, the hook tip of the hook claw is separated from the lock teeth to achieve unlocking.

Furthermore, it is ensured that the step-off space 2 corresponds to the step-off groove, the inner wall of the sleeve is provided with a guide groove, and the limb parts to be locked are provided with guide ribs.

Further, the push piece is sleeved on the mandrel and can move linearly along the axial direction of the mandrel without being able to rotate. Specifically, the cross section of the mandrel is non-circular, and the push piece is arranged with the mandrel. holes of the same cross-section shape.

Further, the cross-section of the mandrel is square, and the pusher is provided with holes of the same size as the square.

Further, the locking member is rotatably but non-axially movable and is installed at the bottom of the cavity. Specifically, the bearing is fixed on the locking member through a circlip, and the bearing is fixed on the inner wall of the cavity.

Further, screws and washers are used as limiting components to limit the movement of the pusher on the mandrel.

Further, the sleeve and the cover plate are fixedly installed by screws; the mandrel is fixedly installed on the cover plate by screws.

Further, both sides of the inverted teeth are chamfered.

Further, to realize the two processes of locking and unlocking as one cycle, the angle of rotation of the locking member in one cycle is .

The beneficial effects of the present invention are: 1. Easy to operate, just press and apply force on the required locked limb parts to achieve automatic locking and unlocking;

2. It increases the convenience of replacing the robot limbs and facilitates later maintenance;

3. Realize the modularization of robot limbs and improve production efficiency.

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting any creative effort.

Figure 1 is a side cross-sectional view of a robot limb assembly device according to an embodiment of the present invention;

Figure 2 is a schematic diagram of a sleeve according to an embodiment of the present invention;

Figure 3 is a schematic diagram of the push member according to the embodiment of the present invention;

Figure 4 is a schematic diagram of the locking component according to the embodiment of the present invention;

Figure 5 is a schematic diagram of limb components that need to be locked according to an embodiment of the present invention;

Figure 6 is a schematic diagram of the movement stages of a robot limb assembly device according to an embodiment of the present invention;

Figure 7 is a schematic diagram of the hook tip located in the relief groove according to the embodiment of the present invention.

Explanation of reference signs: sleeve 1, including guide groove 11; mandrel 2; spring 3; countersunk head screw 4; fixed cover plate 5; flat washer 6; locking screw 7; locking component 8, including circlip 81, Bearing 82 and locking member 83; locking member 83 includes helical teeth 831 and hooks 832; wherein helical teeth 831 include a first bevel 8311 of helical teeth, a second bevel 8312 of helical teeth, a first plane 8313 of helical teeth and a second bevel 8313 of helical teeth. Two planes 8314; hook claw 832 includes hook tip 8321; push member 9 includes inclined wedge 91, relief groove 92, inclined wedge first plane 911 and inclined wedge first inclined surface 912; limb parts 10 to be locked include locking teeth 101, giving space 102 and guide ribs 103; each lock tooth 101 from right to left is the first bevel of the lock tooth 1011, the second bevel of the lock tooth 1012, the third bevel of the lock tooth 1013 and the fourth bevel of the lock tooth. 1014.

Implementation

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the appended claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this disclosure and the appended claims, the singular forms "a," "the" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in the present invention to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of the present invention, the first information may also be called second information, and similarly, the second information may also be called first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "when" or "in response to determining." In addition, the terms "front", "back", "upper", "lower", "left" and "right" are based on the orientation and positional relationship shown in the drawings, and are only used to facilitate the description of the present invention, rather than indicating the The devices or components referred to must have a specific orientation and are therefore not to be construed as limitations of the invention.

The present invention will be described in detail below with reference to the accompanying drawings. Features in the following embodiments and implementations may be combined with each other without conflict.

A device for assembling robot limbs of the present invention includes a sleeve 1, a cover plate 5 and a limb component 10 to be locked; the sleeve 1 and the cover plate 5 are fixedly installed and form a cavity inside, and are arranged in the cavity There is a mandrel 2, a spring 3, a locking member 83 and a pushing member 9; the mandrel 2 is provided on the cover plate 5; the mandrel 2 is covered with a spring 3, and is provided on the end of the mandrel 2 Limiting component; the pusher 9 is sleeved on the mandrel 2, can move linearly along the axial direction of the mandrel 2 but cannot rotate, and is squeezed by the spring 3; the pusher 9 is evenly provided with n inclined The wedge 91 is also surrounded by at least two inverted teeth 93, and a relief groove 92 is formed between each two adjacent inverted teeth 93; the inclined wedge 91 is provided with a first inclined surface 912 of the inclined wedge; the locking member 83 The locking member 83 is installed at the bottom of the cavity so as to be rotatable but unable to move axially; the locking member 83 is evenly arranged with n hook claws 832 and at least one set of helical teeth 831. The end of the hook claw 832 is provided with a hook tip 8321 ; The hook tip 8321 is located in the relief groove 92, providing the locking member 83 with a relief and initial limiting function; the helical tooth 831 is provided with a first helical tooth bevel 8311 and a helical tooth second bevel 8312, the The first bevel 8311 of the helical tooth and the second bevel 8312 of the helical tooth cooperate with the first bevel 912 of the bevel wedge to rotate the locking member 83; the limb component 10 to be locked is evenly provided with n sets of locking teeth 101 surrounding each phase. A giving space 102 is formed between two adjacent sets of lock teeth 101. The lock teeth 101 are provided with a second bevel 1012 of the lock teeth and a fourth bevel 1014 of the lock teeth; the second bevel 1012 and the fourth bevel of the lock teeth are 1014 respectively cooperates with the hook tip 8321 to rotate the locking member 83; where, n≥2.

The device realizes locking and unlocking specifically as follows:

When locking, the limb part 10 to be locked is inserted into the sleeve 1 so that the giving space 102 corresponds to the giving groove 92, and a thrust force is applied to push the pushing member 9 along the core axis. 2 direction, compress the spring 3; with the cooperation of the first bevel 912 of the bevel wedge and the first bevel 8311 of the helical tooth, the locking member 83 is rotated until the hook tip 8321 of the hook 832 is above the lock tooth 101; remove The thrust, under the rebound effect of spring 3, causes the hook tip 8321 of the hook 832 to press into the lock tooth 101 to achieve locking;

When unlocking, push force is applied to make the limb component 10 to be locked push the pushing member 9 and move inward along the direction of the core axis 2. With the cooperation of the first bevel 912 of the bevel wedge and the second bevel 8312 of the bevel tooth, the locking The member 83 is rotated until the hook tip 8321 of the hook claw 832 is located above the giving space; the thrust is removed, and under the rebound action of the spring 3, the hook tip 8321 of the hook claw 832 is separated from the lock teeth 101 to achieve unlocking.

Taking the two processes of locking and unlocking as one cycle, the rotation angle of the locking member 83 in one cycle is .

In one embodiment, it is ensured that the relief space 102 corresponds to the relief groove 92 , the inner wall of the sleeve 1 is provided with a guide groove 11 , and the limb component 10 to be locked is provided with a guide rib 103 .

In one embodiment, the pushing member 9 is placed on the mandrel 2 and can move linearly along the axial direction of the mandrel 2 but cannot rotate. Specifically: the cross section of the mandrel 2 is non-circular, and the The pusher 9 is provided with a hole having the same shape as the cross section of the mandrel 2 . Specifically, the cross section of the mandrel 2 is square, and the pushing member 9 is provided with holes of the same size as the square.

In one embodiment, the locking member 83 is rotatably but not axially movable and is installed at the bottom of the cavity. Specifically, the bearing 82 is fixed on the locking member 83 through the retaining spring 81 , and the bearing 82 is fixed on the cavity. on the inner wall.

In one embodiment, screws and washers are used as limiting components to limit the movement of the pusher 9 on the mandrel 2 .

In one embodiment, the sleeve 1 and the cover plate 5 are fixedly installed with screws; the mandrel 2 is fixedly installed on the cover plate 5 with screws.

In one embodiment, the two sides of the inverted tooth 93 are chamfered; the chamfers on both sides of the inverted tooth 93 provide a certain guiding function for the hook 832 of the locking member 83 . In order to provide better guidance, the number of undercut teeth is consistent with the number of hook claws.

Example

The invention provides a device for robot limb assembly, as shown in Figures 1 to 7, including a sleeve 1, a cover plate 5, a locking component 8 and a limb component to be locked 10; the locking component 8 is composed of a bearing 82 is fixed on the locking part 83 by a circlip 81; the sleeve 1 and the cover plate 5 are fixed by the countersunk screws 4 and the bearing 82 is fixed between them, so that the locking part 83 can rotate but cannot move axially. ; The central position in the cover plate 5 is fixed with a flat washer 6 and a locking screw 7; the mandrel 2 is equipped with a spring 3, and a limiting component is set on the end of the mandrel 2 (screws and washers are used as limiting components ); the pusher 9 is set on the mandrel 2. In the initial state, it is squeezed by the spring 3 and is close to the limiting component (as shown in Figure 1, specifically, it is close to the gasket), in which the mandrel 2 The cross-section of the pusher 9 is square, and the pusher 9 is provided with a hole of the same size as the square, so that the pusher 9 can move linearly along the axial direction of the mandrel 2 without being able to rotate.

The pushing member 9 is evenly arranged with 8 inclined wedges 91 and 8 inverted teeth 93. Both sides of the inverted teeth 93 are chamfered, and a relief groove 92 is formed between each two inverted teeth 93; The wedge 91 is provided with a first inclined surface 912 of an inclined wedge.

The locking member 83 is installed at the bottom of the cavity so as to be rotatable but unable to move axially; the locking member 83 is evenly provided with 8 sets of helical teeth 831 and 8 hooks 832, and the ends of the hooks 832 are provided There is a hook tip 8321; as shown in Figure 7, the hook tip 8321 is located in the relief groove 92 to prevent the locking member 83 from rotating randomly in the initial state, that is, it plays an initial limiting role (the width of the relief groove 92 is slightly Greater than the width of the hook tip 8321); the helical tooth 831 is provided with a first helical tooth bevel 8311, a helical tooth second bevel 8312, a helical tooth first flat surface 8313 and a helical tooth second flat surface 8314.

Among them, in the initial state, the bevel wedge 91 is opposite to the first bevel surface 8311 of the helical teeth, and the pusher 9 is pressed by the spring 3 and is close to the limiting component.

The limb component 10 to be locked is evenly provided with 8 sets of lock teeth 101; the lock teeth 101 are provided with a first bevel 1011 of the lock teeth, a second bevel 1012 of the lock teeth, a third bevel 1013 of the lock teeth and a fourth bevel of the lock teeth. Incline 1014. Among them, the second bevel 1012 of the lock teeth and the fourth bevel 1014 of the lock teeth are used to interact with the hook tip 8321 to cause the locking member 83 to rotate; the first bevel 1011 of the lock teeth is used to prevent the lock teeth 101 from blocking the lock during locking. The stop member 83 rotates. If the pushing distance of the push member 9 is sufficient before the lock member 83 rotates (that is, before the lock member 83 rotates, the hook tip 8321 is already obliquely above the lock teeth 101), the lock will not be hindered. When the stopper 83 rotates, it is not necessary to provide the first inclined surface 1011 of the lock teeth.

The inner wall of the sleeve 1 is provided with a guide groove 11, and the locking limb component 10 is provided with a guide rib 103; it is ensured that the relief space 102 corresponds to a relief groove 92.

Initial state of movement: the pushing member 9 is pressed at the limit position by the spring 3, the locking hook 832 on the locking member 83 is located in the tail relief groove 92 on the pushing member 9, and at the same time, the inclined wedge of the pushing member 9 is first The inclined surface 912 is opposite to the first inclined surface feature 8311 on the locking member 83 (as shown in (a) of FIG. 6 ).

When locking: the limb component 10 to be locked presses toward the pusher 9 along the guide groove 11 under the action of thrust. The pusher 9 moves linearly, the spring 3 compresses, and the hook tip 8321 of the hook 832 extends out of the pusher 9 . groove 92 (shown in (b) in Figure 6), under the interaction force between the first inclined surface 912 of the oblique wedge and the first inclined surface 8311 of the helical tooth, the locking member 83 rotates. When the first flat surface 911 of the oblique wedge and When the second plane 8314 of the helical teeth contacts, the pushing member 9 reaches the first extreme position, and the locking member 83 stops rotating (at this time, the locking member rotates about 12 degrees relative to the initial position). At the same time, the hook tip 8321 of the hook 832 is in contact with the lock. The second inclined surfaces 1012 of the teeth are opposite (as shown in (c) in Figure 6 ). When the external force is removed, the pushing member 9 rebounds under the action of the compression spring 3. The hook tip 8321 of the hook 832 contacts the second inclined surface 1012 of the locking tooth of the limb component 10 to be locked, and at the same time, the inclined wedge 91 of the pushing member 9 is disengaged from the lock. The helical teeth 831 of the stop member 83 (as shown in (d) in Figure 6 ), under the interaction force between the hook tip 8321 of the hook claw 832 and the second bevel 1012 of the lock tooth, the lock member 83 is again forced to rotate at a certain angle. , until the hook tip 8321 of the hook claw 832 is stuck on the V groove formed by the second bevel 1012 of the lock tooth and the third bevel 1013 of the lock tooth (at this time, the locking member has rotated about 22.5 degrees relative to the initial position); at this time, it needs to be locked Due to the pressure of the spring 3, the limb member 10 is pressed against the pushing member 9 by the hook 832 of the locking member 83, thereby achieving the purpose of locking; at the same time, the bevel wedge 91 is opposite to the second bevel 8312 of the helical tooth to provide a basis for subsequent unlocking. preparation (as shown in (e) in Figure 6).

When unlocking, push force is again applied to the limb component 10 to be locked, and the pusher 9 moves forward again. The hook tip 8321 of the hook 832 is separated from the lock teeth 101 (as shown in (f) in Figure 6). Under the interaction force between an inclined surface 912 and the second inclined surface 8312 of the helical teeth, the locking member 83 rotates. When the first plane 911 of the adjacent helical wedge 91 contacts the first plane 8313 of the helical teeth (at this time, The first bevel 912 of the bevel wedge is still partially in contact with the second bevel 8312 of the bevel tooth), the push member 9 reaches the second extreme position, and the locking member 83 stops rotating (at this time, the locking member rotates about 34.5 degrees relative to the initial position). At the same time, the hook tip 8321 of the hook 832 is opposite to the fourth slope 1014 of the lock tooth (as shown in (g) in Figure 6); when the external force is removed, the push member 9 rebounds under the action of the compression spring 3, and the hook 832 The hook tip 8321 contacts the fourth bevel 1014 of the lock tooth, and at the same time, the bevel wedge 91 of the pushing member 9 is again separated from the bevel teeth 831 of the locking member 83 (as shown in (h) in Figure 6 ), and the hook tip of the hook claw 832 Under the interaction force between 8321 and the fourth slope 1014 of the lock tooth, the locking member 83 is forced to rotate at a certain angle again until the hook returns to the relief groove 92 of the pushing member 9 (at this time the locking member rotates relative to the initial position About 45 degrees); at this time, the locked limb part 10 needs to be unlocked and the device can be exited; at the same time, the bevel wedge 91 still corresponds to the first bevel of the bevel tooth (as shown in (a) in Figure 6), which is the next lock Stop making preparations.

It should be noted that the limb parts 10 that need to be locked refer to the structural characteristics that the robot limbs need to have, and do not specifically refer to a kind of part.

Embodiment 2: Different from Embodiment 1, the locking member 83 is provided with only one set of helical teeth 831, and the pushing member 9 is provided with two inverted teeth 93 (that is, the two adjacent inverted teeth are retained), and the above implementation can still be realized. All functions of Example 1, and the locking process is the same as the unlocking process.

Embodiment 3: Different from Embodiment 1, the pusher 9 is provided with two inverted teeth 93 and evenly surrounded by two oblique wedges 91 and the locking member 83 is provided with a set of helical teeth 831 and evenly surrounded by two The hook 832 can still realize all the functions of the above-mentioned embodiment 1, but the rotation angle of the locking member 83 is different during the locking process and the unlocking process. At this time, the locking process and the unlocking process are completed, and the locking member 83 rotates The angles are all 45°, that is, the two processes of locking and unlocking are realized, and the rotation angle of the locking member 83 is 90°.

The angle of rotation of the locking member 83 is related to the width of each of the above-mentioned inclined planes. According to the different values of n, the corresponding width of the inclined plane is set to satisfy the two processes of locking and unlocking. The angle of rotation of the locking member 83 is .

Other embodiments of the present application will be readily apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary technical means in the technical field that are not disclosed in this application. . The specification and examples are to be considered as illustrative only.

It is to be understood that the present application is not limited to the precise structures described above and illustrated in the accompanying drawings, and that various modifications and changes may be made without departing from the scope thereof.

Claims (10)

1. A device for assembling robot limbs, characterized in that it includes a sleeve (1), a cover plate (5) and a limb part to be locked (10); the sleeve (1) and the cover plate (5) ) is fixedly installed, and a cavity is formed inside. The cavity is provided with a mandrel (2), a spring (3), a locking part (83) and a pushing part (9); the cover plate (5) is provided with the The mandrel (2); the mandrel (2) is sleeved with a spring (3), and a limiting component is provided on the end of the mandrel (2); the pusher (9) is sleeved on the mandrel (2) , can make linear motion along the axial direction of the core shaft (2) without being able to rotate, and is squeezed by the spring (3); the pusher (9) is evenly provided with n inclined wedges (91) surrounding it, and at least two There are two inverted teeth (93), and a relief groove (92) is formed between each two adjacent inverted teeth (93); the inclined wedge (91) is provided with a first inclined surface (912) of the inclined wedge; the locking The piece (83) is rotatable but cannot move axially and is installed at the bottom of the cavity; the locking piece (83) is evenly arranged with n hooks (832) around it, and at least one set of helical teeth (831) is provided. The end of the hook claw (832) is provided with a hook tip (8321). The hook tip (8321) is located in the relief groove (92). The helical tooth (831) is provided with a first bevel surface (8311) and a helical tooth. The second slope of the tooth (8312); the limb component to be locked (10) is evenly surrounded by n sets of locking teeth (101), and a giving space (102) is formed between each adjacent two sets of locking teeth (101). , the lock tooth (101) is provided with a second bevel of the lock tooth (1012) and a fourth bevel of the lock tooth (1014); wherein, n≥2. 2. The device according to claim 1, characterized in that the device implements locking and unlocking specifically as follows: When locking, the limb part (10) to be locked is inserted into the sleeve (1) so that the giving space (102) corresponds to the giving groove (92), and thrust is applied to make the limb part (10) to be locked ( 10) Push the pusher (9) inward along the direction of the core axis (2) to compress the spring (3); with the cooperation of the first bevel of the bevel wedge (912) and the first bevel of the helical tooth (8311), the lock The stopper (83) rotates until the hook tip (8321) of the hook claw (832) is located above the lock tooth (101); remove the thrust, and under the rebound action of the spring (3), the hook tip (8321) of the hook claw (832) (8321) is pressed into the lock teeth (101) to achieve locking; When unlocking, push force is applied to make the limb component (10) to be locked push the pusher (9) and move inward along the direction of the core axis (2). (8312) cooperate with each other to rotate the locking piece (83) until the hook tip (8321) of the hook (832) is located above the giving space (102); remove the thrust, and the rebound effect of the spring (3) Then, the hook tip (8321) of the hook claw (832) is separated from the lock teeth (101) to unlock. 3. The device according to claim 1, characterized in that it is ensured that the giving space (102) corresponds to the giving groove (92), and the inner wall of the sleeve (1) is provided with a guide groove (11), The limb component (10) to be locked is provided with guide ribs (103). 4. The device according to claim 1, characterized in that the push member (9) is sleeved on the mandrel (2) and can move linearly along the axial direction of the mandrel (2) but cannot rotate. Specifically: The cross-section of the mandrel (2) is non-circular, and the pusher (9) is provided with a hole having the same shape as the cross-section of the mandrel (2). 5. The device according to claim 4, characterized in that the cross-section of the mandrel (2) is square, and the pusher (9) is provided with holes of the same size as the square. 6. The device according to claim 1, characterized in that the locking member (83) is rotatably but not axially movable and is installed at the bottom of the cavity. Specifically, the bearing (82) is fixed by a circlip (81). On the locking part (83), the bearing (82) is fixed on the inner wall of the cavity. 7. The device according to claim 1, characterized in that screws and washers are used as limiting components to limit the movement of the pushing member (9) on the mandrel (2). 8. The device according to claim 1, characterized in that the sleeve (1) and the cover plate (5) are fixedly installed by screws; the mandrel (2) is fixedly installed on the cover plate (5) by screws. superior. 9. The device according to claim 1, characterized in that both sides of the inverted tooth (93) are chamfered. 10. The device according to claim 2, characterized in that the two processes of locking and unlocking are one cycle, and the angle of rotation of the locking member (83) in one cycle is .