Multi-degree-of-freedom limiting clamping piece
By combining SMA shape memory alloy and multi-degree-of-freedom ball joints, a multi-degree-of-freedom limiting device was designed, which solves the problem of low limiting accuracy of traditional limiting devices in complex motion scenarios, and achieves adaptive limiting and high reliability, which is suitable for fields such as robotics and aerospace.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-27
- Publication Date
- 2026-03-10
AI Technical Summary
Traditional limiters have only one degree of freedom, making it difficult to handle complex multi-degree-of-freedom motion scenarios. They are also prone to wear and fatigue fracture under high loads or high-frequency impacts, resulting in low limit accuracy.
By combining SMA shape memory alloy with multi-degree-of-freedom ball joints, adaptive limiting is achieved through temperature control and multi-dimensional motion compatibility. Heating is triggered by motor drive and contact sensor, and multi-directional limiting is achieved in conjunction with the contour clamping sleeve and ball joint structure.
It achieves multi-degree-of-freedom adaptive limiters, improving the intelligence level and applicability of limiters, and is suitable for robots, aerospace and intelligent infrastructure.
Smart Images
Figure CN223981711U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of limiting tooling technology, specifically a multi-degree-of-freedom limiting clamp. Background Technology
[0002] Limiting devices, as a type of device used to limit the range of motion of an object, play an important role in fields such as mechanical equipment and building structures. Depending on their structure and working principle, they can be divided into various types. The working principle of limiting devices is mainly based on their structural characteristics and mechanical properties. When an object reaches the preset displacement limit, the limiting device will play its limiting role. However, traditional limiters have only one degree of freedom and can only limit movement in a single direction, making it difficult to cope with complex multi-degree-of-freedom motion scenarios. Moreover, under high load or high frequency impact, metal or elastic materials are prone to wear, fatigue fracture, and manufacturing errors or installation deviations result in low limiting accuracy. Summary of the Invention
[0003] To overcome the shortcomings of the prior art, this utility model provides a multi-degree-of-freedom limiting device, which can improve the intelligence level and applicability of the limiting device through temperature control and multi-dimensional motion compatibility, and can realize the limited movement of the x, y, and z axes.
[0004] To achieve the above objectives, a multi-degree-of-freedom limiting device is designed, including a limiting base. A front limiting baffle is provided on one side of the upper limit base, and a rear limiting baffle is provided on the other side of the limiting base. A sliding guide shaft connects the front and rear limiting baffles. A limiting block is provided on the upper limit base and is slidably connected to the sliding guide shaft. A heating element is provided inside the limiting base, and an SMA shape memory alloy is provided above the heating element inside the limiting base. A ball hinge is welded to the outer side of the rear limiting baffle, and the ball hinge is connected to the base by engaging with the ball hinge base.
[0005] The ball hinge has holes on its surface.
[0006] The base is equipped with a contoured clamping sleeve, which is shaped to match the ball hinge and has protrusions that mate with the holes in the ball hinge.
[0007] The limiting block is equipped with a contact sensor on its surface.
[0008] The ball hinge base is fixed to the base by bolts.
[0009] The limiting block is provided with a pair of through holes.
[0010] A motor is provided on one side of the aforementioned front limit baffle.
[0011] Compared with the prior art, this utility model combines SMA with a multi-degree-of-freedom ball joint, and achieves adaptive positioning, multi-directional compatibility, and high reliability through precise connection and coordination between components. It is suitable for robots, aerospace and intelligent infrastructure. Attached Figure Description
[0012] Figure 1 This is a schematic diagram of the limiting base structure.
[0013] Figure 2 This is a top view of the limiting base.
[0014] Figure 3 This is a schematic diagram of the base structure.
[0015] Figure 4 This is a schematic diagram of the structure of this utility model.
[0016] See Figures 1 to 4 1 is the motor, 2 is the front limit baffle, 3 is the limit block, 3.1 is the contact sensor, 4 is the rear limit baffle, 5 is the sliding guide shaft, 6 is the ball hinge base, 7 is the ball hinge, 8 is the contour clamping sleeve, 9 is the base, 10 is the heating element, 11 is the SMA memory alloy, and 12 is the limit base. Detailed Implementation
[0017] The present invention will be further described below with reference to the accompanying drawings.
[0018] like Figure 1 As shown, a front limiting baffle 2 is provided on one side of the limiting base 12, and a rear limiting baffle 4 is provided on the other side of the limiting base 12. A sliding guide shaft 5 is connected between the front limiting baffle 2 and the rear limiting baffle 4. A limiting block 3 is provided above the limiting base 12. The limiting block 3 is slidably connected to the sliding guide shaft 5. A heating element 10 is provided inside the limiting base 12. An SMA memory alloy 11 is provided above the heating element 10 inside the limiting base 12. A ball hinge 7 is welded to the outside of the rear limiting baffle 4. The ball hinge 7 is connected to the base 9 by being inserted into the ball hinge base 6. The heating element 10 provides heat to the SMA memory alloy, causing the SMA memory alloy 11 to deform and lift up. The SMA memory alloy 11 then locks the limiting block 3, further fixing it in place.
[0019] like Figure 2 As shown, the ball hinge 7 has holes on its surface.
[0020] like Figure 3 , 4 As shown, the base 9 is provided with a contour clamping sleeve 8 inside. The shape of the contour clamping sleeve 8 matches the ball hinge 7. The contour clamping sleeve 8 is provided with a protrusion that matches the hole of the ball hinge 7. The protrusion and the hole of the contour clamping sleeve 8 can mesh with each other.
[0021] The surface of the limiting block 3 is provided with a contact sensor 3.1. The contact sensor 3.1 is used to trigger a signal when it contacts an object, so that the heating element starts to heat up.
[0022] The ball hinge base 6 and the base 9 are fixed together by bolts.
[0023] The limiting block 3 is provided with a pair of through holes.
[0024] A motor 1 is provided on one side of the front limit baffle 2, and the motor 1 drives the limit block 3 to move.
[0025] Before using this utility model, first fix the base 9 at the fixed point, connect the ball hinge base 6 to the base 9 with bolts, insert the ball hinge 7 into the ball hinge base 6, adjust the limiting base 12 to a suitable angle to ensure that the hole of the ball hinge 7 is fully engaged with the protrusion of the contour clamping sleeve 8 to prevent loosening and complete the multi-degree-of-freedom angle locking. Start the motor 1 to drive the limiting block 3 forward. When the limiting block 3 contacts the object, the contact sensor 3.1 triggers a signal, the heating element 10 starts heating, the SMA memory alloy 11 deforms due to heat and is inserted under the limiting block 3 to play an auxiliary fixing role. After use, turn off the heating element 10, the SMA memory alloy 11 cools down, and the limiting block 3 resets.
Claims
1. A multi-degree-of-freedom limiting clamp comprising a limiting base, characterized in that: The front limiting baffle (2) is arranged on one side of the limiting base (12), the rear limiting baffle (4) is arranged on the other side of the limiting base (12), the sliding guide shaft (5) is connected between the front limiting baffle (2) and the rear limiting baffle (4), the limiting block (3) is arranged above the limiting base (12), the limiting block (3) is slidably connected with the sliding guide shaft (5), the heating element (10) is arranged in the limiting base (12), the SMA memory alloy (11) is arranged above the heating element (10) in the limiting base (12), the spherical hinge (7) is welded on the outer side of the rear limiting baffle (4), and the spherical hinge (7) is connected with the base (9) by being clamped into the spherical hinge base (6).
2. The multi-degree-of-freedom limiting clamp of claim 1, wherein: The spherical hinge (7) is provided with a hole.
3. The multi-degree-of-freedom limit stop of claim 1, wherein: The base (9) is internally provided with a profiling clamping sleeve (8), the profiling clamping sleeve (8) is matched with the spherical hinge (7) in shape, and the profiling clamping sleeve (8) is provided with a protrusion matched with the hole of the spherical hinge (7).
4. The multi-degree-of-freedom limit stop of claim 1, wherein: The limiting block (3) is provided with a contact sensor (3.1) on the surface.
5. The multi-degree-of-freedom limit stop of claim 1, wherein: The spherical hinge base (6) and the base (9) are fixed by bolts.
6. The multi-degree-of-freedom limit stop of claim 1, wherein: The limiting block (3) is provided with a pair of through holes.
7. The multi-degree-of-freedom limit stop of claim 1, wherein: The front limiting baffle (2) is provided with a motor (1) on one side.