WO2021047371A1 - 一种流体压力锁定装置 - Google Patents

一种流体压力锁定装置 Download PDF

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Publication number
WO2021047371A1
WO2021047371A1 PCT/CN2020/110348 CN2020110348W WO2021047371A1 WO 2021047371 A1 WO2021047371 A1 WO 2021047371A1 CN 2020110348 W CN2020110348 W CN 2020110348W WO 2021047371 A1 WO2021047371 A1 WO 2021047371A1
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WIPO (PCT)
Prior art keywords
locking
hollow sleeve
wall
degrees
assembly
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Application number
PCT/CN2020/110348
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English (en)
French (fr)
Inventor
丁起武
Original Assignee
丁起武
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Application filed by 丁起武 filed Critical 丁起武
Publication of WO2021047371A1 publication Critical patent/WO2021047371A1/zh

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • 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
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B7/00—Connections of rods or tubes, e.g. of non-circular section, mutually, including resilient connections
    • F16B7/04—Clamping or clipping connections
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
    • F16C11/0666—Sealing means between the socket and the inner member shaft
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/10—Arrangements for locking
    • F16C11/103—Arrangements for locking frictionally clamped
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/10—Arrangements for locking
    • F16C11/103—Arrangements for locking frictionally clamped
    • F16C11/106—Arrangements for locking frictionally clamped for ball joints
    • 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
    • F16J—PISTONS; CYLINDERS; SEALINGS
    • F16J15/00—Sealings
    • F16J15/02—Sealings between relatively-stationary surfaces
    • F16J15/06—Sealings between relatively-stationary surfaces with solid packing compressed between sealing surfaces
    • F16J15/061—Sealings between relatively-stationary surfaces with solid packing compressed between sealing surfaces with positioning means
    • 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
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B2200/00—Constructional details of connections not covered for in other groups of this subclass
    • F16B2200/91—Use of a pneumatic action

Definitions

  • the invention relates to a mechanical locking device, in particular to a fluid pressure locking device.
  • a number of short rods or short pipes are sequentially connected to obtain a long rod or long tube as a whole, and the obtained structure can be a variety of structures according to requirements and application scenarios.
  • Figure 1 it is a common structure of a long rod.
  • one end of the long rod can be fixed, and the other end can be used as a movable end to connect with tools (lighting indicators, reflectors, hooks, etc.).
  • the short rods are connected and locked by the cooperation of screws, screw rods and nuts, or realized by means of articulation, welding, etc.
  • the connection and adjustment between the adjacent short rods and the short rods can only be locked by operating nuts and screws, which is labor-intensive, time-consuming and labor-intensive.
  • the purpose of the present invention is to solve the above-mentioned problems and provide a fluid pressure locking device with a simple structure.
  • the connecting rod as a hollow structure, the locking torque generated by the rapid transmission of fluid in the fluid channel can be used to reduce The N locking components are locked and unlocked synchronously, so that the connecting rods connected with the locking components are also locked synchronously.
  • the locking time can be within the range of 1 second from the traditional 10s or more, and the locking is fast.
  • a fluid pressure locking device includes a power component, a piece to be locked and N locking components.
  • the N locking components are connected in sequence.
  • the first locking component connected to the power component is the start-end locking component, and the Nth locking component is the
  • the end locking component, the part to be locked is installed on the end locking component or connected to the end locking component by pushing the component; two adjacent locking components are connected by a connecting rod, and the inside of the connecting rod is a hollow structure ;
  • the N is an integer ⁇ 1;
  • Each locking assembly includes a hollow sleeve body, an inner connecting head, a locking body, and a first sealing ring.
  • the inner connecting head is installed in the hollow sleeve body, and the locking body is partially inserted into the hollow sleeve body and installed in the hollow sleeve.
  • On the body the locking body and the inner connecting head are separated from each other, and the end of the locking body in the hollow sleeve body has a gap with the end of the inner connecting head, and through holes are penetrated inside the locking body and the inner connecting head.
  • the first sealing ring is sleeved on the locking body and located between the outer wall of the locking body and the inner wall of the hollow sleeve body;
  • the power assembly communicates with the inner connecting head of the starting end locking assembly through a connecting rod, the locking body of the starting end locking assembly communicates with the next locking assembly through the connecting rod, and the through holes in each locking body assembly communicate with the inside of each connecting rod.
  • a fluid channel is formed, the power component injects fluid into the fluid channel and generates a locking force in the fluid channel, and each locking component performs a locking or unlocking action under the control of the locking force to synchronously lock the N locking components Or unlock; in the unlocked state, the locking body can swing at an angle ⁇ in the longitudinal space of the hollow sleeve arbitrarily and/or can rotate along the inner wall of the hollow sleeve in the cross-sectional direction of the hollow sleeve from 0 to 360 degrees.
  • the inner diameter of the hollow sleeve body is arranged from one end to the other end in order from large to small, including a large-diameter end and a small-diameter end, and the end of the small-diameter end is set with a curved surface or a tapered surface;
  • the inner connecting head is located at the large-diameter end, and the locking body is arranged at the small-diameter end;
  • the locking body is a locking sphere with a through hole passing through it.
  • the locking sphere In the unlocked state, the locking sphere can swing at an angle ⁇ in the longitudinal space of the hollow sleeve arbitrarily, and the swing range of the angle ⁇ is 0 to 60 degrees or 90 degrees. To 174 degrees; the locking sphere in the non-locking state can also rotate 0 to 360 degrees along the circumferential direction of the inner wall of the hollow sleeve in the cross-sectional direction of the hollow sleeve.
  • the outer wall of the locking sphere is tangent to the inner wall of the hollow sleeve, and each tangent extends to the outside of the hollow sleeve to intersect to obtain a cone.
  • the cone angle of the cone is ⁇ A, 3 Degree ⁇ A ⁇ 20 degrees.
  • the inner wall of the large-diameter end of the hollow sleeve body is provided with a limiting thread, the limiting thread is arranged away from the locking body, and the outer wall of the inner connector is provided with a thread matching the limiting thread .
  • the locking assembly further includes a second sealing ring for sealing the large-diameter end, a groove is provided around the outer wall of the inner connector, and the second sealing ring is installed in the groove.
  • the locking body is a cylindrical structure or a cone structure with a through hole penetrating the inside.
  • the locking body In the unlocked state, the locking body can be positioned in the cross-sectional direction of the hollow sleeve body. Rotate from 0 to 360 degrees in the circumferential direction of the inner wall of the hollow sleeve body.
  • the locking body is a truncated cone body with a through hole through it.
  • the locking body In the unlocked state, the locking body can be along the hollow sleeve body in the cross-sectional direction of the hollow sleeve body.
  • the inner wall rotates 0 to 360 degrees circumferentially.
  • the locking components are first connected in series, or in parallel, or mixed in series and parallel, and then connected between two adjacent connecting rods. between.
  • the fluid is a high-pressure gas or a flowable liquid.
  • the power assembly includes an air storage tank, an air compressor, a two-position three-way solenoid valve and a pressure stabilization system, the input end of the air compressor is connected to the air storage tank, and the two-position three-way solenoid valve
  • the inlet of the two-position three-way solenoid valve is connected with the output end of the air compressor
  • the outlet of the two-position three-way solenoid valve is connected with the inner connector on the starting end locking assembly through a connecting rod
  • the exhaust port of the two-position three-way solenoid valve is installed with the pressure stabilizer System
  • the two-position three-way solenoid valve is connected to a control switch.
  • the connecting rod and the locking component are made of stainless steel or other hard metal materials.
  • the part to be locked may specifically be a laparoscope, a suction cup, a hook or other tools required by the application site.
  • the present invention has the following beneficial effects:
  • the locking device of the present invention is mainly composed of a power component, a piece to be locked and N locking components. Two adjacent locking components are connected by a connecting rod, and the inside of the connecting rod is a hollow structure; the N It is an integer ⁇ 1; and each locking component includes a hollow sleeve body, an inner connecting head, a locking body, a first sealing ring and a second sealing ring.
  • the fluid channel When in use, the fluid channel is quickly filled with gas or liquid with a certain pressure through a power component (such as an air compressor with a gas storage tank), and each locking component is subjected to the interaction of the internal air pressure and the external atmospheric pressure to generate a pressure
  • the pressure difference pushes the lock body to the low pressure part, and the pressure difference is decomposed in the direction perpendicular to the fluid channel to obtain a static friction force.
  • the static friction force is multiplied by the cross-sectional length of the lock body to obtain the static friction torque of the lock body, Equivalent to locking torque. That is, through the control of the power components, synchronous locking or unlocking of each locking component is realized synchronously, and the locking time can be reduced from more than 10 seconds in the traditional way to less than 1 second.
  • the locking is quick and quick and the operation is simple.
  • the locking device of the present invention sets the locking assembly mainly composed of the hollow sleeve body, the inner connecting head, the locking body, and the first sealing ring into different structures according to the usage scenarios and requirements. Specifically, the structure of the locking body is different. Different (divided into sphere, cylinder, cone, or truncated cone), in the unlocked state, no matter what kind of structure the locking body can be along the inner wall circumferential direction of the hollow sleeve in the cross-sectional direction of the hollow sleeve Rotate from 0 to 360 degrees.
  • the locking body When the locking body is a spherical structure, the locking body can swing at an angle ⁇ in the longitudinal space of the hollow sleeve arbitrarily, and assuming that the range of the angle that a single locking assembly can swing is K, then the N locking assemblies are connected in series to obtain
  • the adjustable range of the locking device is (N-1) ⁇ K, so the to-be-locked piece installed on the end locking assembly can be adjusted according to actual needs, with high flexibility and wide angle adjustment range, making it more convenient to use.
  • the locking assembly of the present invention is provided with a first sealing ring and a second sealing ring.
  • the first sealing ring can close the small diameter end of the hollow sleeve body, and the second sealing ring can close the large diameter end of the hollow sleeve body, so Under the action of the first sealing ring and the second sealing ring, the fluid in the fluid channel will not leak, and the external air pressure cannot enter the fluid channel, ensuring that the entire fluid channel is in a completely enclosed space, and the entire locking device is safer and more stable. durable.
  • the locking device of the present invention uses the principle of the pressure generated by the fluid itself and the external atmospheric pressure to realize the synchronous locking of the N connecting rods. There is no need to add complex electrical components such as cylinders and motors to each locking component.
  • the overall structure is simple, low cost.
  • Fig. 1 is a schematic structural diagram of a long rod obtained by connecting several short rods in the prior art.
  • Fig. 2 is a schematic diagram of a structure of a fluid pressure locking device of the present invention.
  • Fig. 3 is a schematic cross-sectional structure diagram of a single locking assembly.
  • Fig. 4 is another schematic cross-sectional structure diagram of a single locking assembly.
  • Fig. 5 is a schematic diagram of another cross-sectional structure of a single locking assembly.
  • Fig. 6 is a schematic cross-sectional structure diagram of two locking components connected in reverse series.
  • Fig. 7 is a schematic cross-sectional structure diagram of two locking components connected in parallel.
  • Fig. 8 shows a schematic structural view of the force-locking principle of the locking assembly.
  • Fig. 9 is a schematic diagram of a state in which a single locking assembly swings.
  • Figure 10-1 is a schematic diagram of the state of a single locking assembly before swinging.
  • Fig. 10-2 is a schematic diagram of the state of the single locking assembly in Fig. 10-1 after swinging.
  • the labels in the figure are: 1. connecting rod, 2. locking assembly, 2-1, hollow sleeve body, 2-2, inner connecting head, 2-3, locking body, 2-4, first sealing ring, 2-5 , The second sealing ring, 3. The part to be locked, 4.
  • the power assembly 5.
  • the through hole 6.
  • the gap 7.
  • the limit thread 8.
  • a fluid pressure locking device includes a power assembly 4, a piece to be locked 3, and N locking assemblies 2.
  • the N locking assemblies 2 are connected in sequence, and the first locking assembly connected to the power assembly 4 2 is used as the starting end locking component, the N-th locking component 2 is used as the end locking component, and the to-be-locked piece 3 is connected to the end locking component by pushing the component or is directly installed on the end locking component.
  • the pushing assembly may be composed of a piston, a cylinder, a piston rod, and a one-way valve.
  • the pushing assembly receives the fluid delivered by the locking body 2-3 on the end locking assembly 2, and is controlled by the fluid
  • the pushing component clamps or fixes the piece to be locked.
  • Two adjacent locking assemblies 2 are connected by a connecting rod 1, and the inside of the connecting rod 1 is a hollow structure; the N is an integer ⁇ 1.
  • the part to be locked 3 may specifically be a laparoscope, a suction cup, a hook, or other tools required by applications.
  • Each locking assembly 2 includes a hollow sleeve body 2-1, an inner connecting head 2-2, a locking body 2-3, and a first sealing ring 2-4.
  • the inner connecting head 2-2 is mounted on the hollow sleeve body 2. -1.
  • the locking body 2-3 is partially inserted into the hollow sleeve body 2-1 and installed on the hollow sleeve body 2-1.
  • the locking body 2-3 and the inner connecting head 2-2 are arranged separately from each other, and there is a gap 6 between the end of the locking body 2-3 in the hollow sleeve body 2-1 and the end of the inner connecting head 2-2.
  • a through hole 5 penetrates through the inside of the locking body 2-3 and the inner connecting head 2-2.
  • the first sealing ring 2-4 is sleeved on the locking body 2-3 and located between the outer wall of the locking body 2-3 and the inner wall of the hollow sleeve body 2-1.
  • the locking body 2-3 and the inner connecting head 2-2 need to be fixed on the hollow sleeve body 2-1 by means of screws, screws or welding.
  • connection between each inner connecting head 2-2 and the connecting rod 1 and the connection between each locking body 2-3 and the connecting rod 1 are all tight connections, no fluid leakage, and rigid connections in a sealed state.
  • the power assembly 4 communicates with the inner connecting head 2-2 of the starting end locking assembly through the connecting rod 1, and the locking ball of the starting end locking assembly communicates with the next locking assembly 2 through the connecting rod 1.
  • the through hole 5 in each locking assembly communicates with the inside of each connecting rod 1 to form a fluid channel.
  • the power component 4 injects fluid into the fluid channel, and the locking or unlocking action of each locking component 2 is controlled by the locking force generated by the fluid in the fluid channel, so as to lock or unlock each N locking component 2 synchronously.
  • the locking body In the non-locked state, the locking body can swing at an angle ⁇ in the longitudinal space of the hollow sleeve body 2-1 and/or can move along the hollow sleeve body 2-1 in the cross-sectional direction of the hollow sleeve body 2-1.
  • the inner wall rotates 0 to 360 degrees in the circumferential direction.
  • the locking body 2-3 is a locking sphere with a through hole 5 passing through the inside.
  • the swing range of the ⁇ angle is 0 to 60 degrees or 90 to 174 degrees.
  • the locking sphere in the non-locking state can not only swing in the longitudinal space, but also can rotate 0 to 360 degrees along the circumferential direction of the inner wall of the hollow sleeve 2-1 in the cross-sectional direction of the hollow sleeve 2-1.
  • the adjustable angle range of a single locking assembly 2 is K
  • the adjustable range of the locking device obtained by connecting N connecting rods 1 in sequence is (N-1) ⁇ K.
  • the locking sphere moves from the center position to the longitudinal space of the hollow sleeve 2-1.
  • the right inner wall of the hollow sleeve body 2-1 swings by an angle ⁇ , and the swing range is 0 to 60 degrees. That is, no matter which direction the locking sphere swings in, the angle ⁇ from the center of the hollow sleeve body 2-1 to the inner wall of the hollow sleeve body 2-1 is 0 to 60 degrees.
  • the size of the ⁇ angle is related to the size of the connecting rod and the size of the locking angle ⁇ A. According to the research of the present inventor, the ⁇ angle in this case has the best locking effect in the range of 45 to 50 degrees.
  • the locking sphere swings from one side of the inner wall of the hollow sleeve body 2-1 to the other side of the inner wall of the hollow sleeve body 2-1, as shown in Figure 10-1 and Figure 10-2 Shown.
  • the inner wall of the hollow sleeve body 2-1 swings by an angle of ⁇ , the maximum value of this angle, that is, the angle ⁇ is 90 to 174 degrees.
  • the size of the ⁇ angle is related to the size of the connecting rod and the size of the locking angle ⁇ A. According to the research of the present inventor, the ⁇ angle in this case is more practical in the range of 90 to 100 degrees.
  • the inner diameter of the hollow sleeve body 2-1 is set in order from one end to the other end. It includes a large-diameter end and a small-diameter end, and the end of the small-diameter end is provided with a curved surface or a conical surface.
  • the inner connecting head 2-2 is located at the large-diameter end, and the locking body 2-3 is provided at the small-diameter end.
  • the hollow sleeve 2-1 is designed to be large at one end and small at the other end, so that the locking sphere can penetrate from the large-diameter end during installation, but the locking sphere cannot slide out from the small-diameter end and is sealed by the first on the small-diameter end. Loops 2-4 are fixed.
  • the outer wall of the locking body 2-3 is tangent to the inner wall of the hollow sleeve body 2-1, and each tangent line is directed toward the hollow sleeve body 2-1.
  • the outer part is successively extended until it intersects, and a cone is obtained.
  • the cone angle of the cone is ⁇ A, 3 degrees ⁇ A ⁇ 20 degrees. Designing the locking sphere with this parameter can significantly increase the locking torque, and the locking is firmer, and the locking assembly 2 will not be locked when the locked state is changed to the unlocked state.
  • the inner wall of the large-diameter end of the hollow sleeve body 2-1 is provided with a limiting thread 7, the limiting thread 7 is arranged away from the locking body 2-3, and the outer wall of the inner connecting head 2-2 is provided with Thread that matches the limit thread 7.
  • the limit thread 7 is used to play a role of locking when the inner connecting head 2-2 is installed, so that the inner connecting head 2-2 and the locking body 2-3 always maintain the set gap 6 distance.
  • the locking assembly further includes a second sealing ring 2-5 for sealing the large-diameter end, and a groove is provided around the outer wall of the inner connector 2-2, The second sealing ring 2-5 is installed in the groove.
  • the first sealing ring 2-4 and the second sealing ring 2-5 are both wear-resistant soft O-rings, and the first sealing ring 2-4 locks the hollow sleeve body 2 at the end of the locking body 2-3. -1 seal, the second seal ring 2-5 seals the hollow sleeve body 2-1 at the end of the inner connector 2-2. Under the cooperative use of the first seal ring 2-4 and the second seal ring 2-5, It can ensure that the entire fluid channel is in a completely sealed environment, so the locking stability of the locking device can be ensured. In addition, the arrangement of the first sealing ring 2-4 can also ensure that when the locking body 2-3 is in a rotating/swinging state, the hollow sleeve body 2-1 can be kept sealed all the time.
  • the locking components 2 when the number of the locking components 2 is ⁇ 2, the locking components 2 are connected in series, or in parallel, or mixed in series and parallel, and then connected to two adjacent connections. Between rod 1.
  • the number of the locking assembly 2 is generally one to achieve the locking purpose. Two or more than two are used to improve the flexibility of the adjustment angle of the entire locking device or to meet the needs of the application scenario.
  • FIG. 6 it is a schematic diagram of the reverse series connection of two locking components 2, which of course can also be forward connected in series.
  • Figure 7 it is a schematic diagram of the parallel connection of two locking components.
  • the locking body 2-3 is a sphere, the adjustment and swing combination of the angle of the single link 1 is more flexible, that is, the single locking component 2 can
  • the adjustable angle range can be changed from the original K to 2K, and the adjustable range of the locking device obtained by sequentially connecting the N locking components 2 is 2(N-1) ⁇ K.
  • the connection modes of more than three locking components 2 are not listed here, and everything within the scope of the present invention falls into the protection scope of the present invention.
  • the fluid is specifically a high-pressure gas or a flowable liquid
  • the flowable liquid may specifically be water or other liquids.
  • the connecting rod 1, the locking body 2-3, the inner connecting head 2-2 and the hollow sleeve body 2-1 are preferably made of stainless steel or other hard metal materials.
  • the power assembly 4 includes an air storage tank, an air compressor, a two-position three-way solenoid valve and a pressure stabilization system.
  • the input end of the air compressor is connected to the air storage tank, and the inlet of the two-position three-way solenoid valve is connected to The output end of the air compressor is connected, the outlet of the two-position three-way solenoid valve is connected to the inner connector on the starting end locking assembly through the connecting rod 1, and the pressure stabilization system is installed at the exhaust port of the two-position three-way solenoid valve;
  • the two-position three-way solenoid valve is connected with a control switch.
  • the diameter of the locking sphere is 20 mm, and the cone angle ⁇ A is 8 degrees.
  • the air compressor is energized and generates air pressure
  • the two-position three-way solenoid valve is opened, and under the control of the pressure stabilization system, a pressure of 2.0mpa is sent to the hollow structure connecting rod 1. 1 and each locking assembly 2 are communicated with each other through a fluid channel, and the pressure of 2.0 mpa is quickly transmitted to each connecting rod 1 in turn.
  • the locking body 2-3 on each locking assembly 2 is subjected to a locking torque of 27 Newton meters, that is, in the airtight
  • a locking torque of 27 Newton meters that is, in the airtight
  • the locking spheres can be locked at the same time, so that the connecting rods 1 can be locked.
  • the solenoid valve can be locked or unlocked within 0.1 seconds by controlling the power-on and power-off of the solenoid valve, and it has three joints of shoulder, elbow and wrist that exceed humans. Degrees of freedom of the series system.
  • the schematic diagram of the principle of force locking of the locking body 2-3 is shown in Figure 8: the center of the sphere is O1, and CD is the diameter of the sphere (that is, the installation position of the first sealing ring 2-4), The radius is R1, the contact point of the contact surface between the sphere and the hollow sleeve body 2-1 is taken as the tangent point, and the tangent line is extended to the outside of the hollow sleeve body 2-1 and intersects at point A to obtain a cone.
  • the center of the tangent circle shown in FIG. 8 is O2, EF is the diameter, and the radius R2 is a schematic cross-sectional structure diagram of the cone.
  • EF is parallel to CD, and the cone angle of the cone is ⁇ A, 3 degrees ⁇ A ⁇ 20 degrees.
  • the parameters of the two circles are specifically: the length of O1 to O2 is 0.026 to 0.174 times of R1, and R2 is 0.99965 to 0.98481 times of R1.
  • the inventor has made the model of the present invention based on the above parameters.
  • the lock/unlock action can be performed by operating a control switch. The response is quick, the lock time can be increased by 10 times compared with the traditional one, and the lock efficiency is extremely significant.
  • the sphere When the locking body 2-3 in the locking assembly 2 is a sphere, the sphere is divided into two mutually sealed parts by the first sealing ring 2-4, and the connecting part with the fluid channel is connected to the pressure fluid, resulting in a pressure difference f1. The difference pushes the sphere to the low pressure part. Due to the taper, the produced n times ( ⁇ A is 38.2 times to 5.7 times when 3 degrees to 20 degrees) is perpendicular to the spherical surface of the ball head, and the resulting static friction force is equal to Multiply f2 by the coefficient of friction.
  • the static friction force multiplied by the radius of the sphere is equal to the static friction torque, which is equivalent to the locking torque, that is, the power assembly 4 is activated, the fluid channel is filled with air pressure instantly, and then the spheres on each locking assembly 2 are sequentially forced to generate a locking torque. Locked, each connecting rod 1 is locked instantly after being adjusted to an appropriate angle.
  • the locking point of the fluid pressure locking assembly 2 (that is, the contact point between the sphere and the hollow sleeve body 2-1) is located in a circle close to the largest circle of the locking sphere, which is different from the common ejector locking method. Specifically, the top of the locking assembly is locked. The top of the rod is different on one surface of the ball head. Whether it is rotating or swinging around the long axis of the connecting rod 1, the locking torque in each direction is approximately equal, and the locking is stable and reliable.
  • the locking device in this embodiment also has the following significant advantages: 1. It can swing 0 to 60 degrees in the longitudinal direction of the hollow sleeve body 2-1 in the unlocked state. Or 90 to 174 degrees; 2.
  • the locking sphere in the non-locking state can not only swing in the longitudinal space, but also along the inner wall of the hollow sleeve 2-1 in the cross-sectional direction of the hollow sleeve 2-1 Circumferential rotation 0 to 360 degrees.
  • the locking device has a large adjustment angle for the connecting rod 1 and high flexibility. Therefore, in the use process, the position adjustment/angle adjustment of the locking member is more flexible, practical, and quick.
  • the difference in embodiment 1 is: the locking body 2-3 is a cylindrical structure or a cone structure with a through hole 5 through it, and the connecting rod 1 in the unlocked state can be wound with
  • the connected locking body 2-3 rotates 0 to 360 degrees in the circumferential direction. That is to say, the locking device of this structure is also under the control of the power assembly 4 during operation, and realizes instant locking or unlocking of the locking body 2-3 by filling/retracting fluid into the fluid channel. Because the structure of the locking body 2-3 is different, the adjustment angle of the connecting rod 1 is different.
  • the locking body 2-3 of this structure can only be in the unlocked state, and the connecting rod 1 can be wound around the connecting rod 1
  • the locking body 2-3 rotates 0 to 360 degrees in the circumferential direction. Although it cannot be adjusted up and down to a certain range, its implementation structure is simpler than that of a sphere, which can meet the needs of some application scenarios.
  • the locking body 2-3 is a truncated cone body with a through hole 5 through the inside, and the connecting rod 1 in the non-locking state can be wound around the lock connected to it.
  • the body 2-3 rotates 0 to 360 degrees in the circumferential direction. That is to say, the locking device of this structure is also under the control of the power assembly 4 during operation, and realizes instant locking or unlocking of the locking body 2-3 by filling/retracting fluid into the fluid channel. Because the structure of the locking body 2-3 is different, the adjustment angle of the connecting rod 1 is different.
  • the locking body 2-3 of this structure can only be in the unlocked state, and the connecting rod 1 can be wound around the connecting rod 1
  • the locking body 2-3 rotates 0 to 360 degrees in the circumferential direction. Although it cannot be adjusted up and down to a certain range, its implementation structure is simpler than that of a sphere, which can meet the needs of some application scenarios.
  • the composition mechanism of the locking device does not have a large range of angle adjustment in the non-locking state
  • its working principle is the same as that of the embodiment 1. It is operated by operating a control switch during operation.
  • the locking/unlocking action of the entire device can be realized, the response is fast, the locking time can be increased by 10 times compared with the traditional one, the locking efficiency is extremely significant, and there are still technological breakthroughs.

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Abstract

一种流体压力锁定装置，包括待锁定件（3）、动力组件（4）和N根连杆（1），连杆（1）的内部为中空结构，N根连杆（1）依次连接，N为≥2的整数，其中第1根连杆（1）的始端与动力组件（4）连接，第N根连杆（1）的末端封闭并安装有待锁定件（3）；在每两根相邻的连杆（1）之间安装有锁定组件（2）；锁定组件（2）包括中空套体（2-1）、内连接头（2-2）、锁定体（2-3）、第一密封圈（2-4）和第二密封圈（2-5）。该锁定装置能够实现各连杆的同步锁定或解锁，锁定时间可由传统10秒以上降低至1秒内，锁定迅速快捷、操作简单；在使用时，能够调节连杆，使用灵活性高、角度调节范围大。

Description

一种流体压力锁定装置 技术领域
本发明涉及一种机械锁定装置，特别是一种流体压力锁定装置。
背景技术
现有技术中，将若干节短杆件或短管件进行依次连接得到整体的一根长杆或长管，得到的结构根据需求和应用场景可为多种结构。如图1所示，为长杆的一种常见结构，在使用时长杆的一端可进行固定，另一端作为活动端可连接作用工具(照明指示灯、反射镜、钩子等)，相邻的两节短杆之间通过螺丝、螺杆与螺帽的配合进行连接和锁定，或是通过铰接、焊接等方式来实现。在使用时，相互相邻的短杆和短杆之间的连接与调节只能通过操作螺母和螺丝来实现锁定，劳动强度大、费时费力。
发明内容
本发明的发明目的是，针对上述问题，提供了一种结构简单的流体压力锁定装置，通过将连杆设计为中空结构，并借助流体在流体通道内的快速传递而产生的锁定力矩，可将N个锁定组件同步进行锁定和解锁，从而使与锁定组件相连接的各连杆也同步被锁定，锁定时间能够从传统上的10s以上达到1秒范围内、锁定快捷。
为达到上述目的，本发明所采用的技术方案是：
一种流体压力锁定装置，包括动力组件、待锁定件和N个锁定组件，N个锁定组件按顺序依次连接，与动力组件连接的第1个锁定组件为始端锁定组件，第N个锁定组件作为末端锁定组件，所述待锁定件安装于末端锁定组件上或是通过推动组件与末端锁定组件连接；相邻的两个锁定组件之间通过连杆相连接，所述连杆的内部为中空结构；所述N为≥1的整数；
每一个锁定组件均包括有中空套体、内连接头、锁定体和第一密封圈，所述内连接头安装在中空套体内，所述锁定体部分插入中空套体的内部并安装于中空套体上，所述锁定体与内连接头相互分离设置、且于中空套体内的锁定体的端部与内连接头的端部具有间隙，在锁定体和内连接头的内部均贯穿有通孔，所述第一密封圈套装在锁定体上并位于锁定体的外壁 与中空套体的内壁之间；
所述动力组件通过连杆与始端锁定组件的内连接头连通，始端锁定组件的锁定体通过连杆与下一锁定组件连通，各锁定体组件内的通孔与各连杆的内部相连通后形成一流体通道，所述动力组件向流体通道内注入流体并在流体通道内产生一锁定力，各个锁定组件在该锁定力的控制下进行锁定或解锁动作，以将N个锁定组件进行同步锁定或解锁；在非锁定状态下，所述锁定体可在中空套体的纵向空间上任意摆动α角和/或可在中空套体的横截面方向沿着中空套体的内壁周向转动0至360度。
作为优选实施方式，所述中空套体的内径从一端至另外一端由大至小依次设置，包括大口径端和小口径端，所述小口径端的端部为弧面或锥面设置；所述内连接头位于大口径端，所述锁定体设置于小口径端；
所述锁定体为内部贯通有通孔的锁定球体，在非锁定状态下，所述锁定球体可在中空套体的纵向空间上任意摆动α角，α角的摆动范围是0至60度或90至174度；处于非锁定状态下的锁定球体，还可在中空套体的横截面方向沿着中空套体的内壁周向转动0至360度。
上述方案中，所述锁定球体的外壁相切于中空套体的内壁上，且各切线向中空套体的外部依次延长至相交、得到一圆锥体，该圆锥体的锥角为∠A，3度≤∠A≤20度。
上述方案中，所述中空套体的大口径端的内壁上设置有限位螺纹，所述限位螺纹远离锁定体设置，且在内连接头的外壁上设置有与所述限位螺纹相匹配的螺纹。
上述方案中，所述锁定组件还包括用以密封大口径端的第二密封圈，绕内连接头的外壁设置有一凹槽，所述第二密封圈安装在所述凹槽内。
上述方案中，作为另一种优选实施方式，所述锁定体为内部贯通有通孔的圆柱体结构或圆锥体结构，在非锁定状态下，所述锁定体可在中空套体的横截面方向沿着中空套体的内壁周向转动0至360度。
上述方案中，作为另一种优选实施方式，所述锁定体为内部贯通有通孔的圆台体，在非锁定状态下，所述锁定体可在中空套体的横截面方向沿着中空套体的内壁周向转动0至360度。
上述方案中，当所述锁定组件的数量为≥2时，先将所述锁定组件进行串接、或并接、亦或是串并混接后，再连接在两根相邻的连杆之间。
上述方案中，作为优选实施方式，所述流体为高压气体或可流动的液体。
上述方案中，所述动力组件包括储气罐、空气压缩机、二位三通电磁阀和压力稳定系统，所述空气压缩机的输入端与储气罐连接，所述二位三通电磁阀的入口与空气压缩机的输出端连接，二位三通电磁阀的出口通过连杆与始端锁定组件上的内连接头相连接，二位三通电磁阀的排气口安装有所述压力稳定系统；所述二位三通电磁阀连接有一控制开关。
所述连杆和锁定组件均为不锈钢材质或其他硬质金属材质。
所述待锁定件具体可以为腹腔镜、吸盘、钩子或其他应用场所所需的工具。
由于采用上述技术方案，本发明具有以下有益效果：
1.本发明的锁定装置主要由动力组件、待锁定件和N个锁定组件构成，相邻的两个锁定组件之间通过连杆进行连接，所述连杆的内部为中空结构；所述N为≥1的整数；且每一个锁定组件均包括有中空套体、内连接头、锁定体、第一密封圈和第二密封圈。在使用时，通过动力组件(例如带有储气罐的空气压缩机)向流体通道内迅速充入具有一定压力的气体或液体，各锁定组件受到内部气压和外部大气压的相互作用，产生一压力差，该压力差将锁定体推向低压部分，同时该压力差在垂直于流体通道的方向上分解得到一静摩擦力，所述静摩擦力乘以锁定体的横截面长度得到锁定体的静摩擦力矩，相当于锁定力矩。即通过动力组件的控制，同步实现各锁定组件的同步锁定或解锁，锁定时间可由传统10秒以上降低至1秒内，锁定迅速快捷、操作简单。
2.本发明的锁定装置根据使用场景和需求，将主要由中空套体、内连接头、锁定体、第一密封圈构成的锁定组件设置为不同结构，具体是所述锁定体的结构有所不同(分为球体、圆柱体、圆锥体、或圆台体)，在非锁定状态下，不管何种结构下的锁定体均可在中空套体的横截面方向沿着中空套体的内壁周向转动0至360度。当所述锁定体为球体结构时，所述锁定体可在中空套体的纵向空间上任意摆动α角，设单个锁定组件可摆动的角度范围为K，则将N个锁定组件依次串接得到的锁定装置可调节的范围是(N-1)×K，故安装在末端锁定组件的待锁定件可随实际需要来调节，使用灵活性高、角度调节范围大，使用更为方便。
3.本发明的锁定组件设有第一密封圈和第二密封圈，第一密封圈可将中空套体的小口径端封闭，第二密封圈可将中空套体的大口径端封闭，故在第一密封圈和第二密封圈的作用下流体通道内的流体不会泄露、同时外界的气压也无法进入流体通道内，保证整个流体通道处 于完全密闭的空间，整个锁定装置更加安全稳定、耐用。
4、本发明的锁定装置借助流体自身产生的压力与外界大气压强的作用原理，实现对N根连杆的同步锁定，无需每个锁定组件都加入气缸、电机等复杂电气件，整体结构简单、成本低。
附图说明
图1是现有技术中若干根短杆连接得到的长杆的一种结构示意图。
图2是本发明一种流体压力锁定装置的一种结构示意图。
图3是单个锁定组件的一种剖面结构示意图。
图4是单个锁定组件的另一种剖面结构示意图。
图5是单个锁定组件的另一种剖面结构示意图。
图6是2个锁定组件反向串联的一种剖面结构示意图。
图7是2个锁定组件并接后的剖面结构示意图。
图8所述锁定组件受力锁定原理的结构示意图。
图9是单个锁定组件摆动的一种状态示意图。
图10-1是单个锁定组件摆动前的状态示意图。
图10-2是图10-1中的单个锁定组件摆动后的状态示意图。
图中标号为：1、连杆，2、锁定组件，2-1、中空套体，2-2、内连接头，2-3、锁定体，2-4、第一密封圈，2-5、第二密封圈，3、待锁定件，4、动力组件，5、通孔，6、间隙，7、限位螺纹。
具体实施方式
下面结合附图和具体实施例对发明的具体实施进一步说明，但不用以限制本发明。
实施例1
如图2所示，一种流体压力锁定装置，包括动力组件4、待锁定件3和N个锁定组件2，N个锁定组件2按顺序依次连接，与动力组件4连接的第1个锁定组件2作为始端锁定组件，第N个锁定组件2作为末端锁定组件，待锁定件3通过推动组件与末端锁定组件连接或是直 接安装在末端锁定组件上。作为一种具体实施例，所述推动组件可以由活塞、气缸、活塞杆、单向阀组成，该推动组件一方面接收末端锁定组件2上的锁定体2-3输送来的流体，通过流体控制推动组件对待锁定件的夹持或固定。相邻的两个锁定组件2之间通过连杆1进行连接，所述连杆1的内部为中空结构；所述N为≥1的整数。
所述待锁定件3具体可以为腹腔镜、吸盘、钩子或其他应用场所所需的工具。
每一个锁定组件2均包括有中空套体2-1、内连接头2-2、锁定体2-3和第一密封圈2-4，所述内连接头2-2安装在中空套体2-1内。所述锁定体2-3部分插入中空套体2-1的内部并安装于中空套体2-1上。所述锁定体2-3与内连接头2-2相互分离设置、且于中空套体2-1内的锁定体2-3的端部与内连接头2-2的端部具有间隙6。在锁定体2-3和内连接头2-2的内部均贯穿有通孔5。所述第一密封圈2-4套装在锁定体2-3上并位于锁定体2-3的外壁与中空套体2-1的内壁之间。所述锁定体2-3和内连接头2-2具体还需通过螺丝、螺钉或焊接的方式固定于中空套体2-1上。
各内连接头2-2与连杆1的连接、各锁定体2-3与连杆1的连接均为紧密连接，无流体渗漏，均为密封状态的刚性连接。
所述动力组件4通过连杆1与始端锁定组件的内连接头2-2连通，始端锁定组件的锁定球通过连杆1与下一锁定组件2连通。各锁定组件内的通孔5与各连杆1的内部相连通后形成一流体通道。所述动力组件4向流体通道内注入流体，并通过所述流体在流体通道内产生的锁定力控制各个锁定组件2的锁定或解锁动作，以将N各锁定组件2进行同步锁定或解锁。在非锁定状态下，所述锁定体可在中空套体2-1的纵向空间上任意摆动α角和/或可在中空套体2-1的横截面方向沿着中空套体2-1的内壁周向转动0至360度。
本实施例中，如图3所示，所述锁定体2-3为内部贯通有通孔5的锁定球体。在非锁定状态下，α角的摆动范围是0至60度或90至174度。处于非锁定状态下的锁定球体，除了可在纵向空间上进行摆动外，还可在中空套体2-1的横截面方向沿着中空套体2-1的内壁周向转动0至360度。设单个锁定组件2可调节的角度范围为K，则将N根连杆1依次连接得到的锁定装置可调节的范围是(N-1)×K。
如图9所示，在纵向方向上，以中空套体2-1的内部(即通孔5)为中心(即O)，锁定球体在中空套体2-1的纵向空间上从中心位置向中空套体2-1的右侧内壁摆动α角，此摆动范围是0至60度。即不管锁定球体不管是朝哪一个方向的摆动，从中空套体2-1的中心向中空套体2-1的内壁摆动的α角为0至60度。此α角的大小与连杆的规格大小以及锁定角∠A的大小有关，经本发明人研究，此情况下的α角在45至50度范围内锁定效果最优。
在中空套体2-1的纵向方向上，若锁定球体从中空套体2-1内壁的一侧摆动至中空套体2-1内壁的另一侧，如图10-1、图10-2所示。具体如图所示，从中空套体2-1的右侧(即O1)向中空套体2-1的左侧(即O2)内壁摆动α角，此α角的最大值，即α角为90至174度。此α角的大小与连杆的规格大小以及锁定角∠A的大小有关，经本发明人研究，此情况下的α角在90至100度范围内较为实用。
需要说明的是：上述对锁定球体的摆动角度的示意说明仅从图进行具体说明而已，不用以对α的限制，连杆1随锁定球体的转动实际可在纵向方向上进行任意的摆动。
当所述锁定体2-3为球体时，所述中空套体2-1的内径从一端至另外一端由大至小依次设置。包括大口径端和小口径端，所述小口径端的端部为弧面或锥面设置。所述内连接头2-2位于大口径端，所述锁定体2-3设置于小口径端。将中空套体2-1设计为一端大、另一端小，可以使锁定球体在安装时从大口径端穿入，但锁定球体无法从小口径端滑出，同时被小口径端上的第一密封圈2-4固定。
上述方案中，当所述锁定体2-3为球体结构时，所述锁定体2-3的外壁相切于中空套体2-1的内壁上，且各切线向中空套体2-1的外部依次延长至相交、得到一圆锥体。该圆锥体的锥角为∠A，3度≤∠A≤20度。将所述锁定球体设计为此参数可显著提高锁定力矩，锁定更加牢固，且从锁定状态转换为解锁状态时，锁定组件2不会被锁死。
所述中空套体2-1的大口径端的内壁上设置有限位螺纹7，所述限位螺纹7远离锁定体2-3设置，且在内连接头2-2的外壁上设置有与所述限位螺纹7相匹配的螺纹。所述限位螺纹7用于在安装内连接头2-2时，起到卡位的作用，起到内连接头2-2与锁定体2-3一直保持设置的间隙6距离。
本实施例中，为进一步增强锁定组件2的气密性，所述锁定组件还包括用以密封大口径端的第二密封圈2-5，绕内连接头2-2的外壁设置有一凹槽，所述第二密封圈2-5安装在所述凹槽内。
所设置的第一密封圈2-4和第二密封圈2-5均为耐磨的软质O圈，所述第一密封圈2-4将锁定体2-3这一端的中空套体2-1密封，第二密封圈2-5将内连接头2-2这一端的中空套体2-1密封，在第一密封圈2-4和第二密封圈2-5的配合使用下，能够保证整个流体通道处于完全密闭的环境，故能够保证锁定装置的锁定稳定性。并且第一密封圈2-4的设置还能保证锁定体2-3处于转动/摆动状态时，还能一直保持对中空套体2-1的密封。
作为优选实施方式，当所述锁定组件2的数量为≥2时，所述锁定组件2先进行串接、或并接、亦或是串并混接后，再连接在两根相邻的连杆1之间。为节约成本和简化锁定装置 结构的目的，所述锁定组件2的数量一般为1个即可达到锁定目的。采用2个或2个以上是为了提高整个锁定装置的调节角度的灵活性亦或是应用场景的需要。
当为2个或2个以上的锁定组件2时，如图6所示，为两个锁定组件2的反向串联示意图，当然也可以正向串联。如图7所示，为两个锁定组件2并接的结构示意图，当所述锁定体2-3为球体时，单个连杆1角度的调节和摆动组合更为灵活，即单个锁定组件2可调节的角度范围可由原来的K变为2K，则将N个锁定组件2依次连接得到的锁定装置可调节的范围是2(N-1)×K。当然，对于3个以上的锁定组件2的连接方式不在此一一列举，凡在本发明的意旨范围内均落入本发明的保护范围。
本实施例中，所述流体具体为高压气体或可流动的液体，可流动的液体具体可以是水或其他液体。
所述连杆1、锁定体2-3、内连接头2-2和中空套体2-1优选为不锈钢材质或其他硬质金属材质。
所述动力组件4包括储气罐、空气压缩机、二位三通电磁阀和压力稳定系统，所述空气压缩机的输入端与储气罐连接，所述二位三通电磁阀的入口与空气压缩机的输出端连接，二位三通电磁阀的出口通过连杆1与始端锁定组件上的内连接头相连接，二位三通电磁阀的排气口安装有所述压力稳定系统；所述二位三通电磁阀连接有一控制开关。
本发明在使用时：令所述锁定球体的直径为20mm，锥角∠A为8度。启动动力组件4工作，具体是空气压缩机通电并产生气压，打开二位三通电磁阀，在压力稳定系统的控制下，向中空结构的连杆1内输送2.0mpa的压力，由于各连杆1和各锁定组件2通过流体通道相互连通，2.0mpa的压力依次快速传递至各连杆1内，每个锁定组件2上的锁定体2-3均受到27牛顿米的锁定力矩，即在密闭的流体通道内通过充入具有一定强度的压力，即可同时锁定各锁定球体，从而将各连杆1锁定。经本发明人的模型试验，当N＝5，锁定球体＝4时，通过控制电磁阀的通电和断电可以实现0.1秒内的锁定或解锁，具备超过人的肩、肘和腕关节三关节串联系统的自由度。
所述锁定体2-3的受力锁定的原理示意图，如图8所示：该球体的球心为O1，CD是球体的直径(即第一密封圈2-4的安装位置)、球体的半径为R1，以球体与中空套体2-1的接触面中的接触点作为相切点，并做切线向中空套体2-1的外部延长相交于A点，得到一圆锥体。图8所示的相切圆心为O2，EF为其直径，半径为R2为该圆锥体的一种剖面结构示意图。图中所示EF平行CD，得到圆锥体的锥角为∠A，3度≤∠A≤20度。两个圆的参数，具体为：O1到O2长度是R1的0.026到0.174倍，R2是R1的0.99965到0.98481倍。本发明人已根 据上述参数作出本发明的模型，通过操作一个控制开关即可进行锁定/解锁的动作，反应迅速，锁定时间相较于传统的可提高10倍，锁定效率极为显著。
本锁定组件2中的锁定体2-3为球体时，是利用第一密封圈2-4将球体分为两个相互密闭部分，与流体通道连接部分接入压力流体，产生压力差f1，压力差将球体推向低压部分，由于锥度的原因，产的n倍(∠A在3度到20度时是38.2倍到5.7倍)垂直于球头的球面的压力f2，所产生的静摩擦力等于f2乘以摩擦系数。静摩擦力乘以球体的半径等于静摩擦力矩，相当于锁定力矩，即动力组件4启动，流体通道内瞬间充满气压，然后在各个锁定组件2上的球体依次受力产生一锁定力矩，瞬间受力被锁定，各连杆1在调节至适宜角度后瞬间被锁定。
本流体压力锁定组件2的锁定点(即球体与中空套体2-1的接触点)位于接近锁定球体最大圆的一个圆内，和常见的顶杆方式锁定不同，具体是将锁定组件的顶杆顶在球头的一个面不同，不管是围绕连杆1长轴旋转或摆动，各向的锁定力矩大致相等，锁定稳定而可靠。
本实施例中的所述锁定装置除了具备上述锁定效率和锁定特点外，还具有如下显著优点：1、可以在非锁定状态下、在中空套体2-1的纵向方向上摆动0至60度或90至174度；2、处于非锁定状态下的锁定球体，除了可在纵向空间上进行摆动外，还可在中空套体2-1的横截面方向沿着中空套体2-1的内壁周向转动0至360度。锁定装置对连杆1的调节角度大、灵活性高，故在使用过程，对待锁定件的位置调整/角度调节均更为灵活与实用，并且快捷。
实施例2
如图4所示，所实施例1所不同的是：所述锁定体2-3为内部贯通有通孔5的圆柱体结构或圆锥体结构，在非锁定状态下的连杆1可绕与之相连接的锁定体2-3周向转动0至360度。即该结构的锁定装置在工作时同样在动力组件4的控制下，通过向流体通道内充入/收回流体以实现对锁定体2-3的瞬间锁定或解锁。由于锁定体2-3的结构有不同，对于连杆1的调节角度有所区别，本结构的锁定体2-3，只能在非锁定状态下，所述连杆1绕与之相连接的锁定体2-3周向转动0至360度。虽然不能进行上下一定幅度的调节，但其实现结构较球体更为简单，可满足部分应用场景的需求。
实施例3
如图5所示，所实施例1所不同的是：所述锁定体2-3为内部贯通有通孔5的圆台体， 在非锁定状态下的连杆1可绕与之相连接的锁定体2-3周向转动0至360度。即该结构的锁定装置在工作时同样在动力组件4的控制下，通过向流体通道内充入/收回流体以实现对锁定体2-3的瞬间锁定或解锁。由于锁定体2-3的结构有不同，对于连杆1的调节角度有所区别，本结构的锁定体2-3，只能在非锁定状态下，所述连杆1绕与之相连接的锁定体2-3周向转动0至360度。虽然不能进行上下一定幅度的调节，但其实现结构较球体更为简单，可满足部分应用场景的需求。
上述实施例2和实施3中，所述锁定装置的组成机构虽然在非锁定状态下与现有的角度调节范围不大，但是其工作原理与实施例1相同，在工作时通过操作一个控制开关即可实现整个装置的锁定/解锁的动作，反应迅速，锁定时间相较于传统的可提高10倍，锁定效率极为显著，依然有技术突破。
上述说明是针对本发明较佳可行实施例的详细说明，但实施例并非用以限定本发明的专利申请范围，凡本发明所提示的技术精神下所完成的同等变化或修饰变更，均应属于本发明所涵盖专利范围。

Claims (10)

  1. 一种流体压力锁定装置，其特征在于：包括动力组件、待锁定件和N个锁定组件，N个锁定组件按顺序依次连接，与动力组件连接的第1个锁定组件为始端锁定组件，第N个锁定组件作为末端锁定组件，所述待锁定件安装于末端锁定组件上或是通过推动组件与末端锁定组件连接；相邻的两个锁定组件之间通过连杆相连接，所述连杆的内部为中空结构；所述N为≥1的整数；
    每一个锁定组件均包括有中空套体、内连接头、锁定体和第一密封圈，所述内连接头安装在中空套体内，所述锁定体部分插入中空套体的内部并安装于中空套体上，所述锁定体与内连接头相互分离设置、且于中空套体内的锁定体的端部与内连接头的端部具有间隙，在锁定体和内连接头的内部均贯穿有通孔，所述第一密封圈套装在锁定体上并位于锁定体的外壁与中空套体的内壁之间；
    所述动力组件通过连杆与始端锁定组件的内连接头连通，始端锁定组件的锁定体通过连杆与下一锁定组件连通，各锁定体组件内的通孔与各连杆的内部相连通后形成一流体通道，所述动力组件向流体通道内注入流体并在流体通道内产生一锁定力，各个锁定组件在该锁定力的控制下进行锁定或解锁动作，以将N个锁定组件进行同步锁定或解锁；在非锁定状态下，所述锁定体可在中空套体的纵向空间上任意摆动α角和/或可在中空套体的横截面方向沿着中空套体的内壁周向转动0至360度。
  2. 根据权利要求1所述的一种流体压力锁定装置，其特征在于：所述中空套体的内径从一端至另外一端由大至小依次设置，包括大口径端和小口径端，所述小口径端的端部为弧面设置；所述内连接头位于大口径端，所述锁定体设置于小口径端；
    所述锁定体为内部贯通有通孔的锁定球体，在非锁定状态下，所述锁定球体可在中空套体的纵向空间上任意摆动α角，α角的摆动范围是0至60度或90至174度；处于非锁定状态下的锁定球体，还可在中空套体的横截面方向沿着中空套体的内壁周向转动0至360度。
  3. 根据权利要求2所述的一种流体压力锁定装置，其特征在于：所述锁定球体的外壁相切于中空套体的内壁上，且各切线向中空套体的外部依次延长至相交、得到一圆锥体，该圆锥体的锥角为∠A，3度≤∠A≤20度。
  4. 根据权利要求2所述的一种流体压力锁定装置，其特征在于：所述中空套体的大口径端的内壁上设置有限位螺纹，所述限位螺纹远离锁定球体设置，且在内连接头的外壁上设置 有与所述限位螺纹相匹配的螺纹。
  5. 根据权利要求4所述的一种流体压力锁定装置，其特征在于：所述锁定组件还包括用以密封大口径端的第二密封圈，绕内连接头的外壁设置有一凹槽，所述第二密封圈安装在所述凹槽内。
  6. 根据权利要求1所述的一种流体压力锁定装置，其特征在于：所述锁定体为内部贯通有通孔的圆柱体结构或圆锥体结构，在非锁定状态下，所述锁定体可在中空套体的横截面方向沿着中空套体的内壁周向转动0至360度。
  7. 根据权利要求1所述的一种流体压力锁定装置，其特征在于：所述锁定体为内部贯通有通孔的圆台体，在非锁定状态下，所述锁定体可在中空套体的横截面方向沿着中空套体的内壁周向转动0至360度。
  8. 根据权利要求1所述的一种流体压力锁定装置，其特征在于：当所述锁定组件的数量为≥2时，先将所述锁定组件进行串接、或并接、亦或是串并混接后，再连接在两根相邻的连杆之间。
  9. 根据权利要求1-8任意一项所述的一种流体压力锁定装置，其特征在于：所述流体为高压气体或可流动的液体。
  10. 根据权利要求9所述的一种流体压力锁定装置，其特征在于：所述动力组件包括储气罐、空气压缩机、二位三通电磁阀和压力稳定系统，所述空气压缩机的输入端与储气罐连接，所述二位三通电磁阀的入口与空气压缩机的输出端连接，二位三通电磁阀的出口通过连杆与始端锁定组件上的内连接头相连接，二位三通电磁阀的排气口安装有所述压力稳定系统；所述二位三通电磁阀连接有一控制开关。
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