CN110978041A - Electromagnet-driven flexible micro-clamping device - Google Patents
Electromagnet-driven flexible micro-clamping device Download PDFInfo
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- CN110978041A CN110978041A CN202010006891.7A CN202010006891A CN110978041A CN 110978041 A CN110978041 A CN 110978041A CN 202010006891 A CN202010006891 A CN 202010006891A CN 110978041 A CN110978041 A CN 110978041A
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- flexible
- electromagnet
- clamping device
- base
- iron block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses an electromagnet-driven flexible micro-clamping device, which relates to the technical field of precision positioning and comprises a compliant mechanism, a flexible clamping mechanism and a flexible clamping mechanism, wherein the compliant mechanism comprises a base and a plurality of flexible branched chains arranged on the base, the flexible branched chains are distributed along the circumference of the base, and clamps are arranged on the flexible branched chains; and the electromagnet driving mechanism comprises an electromagnet driving body and an iron block, the electromagnet driving body is fixed on the base, and the iron block is fixed with each flexible branched chain. Because the traditional kinematic pair connection is not adopted, the electromagnet driving flexible micro-clamping device of the embodiment eliminates accumulated errors and abrasion, and has high positioning precision; the flexible mechanism can be designed into an integrated structure, has simple structure, is easy to process and has low manufacturing cost; and the electromagnet driving mechanism is separated from the clamp, so that the interference of the electromagnet driving mechanism on a clamped object is reduced.
Description
Technical Field
The invention relates to the technical field of precision positioning, in particular to an electromagnet-driven flexible micro-clamping device.
Background
The micro-clamping device is used as a typical micro-actuator, is developed very quickly, and has better application prospect in the aspects of micro-mechanical part processing, micro-mechanical assembly, bioengineering and the like. The micro-clamping unit technology is closely related to the system technologies such as micro-assembly, micro-operation, micro-welding, micro-packaging and the like.
The flexible mechanism is a novel mechanism which utilizes self elastic deformation to complete force, movement and energy transmission and conversion. The device has the advantages of no assembly, no friction and abrasion, vibration reduction and the like, and is concerned and researched by a plurality of expert scholars. The design of applying the compliant mechanism to the micro-gripper device also becomes a research hotspot in the technical field of precision positioning.
The micro-clamping device refers to a clamping device facing a micro-operation. The micro-clamping device is used as an end effector of a micro-nano operating system and mainly used for clamping, transporting, placing and releasing a micro-scale object. The micro-clamping device converts the input force generated by the driver into positive pressure output of the jaw of the clamping device through the transmission mechanism, namely the displacement of the jaw of the clamping device, realizes the clamping of a micro-operation object through the closing of the jaw, and realizes the release of the operation object through the opening of the jaw.
Miniaturization is not only the development direction of micro-nano operation systems, but also a trend in the field of mechanical engineering. The micro-gripper device can be roughly divided into an electrostatic micro-gripper device, an electromagnetic micro-gripper device, a piezoelectric micro-gripper device, and a shape memory alloy micro-gripper device. The electrostatic micro-clamping device has the advantages that miniaturization and miniaturization are easy to realize, but large output force is difficult to realize, and displacement output is small; the electromagnetic micro-clamping device has the advantages of quick clamping action response, high precision and large bearing capacity, but has the defect that the electromagnetic coil has large volume and cannot realize further miniaturization; the piezoelectric micro-clamping device has high resolution, no friction and wear and low power consumption, but the displacement generated by a piezoelectric material is small, and high precision is difficult to control due to the hysteresis characteristic of piezoelectric ceramics, and a special piezoelectric ceramic controller is generally required to generate high voltage drive; the shape memory alloy micro-clamping device is made of shape memory alloy functional materials, has memory capacity on the original shape after certain heat treatment and memory training, realizes clamping, releasing and other functions by utilizing the memory function, has the defects of small output clamping force and displacement opening and closing amount, and is complex to control and complex in process. The existing micro-clamping device has the problems of complex control of a driving input source, high manufacturing cost, small stroke, nonlinearity and the like.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the above-mentioned problems in the prior art. Therefore, the embodiment of the invention provides the electromagnet driving flexible micro-clamping device which is low in cost, simple and compact in structure, convenient to machine, strong in anti-interference performance and high in positioning precision.
The electromagnet driving flexible micro-clamping device comprises a compliant mechanism, a flexible clamping mechanism and a flexible clamping mechanism, wherein the compliant mechanism comprises a base and a plurality of flexible branched chains arranged on the base, the flexible branched chains are distributed along the circumference of the base, the tail end of each flexible branched chain is provided with a clamp finger mounting part, and a clamp is arranged on each clamp finger mounting part; and the electromagnet driving mechanism comprises an electromagnet driving body and an iron block, the electromagnet driving body is fixed on the base, and the iron block is fixed with each flexible branched chain.
In an optional or preferred embodiment, the compliant mechanism further includes an iron block mounting seat, the bottom of the flexible branched chain is fixed to the base, a connecting rod extending radially inward and connected to the iron block mounting seat is arranged in the middle of the bottom of the flexible branched chain, and the clamp is fixed to the top of the flexible branched chain.
In an alternative or preferred embodiment, the adsorption surface of the electromagnet driving body is arranged at the top, and the adsorption surface is provided with an adsorption groove for placing the iron block.
In an alternative or preferred embodiment, the iron block mounting seat is provided with iron block mounting holes, and the iron block is mounted on the iron block mounting seat through bolts.
In an alternative or preferred embodiment, the number of flexible branches is four and is uniformly distributed along the circumference of the base.
In an alternative or preferred embodiment, the clamp is threadedly connected to the flexible branch.
In an alternative or preferred embodiment, the finger mount of the clamp is provided with a nut, the clamp end having an external thread screwed into the nut.
In an optional or preferred embodiment, the base is provided with an electromagnet mounting hole in the center, and the base is provided with a plurality of connecting holes.
In an alternative or preferred embodiment, the electromagnet drive body is mounted on the base by bolts.
In an alternative or preferred embodiment, the compliant mechanism is a unitary member.
Based on the technical scheme, the embodiment of the invention at least has the following beneficial effects: according to the invention, by designing the compliant mechanism, the electromagnet on the fixed base drives the body to act on the suction force of the iron block, so that the top end of each flexible branched chain generates displacement towards the axis direction, and the clamp on the flexible branched chain is closed by the jaw. Because the traditional kinematic pair connection is not adopted, the electromagnet driving flexible micro-clamping device of the embodiment eliminates accumulated errors and abrasion, and has high positioning precision; the flexible mechanism can be designed into an integrated structure, has simple structure, is easy to process and has low manufacturing cost; and the electromagnet driving mechanism is separated from the clamp, so that the interference of the electromagnet driving mechanism on a clamped object is reduced.
Drawings
In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is clear that the described figures are only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from them without inventive effort.
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic structural view of a compliant mechanism in an embodiment of the invention;
FIG. 3 is a schematic structural diagram of an electromagnet driving body according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of an iron block in an embodiment of the present invention;
FIG. 5 is a schematic view of the structure of a clamp according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it is to be understood that the positional or orientational relationships, such as those indicated by center, longitudinal, lateral, length, width, thickness, upper, lower, front, rear, left, right, vertical, horizontal, top, bottom, inner, outer, clockwise, counterclockwise, axial, radial, circumferential, and the like, are based on the positional or orientational relationships shown in the drawings and are for convenience of description and simplicity of description only, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be considered as limiting.
In the description of the present invention, the meaning of several is one or more, the meaning of a plurality is two or more, and larger, smaller, larger, etc. are understood as excluding the present number, and larger, lower, inner, etc. are understood as including the present number unless specifically defined otherwise. Furthermore, the descriptions of first and second are only for the purpose of distinguishing between technical features, and are not to be construed as indicating or implying relative importance or implying any number or order of indicated technical features.
In the description of the present invention, unless otherwise expressly limited, terms such as set, arranged, mounted, connected, fixed and the like should be construed broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in the present invention in consideration of the detailed contents of the technical solutions.
In the description of the present invention, unless otherwise expressly limited, a first feature may be located on or below a second feature in direct contact with the second feature, or the first feature and the second feature may be in indirect contact via intermediate media. Also, a first feature may be directly above or obliquely above a second feature, or merely that the first feature is at a higher level than the second feature. A first feature may be directly below or obliquely below a second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Referring to fig. 1 to 5, an electromagnet driven flexible micro-clamping device includes a compliant mechanism 10 and an electromagnet driving mechanism. The compliant mechanism 10 comprises a base 11 and a plurality of flexible branched chains 14 mounted on the base 11, the flexible branched chains 14 are distributed along the circumference of the base 11, the tail end of each flexible branched chain 14 is provided with a clamp finger mounting part 15, and a clamp 41 is mounted on each clamp finger mounting part 15. The electromagnet driving mechanism comprises an electromagnet driving body 21 and an iron block 31, the electromagnet driving body 21 is fixed on the base 11, and the iron block 31 is fixed with each flexible branched chain 14.
Specifically, the compliant mechanism 10 further includes an iron block mounting seat 12, the bottom of the flexible branched chain 14 is fixed to the base 11, the middle of the bottom of the flexible branched chain 14 is provided with a connecting rod 13 extending radially inwards and connected to the iron block mounting seat 12, and the clamp 41 is fixed to the top of the flexible branched chain 14. Specifically, the iron block mounting seat 12 is provided with an iron block mounting hole 121, the iron block mounting hole 121 is used for fixing the iron block 31, and the iron block 31 is mounted on the iron block mounting seat 12 by bolts. Further, the base 11 is centrally provided with an electromagnet mounting hole 111, the electromagnet mounting hole 111 is used for fixing the electromagnet driving body 21, and the electromagnet driving body 21 is mounted on the base 11 through bolts. The base is provided with a plurality of connecting holes 112, and each connecting hole 112 is used for fixing the electromagnet driving flexible micro-clamping device on other mechanisms and is matched with the other mechanisms for use.
It can be understood that the electromagnet driving mechanism is a displacement input end, that is, the electromagnet driving body 21 applies a suction force on the iron block, the suction force is directed to the suction surface of the electromagnet driving body 21, because the iron block 31 is fixed with each flexible branched chain 14 through the iron block mounting seat 12, the top end of the flexible branched chain is further displaced towards the axial center direction, and the jaws on the flexible branched chain are further closed. Referring to fig. 2, the xyz coordinate system is arranged by taking the center point between the flexible branched chains 14 as the original point and the top surface of the top of each flexible branched chain 14 as the x plane, and at this time, the axes of the iron block mounting seat 12, the electromagnet driving body 21 and the iron block 31 are all coincident with the z axis, and in this embodiment, the axis direction is directed to the z axis direction. Wherein, the positive direction of the x-axis direction is the position of the first flexible branched chain.
Specifically, the flexible branches 14 are four in number and are uniformly distributed along the circumference of the base 11. Clamp 41 is threadably connected to flexible branch 14. The finger mounting portion 15 of the clamp 41 is provided with a nut, and the end of the clamp 41 has an external thread screwed into the nut. The clamp 41 can be replaced according to actual requirements, and the expansibility of the flexible micro-clamping device driven by the electromagnet is enhanced.
The compliant mechanism 10 is an integrated component, wherein four flexible branched chains 14 establish a corresponding topological optimization (SIMP) (solid interferometric Material within the context) model according to a proportional relationship between input displacement and output displacement, perform topological optimization calculation on the designed model by using an Optistruct module of Hyperworks software to obtain a model after topological optimization, perform fairing processing through three-dimensional software, and perform secondary modeling on the optimized model. The flexible branched chain topological optimization structure can achieve good movement effect through finite element simulation and experimental analysis, and has good mobility and a specific function relation.
The body 21 is driven by the strong-magnetic electromagnet to generate attraction force on the iron block 31, so that a displacement signal is generated to act on the flexible branched chain 14, and through certain functional relation conversion, the clamp finger installation 15 at the tail end of the flexible branched chain 14 generates output displacement which is perpendicular to the central axis and points to the origin of coordinates. The function relationship is as follows:
dz＝0.75dx
the clamping range of the electromagnet driving flexible micro-clamping device is 0-0.075mm of a solid circle. When the electromagnet is used for driving the flexible micro-clamping device to generate an input displacement of 0.02mm, the four clamping jaws 41 displace 0.015mm inwards.
According to the embodiment of the invention, the flexible micro-clamping device driven by the electromagnet is not connected with the traditional kinematic pair, so that accumulated errors and abrasion are eliminated, and the positioning precision is high; in addition, the flexible mechanism can be designed into an integrated structure and optimized by adopting a topology optimization technology, the input displacement of the electromagnet driving mechanism and the output displacement of the flexible branched chain are in a specific linear function relationship, the expansibility is strong, if a sensor is added on the flexible branched chain, a closed-loop control device is easy to form, the flexible mechanism is simple in structure and easy to process, the manufacturing cost is greatly reduced, the size of the flexible mechanism is only four times that of the electromagnet driving mechanism, and the structure is compact; in addition, the electromagnet driving mechanism is separated from the clamp, so that the interference of the electromagnet driving mechanism on the clamped object is reduced.
Preferably, referring to fig. 3 and 4, the electromagnet driving body 21 has an adsorption surface provided on the top thereof, and the adsorption surface is provided with an adsorption groove 22 into which the iron block 31 is inserted.
While the embodiments of the present invention have been described in detail with reference to the drawings, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (10)
1. The utility model provides a little clamping device of electro-magnet drive flexibility which characterized in that: comprises that
The flexible mechanism (10) comprises a base (11) and a plurality of flexible branched chains (14) installed on the base (11), wherein the flexible branched chains (14) are distributed along the circumference of the base (11), the tail ends of the flexible branched chains (14) are provided with clamp finger installation parts (15), and clamps (41) are installed on the clamp finger installation parts (15); and
the electromagnet driving mechanism comprises an electromagnet driving body (21) and an iron block (31), the electromagnet driving body (21) is fixed on the base (11), and the iron block (31) is fixed with each flexible branched chain (14).
2. The electromagnet driven flexible micro-clamping device of claim 1, wherein: the compliant mechanism (10) further comprises an iron block mounting seat (12), the bottom of the flexible branched chain (14) is fixed to the base (11), a connecting rod (13) extending inwards in the radial direction and connected with the iron block mounting seat (12) is arranged in the middle of the bottom of the flexible branched chain (14), and the clamp (41) is fixed to the top of the flexible branched chain (14).
3. The electromagnet driven flexible micro-clamping device of claim 2, wherein: the adsorption surface of the electromagnet driving body (21) is arranged at the top, and the adsorption surface is provided with an adsorption groove (22) for placing the iron block (31).
4. The electromagnet driven flexible micro-clamping device of claim 2, wherein: iron block mounting hole (121) have been arranged in iron block mount pad (12), iron block (31) are installed through the bolt on iron block mount pad (12).
5. The electromagnet driven flexible micro-clamping device of claim 1, wherein: the number of the flexible branched chains (14) is four, and the flexible branched chains are uniformly distributed along the circumference of the base (11).
6. The electromagnet driven flexible micro-clamping device of claim 5, wherein: the clamp (41) is in threaded connection with the flexible branch chain (14).
7. The electromagnet driven flexible micro-clamping device of claim 6, wherein: the clamp finger installation part (15) of the clamp (41) is provided with a nut, and the end part of the clamp (41) is provided with an external thread screwed into the nut.
8. The electromagnet driven flexible micro-clamping device of claim 1, wherein: the base (11) center is provided with electro-magnet mounting hole (111), the base has seted up a plurality of connecting hole (112).
9. The electromagnet actuated flexible micro-clamping device of claim 8, wherein: the electromagnet driving body (21) is installed on the base (11) through bolts.
10. The electromagnet driven flexible micro-clamping device of any one of claims 1 to 9, wherein: the compliant mechanism (10) is an integral member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010006891.7A CN110978041A (en) | 2020-01-03 | 2020-01-03 | Electromagnet-driven flexible micro-clamping device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010006891.7A CN110978041A (en) | 2020-01-03 | 2020-01-03 | Electromagnet-driven flexible micro-clamping device |
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| CN110978041A true CN110978041A (en) | 2020-04-10 |
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| CN202010006891.7A Pending CN110978041A (en) | 2020-01-03 | 2020-01-03 | Electromagnet-driven flexible micro-clamping device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112720287A (en) * | 2020-12-01 | 2021-04-30 | 华南理工大学 | Rotatable two-degree-of-freedom electromagnetic drive passive flexible micro clamp |
| CN113319759A (en) * | 2021-05-27 | 2021-08-31 | 南昌工程学院 | Magnetostrictive elastic sheet type micro-clamping device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112720287A (en) * | 2020-12-01 | 2021-04-30 | 华南理工大学 | Rotatable two-degree-of-freedom electromagnetic drive passive flexible micro clamp |
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| CN113319759B (en) * | 2021-05-27 | 2022-11-01 | 南昌工程学院 | Magnetostrictive elastic sheet type micro-clamping device |
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Application publication date: 20200410 |