Self-centering clamp based on series tensioning mechanism

Abstract

The utility model discloses a self-centering clamp based on series tensioning mechanisms, which comprises the tensioning mechanisms connected in series, and each tensioning mechanism is composed of two rectangular supporting parts and four supporting rods arranged between the two rectangular supporting parts. The two ends of each supporting rod are hinged to universal joints arranged on the rectangular supporting parts in a diagonal relation, the two tensioning mechanisms share the rectangular supporting part in the middle, and a motor drives a lead screw to drive the two rectangular supporting parts on the outermost side to do reciprocating translational motion. Namely, tightening and loosening actions of the clamp are realized through translation of the lead screw, so that clamping of cylindrical crop seedlings is realized.

Description

Technical Field

[0001] This utility model relates to the field of clamping machinery technology, and more specifically, to a self-centering clamp based on a series tensioning mechanism. Background Technology

[0002] To improve the mechanization level of agricultural planting, corresponding mechanical devices need to be designed based on the characteristics of the crops being planted. Designing these devices involves designing the mechanical structure of clamps for holding crop seedlings to meet the functional requirements of holding seedlings when planting specific crops. Some crop seedlings are columnar, such as lotus seedlings. When planting these columnar crops, it is necessary to ensure that the clamping force is sufficient for planting while avoiding damage, scratching, or abrasion to the seedling's surface to prevent affecting the seedling survival rate. Furthermore, considering that even for the same crop, seedling lengths may vary, the designed clamps must be highly adaptable to this objective fact.

[0003] Therefore, it is necessary to study the clamps required for planting machinery suitable for cylindrical crops. Utility Model Content

[0004] This specification provides a self-centering fixture based on a series tensioning mechanism to overcome at least one technical problem existing in the related art.

[0005] According to embodiments of this specification, a self-centering clamp based on a series tensioning mechanism is provided, comprising:

[0006] A first tensioning mechanism includes a first rectangular support component and a second rectangular support component disposed above the first rectangular support component. The first rectangular support component has a first opening at its center, and the second rectangular support component has a second opening at its center. A first universal joint is fixedly disposed at a first vertex of the upper surface of the first rectangular support component, a second universal joint is fixedly disposed at a second vertex of the upper surface of the first rectangular support component, a third universal joint is fixedly disposed at a third vertex of the upper surface of the first rectangular support component, and a fourth universal joint is fixedly disposed at a fourth vertex of the upper surface of the first rectangular support component. The first, second, third, and fourth vertices are arranged clockwise around the first opening. The lower end of the second rectangular support component... A fifth universal joint is fixedly installed at the fifth vertex of the second rectangular support member, a sixth universal joint is fixedly installed at the sixth vertex of the lower end face of the second rectangular support member, a seventh universal joint is fixedly installed at the seventh vertex of the lower end face of the second rectangular support member, and an eighth universal joint is fixedly installed at the eighth vertex of the lower end face of the second rectangular support member; the fifth vertex, the sixth vertex, the seventh vertex, and the eighth vertex are arranged clockwise around the second opening, with the fifth vertex located directly above the first vertex; a first support rod is hinged between the first universal joint and the seventh universal joint, a second support rod is hinged between the second universal joint and the eighth universal joint, a third support rod is hinged between the third universal joint and the fifth universal joint, and a fourth support rod is hinged between the fourth universal joint and the sixth universal joint;

[0007] The self-centering fixture further includes a second tensioning mechanism, which includes a second rectangular support component and a third rectangular support component disposed above the second rectangular support component. The third rectangular support component has a third opening at its center. A ninth universal joint is fixedly disposed at the ninth vertex of the upper surface of the second rectangular support component; a tenth universal joint is fixedly disposed at the tenth vertex of the upper surface of the second rectangular support component; an eleventh universal joint is fixedly disposed at the eleventh vertex of the upper surface of the second rectangular support component; and a twelfth universal joint is fixedly disposed at the twelfth vertex of the upper surface of the second rectangular support component. The ninth, tenth, eleventh, and twelfth vertices are arranged clockwise around the second opening. A third universal joint is fixedly disposed at the thirteenth vertex of the lower surface of the third rectangular support component. The thirteenth universal joint is fixedly installed at the fourteenth vertex of the lower end face of the third rectangular support component, the fifteenth universal joint is fixedly installed at the fifteenth vertex of the lower end face of the third rectangular support component, and the sixteenth universal joint is fixedly installed at the sixteenth vertex of the lower end face of the third rectangular support component; the thirteenth, fourteenth, fifteenth, and sixteenth vertices are arranged clockwise around the third opening, with the thirteenth vertex located directly above the ninth vertex; a fifth support rod is hinged between the ninth and fifteenth universal joints, a sixth support rod is hinged between the tenth and sixteenth universal joints, a seventh support rod is hinged between the eleventh and thirteenth universal joints, and an eighth support rod is hinged between the twelfth and fourteenth universal joints;

[0008] The self-centering fixture further includes a first lead screw and a second lead screw. The first lead screw is fixedly disposed between a first outer side of the first rectangular support member and a second outer side of the third rectangular support member that is in the same position as the first outer side. The first lead screw is used to drive the first rectangular support member to perform reciprocating translational motion relative to the third rectangular support member. The second lead screw is fixedly disposed between a third outer side of the first rectangular support member and a fourth outer side of the third rectangular support member that is in the same position as the third outer side. The second lead screw is used to drive the first rectangular support member to perform reciprocating translational motion relative to the third rectangular support member. The first lead screw is driven by a first motor, and the second lead screw is driven by a second motor.

[0009] Preferably, the first support rod, the second support rod, the third support rod, the fourth support rod, the fifth support rod, the sixth support rod, the seventh support rod, and the eighth support rod are of equal length and are all made of lightweight non-metallic materials.

[0010] The first rectangular support component, the second rectangular support component, and the third rectangular support component are all obtained by splicing together Fischer components.

[0011] Each of the first support rod, the second support rod, the third support rod, the fourth support rod, the fifth support rod, the sixth support rod, the seventh support rod, and the eighth support rod is provided with foam cardboard, which is used to protect the object held by the self-centering clamp.

[0012] The beneficial effects of the embodiments in this specification are as follows: The technical solution of this application provides a self-centering clamp based on a series tensioning mechanism. The clamp includes a series tensioning mechanism. Each tensioning mechanism consists of two rectangular support components and four support rods arranged between the two rectangular support components. The two ends of each support rod are respectively hinged to universal joints arranged diagonally on the rectangular support components. The two tensioning mechanisms share the middle rectangular support component. The motor drives the lead screw, which in turn drives the two outermost rectangular support components to perform reciprocating translational movements. That is, the clamping and loosening actions are realized through the translation of the lead screw, thereby realizing the clamping of columnar crop seedlings. The self-centering clamp provided in this application comprises three hollow rectangular support components. The translation range of the lead screw, controlled by a motor, controls the reciprocating translational motion between the two outermost rectangular support components, ultimately controlling the tightening degree of the support rods in the two tandem tensioning mechanisms. This differs from many current clamp designs that are tailored to specific crop sizes. This invention can adapt its clamping action based on the cross-sectional area of ​​different columnar crops, exhibiting a flexible and highly adaptable structure. The tandem tensioning mechanism, acting as a clamp, allows for adaptive clamping of crops of different sizes through precise control, ensuring good clamping stability and crop safety while reducing damage. Furthermore, some existing clamps have short service lives, are prone to wear and damage, and require frequent maintenance and replacement. The structure of this invention distributes stress evenly, is less prone to damage, and is simple, easy to replace, and more practical. Additionally, the self-centering clamp provided in this invention features simple mechanism movement. Many current adaptive clamps require multiple active methods to drive the clamp, making the process complex. This invention utilizes a lead screw structure that only requires rotation to complete the clamping. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments or related technologies of this specification, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1A front view of the mechanical structure of the self-centering clamp based on a series tensioning mechanism provided in the embodiments of this specification;

[0015] Figure 2 Left view of the mechanical structure of the self-centering clamp based on a series tensioning mechanism provided in the embodiments of this specification;

[0016] Figure 3 A top view of the mechanical structure of the self-centering clamp based on a series tensioning mechanism provided in the embodiments of this specification;

[0017] Figure 4 This is a schematic diagram illustrating the composition of two tensioning mechanisms connected in series in the self-centering fixture based on a series tensioning mechanism provided in the embodiments of this specification;

[0018] Figure 5 This is a schematic diagram illustrating the tightening of the self-centering clamp based on a series tensioning mechanism provided in the embodiments of this specification;

[0019] Figure 6 This is a schematic diagram illustrating the movement distance of the two tensioning mechanisms connected in series in the self-centering fixture based on the series tensioning mechanism provided in the embodiments of this specification.

[0020] Wherein, 1 represents the first rectangular support component, 2 represents the second rectangular support component, 3 represents the third rectangular support component, 4 represents the first support rod, 5 represents the second support rod, 6 represents the third support rod, 7 represents the fourth support rod, 8 represents the fifth support rod, 9 represents the sixth support rod, 10 represents the seventh support rod, 11 represents the eighth support rod, 12 represents the first universal joint, 13 represents the second universal joint, 14 represents the third universal joint, 15 represents the fourth universal joint, 16 represents the fifth universal joint, 17 represents the sixth universal joint, 18 represents the seventh universal joint, 19 represents the eighth universal joint, 20 represents the thirteenth universal joint, 21 represents the fourteenth universal joint, 22 represents the fifteenth universal joint, 23 represents the sixteenth universal joint, 24 represents the first lead screw, 25 represents the first motor, 26 represents the screw of the first lead screw, and 27 represents the lead screw nut of the first lead screw. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] The design principle of the self-centering clamp based on the series tensioning mechanism described in this manual will be given a general overview first, and its detailed structure will be explained later. The self-centering clamp described in this manual consists of two series tensioning mechanisms. Each tensioning mechanism has four support rods. Driven by a motor, the eight support rods are tightened to align the two fixed points into a line, thereby clamping the cylindrical crop and completely restricting its degrees of freedom to achieve stable clamping. The tightening and loosening of the clamp are achieved by the translation of the lead screw.

[0023] The term "tensioning mechanism" will now be explained in general terms, but its meaning does not limit the specific meaning of the tensioning mechanism used in this application. It should be noted that the meaning of "tensioning mechanism" in the following paragraph is only a general interpretation of the term. When it comes to specific mechanical devices, the tensioning mechanism contained therein may have a different mechanical structure than the tensioning mechanism contained in other mechanical devices. That is, for a mechanical device with a specific purpose, it is necessary to design a specific mechanical structure for the tensioning mechanism that meets that specific purpose.

[0024] A tensioning mechanism is a mechanical structure whose basic principle is to maintain a stable shape by applying tension to rods or cables. In a tensioning mechanism, the rods or cables play a crucial role in bearing the tensile force, maintaining the structure's balance through force transmission. Tensioning mechanisms are widely used in transportation infrastructure, the automotive industry, and machinery manufacturing. In these fields, tensioning mechanisms provide lightweight, high-strength, and high-rigidity solutions, thereby improving equipment performance and efficiency. Furthermore, tensioning mechanisms hold significant conceptual importance and applications in the mechanical field; their unique structural design principles make them an effective tool for solving problems involving large spans, high strength, and lightweighting.

[0025] Based on the above, the technical solution of this application will be described in detail below. For example... Figure 1 As shown, Figure 1 This is a front view of a mechanical structure of a self-centering clamp based on a series tensioning mechanism, as provided in an embodiment of this specification. Figure 2 This is a left view of the mechanical structure of the self-centering fixture. Figure 3 This is a top view of the mechanical structure of the self-centering fixture. Figure 4 A schematic diagram illustrating the composition of two tensioning mechanisms connected in series in a self-centering fixture is shown below. Figures 1 to 4 The self-centering fixture provided by the present invention will be described, and the self-centering fixture may include:

[0026] The first tensioning mechanism includes a first rectangular support component 1 and a second rectangular support component 22 disposed above the first rectangular support component 1. The first rectangular support component 1 has a first opening at its center, and the second rectangular support component 22 has a second opening at its center. A first universal joint 12 is fixedly disposed at the first vertex of the upper surface of the first rectangular support component 1; a second universal joint 13 is fixedly disposed at the second vertex of the upper surface of the first rectangular support component 1; a third universal joint 14 is fixedly disposed at the third vertex of the upper surface of the first rectangular support component 1; and a fourth universal joint 15 is fixedly disposed at the fourth vertex of the upper surface of the first rectangular support component 1. The first, second, third, and fourth vertices are arranged clockwise around the first opening. The lower surface of the second rectangular support component 2... A fifth universal joint 16 is fixedly installed at the fifth vertex; a sixth universal joint 17 is fixedly installed at the sixth vertex of the lower end face of the second rectangular support component 2; a seventh universal joint 18 is fixedly installed at the seventh vertex of the lower end face of the second rectangular support component 2; and an eighth universal joint 19 is fixedly installed at the eighth vertex of the lower end face of the second rectangular support component 2. The fifth, sixth, seventh, and eighth vertices are arranged clockwise around the second opening, with the fifth vertex located directly above the first vertex. A first support rod 4 is hinged between the first universal joint 12 and the seventh universal joint 18; a second support rod 5 is hinged between the second universal joint 13 and the eighth universal joint 19; a third support rod 6 is hinged between the third universal joint 14 and the fifth universal joint 16; and a fourth support rod 7 is hinged between the fourth universal joint 15 and the sixth universal joint 17.

[0027] The self-centering fixture also includes a second tensioning mechanism, which includes a second rectangular support component 22 and a third rectangular support component 33 disposed above the second rectangular support component 22. The third rectangular support component 33 has a third opening at its center. A ninth universal joint is fixedly disposed at the ninth vertex of the upper surface of the second rectangular support component 2, a tenth universal joint is fixedly disposed at the tenth vertex of the upper surface of the second rectangular support component 2, an eleventh universal joint is fixedly disposed at the eleventh vertex of the upper surface of the second rectangular support component 2, and a twelfth universal joint is fixedly disposed at the twelfth vertex of the upper surface of the second rectangular support component 2. The ninth, tenth, eleventh, and twelfth vertices are arranged clockwise around the second opening. A third universal joint is fixedly disposed at the thirteenth vertex of the lower surface of the third rectangular support component 3. Thirteen universal joints 20; a fourteenth universal joint 21 is fixedly installed at the fourteenth vertex of the lower end face of the third rectangular support component 3; a fifteenth universal joint 22 is fixedly installed at the fifteenth vertex of the lower end face of the third rectangular support component 3; a sixteenth universal joint is fixedly installed at the sixteenth vertex of the lower end face of the third rectangular support component 3; the thirteenth, fourteenth, fifteenth, and sixteenth vertices are arranged clockwise around the third opening, with the thirteenth vertex located directly above the ninth vertex; a fifth support rod 8 is hinged between the ninth universal joint and the fifteenth universal joint 22; a sixth support rod 9 is hinged between the tenth and sixteenth universal joints; a seventh support rod 10 is hinged between the eleventh and thirteenth universal joints 20; and an eighth support rod 11 is hinged between the twelfth and fourteenth universal joints 21.

[0028] The self-centering fixture also includes a first lead screw 24 and a second lead screw. The first lead screw 24 is fixedly disposed between the first outer side of the first rectangular support member 1 and the second outer side of the third rectangular support member 3, both positioned in the same direction as the first outer side. The first lead screw 24 drives the first rectangular support member 1 to reciprocate relative to the third rectangular support member 3. The second lead screw is fixedly disposed between the third outer side of the first rectangular support member 1 and the fourth outer side of the third rectangular support member 3, both positioned in the same direction as the third outer side. The second lead screw drives the first rectangular support member 1 to reciprocate relative to the third rectangular support member 3. The first lead screw 24 is driven by a first motor 25, and the second lead screw is driven by a second motor. Figure 1 In the figure, the structure of the first motor 25 driving the first lead screw 24 to reciprocate is drawn. That is, under the drive of the first motor 25, the lead screw nut 27 of the first lead screw rotates, which in turn drives the screw 26 of the first lead screw to reciprocate. One end of the screw 26 of the first lead screw drives the third rectangular support component 1 to also reciprocate. Thus, the clamping and loosening actions of the clamp are realized through the translation of the lead screw, thereby realizing the clamping of the columnar crop seedling.

[0029] The following is through Figure 4 The tensioning mechanism mentioned above will be explained, such as... Figure 4 As shown, Figure 4 A schematic diagram illustrating the composition of two tensioning mechanisms connected in series in a self-centering fixture is shown below. Figure 4 The meaning of "vertices" in the terms "first vertex" to "sixteenth vertex" mentioned earlier will be explained. Taking the first to fourth vertices as an example, "vertices" are originally a geometric term. In this scheme, the term "vertices" is used to describe the location of the universal joints installed on the rectangular support component. That is, the rectangular support component is abstractly imagined as a rectangle with four vertices. The positions of these four vertices can be used to describe the locations of the universal joints installed on the rectangular support component. For the middle rectangular support component, namely the second rectangular support component, the second rectangular support component, as a physical entity, has upper and lower end faces. Universal joints can be installed at the vertices on both end faces. That is, the second rectangular support component 2, located between the first rectangular support component 1 and the third rectangular support component 3, can serve as a shared part of the first tensioning mechanism and the second tensioning mechanism.

[0030] This application provides a self-centering clamp based on a series tensioning mechanism. The clamp includes a series tensioning mechanism, each consisting of two rectangular support components and four support rods arranged between the two rectangular support components. The two ends of each support rod are respectively hinged to universal joints arranged diagonally on the rectangular support components. The two tensioning mechanisms share the middle rectangular support component, and the motor drives the lead screw to drive the two outermost rectangular support components to perform reciprocating translational movements. That is, the clamp tightens and loosens through the translation of the lead screw, thereby achieving the clamping of columnar crop seedlings. The self-centering clamp provided in this application comprises three hollow rectangular support components. The translation range of the lead screw, controlled by a motor, controls the reciprocating translational motion between the two outermost rectangular support components, ultimately controlling the tightening degree of the support rods in the two series-connected tensioning mechanisms. This differs from many current clamp designs that are tailored to specific crop sizes. This invention can perform appropriate clamping actions based on the cross-sectional area of ​​different columnar crops, exhibiting a flexible and highly adaptable structure. The series-connected tensioning mechanism, acting as a clamp, allows for adaptive clamping of crops of different sizes through precise control, ensuring good clamping stability and crop safety, and reducing damage. Furthermore, some existing clamps have short service lives, are prone to wear and damage, and require frequent maintenance and replacement. The structure of this invention distributes stress evenly, is less prone to damage, and is simple, easy to replace, and more practical. Additionally, the self-centering clamp provided in this invention features simple mechanism movement. Many current adaptive clamps require multiple active driving methods, making the process complex. This invention utilizes a lead screw structure that only requires rotation to complete the clamping, enabling more reliable sowing of lotus seedlings. The tensioning structure designed in this invention adopts a unique support rod connection node structure, which effectively disperses the force and improves the stability of the invention during operation.

[0031] The design was further optimized so that the first, second, third, fourth, fifth, sixth, seventh, and eighth support rods are all of equal length and are all made of lightweight non-metallic materials.

[0032] Further optimization of the design resulted in the first, second, and third rectangular support components being assembled from Fischer components.

[0033] The design was further optimized by adding foam cardboard to each of the first, second, third, fourth, fifth, sixth, seventh, and eighth support rods. The foam cardboard is used to protect the object held by the self-centering fixture.

[0034] Compared to traditional clamping devices, the self-centering clamp of this invention is a tension-relaxation type device, which has the following advantages:

[0035] (1) Flexible and adjustable: The elastic cylindrical clamping device can clamp the lotus root by adjusting the clamping force. By adjusting the tightness, it can flexibly adapt to lotus roots of different diameters and shapes, and has great adaptability.

[0036] (2) Uniform clamping force: The design of this device can provide a uniform clamping force distribution, so that pressure is applied evenly to the surface of the lotus root during the clamping process, avoiding deformation or damage that may be caused by concentrated stress.

[0037] (3) Preserving integrity: The clamping force applied to the lotus root by the loose cylindrical clamping device can clamp it without damaging its surface integrity, ensuring the overall shape and appearance of the lotus root.

[0038] (4) Easy to operate: The device has a simple operation mode. The lotus root can be clamped and released by adjusting the clamping nut or the loosening device through the motor drive. The operation is convenient.

[0039] Based on existing clamping devices, this application's technical solution incorporates a series of innovative improvements to meet the actual needs of clamping lotus roots. Past clamping devices, due to their short length and insufficient clamping force, failed to firmly hold the lotus seedling model. To address this issue, this application's technical solution replaces the previous opening and closing clamping mechanism with a tensioning mechanism, significantly improving the device's stability. This ensures that the two processes of clamping the lotus seedling from the frame and placing it into the pit can proceed smoothly. This innovation improves operational stability and provides a more reliable solution for lotus seedling sowing, leading to more efficient and controllable results in the lotus seedling cultivation process.

[0040] In the design of this application's technical solution, the support rods are connected to the frame (i.e., the rectangular support component) via a revolute joint. This application's technical solution uses eight support rods (divided into two groups of four) to connect the upper and lower parts of the mechanism. Simultaneously, these eight rods are driven by a motor to form a tensioning mechanism. This structure achieves the clamping and planting of lotus seedlings through motor drive. The use of a multi-support rod structure greatly solves the potential overturning moment problem in the mechanism, ensuring the stability and reliability of the entire device. This innovative design not only improves the operating efficiency of the device but also makes the clamping and planting process of lotus seedlings safer and more reliable. The application of this structure in this application's technical solution will provide a reliable tool for lotus seedling planting and bring more possibilities to research and practice in related fields.

[0041] This invention reduces the overall weight by designing a lightweight rod structure, thereby reducing the operational difficulty and labor intensity during installation and making the installation work more efficient. By optimizing material selection and simplifying processes, the invention reduces manufacturing costs, making the technology more economically feasible. Furthermore, by designing easier-to-maintain structures and materials, the invention reduces maintenance costs and operational complexity, and extends the service life of the facility.

[0042] The tensioning structure consists of a rigid structure (tensioning clamping device) and cables (active device).

[0043] Rigid structure (tensioning clamping device): This invention connects two tensioning structures as clamps. By tightening eight rods, the two fixed points are aligned into a line, realizing the clamping of cylindrical crops, completely restricting their degrees of freedom, and achieving stable clamping.

[0044] Cable (Active Device): The function of a typical cable is to both rotate the intermediate layer at a large angle and translate it along the axis of its centroid, essentially reducing the relative distance between the three layers. This invention changes the active component, transforming the combined rotation and translation of the intermediate layer into translation of the bottom layer: the upper and lower layers are connected by a lead screw, retaining only one degree of freedom for vertical translation; a motor drives the lead screw to transform the rotational motion into the translational motion of the lower layer. The motion method is simple, yet achieves the intended function. To counteract the horizontal interference force that could cause the intermediate layer to tip over, this structure pre-rotates the second rectangular support component of the intermediate layer by 90°, successfully eliminating the horizontal interference force and allowing the clamp to stably achieve the intended function. It also has the following advantages:

[0045] 1. Flexible and highly adaptable structure: Unlike many current clamp designs that are designed for crops of specific sizes, this invention can perform corresponding clamping actions based on the cross-sectional area of ​​different columnar crops.

[0046] 2. The present invention has good clamping stability. Many current clamps have insufficient clamping force and cannot stably support the workpiece, which easily leads to problems such as workpiece displacement and deformation. The present invention achieves long-distance fixation through a series tensioning structure, with two points in a line, which completely restricts the workpiece's degree of freedom and improves clamping stability. Combined with the foam cardboard tied to the clamping rod, it minimizes the damage to crops caused by clamping.

[0047] 3. The mechanism has simple motion. Currently, many adaptive clamps require multiple active methods to drive the clamp, which is a relatively complex process. This invention uses a lead screw structure to complete the clamping by simply applying rotation.

[0048] 4. The overall solution is highly practical. Some fixtures have a short service life and are prone to wear and damage, requiring frequent maintenance and replacement. The structure of this invention is evenly stressed, not easily damaged, and simple in structure, making it easy to replace and more practical.

[0049] 5. The present invention has a lightweight structure. Some large clamps are heavy and inconvenient to operate, which increases the energy consumption of the production line. The present invention can effectively reduce weight and energy consumption by using rods.

[0050] The tensioned structure is a hinged structure that requires prestress to achieve self-balancing.

[0051] (1) Prestress exists:

[0052] In a prestressed tensioning mechanism, the cables are taut, thus providing the structure with a certain degree of stiffness. This prestress, by applying tension to the cables, keeps the internal members or cables of the structure tightly connected and effectively resists the action of external loads. The presence of prestress enables the tensioning mechanism to withstand greater forces and deformations, thereby improving the stability and load-bearing capacity of the structure.

[0053] Prestressing not only provides structural stiffness but also addresses material shrinkage and deformation. By properly adjusting the tension of the cables, the deformation of members or cables can be controlled under load, maintaining overall balance and stability. This stability allows tensioning mechanisms to operate under extreme environmental conditions, such as high temperatures, humidity, and vibration. In mechanical engineering, stability is a crucial design consideration. By introducing prestress, tensioning mechanisms increase the bending stiffness and deformation resistance of structures, thereby reducing the risk of vibration and deformation.

[0054] (2) Cable structure connection:

[0055] In the absence of external forces, mechanical structures maintain a stable equilibrium state due to the presence of cables. Cables play a crucial role in mechanical structures, effectively preventing displacement and deformation by connecting and supporting various parts of the structure. Because the cables in a mechanical structure possess a certain tension, this tension creates a mutually balanced force system within the structure when no external force is applied. This equilibrium state ensures the relative stability of the various components of the structure, thereby guaranteeing the overall stability of the structure. The stability of mechanical structures is an important consideration in design and engineering. By rationally selecting and adjusting the tension, position, and number of cables, force balance among the various parts of the structure can be achieved, enabling the structure to withstand external loads and environmental changes, and maintain its stable operation.

[0056] (3) The components are hinged together:

[0057] Hinged connections play a crucial role in the optimization of mechanical structures. Firstly, hinged connections allow relative movement between components, enabling the structure to adaptively adjust its shape under external forces and reduce stress concentration. This not only helps reduce stress concentration areas but also improves the structure's seismic resistance and durability. Secondly, hinged connections facilitate the maintenance and repair of mechanical structures. Due to the hinged connections between components, individual components can be easily disassembled and replaced, reducing the difficulty and cost of maintenance and repair. This is essential for the reliability and maintainability of mechanical structures. Furthermore, hinged connections contribute to optimizing structural design. By appropriately arranging hinges and selecting hinge angles, mechanical structures can possess the required degrees of freedom and allowance of variation to meet specific operational requirements. This optimized design can improve structural efficiency and performance, enabling more precise motion transmission and mechanical control.

[0058] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A self-centering clamp based on a series tensioning mechanism, characterized in that, The clamp includes: A first tensioning mechanism includes a first rectangular support component and a second rectangular support component disposed above the first rectangular support component. The first rectangular support component has a first opening at its center, and the second rectangular support component has a second opening at its center. A first universal joint is fixedly disposed at a first vertex of the upper surface of the first rectangular support component, a second universal joint is fixedly disposed at a second vertex of the upper surface of the first rectangular support component, a third universal joint is fixedly disposed at a third vertex of the upper surface of the first rectangular support component, and a fourth universal joint is fixedly disposed at a fourth vertex of the upper surface of the first rectangular support component. The first, second, third, and fourth vertices are arranged clockwise around the first opening. The lower end of the second rectangular support component... A fifth universal joint is fixedly installed at the fifth vertex of the second rectangular support member, a sixth universal joint is fixedly installed at the sixth vertex of the lower end face of the second rectangular support member, a seventh universal joint is fixedly installed at the seventh vertex of the lower end face of the second rectangular support member, and an eighth universal joint is fixedly installed at the eighth vertex of the lower end face of the second rectangular support member; the fifth vertex, the sixth vertex, the seventh vertex, and the eighth vertex are arranged clockwise around the second opening, with the fifth vertex located directly above the first vertex; a first support rod is hinged between the first universal joint and the seventh universal joint, a second support rod is hinged between the second universal joint and the eighth universal joint, a third support rod is hinged between the third universal joint and the fifth universal joint, and a fourth support rod is hinged between the fourth universal joint and the sixth universal joint; The self-centering fixture further includes a second tensioning mechanism, which includes a second rectangular support component and a third rectangular support component disposed above the second rectangular support component. The third rectangular support component has a third opening at its center. A ninth universal joint is fixedly disposed at the ninth vertex of the upper surface of the second rectangular support component; a tenth universal joint is fixedly disposed at the tenth vertex of the upper surface of the second rectangular support component; an eleventh universal joint is fixedly disposed at the eleventh vertex of the upper surface of the second rectangular support component; and a twelfth universal joint is fixedly disposed at the twelfth vertex of the upper surface of the second rectangular support component. The ninth, tenth, eleventh, and twelfth vertices are arranged clockwise around the second opening. A third universal joint is fixedly disposed at the thirteenth vertex of the lower surface of the third rectangular support component. The thirteenth universal joint is fixedly installed at the fourteenth vertex of the lower end face of the third rectangular support component, the fifteenth universal joint is fixedly installed at the fifteenth vertex of the lower end face of the third rectangular support component, and the sixteenth universal joint is fixedly installed at the sixteenth vertex of the lower end face of the third rectangular support component; the thirteenth, fourteenth, fifteenth, and sixteenth vertices are arranged clockwise around the third opening, with the thirteenth vertex located directly above the ninth vertex; a fifth support rod is hinged between the ninth and fifteenth universal joints, a sixth support rod is hinged between the tenth and sixteenth universal joints, a seventh support rod is hinged between the eleventh and thirteenth universal joints, and an eighth support rod is hinged between the twelfth and fourteenth universal joints; The self-centering fixture further includes a first lead screw and a second lead screw. The first lead screw is fixedly disposed between a first outer side of the first rectangular support member and a second outer side of the third rectangular support member that is in the same position as the first outer side. The first lead screw is used to drive the first rectangular support member to perform reciprocating translational motion relative to the third rectangular support member. The second lead screw is fixedly disposed between a third outer side of the first rectangular support member and a fourth outer side of the third rectangular support member that is in the same position as the third outer side. The second lead screw is used to drive the first rectangular support member to perform reciprocating translational motion relative to the third rectangular support member. The first lead screw is driven by a first motor, and the second lead screw is driven by a second motor.

2. The self-centering clamp based on a series tensioning mechanism according to claim 1, characterized in that, The first support rod, the second support rod, the third support rod, the fourth support rod, the fifth support rod, the sixth support rod, the seventh support rod, and the eighth support rod are all of equal length and are all made of lightweight non-metallic materials.

3. The self-centering clamp based on a series tensioning mechanism according to claim 1, characterized in that, The first rectangular support component, the second rectangular support component, and the third rectangular support component are all obtained by splicing together Fischer components.

4. The self-centering clamp based on a series tensioning mechanism according to claim 1, characterized in that, Each of the first support rod, the second support rod, the third support rod, the fourth support rod, the fifth support rod, the sixth support rod, the seventh support rod, and the eighth support rod is provided with foam cardboard, which is used to protect the object held by the self-centering clamp.

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