168 results about "Compliant mechanism" patented technology

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 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.

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 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 invention relates to a magnetic type draught fan tower outer wall defect integrated treatment wall-climbing robot and an operation method thereof.The magnetic type draught fan tower outer wall defect integrated treatment wall-climbing robot comprises a vehicle shell, the top of the vehicle shell is connected with a defect treatment mechanism through a six-degree-of-freedom mechanical arm, a magnetic adsorption module is arranged at the bottom of the vehicle shell, and the vehicle shell is in magnetic adsorption fit with the wall face of a tower through the magnetic adsorption module; a passive flexible mechanism and a walking driving mechanism are fixedly installed on the vehicle shell and are in transmission connection with walking wheels used for walking on the wall face together. A composite structure of the Halbach array, the multi-deformation magnetic unit and the conical pole shoe is innovatively adopted, a magnetic field is superimposed through 90-degree gradient magnetizing, the adsorption force is improved by 50% compared with a traditional adsorption force, the adsorption force is matched with the curved surface of a tower drum, and heavy-load stable walking is guaranteed; and meanwhile, the six-axis flexible mechanical arm is integrated with a detection, grinding and spraying integrated module, layout is simplified, the load is reduced, the high-altitude movement risk is avoided, and operation flexibility and safety are both considered.

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 utility model relates to a single-drive macro-micro mechanism based on screw drive and a flexible mechanism, belongs to the technical field of precision displacement, and solves the technical problems that in the prior art, a macro-micro two-stage adjusting mechanism is multiple in drive device, complex in structure and high in manufacturing cost. The device comprises a stepping motor, a base, a linear bearing, a through hole cylinder, a circular ring electromagnet, a wedge-shaped ring, a movable circular ring, an inner nut, a connecting piece, a circular plug, an inserting piece, a baffle, a screw, a lead screw and a micro-motion flexible mechanism. The lead screw is driven by the stepping motor to rotate, and rotary motion is converted into linear motion of the inner nut by means of threaded fit of the lead screw and the inner nut, so that macro-motion adjustment is formed. The movable circular ring is attracted by the electromagnet to clamp the through hole cylinder and the base, the through hole cylinder and the base are relatively fixed, displacement input of the flexible mechanism is achieved through movement of the inner nut, and therefore micro displacement is output, and micro adjustment is achieved. According to the mechanism, macro-motion large-stroke adjustment and micro-motion high-precision adjustment can be achieved through single drive.

The present invention relates to a method and system for topological optimization of a compliant mechanism with complete hinge features. The method comprises: defining volume constraints and intersection area constraints of a rounded corner flexible hinge mechanism, and defining non-intersecting regions and intersecting regions of basic components; designing an initial topological description function based on the design parameters of the basic components, and adjusting the initial topological description function to obtain a required topological description function for the intersection region of the basic components; establishing an optimization model based on the volume constraints, intersection area constraints, and required topological description function, performing finite element analysis on the optimization model, and calculating sensitivity information of the topological optimization problem of the rounded corner flexible hinge mechanism, and obtaining a topological map containing complete flexible hinge features based on the sensitivity information. Through this application, the problem of the flexible hinge region in the rounded corner flexible hinge mechanism being covered by other basic components, resulting in incomplete flexible hinge features, is solved.

The present invention discloses a long-range, two-degree-of-freedom, compliant precision positioning platform capable of achieving motion decoupling. The platform comprises a fixed platform; a moving platform connected to the fixed platform via a plurality of translation mechanisms; and a plurality of piezoelectric ceramic actuators, each corresponding to the plurality of translation mechanisms. The piezoelectric ceramic actuators apply external forces to the translation mechanisms, causing them to move. The distance the translation mechanisms move is greater than the distance the piezoelectric ceramic actuators extend or retract. The present invention utilizes a hinge replacement approach to design a novel compliant mechanism and a compliant precision positioning platform, achieving in-plane two-degree-of-freedom motion, decoupling motion, and long-range motion.

An end effector support element for a system includes a first compliant mechanism comprising two base rails. A first base rail is offset from a second base rail in the first direction of movement of the end effector. Each base rail has the same curved profile. The support element includes two compliant rails, each operationally connected to a corresponding base rail of the two. Several rolling elements are arranged between each base rail and each compliant rail to operationally connect the base rail to the compliant rail. A position sensor is located on the first compliant mechanism to detect the position of the compliant rails relative to the corresponding base rails.Each compliant rail is configured to be symmetrically pivotable with the end effector to allow movement of the end effector in the first direction of movement.

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 application discloses a kind of buffer devices, including parallel arrangement of instrument support seat and instrument mounting seat, multiple buffer modules are equipped between the instrument support seat and instrument mounting seat, multiple the buffer module is connected in series and / or parallel connection;The buffer module includes compliant buffer assembly and energy absorption component, the compliant buffer assembly is used to store impact energy, and the energy absorption component is used to dissipate impact energy;The compliant buffer assembly includes upper rigid body, lower rigid body, and compliant mechanism connected between upper rigid body and lower rigid body, the upper rigid body is used to be connected with the lower rigid body of adjacent buffer module or instrument mounting seat, and the lower rigid body is used to be connected with the upper rigid body of adjacent buffer module or instrument support seat.The buffer device of the application has the advantages of simple structure, compact, high reset accuracy, easy to process, disassembly and assembly, and strong applicability.

The utility model provides a half-horse robot which comprises a robot body, a compliant mechanism and a connecting piece, the robot body comprises a trunk and two mechanical legs, the trunk is used for bearing a heavy object, and the mechanical legs have three degrees of freedom and are connected to the rear end of the trunk; the connecting piece is used for being connected with a target object, and the target object is provided with two legs; the compliant mechanism is arranged between the front end of the trunk and the connecting piece, the compliant mechanism comprises an input end and an output end, the output end is connected with the connecting piece, and the input end can do linear motion relative to the output end; the compliant mechanism is configured to change the elastic potential energy of the compliant mechanism according to the relative displacement of the input end so as to adjust the acting force between the output end and the connecting piece. According to the half-horse robot, the purposes that the acting force is adjustable, the coordination is good and the man-machine interaction is smoother when the man-machine interaction is carried out in the load-bearing advancing process under multiple scenes are considered are achieved.

The present invention relates to a negative pressure adsorption wall-climbing robot mechanism for use in a complex curved surface environment, specifically a multi-stage compliant wall-climbing robot mechanism with curvature adaptability. The adsorption chamber is divided into a lower half chamber and an upper half chamber. The upper half chamber is connected to the lower half chamber via a secondary compliant mechanism. The upper half chamber is connected to an adsorption motor bracket, on which an adsorption motor is mounted. The bottom surface of the lower half chamber, where the adsorption motor contacts the curved surface, is mounted with a primary compliant sealing mechanism. A compliant movement mechanism is located within the adsorption chamber and includes a track mechanism bracket, a motor transmission device, a track, and a three-stage compliant mechanism. The track mechanism bracket is elastically connected to the upper half chamber via the three-stage compliant mechanism. The motor transmission device is mounted on the track mechanism bracket, and the track is driven by the motor transmission device to move on the curved surface. The present invention has a simple and compact structure, strong interchangeability, strong surface adaptability, a large deadweight ratio, and stable performance.