CN106976048B - Clamping mechanism of clamp - Google Patents
Clamping mechanism of clamp Download PDFInfo
- Publication number
- CN106976048B CN106976048B CN201710200214.7A CN201710200214A CN106976048B CN 106976048 B CN106976048 B CN 106976048B CN 201710200214 A CN201710200214 A CN 201710200214A CN 106976048 B CN106976048 B CN 106976048B
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- China
- Prior art keywords
- lever
- base body
- connecting piece
- clamp
- axis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/10—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting holders for tool or work
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Clamps And Clips (AREA)
- Surgical Instruments (AREA)
Abstract
The invention provides a clamping mechanism of a clamp, which can solve the technical problem that the existing clamping mechanism cannot adapt to the adjustment of multiple degrees of freedom of parts. The clamp comprises clamp fingers, a lever mechanism and a base body, wherein the lever mechanism is arranged on the base body and is connected with the clamp fingers, and the clamp is characterized in that: the base body is connected with a connecting piece, and the pliers fingers and the lever mechanism can rotate around an X axis, a Y axis and a Z axis and translate along the expansion direction of the connecting piece through bending, torsion and expansion of the connecting piece.
Description
Technical Field
The invention relates to the field of grippers, in particular to a gripper mechanism of a gripper.
Background
Micro parts are generally light, thin, brittle and the like, and a holder is generally used for assembling the parts. The existing clamp holder, as shown in patent CN104308781A, CN205766106U, comprises a clamping mechanism and a driving mechanism, wherein the clamping mechanism is composed of clamp fingers, a lever mechanism and a base body, the lever mechanism is arranged on the base body and is connected with the clamp fingers, the lever mechanism is driven by the driving mechanism to enable the clamp fingers to clamp or loosen parts, and the clamping mechanism only has a clamping function and cannot adapt to the parts to adjust multiple degrees of freedom.
Disclosure of Invention
The invention provides a clamping mechanism of a clamp, which can solve the technical problem that the existing clamping mechanism cannot adapt to the adjustment of multiple degrees of freedom of parts.
The technical scheme is that the clamp comprises clamp fingers, a lever mechanism and a base body, wherein the lever mechanism is arranged on the base body and is connected with the clamp fingers, and the clamp is characterized in that: the base body is connected with a connecting piece, and the pliers fingers and the lever mechanism can rotate around an X axis, a Y axis and a Z axis and translate along the expansion direction of the connecting piece through bending, torsion and expansion of the connecting piece.
Further, the main body of the connecting piece is of a folding bending structure in a square wave form.
Furthermore, the connecting pieces are provided with a pair and are symmetrically distributed on two sides of the central line of the base body.
Further, two symmetrically arranged connecting pieces are arranged at intervals.
Further, the clamp finger, the lever mechanism, the base body and the connecting piece are integrated, and the clamp finger, the lever mechanism, the base body and the connecting piece are made of metal.
Further, the metal is a memory alloy.
Further, the pliers fingers and the lever mechanism are provided with a pair and are symmetrically distributed along the central line of the base body.
Still further, lever mechanism includes first level lever amplification mechanism and second level lever amplification mechanism, first level lever amplification mechanism includes first lever and first support column, first support column is fixed in the upper portion inboard of base member, the upper end of first support column is connected with the first lever that extends to the outside through flexible hinge, second level lever amplification mechanism includes second lever, second support column and transfer line, the second support column is fixed in the upper portion outside of base member, the upper end of second support column is connected with the second lever that extends to the inboard through flexible hinge, the inboard position connection of second lever the pincers finger, the transfer line set up in the second support column is inboard, the lower extreme and the upper end of transfer line are connected through flexible hinge respectively first lever with the second lever.
Furthermore, the inner side parts of the first levers at the two sides of the central line of the base body are respectively connected with the same pushing block through flexible hinges.
Preferably, the base body is provided with a groove facing the pushing block.
According to the invention, the base body is connected with the connecting piece, and the clamp finger and the lever mechanism can rotate around the X axis, the Y axis and the Z axis and translate along the extending and retracting directions of the connecting piece through bending, torsion and extension of the connecting piece, so that the clamping mechanism can adapt to the adjustment of multiple degrees of freedom of the parts.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic diagram of a front view structure of the present invention.
Fig. 3 is a schematic view showing a state in which the finger and lever mechanism of the present invention rotate around the X-axis.
Fig. 4 is a schematic view showing a state in which the finger and lever mechanism of the present invention rotate around the Y axis.
Fig. 5 is a schematic view showing a state in which the finger and lever mechanism of the present invention rotate around the Z axis.
Fig. 6 is a schematic view showing the state of the jaw finger and lever mechanism translating along the telescopic direction of the connecting piece.
Reference numerals: 10-clamp fingers, 11-left clamp fingers and 12-right clamp fingers; 20-lever mechanism, 20 a-first level lever amplifying mechanism, 20 b-second level lever amplifying mechanism, 21-second lever, 22-second support column, 23-transmission rod, 24-flexible hinge, 25-first lever, 26-first support column, 27-pushing block, 28-groove; 30-matrix, 31-upper matrix, 32-lower matrix; 40-connecting piece, 41-left connecting piece, 42-right connecting piece.
Detailed Description
In the following description, the left-right direction of fig. 2 is set as the X-axis direction, the up-down direction of fig. 2 is set as the Y-axis direction, and the direction perpendicular to the sheet of fig. 2 is set as the Z-axis direction.
As shown in fig. 1 and 2, the device comprises a clamp finger 10, a lever mechanism 20 and a base 30, wherein the lever mechanism 20 is arranged on the base 30 and is connected with the clamp finger, the base 30 is connected with a connecting piece 40, the clamp finger 10 and the lever mechanism 20 can rotate around an X axis, a Y axis and a Z axis and translate along the extending and retracting direction of the connecting piece 40 through bending, torsion and retraction of the connecting piece 40, and particularly, as shown in fig. 3 and 5, the clamp finger and the lever mechanism 20 can rotate around the X axis and the Z axis through bending the connecting piece 40 around the X axis and the Z axis, as shown in fig. 4, the clamp finger and the lever mechanism 20 can rotate around the Y axis through torsion of the connecting piece 40 around the Y axis, as shown in fig. 6, and the clamp finger and the lever mechanism 20 can translate along the extending and retracting direction of the connecting piece 40, namely, the Y axis.
Wherein, the base 30 comprises an upper base 31 and a lower base 32, the connecting piece 40 is a flexible structure, two ends of the flexible direction are respectively connected with the upper base 31 and the lower base 32, the upper base 31 is used for connecting the lever mechanism 20 and the connecting piece 40, and the lower base 32 is used for connecting with equipment.
The body of the connector 40 is a folded and bent structure in the form of a square wave; the connecting pieces 40 are provided with a pair and are symmetrically distributed on two sides of the central line of the base body 30; the two symmetrically arranged connecting pieces 40 are arranged at intervals, the inner side grooves of the connecting pieces 40 and the clearance grooves of the adjacent connecting pieces form a 'Feng' -shaped groove together, and the mechanism rotates along the X axis, the Y axis and the Z axis and translates along the extending and contracting directions of the connecting pieces 40 through accumulating the deformation of a plurality of fragments of the folding and bending structure.
The pliers finger 10, the lever mechanism 20, the base body 30 and the connecting piece 40 are integrated, and are formed in a linear cutting, 3D printing or casting mode, and the connecting piece is made of metal, preferably memory alloy, so that the connecting piece 40 can accurately recover deformation after rotating and stretching.
The fingers and lever mechanism 20 are each provided with a pair and are symmetrically distributed along the center line of the base 30, wherein the left finger 11 and the right finger 12 cooperate to hold the micro-component as shown in fig. 2.
The lever mechanism 20 comprises a first-stage lever amplifying mechanism 20a and a second-stage lever amplifying mechanism 20b, the first-stage lever amplifying mechanism 20a comprises a first lever 25 and a first support column 26, the first support column 26 is fixed on the inner side of the upper part of the base 30, the upper end of the first support column 26 is connected with the first lever 25 which extends outwards through a flexible hinge 24, the second-stage lever amplifying mechanism 20b comprises a second lever 21, a second support column 22 and a transmission rod 23, the second support column 22 is fixed on the outer side of the upper part of the base 30, the upper end of the second support column 22 is connected with the second lever 21 which extends inwards through the flexible hinge 24, the inner side part of the second lever 21 is connected with a clamp finger, the transmission rod 23 is arranged on the inner side of the second support column 22, and the lower end and the upper end of the transmission rod 23 are respectively connected with the first lever 25 and the second lever 21 through the flexible hinge 24; through the setting of second grade amplification mechanism, can improve whole fixture's magnification and total sum volume, satisfy the centre gripping demand.
The inner side parts of the first levers 25 on both sides of the central line of the base body 30 are connected with the same pushing block 27 through flexible hinges 24; the base 30 is provided with a groove 28 opposite to the pushing block, the groove is used for arranging a stacked piezoelectric driver, and the stacked piezoelectric driver applies force to the pushing block 27, so that lever mechanisms on two sides of the center line of the base are synchronously driven to move, and the clamping action of the left clamp finger 11 and the right clamp finger 12 is realized.
Claims (7)
1. The clamping mechanism of the clamp holder comprises clamp fingers (10), a lever mechanism (20) and a base body (30), wherein the lever mechanism (20) is arranged on the base body (30) and is connected with the clamp fingers, and the clamp holder is characterized in that: the base body (30) is connected with a connecting piece (40), and bending, torsion and expansion of the connecting piece (40) enable the clamp finger and the lever mechanism (20) to rotate around an X axis, a Y axis and a Z axis and translate along the expansion direction of the connecting piece (40);
the main body of the connecting piece (40) is a folding bending structure in the form of square wave; the connecting pieces (40) are provided with a pair and are symmetrically distributed on two sides of the central line of the base body (30); the two symmetrically arranged connecting pieces (40) are arranged at intervals; the inner side groove of the connecting piece (40) and the clearance groove of the adjacent connecting piece (40) form a V-shaped groove together, and the mechanism rotates along the X axis, the Y axis and the Z axis and translates along the expansion direction of the connecting piece (40) through accumulating the deformation of a plurality of segments of the folding and bending structure.
2. The gripper mechanism of claim 1, wherein: the pliers fingers, the lever mechanism (20), the base body (30) and the connecting piece (40) are integrated, and the pliers fingers, the lever mechanism, the base body and the connecting piece are made of metal.
3. The gripper mechanism of claim 2, wherein: the metal is a memory alloy.
4. The gripper mechanism of claim 1, wherein: the clamp fingers and the lever mechanism (20) are both provided with a pair and are symmetrically distributed along the central line of the base body (30), wherein the left clamp finger (11) and the right clamp finger (12) are used together to clamp the micro parts.
5. The gripper mechanism of claim 4, wherein: the lever mechanism (20) comprises a first-stage lever amplifying mechanism (20 a) and a second-stage lever amplifying mechanism (20 b), the first-stage lever amplifying mechanism (20 a) comprises a first lever (25) and a first supporting column (26), the first supporting column (26) is fixed on the inner side of the upper part of the base body (30), the upper end of the first supporting column (26) is connected with the first lever (25) extending outwards through a flexible hinge (24), the second-stage lever amplifying mechanism (20 b) comprises a second lever (21), a second supporting column (22) and a transmission rod (23), the second supporting column (22) is fixed on the outer side of the upper part of the base body (30), the upper end of the second supporting column (22) is connected with the second lever (21) extending inwards through the flexible hinge (24), the inner side part of the second lever (21) is connected with the finger, the transmission rod (23) is arranged on the inner side of the second supporting column (22), and the lower end of the transmission rod (23) is connected with the second lever (21) through the flexible hinge (24).
6. The gripper mechanism of claim 5, wherein: the inner side parts of the first levers (25) at the two sides of the central line of the base body (30) are connected with the same pushing block (27) through flexible hinges (24).
7. The gripper mechanism of claim 6, wherein: the base body (30) is provided with a groove (28) facing the pushing block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710200214.7A CN106976048B (en) | 2017-03-30 | 2017-03-30 | Clamping mechanism of clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710200214.7A CN106976048B (en) | 2017-03-30 | 2017-03-30 | Clamping mechanism of clamp |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106976048A CN106976048A (en) | 2017-07-25 |
| CN106976048B true CN106976048B (en) | 2023-09-19 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710200214.7A Active CN106976048B (en) | 2017-03-30 | 2017-03-30 | Clamping mechanism of clamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106976048B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109834694B (en) * | 2019-04-01 | 2023-04-28 | 江南大学 | Space micro-gripper with multi-stage amplifying and guiding mechanism |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040056751A1 (en) * | 2002-09-18 | 2004-03-25 | Byong-Ho Park | Tubular compliant mechanisms for ultrasonic imaging systems and intravascular interventional devices |
| CN101145742A (en) * | 2007-10-19 | 2008-03-19 | 北京工业大学 | A dual-phase set ultra-magnetism flexible driver and its implementation method |
| CN102328311A (en) * | 2011-08-03 | 2012-01-25 | 河北工业大学 | Two-finger flexible micro clamper |
| CN102501910A (en) * | 2011-10-18 | 2012-06-20 | 南京航空航天大学 | Robot for exploring unknown environment |
| CN104308781A (en) * | 2014-09-05 | 2015-01-28 | 天津大学 | Micro-gripper based on two-stage amplification principle and single parallel four-bar mechanism |
| CN205177409U (en) * | 2015-10-24 | 2016-04-20 | 江西理工大学 | Little operation platform of one -dimensional translation based on gentle and agreeable mechanism |
| CN206899182U (en) * | 2017-03-30 | 2018-01-19 | 江南大学 | A kind of clamping device of clamper |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2630301B2 (en) * | 1994-09-29 | 1997-07-16 | 日本電気株式会社 | Piezoelectric clamp mechanism |
-
2017
- 2017-03-30 CN CN201710200214.7A patent/CN106976048B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040056751A1 (en) * | 2002-09-18 | 2004-03-25 | Byong-Ho Park | Tubular compliant mechanisms for ultrasonic imaging systems and intravascular interventional devices |
| CN101145742A (en) * | 2007-10-19 | 2008-03-19 | 北京工业大学 | A dual-phase set ultra-magnetism flexible driver and its implementation method |
| CN102328311A (en) * | 2011-08-03 | 2012-01-25 | 河北工业大学 | Two-finger flexible micro clamper |
| CN102501910A (en) * | 2011-10-18 | 2012-06-20 | 南京航空航天大学 | Robot for exploring unknown environment |
| CN104308781A (en) * | 2014-09-05 | 2015-01-28 | 天津大学 | Micro-gripper based on two-stage amplification principle and single parallel four-bar mechanism |
| CN205177409U (en) * | 2015-10-24 | 2016-04-20 | 江西理工大学 | Little operation platform of one -dimensional translation based on gentle and agreeable mechanism |
| CN206899182U (en) * | 2017-03-30 | 2018-01-19 | 江南大学 | A kind of clamping device of clamper |
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| Publication number | Publication date |
|---|---|
| CN106976048A (en) | 2017-07-25 |
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