CN2626684Y - Minitype mechanical arm driven by shape memory alloy - Google Patents

Abstract

The utility model relates to a miniature mechanical hand driven by shape memory alloy used for holding and carrying miniature machine elements, including a mechanical hand main body, grasping fingers and a driving element. The utility model is characterized in that the mechanical hand main body consists of a mechanical hand basal body 1 which is made on a whole piece, a pendulum rod 2, a translational motion rod 3 and flexible hinges used to connect them; the driving element adopts shape memory alloy wires 5, the alloy wire starting from the binding post 6 passes through the mechanical hand basal body 1 and the transitional motion rod 3, and goes back to the binding post 7 to form a double-layer alloy wire; the peripheral power supply is connected through the binding posts 6 and 7. When the shape memory alloy is provided with electric current, the shape memory alloy wire shrinks and drives the grasping fingers 4 to hold target objects through the translational motion rod 3 and the pendulum rod 2. When the shape memory alloy is switched off, the mechanical hand conducts reverse movement. One mechanical hand can be equipped with different grasping fingers to meet the requirements of grasping objects of different diameter. The utility model has advantages of small volume, high precision, moderate holding force, simple adjustment, and convenience for control.

Description

The micromanipulator that marmem drives

Technical field:

The micromanipulator that marmem drives is used for the clamping and the conveyance of milli machine part automation processing, assembling process, is the application of intellectual material in electromechanical integrated device, belongs to field of mechanical technique.

Background technology:

Common manipulator generally adopts machine components and sliding pairs such as gear, tooth bar, lever, bearing pin, changes kinematic pairs such as pair, ball pair in configuration aspects.Its shortcoming is: (1), volume are big, the extracting of not competent micro parts; Have pair clearance inevitably, transmission accuracy is low, and especially the micrometric displacement precision is low, the accurate location in the time of can not adapting to the micro parts extracting.(2), the type of drive of standard machinery hand, generally adopt type of drive such as hydraulic pressure, pneumatic, motor, electromagnet.The extracting of incompatibility micro parts because physical dimension is big.In addition, oil seepage can pollute part, and magnetic field can make the part carrying magnetic, is unallowed under some working condition.

The micromanipulator that external also useful at present shape memory alloy spring drives, its material object as shown in Figure 5, this micromanipulator includes manipulator body 17, gripping finger 4, as the shape memory alloy spring 19 of driving element, and connect their flexible hinge and attaching parts.Gripping finger closes up when shape memory alloy spring is connected power supply, and during deenergization, gripping finger opens.The problem of this structure is: (1), because spring is contained in manipulator one side, rather than in mid-plane, flexible hinge easily is distorted to making two gripping fingers not parallel, to such an extent as to when grasping micro parts, grab tightly for one, grab loosely for one, make the part deflection easily; (2), hold-down screw exposes and can contact with the conductor in the working environment and be short-circuited with shape memory alloy spring; (3), the bigger restriction manipulator of spring volume is further microminiaturized.

Summary of the invention:

The purpose of this utility model is to overcome aforementioned deficiency, for satisfying needs in small space operation small objects, it is little to design a kind of volume, the precision height, chucking power is moderate, adjustment is simple, and control is convenient, and can be according to the accessory size area requirement that grasps, the miniature tractor driver a plurality of gripping fingers of replacing configuration, that marmem drives.

The technical solution of the utility model is seen structural representation Fig. 1, and it includes manipulator body, gripping finger, as the marmem parts of driving element, and fixing and connect their attaching parts; Of the present utility model being characterised in that, manipulator body are to be made of the manipulator matrix of making on an integral material 1, fork 2, flat motion bar 3 and the flexible hinge that connects them; Gripping finger (4) technology routinely embeds in the fork (2) and with its formation and cooperates connection; Adopt shape-memory alloy wire 5 as driving element, this alloy silk is passed manipulator matrix 1 and flat motion bar 3 and is gone back to the bifilar alloy silk of binding post 7 formation again by binding post 6 beginnings; The peripheral hardware power supply inserts through binding post 6,7.

The micromanipulator that this marmem drives, the shape-memory alloy wire mounting structure is characterised in that, earlier centre drill is gone out two hollow screws, the 14 interior threadings earthenware 15 supporting of stepped hole with it, again two hollow screws 14 are screwed into manipulator matrix bottom, constitute binding post 6 and 7 separately, after shape-memory alloy wire 5 penetrates the interior earthenware of one of them hollow screw, turn back again through flat motion bar 3, earthenware passes in another tapping bolt, and the exposed portions serve of two strands of alloy silks that penetrate and pass from earthenware is melt into bead 16 and fixes with the binding post of position respectively; On flat motion bar 3, be provided with the insulating trip 8 that separates shape-memory alloy wire 5.

The micromanipulator that this marmem drives, be characterised in that: the different gripping finger 4 of the configurable a plurality of extracting aimed dia scopes of manipulator, when needs grasped the part of different size scope, the body of manipulator did not need to change, and need only change gripping finger.

The course of work of the present utility model is: after marmem fed electric current, temperature raise, and tissue undergoes phase transition, and shape-memory alloy wire is shunk shorten, pulling flat motion bar 3, flat motion bar drives two forks 2 and swings relatively, drives gripping finger 4 clamping targets.When the marmem outage, the manipulator opposite action is loosened target.

A kind of monolithic construction has been taked in micromanipulator design of the present utility model, and all parts (bar, kinematic pair etc.) all are to carve with same block of material, adopts flexible hinge to replace traditional kinematic pair.Kinematic pair (flexible hinge) not only has desirable elasticity, has avoided the error that causes because of assembling simultaneously again.Because flexible hinge relies on the micro-elastic of material to be out of shape and transmits displacement, thereby having advantages such as compact conformation, no pair clearance, the friction of nothing machinery, is micro-displacement mechanism desirable in the precision optical machinery.

Adopt shape-memory alloy wire to replace traditional type of drive in the utility model as driving element.Shape-memory alloy wire be driving element be again the part of circuit simultaneously, not only volume is little, and is easy to control.Another characteristics of this type of drive are that control is simple, and the shape-memory alloy wire energising is promptly shunk, and outage i.e. elongation.

Adopt mariages to drive in the utility model.The advantage that mariages drives is: avoid 4 actions of two gripping fingers asymmetric, increase chucking power simultaneously.Shape-memory alloy wire 5, the architectural feature of installing on the manipulator body had both guaranteed the insulation of shape-memory alloy wire and manipulator body in addition, shape-memory alloy wire suitably can be tightened in advance again.So not only can eliminate the gap, effectively utilize the stroke of shape-memory alloy wire.Can cooperate simultaneously gripping finger to change, accurately size range is grasped in preset.

Description of drawings:

Fig. 1 the utility model micromanipulator structural representation

1, manipulator matrix 2, fork 3, flat motion bar 4, gripping finger 5, shape-memory alloy wire 6, binding post 7, binding post 8, insulating trip 9, installing hole 10-13, flexible hinge hinged joint;

Mounting structure signal Figure 14 of Fig. 2 the utility model shape-memory alloy wire, hollow screw 15, earthenware 16, marmem dissolve bead;

The mechanical motion principle of Fig. 3 the utility model micromanipulator and driving control principle schematic diagram;

Fig. 4 the utility model flexible hinge shape schematic diagram;

Micromanipulator object construction signal Figure 17 of the external development of Fig. 5, manipulator body 18, hold-down screw 19, shape memory alloy spring 20, flexible hinge hinged joint.

The specific embodiment:

Enforcement design of the present utility model is referring to Fig. 1-Fig. 4.

The frame for movement of manipulator as shown in Figure 1, it is made up of body 1, fork 2, flat motion bar 3 and gripping finger 4 and the flexible hinge that connects them.They are processed with numerical control electrospark wire-electrode cutting machine by a steel spring plate.Gripping finger 4 is become with same processes by same material.The typical structure of flexible hinge is seen Fig. 4.Manipulator appearance and size 52 * 36 * 5mm after design is finished.

Shape-memory alloy wire 5 is as driving element, and micromanipulator adopts mariages to drive.When binding post 6,7 places in circuit, there is electric current to pass through in the alloy silk, temperature raises, and contraction shortens, and pulling flat motion bar 3 moves downward, and drives inwardly swing of both sides fork 2 by each flexible hinge (all being equivalent to revolute pair), drives two fingers and closes up the clamping object.Two fingers link together by flexible hinge.Matrix and finger are all made by spring steel, and flexible hinge has good elasticity, rely on elasticity that fork 2 is resetted during outage, and two fingers open automatically.Binding post 6,7, the thermoplastic tube of insulating trip 8 and alloy silk outside suit guarantees shape-memory alloy wire and the insulation of manipulator body.

The mechanical motion principle of micromanipulator and driving control principle are seen Fig. 3.Can carry out analysis of mechanism and principle design by means of mechanical motion principle figure, and carry out structural design on this basis.

Can solve the distance of sliding bar translation and the angle of cut variation delta α between hinged joint 10,11,12 place's rod members according to Fig. 3 by the amount of opening of manipulator actuating station (finger tip) ₁₀, Δ α ₁₁With Δ α ₁₂(being called the plastic deformation angle); Formula can be obtained and produce certain plastic deformation angle Δ α below utilizing _xNeeded moment M _x

$M_x=\frac{2\mathrm{\&Delta;}{\mathrm{\&alpha;}}_x\mathrm{Eb}{t}^{5/2}}{9\mathrm{\&pi;}{\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="Y0326147500082.png"\; state="\{\{state\}\}">R</figure-callout>}}^{1/2}}$

In the formula:

R hinge arc radius; The b material thickness; T hinge minimum thickness; The E elastic modelling quantity; Δ α _xThe plastic deformation angle.

The pulling force part of shape-memory alloy wire is used to provide the needed moment of flexure in plastic deformation angle, needed pulling force when a part is used to provide manipulator clamping object.The chucking power of known needs can be calculated the pulling force that marmem should provide.Equally also can calculate the amount of opening of manipulator actuating station and the chucking power of actuating station according to the length deformation rate and the pulling force allowable of shape-memory alloy wire.

The shape-memory alloy wire that the utility model adopts is a TiNi alloy silk, and the installation of alloy silk is difficulty comparatively, and solution of the present utility model is seen Fig. 2.Shape-memory alloy wire is installed, at first screw is screwed into the micromanipulator body, the earthenware of packing into penetrates earthenware to TiNi alloy silk again, the part that the alloy silk is exposed is melt into a bead with electric spark, at last screw is screwed out about 0.5～2 circle the alloy silk is strained.Installation, tension and Insulation Problems have been solved simultaneously.

Claims (3)

1, a kind of micromanipulator of marmem driving includes manipulator body, gripping finger, the marmem parts as driving element, the flexible hinge that connects them and attaching parts; Of the present utility model being characterised in that, manipulator body are to be made of the manipulator matrix of making on a single piece (1), fork (2), flat motion bar (3) and the flexible hinge that connects them; Gripping finger (4) technology routinely embeds in the fork (2) and with its formation and cooperates connection; Adopt shape-memory alloy wire (5) as driving element, this alloy silk is passed manipulator matrix (1) and flat motion bar (3) and is gone back to the bifilar alloy silk of binding post (7) formation again by binding post (6) beginning; The peripheral hardware power supply inserts through binding post (6), (7).

2, micromanipulator according to the driving of the marmem shown in the claim 1, the shape-memory alloy wire mounting structure is characterised in that, earlier centre drill is gone out the interior threading of two hollow screws (14) earthenware (15) supporting of stepped hole with it, again two hollow screws (14) are screwed into manipulator matrix bottom, constitute binding post (6) and (7) separately, after shape-memory alloy wire (5) penetrates the interior earthenware of one of them hollow screw, turn back again through flat motion bar (3), earthenware passes in another tapping bolt, and the exposed portions serve of two strands of alloy silks that penetrate and pass from earthenware is melt into bead (16) and fixes with the binding post of position respectively; On flat motion bar (3), be provided with the insulating trip (8) that separates shape-memory alloy wire (5).

3, the micromanipulator that drives according to the marmem shown in the claim 1 is characterized in that: the different gripping finger (4) of a plurality of extracting aimed dia of the replaceable configuration of manipulator scope.

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