225 results about "Compliant mechanism" patented technology

The invention provides a bionic dexterous finger and a bionic robot, relates to the technical field of robots, and is used for solving the technical problems that in the prior art, fingers cannot swing laterally and are prone to being damaged due to external force impacts, and the bionic dexterous finger comprises a finger body, a driving assembly and a transmission assembly; the driving assemblies are arranged on finger and metacarpal joints of the palm, and each driving assembly comprises a driving lead screw; the transmission assembly comprises a moving mechanism, a connecting mechanism and a flexible mechanism, the moving mechanism is in transmission connection with the driving lead screw, the flexible mechanism is connected to the moving mechanism, and the connecting mechanism is rotationally connected with the flexible mechanism and further rotationally connected with the finger root of the finger body; the driving assembly drives the flexible mechanism to elastically deform and drives the finger body to bend towards or away from the palm center, so that the driving assembly has the flexible output characteristic. The finger body can laterally swing when being subjected to external force, enables the flexible mechanism to elastically deform, and drives the finger body to reset when being elastically reset; and the flexible mechanism can counteract impact force, the damping effect is achieved, and the fingers are prevented from being damaged.

The invention provides a thermally driven micro-nano compliant mechanism topological optimization method considering a scale effect. The method comprises the following steps: defining design conditions of a thermally driven micro-nano compliant mechanism, and setting material attribute indexes; establishing a finite element analysis model of the thermally driven micro-nano compliant mechanism; obtaining a structure displacement response; establishing a topological optimization model of the thermally driven micro-nano compliant mechanism; calculating and optimizing an objective function and constrained sensitivity information; performing smoothing processing on the sensitivity information; and solving the optimization problem of the thermally driven micro-nano compliant mechanism by adopting a moving progressive optimization algorithm, judging whether the convergence condition of the moving progressive algorithm is met or not, and if so, outputting the optimal topological configuration of the thermally driven micro-nano compliant mechanism considering the scale effect. The thermally-driven micro-nano compliant mechanism obtained through topological optimization has an obvious scale effect, the topological configuration of the thermally-driven micro-nano compliant mechanism is changed along with increasing of scale parameters related to the feature length, and it is indicated that the scale effect becomes more obvious.

The invention belongs to the technical field of precision machining equipment, and discloses a curved beam variable-rigidity fast tool servo device and a using method thereof.The curved beam variable-rigidity fast tool servo device comprises three flexible mechanisms, namely a single straight circular flexible hinge playing a guiding role, a straight beam flexible hinge and a flexible curved beam playing a variable-rigidity function; the driving component comprises three groups of piezoelectric ceramics and is used for driving the flexible mechanism to deform; the magnetorheological elastomer is mainly used for changing the rigidity of the structure; the tool rest seat and the rigid base are mainly used for placing tools; according to the invention, rigidity change of the magnetorheological elastomer and pretightening force provided for the curved beam by the piezoelectric ceramics on the left side and the right side can be realized simultaneously through an external magnetic field, so that the rigidity of the flexible curved beam is changed, and the rigidity of the flexible curved beam and the rigidity of the core layer magnetorheological elastomer are connected in parallel; therefore, the rigidity of the device can be changed independently and also can be changed synergistically.

The invention discloses a biaxial complete decoupling cutter servo device and a design method thereof, and the biaxial complete decoupling cutter servo device comprises a compliant mechanism platform, a piezoelectric stack I, a piezoelectric stack II, a diamond cutter, a measuring baffle plate, a capacitive displacement sensor I, a capacitive displacement sensor II and an upper cover plate, the diamond cutter is installed on the cutter holder platform, the compliant mechanism platform further comprises a topology compliant mechanism, a first input guide mechanism, a second input guide mechanism and an output guide mechanism, the output guide mechanism is located at the front end of the compliant mechanism platform, and the rear end of the topology compliant mechanism is connected with the front end of the first input guide mechanism and the front end of the second input guide mechanism. According to the method, the compliant mechanism is designed by adopting a topological optimization method, and the optimal mechanism configuration-parameter design can be sought under the condition that a design domain and specified input and output effects are given and a series of constraint conditions are met, so that the mechanism performance is optimal.

A compliant mechanism is provided for monitoring the position of a suspension of a vehicle. The compliant mechanism can include a body for coupling to both an angle sensor and the suspension of the vehicle. The body can have at least two first portions and at least one second portion. The second portion is coupled to both of the two first portions and is more flexible than the two first portions.

The invention discloses a bionic butterfly ornithopter based on an abdominal vibration and compliant mechanism. The bionic butterfly ornithopter comprises a fuselage module and a wing module, the machine body module comprises a carbon tube, a head support frame, a chest support frame and a swing rod; a swing flexible hinge is embedded in the chest supporting frame, one end of the swing rod is connected with the head supporting frame through a flexible quadrilateral joint, the other end of the swing rod penetrates out of the swing flexible hinge and extends outwards, and a balancing weight is arranged at the tail of the swing rod. The wing modules are connected with the head supporting frame and the chest supporting frame through flexible joints. The flexible joint is adopted to improve the impact resistance and the self-adjusting capacity, the structural design is simpler and planarized, and the adjustability of mechanism parameters is optimized.

The invention provides a thermally driven compliant mechanism reliability topological optimization method considering stress constraint. The method comprises the steps of defining design conditions of a thermally driven compliant mechanism; describing the relationship between the unit elasticity modulus and the unit density in the design condition, and filtering the unit density by adopting a mapping filtering technology; structural thermosetting coupling finite element analysis is carried out, and stress constraints of all units are condensed into a global stress constraint; establishing a double-layer cyclic topological optimization model of the stress constraint reliability of the thermally driven compliant mechanism; solving the volume and output displacement of the optimization target compliant mechanism and the sensitivity of stress constraint to design variables; and searching a most probable failure point and updating a design variable by utilizing a moving asymptote method, judging whether iteration meets a convergence condition or not, and if so, obtaining a thermally driven compliant mechanism topological configuration meeting the stress constraint reliability. According to the invention, the obtained thermally driven compliant mechanism has better strength reliability.

To provide a holder with a compliance mechanism capable of generating a floating state and a locking state with a simple structure.SOLUTION: A compliance mechanism 7 selectively generates a floating state where a holding part 3 is moved to a position where a workpiece W can be held without being moved through displacement caused by a load applied to the holding part 3 and a locking state where the position displacement of the holding part 3 with respect to a support 5 is blocked. The compliance mechanism 7 is provided with a slide mechanism 19 for permitting a mounting part 17 to slide along a parallel line PL parallel to a shared virtual center line CL with respect to the support 5 in the floating state, and a fluid pressure circuit 21 disposed between first and second cylinder mechanisms 9 and 15 and a fluid drive source FS to selectively generate the floating state and the locking state.SELECTED DRAWING: Figure 1

The invention relates to the technical field of ultrasonic welding, in particular to an ultrasonic welding and online detection integrated flexible actuator which comprises a space movement device, a workbench and an end effector. The end effector comprises a parallel flexible mechanism, an ultrasonic welding machine installed at the tail end of the parallel flexible mechanism, a flattening device located at the front end of the ultrasonic welding machine in the welding direction, a consolidation device located at the rear end of the ultrasonic welding machine and a detection device located at the rear end of the consolidation device. Each of the flattening device and the consolidation device comprises a plurality of pressing columns which are flexibly arranged and are used for uniformly applying pressure to the workpiece; on-line real-time detection can be carried out, when a welding defect is found, the defect position can be returned to carry out repeated welding and detection, the welding and detection efficiency can be greatly improved, a parallel flexible mechanism is utilized, a welding head is in complete contact with a workpiece, the welding quality is greatly improved, and the repeated welding problem is prevented.

The invention relates to a compliant mechanism for an industrial robot polishing end effector, which comprises an inner shell, positive stiffness characteristic mechanisms, negative stiffness characteristic mechanisms and an outer shell, the inner shell is of a hollow cylindrical structure and is connected with one ends of the three negative stiffness characteristic mechanisms and one ends of the three positive stiffness characteristic mechanisms, and the other ends of the three negative stiffness characteristic mechanisms are connected with the outer shell; the two mechanisms are uniformly distributed in the cylindrical surface of the inner shell, the other ends of the two mechanisms are connected with the outer shell, the inner shell can be sleeved on the bearing to move along with the movement of the bearing, the two mechanisms are driven to move, the outer shell is further driven to move, and the movement of the whole mechanism is realized. The flexible control device acts on the end effector of the grinding industrial robot to achieve flexible control, vibration generated in the grinding process can be restrained, force fluctuation is reduced, grinding force is controlled within the expected range, meanwhile, force overshoot is avoided, the body health of workers is guaranteed, a workpiece, the end effector and the grinding environment are prevented from being damaged, and the working efficiency is improved. And the surface quality of the workpiece is improved, and the production efficiency is improved.

The innovation of the robotic compliant actuator derives from the utilization of the series elastic actuation principle, coupled with the fundamentals in compliant mechanics. This actuator constitutes a dynamic and adaptable actuation framework wherein an elastic component is sequentially integrated with a motor and gearbox, resulting in compelling force-regulating attributes. This actuation concept has been specifically customized for robotic systems, particularly robot manipulators and legged robots, fundamentally transforming the manner in which robots engage with their surroundings, executing tasks demanding precision, adaptability, and safety. This compliant actuator introduces an ingeniously designed mechanical spring that assimilates a compliant mechanism within its elastic component, thereby endowing itself with additional benefits inherent to compliant mechanics. Additionally, another layer of compliant mechanism serves as an amplification means to detect spring displacement. This augmentation aptly exemplifies human-like force-regulation behavior, particularly in the realm of robotic applications.

The invention discloses a contact force compliance control method of a cleaning robot for differentiated insulators. The contact force compliance control method of a robot cleaning control system is formed by combining robot off-line trajectory planning and on-line contact force control. The method comprises the following steps: acquiring the contact force and environment information of a cleaning tool in the decontamination process, namely the surface roughness, water absorbability, dirt type and degree and the like of an insulator; according to the flexible mechanism and active compliance control, an active and passive compliance control cleaning model is established; through tool gravity calculation, a gravity compensation algorithm based on a tool load is put forward to eliminate interference of gravity generated in the cleaning machining process; and a force outer ring control strategy based on an impedance inner ring is established, static-error-free tracking is carried out on the interface pressure between the brush head in the cleaning mechanism and the surface of the insulator, and the adaptability of the cleaning system to differentiated insulators is improved.

The invention discloses a torsion actuating piezoelectric stick-slip driving system and a driving method thereof, and relates to the technical field of piezoelectric ceramic driving. A platform top cover is installed on the surface of the platform base in a sliding mode, the piezoelectric flexible hinge driver is composed of a torsion driving type flexible mechanism and two piezoelectric ceramics, and the torsion driving type flexible mechanism comprises a hinge top plate, a hinge base, a middle supporting arm and two side supporting arms, a hinge top plate is provided with a semi-cylindrical driving foot which is in contact with a platform top cover, a hinge base and a platform base are installed and fixed, a middle supporting arm is provided with a bottom torsion hinge and a top torsion hinge, a side supporting arm is provided with four bridge type hinges, and two piezoelectric ceramics are installed in two cavities of a torsion driving type flexible mechanism. Through the design of the torsion driving type flexible mechanism and the precise matching of piezoelectric ceramics, the effective combination of high speed and high precision is realized, the size of the driver is obviously reduced, the miniaturization of equipment is realized, and the improvement of the integration level and the operation flexibility of the equipment is facilitated.

The application discloses a zero-rigidity large-stroke two-degree-of-freedom parallel rotation platform based on a compliant mechanism and relates to the field of precision positioning. The application solves the problems of small stroke, poor dynamic performance and high driving force requirement of the existing two-degree-of-freedom rotation platform. The center hooke joint is installed on the base, two groups of guide mechanisms are installed on the base in the X-axis direction and the Y-axis direction respectively with the center hooke joint as the center, the deflection platform is installed on the center hooke joint, and the two extension parts of the deflection platform are connected with a group of guide mechanisms through a needle-shaped hinge respectively. The guide mechanism comprises a motor base, a zero-force spring connecting body, a voice coil motor and a plurality of zero-force springs. The motor base is installed on the base, the voice coil motor is installed on the motor base, the zero-force spring connecting body is installed on the voice coil motor, and the lower part of the needle-shaped hinge is connected with the voice coil motor. The application is used for two-degree-of-freedom precision positioning.

A bistable compliant mechanism for mechanical engagement includes first and second supports fixed relative to one another and disposed in spaced apart and opposing relation relative to one another, a center shuttle disposed between the first and second supports and movable along a movement axis, at least one first band extending between the first support and the center shuttle, and at least one second band extending between the second support and the center shuttle. The at least one first band and the at least one second band are deformable to enable movement of the center shuttle between a first stable condition, wherein the center shuttle is disposed at a first position along the movement axis, and a second stable condition, wherein the center shuttle is disposed at a second position along the movement axis.

This invention discloses a heavy-duty attitude adjustment mechanism based on a compliant mechanism, comprising an attitude adjuster base, two drive electric cylinders, and a compliant motion platform. The compliant motion platform is made of elastic composite material and includes two drive loading ends, two primary motion transmission structures, and two secondary motion transmission structures (33). The compliant base has a fixed surface and an output moving plane. The drive electric cylinders are connected to the drive loading ends to provide loading force. The displacement motion of the drive loading ends is transmitted along their structures to the primary motion transmission structures, and then to the output moving plane via the secondary motion transmission structures. This invention achieves high-precision attitude adjustment under heavy loads in a confined space.

The disclosed technology herein relates to metamorphic flexure bearings. The metamorphic flexure bearing may include a first body flexibly coupled to a second body via a flexure bearing. The metamorphic flexure bearing may include the second body coupled to a third body via a retention mechanism. In a first mode, the second body is anchored to the third body, and the first body is configured to move relative to the second body. In a second mode, the second body is configured to move relative to the third body.

The application provides a kind of integrated node flexible variable mechanism of rope drive active deformation topology structure, it is related to flexible deformation device technical field, control is realized to large-span deformable structure by using rope drive, structural weight is reduced, and the operating performance of flexible deformation body mechanism is improved.The shortening of first winding makes the radius of annular framework larger;The shortening of second winding makes the length of annular framework longer;Between the first annular framework and the second annular framework, the first winding on the first annular framework is arranged on the first node on the second annular framework, and the second winding on the first annular framework is arranged on the first node on the second annular framework to realize active turning, which can reduce the stress applied to the mechanism by the outside when the pipeline moves, help protect the flexible structure, improve the system use time, and better adapt to complex terrain space scenarios, actively adjust the travel speed and direction to select the optimal path to improve work efficiency.

The application discloses a spatial spiral compliance mechanism with a variable stiffness characteristic, comprising a variable stiffness component, a bending component and a fixed base, wherein the variable stiffness component comprises a rigid element, two first leaf-shaped flexible hinges and a variable stiffness module, the two first leaf-shaped flexible hinges are oppositely arranged, and opposite ends of the two first leaf-shaped flexible hinges are respectively connected with the rigid element and the fixed base; the rigid element, the two first leaf-shaped flexible hinges and the fixed base enclose a containing space, the containing space is provided with the variable stiffness module, the fixed base is provided with a containing groove, the bending component is connected with the inner wall of the containing groove, and opposite ends of the variable stiffness module are respectively connected with the rigid element and the bending component; the rotation angle of the variable stiffness module is controlled by input displacement of a driver, the continuous and accurate adjustment of the lateral stiffness of the rigid element can be realized, the variable stiffness module can be quickly adjusted to a suitable stiffness value according to different working requirements, and the adaptability of the spatial spiral compliance device is greatly improved.

The invention discloses a streamline flexible connection structure of a high-pressure high-flow-rate large-diameter fracturing hose, and relates to the technical field of flexible connection of fracturing hoses, the streamline flexible connection structure comprises a first fixing ring, a shell is fixedly connected to one side of the first fixing ring, an outer hose is fixedly connected to the other side of the first fixing ring, and a second fixing ring is arranged at one end of the outer hose; a first fracturing pipe is arranged on one side of the second fixing ring, a plurality of first fixing bolts are arranged on the outer wall of the second fixing ring, and a second fracturing pipe is arranged at one end of the shell. According to the streamline flexible connecting structure of the high-pressure high-flow-speed large-diameter fracturing hose, one end of the steel cable is tightened, so that the inner hose and the outer hose at the position where the steel cable is located are driven to bend inwards, fracturing fluid needs to be conveyed to which direction, and the multiple adjusting mechanisms and the flexible mechanisms are matched, so that the fracturing fluid is conveyed to the outside. The bending direction of the outer hose is changed, and the effect of rapidly adjusting the conveying direction of fracturing fluid is achieved.

The utility model relates to the technical field of automobile detection, and discloses a connecting structure compatible with a square steering wheel and a round steering wheel, which comprises a component main body, a pasting detection box is integrally formed on the component main body, a cover plate is arranged on the pasting detection box by adopting bolts, a balance pasting mechanism is accommodated and loaded in the pasting detection box, and the balance pasting mechanism is connected with the component main body. A steering wheel is attached to the balance application mechanism, and a detection device is installed at the bottom of the steering wheel through bolts; the balanced pasting mechanism comprises a flexible mechanism contained in the pasting detection box, and the two ends of the flexible mechanism are each provided with a pasting pushing mechanism. According to the connecting structure compatible with the square steering wheel and the round steering wheel, the problems that most of traditional automobile steering wheels are round, supporting structures of past detection mechanisms are all profiling fixing structures, the detection mechanisms can only be used for steering wheels with fixed sizes, and the detection mechanisms are difficult to be applied to other types of automobile steering wheels are solved.

A clipping system includes an adapter and a clip. The adapter is mounted over a distal end of an insertion device to a distal end and has a first annular groove formed in a distal face of the adapter. The clip has a body; a central body having a coupling portion and a ring; and jaws having outer arms coupled to the body at an outer arm proximal end and inner arms disposed radially inward of the outer arms and coupled to the ring at an inner arm proximal end. The body includes an annular protrusion extending proximally from a proximal surface of the body. The protrusion is inserted into the first groove of the adapter to couple the clip to the adapter. Movement of the central body along an axis of the clip causes movement of the jaws between an insertion configuration and a deployment configuration.

The radial flexible mechanism of the scroll compressor comprises a main shaft, a crankshaft seat is arranged at the output end of the main shaft, an eccentric hole is axially formed in the end portion of the end, away from the main shaft, of the crankshaft seat, and a crank pin is fixedly connected into the eccentric hole. The outer side of the end, away from the crankshaft seat, of the crank pin is fixedly sleeved with an eccentric shaft sleeve, one side of the eccentric shaft sleeve is fixedly connected with an eccentric block, a limiting groove is formed in the outer side of the end, close to the eccentric block, of the crankshaft seat, and an elastic washer is arranged on the inner side of the limiting groove. The groove is formed in the outer side of the crankshaft seat on the main shaft, and the rubber ring is fixed on the crankshaft, so that the collision between the eccentric block and the crankshaft is avoided, and the NVH (Noise Vibration and Harshness) performance is favorably improved; due to the fact that the rubber ring is additionally arranged, the self-aligning function has a buffering function, too intense self-aligning and rollback are avoided, and the movable disc of the compressor is more stable in operation, low in noise and good in NVH expression homogeneity.

A vehicular front fascia system includes an active hood system and a vehicular front fascia. The front fascia includes an exterior body structure providing a leading surface of a vehicle equipped with the vehicular front fascia system, a compliant mechanism disposed interior of the exterior body structure of the vehicle, and a sensor tube disposed within a jaw portion of the compliant mechanism. The compliant mechanism includes an arm portion and the jaw portion. The arm portion is movable relative to the impact beam to impart a compression force at the jaw portion based on an impact at the exterior body structure. The sensor tube generates a signal indicative of the impact at the exterior body structure based on detection of the compression force at the jaw portion.

The invention discloses a retractable flapping wing mechanism based on a miniature flapping wing air vehicle, which simulates the flapping wing folding and unfolding motion of ladybirds at wing roots, replaces a common rigid connection form with a compliant mechanism, and realizes the folding and unfolding motion of a flapping wing leading edge beam of the miniature air vehicle by utilizing the deformation of a strip-shaped spring. According to the mechanism, the flapping wings are folded to the two sides of the aircraft body through bending deformation of the strip-shaped springs, the spanwise size of the aircraft during storage can be effectively reduced, and the portability is improved; before the aircraft takes off, the flapping wings can be automatically unfolded by releasing the strain energy of the strip-shaped spring. According to the design, the occupied space of the aircraft is reduced, the launching distance of the unmanned aerial vehicle is increased, the task execution radius is increased, and the application scene is expanded.

A variable-stiffness mechanism may be based on compliant beams. The variable-stiffness mechanism may be a compact, compliant, variable stiffness mechanism (CCVSM). Several compliant mechanisms for integrating variable-stiffness are described. The variable-stiffness mechanisms may be based on a compliant beam configuration, a crank-slider configuration, and / or a gear-slider configuration. Relative merits of the variable-stiffness mechanisms are also compared.

This disclosure provides a device for assessing forces in tissues and methods of use thereof. The device may be used, for instance, to probe forces associated with characteristics to regulate spatial displacement of a tissue in one or more directions. The device may have at least two rigid attachment points for supporting a tissue and connected to a compliant mechanism to allow displacement of a tissue in a direction x, wherein tissue displacement is constrained in at least one direction other than x. The device may have a compliant mechanism with a stiffness value in a displacement direction that is lower than a stiffness value of the tissue in the displacement direction and / or at least one of the rigid attachment points having a stiffness value in the displacement direction that is higher than a stiffness value of the tissue in the displacement direction.

The utility model discloses a flexible positioning frame for turning of long-axis workpieces, which is used for adjusting and positioning the long-axis workpieces on a lathe and comprises two flexible positioning clamps which are connected through a fixing frame. The center position formed by the acting force directions of the two flexible positioning clamps corresponds to the center position of a main chuck, and the main chuck serves as a positioning reference of the long-axis workpiece. Each flexible positioning clamp comprises a flexible mechanism and an adjusting mechanism which abut against each other, and each flexible positioning clamp is fixed to the lathe through a base. According to the positioning device, the long-axis workpieces can be accurately positioned, and the rejection rate of the long-axis workpieces in the machining process is reduced.

The invention discloses a snakelike arm structure based on a negative Poisson's ratio metamaterial. A snakelike mechanical arm is obtained by assembling a plurality of mechanical metamaterial structural bodies. The mechanical metamaterial structural body is composed of an external frame unit capable of elastically deforming and bionic scales; the elastically-deformable outer frame unit is formed by arranging four connecting rods between a vertical rod A and a vertical rod B which are arranged in parallel. The elastically deformable outer frame unit has an elastic deformation characteristic of the flexible mechanism. The mechanical metamaterial structural body is divided into a first plane and a second plane from the space structure, the second plane tilts upwards by a certain angle alpha relative to the first plane, the alpha forms a micro-convex bionic scale structure with a certain backward angle, the highly asymmetric pawl characteristic with one sharp side and the other gentle side is shown, and the mechanical metamaterial structural body is formed. Therefore, the mechanical metamaterial structural body forms friction anisotropy in the scale blade direction, namely, different friction forces are shown in different movement directions.

The invention discloses an electromagnetic drive double-shaft nanometer positioning platform and a design method thereof. The platform comprises a flexible constraint mechanism and a driving main body mechanism. The flexible restraining mechanism comprises a cover plate and a flexible mechanism installed in the cover plate. The driving main body mechanism comprises a stator, a permanent magnet, an exciting coil and an armature; the armature is located in the center of the stator. And the four permanent magnets and the four exciting coils are sequentially and alternately arranged into a ring around the armature. And the armature is fixed with a central moving platform in the flexible mechanism. Through the guide mechanism, the platform realizes good flexibility, high precision and controllable motion trail. The platform adopts the Maxwell force principle for electromagnetic driving, shows wide driving capacity, and has remarkable advantages in hundred-micron multi-axis driving due to the unique characteristics of non-contact type, high force density and adjustable stroke. A bidirectional progressive structure topological optimization method is adopted in the flexible mechanism design, the structure is novel, and the difficulty is low when multiple performance indexes are calculated.