CN108312086A - The adjustable multiple degrees of freedom flexible micro clamping device of constant force - Google Patents
The adjustable multiple degrees of freedom flexible micro clamping device of constant force Download PDFInfo
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- CN108312086A CN108312086A CN201711397085.1A CN201711397085A CN108312086A CN 108312086 A CN108312086 A CN 108312086A CN 201711397085 A CN201711397085 A CN 201711397085A CN 108312086 A CN108312086 A CN 108312086A
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- micro
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- pedestal
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
Abstract
The present invention provides a kind of adjustable multiple degrees of freedom flexible micro clamping device of constant force, including micro- clamping unit, micro- clamping unit includes hold assembly and degree of freedom regulating member, hold assembly is mounted on degree of freedom regulating member and can realize the movement on upper and lower, left and right and front and back three directions under the driving of degree of freedom regulating member, hold assembly is connect by a link block with degree of freedom regulating member, degree of freedom regulating member is fixed on by pedestal on antarafacial pedestal, realizes that installation direction of the degree of freedom regulating member of different directions movement on antarafacial pedestal is different.The present invention realizes that the constant force output of micro- clamping unit and constant force are adjustable, while clip being made to have multiple degree of freedom.The lightweight construction, easy to operate of the present invention is suitable for micro-manipulating robot system and MEMS.
Description
Technical field
The present invention relates to micro clamping devices.
Background technology
As the critical component of connection macrosystem and microscopic system, micro clamping device is in microoperation and micro assemby technical field
In play a crucial role, micro clamping device is used to realize clamping, keeps and the microoperations tasks such as release, such as cell
Mobile and arrangement, micro parts assembling and fiber alignment etc..
Compared with marmem driving, vacuum driving, static broach driving, thermal drivers and electromagnetic drive etc., piezoelectricity
Driving is good because having many advantages, such as big high resolution, driving force, fast response time and dynamic characteristic, and is widely used in various high-precision
It spends in micro clamping device.On the other hand, for many microoperation tasks and micro assemby task, often in shape not by operation object
Rule, dimensionally across micron order to grade.Using micro clamping device to this kind of irregular, frangible and grasped across scale
When being operated as object, it is vulnerable to by operation object and collet and is generated opposite along the component of micro clamping device central axis direction is needed
Sliding, influences the precision and efficiency of microoperation process, is also easier to the damage object to be operated therefore, micro clamping device needs to have pure
Translation output, constant force output and constant force are adjustable.In addition, in order to preferably solve the problems, such as microoperation and micro assemby, it is also desirable to micro-
The chucking power of clamper is monitored on-line, and carries out feedback control.Meanwhile micro clamping device end also tend to be rotation output or
Person carries out approximate translation output by unilateral parallelogram mechanism, and translation effect is also limited.And micro clamping device end is clamped
The detection of power is also using the single foil gauge of stickup by the way of the flexible clamping arm roots of end, and when detection can also be further exacerbated by
To by the deflection of operation object.In addition, now micro clamping device generally can not constant force output, constant force can not be changed, with another
Constant force exports；There are one existing micro clamping device is usual or two degree of freedom operate underaction when clamping is by operation object.
Invention content
In order to overcome the disadvantages mentioned above of the prior art, the present invention to provide a kind of micro- clamping of adjustable multiple degrees of freedom flexible of constant force
Device can realize the constant force output of micro- binder and keep constant force adjustable, and constant force output in different sizes, also having can
Pure translational output is generated, chucking power is detected and the characteristic with three degree of freedom.
For this purpose, the present invention uses following technical scheme：
The adjustable multiple degrees of freedom flexible micro clamping device of constant force, including micro- clamping unit, micro- clamping unit include hold assembly and oneself
By degree regulating member, hold assembly is mounted on degree of freedom regulating member and can be realized under the driving of degree of freedom regulating member
Up and down, the movement on left and right and front and back three directions, hold assembly are connect by a link block with degree of freedom regulating member, freely
Degree regulating member is fixed on by pedestal on antarafacial pedestal, realizes the degree of freedom regulating member of different directions movement in antarafacial pedestal
On installation direction it is different.
Further, degree of freedom regulating member includes rack bottom bar, and bridge type mechanism, bridge-type machine are installed in the middle part of rack bottom bar
Structure includes that longitudinally disposed a pair of support arm and at least two groups being laterally arranged are oriented to amplification bar assembly；It is arranged between support arm
Piezoelectricity fold stack driver, piezoelectricity fold stack driver is in transversal stretching deformation.
Further, the both sides up and down that amplification bar assembly is located at bridge type mechanism are oriented to, and respectively by respective left side
Bar, intermediate bar and right-hand rod composition；It is hinged with intermediate bar that left side bar and right-hand rod distinguish one end；The other end is hinged with support arm；
Intermediate bar makes left side bar and right-hand rod tilt far from piezoelectricity fold stack driver, and intermediate bar is parallel with piezoelectricity fold stack driver；Below
The intermediate bar of one group of guiding amplification bar assembly fixed with rack, the intermediate bar connection of one group of guiding above amplification bar assembly is erected
Column.
Further, constant force regulating mechanism includes the mullion being connected on bridge type mechanism, and the both sides of mullion are symmetrically equipped with
The outer end of the flexible arm arranged obliquely from inside to outside, flexible arm is connected on rack lateral column, and the upper end of mullion, which is fixedly connected, to be connect
Shape of the mouth as one speaks extended segment, the upper end of shape of the mouth as one speaks extended segment are flexibly connected cross bar by first axle, and a face of cross bar and link block is fixed
The both ends of connection, cross bar are symmetrically equipped with degree of lip-rounding hole, and the first parallel downwards blade profile flexible hinge, the first leaf are equipped in degree of lip-rounding hole
Type flexible hinge is equipped with chucking power and detects foil gauge.
Further, oral area extended segment includes two U-brackets up and down positioned opposite, is led between the two u-brackets
Second hinge flexible connection is crossed, wherein the back of u-bracket above is flexibly connected by first axle with cross bar, U below
The both sides of shape holder by the second blade profile flexible hinge with rack lateral column by being connect respectively.
Further, there are two magnetic rheology elastic body, the periphery windings of magnetic rheology elastic body in flexible arm front and back sides
Coil.
Further, the upper end of rack lateral column connects changeover portion by third hinge, and the upper end of changeover portion passes through the 4th hinge
Chain link cross bar.
Further, hold assembly includes bare terminal end, clamping limb and connecting pin, and bare terminal end has can be with clamped object
The clamping face of contact, clamping face is triangular in shape, and connecting pin has two connecting forks of 90 degree of angles each other, two connecting forks point
It is not fixedly connected on two mutually adjacent faces of link block by fixing piece, clamping limb is bent up, and bare terminal end is located at folder
The top of gripping arm.
Further, antarafacial pedestal includes the first T shape framves, and one end of the transverse part of the first T shape framves connects the 2nd T shape framves, the
Two T shapes framves connect a cabinet frame perpendicular to the first T shape framves, the end of the vertical part of the first T shape framves, and a cabinet frame is perpendicular to the first T shape framves；
The length of the vertical part of first T shape framves is identical to the distance between the 2nd T shape framves as the first T shapes frame, the height and one of the 2nd T shape framves
The height of cabinet frame differs.
Further, pedestal includes I-shaped pedestal, and two supporting rods, work is respectively set in the middle part of the both ends of I-shaped pedestal
Shaped base is fixedly connected on by fastener on antarafacial pedestal, and two supporting rods are fixedly connected on rack lateral column by fastener
Both sides；
The multiple degrees of freedom flexible micro clamping device includes the first micro- clamping unit for realizing up and down adjustment, realizes the second of left and right adjusting
Micro- clamping unit and realize the front and back micro- clamping unit of third adjusted, first micro- clamping unit is fixedly mounted on the by its pedestal
The transverse part outer end of one T shape framves, second micro- clamping unit are fixedly mounted on by its pedestal on the transverse part of the 2nd T shape framves, and third is micro-
Clamping unit is fixedly mounted on the top of a cabinet frame by its pedestal；
First micro- clamping unit, second micro- clamping unit and the micro- clamping unit of third are solid with the face adjacent two-by-two of link block respectively
Fixed connection.
The beneficial effects of the invention are as follows：
1, the present invention is provided with constant force regulating mechanism, is draw textured to constant force regulating mechanism by bridge type mechanism, realizes micro-
The constant force of clamping unit exports.
2, by changing the voltage of the coil wound on the outside of the magnetic rheology elastic body on constant force regulating mechanism, change magnetic field
Intensity changes the mechanical performance of magnetic rheology elastic body, to make the rigidity for the magnetic rheology elastic body thin slice being attached thereto change
Become so that the constant force of output is changed, to which the constant force for realizing micro clamping device is adjustable.
3, the present invention connects clip using link block, and the micro clamping device being composed using three groups of micro- clamping units passes through company
Block is connect to the driving on three directions of clip progress so that clip has multiple degree of freedom.
4, structure of the invention uses linear cutter, and connection therebetween uses flexible hinge, have it is small, without machinery
The advantages of friction, guiding accuracy height, machining accuracy are easy to ensure and need not assemble.
5, the present invention be integrated in mechanism position and chucking power detection, convenient for small fragile part or cell etc. into
Row microoperation.
6, lightweight construction of the invention, easy to operate, is suitable for micro-manipulating robot system and MEMS.
Description of the drawings
Fig. 1 is the structure chart of micro- clamping unit.
Fig. 2 is the structure chart of degree of freedom regulating member.
Fig. 3 is the application scenario diagram of the present invention.
Fig. 4 is the characteristic curve of constant force regulating mechanism.
Fig. 5 is the detection principle diagram of chucking power detection foil gauge.
Fig. 6 is the schematic diagram of hold assembly.
Fig. 7 is the schematic diagram of pedestal.
Fig. 8 is the schematic diagram of antarafacial pedestal.
Fig. 9 is the enlarged drawing of flexible arm and its associated components.
Figure label：1- pedestals, 2- racks, 3- piezoelectricity fold stack drivers, 4- magnetic rheology elastic bodies, 5- coils, 6- clampings
Component, 7- chucking powers detect foil gauge, 8- link blocks, 9- antarafacial pedestals, the micro- clipping operation objects of 10-, 11- first axles, 12-
Second hinge, 13- third hinges, the 4th hinges of 14-, 21- are oriented to amplification bar assembly, 22- support arms, 23- rack lateral columns, 24-
Flexible arm, 25- mullions, 26- shape of the mouth as one speaks extended segment, 27- cross bars, 28- rack bottom bars, 29- degree of lip-roundings hole, 30- bottom linkage rods, on 31-
Portion's connecting rod, 32- changeover portions, 61- clamping faces, 62- bare terminal ends, 63- clamping limbs, the connecting pins 64-, 65- connecting forks, the first T shapes of 91-
Frame, the 2nd T shape framves of 92-, mono- cabinet frames of 93-, B- the first blade profile flexible hinges, E- the second blade profile flexible hinges, F- two incision hinges,
The I-shaped pedestals of 1A-, 1B- supporting rods.
Specific implementation mode
Specific embodiments of the present invention are described in further detail below in conjunction with attached drawing, it is noted that tool
Body embodiment is only to be specifically described, and is not limitation of the invention.
The present invention provides the adjustable multiple degrees of freedom flexible micro clamping device of constant force, including micro- clamping unit, as shown in Figure 1, micro-
Clamping unit includes hold assembly 6 and degree of freedom regulating member, and hold assembly 6 is mounted on degree of freedom regulating member and can be
Movement above and below being realized under the driving of degree of freedom regulating member, on left and right and front and back three directions, hold assembly 6 pass through a connection
Block 8 is connect with degree of freedom regulating member, and degree of freedom regulating member is fixed on by pedestal 1 on antarafacial pedestal 9, realizes different directions
Installation direction of the mobile degree of freedom regulating member on antarafacial pedestal 9 is different, and there are three in three dimensions shown in Fig. 1
Orthogonal degree of freedom adjusting loses, and micro- clamping unit is the emphasis component part of the present invention.
As shown in Fig. 2, degree of freedom regulating member includes rack 2, rack 2 includes rack bottom bar 28, in rack bottom bar 28
Bridge type mechanism is installed in portion, and the both ends of rack bottom bar 28 are separately connected rack lateral column 23, and bridge type mechanism is connected by constant force regulating mechanism
It connects and is drivingly connected block 8 to realize the adjusting to hold assembly 6.
Bridge type mechanism includes that longitudinally disposed a pair of support arm 22 and at least two groups being laterally arranged are oriented to amplification bar group
Part 21；Piezoelectricity fold stack driver 3 is set between support arm 22, and piezoelectricity fold stack driver 3 is in transversal stretching deformation.
Two groups of guiding amplification bar assemblies are located at the both sides up and down of piezo-electric stack driver 3, are oriented to amplification bar assembly point
It is not made of respective left side bar, intermediate bar and right-hand rod；It is hinged with intermediate bar that left side bar and right-hand rod distinguish one end；The other end
It is hinged with support arm；Intermediate bar makes left side bar and right-hand rod tilt far from piezoelectricity fold stack driver 3, and intermediate bar drives with piezoelectric stack
Dynamic device 3 is parallel；The intermediate bar of following one group of guiding amplification bar assembly is fixed with rack, and one group of guiding above amplifies bar assembly
Intermediate bar connect mullion 25, the output as first order enlarger.
Constant force regulating mechanism includes the mullion 25 being connected on bridge type mechanism, the both sides of mullion 25 be symmetrically equipped with by interior and
The outer flexible arm 24 arranged obliquely, the outer end of flexible arm 24 are connected on rack lateral column 23, and the upper end of mullion 25 is fixedly connected
The upper end of interface type extended segment 26, shape of the mouth as one speaks extended segment 26 is flexibly connected cross bars 27, cross bar 27 and company by two first axles 11
A face for connecing block 8 is fixedly connected, the both ends of cross bar 27 are symmetrically equipped with degree of lip-rounding hole 29, is equipped with and is mutually parallel in degree of lip-rounding hole 29
Chucking power detection foil gauge 7 is posted on first blade profile flexible hinge B, the first blade profile flexible hinge B.
Oral area extended segment 26 includes two U-brackets up and down positioned opposite, passes through the second hinge between the two u-brackets
Chain 12 is flexibly connected, wherein the back of u-bracket above is flexibly connected by first axle 11 with cross bar 27, U-shaped below
The both sides of holder by the second blade profile flexible hinge E with rack lateral column by being connect respectively.
As shown in figure 9, there are two magnetic rheology elastic body 4, the peripheries of magnetic rheology elastic body 4 in 24 front and back sides of flexible arm
Wound around coil 5.
Fig. 4 show the characteristic curve of constant force regulating mechanism, and X indicates that the output displacement of piezoelectricity accumulation driver 3, F indicate
The power output of constant force regulating mechanism.When constant force regulating mechanism works, it is in the horizontality of curve, it is permanent with the change of displacement
The power output of power regulating mechanism is constant, is constant force this guarantees power output；When central strip curve is that coil 5 is not powered on, constant force
The characteristic curve of regulating mechanism, upper and lower two for coil 5 be powered when, the characteristic curve of constant force regulating mechanism；Coil 5 is applied not
Same voltage is to generate the magnetic field of varying strength, and under different magnetic field intensity, mechanical performance can change magnetic rheology elastic body 4
Become, to make the rigidity of the flexible arm being attached thereto 24 change, power when curve level state changes so that output
Constant force be changed, and export another different size of constant force.
The upper end of rack lateral column 23 connects changeover portion 32 by third hinge 13, and the upper end of changeover portion 32 passes through the 4th hinge
14 connection cross bars 27.
As shown in fig. 6, hold assembly 6 includes bare terminal end 62, clamping limb 63 and connecting pin 64, bare terminal end 62 has can be with
The clamping face 61 that clamped object 10 contacts, clamping face 61 is triangular in shape, and clamping face 61 passes through working process, increases itself and micro- behaviour
Make the frictional force between object 10, it is ensured that clamping is stablized；Two connecting forks 65 of the connecting pin 64 with 90 degree of angles each other, two
A connecting fork 65 is fixedly connected on by fixing piece on two mutually adjacent faces of link block 8 respectively, and clamping limb 63 is bent up
It, bare terminal end 62 is located at the top of clamping limb 63.
In the use of the present invention, being applied through the amplified voltage of power amplifier, piezoelectric pile to piezo-electric stack driver 3
Folded driver 3 extends, and the support arm 22 of 3 both sides of piezo-electric stack driver pushes out, and is oriented to amplification bar 21 and is cut with scissors around two incision
Chain F rotation, to pull constant force regulating mechanism to move down, six flexibilities being connected with rack lateral column 23 on constant force regulating mechanism
Arm 24 generates constant force regulating mechanism upward resultant force by deforming upon, to ensure that constant force exports.
As previously mentioned, on each flexible arm 24, there are two magnetic rheology elastic bodies 4, and magnetic rheology elastic body 4 is by 5 institute of coil
Winding, applies different voltage to generate the magnetic field of varying strength, magnetic rheology elastic body 4 is in different magnetic field intensity to coil 5
Under, mechanical performance can change, to make the rigidity of the flexible arm being attached thereto 24 change so that the constant force of output obtains
To change, and export another different constant force；Constant force regulating mechanism, which moves down, drives shape of the mouth as one speaks extended segment 26 to move down, mouth
Type extended segment 26 drives cross bar 27 to move down by first axle 11, since cross bar 27 and link block 8 connect firmly, hold assembly 6
It is connected with link block 8, therefore drives clip 6 to move by link block 8 when spreader 27 is moved down；When piezoelectric actuator 3 loses
When removing voltage, the power on constant force regulating mechanism and flexible arm 24 disappears, and cross bar 27, link block 8 and hold assembly 6 reset.
Antarafacial pedestal 9 includes the first T shapes frame 91, and one end of the transverse part of the first T shapes frame 91 connects the 2nd T shapes frame 92, the 2nd T
For shape frame 92 perpendicular to the first T shapes frame 91, the end of the vertical part of the first T shapes frame 91 connects a cabinet frame 93, and a cabinet frame 93 is perpendicular to the
One T shapes frame 91；The length of the vertical part of first T shapes frame 91 is identical as the distance between the 91 to the 2nd T shapes frame 92 of the first T shapes frame, the
The height and the height of a cabinet frame 93 of two T shapes framves 92 differ.
Pedestal 1 includes I-shaped pedestal 1A, and two supporting rod 1B, I-shaped is respectively set in the middle part of the both ends of I-shaped pedestal 1A
Type pedestal 1A is fixedly connected on by fastener on antarafacial pedestal 9, and two supporting rod 1B are fixedly connected on rack by fastener
The both sides of lateral column 23.
In actual use, as shown in figure 3, the present invention by micro- clamping unit in Fig. 1 by being mutually what 120 degree of angles formed
Three clip clamps, per part, all there are three degree of freedom, and constant force is adjustable, while three clips so that clamping is more firm, specifically
For, including before and after first micro- clamping unit of realization up and down adjustment, second micro- clamping unit of realization left and right adjusting and realization
The micro- clamping unit of third of adjusting, first micro- clamping unit are fixedly mounted on the transverse part outer end of the first T shapes frame 91 by its pedestal,
Second micro- clamping unit is fixedly mounted on by its pedestal on the transverse part of the 2nd T shapes frame 92, and the micro- clamping unit of third passes through its base
Seat is fixedly mounted on the top of a cabinet frame 93；The tune of first micro- clamping unit, second micro- clamping unit and the micro- clamping unit of third
It is mutually in 90 ° vertical in three dimensions to save direction, and first micro- clamping unit, second micro- clamping unit and the micro- clamping of third are single
Member is fixedly connected with the face adjacent two-by-two of link block respectively, realizes the antarafacial installation of mechanism.
Claims (10)
1. the adjustable multiple degrees of freedom flexible micro clamping device of constant force, characterized in that including micro- clamping unit, micro- clamping unit includes folder
Component and degree of freedom regulating member are held, hold assembly is mounted on degree of freedom regulating member and can be in degree of freedom regulating member
Movement above and below the lower realization of driving, on left and right and front and back three directions, hold assembly pass through a link block and degree of freedom adjustment portion
Part connects, and degree of freedom regulating member is fixed on by pedestal on antarafacial pedestal, realizes the degree of freedom adjustment portion of different directions movement
Installation direction of the part on antarafacial pedestal is different.
2. the adjustable multiple degrees of freedom flexible micro clamping device of constant force according to claim 1, characterized in that degree of freedom adjustment portion
Part includes rack bottom bar, the middle part installation composite bridge mechanism of rack bottom bar, and composite bridge mechanism includes longitudinally disposed a pair
Support arm and at least two groups that are laterally arranged be oriented to amplification bar assembly；Piezoelectricity fold stack driver, piezoelectricity are set between support arm
Fold stack driver is in transversal stretching deformation.
3. the adjustable multiple degrees of freedom flexible micro clamping device of constant force according to claim 2, characterized in that be oriented to amplification bar group
Part is located at the both sides up and down of composite bridge mechanism, and is made of respectively respective left side bar, intermediate bar and right-hand rod；Left side
It is hinged with intermediate bar that bar and right-hand rod distinguish one end；The other end is hinged with support arm；Intermediate bar makes far from piezoelectricity fold stack driver
Left side bar and right-hand rod tilt, and intermediate bar is parallel with piezoelectricity fold stack driver；The centre of following one group of guiding amplification bar assembly
Bar is fixed with rack, and the intermediate bar of one group of guiding amplification bar assembly above connects mullion.
4. the adjustable multiple degrees of freedom flexible micro clamping device of constant force according to claim 2, characterized in that constant force regulating mechanism
Including the mullion being connected in composite bridge mechanism, the both sides of mullion are symmetrically equipped with the flexibility arranged obliquely from inside to outside
The outer end of arm, flexible arm is connected on rack lateral column, and the upper end of mullion is fixedly connected with interface type extended segment, shape of the mouth as one speaks extended segment it is upper
End is flexibly connected cross bar by first axle, and cross bar is fixedly connected with a face of link block, and the both ends of cross bar are symmetrically equipped with
Degree of lip-rounding hole, the first parallel downwards blade profile flexible hinge is equipped in degree of lip-rounding hole, and the first blade profile flexible hinge is equipped with chucking power inspection
Survey foil gauge.
5. the adjustable multiple degrees of freedom flexible micro clamping device of constant force according to claim 4, characterized in that wrap oral area extended segment
Two U-brackets up and down positioned opposite are included, are flexibly connected by second hinge between the two u-brackets, wherein U above
The back of type holder is flexibly connected by first axle with cross bar, and the both sides of U-bracket below by passing through the second leaf respectively
Type flexible hinge is connect with rack lateral column.
6. the adjustable multiple degrees of freedom flexible micro clamping device of constant force according to claim 5, characterized in that flexible arm positive and negative two
There are two magnetic rheology elastic body, the peripheral wound around coil of magnetic rheology elastic body on a face.
7. the adjustable multiple degrees of freedom flexible micro clamping device of constant force according to claim 2, characterized in that rack lateral column it is upper
End connects changeover portion by third hinge, and the upper end of changeover portion passes through the 4th hinge connection cross bar.
8. the adjustable multiple degrees of freedom flexible micro clamping device of constant force according to claim 1, characterized in that hold assembly packet
Bare terminal end, clamping limb and connecting pin are included, bare terminal end, which has, to be in triangle with the clamping face of clamped object contact, clamping face
There are two connecting forks of 90 degree of angles each other, two connecting forks to be fixedly connected on connection by fixing piece respectively for shape, connecting pin
On the mutually adjacent face of two of block, clamping limb is bent up, and bare terminal end is located at clamping limb band topmost.
9. the adjustable multiple degrees of freedom flexible micro clamping device of constant force according to claim 1, characterized in that antarafacial pedestal includes
One end of first T shape framves, the transverse part of the first T shape framves connects the 2nd T shape framves, and the 2nd T shapes frame is perpendicular to the first T shape framves, the first T shapes
The end of the vertical part of frame connects a cabinet frame, and a cabinet frame is perpendicular to the first T shape framves；The length of the vertical part of first T shape framves and the first T shapes
Frame is identical to the distance between the 2nd T shape framves, and the height of the 2nd T shape framves is identical as the height of a cabinet frame.
10. the adjustable multiple degrees of freedom flexible micro clamping device of constant force according to claim 8, characterized in that pedestal includes work
Two supporting rods are respectively set in the both ends middle part of shaped base, I-shaped pedestal, and I-shaped pedestal is fixedly connected by fastener
On antarafacial pedestal, two supporting rods are fixedly connected on the both sides of rack lateral column by fastener；
The multiple degrees of freedom flexible micro clamping device includes the first micro- clamping unit for realizing up and down adjustment, realizes the second of left and right adjusting
Micro- clamping unit and realize the front and back micro- clamping unit of third adjusted, first micro- clamping unit is fixedly mounted on the by its pedestal
The transverse part outer end of one T shape framves, second micro- clamping unit are fixedly mounted on by its pedestal on the transverse part of the 2nd T shape framves, and third is micro-
Clamping unit is fixedly mounted on the top of a cabinet frame by its pedestal；
First micro- clamping unit, second micro- clamping unit and the micro- clamping unit of third are solid with the face adjacent two-by-two of link block respectively
Fixed connection.
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| CN201711397085.1A CN108312086B (en) | 2017-12-21 | 2017-12-21 | The adjustable multiple degrees of freedom flexible micro clamping device of constant force |
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| CN201711397085.1A CN108312086B (en) | 2017-12-21 | 2017-12-21 | The adjustable multiple degrees of freedom flexible micro clamping device of constant force |
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| CN112688590A (en) * | 2020-12-16 | 2021-04-20 | 大连理工大学 | Adjustable three-stage displacement amplification micro-gripper |
| CN114346392A (en) * | 2022-01-18 | 2022-04-15 | 贵州大学 | Constant force pressurization resistance pressure welding mechanism |
| CN115194727A (en) * | 2022-09-15 | 2022-10-18 | 成都理工大学 | Constant force fixture |
| CN115194727B (en) * | 2022-09-15 | 2022-11-25 | 成都理工大学 | Constant force fixture |
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| CN108312086B (en) | 2019-11-12 |
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