18 results about "Compliant mechanism" patented technology

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 robot flexible clamping device based on a multilevel flexible mechanism design, which comprises a base, multilevel flexible claws and a clamping driving mechanism; a plurality of sets of the multilevel flexible claws are arranged in a circle on the base; each set of the multilevel flexible claws comprises a first clamping claw and a second clamping claw; the first clamping claw and the second clamping claw are connected through an elastic connecting piece; a clamping end is arranged on the clamping claw, and the clamping ends of the first clamping claw and the second clamping claw constitute a clamping opening of the multilevel flexible claw; the clamping driving mechanism is used for driving the elastic connecting piece to move downward, so as to make the clamping ends of the first clamping claw and the second clamping claw rotate towards each other with the elastic connecting piece as a rotating fulcrum, and realize a clamping action. The robot flexible clamping device can realize self-adaptive grabbing of clamping objects with different sizes and irregular shapes, has high universality and practicability, and is favorable for mass production.

The present application belongs to the technical field of flexible robots, and relates to a structure optimization method of a fin ray effect gripper, comprising the following steps: step 1: a co-rotation modeling method is used to construct a force-deformation relationship model of the fin ray effect gripper as a fast evaluation model of the performance of the gripper; step 2: structure optimization design parameters and multi-objective performance evaluation indexes of the fin ray effect gripper are determined; step 3: based on a Bayesian optimization algorithm, the fast evaluation model is combined to construct a multi-objective structure optimization framework, global optimal sample search is performed on the design parameters, and a Pareto front is solved; and step 4: experimental verification is performed on typical optimal parameter combinations in the Pareto front, and optimal structure parameters of the gripper suitable for different gripping scenes are output. The present application can be applied to the design and optimization of flexible, rigid and rigid-flexible hybrid robot compliant mechanisms, and can be widely applied to the high-performance design and parameter tuning of gripper structures in industrial gripping, service robots, precision operation and the like.

The application provides a variable-frequency ultrasonic auxiliary machining device and a compliant mechanism. The compliant mechanism comprises a first fixed arm, a second fixed arm and at least two elastic arms, wherein the first fixed arm and the second fixed arm are arranged along a first direction and are parallel to each other; the at least two elastic arms are arranged between the first fixed arm and the second fixed arm along a second direction and are parallel to each other; at least one groove is arranged on each elastic arm, and the groove is recessed from the surface of the elastic arm along a third direction perpendicular to the first direction and the second direction; wherein, in the case that one of the first fixed arm and the second fixed arm is fixed, the other one of the first fixed arm and the second fixed arm can generate a maximum displacement of -5um~5um in the third direction under the action of an external force caused by vibration through the elastic arm, and the length of the elastic arm remains unchanged. The variable-frequency ultrasonic auxiliary machining device can vibrate in different order modes, thereby being able to adapt to a variable-frequency power supply.

The present invention relates to a compressor unit (20) for a refrigerant circuit (100), a method for reversing the flow direction in a refrigerant circuit (100) by means of a compressor unit (20), a refrigerant circuit (100) with a compressor unit (20), and a heat pump. The compressor unit (20) comprises a frame (26), a compressor (2) with a compressor housing (30) which is torsionally elastically mounted on the frame (26) by means of a compliant mechanism, and a switching element (6) which is operatively connected to the compressor housing (30) and is connected to the frame (26) by means of a rotationally multistable element.

The utility model provides a device for positioning solid corrosion -resistant object in pipeline inner wall, including support mechanism, set up on support mechanism's extension mechanism and with the selected mode of setting in extension mechanism, with the force from extension mechanism is received to solid corrosion -resistant object is positioned flexible mechanism. Among them, the cavity is provided on the support mechanism, the extension mechanism is located in the cavity, and the radial motion in the cavity is allowed, so that the selected mode and the radial inner side of the support mechanism are mutually abutted together, and then the selected force is applied to the flexible mechanism. In this way, when the flexible mechanism is disassembled, the extension mechanism can first move radially inward, so that the extension mechanism and the flexible mechanism are mutually separated, and then the force is applied to the flexible mechanism, and then the flexible mechanism is moved to the outside. Therefore, the friction force generated by the solid corrosion -resistant object can be reduced.

The flexible unit (10) includes a base component (12), a worktable support (14), a flexible mechanism (16), and a worktable unit (18). In the base component, a second fluid pressure cylinder (112) is provided. The second fluid pressure cylinder (112) presses the second pressing part (114) toward the worktable unit by means of the first fluid pressure cylinder (94) to reset the worktable unit from the tilted posture of the worktable plate (82) relative to the XY plane to the original posture of the worktable plate along the XY plane.

The application belongs to the technical field of fast reflecting mirror, and discloses a reaction disturbance self-compensation fast reflecting mirror driven by a voice coil motor, which can flexibly change the position of a virtual rotating shaft by adjusting the included angle between the spring blades on the spring blade group. Compared with the rotating shaft of the traditional compliant mechanism which is limited in the mechanism, the virtual rotating shaft of the compliant mechanism can cover the theoretical working position and can be flexibly configured according to the load characteristics, which greatly improves the design freedom. Through the interaction force between the voice coil motor coil and the magnetic base, the compensation block is driven to move while driving the reflecting mirror to deflect, and the reverse dynamic compensation force generated by the deflection of the compensation block is used to realize the compensation of the reaction force on the base, replacing the mirror image arrangement actuator in the traditional scheme. Compared with the traditional scheme, the application is more integrated, the response is more direct, the control cost is lower, and the overall machine quality is smaller.

An interlocking construction brick and compound compliant mechanism system designed for additive manufacturing. The invention includes a “cup array” structure for the underside of bricks, comprising discrete binding cells separated by force normalization joints to manage material shrinkage and seam placement. The invention further utilizes compound friction-fit mechanisms comprising positioning aids, run-ins, and sacrificial or semi-sacrificial nubs to expand the tolerance range (“strike zone”) for user-satisfactory interlocking. Methods of manufacturing the same using FDM 3D printing, including the use of specific tuning blocks and embedded sidewall designs, are also disclosed.

A bionic dexterous finger, comprising: a finger body (100), a driving assembly (200) and a transmission assembly. The driving assembly (200) is arranged at a metacarpophalangeal joint of the palm, and the driving assembly (200) comprises a driving screw rod (201); the transmission assembly comprises a moving mechanism (300), a connecting mechanism (400) and a flexible mechanism, the moving mechanism (300) is transmittingly connected to the driving screw rod (201), the flexible mechanism is connected to the moving mechanism (300), and the connecting mechanism (400) is rotatably connected to the flexible mechanism and is also rotatably connected to the root of the finger body; the driving assembly (200) drives the flexible mechanism to elastically deform and drives the finger body (100) to bend towards the palm or away from the palm, so that the driving assembly (200) has flexible output characteristics; and when subjected to an external force, the finger body (100) can swing laterally, and enable the flexible mechanism to elastically deform, and when the flexible mechanism elastically resets, the flexible mechanism drives the finger body (100) to reset. The present invention is used for solving the technical problems that a finger cannot swing laterally and the finger is prone to damage due to the impact of an external force.

This invention discloses a reconfigurable folding and deforming structure based on 3D printing and its manufacturing method, belonging to the fields of additive manufacturing and intelligent structure design. It solves the problems of existing folding and deforming structures relying on mechanical drives and having complex structures. The structure consists of two layers of intelligent material plates of the same thickness, combining a paper-cutting strategy with 3D printing. During the printing stage, an initial configuration with a beam-hole structure is formed, achieving active folding and reconfiguration under external physical field stimulation. The manufacturing method includes: selecting anisotropic intelligent materials according to the application scenario; determining design parameters and beam-hole paper-cutting patterns based on the large deformation double-layer beam theory; generating 3D printing vector trajectories; and integrally molding the structure. This invention eliminates the need for complex transmission assembly, features a lightweight structure, controllable deformation, calculable design parameters, and is adaptable to multiple application scenarios, suitable for folding and deforming structures, flexible mechanisms, and other fields.

The application discloses a rope-driven flexible mechanical arm for small-cavity surgery and relates to the technical field of flexible mechanical arms. The rope-driven flexible mechanical arm for small-cavity surgery comprises a handle mechanism, the front end of the handle mechanism is connected with a flexible mechanism, the flexible mechanism is arranged by skeleton assemblies, each skeleton assembly comprises two annular bone rings, and tube clamps are uniformly and equidistantly fixedly connected in the rings of each bone ring; the two bone rings of one skeleton assembly are connected with a first elastic support mechanism; the adjacent bone rings of two skeleton assemblies are connected with a second elastic support mechanism; the lower end surface of the bone ring close to the handle mechanism is fixedly connected with a connecting cylinder, a soft sleeve for fixing the connecting cylinder is arranged on the outer side of the skeleton assembly, and the front end surface of the soft sleeve is fixedly connected with a soft head; a pull rope mechanism for operating the flexible mechanism is arranged between the handle mechanism and the flexible mechanism; a cavity tube mechanism is arranged in the handle mechanism and the flexible mechanism; and the rope-driven flexible mechanical arm for small-cavity surgery improves the targeting of operation.

A system for autonomously coupling a tractor and a trailer is presented with a tool changer having a first part and a second part, the second part configured to detachably couple to the first part; a chassis coupled to the first part; an end of arm tooling (EOT) coupled to the second part; a compliance mechanism coupled between the chassis and the first part, the compliance mechanism being configured to allow relative displacement of the EOT with respect to the chassis.

The application discloses a reconfigurable foldable and deployable structure based on 3D printing and a manufacturing method thereof, and belongs to the field of additive manufacturing and intelligent structure design. The application solves the problems of existing foldable and deployable structures, such as dependence on mechanical driving and complex structure. The structure is composed of two layers of smart material plates with the same thickness. The structure combines paper cutting strategy and 3D printing to form an initial configuration with beam-hole structure in the printing stage, and realizes active foldable and deployable reconfiguration under external physical field stimulation. The manufacturing method comprises the following steps: selecting anisotropic smart material according to application scenarios, determining design parameters and beam-hole paper cutting patterns based on the theory of large deformation double-layer beam, generating 3D printing vector trajectories and integrally forming and preparing. The application does not need complex transmission assembly, and has the advantages of lightweight structure, controllable deformation, calculable design parameters, adaptation to multiple application scenarios, and application in the fields of foldable and deployable structures and flexible mechanisms.

A system includes a clip, a first control member, and an adapter including a channel extending from a proximal end to a distal end. The clip includes a base portion mounted over a periphery of the adapter and arms extending distally from the portion. The arms are movable relative to one another between insertion and initial deployed configurations. The first member is releasably coupled to the portion and is movably connected to the adapter so that a longitudinal movement of the first member relative to the adapter moves the clip between the insertion configuration, the initial deployed configuration, and a review configuration. The first member is operable to retract the clip proximally over the adapter toward the insertion configuration so that the arms is forced open as the clip is retracted over the adapter freeing the clip from tissue on which it had been clipped.

The application belongs to the technical field of electrolytic processing, and relates to an electrolytic wire cutting device and method for generating elliptical vibration. The device comprises a base I, piezoelectric ceramics I, piezoelectric ceramics II, a flexible mechanism, a moving platform and a clamp arranged on the base I; the base I comprises a vertical connecting part and a horizontal connecting part; the piezoelectric ceramics I are arranged between the horizontal connecting part and a lever mechanism I; the piezoelectric ceramics II are arranged between the vertical connecting part and a lever mechanism II; a half-bridge mechanism I is arranged above the piezoelectric ceramics I and connected between the lever mechanism I and the horizontal connecting part; a half-bridge mechanism II is arranged on one side of the lever mechanism II and connected between the lever mechanism II and the vertical connecting part; the moving platform is connected between the two half-bridge mechanisms in parallel with a plate spring mechanism; the clamp is connected with the moving platform and used for connecting an electrode wire to generate cutting tracks with the same size and uniform distribution; and the electrolytic processing efficiency is improved.