CN104772727B - Rigid-flexible blended clamp - Google Patents

Abstract

The invention relates to the field of mechanical clamps, and discloses a rigid-flexible hybrid clamp, comprising: at least a pair of rigid clamping systems and flexible clamping systems arranged oppositely, the flexible clamping system includes a flexible clamping seat, located on the The flexible powder capsule of the flexible clamping seat is used to accommodate the magnetic powder and the magnetic field generator used to provide a magnetic field for the magnetic powder; the rigid clamping system includes a rigid clamping seat and several a hydraulic cylinder; the powder capsule is set opposite to the push rod of the hydraulic cylinder. The invention adopts rigid-flexible hybrid clamping mode, the clamp can realize the clamping of workpieces of different shapes and sizes, the adaptability to the workpiece shape is large, and the use efficiency is high; the disassembly and assembly of the workpiece is controlled by the on-off of the magnetic field generator Electricity and current voltage value, high degree of automation.

Description

Rigid-flexible hybrid fixture

technical field

The invention relates to the field of mechanical clamps, in particular to a rigid-flexible mixed clamp.

Background technique

Traditional fixtures are mainly mechanical fixtures, which have been widely used in various processing industries, and their process and design criteria have been standardized. However, these traditional fixtures generally have the following disadvantages: each fixture can only be designed for a certain type of workpiece with the same shape, the fixture has a narrow adaptability to the shape of the workpiece, the use efficiency is low, and it cannot clamp workpieces with irregular shapes; The disassembly and assembly can only be realized manually, which is not convenient for mechanical control and has a low degree of automation.

Contents of the invention

(1) Technical problems to be solved

The object of the present invention is to provide a rigid-flexible hybrid fixture capable of clamping workpieces of various shapes and irregular shapes.

(2) Technical solutions

In order to solve the above technical problems, the present invention provides a rigid-flexible hybrid fixture, including: at least one pair of rigid clamping system and flexible clamping system arranged oppositely, the flexible clamping system includes a flexible clamping seat, located on the The flexible powder capsule of the flexible clamping seat is used to accommodate the magnetic powder and the magnetic field generator used to provide a magnetic field for the magnetic powder; the rigid clamping system includes a rigid clamping seat and several a hydraulic cylinder; the powder capsule is set opposite to the push rod of the hydraulic cylinder.

Wherein, the rigid-flexible mixing clamp also includes a controller, a pressure sensor is provided on the outer surface of the powder capsule opposite to the push rod, and a pressure sensor is also provided at the end of the push rod; the hydraulic cylinder has a And execute the hydraulic control module of the control signal; the input end of the controller is connected with all the pressure sensors in communication, and the output end is connected with the hydraulic control module of the hydraulic cylinder and the magnetic field generator.

Wherein, the rigid clamping system further includes a moving device, through which the hydraulic cylinder is installed on the rigid clamping seat and moves under the driving of the moving device.

Wherein, the moving device includes a first slideway installed on the rigid clamping seat, a second slideway slidably installed on the first slideway, and a sliding block installed on the second slideway; The first slideway is provided with a first linear guide parallel to it, the lead screw of the first linear guide is connected to the first drive motor, and the second slideway is connected to the nut of the first linear guide connection; the second slideway is provided with a second linear guide rail parallel to it, the lead screw of the second linear guide rail is connected to the second drive motor, and the sliding block is connected to the nut of the second linear guide rail; The hydraulic cylinder is installed on the sliding block, and the second drive motor and the first drive motor are respectively connected to the output ends of the controller.

Wherein, the moving device includes several symmetrical three-degree-of-freedom parallel robots, and each symmetrical three-degree-of-freedom parallel robot is equipped with one hydraulic cylinder, and the output ends of the controller are respectively connected with the symmetrical three-degree-of-freedom parallel robots.

Wherein, several symmetrical three-degree-of-freedom parallel robots are arranged in an array.

Wherein, the symmetrical three-degree-of-freedom parallel robot is a Delta parallel mechanism.

Wherein, the rigid-flexible mixing fixture also includes a display device, the outer surface of the powder capsule opposite to the push rod is provided with a pressure sensor, and the end of the push rod is also provided with a pressure sensor; the display device is respectively connected to all The pressure sensor is connected with the magnetic field generator for displaying the pressure values detected by all the pressure sensors and the current and voltage values of the magnetic field generator.

Wherein, the magnetic powder is ferric oxide powder.

Wherein, the magnetic field generator includes a power regulator and an excitation coil, the excitation coil is attached to the flexible clamping seat, and the power regulator is connected to the excitation coil for adjusting the voltage and voltage of the excitation coil. current value.

(3) Beneficial effects

The rigid-flexible hybrid clamp provided by the present invention makes the surface of the clamped object coated with magnetic powder, and the magnetic powder is pressed against the clamped object under the action of the magnetic field to complete the clamping or moving action. The magnetization of the magnetic powder increases with the increase of the magnetic field, so the pressure of the magnetic powder on the clamped object can be changed by adjusting the strength of the magnetic field to clamp and clamp the clamped object. At the same time, because the shape of the powder capsule can be deformed arbitrarily, flexible and free clamping can be realized, and it can act on any non-magnetic special-shaped workpiece. The fixture of the present invention adopts a rigid-flexible mixed clamping method, and the fixture can realize the clamping of workpieces of different shapes and sizes, has a large adaptability to the shape of the workpiece, and has high use efficiency; the disassembly and assembly of the workpiece is controlled by the magnetic field generator The power on and off and the current and voltage values have a high degree of automation.

Description of drawings

Fig. 1 is the front view of embodiment 1 of the present invention;

Fig. 2 is the sectional view of the hydraulic cylinder of embodiment 1 of the present invention;

Fig. 3 is the front view of Embodiment 2 of the present invention;

Fig. 4 is the front view of Embodiment 3 of the present invention;

Fig. 5 is a view to A in Fig. 4;

Fig. 6 is a front view of Embodiment 4 of the present invention.

In the figure, 1: rigid clamping system; 101: rigid clamping seat; 2: flexible clamping system; 201: flexible clamping seat; 202: powder capsule; 203: magnetic powder; 204: magnetic field generator; 3: workpiece; 4: Hydraulic cylinder; 401: Cylinder body; 402: Piston; 403: Push rod; 404: Hydraulic control module; 405: Liquid supply pipe; 5: Symmetrical three-degree-of-freedom parallel robot; Two slides; 8: sliding block.

detailed description

The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

Example 1

Referring to Fig. 1, the rigid-flexible hybrid clamp of the present invention includes: two pairs of rigid clamping systems 1 and flexible clamping systems 2 arranged oppositely, and the clamping between the two pairs of rigid clamping systems 1 and flexible clamping systems 2 The angle is 90 degrees, that is, it is arranged in a rectangle as shown in the figure. The flexible clamping system 1 includes a flexible clamping base 201 , a flexible capsule 202 disposed on the flexible clamping base 201 for containing magnetic powder 203 , and a magnetic field generator 204 for providing a magnetic field for the magnetic powder 203 . The powder capsule is made of wear-resistant material. Referring to Fig. 1, in the present embodiment, the powder capsule 202 is installed on the inner side of the flexible holding seat 201, and the magnetic field generator 204 is installed on the outer side. It should be noted that, in actual use, the magnetic field generator 204 can be combined with the flexible The clamping seat 201 is made into an integral structure. The rigid clamping system 1 includes a rigid clamping base 101 and several hydraulic cylinders 4 arranged on the rigid clamping base 101 . Preferably, several hydraulic cylinders 4 are arranged in an array and installed on the rigid clamping seat 101 . 2, the hydraulic cylinder 4 includes a cylinder 401, a piston 402, a push rod 403 and a hydraulic control module 404 that can receive and execute control signals. The piston 402 is installed in the inner chamber of the cylinder 401, and the inner chamber is divided into front The chamber and the rear chamber, the push rod 403 is fixed on the piston 402, and passes through the front end of the cylinder 401, the front chamber and the rear chamber are respectively connected with the liquid storage chamber through the liquid supply pipe 405, on the liquid supply pipe 405 A hydraulic control module 404 is provided, and the controller is connected to the hydraulic control module 404 of the hydraulic cylinder 4 . The controller sends a control signal to the hydraulic control module to control the hydraulic control module 404 to work, thereby controlling the movement of the push rod of the hydraulic cylinder 4 . The hydraulic control module 404 includes a pump and a three-position four-way reversing valve. The powder capsule 202 is arranged opposite to the push rod 403 of the hydraulic cylinder 4 . The powder capsule 202 and the push rod 403 can move toward each other to clamp the workpiece, or only the powder 202 can move toward the direction of the push rod 403 under the magnetic force of the magnetic field generator 204 to clamp the workpiece. The magnetic powder 203 in this embodiment is preferably ferric oxide powder. The magnetic field generator 204 includes an excitation coil and a power regulator, and the power regulator can receive and execute control signals. The excitation coil is attached to the flexible clamping seat 201, and the power regulator is connected to the excitation coil for adjusting the voltage and current of the excitation coil. The power regulator is preferably a single-phase thyristor power regulator.

When the rigid-flexible hybrid fixture of the present invention is in use, when the workpiece needs to be clamped, the hydraulic cylinder 4 supplies pressure liquid into the cylinder body 401 through the liquid supply pipe 405, so that the piston 402 moves, and the push rod 403 stretches out; the magnetic field generator 204 generates a strong magnetic field, and the magnetic powder 203 in the powder capsule 202 is under the action of a strong magnetic field, and the magnetic powder 203 changes from magnetic neutral to strong magnetic, so they interact with each other to form a "chain" bridge between the magnetic poles, and then Transformed into a macrocolumnar structure, making it change from powder to viscoplastic in an instant, its rheological properties change sharply, showing mechanical properties similar to solids, with high yield stress, and magnetic powder 203 pushes powder capsule 202 to The workpiece 3 moves relatively, and the powder capsule 202 and the push rod 403 relatively clamp the workpiece 3, forming a rigid-flexible mixed clamping effect. When the workpiece needs to be disassembled, the magnetic field strength of the magnetic field generator can be reduced step by step until the workpiece is disassembled, the power supply of the magnetic field generator is turned off, and the next workpiece clamping work is performed.

In the present invention, by applying a magnetic field to the magnetic powder, the magnetic powder is coated on the surface of the clamped object, and the magnetic powder is pressed to the clamped object under the action of the magnetic field to complete the clamping or moving action. The magnetization of the magnetic powder increases with the increase of the magnetic field, so the pressure of the magnetic powder on the clamped object can be changed by adjusting the strength of the magnetic field to clamp and clamp the clamped object. At the same time, because the shape of the powder capsule can be deformed arbitrarily, flexible and free clamping can be realized, and it can act on any non-magnetic special-shaped workpiece. The fixture of the present invention adopts a rigid-flexible mixed clamping method, and the fixture can realize the clamping of workpieces of different shapes and sizes, has a large adaptability to the shape of the workpiece, and has high use efficiency; the disassembly and assembly of the workpiece is controlled by the magnetic field generator The power on and off and the current and voltage values have a high degree of automation.

Further, the rigid-flexible mixing clamp also includes a controller (not shown), the outer surface of the capsule 202 opposite to the push rod 403 is provided with a pressure sensor (not shown), and the end of the push rod 403 is also provided with a pressure sensor (not shown). The input end of the controller is communicatively connected with all the pressure sensors, and the output end is connected with the hydraulic cylinder 4 and the magnetic field generator 204 . Specifically, the output end of the controller is connected with the hydraulic control module 404 of the hydraulic cylinder 4 and the power regulator of the magnetic field generator 204, and the hydraulic control module 404 and the magnetic field generator 204 receive and execute control signals. The controller can be implemented by using a programmable controller and writing a control program in the programmable controller. The input terminal of the controller receives the pressure detected by the pressure sensor, calculates and obtains the current and voltage values required by the magnetic field generator and the liquid flow rate and flow direction of the hydraulic cylinder, forms a control signal, and controls the current and voltage of the magnetic field generator through the output terminal. The voltage and the flow of the pressure fluid of the hydraulic cylinder, the clamping pressure is within the set range to ensure that the workpiece is not damaged when it is clamped. By setting the controller, automatic control can be formed according to the clamping force requirements of different workpieces, so that the clamping force can be adapted to the clamping force requirements.

Further, the rigid-flexible hybrid fixture also includes a display device, which is respectively connected to all pressure sensors and magnetic field generators, and is used to display the pressure values detected by all pressure sensors and the current and voltage values of the magnetic field generators. It should be noted that, in the rigid-flexible hybrid fixture, the controller and the display device can be used alternatively, or both the display device and the controller can be used. When the rigid-flexible hybrid fixture has both a display device and a controller, an industrial computer or computer can be selected to realize this function. Can be real-time through the display device. When the clamping force is too large or too small, the clamping force can reach an ideal value by adjusting the current and voltage values of the magnetic field generator.

Example 2

This embodiment is basically the same as Embodiment 1, the difference is: as shown in Figure 3, the rigid clamping system also includes a moving device, the hydraulic cylinder 4 is installed on the rigid clamping seat 101 through the moving device, and several hydraulic pressure The cylinder 4 moves under the drive of the moving device. The mobile device of this embodiment includes several symmetrical three-degree-of-freedom parallel robots 5, also called three-degree-of-freedom manipulators. The symmetrical three-degree-of-freedom parallel robots 5 have control modules for receiving and executing control signals. Each symmetrical three-degree-of-freedom parallel robot 5 is equipped with a hydraulic cylinder 4 for driving. The output ends of the controller are respectively connected with the symmetrical three-degree-of-freedom parallel robot 5 and the hydraulic cylinder 4 to control the movement of the symmetrical three-degree-of-freedom parallel robot and the hydraulic cylinder. Preferably, several symmetrical three-degree-of-freedom parallel robots 5 are arranged in an array on the rigid clamping base 101 . The symmetrical three-degree-of-freedom parallel robot 5 can choose a Delta parallel mechanism. The Delta parallel mechanism has strong bearing capacity, high stiffness, small self-weight-to-load ratio, good dynamic performance, and high repeat positioning accuracy, which can further ensure the calibration accuracy of the calibration machine.

By setting the moving device, according to the outer surface shape of the workpiece 3, the controller controls the moving device to drive the hydraulic cylinder 4 to move, and selects the clamping position of the hydraulic cylinder 4 of the rigid clamping system to make the clamping more stable and avoid the pushing of the hydraulic cylinder. The rod clamps to the weak spot of the workpiece, preventing damage to the workpiece.

Example 3

This embodiment is basically the same as Embodiment 1, the difference is: as shown in FIGS. A hydraulic cylinder 4 moves under the drive of the mobile device. The mobile device of this embodiment includes a first slideway 6 installed on the rigid clamping seat 101, a second slideway 7 slidably installed on the first slideway 6, and a sliding block 8 installed on the second slideway 7 . The first slideway 6 is provided with a first linear guideway (not shown) parallel to it, the leading screw of the first linear guideway connects the first drive motor, and the second slideway 7 and the nut of the first linear guideway connect. The second slideway 7 is provided with a second linear guide rail (not shown) parallel thereto, the leading screw of the second linear guide rail is connected to the second drive motor, and the sliding block 8 is connected with the nut of the second linear guide rail. The hydraulic cylinder 4 is installed on the sliding block 8, and the second driving motor and the first driving motor are both servo motors, which are respectively connected to the output ends of the controller and move under the control of the controller. There are two first slideways 6 of the mobile device, several second slideways 7, and several slide blocks 8 arranged on each slideway.

Example 4

This embodiment is basically the same as Embodiment 1, except that: referring to FIG. 6 , this embodiment only includes a pair of oppositely arranged rigid clamping system 1 and flexible clamping system 2 .

It should be noted that, in the present invention, a hydraulic cylinder is used as a rigid clamping member, and a pneumatic cylinder is an equivalent replacement part of a hydraulic cylinder.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of the present invention. within the scope of protection.

Claims (9)

1. a kind of hard and soft mixing fixture, it is characterised in that include：At least one pair of rigid grasping system positioned opposite and flexible folder System is held, the flexible clamping system is including flexible clamping seat, located at the flexibility for accommodating magnetic powder of the flexible clamping seat Powder capsule and the magnetic field generator for providing magnetic field for the magnetic powder；The rigid grasping system includes rigid grip slipper and is located at Several hydraulic cylinders on the rigid grip slipper；The powder capsule is oppositely arranged with the push rod of the hydraulic cylinder；This is rigidly clamped System also includes mobile device, and the hydraulic cylinder is installed on the rigid grip slipper by mobile device, and in the mobile dress Move under the driving put；The mobile device includes being installed on the first slideway of the rigid grip slipper, is slidably mounted on Second slideway of first slideway and the sliding shoe being installed on second slideway；First slideway is provided with equal with its Capable first straight line guide rail, the leading screw of the first straight line guide rail connects the first motor, second slideway and described the The nut connection of one line slideway；Second slideway is provided with second straight line guide rail in parallel, and the second straight line is led The leading screw of rail connects the second motor, and the sliding shoe is connected with the nut of the second straight line guide rail；The hydraulic cylinder peace Loaded on sliding shoe；Or

The mobile device includes several symmetrical 3-dof parallel robots, each described symmetrical three-freedom parallel device People installs a hydraulic cylinder.

2. hard and soft mixing fixture as claimed in claim 1, it is characterised in that the hard and soft mixing fixture also includes controller, institute State the powder capsule lateral surface relative with the push rod and be provided with pressure transducer, the end of the push rod also is provided with pressure transducer；Institute State hydraulic cylinder and there is the hydraulic control module that can receive and perform control signal；The input of the controller and all pressures Force transducer is communicated to connect, and its outfan is connected with the hydraulic control module and magnetic field generator of the hydraulic cylinder.

3. hard and soft mixing fixture as claimed in claim 2, it is characterised in that second motor and the first motor It is connected with the outfan of controller respectively.

4. hard and soft mixing fixture as claimed in claim 2, it is characterised in that the outfan of controller is respectively with symmetrical three freely Degree parallel robot connection.

5. hard and soft mixing fixture as claimed in claim 1, it is characterised in that several described symmetrical three-freedom parallel devices People is arranged in array.

6. hard and soft mixing fixture as claimed in claim 1, it is characterised in that the symmetrical 3-dof parallel robot is Delta parallel mechanism.

7. hard and soft mixing fixture as claimed in claim 1, it is characterised in that the hard and soft mixing fixture also includes display device, The powder capsule lateral surface relative with the push rod is provided with pressure transducer, and the end of the push rod also is provided with pressure transducer； The display device is connected respectively with all pressure transducers and magnetic field generator, for showing all pressure transducer inspections The pressure value for measuring and the electric current of magnetic field generator and magnitude of voltage.

8. hard and soft mixing fixture as claimed in claim 1, it is characterised in that the magnetic powder is ferroferric oxide powder.

9. hard and soft mixing fixture as claimed in claim 1, it is characterised in that the magnetic field generator include power regulator and Magnet exciting coil, the magnet exciting coil laminating is installed on the flexible clamping seat, and the power regulator connects with the magnet exciting coil Connect, for adjusting the voltage and current value of magnet exciting coil.