CN117359515A - Constant force micro-clamp based on space composite flexible unit - Google Patents
Constant force micro-clamp based on space composite flexible unit Download PDFInfo
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- CN117359515A CN117359515A CN202311584950.9A CN202311584950A CN117359515A CN 117359515 A CN117359515 A CN 117359515A CN 202311584950 A CN202311584950 A CN 202311584950A CN 117359515 A CN117359515 A CN 117359515A
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- 238000005859 coupling reaction Methods 0.000 claims abstract description 9
- 230000001154 acute effect Effects 0.000 claims description 3
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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
- B25B5/00—Clamps
-
- 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
- B25B5/00—Clamps
- B25B5/16—Details, e.g. jaws, jaw attachments
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Abstract
The invention discloses a constant force micro-clamp based on a space composite flexible unit, which relates to the technical field of micro-clamps and comprises a flexible micro-clamp mechanism and a rotary driving mechanism, wherein the flexible micro-clamp mechanism comprises a swinging part, space curved beam mechanisms are symmetrically arranged on two sides of the swinging part, one end of each space curved beam mechanism is connected with the swinging part, the other end of each space curved beam mechanism is connected with a bistable inclined beam group, and a micro-clamp main body is connected between the two bistable inclined beam groups; the rotary driving mechanism is connected with the swinging component and is used for driving the swinging component to rotate so as to enable the flexible constant force micro-clamp mechanism to realize rotation and direct motion coupling. The invention integrates the compound transmission mechanism formed by the space curved beam mechanism and the bistable inclined beam group into the micro clamp, realizes the clamping action of the tail end of the clamp through the deformation of the space curved beam mechanism, and realizes the strong coupling of rotary driving and high-precision constant force clamping movement so as to meet the constant force clamping requirements of large stroke, high resolution and low cost in a precision operation system.
Description
Technical Field
The invention relates to the technical field of micro-clamps, in particular to a constant force micro-clamp based on a space composite flexible unit.
Background
Micro-pliers are a tool for handling microscopic objects, commonly for micromanipulation, which may be designed as an end effector of a robotic arm, used in conjunction with various multiple degree of freedom drives. In the prior art, there is a constant force clamp, which can realize constant force output, and is easy to realize miniaturization, for example:
CN115805540a discloses a constant force micro gripper, which comprises a linear driver, wherein the linear driver is connected with a displacement amplifying mechanism, and the displacement amplifying mechanism is connected with a constant force mechanism; the bridge displacement amplifying mechanism is adopted to amplify the stroke range, but the transmission mechanism of the clamp is single, the conversion from direct motion to direct motion is basically realized in a plane, and the structure is relatively complex. CN108724147a discloses a flexible micro-clamp with constant force output and adjustable clamping force, which comprises a static clamp mechanism arranged on a base, wherein a linear driving motor is arranged in the static clamp mechanism, and the end part of the linear driving motor is connected with a movable clamp mechanism; under the action of the guide mechanism, the moving clamp arms tend to the static clamp mechanism to move so as to clamp; this solution, although capable of achieving constant force clamping, is still a motion in the plane, affecting the efficiency of execution to some extent.
Meanwhile, the planar structure is usually implemented in the form of a lever amplification mechanism or a compound amplification mechanism and the like, the amplification ratio depends on the size of a lever power arm, the larger the amplification ratio is, the longer the power arm is, and the larger the diameter of an external circle of the integral structure is, so that the miniaturization of the integral mechanism of the micro clamp is not facilitated, and the micro clamp is easy to limit particularly when working in some narrow spaces.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a constant force micro-clamp based on a space composite flexible unit, wherein a composite transmission mechanism consisting of a space curved beam mechanism and a bistable inclined beam group is integrated into the micro-clamp, and two clamp arms are clamped towards the middle through deformation of the space curved beam mechanism, so that the clamping action of the tail ends of the clamp is finally realized, the strong coupling of rotary driving and high-precision constant force clamping movement is realized, and the requirements of large-stroke, high-resolution and low-cost constant force clamping in a precision operation system are met.
In order to achieve the above object, the present invention is realized by the following technical scheme:
the embodiment of the invention provides a constant force micro clamp based on a space compound flexible unit, which comprises the following components:
the flexible micro-clamp mechanism comprises a swinging component, wherein space curved beam mechanisms are symmetrically arranged on two sides of the swinging component, one end of each space curved beam mechanism is connected with the swinging component, the other end of each space curved beam mechanism is connected with a bistable oblique beam group, and a micro-clamp main body is connected between the two bistable oblique beam groups;
the rotary driving mechanism is connected with the swinging component and is used for driving the swinging component to rotate so as to enable the flexible constant force micro-clamp mechanism to realize rotation and direct motion coupling.
As a further implementation, the spatial curved beam mechanism is used to provide positive stiffness, the bistable diagonal beam set is used to provide negative stiffness, and the spatial curved beam mechanism and bistable diagonal beam set are capable of providing a constant force clamping range of the micro-clamp body.
As a further implementation, the space-curvature beam mechanism comprises a plurality of flexible space-curvature beams which are uniformly distributed along the circumference of the swinging member.
As a further implementation, the flexible spatial curved beam is helical.
As a further implementation, the bistable ramp set includes a plurality of bistable ramps, one end of each bistable ramp being connected to a fixed portion.
As a further implementation manner, the included angle between the connection part of the bistable oblique beam and the fixing part and the vertical direction is an acute angle;
the axis direction of the swinging component is perpendicular to the vertical direction.
As a further implementation manner, the bistable oblique beam group further comprises a supporting frame, and the bistable oblique beam and the fixing part are installed in the supporting frame;
the micro-clamp main body is fixedly connected with the supporting frame.
As a further implementation, the rotary driving mechanism includes a steering engine, and the steering engine is connected to a center position of the swinging component.
As a further implementation mode, the rotary driving mechanism further comprises a swing arm, the swing arm is connected with the steering engine, and a swing arm groove matched with the swing arm is formed in the swing part.
As a further implementation, the micro-clamp body includes two clamp arms forming a jaw therebetween.
The beneficial effects of the invention are as follows:
(1) The invention realizes the quasi-zero stiffness characteristic of the flexible micro-clamp by integrating the bistable state oblique beam group with the linear negative stiffness characteristic and the space curved beam mechanism with the torsional positive stiffness characteristic in parallel; the conversion between the rotary motion and the clamp clamping action is realized through the space curved beam mechanism, so that different requirements of high-precision motion and constant force clamping in precise operation can be met; the bistable oblique beam group directly connected with the fixing parts at two sides can output negative rigidity displacement when the clamp arms clamp and move, and finally achieves the effect of zero rigidity constant force action;
meanwhile, the invention has simple structure, easy processing and manufacturing and high action execution efficiency; according to the invention, the clamping action of the micro mechanism is realized through the non-planar transmission mechanism, so that the micro clamp transmission mechanism is designed from the thought of three-dimensional space configuration, and the application range of clamps is enlarged.
(2) The transmission ratio of the input rotation angle of the constant force micro-clamp and the clamp displacement can be adjusted by changing the size parameter of the flexible space curved beam; the over-constraint effect is increased by increasing the number of flexible space curved beams, so that parasitic movement in a nonfunctional direction is restrained, and the aim of improving the precision of the micro-clamp is fulfilled.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a perspective view of a constant force micro-clamp according to one or more embodiments of the invention;
FIG. 2 is a front view of a constant force micro clamp according to one or more embodiments of the invention;
FIG. 3 is a side view of a constant force micro clamp according to one or more embodiments of the invention;
FIG. 4 is an exploded view of a constant force micro clamp according to one or more embodiments of the invention;
FIG. 5 is an assembly view of a constant force micro clamp according to one or more embodiments of the invention;
FIG. 6 is a schematic diagram of a rotary drive mechanism according to one or more embodiments of the present invention;
FIG. 7 is a schematic diagram of a composite zero stiffness principle;
FIG. 8 is a schematic representation of a finite element deformation analysis of a constant force micro gripper according to one or more embodiments of the present invention.
The device comprises a 1-flexible micro-clamp mechanism, a 101-flexible space curved beam, a 102-bistable oblique beam, a 103-fixing part, a 104-jaw, a 105-swing arm groove and a 106-swing part, wherein the flexible space curved beam is arranged on the upper surface of the main body; 2-rotation driving mechanism, 201-swing arm, 202-steering engine.
Detailed Description
Embodiment one:
in an exemplary embodiment of the present invention, a constant force micro-clamp based on a spatially compounded flexible unit is presented as shown in fig. 1-5.
Because the constant force micro clamp in the prior art is usually a plane transmission mechanism, the transmission precision limitation of the constant force micro clamp leads the execution efficiency to be unable to meet the requirement; based on this, this embodiment provides a constant force micro-clamp based on a space composite flexible unit, integrates the composite transmission mechanism formed by the space curved beam mechanism and the bistable inclined beam group in the clamp device, applies torque through the rotation driving mechanism 2, and realizes the rotation of the middle swinging component 106, thereby realizing the simultaneous clamping of the bistable inclined beam groups and the clamp arms on two sides to the middle through the deformation of the space curved beam mechanism, and finally realizing the clamping action of the clamp tail end.
The bistable state oblique beam group with the linear negative stiffness characteristic and the space curved beam mechanism with the torsional positive stiffness characteristic are integrated in parallel, so that the quasi-zero stiffness characteristic of the flexible micro clamp is realized; thus providing higher transmission accuracy through the rotation-direct motion coupling.
The constant force micro gripper is described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 5, the constant force micro-clamp based on the space compound flexible unit comprises a flexible micro-clamp mechanism 1, a rotary driving mechanism 2 and a micro-clamp main body, wherein the rotary driving mechanism 2 is connected with the micro-clamp main body through the flexible micro-clamp mechanism 1, and can convert rotary motion into linear motion, so that the clamping action of the micro-clamp is realized; wherein, the flexible micro-clamp mechanism 1 adopts a compound transmission mechanism.
Specifically, the flexible micro-clamp mechanism 1 mainly comprises a swinging component 106, a space curved beam mechanism and a bistable oblique beam group, wherein the swinging component 106 is connected with the rotary driving mechanism 2 and is used for driving other components to swing; the form of the swinging member 106 may be set according to the actual application, and in this embodiment, the swinging member 106 adopts a disc structure, and the axis direction of the swinging member 106 is a horizontal direction, and the vertical direction is a vertical direction.
The rotary driving mechanism 2 comprises a steering engine 202, and the steering engine 202 is connected with the swinging component 106 so as to drive the swinging component 106 to rotate. In order to facilitate disassembly and assembly of the device and meet driving requirements at the same time, the rotary driving mechanism 2 of the embodiment further comprises a swing arm 201, the swing arm 201 is connected to a shaft of a steering engine 202, a swing arm groove 105 matched with the swing arm 201 is formed in the center of the swing part 106, and the swing arm 201 and the swing arm groove 105 are spliced to achieve cooperation.
As shown in fig. 6, the swing arm 201 includes a middle cylindrical section and straight plate sections connected to two sides of the cylindrical section, so that the swing arm 201 and the swing arm slot 105 can be locked and fixed in the rotation process, and the swing member 106 rotates synchronously with the swing arm 201.
The steering engine 202 is an angle servo driver, and is suitable for a control system which needs the angle to be changed continuously and can be maintained, and compared with piezoelectric ceramics, the cost of the steering engine is greatly reduced. The working principle of the steering engine 202 is that a receiver sends a signal to the steering engine 202, a coreless motor is driven to start rotating through I C on a circuit board, power is transmitted to the swing arm 201 through a reduction gear, and a position detector sends back a signal to judge whether positioning is achieved.
The swing part 106 is symmetrically provided with space curved beam mechanisms at two axial sides, namely two groups of space curved beam mechanisms; the space curved beam mechanism is connected between the swinging component 106 and the bistable inclined beam groups, each bistable inclined beam group is connected with one clamp arm of the micro-clamp main body, a jaw 104 is formed between the two clamp arms, and the rotation action of the swinging component 106 is sequentially transmitted to the clamp arms through the space curved beam mechanism and the bistable inclined beam 102, so that the rotation-direct motion coupling is realized.
Because the space curved beam mechanism has positive rigidity torsion, the bistable oblique beam group has linear negative rigidity characteristics, and the space curved beam mechanism and the bistable oblique beam group are connected in parallel, so that the quasi-zero rigidity characteristic of the flexible micro-clamp is realized. The space curved beam mechanism comprises a plurality of flexible space curved beams 101, wherein one end of each flexible space curved beam 101 is connected to the side surface of the swinging component 106 close to the edge, and the flexible space curved beams are uniformly distributed along the circumferential direction of the swinging component 106 so as to transmit stable power. The number of the flexible space curved beams 101 can be set according to actual clamping requirements, for example, three flexible space curved beams 101 are set, over-constraint can be achieved by reasonably increasing the number of the flexible space curved beams 101, parasitic movement can be further restrained, and further movement accuracy of the micro clamp is improved.
The flexible space curved beam 101 is made of flexible material, and in this embodiment, the flexible space curved beam 101 is spiral; of course, in other embodiments, the flexible space beam 101 may take other linear configurations. The flexible space curved beam 101 can realize the coupling from large torsion angle input to micro linear displacement output through the adjustment of size parameters.
The bistable oblique beam group can output negative rigidity displacement when the connected clamp arms clamp and move, and finally the effect of zero rigidity constant force action is achieved. The bistable ramp groups comprise a plurality of bistable ramp beams 102, each bistable ramp beam 102 of each group being supported by a support frame and being engaged by a fixing 103. As shown in fig. 5, the support frame of the present embodiment adopts a hollow rectangular frame, a fixing portion 103 corresponding to the shape of the support frame is provided at the center of the support frame, that is, the fixing portion 103 is a rectangular block, and a bistable diagonal beam 102 is connected between the fixing portion 103 and the support frame.
Since the support frame and the fixing portion 103 of the present embodiment have a rectangular structure, each side corresponding to the rectangular structure is connected to the bistable diagonal beam 102, that is, four bistable diagonal beams 102 are provided in total.
It will be appreciated that in other embodiments, the support frame may have other shapes, such as a ring shape, and the fixing portion 103 on the inner side thereof is disc-shaped, and the plurality of bistable diagonal beams 102 are uniformly distributed between the support frame and the fixing portion 103 along the circumferential direction.
As can be seen from fig. 1, 4 and 5, the bistable diagonal beam 102 has a certain inclination angle, and the bistable diagonal beam 102 is inclined from the connection end with the fixing portion 103 to the connection end with the supporting frame, or, the connection position of the bistable diagonal beam 102 and the fixing portion 103 is arranged at a certain angle with respect to the vertical direction, and the angle is an acute angle.
The number and shape of the flexible space curved beams 101 and the number and inclination angle of the bistable inclined beams 102 need to be comprehensively considered, and the flexible space curved beams and the bistable inclined beams need to cooperate to enable the micro-clamp to achieve the effect of zero-rigidity constant force.
It should be noted that the bistable structure can be switched from one stable state to another, and is made by using the elastic deformation principle of the material. In this embodiment, since one end of the bistable diagonal beam 102 is fixed at the fixing portion 103 and the other end is connected to the support frame that can move along the z-axis, the support frame structure can be switched from one stable position to another stable position, i.e. bistable state, and the negative stiffness characteristic can occur in the latter half of the switching process, so that the bistable diagonal beam can be used for counteracting the positive stiffness of the space diagonal beam, achieving the goal of overall zero stiffness, and finally realizing constant force clamping in the micro-motion process.
When a driving voltage signal is given, the steering engine 202 drives the swinging component 106 through the swinging arm 201, and then drives each flexible space curved beam 101 and each bistable inclined beam 102 to realize rotary-direct motion coupling, so that the jaw 104 as shown in fig. 8 is clamped; according to the principle of composite zero stiffness as shown in fig. 7, the flexible space curved beam 101 provides positive stiffness, the bistable diagonal beam set provides negative stiffness, and finally constant force clamping operation is realized in an equivalent range.
The embodiment adopts a mechanism transmission scheme of space deflection-constant force clamping, realizes conversion between rotary motion and micro-clamp clamping action through a space curved beam mechanism, can further meet different requirements of high-precision motion and constant force clamping in precise operation, has a simple structure, is easy to process and manufacture, and has high action execution efficiency.
In the embodiment, the steering engine 202 or other rotating motors with relatively low cost are used as drivers, so that the axial compression and torsion of the flexible space curved beam 101 can be realized; the transmission ratio of the input displacement to the output rotation angle can be adjusted by changing the size parameter of the flexible space curved beam 101, so that the positioning requirements under different application scenes can be met.
According to the embodiment, the clamping action of the micro mechanism is realized through the non-planar transmission mechanism, the micro clamp transmission mechanism is designed from the thought of three-dimensional space configuration, and the application range of clamps is enlarged.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (10)
1. A constant force micro-clamp based on a spatially compounded flexible unit, comprising:
the flexible micro-clamp mechanism comprises a swinging component, wherein space curved beam mechanisms are symmetrically arranged on two sides of the swinging component, one end of each space curved beam mechanism is connected with the swinging component, the other end of each space curved beam mechanism is connected with a bistable oblique beam group, and a micro-clamp main body is connected between the two bistable oblique beam groups;
the rotary driving mechanism is connected with the swinging component and is used for driving the swinging component to rotate so as to enable the flexible constant force micro-clamp mechanism to realize rotation and direct motion coupling.
2. The space-compound flexible unit-based constant force micro-clamp of claim 1, wherein the space-twist beam mechanism is configured to provide positive stiffness, the bistable diagonal beam set is configured to provide negative stiffness, and the space-twist beam mechanism and bistable diagonal beam set are configured to provide a constant force clamping range of the micro-clamp body.
3. A space compound flexible unit based constant force micro-clamp according to claim 1 or 2, wherein the space beam mechanism comprises a plurality of flexible space beams uniformly distributed along the circumference of the swinging member.
4. A space-compound flexible unit-based constant force micro-clamp according to claim 3, wherein the flexible space curved beam is helical.
5. A space-compound flexible unit-based constant force micro-clamp according to claim 1 or 2, wherein the bistable ramp set comprises a plurality of bistable ramps, one end of each bistable ramp being connected to a fixed portion.
6. The constant force micro gripper based on the space compound flexible unit according to claim 5, wherein the included angle between the connection part of the bistable oblique beam and the fixing part and the vertical direction is an acute angle;
the axis direction of the swinging component is perpendicular to the vertical direction.
7. The space-compound flexible unit-based constant force micro-clamp of claim 5, wherein the bistable oblique beam set further comprises a support frame, the bistable oblique beam and the fixing portion being mounted in the support frame;
the micro-clamp main body is fixedly connected with the supporting frame.
8. The constant force micro gripper based on a space compound flexible unit according to claim 1, wherein the rotary driving mechanism comprises a steering engine, and the steering engine is connected to the center of the swinging part.
9. The constant force micro gripper based on the space compound flexible unit according to claim 8, wherein the rotary driving mechanism further comprises a swing arm, the swing arm is connected with the steering engine, and the swing part is provided with a swing arm groove matched with the swing arm.
10. The space-compound flexible unit-based constant force micro-clamp of claim 1, wherein the micro-clamp body comprises two clamp arms forming a jaw therebetween.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311584950.9A CN117359515A (en) | 2023-11-24 | 2023-11-24 | Constant force micro-clamp based on space composite flexible unit |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311584950.9A CN117359515A (en) | 2023-11-24 | 2023-11-24 | Constant force micro-clamp based on space composite flexible unit |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117583917A (en) * | 2024-01-18 | 2024-02-23 | 齐鲁工业大学(山东省科学院) | Combined constant force device and method of fast knife servo system |
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2023
- 2023-11-24 CN CN202311584950.9A patent/CN117359515A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117583917A (en) * | 2024-01-18 | 2024-02-23 | 齐鲁工业大学(山东省科学院) | Combined constant force device and method of fast knife servo system |
| CN117583917B (en) * | 2024-01-18 | 2024-04-09 | 齐鲁工业大学(山东省科学院) | Combined constant force device and method of fast knife servo system |
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