CN112476407A - Micro-operation device and method based on 3D printing micro-channel - Google Patents
Micro-operation device and method based on 3D printing micro-channel Download PDFInfo
- Publication number
- CN112476407A CN112476407A CN202011468665.7A CN202011468665A CN112476407A CN 112476407 A CN112476407 A CN 112476407A CN 202011468665 A CN202011468665 A CN 202011468665A CN 112476407 A CN112476407 A CN 112476407A
- Authority
- CN
- China
- Prior art keywords
- micro
- channel
- piezoelectric ceramic
- frame
- printing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000010146 3D printing Methods 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 21
- 239000000919 ceramic Substances 0.000 claims abstract description 37
- 239000007788 liquid Substances 0.000 claims abstract description 10
- 229920000642 polymer Polymers 0.000 claims abstract description 10
- 230000005489 elastic deformation Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Abstract
The invention provides a micro-operation device based on a 3D printing micro-channel, which comprises a flexible hinge mechanical arm, wherein the interior of the flexible hinge mechanical arm is fixedly connected with a connecting frame, the interior of the flexible hinge mechanical arm is provided with the micro-channel, the top of the connecting frame is in threaded connection with a pre-tightening bolt, and the inner side of the connecting frame is movably connected with a piezoelectric ceramic driver; according to the micro-operation device and method based on the 3D printing micro-channel, the flexible hinge mechanical arm, the micro-channel and the connecting frame are processed through processes of polymer laser 3D printing, polymer two-photon 3D printing and the like, the processing efficiency is improved, then the movable frame is driven to move downwards through the pre-tightening bolt, the top of the piezoelectric ceramic driver is located inside the limiting groove, then liquid or gas with certain pressure and flow velocity is applied to the micro-channel, the position and the posture of cells in a liquid environment can be adjusted, and therefore the purpose of being more convenient to use is achieved.
Description
Technical Field
The invention belongs to the field of clamps, and particularly relates to a micro-operation device and a micro-operation method based on a 3D printing micro-channel.
Background
The gripper is a device for holding and manipulating an object, which is capable of gripping and releasing the object while performing some actions, and the motion device often simulates the motion of a human body, in terms of the gripper, the motion of fingers, which do not belong to the gripper, are only special customized tools for gripping the object, called "jaws", which are inconvenient for the use of the gripper used for cells in the prior art, and the gripper is not provided with an expansion control function but only improves the gripping function at present.
Therefore, it is necessary to provide a micro-operation device and method based on 3D printing micro-channel to solve the above technical problems.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems in the prior art, the invention provides a micro-operation device and a method based on a 3D printing micro-channel.
The technical scheme is as follows: the utility model provides a little operating means based on 3D prints miniflow channel, includes flexible hinge arm, the inside fixedly connected with connection box of flexible hinge arm, miniflow channel has been seted up to the inside of flexible hinge arm, the top threaded connection of connection box has the pretension bolt, the inboard swing joint of connection box has the piezoceramics driver, the spacing frame of interior diapire fixedly connected with of connection box, the bottom of piezoceramics driver is located the inside of spacing frame, the fixed slot has been seted up to the interior roof of connection box, the inside sliding connection of fixed slot has the movable frame, the spacing groove has been seted up to the bottom of movable frame, the top of piezoceramics driver is located the inside of spacing groove.
Preferably, the bottom of both sides of the limiting frame is fixedly connected with an installation block, the top of the installation block is in threaded connection with a fixing bolt, and the installation block is fixedly connected with the connecting frame through the fixing bolt.
Preferably, the top of the movable frame is fixedly connected with a bearing, and the bottom end of the pre-tightening bolt is fixedly connected with an inner ring of the bearing.
Preferably, the equal fixedly connected with slider in top of activity frame both sides, the spout that corresponds with the slider is seted up to the inner wall of fixed slot, slider sliding connection is in the inside of spout.
Preferably, the inner top wall of the limit groove is fixedly connected with an anti-skid pad, and the top of the piezoelectric ceramic driver is in contact with the anti-skid pad.
Preferably, the micro flow channel is curved, and the connecting frame is rectangular.
An operation method of a micro-operation device based on a 3D printing micro-channel comprises the following specific steps:
s1: processing the flexible hinge mechanical arm, the micro-channel and the connecting frame by polymer laser 3D printing, polymer two-photon 3D printing and other processes;
s2: the piezoelectric ceramic driver is arranged in the connecting frame, so that the bottom of the piezoelectric ceramic driver is positioned in the limiting frame;
s3: the pre-tightening bolt is manually rotated, the movable frame is driven to move downwards through the pre-tightening bolt, so that the top of the piezoelectric ceramic driver is positioned in the limiting groove, and the piezoelectric ceramic driver is limited through the movable frame, so that the piezoelectric ceramic driver is more stably installed;
s4: when in clamping, the piezoelectric ceramic driver extends under the action of voltage, and the tail end of the micromanipulator is clamped through the elastic deformation of the flexible hinge mechanical arm;
s5: in the micro-operation process, the position and the posture of the cells in the liquid environment can be adjusted by applying liquid or gas with certain pressure and flow velocity in the micro-flow channel.
The invention has the beneficial effects that:
(1) according to the micro-operation device and the method based on the 3D printing micro-channel, the flexible hinge mechanical arm, the micro-channel and the connecting frame are processed through processes of polymer laser 3D printing, polymer two-photon 3D printing and the like, the processing efficiency is improved, then the movable frame is driven to move downwards through the pre-tightening bolt, the top of the piezoelectric ceramic driver is located in the limiting groove, the piezoelectric ceramic driver is limited through the movable frame, the piezoelectric ceramic driver is installed more stably, the tail end of the micro-operator is clamped through elastic deformation of the flexible hinge mechanical arm, then liquid or gas with certain pressure and flow velocity is applied to the micro-channel, the position and the posture of cells in a liquid environment can be adjusted, and the purpose of being more convenient to use is achieved;
(2) according to the micro-operation device and the method based on the 3D printing micro-channel, the limit frame is fixed through the fixing bolt and the mounting block, so that the mounting is more stable, the movable frame is limited through the bearing and is prevented from rotating along with the pre-tightening bolt, the movable frame is limited through the sliding block and the sliding groove, the deviation of the movable frame in the up-and-down moving process is avoided, then the piezoelectric ceramic driver is protected through the anti-slip pad, so that the mounting is more stable, and the damage of the piezoelectric ceramic driver due to the large collision between the top of the piezoelectric ceramic driver and the movable frame is avoided.
Drawings
FIG. 1 is a schematic overall perspective view of a micro-manipulation device based on 3D printing micro-flow channels according to the present invention;
FIG. 2 is a front cross-sectional view of the overall structure shown in the present invention;
FIG. 3 is a front sectional view of the connection frame with the pre-tightening bolt according to the present invention;
fig. 4 is an enlarged view of the portion a of fig. 2 according to the present invention.
The reference signs are: 1. a flexible hinge mechanical arm; 2. a connecting frame; 3. a micro flow channel; 4. pre-tightening the bolts; 5. a piezoelectric ceramic driver; 6. fixing grooves; 7. a slider; 8. a chute; 9. a limiting groove; 10. a non-slip mat; 11. a bearing; 12. a movable frame; 13. a limiting frame; 14. fixing the bolt; 15. and (7) installing the block.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1 to 4, the micro-operation device based on the 3D printing micro-channel comprises a flexible hinge mechanical arm 1, a connecting frame 2 is fixedly connected inside the flexible hinge mechanical arm 1, a micro-channel 3 is arranged inside the flexible hinge mechanical arm 1, a pre-tightening bolt 4 is connected to the top of the connecting frame 2 through a thread, a piezoelectric ceramic driver 5 is movably connected to the inner side of the connecting frame 2, a limiting frame 13 is fixedly connected to the inner bottom wall of the connecting frame 2, the bottom of the piezoelectric ceramic driver 5 is located inside the limiting frame 13, a fixing groove 6 is arranged on the inner top wall of the connecting frame 2, a movable frame 12 is slidably connected inside the fixing groove 6, a limiting groove 9 is arranged at the bottom of the movable frame 12, and the top of the piezoelectric ceramic driver 5 is located inside the limiting groove 9.
Specifically, the equal fixedly connected with installation piece 15 in bottom of spacing frame 13 both sides, the top threaded connection of installation piece 15 has fixing bolt 14, through fixing bolt 14 fixed connection between installation piece 15 and the linking frame 2, fixes spacing frame 13 through fixing bolt 14 and installation piece 15, makes its installation more firm.
Specifically, the top of the movable frame 12 is fixedly connected with a bearing 11, the bottom end of the pre-tightening bolt 4 is fixedly connected with the inner ring of the bearing 11, the movable frame 12 is limited through the bearing 11, and the movable frame is prevented from rotating along with the pre-tightening bolt 4.
Specifically, the equal fixedly connected with slider 7 in top of movable frame 12 both sides, the spout 8 that corresponds with slider 7 is seted up to the inner wall of fixed slot 6, and slider 7 sliding connection carries on spacingly to movable frame 12 through slider 7 and spout 8 in the inside of spout 8, avoids it to take place the skew at the in-process that reciprocates.
Specifically, the interior roof fixedly connected with slipmat 10 of spacing groove 9, the top and the slipmat 10 contact of piezoceramics driver 5 protect piezoceramics driver 5 through slipmat 10, make its installation more firm, avoid taking place great collision between its top and the movable frame 12 simultaneously, cause its damage.
Specifically, the micro flow channel 3 is curved, and the connection frame 2 is rectangular.
An operation method of a micro-operation device based on a 3D printing micro-channel comprises the following specific steps:
s1: the flexible hinge mechanical arm 1, the micro-channel 3 and the connecting frame 2 are processed by polymer laser 3D printing, polymer two-photon 3D printing and other processes, so that the processing efficiency and the precision are higher;
s2: the piezoelectric ceramic driver 5 is arranged inside the connecting frame 2, so that the bottom of the piezoelectric ceramic driver 5 is positioned inside the limiting frame 13, and the piezoelectric ceramic driver 5 is limited and fixed through the limiting frame 13, so that the piezoelectric ceramic driver is more stably arranged;
s3: manually rotating the pre-tightening bolt 4, driving the movable frame 12 to move downwards through the pre-tightening bolt 4, enabling the top of the piezoelectric ceramic driver 5 to be located inside the limiting groove 9, and limiting the piezoelectric ceramic driver 5 through the movable frame 12 to enable the piezoelectric ceramic driver to be installed more stably;
s4: during clamping, the piezoelectric ceramic driver 5 extends under the action of voltage, and the tail end of the micromanipulator is clamped through elastic deformation of the flexible hinge mechanical arm 1;
s5: in the micro-operation process, the position and posture of the cells in the liquid environment can be adjusted by applying liquid or gas with certain pressure and flow rate in the micro-flow channel 3.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.
Claims (7)
1. The micro-operation device based on the 3D printing micro-channel is characterized by comprising a flexible hinge mechanical arm (1), a connecting frame (2) is fixedly connected to the inside of the flexible hinge mechanical arm (1), the micro-channel (3) is formed in the flexible hinge mechanical arm (1), a pre-tightening bolt (4) is connected to the top of the connecting frame (2) in a threaded mode, a piezoelectric ceramic driver (5) is movably connected to the inner side of the connecting frame (2), a limiting frame (13) is fixedly connected to the inner bottom wall of the connecting frame (2), the bottom of the piezoelectric ceramic driver (5) is located in the limiting frame (13), a fixing groove (6) is formed in the inner top wall of the connecting frame (2), a movable frame (12) is connected to the inside of the fixing groove (6) in a sliding mode, a limiting groove (9) is formed in the bottom of the movable frame (12), the top of the piezoelectric ceramic driver (5) is positioned in the limiting groove (9).
2. The micro-operation device based on the 3D printing micro-channel as claimed in claim 1, wherein the bottom of both sides of the limit frame (13) is fixedly connected with a mounting block (15), the top of the mounting block (15) is connected with a fixing bolt (14) by screw thread, and the mounting block (15) is fixedly connected with the connection frame (2) by the fixing bolt (14).
3. The micro-operation device based on the 3D printing micro-channel as claimed in claim 1, wherein the top of the movable frame (12) is fixedly connected with a bearing (11), and the bottom end of the pre-tightening bolt (4) is fixedly connected with the inner ring of the bearing (11).
4. The micro-operation device based on the 3D printing micro-channel according to claim 1, wherein the sliding blocks (7) are fixedly connected to the top of the two sides of the movable frame (12), the inner wall of the fixed groove (6) is provided with a sliding groove (8) corresponding to the sliding blocks (7), and the sliding blocks (7) are slidably connected to the inside of the sliding groove (8).
5. The micro-operation device based on the 3D printing micro flow channel according to the claim 1, characterized in that the inner top wall of the limit groove (9) is fixedly connected with a non-slip mat (10), and the top of the piezoelectric ceramic driver (5) is contacted with the non-slip mat (10).
6. The micro-operation device based on 3D printing micro-channel as claimed in claim 1, wherein the micro-channel (3) is curved and the connection frame (2) is rectangular.
7. An operation method of a micro-operation device based on a 3D printing micro-channel is characterized by comprising the following specific steps:
s1: the flexible hinge mechanical arm (1), the micro-channel (3) and the connecting frame (2) are processed through polymer laser 3D printing, polymer two-photon 3D printing and other processes;
s2: the piezoelectric ceramic driver (5) is arranged inside the connecting frame (2), so that the bottom of the piezoelectric ceramic driver (5) is positioned inside the limiting frame (13);
s3: the pre-tightening bolt (4) is manually rotated, the movable frame (12) is driven to move downwards through the pre-tightening bolt (4), so that the top of the piezoelectric ceramic driver (5) is positioned in the limiting groove (9), and the piezoelectric ceramic driver (5) is limited through the movable frame (12), so that the piezoelectric ceramic driver is more stably installed;
s4: when in clamping, the piezoelectric ceramic driver (5) extends under the action of voltage, and the tail end of the micromanipulator is clamped through the elastic deformation of the flexible hinge mechanical arm (1);
s5: in the micro-operation process, the position and the posture of the cells in the liquid environment can be adjusted by applying liquid or gas with certain pressure and flow velocity in the micro-flow channel (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011468665.7A CN112476407B (en) | 2020-12-15 | 2020-12-15 | Micro-operation device and method based on 3D printing micro-channel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011468665.7A CN112476407B (en) | 2020-12-15 | 2020-12-15 | Micro-operation device and method based on 3D printing micro-channel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112476407A true CN112476407A (en) | 2021-03-12 |
| CN112476407B CN112476407B (en) | 2024-04-19 |
Family
ID=74916817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011468665.7A Active CN112476407B (en) | 2020-12-15 | 2020-12-15 | Micro-operation device and method based on 3D printing micro-channel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112476407B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060014196A1 (en) * | 2004-07-16 | 2006-01-19 | Aoi Electronics Co., Ltd. | Nanogripper device and method for detecting that a sample is gripped by nanogripper device |
| CN203077272U (en) * | 2011-12-28 | 2013-07-24 | 日本精工株式会社 | Piezoelectric actuator, control gear and control system |
| CN107457765A (en) * | 2017-08-18 | 2017-12-12 | 天津大学 | A kind of driving type piezoelectric actuator three-level displacement equations micro clamping device |
| JP2019217609A (en) * | 2018-06-22 | 2019-12-26 | 日本精工株式会社 | Piezoelectric actuator and manipulator |
| CN214213804U (en) * | 2020-12-15 | 2021-09-17 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Micro-operation device based on 3D prints miniflow channel |
-
2020
- 2020-12-15 CN CN202011468665.7A patent/CN112476407B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060014196A1 (en) * | 2004-07-16 | 2006-01-19 | Aoi Electronics Co., Ltd. | Nanogripper device and method for detecting that a sample is gripped by nanogripper device |
| CN203077272U (en) * | 2011-12-28 | 2013-07-24 | 日本精工株式会社 | Piezoelectric actuator, control gear and control system |
| CN107457765A (en) * | 2017-08-18 | 2017-12-12 | 天津大学 | A kind of driving type piezoelectric actuator three-level displacement equations micro clamping device |
| JP2019217609A (en) * | 2018-06-22 | 2019-12-26 | 日本精工株式会社 | Piezoelectric actuator and manipulator |
| CN214213804U (en) * | 2020-12-15 | 2021-09-17 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Micro-operation device based on 3D prints miniflow channel |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112476407B (en) | 2024-04-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104227729A (en) | Clamping device | |
| CN206465100U (en) | A kind of manipulator for avoiding part from damaging | |
| CN214213804U (en) | Micro-operation device based on 3D prints miniflow channel | |
| CN104175141A (en) | Machining platform for machining mobile terminal and clamping positioning mechanism of machining platform | |
| CN108869521A (en) | A kind of fixed device of vacuum chuck | |
| CN212666065U (en) | Mechanical arm for die-casting island | |
| CN111015708A (en) | Mechanical gripper suitable for grabbing various parts | |
| CN108127648A (en) | A kind of numerically-controlled machine tool clamping manipulator executing agency | |
| CN211846213U (en) | Overturning transfer device | |
| CN112476407A (en) | Micro-operation device and method based on 3D printing micro-channel | |
| CN114834133A (en) | Pressure maintaining and film tearing integrated mechanism | |
| CN214643762U (en) | A press from both sides material mechanism for industrial robot | |
| CN209385480U (en) | A kind of fixed device of vacuum chuck | |
| CN106903257B (en) | Forging manipulator and forging equipment | |
| CN215546966U (en) | Circular part clamping tool | |
| CN108217182A (en) | A kind of microminiature grabbing device and its grasping means based on Van der Waals force | |
| CN205033228U (en) | Manipulator | |
| CN211967539U (en) | Multifunctional manipulator and stainless steel piece die polishing clamp | |
| CN211682175U (en) | Three-freedom-degree flexible clamp holder | |
| CN210233080U (en) | Novel manipulator arm assembly | |
| CN210551300U (en) | Servo drive elastic clamping jaw of truss robot | |
| CN204771805U (en) | Axletree production line manipulator | |
| CN208867200U (en) | A kind of clamping device | |
| CN205835400U (en) | A kind of end effector of robot | |
| CN214187172U (en) | Micro-operation device with clamping and drawing functions |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |