CN206241884U - A kind of constant force clamp - Google Patents
A kind of constant force clamp Download PDFInfo
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- CN206241884U CN206241884U CN201621074044.XU CN201621074044U CN206241884U CN 206241884 U CN206241884 U CN 206241884U CN 201621074044 U CN201621074044 U CN 201621074044U CN 206241884 U CN206241884 U CN 206241884U
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- constant force
- flexible hinge
- power
- clamp
- pedestal
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 16
- 239000000203 mixture Substances 0.000 claims abstract description 4
- 230000007246 mechanism Effects 0.000 claims description 34
- 238000006073 displacement reaction Methods 0.000 claims description 21
- 238000005299 abrasion Methods 0.000 abstract description 4
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- 238000013461 design Methods 0.000 description 12
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 5
- 238000011160 research Methods 0.000 description 5
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- 238000011161 development Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
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Abstract
The utility model discloses a kind of constant force clamp, including jig arm and the constant force output device for providing chucking power to the jig arm, the jig arm is at least provided with two and its one end for being used to clamp object is symmetrical；The second flexible hinge and pedestal that the constant force output device includes power conducting piece, the first flexible hinge for providing negative stiffness, provides positive rigidity, one end of the power conducting piece is connected as power output end with the other end of the jig arm, and it passes through first flexible hinge and is fixed on the pedestal；The other end of the power conducting piece is fixed on the pedestal as power input by second flexible hinge；First flexible hinge and second flexible hinge parallel connection and the quasi- zero stiffness system of composition.Constant force clamp of the present utility model, realize constant force export and have the advantages that without friction, without abrasion, simple structure, stable, low production cost, be readily produced with assemble, high accuracy, be easy to minimize.
Description
Technical field
The utility model is related to a kind of execution device of microcomputer electrical domain, particularly a kind of constant force clamp, and it mainly should
For microoperation technology (such as micro- clamping, micro assemby), micromachined, bioengineering field.
Background technology
Clamping mechanism based on constant force output is research direction emerging in the world in recent years, and constant force clamp tech is to pass through
Designing a kind of export structure makes it have the characteristic of constant force or constant moment of force in specific displacement output area.
As the design and research to pincer system is more and more deep, the research direction in current forward position focuses primarily upon design
Possess the clamping mechanism of power sensing function, the purpose is to realize the control in clamping process to chucking power size.With constant force
The clamping mechanism of output performance can substantially reduce the demand to clamping force snesor and its complex control device, therefore constant force clamp
The demand of mechanism will be increasing.The design aspect of country's constant force clamp is in blank at present.
In on the research of the clamping mechanism in domestic and international forward position in recent years, such as Q.Xu is in article " Design and
Development of a Novel Compliant Gripper With Integrated Position and
The clamp of design has and very excellent power in clamping process is passed in Grasping/Interaction Force Sensing "
The function of sense.This characteristic contributes to the precise control of power.
The research of the constant force output mechanism on domestic and international forward position in recent years, Chao-Chieh Lan et al. are in article " A
compliant constant-force mechanism for adaptive robot end-effector
Operations " designs a kind of constant force output mechanism based on curved flexible hinge, but its complicated curved structure is not easy to add
Work.Such design is still in conceptual phase, has no practical application.
In existing patent, bistable state beam mechanism is now widely used for the fields such as switch, valve and relay.Such as,
Chinese patent CN103198922A, CN101561556B and the B2 of United States Patent (USP) US 6753582.Such design mainly applies double
State before and after stable state beam flexing without design and utilizes the negative stiffness produced in its flexing conversion process as switch
Matter.
In existing patent, proposing the patent of constant force mechanisms has：The B2 of United States Patent (USP) US 7060012, it possesses various
The part of different shape such as connecting rod, rope etc..Constant force system described in the B2 of patent US 6920936 need spring assembly with it is many
Plant the complex parts such as connecting rod.These constant force systems are not all set using the property or other flexible hinges of bistable state beam flexing
Meter.Although in addition, these systems can provide constant force, but there is the shortcomings of gap, abrasion in its tradition machinery hinge for using,
And its configuration is not particularly suited for constant force precision pliers mechanism.
Existing conventional pliers mechanism is generally variable force output when running, what the power born by operation object changed in one
Scope, therefore the complicated power output of demand is not compromised or influenceed to protect with Bit andits control algorithm by operation object, but this
Traditional composite strategy is planted to be not easy to carry out in many cases.
Existing novel pincers are because with power sensing function, can help to the control of power.However, clamping mechanism does not have constant force
Output function, its operating characteristics depends on the realization of power and displacement controller.
Existing constant force mechanisms are made up of (such as connection rod set, spring) traditional part of various different shapes more, although it can
To provide constant force, but because this kind of structure has numerous joint gaps, exist in operation between inevitably friction, part easily
In abrasion, so being unfavorable for applying in precision engineering.Additionally, this complex configuration is also not susceptible to the design of clamping mechanism and its small
The realization of type.
The purpose of this utility model is directed to the shortcoming of above-mentioned prior art, designs a kind of new constant force clamp machine
Structure.
Utility model content
In view of the above mentioned problem that prior art is present, the purpose of this utility model is to provide a kind of constant force clamp, structure letter
It is single, be readily produced and assemble, high accuracy, be easy to miniaturization, and can realize that constant force is exported.
To achieve these goals, the utility model provides a kind of constant force clamp, including jig arm and for the folder
Arm provides the constant force output device of chucking power, and the jig arm is at least provided with two and its one end for being used to clamp object is mutually right
Claim；The first flexible hinge, the second flexibility of the positive rigidity of offer that the constant force output device includes power conducting piece, provides negative stiffness
Hinge and pedestal, one end of the power conducting piece are connected as power output end with the other end of the jig arm, and it passes through described
First flexible hinge is fixed on the pedestal；The other end of the power conducting piece is flexible by described second as power input
Hinge is fixed on the pedestal；First flexible hinge and second flexible hinge parallel connection and the quasi- zero stiffness system of composition
System.
Preferably, first flexible hinge and the second flexible hinge are the thin walled beam of flexibility, wherein, described first
Flexible hinge include two relative to the power output end symmetrically arranged cant beam；Second flexible hinge includes two phases
The symmetrically arranged straight beam for the power input.
Preferably, the cant beam forms one end respectively with the straight beam in the power conducting piece both sides fixing and the other end
Movable cantilever beam mechanism.
Preferably, the constant force clamp also includes a base for carrying the constant force output device, on the base also
It is provided with drive mechanism that is being connected with the power input and driving the constant force output device action.
Preferably, the gathering sill of wedge shape, the constant force output device are offered on the base along constant force outbound course
The pedestal on be also correspondingly arranged on the wedge-shaped protrusion agreed with the gathering sill.
Preferably, the drive mechanism includes a linear actuator and is connected on the power input straight line is driven
The flexible bridge-type enlarger that the displacement output of dynamic device is amplified.
Preferably, the linear actuator is piezoelectric actuator or electromagnetic driver.
Preferably, the drive mechanism also includes a positioning travel mechanism for being used to compensate the driver displacement.
Compared with prior art, the beneficial effect of constant force clamp of the present utility model is：First, using flexible hinge
Constant force mechanisms realize constant force output, make it that the need to the complex control algorithm of chucking power can be substantially reduced in clamping process
Ask and dependence；Further, since using flexible hinge connection transmission motion, with steady without friction, without abrasion, simple structure, operation
Fixed, low production cost, be readily produced with assemble, high accuracy, be easy to miniaturization the advantages of.
Brief description of the drawings
Fig. 1 is the structural representation of constant force clamp of the present utility model；
Fig. 2 is the partial structural diagram of constant force clamp of the present utility model；
Fig. 3 is that the straight beam of constant force clamp of the present utility model occurs the curve map of the power and displacement produced during elastic deformation；
Fig. 4 is that the cant beam of constant force clamp of the present utility model occurs the curve map of the power and displacement produced during bending deformation；
Fig. 5 is the reaction force and the curve map of displacement of the quasi- zero stiffness system of constant force clamp of the present utility model；
Schematic diagram when Fig. 6 is the working condition of constant force clamp of the present utility model；
Fig. 7 is the three dimensional structure diagram of constant force clamp of the present utility model.
Description of reference numerals：1- drivers；2- jig arm；3- bases；4- power conducting pieces；The flexible hinges of 5- first；6- second
Flexible hinge；7- pedestals；8- flexibility bridge-type enlargers；9- gathering sills；10- is raised.
Specific embodiment
Constant force clamp of the present utility model is described in further detail with specific embodiment below in conjunction with the accompanying drawings, but is not made
It is to restriction of the present utility model.
As shown in figure 1, the utility model provide a kind of constant force clamp, including jig arm 2 and for jig arm 2 provide clamping
The constant force output device of power, jig arm 2 is at least provided with two and its one end for being used to clamp object is symmetrical；Constant force output device
Including power conducting piece 4, the first flexible hinge 5 of negative stiffness is provided, second flexible hinge 6 and pedestal 7 of positive rigidity are provided, power is passed
One end of guiding element 4 is connected as power output end with the other end of jig arm 2, and it passes through the first flexible hinge 5 and is fixed on pedestal 7
On；The other end of power conducting piece 4 is fixed on pedestal 7 as power input by the second flexible hinge 6；First flexible hinge 5
And composition quasi- zero stiffness system in parallel with the second flexible hinge 6.
By setting the first flexible hinge 5 and the second flexible hinge 6, its constant force mechanisms for constituting realizes constant force output,
The power inductor being acquired to power output to control clamp to export constant force is saved, makes it can also be notable in clamping process
Reduce the demand to the complex control algorithm of chucking power and dependence.In addition, flexible hinge transmission motion has without friction, without mill
Damage, stable, high precision advantage.The design of overall constant force clamp, simple structure, low production cost, is readily produced and dress
With, be easy to miniaturization.
In the present embodiment, the first flexible hinge 5 and the second flexible hinge 6 can be the thin walled beam of flexibility, wherein, the
One flexible hinge 5 include two relative to power output end symmetrically arranged cant beam；Second flexible hinge 6 include two relative to
Power input and symmetrically arranged straight beam.Fig. 2 shows cant beam as the first flexible hinge 5, and straight beam is used as the second flexible hinge 6
Constant force clamp, simple structure is easy to process.
In the present embodiment, cant beam and straight beam form one end and fix and movable outstanding of the other end respectively in the both sides of power conducting piece 4
Bei Liang mechanisms.
Fig. 3 shows the relation curve between the power that straight beam produces when deforming upon and displacement, and Fig. 4 shows that cant beam exists
There is the relation curve between the power produced during bending deformation and displacement.When power input is subject to active force, cant beam and straight beam
It is that one end can be with activity, the other end is fixed on pedestal 7, now cant beam and straight beam can use Flexural cantilever model.From Fig. 3's
Curve can be seen that with the increase of displacement, the reaction force increase that straight beam is produced, energy absorption, potential energy increase.From Fig. 4's
Curve can be seen that cant beam and bending deformation occur at point B, and before reaching D points, its reaction force subtracts with the increase of displacement
Small, as displacement increases, potential energy reduces, and releases energy.
Fig. 5 shows the reaction force and the curve map of displacement of the quasi- zero stiffness system of constant force clamp of the present utility model.
Straight beam and cant beam are arranged in parallel, its power and displacement curve are overlapped mutually, between point B and point D, the power of quasi- zero stiffness system is not
Change with the change of displacement, now the rigidity of whole mechanism is zero, export constant force.
In the present embodiment, constant force clamp also include one carry constant force output device base 3, be additionally provided with base 3 with
Drive mechanism that is that power input is connected and driving constant force output device to act.
Schematic diagram when Fig. 6 is the working condition of constant force clamp of the present utility model, drive mechanism applies active force, two folders
Arm move toward one another and its one end clamping is together.
As shown in fig. 7, in the present embodiment, in order to maintain the stability of output mobile and avoid unnecessary displacement inclined
Turn, offer the gathering sill 9 of wedge shape on base 3 along constant force outbound course, be also correspondingly arranged on the pedestal 7 of constant force output device
The wedge-shaped protrusion 10 agreed with gathering sill 9.
In the present embodiment, drive mechanism can include a linear actuator 1 and be connected on power input to linear actuator 1
The displacement flexible bridge-type enlarger 8 that is amplified of output.The output action power of linear actuator 1, flexible bridge-type enlarger 8
Power input is amplified and exported to the effect displacement provides active force with to constant force output device.
In the present embodiment, linear actuator 1 can be piezoelectric actuator or electromagnetic driver.
In the present embodiment, it is contemplated that existing drive performance is irregular, drive mechanism can also include that one is used to compensate drive
The positioning travel mechanism of dynamic device displacement.
Above example is only exemplary embodiment of the present utility model, is not used in limitation the utility model, and this practicality is new
The protection domain of type is defined by the claims.Those skilled in the art can be in essence of the present utility model and protection domain
It is interior, various modifications or equivalent are made to the utility model, this modification or equivalent also should be regarded as new in this practicality
In the protection domain of type.
Claims (8)
1. a kind of constant force clamp, including jig arm and the constant force output device for providing chucking power to the jig arm, its feature exist
In,
The jig arm is at least provided with two and its one end for being used to clamp object is symmetrical；
The constant force output device includes power conducting piece, provide negative stiffness the first flexible hinge, provide the second soft of positive rigidity
Property hinge and pedestal, one end of the power conducting piece is connected as power output end with the other end of the jig arm, and it passes through institute
The first flexible hinge is stated to be fixed on the pedestal；The other end of the power conducting piece is soft by described second as power input
Property hinge is fixed on the pedestal；
First flexible hinge and second flexible hinge parallel connection and the quasi- zero stiffness system of composition.
2. constant force clamp as claimed in claim 1, it is characterised in that first flexible hinge and the second flexible hinge are
Flexible thin walled beam, wherein, first flexible hinge include two relative to the power output end symmetrically arranged cant beam；
Second flexible hinge include two relative to the power input symmetrically arranged straight beam.
3. constant force clamp as claimed in claim 2, it is characterised in that the cant beam is with the straight beam in the power conducting piece two
Side forms the cantilever beam mechanism that one end is fixed and the other end is movable respectively.
4. constant force clamp as claimed in claim 1, it is characterised in that the constant force clamp also includes, and to carry the constant force defeated
Go out the base of device, be additionally provided with being connected with the power input on the base and drive the constant force output device to act
Drive mechanism.
5. constant force clamp as claimed in claim 4, it is characterised in that offer wedge shape along constant force outbound course on the base
Gathering sill, be also correspondingly arranged on the wedge-shaped protrusion agreed with the gathering sill on the pedestal of the constant force output device.
6. constant force clamp as claimed in claim 4, it is characterised in that the drive mechanism includes a linear actuator and series connection
In the flexible bridge-type enlarger that displacement output of the power input to the linear actuator is amplified.
7. constant force clamp as claimed in claim 6, it is characterised in that the linear actuator is that piezoelectric actuator or electromagnetism drive
Dynamic device.
8. constant force clamp as claimed in claim 6, it is characterised in that the drive mechanism also includes that is used to compensate the drive
The positioning travel mechanism of dynamic device displacement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621074044.XU CN206241884U (en) | 2016-09-22 | 2016-09-22 | A kind of constant force clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621074044.XU CN206241884U (en) | 2016-09-22 | 2016-09-22 | A kind of constant force clamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206241884U true CN206241884U (en) | 2017-06-13 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621074044.XU Active CN206241884U (en) | 2016-09-22 | 2016-09-22 | A kind of constant force clamp |
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| CN (1) | CN206241884U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312086A (en) * | 2017-12-21 | 2018-07-24 | 宁波大学 | The adjustable multiple degrees of freedom flexible micro clamping device of constant force |
| CN108724147A (en) * | 2018-07-27 | 2018-11-02 | 山东大学 | A kind of output of chucking power is constant force and adjustable flexible micro-clamp |
| CN109231152A (en) * | 2018-09-30 | 2019-01-18 | 重庆大学 | The micro-clamp of chucking power and clamping jaw displacement is measured using Fiber-optical Fabry-Perot Interferometric Cavity |
| CN112648349A (en) * | 2020-12-21 | 2021-04-13 | 江西理工大学 | Constant torque output device based on bistable triangular cylindrical paper folding structure |
| CN113059464A (en) * | 2021-04-02 | 2021-07-02 | 澳门大学 | Constant-force polishing mechanism and polishing equipment |
-
2016
- 2016-09-22 CN CN201621074044.XU patent/CN206241884U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312086A (en) * | 2017-12-21 | 2018-07-24 | 宁波大学 | The adjustable multiple degrees of freedom flexible micro clamping device of constant force |
| CN108724147A (en) * | 2018-07-27 | 2018-11-02 | 山东大学 | A kind of output of chucking power is constant force and adjustable flexible micro-clamp |
| CN109231152A (en) * | 2018-09-30 | 2019-01-18 | 重庆大学 | The micro-clamp of chucking power and clamping jaw displacement is measured using Fiber-optical Fabry-Perot Interferometric Cavity |
| CN109231152B (en) * | 2018-09-30 | 2020-06-16 | 重庆大学 | Micro-clamp for measuring clamping force and clamping jaw displacement by using fiber Fabry-Perot interferometer |
| CN112648349A (en) * | 2020-12-21 | 2021-04-13 | 江西理工大学 | Constant torque output device based on bistable triangular cylindrical paper folding structure |
| CN112648349B (en) * | 2020-12-21 | 2022-02-11 | 江西理工大学 | Constant torque output device based on bistable triangular cylindrical paper folding structure |
| CN113059464A (en) * | 2021-04-02 | 2021-07-02 | 澳门大学 | Constant-force polishing mechanism and polishing equipment |
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Address after: Taipa University Boulevard Macau China Patentee after: University OF MACAU Country or region after: Macao China Patentee after: UM ZHUHAI Research Institute Country or region after: China Address before: Taipa University Avenue Patentee before: University OF MACAU Country or region before: Macao China Patentee before: UM ZHUHAI Research Institute Country or region before: China |
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