CN103909478B - A kind of flexibility for narrow operating spaces cuts off clamp and using method - Google Patents
A kind of flexibility for narrow operating spaces cuts off clamp and using method Download PDFInfo
- Publication number
- CN103909478B CN103909478B CN201410139606.3A CN201410139606A CN103909478B CN 103909478 B CN103909478 B CN 103909478B CN 201410139606 A CN201410139606 A CN 201410139606A CN 103909478 B CN103909478 B CN 103909478B
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- rigid rod
- herringbone
- flexible link
- clamping
- assembly
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26B—HAND-HELD CUTTING TOOLS NOT OTHERWISE PROVIDED FOR
- B26B17/00—Hand cutting tools, i.e. with the cutting action actuated by muscle power with two jaws which come into abutting contact
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- Forests & Forestry (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Clamps And Clips (AREA)
Abstract
The present invention relates to a kind of flexibility for narrow operating spaces and cut off clamp and using method, this flexibility cuts off clamp by introducing compliant mechanism, and make it have the feature of multiple action phase, the number of parts contained is less, easy to process; The connector of compliant mechanism can make the part of same size, easily manufactures; Utilize little component to complete multiple function, save cost; Simple to operate in use procedure, be easy to safeguard and fault is less likely to occur, may be used for, in complex electromechanical systems assembling and maintenance, under narrow operating spaces, completing the operations such as clamping and cut-out easily.Pliers can be made after execution to automatically reply original position, simple and be that to cut off separation next time ready fast in narrow operating spaces.
Description
Technical field
The present invention relates to a kind of two-jawed pliers, particularly a kind of flexibility for narrow operating spaces cuts off clamp and using method
,may be used in narrow operating spaces, singlehanded convenient realization can cut off and be separated two actions.
Background technology
In daily life and engineering reality, often can use cutting nipper and bolt clipper etc., complete object and cut off with wire rope, be separated.But in the assembling and maintenance process of some plant equipment or electronic product, the operating space that complicated Mechatronic Systems structural design leaves hand assembled and maintenance for is narrow and small, one hand is needed to complete whole operation, and limitation of movement after conventional tool contact workpiece, be difficult to complicated operation, easily injured finger in the course of work simultaneously, damage by operation object.1. narrow operating spaces makes hand tools will remain within the scope of 0 degree ~ 45 degree with the operating angle of object, and the strength of cut-out and broken string is difficult to act on binding clip, but cannot produce the power in another direction.In addition by the restriction at operation visual angle, people is made cannot accurately to complete such operation.2. the diversity requirements instrument of operand will have larger cut-out and the power accommodation be separated.If traditional instrument 3. will be used to complete this work, and the necessary assembly process of adjustment and disassembly system, inefficiency will certainly be caused even to affect the problems such as the service behaviour of Mechatronic Systems.Therefore need design a kind of for narrow operating spaces, collection longitudinally completes the clamping of object and wire rope, cut-out and the Special flexible hand tools be separated.
The flexible work characteristics cutting off clamp is narrow space and under needing complicated rupturing operation situation, limitation of movement is caused owing to contacting when completing clamping, another kind of motion can be produced by the distortion of flexible member in clamp, therefore there is multiple action phase, can according to the change of functional requirement or environment etc., adapt to different task, flexible Application is in different occasion, and the introducing of flexible member can reduce number of parts further, simplify manufacture process, improve performance, after having operated, can original position be automatically reverted at every turn.Therefore this mechanism have structure simple, cheap, easy to use, safeguard the features such as easy.
Summary of the invention
The object of this invention is to provide the flexibility for narrow operating spaces that a kind of structure is simple, cheap, serviceability is good and cut off clamp and using method.
The technical solution adopted in the present invention is: a kind of flexibility for narrow operating spaces cuts off clamp, it is characterized in that: comprise the first assembly and the second assembly, the first assembly be made up of rigid body block, left flexible link, right flexible link, left rigid rod and right rigid rod; The structure of the first assembly is symmetrical, left flexible link and right flexible link sectional area little, left rigid rod and right rigid rod sectional area large, left flexible link and right flexible link length short, left rigid rod and right rigid rod length long, left flexible link and left rigid rod are integrative-structures point-blank, and left flexible link is fixedly connected with on the left of rigid body block, right flexible link and right rigid rod are integrative-structures point-blank, and right flexible link is fixedly connected with on the right side of rigid body block; Left rigid rod and right rigid rod are Eight characters structure; Perforate on left rigidity lever arm also connects left clamping rigid rod by connector, and perforate on right rigidity lever arm also connects right clamping rigid rod by connector, and the rigid body block lower left corner is connected the second assembly with the lower right corner respectively by two connectors; Second assembly at least comprises soft segment, the left flexible link of the first herringbone, the right flexible link of the second herringbone, the left rigid rod of the first herringbone and the right rigid rod of the second herringbone; The structure of the second assembly is symmetrical, and the soft segment lower left corner is coaxially fixedly connected with the left rigid rod of the first herringbone, the left flexible link of the first herringbone; The soft segment lower right corner is coaxially fixedly connected with the right rigid rod of the second herringbone, the right flexible link of the second herringbone; Connect rigid rod in the first left flexible link lower end of herringbone by connector, connect rigid rod in the second right flexible link lower end of herringbone by connector; Right clamping rigid rod and rigid rod are linked together by connector; Left clamping rigid rod and rigid rod are linked together by connector.
The blade of cut-out is to the inside equipped with in the left rigid rod of described first herringbone and the right rigid rod lower end of the second herringbone.
There is the notch of gripping objects described left clamping rigid rod and right clamping rigid rod lower end to centerline direction, in order to fixed object.
Centrally line is symmetrical with right flexible link, right rigid rod, the right flexible link of the second herringbone, the right rigid rod of the second herringbone, rigid rod and right clamping rigid rod respectively for described left flexible link, left rigid rod, the left flexible link of the first herringbone, the left rigid rod of the first herringbone, rigid rod and left clamping rigid rod, and the size of correspondence is equal.
Described second assembly and left clamping rigid rod and right clamping rigid rod are in same plane, and the first assembly and rigid rod and rigid rod are in same plane.
A kind of flexibility for narrow operating spaces cuts off clamp using method, it is characterized in that: by object centrally line be positioned in the middle of the left rigid rod of the first herringbone and the right rigid rod of the second herringbone, hand applies active force to left rigid rod and right rigid rod, left rigid rod and right rigid rod rotate, left flexible link and right flexible link occur bending and deformation, make the pin joint of the pin joint of rigid rod and left clamping rigid rod and rigid rod and right clamping rigid rod move to center line simultaneously simultaneously, now in the second assembly, the left flexible link of the first herringbone and the right flexible link of the second herringbone do not deform, the mechanism on center line both sides all moves with the form of four-bar mechanism, when left clamping rigid rod and right clamping rigid rod encounter the end of the left rigid rod of the first herringbone and the right rigid rod of the second herringbone respectively, the left flexible link of the first herringbone and the right flexible link of the second herringbone of the second assembly inside deform, the left rigid rod of first herringbone and the right rigid rod of the second herringbone clamp object one side and cut off, the end of left clamping rigid rod and the end of right clamping rigid rod are subject to the stop of the first herringbone left rigid rod end and the right rigid rod end of the second herringbone respectively, clamp cable another side perpendicular to center line is close to each other, contact causes limitation of movement, continue to apply active force, the left flexible link of the first herringbone in the second assembly and the right flexible link continuous deformation of the second herringbone, the mechanism on line of symmetry both sides is subject to the effect clamping counter-force each other, two bite generation relative movements.
The invention has the beneficial effects as follows: contact assist type compliant mechanism, have the feature of multiple action phase, the number of parts contained is less, easy to process; The connector of compliant mechanism can make the part of same size, easily manufactures; Utilize little component to complete multiple function, save cost; Simple to operate in use procedure, be easy to safeguard and fault is less likely to occur, may be used for, in complex electromechanical systems assembling and maintenance, under narrow operating spaces, completing the operations such as clamping and cut-out easily.Introduce flexible member, make pliers can automatically reply original position after execution, simple and be that to cut off separation next time ready fast in narrow operating spaces.
Accompanying drawing explanation
Below in conjunction with embodiment accompanying drawing, the invention will be further described:
Fig. 1 is the structural representation of embodiment of the present invention initial position;
Operating diagram when Fig. 2 is Fig. 1 flexibility cut-out clamp gripping objects;
Operating diagram when Fig. 3 is Fig. 1 flexibility cut-out clamp cut-out object.
In figure, the 1, first assembly; 2, the second assembly.
Detailed description of the invention
As shown in Figure 1, a kind of flexibility for narrow operating spaces cuts off clamp, comprises the first assembly 1 and the second assembly 2, the first assembly 1 be made up of rigid body block 11, left flexible link 121, right flexible link 122, left rigid rod 131 and right rigid rod 132; The structure of the first assembly 1 is symmetrical, left flexible link 121 and right flexible link 122 sectional area little, left rigid rod 131 and right rigid rod 132 sectional area large, left flexible link 121 and right flexible link 122 length short, left rigid rod 131 and right rigid rod 132 length long, left flexible link 121 and left rigid rod 131 are integrative-structures point-blank, left flexible link 121 is fixedly connected with on the left of rigid body block 11, right flexible link 122 and right rigid rod 132 are integrative-structures point-blank, and right flexible link 122 is fixedly connected with on the right side of rigid body block 11; Left rigid rod 131 and right rigid rod 132 are in Eight characters structure; Perforate on left rigid rod 131 arm also connects left clamping rigid rod 41 by connector, and perforate on right rigid rod 132 arm also connects right clamping rigid rod 42 by connector, and rigid body block 11 lower left corner is connected the second assembly 2 with the lower right corner respectively by two connectors.
Second assembly 2 at least comprises the left rigid rod of soft segment 21, first herringbone left flexible link 221, second herringbone right flexible link 222, first herringbone 231 and the right rigid rod 232 of the second herringbone; The structure of the second assembly 2 is symmetrical, and soft segment 21 lower left corner is coaxially fixedly connected with the left flexible link 221 of the first herringbone left rigid rod 231, first herringbone; Soft segment 21 lower right corner is coaxially fixedly connected with the right flexible link 222 of the second herringbone right rigid rod 232, second herringbone; Connect rigid rod 31 in the first herringbone left flexible link 221 lower end by connector, connect rigid rod 32 in the second herringbone right flexible link 222 lower end by connector; Right clamping rigid rod 42 and rigid rod 32 are linked together by connector; Left clamping rigid rod 41 and rigid rod 31 are linked together by connector.
The blade of cut-out is to the inside equipped with in the left rigid rod of described first herringbone 231 and the second herringbone right rigid rod 232 lower end.
There is the notch of gripping objects left clamping rigid rod 41 and right clamping rigid rod 42 lower end to centerline direction, in order to fixed object.
In the present invention, the length of the section of occuring bending and deformation between the two ends anchoring point that the length of flexible link refers to flexible link; The length of rigid rod refers to the length that plastic deformation section does not occur in mechanism.
Carry out the concrete course of work illustrate with regard to embodiment 1 composition graphs 2, Fig. 3 below:
As shown in Figure 2, a kind of flexibility for narrow operating spaces cuts off the using method of clamp, by object centrally line be positioned in the middle of the left rigid rod of the first herringbone 231 and the right rigid rod 232 of the second herringbone, hand applies active force to left rigid rod 131 and right rigid rod 132, left rigid rod 131 and right rigid rod 132 rotate, left flexible link 121 and right flexible link 122 occur bending and deformation, make rigid rod 31 move to center line with the pin joint of left clamping rigid rod 41 and the pin joint of rigid rod 32 and right clamping rigid rod 42 simultaneously simultaneously, now in the second assembly 2, the left flexible link of the first herringbone 221 and the right flexible link 222 of the second herringbone do not deform, the mechanism on center line both sides all moves with the form of four-bar mechanism, when left clamping rigid rod 41 and right clamping rigid rod 42 encounter the end of the left rigid rod of the first herringbone 231 and the right rigid rod 232 of the second herringbone respectively, the left flexible link of the first herringbone 221 and the right flexible link 222 of the second herringbone of the second assembly 2 inside deform, the left rigid rod of first herringbone 231 and the right rigid rod 232 of the second herringbone clamp object one side and cut off, the end of left clamping rigid rod 41 and the end of right clamping rigid rod 42 are subject to the stop of the first herringbone left rigid rod 231 end and the second herringbone right rigid rod 232 end respectively, clamp cable another side perpendicular to center line is close to each other, contact causes limitation of movement, continue to apply active force, the left flexible link of the first herringbone 221 in the second assembly 2 and the second herringbone right flexible link 222 continuous deformation, the mechanism on line of symmetry both sides is subject to the effect clamping counter-force each other, two bite generation relative movements.
In an embodiment, centrally line is symmetrical with right flexible link 122, the right rigid rod of right rigid rod 132, second herringbone right flexible link 222, second herringbone 232, rigid rod 32 and right clamping rigid rod 42 respectively for left flexible link 121, the left rigid rod of left rigid rod 131, first herringbone left flexible link 221, first herringbone 231, rigid rod 31 and left clamping rigid rod 41, and the size of correspondence is equal.
In force, the situation can cutting off article size and space by reality changes the size of rigid body block 11, the cross-sectional sizes of left flexible link 121, the left flexible link of right flexible link 122, first herringbone 221 and the right flexible link 222 of the second herringbone, length and the corner dimension with center line; And the length of left rigid rod 131, the right rigid rod of right rigid rod 132, first herringbone left rigid rod 231, second herringbone 232, rigid rod 31, rigid rod 32, left clamping rigid rod 41 and right clamping rigid rod 42.But ensure that the second assembly 2 and left clamping rigid rod 41 and right clamping rigid rod 42 are in same plane, the first assembly 1 and rigid rod 31 and rigid rod 32 are in same plane.Each component does not interfere when moving, and wants the object breaking partial destruction during cut-out to the chucking power of object.As shown in Figure 3, after cutting off object, unclamp finger, whole mechanism resiles due to the strain energy of flexible portion distortion storage, ready for cutting off next time.
In embodiment, the material of the first assembly 1 and the second assembly 2 can select the higher material of the yield strengths such as steel (4140Q & T400), titanium (Ti-13 heat treatment) and carbon fiber and elastic modelling quantity; The material of other rigid rod can be ordinary steel.
Claims (6)
1. the flexibility for narrow operating spaces cuts off clamp, comprise the first assembly (1) and the second assembly (2), it is characterized in that: the first assembly (1) be made up of rigid body block (11), left flexible link (121), right flexible link (122), left rigid rod (131) and right rigid rod (132), the structure of the first assembly (1) is symmetrical, left flexible link (121) and right flexible link (122) sectional area little, left rigid rod (131) and right rigid rod (132) sectional area large, left flexible link (121) and right flexible link (122) length short, left rigid rod (131) and right rigid rod (132) length long, left flexible link (121) and left rigid rod (131) are integrative-structures point-blank, left flexible link (121) is fixedly connected with rigid body block (11) left side, right flexible link (122) and right rigid rod (132) are integrative-structures point-blank, right flexible link (122) is fixedly connected with rigid body block (11) right side, left rigid rod (131) and right rigid rod (132) are in Eight characters structure, perforate on left rigid rod (131) arm also connects left clamping rigid rod (41) by connector, perforate on right rigid rod (132) arm also connects right clamping rigid rod (42) by connector, and rigid body block (11) lower left corner is connected the second assembly (2) with the lower right corner respectively by two connectors, second assembly (2) at least comprises soft segment (21), the left flexible link of the first herringbone (221), the right flexible link of the second herringbone (222), the left rigid rod of the first herringbone (231) and the right rigid rod of the second herringbone (232), the structure of the second assembly (2) is symmetrical, and soft segment (21) lower left corner is coaxially fixedly connected with the left rigid rod of the first herringbone (231), the left flexible link of the first herringbone (221), soft segment (21) lower right corner is coaxially fixedly connected with the right rigid rod of the second herringbone (232), the right flexible link of the second herringbone (222), connect rigid rod (31) in the first herringbone left flexible link (221) lower end by connector, connect rigid rod (32) in the second herringbone right flexible link (222) lower end by connector, right clamping rigid rod (42) and rigid rod (32) are linked together by connector, left clamping rigid rod (41) and rigid rod (31) are linked together by connector.
2. a kind of flexibility for narrow operating spaces according to claim 1 cuts off clamp, it is characterized in that: the blade of cut-out is to the inside equipped with in the left rigid rod of described first herringbone (231) and the right rigid rod of the second herringbone (232) lower end.
3. a kind of flexibility for narrow operating spaces according to claim 1 cuts off clamp, it is characterized in that: there is the notch of gripping objects described left clamping rigid rod (41) and right clamping rigid rod (42) lower end to centerline direction, in order to fixed object.
4. a kind of flexibility for narrow operating spaces according to claim 1 cuts off clamp, it is characterized in that: described left flexible link (121), left rigid rod (131), the left flexible link of first herringbone (221), the left rigid rod of first herringbone (231), rigid rod (31) and left clamping rigid rod (41) respectively with right flexible link (122), right rigid rod (132), the right flexible link of second herringbone (222), the right rigid rod of second herringbone (232), centrally line is symmetrical for rigid rod (32) and right clamping rigid rod (42), and the size of correspondence is equal.
5. a kind of flexibility for narrow operating spaces according to claim 1 cuts off clamp, it is characterized in that: described second assembly (2) and left clamping rigid rod (41) and right clamping rigid rod (42) are in same plane, and the first assembly (1) and rigid rod (31) and rigid rod (32) are in same plane.
6. the flexibility for narrow operating spaces cuts off clamp using method, it is characterized in that: by object centrally line be positioned in the middle of the left rigid rod of the first herringbone (231) and the right rigid rod of the second herringbone (232), hand applies active force to left rigid rod (131) and right rigid rod (132), left rigid rod (131) and right rigid rod (132) rotate, left flexible link (121) and right flexible link (122) occur bending and deformation, make rigid rod (31) move to center line with the pin joint of left clamping rigid rod (41) and the pin joint of rigid rod (32) and right clamping rigid rod (42) simultaneously simultaneously, now in the second assembly (2), the left flexible link of the first herringbone (221) and the right flexible link of the second herringbone (222) do not deform, the mechanism on center line both sides all moves with the form of four-bar mechanism, when left clamping rigid rod (41) and right clamping rigid rod (42) encounter the end of the left rigid rod of the first herringbone (231) and the right rigid rod of the second herringbone (232) respectively, the left flexible link of the first herringbone (221) that the second assembly (2) is inner and the right flexible link of the second herringbone (222) deform, the left rigid rod of first herringbone (231) and the right rigid rod of the second herringbone (232) clamp object one side and cut off, the end of left clamping rigid rod (41) and the end of right clamping rigid rod (42) are subject to the stop of the first herringbone left rigid rod (231) end and the right rigid rod of the second herringbone (232) end respectively, clamp cable another side perpendicular to center line is close to each other, contact causes limitation of movement, continue to apply active force, the left flexible link of the first herringbone (221) in second assembly (2) and the right flexible link of the second herringbone (222) continuous deformation, the mechanism on line of symmetry both sides is subject to the effect clamping counter-force each other, two bite generation relative movements.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410139606.3A CN103909478B (en) | 2014-04-09 | 2014-04-09 | A kind of flexibility for narrow operating spaces cuts off clamp and using method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410139606.3A CN103909478B (en) | 2014-04-09 | 2014-04-09 | A kind of flexibility for narrow operating spaces cuts off clamp and using method |
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| Publication Number | Publication Date |
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| CN103909478A CN103909478A (en) | 2014-07-09 |
| CN103909478B true CN103909478B (en) | 2016-01-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410139606.3A Expired - Fee Related CN103909478B (en) | 2014-04-09 | 2014-04-09 | A kind of flexibility for narrow operating spaces cuts off clamp and using method |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106900356B (en) * | 2017-03-27 | 2022-08-02 | 辽宁科技大学 | Flexible positioning and clamping mechanism for grafted seedlings |
| CN110432933A (en) * | 2019-08-23 | 2019-11-12 | 天津大学 | A kind of soft endoscope biopsy forceps |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2989099A (en) * | 1959-08-14 | 1961-06-20 | Detroit Stamping Company | Clamps with flexible jaw members |
| CN1704329A (en) * | 2004-06-04 | 2005-12-07 | 大连理工大学 | Electrothermal-driven flexile micro-gripper |
| CN101717063A (en) * | 2009-11-19 | 2010-06-02 | 大连理工大学 | Flexible microgripper through topological optimization |
| CN102079498A (en) * | 2010-11-18 | 2011-06-01 | 大连理工大学 | Flexible electrothermal drive micro-gripper and manufacturing process method |
-
2014
- 2014-04-09 CN CN201410139606.3A patent/CN103909478B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2989099A (en) * | 1959-08-14 | 1961-06-20 | Detroit Stamping Company | Clamps with flexible jaw members |
| CN1704329A (en) * | 2004-06-04 | 2005-12-07 | 大连理工大学 | Electrothermal-driven flexile micro-gripper |
| CN101717063A (en) * | 2009-11-19 | 2010-06-02 | 大连理工大学 | Flexible microgripper through topological optimization |
| CN102079498A (en) * | 2010-11-18 | 2011-06-01 | 大连理工大学 | Flexible electrothermal drive micro-gripper and manufacturing process method |
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| CN103909478A (en) | 2014-07-09 |
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Granted publication date: 20160120 Termination date: 20210409 |