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An intelligent clamping device and its active control method

A clamping device and active control technology, applied in workpiece clamping devices, general control systems, control/adjustment systems, etc., can solve problems such as poor applicability, inability to apply clamping force smoothly, and damage to objects

Inactive Publication Date: 2018-07-03
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Existing clamping devices generally adopt mechanical connection, the rigidity of the clamping claws is fixed, and the clamping force and the deformation of the clamping point are in a linear relationship, which cannot realize the gentle application of the clamping force, especially when clamping brittle objects. cause damage to objects
Moreover, the existing clamping devices are usually designed for the clamped object of a specific size, which cannot take into account the uncertainty of the geometric shape of the clamped object, and the applicability is poor

Method used

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  • An intelligent clamping device and its active control method
  • An intelligent clamping device and its active control method
  • An intelligent clamping device and its active control method

Examples

Experimental program
Comparison scheme
Effect test

example 1

[0059] A cantilever beam model with a length, width and height of 80 mm, 40 mm and 0.43 mm attached to MFC is used to represent the clamping jaws in the present invention. The material density of the beam is 8110kg / m 3 , the Young's modulus is 200GPa, and the Poisson's ratio is 0.3. Using d33-type (M-5628-P1) type MFC piezoelectric sheet (Smart Material Corp. http: / / www.smart-material.com / MFC-product-main.html), the maximum and minimum operating voltages are respectively +1500V and -500V. The contact point between the object to be clamped and the gripper jaw (ie point p) is located 5mm from the end of the cantilever beam, and the contact load is simulated with a mass.

[0060] The experimental frame is as Image 6 As shown in the figure, Simulink software is used for control in the dSPACE semi-physical real-time control simulation system, KEYENCE LK-G150 sensor is used to measure the deformation, and the control signal is supplied to the MFC piezoelectric sheet after passin...

example 2

[0067] The second example is realized by simulation. When a single clamping claw exerts a clamping force on the object to be clamped, the change of the acceleration of the contact point of the clamping claw reflects the change of the clamping force. Taking the experimental model in Example 1 as the object, assuming that the outer rotating ring rotates at an angular velocity ω, the deformation at point p changes linearly from 0 to w within 2s g , using the parameters obtained by the finite element method in Table 1 to carry out numerical simulation verification. In order to illustrate the effect of gentle clamping of the present invention, a comparison is made with the acceleration response (ie, the acceleration during the clamping process of the clamped object) of the clamping jaw at point p in the process with a clamping jaw with a fixed clamping stiffness (ie, a linear case). The result of feedforward control is Figure 8 , it can be seen that the acceleration response in t...

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Abstract

The invention proposes an intelligent clamping device and an active control method therefor. The rigidness of a clamping jaw of the intelligent clamping device can be controlled according to the contact deformation, and the designability of the rigidness of the clamping jaw is achieved through a piezoelectric control MFC-beam model. When the device is used for clamping, the device can intelligently adjust the size of a clamping force, and achieves the slow clamping of a clamped object. The device can flexibly designs the change curve of the clamping force according to the actual demands. The device also can design the diameter of an outer rotating ring and the length of an inner clamping jaw according to the size of the clamped object, and achieves the slow clamping of clamped objects at different sizes.

Description

technical field [0001] The invention belongs to the field of electromechanical engineering, and relates to the principle of structural mechanics and the principle of automatic control. Background technique [0002] The existing clamping device generally adopts mechanical connection, the rigidity of the clamping claw is fixed, and the clamping force and the deformation of the clamping point have a linear relationship, which cannot realize the gentle application of the clamping force, especially when clamping brittle objects. cause damage to the object. Moreover, the existing clamping devices are usually designed for a clamped object of a specific size, and the uncertainty of the geometric shape of the clamped object cannot be taken into account, and the applicability is poor. SUMMARY OF THE INVENTION [0003] In order to solve the above two types of technical problems, the present invention proposes an intelligent clamping device and an active control method thereof, which...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B17/02B25B11/00
CPCB25B11/00G05B17/02
Inventor 穆罕默德·卡西姆杨智春谷迎松贺顺
Owner NORTHWESTERN POLYTECHNICAL UNIV
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