CN108839051B - Miniature flexible clamp based on shape memory alloy drive - Google Patents
Miniature flexible clamp based on shape memory alloy drive Download PDFInfo
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- CN108839051B CN108839051B CN201811088975.9A CN201811088975A CN108839051B CN 108839051 B CN108839051 B CN 108839051B CN 201811088975 A CN201811088975 A CN 201811088975A CN 108839051 B CN108839051 B CN 108839051B
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- pair
- shape memory
- memory alloy
- machine body
- rotary
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- 229910001285 shape-memory alloy Inorganic materials 0.000 title claims abstract description 51
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 235000014676 Phragmites communis Nutrition 0.000 claims abstract description 35
- 244000273256 Phragmites communis Species 0.000 claims abstract description 8
- 230000009471 action Effects 0.000 claims abstract description 5
- 238000000034 method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 4
- 206010063385 Intellectualisation Diseases 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Springs (AREA)
- Transmission Devices (AREA)
Abstract
The actuating mechanism of the miniature flexible clamp based on shape memory alloy driving consists of a pair of clamping heads, a pair of elastic reeds, a pair of adjusting mechanisms and a pair of rotary joints; the clamping head is arranged at the outer end of the elastic reed, and the adjusting mechanism is clamped on the elastic reed; the rotary joint is arranged at the inner end of the elastic reed. The driving mechanism comprises a machine body, two groups of V-shaped groove pulleys and two reversing shafts are arranged in the machine body, one ends of two shape memory alloy wires are respectively fixed on screws at the rear end of the machine body, the other ends of the two shape memory alloy wires are respectively fixed on the inner sides of the adjusting mechanisms after respectively bypassing the two groups of V-shaped groove pulleys in sequence, and a pair of rotary joints are arranged on the machine body. When the shape memory alloy wire is electrified, the shape memory alloy wire contracts in the length direction, and the pair of elastic reeds are pulled by the adjusting mechanism to bend inwards to deform so as to drive the pair of clamping heads to complete the clamping action. The invention has the potential of microminiaturization and intellectualization, and can be widely applied to the future aviation field and civil field.
Description
Technical Field
The invention belongs to the technical field of turnouts, and particularly relates to a miniature flexible clamp based on shape memory alloy driving.
Background
The gripper is widely used as an end effector for a robot end to perform a specific operation, and in the design of the gripper, the gripping force is a very important design index. Since the end effector is to be contacted with the object to be clamped, in order to ensure that the object to be clamped is not damaged, the contact force between the clamp and the object to be clamped needs to be controlled, and particularly, the control of the clamping force is important for fragile and easily damaged objects. Flexible holders have been used in aspects of human life and defense science and technology, but still suffer from the following disadvantages: 1) The current miniature flexible clamp holder widely uses a motor as a driver, so that the size of the clamp holder is too large and is difficult to miniaturize; 2) Noise of the driver is difficult to eliminate; 3) The clamping force of the driver is insufficient.
Disclosure of Invention
The invention solves the technical problems that: the miniature flexible clamp holder based on shape memory alloy driving is designed, and the shape memory alloy is used as a driver, so that the shape memory alloy has the potential of microminiaturization and intellectualization due to the characteristics of high energy density, small size and the like, and can be widely applied to the future aviation field and civil field.
The technical solution of the invention is as follows: a miniature flexible gripper based on shape memory alloy drive, characterized in that: the clamp holder comprises an executing mechanism and a driving mechanism; the actuating mechanism consists of a pair of clamping heads, a pair of elastic reeds, a pair of adjusting mechanisms and a pair of rotary joints; the clamping head is arranged at the outer end of the elastic reed, the adjusting mechanism is formed by connecting two clamping plates clamped on the elastic reed through a bolt pair, can move along the length direction of the elastic reed, and can be fixed on the elastic reed through the bolt pair after moving to a specified position; the rotary joint is arranged at the inner end of the elastic reed;
the driving mechanism comprises a machine body, two groups of V-shaped groove pulleys and two reversing shafts are arranged in the machine body, one ends of two shape memory alloy wires are respectively fixed on screws at the rear end of the machine body, and the other ends of the two shape memory alloy wires are respectively fixed at the inner sides of the adjusting mechanisms after respectively bypassing the two groups of V-shaped groove pulleys in turn and reversing through the reversing shafts; the pair of rotary joints are arranged on the machine body in a rotary pair mode and are positioned on the upper side and the lower side of the two reversing shafts, and after the initial included angle of the clamping heads is adjusted through the rotary pair on the rotary joints, the rotary pair can be locked with the machine body, so that the inner end of the elastic reed does not move relative to the machine body in the clamping process;
the two ends of the shape memory alloy wire are respectively connected with the anode and the cathode of the power supply through an adjusting mechanism and a screw, when the shape memory alloy wire is electrified, the shape memory alloy wire contracts in the length direction, and the adjusting mechanism pulls the pair of elastic reeds to bend inwards to deform so as to drive the pair of clamping heads to complete the clamping action.
The machine body consists of a mounting base and two wallboards fixed on the mounting base; the two groups of V-shaped groove pulleys are symmetrically arranged between the two wallboards through a common pulley shaft; the two reversing shafts are symmetrically arranged between the two wallboards, the rotary joint is symmetrically arranged between the two wallboards through the rotary shaft, the rotary shaft and the wallboards are locked through the locking screw, the two reversing shafts are respectively positioned in front of the two groups of V-shaped groove pulleys, and the two rotary shafts are respectively positioned on the upper side and the lower side of the two reversing shafts.
The two groups of V-shaped groove pulleys are respectively formed by arranging 3 pulleys in an up-down symmetrical mode, and the shape memory alloy wires are wound in grooves of the V-shaped groove pulleys.
The surfaces of the contact parts of the two groups of V-shaped groove pulleys, the two reversing shafts and the shape memory alloy wires are provided with insulating layers.
The clamping head is a rubber head.
Compared with the prior art, the invention has the advantages and effects that:
(1) The invention uses the elastic reed as the clamping component, so that the clamp can realize flexible clamping of the object.
(2) According to the invention, one end of the shape memory alloy is fixed on the adjusting mechanism, and the clamping force can be adjusted through the change of the position of the adjusting mechanism on the elastic reed.
(3) The invention adopts the rotary joint to realize the connection of the driving mechanism and the executing mechanism, so that the clamping stroke of the flexible clamp holder can be adjusted.
(4) The invention adopts the shape memory alloy to be wound on the rotating shafts which are distributed in parallel, thereby realizing the reduction of the volume and the increase of the driving stroke.
(5) The invention adopts the structure that the V-shaped groove pulley is arranged on the rotating shaft, and the shape memory alloy is wound in the V-shaped groove of the pulley, so as to reduce the sliding friction force generated by the shrinkage of the shape memory alloy wire.
(6) The invention adopts two groups of independent driving mechanisms and actuating mechanisms which are symmetrically arranged, and can conveniently and accurately control the clamping position and the clamping force.
Drawings
FIG. 1 is a perspective view of the structure of the present invention;
FIG. 2 is a schematic diagram of an actuator mechanism according to the present invention;
FIG. 3 is a schematic diagram of a driving mechanism according to the present invention;
fig. 4 is a perspective view of the internal structure of the present invention.
Detailed Description
An embodiment of the invention is described in connection with figures 1, 2, 3, 4.
A miniature flexible clamp based on shape memory alloy driving comprises an executing mechanism and a driving mechanism; the actuating mechanism consists of a pair of clamping heads 1, a pair of elastic reeds 2, a pair of adjusting mechanisms 3 and a pair of rotary joints 4; the clamping head 1 is arranged at the outer end of the elastic reed 2, the adjusting mechanism 3 is formed by connecting two clamping plates 5 clamped on the elastic reed 2 through a bolt pair 6, can move along the length direction of the elastic reed 2, and can be fixed on the elastic reed 2 through the bolt pair 6 after moving to a specified position; the rotary joint 4 is arranged at the inner end of the elastic reed 2;
the driving mechanism comprises a machine body 7, two groups of V-shaped groove pulleys 9 and two reversing shafts 8 are arranged in the machine body 7, one ends of two shape memory alloy wires 10 are respectively fixed on screws 11 at the rear end of the machine body 7, and the other ends of the two shape memory alloy wires are respectively fixed at the inner sides of the adjusting mechanisms 3 after respectively bypassing the two groups of V-shaped groove pulleys 9 in turn and reversing through the reversing shafts 8; the pair of rotary joints 4 are arranged on the machine body 7 in a rotary pair mode and are positioned on the upper side and the lower side of the two reversing shafts 8, and after the initial included angle of the clamping head 1 is adjusted through the rotary pair on the rotary joints 4, the rotary pair can be locked with the machine body 7, so that the inner end of the elastic reed 2 does not move relative to the machine body 7 in the clamping process; the clamping head 1 is a rubber head.
The two ends of the shape memory alloy wire 10 are respectively connected with the anode and the cathode of a power supply through the adjusting mechanism 3 and the screw 11, when the shape memory alloy wire 10 is electrified, the shape memory alloy wire contracts in the length direction, and the adjusting mechanism 3 pulls the pair of elastic reeds 2 to bend inwards to deform so as to drive the pair of clamping heads 1 to complete the clamping action. The surfaces of the contact parts of the two groups of V-shaped groove pulleys 9 and the two reversing shafts 8 and the shape memory alloy wires 10 are subjected to insulation treatment, namely, the surfaces of the contact parts of the V-shaped groove pulleys 9 and the reversing shafts 8 and the shape memory alloy wires 10 are coated with insulation layers.
The machine body 7 is composed of a mounting base 12 and two wallboards 13 fixed on the mounting base 12; the two groups of V-shaped groove pulleys 9 are symmetrically arranged between the two wallboards 13 through a common pulley shaft 14; the two reversing shafts 8 are symmetrically arranged between the two wallboards 13, the rotary joint 4 is symmetrically arranged between the two wallboards 13 through the rotary shaft 16, the rotary shaft 16 and the wallboards 13 can be locked through the locking screw 15, the two reversing shafts 8 are respectively positioned in front of the two groups of V-shaped groove pulleys 9, and the two rotary shafts 16 are respectively positioned on the upper side and the lower side of the two reversing shafts 8. The two groups of V-shaped groove pulleys 9 are respectively formed by arranging 3 pulleys in an up-down symmetrical mode, and shape memory alloy wires 10 are wound in grooves of the V-shaped groove pulleys 9. And the shape memory alloy wire 10 is wound in the groove of the V-groove pulley 9.
Working principle: firstly, the initial included angle of the clamping head 1 is adjusted through a rotating pair on the rotary joint 4, and the rotary shaft 16 and the wallboard 13 are locked through the locking screw 15, so that the inner end of the elastic reed 2 and the machine body 7 do not have relative movement in the clamping process. The adjusting mechanism 3 is then moved to a proper position along the length direction of the spring reed 2, and is fixed to the spring reed 2 by the bolt pair 6. When the shape memory alloy wire 10 is electrified, the shape memory alloy wire contracts in the length direction, and the elastic reed 2 is pulled by the adjusting mechanism 3 to be bent and deformed inwards to the position 201, so that the pair of clamping heads 1 is driven to complete the clamping action on the object 17. In use, the present invention may be attached to other objects by the mounting base 12.
Because the movement stroke of the shape memory alloy in unit length is smaller, in order to improve the effective movement stroke of the shape memory alloy, a method for increasing the length of the shape memory alloy is adopted; meanwhile, in order to reduce the volume of the driving device, the shape memory alloy is wound on a rotating shaft which is arranged in parallel, and the space volume is reduced and the driving stroke is improved by a multi-circle parallel winding method; because the shape memory alloy can slide relatively with the winding shaft during shrinkage movement, in order to reduce sliding friction force, the V-shaped groove pulley is arranged on the rotating shaft, so that the sliding friction force is converted into rolling friction force, and further the friction force is reduced, and the driving force is increased.
The invention is composed of two groups of symmetrically distributed driving mechanisms and actuating mechanisms, the two groups of mechanisms are mutually independent and respectively driven by two strip-shaped memory alloys, so that the clamping position and clamping force can be conveniently and accurately controlled, the requirement of precise intelligent control is met, and the invention can be used for miniature operators in medical treatment or miniature and lightweight actuators in aerospace.
The above embodiments are only preferred embodiments of the present invention and are not intended to limit the scope of the present invention, so that all equivalent modifications made by the appended claims shall be included in the scope of the present invention.
Claims (4)
1. A miniature flexible gripper based on shape memory alloy drive, characterized in that: the clamp holder comprises an executing mechanism and a driving mechanism; the actuating mechanism consists of a pair of clamping heads (1), a pair of elastic reeds (2), a pair of adjusting mechanisms (3) and a pair of rotary joints (4); the clamping head (1) is arranged at the outer end of the elastic reed (2), the adjusting mechanism (3) is formed by connecting two clamping plates (5) clamped on the elastic reed (2) through a bolt pair (6), can move along the length direction of the elastic reed (2), and can be fixed on the elastic reed (2) through the bolt pair (6) after moving to a specified position; the rotary joint (4) is arranged at the inner end of the elastic reed (2);
the driving mechanism comprises a machine body (7), two groups of V-shaped groove pulleys (9) and two reversing shafts (8) are arranged in the machine body (7), one ends of two shape memory alloy wires (10) are respectively fixed on screws (11) at the rear end of the machine body (7), and the other ends of the two shape memory alloy wires are respectively fixed at the inner sides of the adjusting mechanisms (3) after respectively bypassing the two groups of V-shaped groove pulleys (9) in sequence and reversing through the reversing shafts (8); the pair of rotary joints (4) are arranged on the machine body (7) in a rotary pair mode and are positioned on the upper side and the lower side of the two reversing shafts (8), and after the initial included angle of the clamping head (1) is adjusted through the rotary pair on the rotary joints (4), the rotary pair can be locked with the machine body (7), so that the inner end of the elastic reed (2) does not move relative to the machine body (7) in the clamping process;
the two ends of the shape memory alloy wire (10) are respectively connected with the anode and the cathode of the power supply through the adjusting mechanism (3) and the screw (11), when the shape memory alloy wire (10) is electrified, the shape memory alloy wire contracts in the length direction, and the adjusting mechanism (3) pulls the pair of elastic reeds (2) to bend inwards to deform so as to drive the pair of clamping heads (1) to complete the clamping action;
the clamping head (1) is a rubber head.
2. A miniature flexible gripper based on shape memory alloy actuation according to claim 1, characterized in that: the machine body (7) is composed of a mounting base (12) and two wallboards (13) fixed on the mounting base (12); the two groups of V-shaped groove pulleys (9) are symmetrically arranged between the two wallboards (13) through a shared pulley shaft (14); the two reversing shafts (8) are symmetrically arranged between the two wallboards (13), the rotary joint (4) is symmetrically arranged between the two wallboards (13) through the rotary shafts (16), the rotary shafts (16) and the wallboards (13) are locked through the locking screws (15), the two reversing shafts (8) are respectively positioned in front of the two groups of V-shaped groove pulleys (9), and the two rotary shafts (16) are respectively positioned on the upper side and the lower side of the two reversing shafts (8).
3. A miniature flexible gripper based on shape memory alloy actuation according to claim 1, characterized in that: the two groups of V-shaped groove pulleys (9) are respectively formed by arranging 3 pulleys in an up-down symmetrical mode, and shape memory alloy wires (10) are wound in grooves of the V-shaped groove pulleys (9).
4. A miniature flexible gripper based on shape memory alloy actuation according to claim 1, characterized in that: the surfaces of the contact parts of the two groups of V-shaped groove pulleys (9), the two reversing shafts (8) and the shape memory alloy wires (10) are respectively provided with an insulating layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811088975.9A CN108839051B (en) | 2018-09-18 | 2018-09-18 | Miniature flexible clamp based on shape memory alloy drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811088975.9A CN108839051B (en) | 2018-09-18 | 2018-09-18 | Miniature flexible clamp based on shape memory alloy drive |
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| Publication Number | Publication Date |
|---|---|
| CN108839051A CN108839051A (en) | 2018-11-20 |
| CN108839051B true CN108839051B (en) | 2024-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811088975.9A Active CN108839051B (en) | 2018-09-18 | 2018-09-18 | Miniature flexible clamp based on shape memory alloy drive |
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| CN109866135B (en) * | 2019-01-19 | 2020-12-22 | 东莞市亚登电子有限公司 | Memory alloy wire installation module of clamp and miniature optical camera module |
| CN110048644B (en) * | 2019-05-17 | 2023-12-12 | 中国科学院沈阳自动化研究所 | Linear driver based on memory alloy wire |
| CN111685966B (en) * | 2019-10-15 | 2024-04-19 | 东北林业大学 | Finger movement function rehabilitation device driven by shape memory alloy wire |
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| CN113459134B (en) * | 2021-07-05 | 2022-05-13 | 吉林大学 | SMA wire drive holder with resistance self-sensing force and displacement |
| CN114123858B (en) * | 2021-12-13 | 2024-01-12 | 吉林大学 | Rotary actuator driven by radial crank connecting rod mechanism and driving method thereof |
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