CN115194727A - Constant force fixture - Google Patents
Constant force fixture Download PDFInfo
- Publication number
- CN115194727A CN115194727A CN202211118856.XA CN202211118856A CN115194727A CN 115194727 A CN115194727 A CN 115194727A CN 202211118856 A CN202211118856 A CN 202211118856A CN 115194727 A CN115194727 A CN 115194727A
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- Prior art keywords
- force
- shaft end
- input
- constant
- box body
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
- F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
Abstract
The invention relates to a constant force clamping mechanism, which can comprise a frame, wherein a pair of transversely extending support columns are symmetrically arranged in a box body of the frame; the elastic buffer components are symmetrically arranged in the box body in a mode of being at the same side with the supporting columns and comprise retainers arranged on the inner wall of the box body; the connecting rod assemblies are symmetrically arranged in the box body in the same side as the elastic buffer assemblies and comprise inner cam frames which are elastically connected to the retainer and can be rotatably sleeved on the supporting columns; the inner cam carrier is provided with an arc-shaped inner rail accommodating a slidable roller, the roller is connected to a shaft end extending along the height direction of the box body through a connecting rod, and the shaft end is provided with an input end used for being connected with a driving mechanism providing external input force and an output end used for being connected with a grabbing mechanism. The clamping device is simple in structure and convenient and fast to operate, has the function of balancing radial force and transverse force, and can ensure the safety and reliability of clamping fragile objects.
Description
Technical Field
The invention relates to the technical field of constant-force clamping equipment, in particular to a constant-force clamping mechanism.
Background
The clamping device plays a crucial role in the technical field of micromanipulation and microassembly as a key component for connecting a macroscopic system and a microscopic system, the clamping device is a common end executing mechanism in the fields of modern industrial production, bioengineering, medical science and the like, and clamped objects have diversified characteristics, wherein the clamped objects comprise fragile and non-rigid objects, biological cells and other objects which are easily damaged in the clamping process. In order to avoid damage to the target object in the clamping process, the design of the clamp with the constant-force clamping function has important significance.
CN109483515A discloses an embedded driving type constant force micro gripper based on a compliant amplifying mechanism, which comprises two L-shaped lever displacement amplifying mechanisms, a constant force mechanism, an input movable end, a base body and two groups of clamping jaws; the micro-gripper is of a structure symmetrical about a central axis, two L-shaped lever displacement amplification mechanisms are symmetrically arranged on two sides of the central axis of the micro-gripper respectively, an input end and an output end are arranged on each L-shaped lever amplification mechanism, the input end of each L-shaped lever amplification mechanism is connected with the input movable end through a flexible hinge I, the input movable end is connected with the substrate through a leaf hinge II, and the leaf hinge II plays a role in guiding; the constant force mechanism is arranged between the input movable end and the base body so as to ensure that the clamping force of the micro-gripper is constant; the output end of the L-shaped lever displacement amplification mechanism is connected with the clamping jaw through a bolt; the middle part of the substrate is provided with a piezoelectric ceramic driver through a bolt, and the longitudinal central line of the piezoelectric ceramic driver is superposed with the central axis of the micro-gripper.
CN108312086B discloses a flexible little holder of constant force adjustable multi freedom, it includes little clamping unit, little clamping unit includes clamping part and degree of freedom adjustment part, clamping part installs on the degree of freedom adjustment part and can realize the removal in upper and lower, left and right sides and front and back three direction under the drive of degree of freedom adjustment part, clamping part is connected with the degree of freedom adjustment part through a connecting block, the degree of freedom adjustment part passes through the base to be fixed on the different face base, the installation direction of the degree of freedom adjustment part that realizes the removal of different directions is different on the different face base.
CN114378744A discloses an adjustable constant force micro-gripper, which comprises: the base is used for fixing the adjustable constant force micro clamp; the driving mechanism is arranged on the base and used for providing power for the adjustable constant-force micro clamp; move clamp mechanism, move clamp mechanism and set up on the base, with actuating mechanism fixed connection, actuating mechanism can provide power for moving clamp mechanism motion, moves clamp mechanism and still includes: the first rigidity mechanism is arranged on the base and is fixedly connected with the driving mechanism, and the driving mechanism can provide power for the first rigidity mechanism; the second rigidity mechanism is connected with the first rigidity mechanism in parallel, and the second rigidity mechanism and the first rigidity mechanism generate the same displacement in the motion process; and the static clamp mechanism is fixedly connected with the base and is used for assisting in supporting the movable clamp mechanism to finish clamping and grabbing actions and feeding back acting force in the clamping process.
The constant force of the traditional constant force clamp holder can not be adjusted generally, and the existing constant force clamp holder is not flexible enough in operation when clamping an operated object, because the clamped object and a chuck easily slide relatively, the precision and the efficiency of a micro-operation process are influenced, the clamped object is easier to damage, particularly the clamped object with irregular part shape and obvious and fragile material. Therefore, there is still a need in the art to solve the above-mentioned problems.
The constant force mechanism has zero rigidity as an important branch of the compliant mechanism, and can be used for grabbing fragile objects and the like. The compliance constant force mechanism fully considers the good benefit of the easy deformation unit, and utilizes the deformation to improve the performance of the mechanical system. The flexible constant force mechanism utilizes the elastic deformation of materials to transmit or convert movement, force or energy, and mainly represents that strain energy is stored through the deformation of flexible units in the mechanism, and the strain energy is recovered and released to realize the transmission and target functions of energy. Compared with the traditional transmission structure, the flexible constant force mechanism has no or few kinematic pairs, no friction and wear, high mechanism motion precision, capability of realizing the miniaturization and miniaturization design of a mechanism system, and wide application prospect in the fields of micro-electromechanical systems and precision instruments.
Furthermore, on the one hand, due to the differences in understanding to the person skilled in the art; on the other hand, since the applicant has studied a great deal of documents and patents in making the present invention, but not the details and contents thereof listed therein, the present invention is by no means characterized by those prior art, but by the fact that the present invention has all the features of the prior art, and the applicant reserves the right to add related art to the background art.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a novel double-balance constant force mechanism, aiming at solving at least one or more technical problems in the prior art.
To achieve the above object, the present invention provides a constant force clamping mechanism, comprising:
the rack comprises a box body, wherein at least one pair of transversely extending support columns are symmetrically arranged in the box body;
the elastic buffer components are symmetrically arranged in the box body in a mode of being at the same side with the supporting columns and comprise retainers arranged on the inner wall of the box body;
the connecting rod assemblies are symmetrically arranged in the box body in a mode of being at the same side as the elastic buffer assembly and comprise inner cam frames which are elastically connected to the retainer and are rotatably sleeved on the supporting columns;
the inner cam carrier is provided with an arc-shaped inner rail containing a slidable roller, the roller is connected to a shaft end extending along the height direction of the box body through a connecting rod, and the shaft end is provided with an input end used for being connected with a driving mechanism providing external input force and an output end used for being connected with a grabbing mechanism.
Preferably, the holder is composed of a first beam extending along an inner wall of the case and a second beam connected to the first beam and extending in a transverse direction.
Preferably, the elastic buffer assembly further comprises:
the bosses are respectively arranged at one ends, far away from each other, of the first beam body and the second beam body of the retainer;
and the elastic piece is arranged on the retainer in a concentric manner with the boss and is connected to the inner cam carrier.
Preferably, in a state that an external input force or an input displacement from the input end of the shaft end is increased, the pair of inner cam carriers respectively take the respectively sleeved support columns as shafts and respectively rotate in opposite directions in a mirror image manner, so that the elastic piece on the first beam body of the retainer is in a tensioned state and the elastic piece on the second beam body of the retainer is in a compressed state.
Preferably, in a state where an external input force or an input displacement from the input end of the shaft end is reduced, the pair of inner cam carriers respectively rotate around the respectively sleeved support columns in the other opposite directions in a mirror image manner, so that the elastic member on the first beam body of the retainer is in a compressed state and the elastic member on the second beam body of the retainer is in a tensioned state.
Preferably, when the external input force or the input displacement from the input end of the shaft end increases beyond the balanceable range, the pair of rollers accommodated in the arcuate inner rails of the inner cam carriers respectively slide in the direction in which the respective arcuate inner rails approach each other to provide a reaction force transmitted to the shaft end through the connecting rod by the sliding.
Preferably, the pair of rollers accommodated in the arcuate inner rails of the inner cam carrier respectively slide in directions away from each other along the respective arcuate inner rails to provide, by the sliding, a pulling force transmitted to the shaft end through the connecting rod, when the external input force or input displacement from the input end of the shaft end is reduced beyond the balanceable range.
Preferably, the shaft end has a step, and a shaft end connection point of the connecting rod with the shaft end is at the tail end of the step.
Preferably, the top of the box body is provided with a hole for connecting and positioning the shaft end.
Preferably, the first direction in which the inner camshaft rotates when the external input force or input displacement increases and the second direction in which the inner camshaft rotates when the external input force or input displacement decreases are opposite to each other.
Preferably, the present invention also relates to a clamping device, which may comprise:
a drive mechanism for providing an external input force or input displacement;
the grabbing mechanism is used for grabbing an object to be clamped; and
the constant-force clamping mechanism is connected between the driving mechanism and the grabbing mechanism, and is used for transmitting the external input force or the input displacement provided by the driving mechanism to the grabbing mechanism to execute grabbing and clamping tasks on the object to be clamped and balancing changes of the external input force or the input displacement.
The invention provides a novel double-balance constant force mechanism, which solves the problem of grabbing fragile objects through the mutual matching of two structures of an elastic buffer assembly and a connecting rod assembly, and compared with the traditional constant force clamping mechanism, the double-balance constant force mechanism has a simpler composition structure, has the remarkable advantages of safety, reliability, simplicity and convenience in operation and the like, and is a constant force mechanism which is safe and reliable and does not need to worry about product breakage. Secondly, the constant force clamping mechanism based on the compliance mechanism of the present invention transfers or rotates motion, energy and/or force by relying on elastic deformation of the flexible elastic element and sliding of the linkage assembly, which is friction free, gapless and does not require high precision assembly. In addition, the constant force mechanism only depends on the elastic deformation of the flexible elastic element to complete a transmission task, so that the input and output of parameters such as force or displacement are relatively determined, the constant force can be output in real time without additionally arranging a sensor to measure the clamping force of the clamp holder like the traditional constant force clamping mechanism, and the design and manufacturing cost can be greatly reduced.
Drawings
FIG. 1 is a schematic cross-sectional elevation view of a preferred embodiment constant force clamping mechanism provided in accordance with the present invention;
FIG. 2 is a schematic top view of a preferred embodiment of a constant force clamping mechanism according to the present invention;
fig. 3 is a schematic diagram of an axial structure of a constant force clamping mechanism according to a preferred embodiment of the invention.
List of reference numerals
1: a box body; 2: a holder; 3: a connecting rod; 4: a shaft end; 5: an elastic member; 6: an inner cam carrier; 7: a roller; 8: a support pillar; 9: a boss; 40: a shaft end connection point; 41: an input end; 42: an output end; 43: a step portion; 60: an arc-shaped inner rail.
Detailed Description
The following detailed description is made with reference to the accompanying drawings.
Example 1
Referring to fig. 1-3, the present invention provides a constant force clamp mechanism that may include a frame, a resilient bumper assembly, and a linkage assembly mechanically coupled to each other. Preferably, the present invention can be used as an intermediate structure of the constant force clamping mechanism, that is, an external input force is transmitted to the gripping head for performing a gripping task through the constant force clamping mechanism of the present invention, and the force balance during the gripping process is maintained through the constant force clamping mechanism of the present invention.
According to a preferred embodiment, as shown in fig. 1 and 2, the frame may comprise a box 1, a support column 8 and a shaft end 4.
According to a preferred embodiment, the tank 1 is a cubical casing. Further, as shown in fig. 1 to 3, a support column 8 is provided inside the case 1. Specifically, the supporting posts 8 extend transversely in the box body 1, and two ends of the supporting posts are connected to the inner wall of the box body respectively.
According to a preferred embodiment, the top of the box 1 may be provided with a hole for fixing and positioning the shaft end 4.
Specifically, as shown in fig. 1, the shaft end 4 extends inside the case 1 in the height direction of the case 1. Further, the shaft end 4 is substantially a cylindrical structure having a stepped portion 43. The bottom of the shaft end 4 is in a round platform structure. Specifically, the end of the shaft end 4 near the bottom of the box 1 is an output end 42. In particular, the output end 42 of the shaft end 4 can be used for connecting a gripper or gripping head (not shown in the figures) which can grip an object to be gripped. In particular, the connection between the output end 42 of the shaft end 4 and the gripping head for gripping the object to be gripped can be in the form of a hinge, for example.
According to a preferred embodiment, the end of the shaft end 4 near the top of the tank 1 is the input end 41, as shown in fig. 1. In particular, the input end 41 of the shaft end 4 may be used for connecting a driving mechanism (not shown in the figures) for providing an external force input. In particular, a commonly used drive mechanism in a constant force gripper may include a piezoceramic driver.
Preferably, after the two ends of the shaft end 4 are respectively connected and fixed with the driving mechanism for providing external force input and the hand grip for gripping the object to be gripped, the external force input by the driving mechanism can be provided by the driving mechanism, and the external force input by the driving mechanism is transmitted to the hand grip at the tail end of the shaft end 4 through the shaft end 4, so that the gripping and gripping action of the object to be gripped is completed through the hand grip at the tail end of the shaft end 4.
According to a preferred embodiment, as shown in fig. 1, the elastic buffer assembly may include a holder 2, a boss 9, and an elastic member 5.
According to a preferred embodiment, as shown in fig. 1, the holders 2 are symmetrically arranged on both sides of the inner wall of the case 1. Preferably, as shown in fig. 3, the holder 2 is disposed at a substantially middle position of the case 1. Specifically, as shown in fig. 1 and 3, the cage 2 is substantially in an "L" shape. The retainer 2 is composed of a first beam body extending along the inner wall of the box body and a second beam body connected to the tail end of the first beam body and extending along the transverse direction.
According to a preferred embodiment, the cage 2 consisting of the first beam and the second beam may be a right-angled frame in this embodiment.
According to a preferred embodiment, as shown in fig. 1, two bosses 9 are provided on the cage 2. Specifically, two bosses 9 are respectively provided at respective ends of the first beam and the second beam of the cage 2, which are relatively distant from each other. Specifically, one of the bosses 9 is disposed on a top side of the first beam, i.e., a side away from an end of the second beam. The other boss 9 is disposed on the surface of the end of the second beam, i.e., the surface of the end remote from the first beam.
According to a preferred embodiment, as shown in fig. 1 and 3, the holder 2 is further provided with two elastic members 5. Specifically, the elastic member 5 is provided on the holder 2 coaxially with the boss 9. In particular, when the external input force from the input end 41 of the shaft end 4 changes, the elastic members 5 at both ends of the cage 2 will be compressed or stretched with the increase or decrease of the external input force, and the elastic force generated by the elastic members 5 through compression or stretching will be used to balance the increased or decreased external input force. Specifically, the external input force from the input end 41 of the shaft end 4 is in the axial direction of the shaft end 4, or the input displacement of the driving mechanism to the shaft end 4 is in the axial direction of the shaft end 4.
According to a preferred embodiment, the elastic member 5 may be a compression spring.
According to a preferred embodiment, as shown in fig. 1 and 3, the connecting rod assembly may include an inner cam carrier 6, a roller 7, and a connecting rod 3.
According to a preferred embodiment, as shown in fig. 1 and 3, the inner cam carrier 6 is an L-like shaped carrier structure having an arcuate inner rail 60. Two ends of the inner cam frame 6 are respectively connected with the elastic parts 5 at two ends of the retainer 2.
According to a preferred embodiment, the structural corners of the inner cam carrier 6 may be provided with attachment holes. The support post 8 can pass through the inner cam carrier 6 through the connecting hole, so that the inner cam carrier 6 can rotate within the range allowed by the telescopic load of the elastic member 5 by the support post 8 as a shaft.
According to a preferred embodiment, as shown in fig. 1 and 3, the inner cam carrier 6 has an arcuate inner track 60. Further, the rollers 7 may be installed in the arc-shaped inner rail 60 of the inner cam carrier 6. The rollers 7 can slide along the arc-shaped inner rail 60.
According to a preferred embodiment, the roller 7 is flanked by links 3, as shown in fig. 1. Further, the other end of the connecting rod 3 is fixedly connected to the shaft end 4. Preferably, the connection point of the connecting rod 3 to the shaft end 4 is a shaft end connection point 40. Further, the shaft end connection point 40 is located at the end of the stepped portion 43 of the shaft end 4.
According to a preferred embodiment, in a state where the link 3 is connected to the shaft end 4 and the roller 7, respectively, the link 3 can be rotated/swung centering on the shaft end connection point 40 of the shaft end 4 in accordance with a change in the external input force from the input end 41 of the shaft end 4. The roller 7 at the other end of the connecting rod 3 can slide along the arc-shaped inner rail 60 of the inner cam carrier 6.
In particular, as shown in fig. 3, in the present embodiment, the roller 7 may be a roller. The links 3 may be a pair, and the pair of links 3 are connected to both sides of the roller 7, respectively.
According to a preferred embodiment, when the constant force clamping mechanism of the present invention is not in operation, the connecting rod 3 extends diagonally between the roller 7 and its shaft end connection point 40 with the shaft end 4, as shown in fig. 1.
According to a preferred embodiment, the connecting rod 3 is in a state of having an inclination with respect to a horizontal reference plane, provided that the roller 7 can slide along the arc-shaped inner rail 60 of the inner cam carrier 6 to the bottom of the inner cam carrier 6. On the other hand, if the roller 7 can slide along the arc-shaped inner rail 60 of the inner cam carrier 6 to the top of the inner cam carrier 6, the link 3 is in a state of being substantially parallel with respect to the horizontal reference plane.
According to a preferred embodiment, when or after the external input force F from the input end 41 of the shaft end 4 increases beyond the range in which the constant force clamping mechanism of the present invention can be balanced, the roller 7 slides in the arcuate inner rail 60 of the inner rack cam 6 in a direction close to the bottom of the inner rack cam 6, and during the sliding, the roller 7 transmits a support reaction force to the shaft end 4 through the connecting rod 3 based on the support action of the bottom retainer 2 of the inner rack cam 6, so that the increased external input end force F can be balanced.
According to a preferred embodiment, when or after the external input force F from the input end 41 of the shaft end 4 is reduced and exceeds the range in which the constant force clamping mechanism of the present invention can be balanced, the roller 7 slides in the arc-shaped inner rail 60 of the inner rack cam 6 in a direction away from the bottom of the inner rack cam 6 (i.e., in a direction close to the top of the inner rack cam 6) to balance the reduced external input force F by applying a certain pulling force to the connecting rod 3 to provide a suitable pulling force.
According to a preferred embodiment, since the elastic member 5 (compression spring) generally has a limited elastic modulus and the inner cam carrier 6 is rotatably sleeved on the supporting pillar 8, in this embodiment, the external input force F or the input displacement L exceeding the balance range may be, for example, exceeding the maximum allowable load of the compression spring, or the compression spring reaching the maximum elastic deformation range in a limited deformable space.
For the convenience of understanding and using the invention, the working principle and the using method thereof are explained in detail as follows:
when a user uses the constant-force clamping mechanism of the present invention, an object to be clamped, such as a part to be clamped, is firstly assembled integrally, and the constant-force clamping mechanism of the present invention is connected and fixed to a driving mechanism for providing an external force input and a grabbing head for grabbing the object to be clamped through the input end 41 and the output end 42 of the shaft end 4, respectively.
Further, after assembly is complete, an external input force F, i.e. an input displacement L, is provided by a drive mechanism connected to the input end 41 of the shaft end 4. An external input force F or an input displacement L provided by the driving mechanism is transmitted to the hand grip through the shaft end 4, and in the process, the external input force F or the input displacement L acts on the elastic buffer assembly and the connecting rod assembly, and constant-force clamping of the object to be clamped is achieved through constant force passively generated by the elastic buffer assembly and the connecting rod assembly.
According to a preferred embodiment, for example, taking the right-side inner rack cam 6 shown in fig. 1 as an example, the inner rack cam 6 rotates counterclockwise around the support pillar 8 in a state where the external input force F or the input displacement L from the input end 41 of the shaft end 4 continues to increase. The elastic member 5 located at the bottom of the inner rack cam 6 is compressed by the increased external input force F or input displacement L, and the elastic member 5 located at the top side of the inner rack cam 6 is stretched by the increased external input force F or input displacement L, and the increased external input force F is balanced by the tensile force generated by the stretched elastic member 5 at the top side of the inner rack cam 6.
Further, when the external input force F or the input displacement L from the input end 41 of the shaft end 4 continues to increase beyond the balance range in which the two elastic members 5 are adaptively adjustable, the rollers 7 located in the arcuate inner rails 60 of the inner rack cam 6 slide in the direction approaching the bottom of the inner rack cam 6 with the continuous increase of the external input force F or the input displacement L, so that the rollers 7 transmit the support reaction force to the shaft end 4 through the connecting rod 3 based on the support action of the cage 2 at the bottom of the inner rack cam 6, whereby the increased external input force F or the input displacement L can be balanced.
On the other hand, in a state where the external input force F or the input displacement L from the input end 41 of the shaft end 4 continues to decrease, the right-side inner rack cam 6 shown in fig. 1, for example, will rotate clockwise about the support post 8 as a rotation axis. The elastic member 5 located at the bottom of the inner rack cam 6 is stretched by the reduced external input force F or input displacement L, and the elastic member 5 located at the top side of the inner rack cam 6 is compressed by the reduced external input force F or input displacement L, thereby supplementing the reduced external input force F to some extent.
According to a preferred embodiment, the rollers 7 located in the arcuate inner tracks 60 of the inner rack cam 6 will slide in a direction away from the bottom of the inner rack cam 6 as the external input force F or input displacement L from the input end 41 of the shaft end 4 continues to decrease beyond the adaptively adjustable equilibrium range of the two elastic members 5. In particular, the roller 7 will exert a certain pulling force on the connecting rod 3 during sliding in a direction away from the bottom of the inner cam carrier 6. Further, the pulling force of the roller 7 on the connecting rod 3 will be applied to the shaft end 4 via the connecting rod 3 to produce a certain pulling force on the shaft end 4, thereby counteracting or compensating for a reduced part of the external force with this part of the pulling force.
According to a preferred embodiment, in the present embodiment, the counterclockwise rotation of the inner rack cam 6 may be defined as the rotation in the first direction, and the clockwise rotation of the inner rack cam 6 may be defined as the rotation in the second direction. Further, the rotation directions of the inner rack cams 6 on both sides are symmetrical to each other, in other words, when the left inner rack cam 6 is rotated counterclockwise, the right inner rack cam 6 opposite thereto is rotated clockwise.
Preferably, because the constant force clamping mechanism of the present invention is designed symmetrically as a whole, during the process of increasing or decreasing the external input force F or input displacement L from the input end 41 of the shaft end 4, the increased or decreased external input force F or input displacement L is balanced inside the structure by the elastic buffer assembly and the connecting rod assembly, especially by the elastic members 5 distributed at different points between the retainer 2 and the inner cam carrier 6, via the elastic force generated by the respective elastic deformation of the two elastic members 5. After the external input force F or input displacement L from the input end 41 of the shaft end 4 increases or decreases beyond the balanceable range, the roller 7 will generate a certain reaction force or pulling force to the shaft end 4 through the connecting rod 3 by means of the sliding of the roller 7 in the arc-shaped inner rail 60 of the inner cam carrier 6, and the additionally increased or decreased external input force F or input displacement L can be balanced or compensated by the reaction force or pulling force.
According to a preferred embodiment, the present invention provides a constant force structure for forming a constant force clamp assembly, which may be comprised of a frame portion, a spring-damper assembly, and a linkage assembly.
According to a preferred embodiment, the frame part consists of a support column 8, a box 1 and a shaft end 4. The upper end of the box body 1 is provided with a hole for fixing and positioning the shaft end 4. And a support column 8 is fixed on the inner side wall of the box body 1.
According to a preferred embodiment, the spring-damper assembly is composed of a cage 2, an elastic member 5, and a boss 9. The retainer 2 is fixed at the middle part of two sides of the inner wall of the box body 1. The two bosses 9 are respectively fixed on the upper end and the lower end of the retainer 2. The elastic member 5 is concentric with the boss 9 and fixed on the holder 2. When the external force increases or decreases, the elastic member 5 is compressed or contracted, and the resultant elastic force is balanced with the increased or decreased force.
According to a preferred embodiment, the connecting rod assembly consists of an inner cam carrier 6, a roller 7, a connecting rod 3. The inner cam carrier 6 passes through the support post 8, is positioned at the middle end of the support post 8 and can rotate along the support post. The roller 7 is disposed inside the inner cam carrier 6 and is slidable along the inner cam carrier 6. One end of the connecting rod 3 is fixed with the roller 7. The other end of the connecting rod 3 is fixed at the shaft end 4 and can rotate.
According to a preferred embodiment, when the input force F increases beyond the maximum range of possible equilibrium, the rollers 7 slide along the inner tracks, providing a suitable counter-bearing force to balance the increased force F. Conversely, when the input force F decreases, the rollers 7 slide along the inner track, providing the appropriate tension to balance the decreasing force.
According to a preferred embodiment, when the user uses the double-balance constant-force mechanism, the integral parts are assembled firstly, and the constant-force mechanism is fixed at the grabbing head for working. Specifically, when the input end force F increases, the inner cam carrier 6 (taking the right side as an example) rotates counterclockwise about the shaft. Further, the lower elastic member 5 is compressed by a force, and the upper elastic member 5 is stretched by a force to balance the increased force. In particular, when the force exceeds the maximum range of possible equilibrium, the roller 7 will slide to the left along the inner track, providing a suitable abutment force to balance the increased force F.
Conversely, when the input force F decreases, the inner cam carrier 6 (for the right side example) rotates clockwise around the shaft. Further, the lower elastic member 5 is subjected to tensile force, and the upper elastic member 5 is subjected to compressive force, thereby supplementing the reduced force to some extent. When the force exceeds the maximum spring balance range, the roller 7 will move to the right along the inner track, providing a certain pulling force on the link 3, and the link 3 will be connected to the shaft end 4, pulling it downwards, providing a reduced partial force with the pulling force. And the constant force mechanisms are symmetrically arranged, so that the transverse force is balanced.
According to a preferred embodiment, the constant-force clamping mechanism provided by the invention is simple in design structure and convenient to operate, has the function of balancing radial force and transverse force, and can ensure the safety and reliability of clamping fragile objects.
Example 2
Based on the constant-force clamping mechanism disclosed in embodiment 1 of the invention, the invention further relates to clamping equipment comprising the constant-force clamping mechanism disclosed in embodiment 1.
According to a preferred embodiment, the clamping device described in this embodiment may comprise a driving mechanism for providing an external input force F or input displacement L, a gripping mechanism for gripping an object to be clamped, and a constant force clamping mechanism as described in embodiment 1. Specifically, actuating mechanism, constant force fixture and snatch the mechanism and connect the centre gripping equipment that constitutes this embodiment in proper order mechanically.
According to a preferred embodiment, the constant force clamping mechanism is disposed between the driving mechanism and the gripping mechanism, and is used for transmitting or applying the external input force F or the input displacement L provided by the input end 41 of the constant force clamping mechanism to the gripping mechanism, so as to perform the gripping and clamping actions on the object to be gripped by the gripping mechanism. In particular, since the constant force clamping mechanism of the present invention is provided with the elastic buffer assembly including the elastic member 5 and the link assembly including the inner cam carrier 6 having the slidable roller 7 accommodated therein during the process in which the external input force F or the input displacement L is constantly changed, it is possible to adaptively balance or adjust the external force change during the period, thereby maintaining the clamping force for the object to be clamped constant.
According to a preferred embodiment, the specific structure of the constant-force clamping mechanism is described in detail in example 1, which is not described in detail again.
It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents. The present description contains several inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally", each indicating that the respective paragraph discloses a separate concept, the applicant reserves the right to submit divisional applications according to each inventive concept.
Claims (10)
1. A constant force fixture, comprising:
the rack comprises a box body (1), wherein at least one pair of transversely extending supporting columns (8) are symmetrically arranged in the box body (1);
at least one pair of elastic buffer components are symmetrically arranged in the box body (1) in a mode of being at the same side as the supporting column (8), and each elastic buffer component comprises a retainer (2) arranged on the inner wall of the box body (1);
the connecting rod assemblies are symmetrically arranged in the box body (1) in a mode of being on the same side as the elastic buffer assemblies and comprise inner cam frames (6) which are elastically connected to the retainer (2) and can be rotatably sleeved on the support columns (8);
wherein the inner cam carrier (6) is provided with an arc-shaped inner rail (60) accommodating a slidable roller (7), and the roller (7) is connected with a shaft end (4) extending along the height direction of the box body (1) through a connecting rod (3) and used for conducting external input force.
2. The constant-force clamping mechanism according to claim 1, wherein the holder (2) is composed of a first beam extending along the inner wall of the case (1) and a second beam connected to the first beam and extending in a transverse direction.
3. The constant force clamp mechanism of claim 1, wherein the resilient buffer assembly further comprises:
the bosses (9) are respectively arranged at one ends, far away from each other, of the first beam body and the second beam body of the retainer (2);
an elastic member (5), wherein the elastic member (5) is disposed on the holder (2) concentrically with the boss (9) and connected to the inner cam carrier (6).
4. The constant-force clamping mechanism according to any one of claims 1 to 3, wherein in a state that external input force or input displacement from an input end (41) of the shaft end (4) is increased, the pair of inner cam frames (6) respectively take the supporting columns (8) which are respectively sleeved with the inner cam frames as shafts and respectively rotate in opposite directions in a mirror image manner, so that the elastic piece (5) positioned on the first beam body of the retainer (2) is in a tensioned state and the elastic piece (5) positioned on the second beam body of the retainer (2) is in a stressed state.
5. The constant-force clamping mechanism according to any one of claims 1 to 3, wherein in a state that external input force or input displacement from an input end (41) of the shaft end (4) is reduced, the pair of inner cam frames (6) respectively take the support columns (8) which are respectively sleeved with the inner cam frames as shafts and respectively rotate in a mirror image manner along the other opposite directions, so that the elastic piece (5) positioned on the first beam body of the retainer (2) is in a compressed state and the elastic piece (5) positioned on the second beam body of the retainer (2) is in a tensioned state.
6. The constant-force clamping mechanism according to any one of claims 1 to 3, wherein when the external input force or input displacement from the input end (41) of the shaft end (4) increases beyond the balance-possible range, the pair of rollers (7) accommodated in the arc-shaped inner rails (60) of the inner cam carrier (6) respectively slide along the respective arc-shaped inner rails (60) in the direction of approaching each other, so as to provide a support reaction force transmitted to the shaft end (4) through the connecting rod (3) by the sliding.
7. The constant-force clamping mechanism according to any one of claims 1 to 3, wherein when the external input force or input displacement from the input end (41) of the shaft end (4) is reduced to exceed a balance-available range, the pair of rollers (7) accommodated in the arc-shaped inner rails (60) of the inner cam carrier (6) respectively slide along the respective arc-shaped inner rails (60) in directions away from each other to provide, through the sliding, a tensile force transmitted to the shaft end (4) through the connecting rod (3).
8. The constant-force clamping mechanism according to any one of claims 1 to 3, wherein a first direction in which the inner cam carrier (6) rotates around the sleeved support column (8) due to an increase in external input force or input displacement from the input end (41) of the shaft end (4) and a second direction in which the inner cam carrier rotates around the sleeved support column (8) due to a decrease in external input force or input displacement from the input end (41) of the shaft end (4) are opposite to each other.
9. The constant force clamp mechanism according to claim 1, wherein the shaft end (4) has an input end (41) for connecting a drive mechanism providing an external input force and an output end (42) for connecting a gripping mechanism.
10. The constant-force clamping mechanism as claimed in claim 1, characterized in that the shaft end (4) has a step (43), and the shaft end connection point (40) of the connecting rod (3) to the shaft end (4) is at the end of the step (43).
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| CN202211118856.XA CN115194727B (en) | 2022-09-15 | 2022-09-15 | Constant force fixture |
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| CN202211118856.XA CN115194727B (en) | 2022-09-15 | 2022-09-15 | Constant force fixture |
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| CN115194727B CN115194727B (en) | 2022-11-25 |
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