CN-117655955-B - Accurate constant force clamping system based on space constraint

CN117655955BCN 117655955 BCN117655955 BCN 117655955BCN-117655955-B

Abstract

The invention discloses a precise constant force clamping system based on space constraint, which relates to the technical field of precise operation of micro-electromechanical actuators and comprises an integral frame and a linear driver, wherein the upper end of the linear driver is fixedly connected with the top of the integral frame, the lower end of the linear driver is fixedly connected with a connecting block, the lower end of the connecting block is fixedly connected with an input movable rod, a primary constant force mechanism is arranged on the input movable rod, a secondary constant force mechanism is arranged below the primary constant force mechanism, the secondary constant force mechanism is arranged on a base, and a bottom plate is arranged below the base. The precise constant force clamping system based on the space constraint solves the problem that the plane structure is easy to deviate out of plane, the constraint is increased, the guidance is good, the deviation out of plane is greatly reduced, the clamping force is more stable, and the clamping effect is better.

Inventors

LU SHUAISHUAI
GUO JIASHUAI
CHEN JUN
LI ANQING
ZHANG CHEN
LIU PENGBO

Assignees

山东省机械设计研究院

Dates

Publication Date: 20260508
Application Date: 20231227

Claims (3)

1. The precise constant force clamping system based on space constraint is characterized by comprising an integral frame and a linear driver, wherein the upper end of the linear driver is fixedly connected with the top of the integral frame, the lower end of the linear driver is fixedly connected with a connecting block, the lower end of the connecting block is fixedly connected with an input movable rod, a first-stage constant force mechanism is arranged on the input movable rod, a second-stage constant force mechanism is arranged below the first-stage constant force mechanism, the second-stage constant force mechanism is arranged on a base, and a bottom plate is arranged below the base; The primary constant force mechanism comprises a primary positive stiffness mechanism and a primary negative stiffness mechanism arranged below the primary positive stiffness mechanism, wherein two groups of primary negative stiffness mechanisms and two groups of primary positive stiffness mechanisms are arranged, the two groups of primary positive stiffness mechanisms are arranged at 90 degrees, and the two groups of primary negative stiffness mechanisms are also arranged at 90 degrees; The secondary constant force mechanism comprises a secondary positive stiffness mechanism and a secondary negative stiffness mechanism arranged in the secondary positive stiffness mechanism, wherein two groups of secondary negative stiffness mechanisms and two groups of secondary positive stiffness mechanisms are respectively arranged, the two groups of secondary positive stiffness mechanisms are arranged at 90 degrees, and the two groups of secondary negative stiffness mechanisms are also arranged at 90 degrees; The two groups of the first-stage positive stiffness mechanisms comprise two groups of plate spring components symmetrically arranged on two sides of the input movable rod, the two groups of plate spring components comprise first plate springs, one ends of the first plate springs are connected to the input movable rod, the other ends of the first plate springs are connected with one ends of second plate springs through first mass blocks, the other ends of the second plate springs are connected with one ends of third plate springs through second mass blocks, and the other ends of the third plate springs are connected to the upper ends of rigid bodies; The two groups of the first-level negative stiffness mechanisms comprise inclined leaf springs symmetrically arranged on two sides of the input movable rod, one end of each inclined leaf spring is fixedly connected to the lower end of the input movable rod, and the other end of each inclined leaf spring is fixedly connected to the lower end of the rigid body; The lower end of the input movable rod is connected with a first clamping arm, a second clamping arm is arranged below the first clamping arm, and the second clamping arm is arranged at the top of the secondary constant force mechanism; the two groups of the two-stage positive stiffness mechanisms comprise a fourth leaf spring and a fifth leaf spring which are symmetrically arranged along the central line of the integral frame respectively, and the fifth leaf spring and the fourth leaf spring are fixedly connected through a third mass block; The two groups of the two-stage negative stiffness mechanisms comprise a sixth leaf spring and a seventh leaf spring which are symmetrically arranged along the central line of the integral frame respectively, the seventh leaf spring is fixedly connected with the sixth leaf spring through a fourth mass block, and a straight beam is arranged between the two symmetrically arranged fourth mass blocks.
2. The precise constant force clamping system based on space constraint of claim 1, wherein a grating scale fixing frame is fixedly arranged at the side end of the connecting block, the grating scale fixing frame is fixedly connected with a grating scale, a grating is arranged at one side of the grating scale, the grating is fixedly connected with the grating fixing frame, and the grating fixing frame is fixedly connected to the integral frame.
3. The precise constant force clamping system based on space constraint of claim 2, wherein the top of the integral frame is provided with two first fixing holes, and the base is provided with a plurality of second fixing holes.

Description

Accurate constant force clamping system based on space constraint Technical Field The invention relates to the technical field of precision operation of micro-electromechanical actuators, in particular to a precision constant force clamping system based on space constraint. Background In the prior art, a precision constant force clamping system is adopted, namely, the output force is constant along with the increase of displacement, the cost increase and the difficulty increase caused by the control of the adopted force are avoided, miniaturization is easy to realize, but the existing clamps are all plane mechanisms such as paper "FEA-based optimization and experimental verification ofatypical flexure-based constant force module" and Design of A NEW PASSIVE END-effector based on constant-force mechanism for robotic polishing and patent CN206241884U, CN206241884U are all plane structures, the plane structures are easy to deviate out of plane, the guidance is poor due to the lack of constraint, the clamping effect is poor, the inventor finds that the out-of-plane deviation is greatly reduced due to the adoption of a space structure, the clamping force is more stable, the clamping effect is better, the second-stage constant force mechanism of the precision constant force clamping system can be detached and replaced by a fixed clamping arm or other constant force mechanism, different constant forces are obtained, and the application scene is wider. Disclosure of Invention The invention aims to provide a precise constant force clamping system based on space constraint, which solves the problem that the out-of-plane offset is easy to occur when constant force output is realized in the prior art, the invention can reduce the out-of-plane offset generated when the constant force mechanism clamps by increasing space constraint, improve the clamping stability, and simultaneously the two-stage constant force mechanism can be disassembled and optionally replaced by the fixed rod, thereby realizing the beneficial effect of adjusting the output constant force. In order to achieve the above purpose, the invention provides a precise constant force clamping system based on space constraint, which comprises an integral frame and a linear driver, wherein the upper end of the linear driver is fixedly connected with the top of the integral frame, the lower end of the linear driver is fixedly connected with a connecting block, the lower end of the connecting block is fixedly connected with an input movable rod, a first-stage constant force mechanism is arranged on the input movable rod, a second-stage constant force mechanism is arranged below the first-stage constant force mechanism, the second-stage constant force mechanism is arranged on a base, and a bottom plate is arranged below the base. Preferably, the primary constant force mechanism comprises a primary positive stiffness mechanism and a primary negative stiffness mechanism arranged below the primary positive stiffness mechanism, wherein the primary negative stiffness mechanism and the primary positive stiffness mechanism are both provided with two groups, the two groups of the primary positive stiffness mechanisms are arranged at 90 degrees, and the two groups of the primary negative stiffness mechanisms are also arranged at 90 degrees. Preferably, the two groups of first-stage positive stiffness mechanisms comprise two groups of leaf spring components symmetrically arranged on two sides of the input movable rod, the two groups of leaf spring components comprise first leaf springs, one ends of the first leaf springs are connected to the input movable rod, the other ends of the first leaf springs are connected with one ends of second leaf springs through first mass blocks, the other ends of the second leaf springs are connected with one ends of third leaf springs through second mass blocks, and the other ends of the third leaf springs are connected with the upper ends of rigid bodies. Preferably, the two groups of the first-stage negative stiffness mechanisms comprise inclined leaf springs symmetrically arranged on two sides of the input movable rod, one end of each inclined leaf spring is fixedly connected with the lower end of the input movable rod, and the other end of each inclined leaf spring is fixedly connected with the lower end of the rigid body. Preferably, the lower end of the input movable rod is connected with a first clamping arm, a second clamping arm is arranged below the first clamping arm, and the second clamping arm is arranged at the top of the secondary constant force mechanism. Preferably, the secondary constant force mechanism comprises a secondary positive stiffness mechanism and a secondary negative stiffness mechanism arranged in the secondary positive stiffness mechanism, wherein the secondary negative stiffness mechanism and the secondary positive stiffness mechanism are both provided with two groups, the two groups of the secondary positive