CN1525635A - Clamping type stepping mechanism for stator - Google Patents
Clamping type stepping mechanism for stator Download PDFInfo
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- CN1525635A CN1525635A CNA031271561A CN03127156A CN1525635A CN 1525635 A CN1525635 A CN 1525635A CN A031271561 A CNA031271561 A CN A031271561A CN 03127156 A CN03127156 A CN 03127156A CN 1525635 A CN1525635 A CN 1525635A
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- stator
- clamper
- clamp
- clamping type
- guiding track
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Abstract
The invention refers to a kind of clamp power supply, which is applied to the mechanism of step-by-step mechanism clamp, especially the step-by-step movement of battery and classical stator clamp. The invention belongs to precise driving and control field. The mechanism is made up of clamp mechanism and expansion mechanism, the character lies in: the clamp mechanisms are set at two ends of expansion mechanism, and set on the two stator guiding tracks which two can generate pretightening force, the two guiding tracks catches and looses the correspondent clamp mechanism alternately, the expansion mechanism is conducted and expanded along with the stator guiding track with its advancing direction, and it can rebound back when it is caught. The movement of the two clamp mechanism and the expansion mechanism are step-by-step or creep type.
Description
Technical field the present invention relates to a kind of as the clamper power source, is used for the mechanism of stepping mechanism clamper, especially battery, the motion of classical stator clamper stepping.Belonging to accurate drives and the control field.
Technical background creeping motion type movable machinery is a kind of like this device: it can resemble makes continuous step motion the natural looper, all adopt moving member clamper mode at present, its overall structure is the two ends that clamper power generating mechanism is contained in the telescoping mechanism that can move substantially.Clamper power generating mechanism adopts the electromagnetic type be made up of coil and plug or the structure of other modes.When coil electricity, because the effect of electromagnetic force, the clamper mechanism suction tightly of rear end is produced clamping action on guide rail surface, and the clamper mechanism of front end unclamps and is in free state, to telescoping mechanism energising elongation, make the clamper mechanism of front end produce displacement X simultaneously.Then the energising of the clamper mechanism of front end is sucked on guide rail surface, and the clamper mechanism of rear end unclamps and is in free state, outage is shunk and is got back to original state to telescoping mechanism simultaneously, and the clamper mechanism that drives the rear end moves Δ X, finishes a period of motion.Repeat above-mentioned motion, enter the next period of motion.This clamper stepping mechanism is based on above-mentioned moving member clamper mode basically, and promptly clamper power generating mechanism and moving body move together in motion process, and this kind structure has following shortcoming in the course of the work.
1, must guarantee that in order to increase clamper power clamper power generating mechanism size is bigger, such as adopting electromagnetic actuation force, its coil will guarantee enough numbers of turn, causes the weight of clamper mechanism bigger thus, make the stretching motion of telescoping mechanism realize relatively difficulty, the motion accuracy also is difficult for guaranteeing.
2, increase owing to movable body makes motional inertia greatly, cause the control of whole step mechanism not too convenient.
3, the processing of entire mechanism, installation and debugging are relatively more difficult.
4, owing to the variation of environmental condition, mechanism distortion may occur and can not clamp tightly, thereby loses the clamper ability.
5, because clamper mechanism weight increases, the fatigue life of elongation mechanism will be reduced.I
Summary of the invention the objective of the invention is to propose a kind of stator clamping type stepping mechanism that can effectively realize step motion for solving the above-mentioned shortcoming that present step drive mechanism exists.
Above-mentioned purpose of the present invention is to realize like this.Accompanying drawings is as follows:
Stator clamping type stepping mechanism is made up of clamper mechanism and telescoping mechanism, and the A of clamper mechanism, C are contained in the two ends of telescoping mechanism B, and is contained in the stator guiding track D that can produce pretightening force respectively
1, D
2On, stator guiding track D
1, D
2Alternately to its corresponding A of clamper mechanism suck, telescoping mechanism B loosens, the A of clamper mechanism loosens, telescoping mechanism B sucks, telescoping mechanism B is loosened with the stator guiding track of its direction of advance one side and the elongation of switching on, sucked and the retraction that cuts off the power supply, the telescoping mechanism B motion thereon of the A of clamper mechanism, C and dress is stepping or journey creeping motion type.
Stator clamping type stepping mechanism can be realized following technique effect: when stepping mechanism moves, the generation that clamper sucks power source is not by clamper mechanism itself, and its power comes from stator guiding track plane with electromagnetic force or other has the stator track of clamper function.The clamper that can partly circulate to the clamper of whole step motion body when like this stator being switched on sucks, and it is small and exquisite to reach structure, and motion is accurately controlled simply easily manufactured purpose.
Description of drawings Fig. 1 is stator clamping type stepping mechanism structural representation figure; The concrete course of work schematic diagram of Fig. 2 stator clamping type stepping mechanism; Fig. 3 is a combined-stator clamping type stepping mechanism architecture schematic diagram; Fig. 4 is the stepping mechanism schematic diagram of stator duct type clamper.
Embodiment is illustrated embodiment in conjunction with the accompanying drawings, further specifies the particular content of the present invention and the course of work thereof.
Consult Fig. 1: D among the figure
1, D
2Be the electromagnetic stator guide rail, the A of clamper mechanism, C do not produce clamper power, and the clamper pretightening force is by electromagnetic stator guide rail D
1, D
2Produce.When giving stator guide rail D
1, D
2When switching on respectively, stator guiding track D
1, D
2Respectively the A of clamper mechanism, C are sucked, produce the clamper action.
Its motion process is consulted Fig. 2: the motion first step (a): stator guiding track D
1Energising produces magnetic force and the A of clamper mechanism is sucked telescoping mechanism B, the C of clamper mechanism and stator guiding track D
2Be in free state;
Second step (b): stator guiding track D
1When energising produced magnetic force, energising produced elongation to telescoping mechanism B, promoted the clamper C of mechanism along stator guiding track D
2Travel forward, produce stepping amount Δ X
The 3rd step (c): stator guiding track D
2Energising produces suction, stator guiding track D to the C of clamper mechanism
1Outage makes the A of clamper mechanism be in free state, and telescoping mechanism B drives the clamper A of mechanism retraction then, and telescoping mechanism B gets back to original free state, makes the A of clamper mechanism produce displacement X.
The 4th step (d): the A of clamper mechanism sucks, and repeats the abc process steps.
Stator guiding track D in the stator clamping type step mechanism
1, D
2Can adopt multiple geometries such as plane, V-type groove, U type groove, T type groove.
The generation of clamper power in the stator clamping type step mechanism can be adopted electromagnetism, Electrostatic Absorption and air suction type.
Consult Fig. 4: electromagnetic stator guide rail D
1, D
2Can be pipe-like, the A of clamper mechanism, C can be for discoid, and the A of clamper mechanism, C are contained in electromagnetic stator guide rail D respectively
1, D
2In.When the energising of electromagnetic stator guide rail, its diameter contraction clip clencher position mechanism, outage, the pipe diameter elongation, clamper mechanism is in free state.Utilize stator pipeline D
1, D
2The stretching of diameter reaches the purpose to the discoid clamper A of mechanism, C clamper.Moving body can move along pipeline, also can realize around rotational.
Consult accompanying drawing 3: stator clamping type step mechanism, the composite construction multifreedom motion can be cascaded.
D
1D
2D
3D
4Be stator guiding track, can produce when switching on and suck power source to it.B
1B
2B
3B
4Be telescoping mechanism, B
1B
2The flexible displacement that can produce directions X, B
3B
4Flexible can produce the displacement of Y direction.A
1A
2C
1C
2Be clamper mechanism, can passively suck.
By combination, can form X, Y to moving and rotation with the upper member work schedule.
Motion so that the present invention forms can be used as movement of objects, also can drive as accurate.
Claims (5)
1. stator clamping type step mechanism is made up of clamper mechanism and telescoping mechanism, it is characterized in that the A of clamper mechanism, C are contained in the two ends of telescoping mechanism B, and is contained in the stator guiding track D that can produce pretightening force respectively
1, D
2On, stator guiding track D
1, D
2Alternately to its corresponding A of clamper mechanism suck, B loosens, A loosens, B sucks, telescoping mechanism B loosened with the stator guiding track of its direction of advance one side and the elongation of switching on sucked and the retraction that cuts off the power supply, the telescoping mechanism B motion thereon of the A of clamper mechanism, C and dress is stepping or journey creeping motion type.
2. stator clamping type step mechanism according to claim 1 is characterized in that described stator guiding track D
1, D
2Can be plane, V-type groove, U type groove, T type groove shape.
3. stator clamping type step mechanism according to claim 1 and 2 is characterized in that the generation of described clamper power, can adopt electromagnetism, Electrostatic Absorption and air suction type.
4. stator clamping type step mechanism according to claim 1 and 2 is characterized in that described electromagnetic stator guide rail D
1, D
2Can be pipe-like, the A of clamper mechanism, C can be for discoid, and the A of clamper mechanism, C are contained in electromagnetic stator guide rail D respectively
1, D
2In.
5. stator clamping type step mechanism according to claim 1 is characterized in that its composite construction multifreedom motion that can be cascaded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031271561A CN1328844C (en) | 2003-09-17 | 2003-09-17 | Clamping type stepping mechanism for stator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031271561A CN1328844C (en) | 2003-09-17 | 2003-09-17 | Clamping type stepping mechanism for stator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1525635A true CN1525635A (en) | 2004-09-01 |
| CN1328844C CN1328844C (en) | 2007-07-25 |
Family
ID=34285985
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB031271561A Expired - Fee Related CN1328844C (en) | 2003-09-17 | 2003-09-17 | Clamping type stepping mechanism for stator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1328844C (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012062034A1 (en) * | 2010-11-12 | 2012-05-18 | 上海交通大学 | Inchworm-motion linear motor based on electromagnetic clamping mechanisms |
| CN107696022A (en) * | 2017-09-06 | 2018-02-16 | 上海交通大学 | Multidirectional wriggling soft robot |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1133265C (en) * | 2000-12-08 | 2003-12-31 | 南京航空航天大学 | Standing wave type self-correcting ultrasonic motor |
| CN1299180A (en) * | 2000-12-08 | 2001-06-13 | 南京航空航天大学 | Multi-phase ultrasonic step motor |
| CN2529448Y (en) * | 2001-07-27 | 2003-01-01 | 南京航空航天大学 | Linear-type standing-wave altrosonic electric machine |
-
2003
- 2003-09-17 CN CNB031271561A patent/CN1328844C/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012062034A1 (en) * | 2010-11-12 | 2012-05-18 | 上海交通大学 | Inchworm-motion linear motor based on electromagnetic clamping mechanisms |
| CN107696022A (en) * | 2017-09-06 | 2018-02-16 | 上海交通大学 | Multidirectional wriggling soft robot |
| CN107696022B (en) * | 2017-09-06 | 2021-01-08 | 上海交通大学 | Multidirectional wriggling software robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1328844C (en) | 2007-07-25 |
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