阅读说明：本技术 一种夹持装置及力检测装置的标定方法 (Clamping device and calibration method of force detection device ) 是由 黄伟才 王拓 刘镌 周丹 于 2021-09-26 设计创作，主要内容包括：本发明公开了一种夹持装置及力检测装置的标定方法,以解决现有的夹子无法准确获得夹持力并进行调节的问题。本发明公开了一种夹持装置,包括：两个夹持臂组件,每个夹持臂组件设有铰接部和夹持部,两个所述夹持臂组件的铰接部通过第一铰接轴铰接在一起,调节组件,在两个所述夹持臂组件上具有两个作用位置,所述调节组件在两个作用位置可产生作用力,使两个所述夹持臂组件转动并将两个所述夹持臂组件的两个所述夹持部压紧在夹持对象的两侧；力检测装置,两个所述夹持臂组件二者或任意一者设有力检测装置。本发明通过力检测组件对两个夹持臂组件夹持力进行检测并直接显示读数,可以根据贴装时的实际所需力大小调节,方便调节并控制夹持力的大小。(The invention discloses a clamping device and a calibration method of a force detection device, which aim to solve the problem that the existing clamp cannot accurately obtain clamping force and adjust the clamping force. The invention discloses a clamping device, comprising: the clamping device comprises two clamping arm assemblies, an adjusting assembly and a clamping mechanism, wherein each clamping arm assembly is provided with a hinged part and a clamping part, the hinged parts of the two clamping arm assemblies are hinged together through a first hinged shaft, the adjusting assembly is provided with two action positions on the two clamping arm assemblies, and the adjusting assembly can generate acting force at the two action positions to enable the two clamping arm assemblies to rotate and press the two clamping parts of the two clamping arm assemblies on two sides of a clamping object; and the force detection device is arranged on either or both of the two clamping arm assemblies. The clamping force of the two clamping arm assemblies is detected through the force detection assembly, and the reading is directly displayed, so that the clamping force can be adjusted according to the actually required force during mounting, and the adjustment and the control of the clamping force are convenient.)

1. A clamping device, comprising:

two clamping arm assemblies, each clamping arm assembly is provided with a hinge part and a clamping part, the hinge parts of the two clamping arm assemblies are hinged together through a first hinge shaft,

the adjusting assembly is provided with two action positions on the two clamping arm assemblies and can generate acting force at the two action positions so as to enable the two clamping arm assemblies to rotate and press the two clamping parts of the two clamping arm assemblies to two sides of a clamping object;

and the force detection device is arranged on one or both of the two clamping arm assemblies and is used for detecting and displaying the clamping force of the clamping arm assemblies on the clamped object.

2. A clamping arrangement according to claim 1 wherein each clamping arm assembly comprises:

the clamping arm is provided with the hinged part and the clamping body hinged part;

and the clamping body is used as the clamping part and is provided with a clamping surface, the clamping body is hinged with the hinging part of the clamping body through a second hinging shaft, and the first hinging shaft and the second hinging shaft are parallel to each other.

3. A holding arrangement as claimed in claim 2, wherein the holding surface is fixedly provided with a resilient pad.

4. A clamping arrangement as claimed in claim 2, wherein the adjustment assembly comprises:

the connecting piece is fixedly or rotatably arranged on the first hinge shaft;

the screw rod is fixed on the connecting piece, the axis of the screw rod is perpendicular to the axis of the first hinged shaft and is positioned on the same plane, and the screw rod and the clamping part are positioned on two sides of the first hinged shaft;

the pressing block is sleeved on the screw rod, the clamping arms on the two clamping arm assemblies respectively have first inclined planes on two sides of the first hinged shaft, the two first inclined planes are symmetrically arranged relative to the first hinged shaft, and the two first inclined planes are respectively abutted against the pressing block;

and the nut is screwed with the screw rod and presses the pressing block on the two first inclined planes.

5. A holding arrangement as claimed in claim 4, wherein both holding arms are of bent arm construction and the second hinge axis of each of the two holding arm assemblies is equidistant from the first hinge axis.

6. A holding arrangement as claimed in claim 4, wherein said pressing block is provided with a second inclined surface on the opposite side of each of said first inclined surfaces, both of said second inclined surfaces being symmetrically disposed about said first hinge axis.

7. A clamping arrangement as claimed in claim 2, wherein the adjustment assembly comprises:

the connecting piece is fixedly or rotatably arranged on the first hinge shaft;

the screw rod is rotationally connected to the connecting piece, the axis of the screw rod is perpendicular to the axis of the first hinged shaft and is positioned on the same plane, and the screw rod and the clamping part are positioned on two sides of the first hinged shaft;

the nut is in threaded connection with the screw;

and the two connecting rods are symmetrically arranged on two sides of the first hinge shaft, one ends of the two connecting rods are respectively hinged with the nut, and the other ends of the two connecting rods are correspondingly hinged with the clamping arms one to one.

8. A holding arrangement as claimed in claim 6, wherein the second hinge axis of each of the two holding arm assemblies is equidistant from the first hinge axis and the lengths of the two links are equal.

9. A clamping device according to any one of claims 4-8, characterised in that the force detection means comprise:

the digital display controller is arranged on the clamping arm and used for displaying the clamping force;

the digital display controller comprises a Wheatstone bridge consisting of strain gauges, wherein the strain gauges are fixed on the clamping arms, and the output end of the Wheatstone bridge is electrically connected with the signal input end of the digital display controller.

10. A holding arrangement as claimed in claim 9, wherein the holding arm is provided with a recess and the strain gauge is fitted in the base of the recess in the holding arm.

11. A method of calibrating a force-sensing device in a clamping device according to any one of claims 9 to 10, comprising:

fixing the hinged part of a single clamping arm with a force detection device, applying a force F in the same tangential direction as the clamping part on the clamping part, and changing the magnitude of the force F to obtain an F-u curve, wherein u is the output voltage of a Wheatstone bridge; the F-u curve relation satisfies: f (u) k · u;

changing the direction and the magnitude of the force F to obtain different force F and different theta-U curves in different directions, wherein theta is an included angle between the force F and the clamping direction of the clamping part, obtaining a relation curve between an angle coefficient c and the force F according to the different theta-U curves, and finally determining the relation between loading force F (U) and the output voltage U of the Wheatstone bridge in different forces and different directions, wherein F (U) and U meet the following conditions: (u) kcos (c (f) u, k is a linear coefficient;

inputting an algorithm between f (u) and u into the digimatic controller.

12. Calibration method according to claim 11, wherein the angle θ between the force F and the tangential direction satisfies the following condition: theta is more than or equal to 60 degrees below zero and less than or equal to 60 degrees below zero.

Technical Field

The invention relates to the field of clamps, in particular to a clamping device and a calibration method of a force detection device.

Background

For some mounting processes, a certain pressure is required to be applied to the pasted component in a high-temperature environment to ensure the curing strength of the adhesive, and the maintenance of constant pressure is realized by a force clamping device. However, the existing clamps, retainers and the like are generally directly stressed by springs, so that actual clamping force cannot be accurately obtained, the clamping force cannot be adjusted, and the clamp force is more difficult to keep uniform on the surface of an irregular pasting part.

For example, the Chinese utility model with the patent number of CN205136247U discloses a common clamp form, wherein a torsional spring is used for applying clamping force, and a sponge layer is added at the tail end to overcome the defect that the smooth surface is easy to fall off during clamping; chinese utility model patent No. CN204585238U discloses a clamping device, which generates a clamping force with sufficient strength by a wedge roller and spring structure to prevent an object from falling off; chinese patent No. CN103926731A discloses a clamping device and a clamping method thereof, in which a driver is controlled to directly pull a clamping member to realize clamping, and a sensor senses the magnitude of clamping force to control, thereby preventing the liquid crystal panel from breaking or sliding.

The embodiment of above-mentioned patent all can't accurate acquisition clamping-force size, and the clamp force is adjusted and is accurate inadequately, just makes the clamp force maximize prevent the work piece landing.

Disclosure of Invention

In view of this, the invention discloses a clamping device, which is used for solving the problem that the existing clamp cannot accurately obtain clamping force and adjust the clamping force.

In order to achieve the above object, the invention adopts the following technical scheme:

the present invention discloses in a first aspect a clamping device comprising: the clamping device comprises two clamping arm assemblies, an adjusting assembly and a clamping mechanism, wherein each clamping arm assembly is provided with a hinged part and a clamping part, the hinged parts of the two clamping arm assemblies are hinged together through a first hinged shaft, the adjusting assembly is provided with two action positions on the two clamping arm assemblies, and the adjusting assembly can generate acting force at the two action positions to enable the two clamping arm assemblies to rotate and press the two clamping parts of the two clamping arm assemblies on two sides of a clamping object; and the force detection device is arranged on one or both of the two clamping arm assemblies and is used for detecting and displaying the clamping force of the clamping arm assemblies on the clamped object.

Further, each clamp arm assembly includes: the clamping arm is provided with the hinged part and the clamping body hinged part; and the clamping body is used as the clamping part and is provided with a clamping surface, the clamping body is hinged with the hinging part of the clamping body through a second hinging shaft, and the first hinging shaft and the second hinging shaft are parallel to each other.

Furthermore, an elastic pad is fixedly arranged on the clamping surface.

Further, the adjustment assembly includes: the connecting piece is fixedly or rotatably arranged on the first hinge shaft; the screw rod is fixed on the connecting piece, the axis of the screw rod is perpendicular to the axis of the first hinged shaft and is positioned on the same plane, and the screw rod and the clamping part are positioned on two sides of the first hinged shaft; the pressing block is sleeved on the screw rod, the clamping arms on the two clamping arm assemblies respectively have first inclined planes on two sides of the first hinged shaft, the two first inclined planes are symmetrically arranged relative to the first hinged shaft, and the two first inclined planes are respectively abutted against the pressing block; and the nut is screwed with the screw rod and presses the pressing block on the two first inclined planes.

Further, the distances from the second hinge shaft to the first hinge shaft of each of the two clamping arm assemblies are equal.

Furthermore, a second inclined plane is arranged on one side, opposite to each first inclined plane, of each pressing block, and the two second inclined planes are symmetrically arranged relative to the first hinge shaft.

Further, the adjustment assembly includes:

the connecting piece is fixedly or rotatably arranged on the first hinge shaft;

the screw rod is rotationally connected to the connecting piece, the axis of the screw rod is perpendicular to the axis of the first hinged shaft and is positioned on the same plane, and the screw rod and the clamping part are positioned on two sides of the first hinged shaft;

the nut is in threaded connection with the screw;

and the two connecting rods are symmetrically arranged on two sides of the first hinge shaft, one ends of the two connecting rods are respectively hinged with the nut, and the other ends of the two connecting rods are correspondingly hinged with the clamping arms one to one.

Further, the distance from the second hinge shaft of each of the two clamping arm assemblies to the first hinge shaft is equal, and the lengths of the two connecting rods are equal.

Further, the force detection apparatus includes:

the digital display controller is arranged on the clamping arm and used for displaying the clamping force;

the strain gauge is fixed on the clamping arm, the output end of the Wheatstone bridge is electrically connected with the signal input end of the digital display controller, and the output end of the Wheatstone bridge is electrically connected with the signal input end of the digital display controller.

Furthermore, a groove is formed in the clamping arm, and the strain gauge is fixed to the bottom of the groove of the clamping arm in a fitting mode.

A second aspect of the present invention discloses a calibration method for the force detection apparatus of the first aspect, the calibration method including:

fixing the hinged part of a single clamping arm with a force detection device, applying a force F in the same tangential direction as the clamping part on the clamping part, and changing the magnitude of the force F to obtain an F-u curve, wherein u is the output voltage of a Wheatstone bridge; the F-u curve relation satisfies: f (u) k · u;

changing the direction and the magnitude of the force F to obtain different force F and different theta-U curves in different directions, wherein theta is an included angle between the force F and the clamping direction of the clamping part, obtaining a relation curve between an angle coefficient c and the force F according to the different theta-U curves, and finally determining the relation between loading force F (U) and the output voltage U of the Wheatstone bridge in different forces and different directions, wherein F (U) and U meet the following conditions: and f, (u) kcos (c (f) · u) · u, and an algorithm between f (u) and u is input into the digimatic controller, wherein k is a linear coefficient.

Further, an included angle theta between the force F and the tangential direction satisfies the following condition: theta is more than or equal to 60 degrees below zero and less than or equal to 60 degrees below zero.

Has the advantages that: the invention detects the clamping force of the two clamping arm assemblies through the force detection assembly and directly displays the reading, can be adjusted according to the actually required force during mounting, and the adjusting assembly is used for clamping the two clamping arm assemblies on a mounted workpiece, adjusting the clamping force and displaying the specific reading on the force detection assembly, thereby being convenient for adjusting and controlling the clamping force. .

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings. The drawings described below are merely exemplary embodiments of the present disclosure, and other drawings may be derived by those skilled in the art without inventive effort.

FIG. 1 is a schematic view showing a first configuration of an adjustment assembly coupled to a robotic arm assembly in accordance with embodiment 1 of the present invention;

FIG. 2 is a schematic view showing a second structure of the intermediate adjusting assembly connected to the robot arm assembly in embodiment 1 of the present invention;

FIG. 3 shows a schematic view of a robot arm in embodiment 1 of the present invention;

FIG. 4 shows a schematic view of another robot arm in embodiment 1 of the present invention;

FIG. 5 is a schematic view showing the first structure of the adjusting assembly in embodiment 1 of the present invention, wherein the connecting member of the adjusting assembly is connected to the screw rod;

FIG. 6 is a schematic view showing a regulating member in which the above-described first structure is adopted and a pressure block is provided in the regulating member in embodiment 1 of the present invention;

FIG. 7 is a schematic view showing a holder in embodiment 1 of the present invention;

fig. 8 is a force analysis diagram showing the first structure of the adjustment assembly in embodiment 1 of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and "a" and "an" generally include at least two, but do not exclude at least one, unless the context clearly dictates otherwise.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.

To further illustrate the technical solution of the present invention, the following specific examples are provided with reference to fig. 1 to 8.

Example 1

In this embodiment, there is provided a clamping device comprising: the clamping device comprises two clamping arm assemblies 10, each clamping arm assembly is provided with a hinge part a and a clamping part b, the hinge parts a of the two clamping arm assemblies 10 are hinged together through a first hinge shaft 20, an adjusting assembly 30 is provided with two action positions on the two clamping arm assemblies 10, and the adjusting assembly 30 can generate acting force at the two action positions to enable the two clamping arm assemblies 10 to rotate and press the two clamping parts b of the two clamping arm assemblies 10 on two sides of a clamping object; and the force detection device is arranged on one or both of the two clamping arm assemblies and is used for detecting and displaying the clamping force of the clamping arm assembly 10 on the clamped object.

Specifically, each gripper arm assembly 10 comprises: the clamping arm 11 is provided with the hinge part a and the clamping body hinge part c; and a clamping body 12 serving as the clamping portion b and having a clamping surface, wherein the clamping body 12 is hinged to a hinge portion a of the clamping body 12 by a second hinge shaft 50, and the first hinge shaft 20 and the second hinge shaft 50 are parallel to each other.

In this embodiment, the clamping body hinge part c can be replaced by a clamping part b, that is, the clamping arm 11 is provided with a clamping part b, and the shape of the clamping part b can be reasonably changed according to the shape of the object to be clamped. In the present embodiment, the clamping body 12 is preferably used in the clamping portion b, and can adapt to the shape of the surface of the object to be clamped to fix the object, and simultaneously ensure that the direction of the clamping force is perpendicular to the surface of the object to be clamped.

In order to further increase the friction between the clamping body 12 and the clamped object, the clamping surface is fixedly provided with an elastic pad 60, and the elastic pad can be made of rubber or silica gel.

In a first preferred embodiment of the present embodiment, as shown in fig. 1, the adjusting assembly 30 includes: a connecting member 31, wherein the connecting member 31 is fixedly or rotatably disposed on the first hinge shaft 20; the screw rod 32 is fixed on the connecting piece, the axis of the screw rod 32 is perpendicular to the axis of the first hinge shaft 20 and is positioned on the same plane, and the screw rod 32 and the clamping part b are positioned on two sides of the first hinge shaft 20; the pressing block 33 is sleeved on the screw 32, the clamping arms 11 of the two clamping arm assemblies 10 are respectively provided with first inclined planes 111 at two sides of the first hinge shaft 20, the two first inclined planes 111 are symmetrically arranged relative to the first hinge shaft 20, and the two first inclined planes 111 are respectively abutted against the pressing block 33; and the nut 34 is screwed with the screw rod 32 and presses the pressing block 33 on the two first inclined surfaces 111. The screw 32 and the clamping portion b are located at both sides of the first hinge shaft 20 to ensure that the power arms formed by the contact of both sides of the pressing block 33 and the first inclined surface 111 are equal when the adjusting nut 34 is adjusted. Alternatively, as shown in fig. 1, the holding arm 11 has a holding portion bending section 11a, a long arm section 11b, a shoulder 11c and a short arm section 11d, which are connected in sequence from bottom to top in the drawing, and the holding arm 11 has a shape of a barb in fig. 1, which is advantageous for holding a thick object, and forms an escape space at the top near the first hinge shaft 20. The short arm section is arc-shaped, and the ends of the short arm section connected with the clamping arms 11 are oppositely arranged to form the hinge part; the shoulder is arc with long arm section with the short arm section forms the step, just the shoulder is relative long arm section with the short arm section is outwards protruding to be stretched so that power detection device installation, two the short arm section forms "eight" font recess of falling, briquetting 33 is located in the recess and with the inclined plane 111 contact of short arm section, when nut 34 adjusts the position of briquetting 33, make two centre gripping arms 11 receive the extrusion, in the drawing the below of first articulated shaft 20 is rotated, and then makes the short arm section of two centre gripping arms 11 be close to and treat the centre gripping object. One the centre gripping arm 11 with the one end that the clamping part is relative forms two arch a1, and two archs are formed with opening a2, another on the centre gripping arm with the tip that the clamping part is relative inserts in the opening, just first articulated shaft 20 perpendicular to with the lateral wall of recess passes two arch and another on the centre gripping arm with the tip that the clamping part is relative realizes the rotation of two centre gripping arms 11 to make the atress even, avoid first articulated shaft 20 to produce moment of flexure. Connecting piece 31 includes horizontal muscle 311 and two boards 312, and two boards are the clearance setting and through horizontal muscle fixed connection, and two boards have big head end and little head end, wherein are close to big head end one side is equipped with the through-hole for fixed or rotate and install on the first articulated shaft 10, horizontal muscle with screw rod 32 fixed connection and the two perpendicular setting, horizontal muscle with screw rod 32 can be for the welding, and the setting of board big head end and little head end can increase the opening angle scope of two centre gripping arms 11. Optionally, one side of the clamping body 12 opposite to the clamping surface is provided with two hinged lugs 121, one hinged lug 121 is provided with a threaded hole, the other hinged lug 121 is provided with a through hole, the end of the second hinged shaft 50 is provided with an external thread, the end of the short arm section is provided with a through hole, the end of the short arm section is inserted between the two hinged lugs 121, the second hinged shaft 50 penetrates through the through hole and the threaded hole of the hinged lug 121 and the through hole of the short arm section and is in threaded connection with the threaded hole, so that the clamping body 12 is hinged to the clamping arm 11, and the clamping surfaces are arranged oppositely. The second hinge shaft 50 of the present embodiment may also be welded and fixed on the hinge lug 121, and the connection form of the second hinge shaft 50 and the hinge lug 121 is not limited to the above structure, and may also be fixed in other manners, such as riveting, etc., which are not limited herein. And a boss is arranged on one surface of the pressing block 33, which is attached to the nut 34, and is used for pressing the pressing block 33 by the nut 34.

In order to adjust the opening angle and the clamping force of the two clamping arms 11, the nut 34 may be a wing nut in this embodiment.

To further ensure that the clamping forces of the two clamping arms 11 are uniform and equal, the distances from the second hinge shaft 50 to the first hinge shaft 20 of the two clamping arm assemblies 10 are equal, so that the resistance arms of the two clamping arms 11 are equal.

Further, the pressing block 33 is provided with a second inclined surface 331 at one side of each of the first inclined surfaces 111 opposite to each other, the two second inclined surfaces 331 are symmetrically arranged relative to the first hinge shaft 20, and by arranging the second inclined surfaces 331, the opening angle of the two clamping arms 11 when clamping different objects can be adapted, and the opening angle range of the clamping arms 11 is increased. In this embodiment, the pressing block 33 may be "cross" shaped, and the protruding sides of the pressing block 33 in two directions are both provided with inclined planes 331, and the protruding lengths are different, so as to further increase the application range of the clamping arm 11.

In a second preferred embodiment of the present embodiment, the adjusting assembly 30 includes: a connecting member 31, wherein the connecting member 31 is fixedly or rotatably disposed on the first hinge shaft 20; the screw rod 32 is rotatably connected to the connecting piece 31, the axis of the screw rod 32 is perpendicular to the axis of the first hinge shaft 20 and is positioned on the same plane, and the screw rod 32 and the clamping part b are positioned on two sides of the first hinge shaft 20; a nut 34, the nut 34 being screwed with the screw 32; and the two connecting rods 35 are symmetrically arranged at two sides of the first hinge shaft 20, one ends of the two connecting rods 35 are respectively hinged with the nut 34, and the other ends of the two connecting rods 35 are correspondingly hinged with the clamping arms 11. In this embodiment, the two links 35 and the two clamp arms 11 form a four-bar linkage, and the nut 34 is moved up and down by rotating the adjusting screw 32, thereby changing the opening angles of the two clamp arms 11. To further ensure that the clamping forces of the two clamping arms 11 are uniform and equal, the distances from the second hinge axis 50 to the first hinge axis 20 of the two clamping arm assemblies 10 are equal, and the lengths of the two connecting rods 35 are equal.

To facilitate adjustment of the screw 32, a rear handle or hand wheel is fixedly mounted at the end of the screw 32.

The force detection device includes: the digital display controller 41 is arranged on the clamping arm 11 and is used for displaying the clamping force; the strain gauge 42 is fixed on the clamping arm 11, and the output end of the Wheatstone bridge is electrically connected with the signal input end of the digital display controller 41. Optionally, the digital display controller 41 is disposed on the shoulder 11 c. The strain gauges 42 are 2 in number in a semi-active wheatstone bridge and 4 in number in a full active wheatstone bridge.

Optionally, the digital display controller 41 is embedded in the shoulder 11 c.

In order to better measure the strain on the clamping arm 11, a groove 112 is formed in the clamping arm 11, specifically, the groove 112 is formed in the long arm section, the groove 112 may be a long groove, and the length direction of the long groove is the same as the length direction of the long arm section, so that the normal stress of the rectangular elastic beam is converted into the shear stress, a strain gauge is conveniently arranged in the groove, and the strain gauge 42 is fixed at the bottom of the groove 112 of the clamping arm in a fitting manner. When the clamping arm 11 is stressed, stress concentration is generated, and the strain generated in the groove 112 is more obvious, so that the measurement is convenient.

In the embodiment, the adjusting assembly 30 is used for stress analysis of the structure in the second embodiment, and when the adjusting assembly is used, the screw thread pair has a self-locking effect, so that the adjusting assembly is locked after being loosened, the pressing force of the pressing block is greatly increased, and the increasing range of the adjusting assembly satisfies the following requirements:

ΔF＝ΔMπ/λ

delta F is pressing force increment; the delta M is the screwing force; λ is the thread pitch.

Then the force is transmitted to the two clamping arm assemblies through the pressing block, according to the lever principle, the two clamping arm assemblies rotate by taking the first articulated shaft 20 as a pivot, but the tail ends (clamping surfaces) are limited by the paster component, so that the clamping arm assemblies do not generate rotary displacement to form stress balance, the paster component is pressed by the paster component, and the pressing force is necessarily in the horizontal direction

As shown in the figure, when the nut is screwed, the equal and opposite forces F and F' are generated at the same time on the hinge point of the pressing block and the clamping arm component; for force F, F is generated on the clamping arm assembly_N1And F_N2Component of (a); i.e. the forces of the upper half have achieved a force balance:

but for a single clamp arm, force F_N1A moment is generated relative to the hinge point, since the whole system is balanced in static force, another moment in equal and opposite direction relative to the hinge point must exist, since only the tail end is in contact with the workpiece, the tail end has the only possibility of generating balance force, and the force direction is determined to be a horizontal direction, and whether the force direction is the same or notAdditional imbalance forces are generated in the axial direction. I.e. for a single gripper arm system:

similarly, the horizontal force generated by the tail end (clamping part) of the other clamping arm is N2;

since the connecting element 31 in the adjusting unit can also be pivoted about the pivot point, has a self-adjusting effect during the pressing, and is symmetrical in structure, Fn1 is Fn2, and N1 is N2.

Horizontal loading is already realized at the tail end (clamping part) of the clamping force, but the loaded force is point load, and surface load is generally uniformly distributed for mounting components, so that the uniformity of the applied force can be ensured, therefore, one of the functions of the force homogenizing assembly (5) is to homogenize the point load into the surface load, the point load is realized through the clamping body 12 with flat hardness, and the homogenized pressure is as follows:

p is N/A unit Mpa

Where N is the horizontal point load force and a is the area of the clamping surface on the clamping body 12.

Since the shape or size of the pasting component is not necessarily uniform and constant, but the holding arm can only rotate around the first hinge axis 20, and the trajectory of the end (holding portion) is a circular arc curve, another function of the holding body is to equalize the influence of the trajectory of the holding arm, and the elastic pad 60 is tightly attached to the pasting component by the hinge of the holding body 12 and the holding portion, thereby realizing the continuous application of the normal pressure. The elastic pad 60 plays a role of buffering, and prevents damage to the mounted components.

It should be noted that, in this embodiment, the length of the clamping arm 11 may be different, and the clamping force on the two sides is also different when clamping the object, so that the present invention can be applied to the occasion of special mounting requirements.

Example 2

The present embodiment provides a calibration method of the force detection apparatus described in embodiment 1, where the calibration method includes:

fixing the hinged part of a single clamping arm with a force detection device, applying a force F in the same tangential direction as the clamping part on the clamping part, and changing the magnitude of the force F to obtain an F-u curve, wherein u is the output voltage of a Wheatstone bridge; the F-u curve relation satisfies: f (u) k · u;

changing the direction and the magnitude of the force F to obtain different force F and different theta-U curves in different directions, wherein theta is an included angle between the force F and the clamping direction of the clamping part, obtaining a relation curve between an angle coefficient c and the force F according to the different theta-U curves, and finally determining the relation between loading force F (U) and the output voltage U of the Wheatstone bridge in different forces and different directions, wherein F (U) and U meet the following conditions: and f, (u) kcos (c (f) · u) · u, and an algorithm between f (u) and u is input into the digimatic controller, wherein k is a linear coefficient.

The tangential direction of the nip portion in the present embodiment refers to the tangential direction of the force applied to the nip portion when the nip arm is turned to the nip object around the first hinge shaft 20 in embodiment 1.

Further, an included angle theta between the force F and the tangential direction satisfies the following condition: theta is more than or equal to 60 degrees below zero and less than or equal to 60 degrees below zero.

Exemplary embodiments of the present disclosure are specifically illustrated and described above. It is to be understood that the present disclosure is not limited to the precise arrangements, instrumentalities, or instrumentalities described herein; on the contrary, the disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.