CN116408768A - Two-degree-of-freedom large-stroke micro-clamp with rubbing operation - Google Patents

Abstract

The invention discloses a two-degree-of-freedom large-stroke micro gripper with rubbing operation, which belongs to the technical field of micro grippers. The two-degree-of-freedom large-stroke micro gripper with rubbing operation includes a clamping mechanism and a rubbing mechanism. The clamping mechanism includes a first bridge-type amplification mechanism, a longitudinal piezoelectric ceramic actuator and two clamp arms. The first bridge The type amplifying mechanism includes a first fixed end, a first input end and two first output ends, and the rubbing mechanism includes a second bridge type amplifying mechanism and a transverse piezoelectric ceramic actuator, and the second bridge type amplifying mechanism includes a second fixed end end, the second input end and two second output ends, a kind of two-degree-of-freedom large-stroke micro-clamp with rubbing operation of the present invention can make the two tong arms move in opposite directions when performing various actions, and realizes In the case of lateral and longitudinal two-degree-of-freedom movement, the movement stroke of the micro-gripper is greatly increased.

Description

A two-degree-of-freedom large-stroke microgripper with rubbing operation

technical field

The invention relates to the technical field of micro grippers, in particular to a two-degree-of-freedom large-stroke micro gripper with rubbing operation.

Background technique

As a key component of microelectromechanical systems, micro grippers are a basic tool for communicating the macro and micro worlds. Micro grippers can perform operations such as pick-up, clamping and release, and are therefore widely used in micro-assembly, biomedicine, aerospace and military In the field of micro-assembly technology, it is often necessary to rotate and fine-tune the clamped object. Therefore, the application of the micro-clamp should have a rubbing function while completing the clamping. On the one hand, it can use the rubbing function to adjust the clamped object. To achieve micro-rotation, on the other hand, the micro-rubbing function can be used to increase the clamping force on the object and prevent it from falling off.

In the prior art, the two-degree-of-freedom micro grippers with both clamping and rubbing operations generally adopt an asymmetric structure, that is, one side of the clamp arm moves along the horizontal direction to realize the clamping operation, and the other side of the clamp arm moves along the vertical direction Realize the rubbing operation, but when realizing the above clamping and rubbing operations, because only one side of the clamp arm can move, the clamping and rubbing stroke of the micro-clamp is reduced. In addition, unilateral rubbing of the clamped object may cause It causes the object to slide, changes the clamping position of the clamped object, and may introduce stress concentration, thus limiting the scope of application of the micro clamp. For this reason, the present invention proposes a two-degree-of-freedom large stroke with rubbing operation micro clamp.

Contents of the invention

The purpose of the present invention is to overcome the problems in the prior art, to provide a two-degree-of-freedom large-stroke micro clamp with rubbing operation, which can drive the clamping mechanism and the rubbing mechanism respectively through two piezoelectric ceramic actuators, Realize that the left and right clamp arms participate in the clamping and rubbing operations at the same time, increasing the movement stroke of the micro clamp.

The present invention provides a two-degree-of-freedom large-stroke micro gripper with rubbing operation, including:

The clamping mechanism includes a first bridge-type amplifying mechanism, a longitudinal piezoelectric ceramic actuator and two clamp arms, a first fixed end, a first input end, and two first output ends of the first bridge-type amplifying mechanism, and the The longitudinal piezoelectric ceramic actuator is arranged in the first bridge-type amplifying mechanism, and the two ends of the longitudinal piezoelectric ceramic actuator are respectively in contact with the first fixed end and the first input end, and the first output end is Each is provided with a first flexible beam, the two ends of the first flexible beam are respectively connected to a first output end and a clamp arm, the length direction of the first flexible beam is the same as the output direction of the first output end, and the The tong arm is arranged along the output direction of the first output end;

The rubbing mechanism includes a second bridge-type amplifying mechanism and a transverse piezoelectric ceramic actuator, the transverse piezoelectric ceramic actuator is perpendicular to the longitudinal piezoelectric ceramic actuator, and the second bridge-type amplifying mechanism Including a second fixed end, a second input end and two second output ends, the transverse piezoelectric ceramic actuator is arranged in the second bridge type amplification mechanism, and the two ends of the transverse piezoelectric ceramic actuator are in contact with the second fixed end and the second input end respectively, and a second flexible beam is provided on the second output end, and the second flexible beam is respectively connected with a second output end and a clamp arm, and the The length direction of the second flexible beam is the same as the output direction of the second output end.

Preferably, it further includes a double parallelogram decoupling mechanism, the double parallelogram decoupling mechanisms correspond to the pliers arms one by one, and the pliers arms are respectively connected to the corresponding double parallelogram decoupling mechanisms.

Preferably, it also includes two first lever parallelogram displacement amplification mechanisms, the first lever parallelogram displacement amplification mechanisms are parallel to the longitudinal piezoelectric ceramic actuator, and the first lever parallelogram displacement amplification mechanisms are connected to the pincer arm In one-to-one correspondence, the tong arms are respectively connected to the first flexible beam through corresponding first lever parallelogram displacement amplifying mechanisms.

Preferably, it also includes two second lever parallelogram displacement amplification mechanisms, the second lever parallelogram displacement amplification mechanisms are parallel to the transverse piezoelectric ceramic actuator, and the second lever parallelogram displacement amplification mechanisms are connected to the pincer arm In one-to-one correspondence, the tong arms are respectively connected to the second flexible beam through the corresponding second lever parallelogram displacement amplifying mechanism.

Preferably, the longitudinal piezoelectric ceramic actuator and the transverse piezoelectric ceramic actuator are arranged in an inverted "T" shape.

Compared with the prior art, the present invention has the following advantages:

A two-degree-of-freedom large-stroke micro-clamp with rubbing operation of the present invention is provided with a clamping mechanism and a rubbing mechanism to generate a longitudinal displacement after the longitudinal piezoelectric ceramic actuator is energized, and is enlarged by the first bridge The mechanism is amplified and changed to the horizontal direction, and drives the left and right clamp arms to move laterally towards each other to complete the clamping action. After the transverse piezoelectric ceramic actuator is energized, a lateral displacement is generated, which is amplified and changed to the vertical direction by the second bridge-type amplification mechanism, driving both sides The tong arms move in the opposite direction of the longitudinal direction to complete the rubbing action on the clamped object. Since the two tong arms move in opposite directions during each action, the movement stroke of the micro-clamp is greatly increased; by setting double parallel The quadrilateral decoupling mechanism can reduce the lateral parasitic displacement generated during the rubbing action.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the present invention.

Explanation of reference signs:

1. The first bridge-type amplification mechanism; 11. The first flexible beam; 2. The longitudinal piezoelectric ceramic actuator; 3. The clamp arm; 4. The second bridge-type amplification mechanism; 41. The second flexible beam; 5. The horizontal direction Piezoelectric ceramic actuator; 6. Double parallelogram decoupling mechanism; 7. First lever parallelogram displacement amplifying mechanism; 8. Second lever parallelogram displacement amplifying mechanism.

Detailed ways

The specific embodiment of the present invention will be described in detail below in conjunction with accompanying drawing 1, but it should be understood that the protection scope of the present invention is not limited by the specific embodiment. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The present invention provides a two-degree-of-freedom large-stroke micro gripper with rubbing operation, which includes a clamping mechanism and a rubbing mechanism, and the clamping mechanism includes a first bridge-type amplification mechanism 1 and a longitudinal piezoelectric ceramic actuator 2 and two clamp arms 3, the first bridge-type amplifying mechanism 1 includes a first fixed end, a first input end and two first output ends, a longitudinal piezoelectric ceramic actuator 2 is arranged in the first bridge-type amplifying mechanism 1, The longitudinal piezoelectric ceramic actuator 2 is arranged along the longitudinal direction, and the two ends of the longitudinal piezoelectric ceramic actuator 2 are in contact with the first fixed end and the first input end respectively, and a first flexible beam 11 is arranged on the first output end , the two ends of the first flexible beam 11 are respectively connected with a first output end and a pincer arm 3, the length direction of the first flexible beam 11 is the same as the output direction of the first output end, and the pincer arm 3 is along the output direction of the first output end Setting, the rubbing mechanism includes a second bridge-type amplifying mechanism 4 and a transverse piezoelectric ceramic actuator 5, the transverse piezoelectric ceramic actuator 5 is perpendicular to the longitudinal piezoelectric ceramic actuator 2, and the second bridge-type amplifying mechanism 4 Including the second fixed end, the second input end and two second output ends, the transverse piezoelectric ceramic actuator 5 is arranged in the second bridge type amplification mechanism 4, and the two ends of the transverse piezoelectric ceramic actuator 5 are respectively connected to the first The two fixed ends are in contact with the second input end, and a second flexible beam 41 is provided on the second output end, and the second flexible beam 41 is connected with a second output end and a clamp arm 3 respectively, and the second flexible beam 41 The length direction is the same as the output direction of the second output end, and both the first fixed end and the second fixed end are pre-tightened by screws.

working principle:

When the longitudinal piezoelectric ceramic actuator 2 is energized, the longitudinal piezoelectric ceramic actuator 5 generates a longitudinal displacement and transmits it to the first input end, which is amplified by the first bridge amplification mechanism 1 and transmitted to the first output end, so that the first One output end moves toward the inner side laterally, and then the first flexible beam 11 drives the two tong arms 3 to move toward the inner side laterally at the same time, so as to realize the pairing operation.

The transverse piezoelectric ceramic actuator 5 is energized, and the transverse piezoelectric ceramic actuator 8 generates a lateral displacement and transmits it to the second input terminal, which is amplified by the second bridge type amplification mechanism 4 and transmitted to the second output terminal, so that the second The output ends move longitudinally toward the inner side, and then the second flexible beam 21 drives the two pliers arms 3 to move in the opposite direction of the longitudinal direction at the same time, so that the rubbing operation can be realized.

By adopting the above-mentioned technical solution, the two tong arms of the present invention can be moved in opposite directions when performing various actions, and the movement stroke of the micro-clamp is greatly increased when two degrees of freedom in the lateral direction and the longitudinal direction are realized.

As a preferred method, it also includes a double parallelogram decoupling mechanism 6, and the double parallelogram decoupling mechanism 6 is in one-to-one correspondence with the pliers arms 3, and the pliers arms 3 are respectively connected with the corresponding double parallelogram decoupling mechanisms 6, and the double parallelogram decoupling mechanisms 6 The quadrilateral decoupling mechanisms 6 are all pre-tightened by screws. Adopting the above-mentioned technical solution can reduce the lateral parasitic displacement generated by the rubbing operation in the clamping state, avoid clamping instability or even slippage during rubbing, and improve the operation accuracy.

As a preferred mode, it also includes two first lever parallelogram displacement amplification mechanisms 7, the first lever parallelogram displacement amplification mechanisms 7 are all parallel to the longitudinal piezoelectric ceramic actuator 2, and the first lever parallelogram displacement amplification mechanisms 7 One-to-one correspondence with the pincer arms 3, the pincer arms 3 are connected to one end of the corresponding first lever parallelogram displacement amplifying mechanism 7, and the other end of the first lever parallelogram displacement amplifying mechanism 7 is connected to the second flexible beam 41, the first flexible beam The beam 11 is connected to the middle part of the corresponding first lever parallelogram displacement amplifying mechanism 7, and the above technical solution can further increase the stroke of the clamping action, further improving the practicability of the present invention.

As a preferred mode, it also includes two second lever parallelogram displacement amplifying mechanisms 8, the second lever parallelogram displacement amplifying mechanisms 8 are all parallel to the transverse piezoelectric ceramic actuator 5, and the second lever parallelogram displacement amplifying mechanisms 8 One-to-one correspondence with the pincer arms 3, the second flexible beam 41 is connected to the middle part of the corresponding second lever parallelogram displacement amplifying mechanism 8, and one end of the second lever parallelogram displacement amplifying mechanism 8 is also connected with a first lever parallelogram displacement amplifying mechanism respectively. The displacement amplifying mechanism 7 is connected to the other end away from the pincer arm 3, and the other end is pre-tightened by screws. The above technical solution can further increase the stroke of the rubbing action, further improving the practicability of the present invention.

As a preferred mode, the vertical piezoelectric ceramic actuator 2 and the transverse piezoelectric ceramic actuator 5 are arranged in an inverted "T" shape, and the above technical solution can improve the space utilization rate and improve the performance of the present invention. At the same time, the symmetrical structure is beneficial to reduce the errors introduced by processing and external environment, and can improve the movement accuracy of the micro gripper.

It should be noted that the circle in Fig. 1 is a light hole, and the micro-clamp is fixed on the motion platform by screws. In this article, relational terms such as first and second are only used to connect an entity or An operation is distinguished from another entity or operation without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (5)

1. A two-degree-of-freedom large-stroke micro-clamp with rubbing operation, is characterized in that, comprising: The clamping mechanism includes a first bridge-type amplifying mechanism (1), a longitudinal piezoelectric ceramic actuator (2) and two clamp arms (3), and the first bridge-type amplifying mechanism (1) includes a first fixed end, The first input end and two first output ends, the longitudinal piezoelectric ceramic actuator (2) is arranged in the first bridge type amplification mechanism (1), the two longitudinal piezoelectric ceramic actuators (2) ends are in contact with the first fixed end and the first input end respectively, and a first flexible beam (11) is provided on the first output end, and the two ends of the first flexible beam (11) are respectively connected with a first The output end is connected to a pincer arm (3), the length direction of the first flexible beam (11) is the same as the output direction of the first output end, and the pincer arm (3) is arranged along the output direction of the first output end; The rubbing mechanism includes a second bridge-type amplifying mechanism (4) and a transverse piezoelectric ceramic actuator (5), and the transverse piezoelectric ceramic actuator (5) is connected to the longitudinal piezoelectric ceramic actuator ( 2) Vertically, the second bridge amplifying mechanism (4) includes a second fixed end, a second input end and two second output ends, and the transverse piezoelectric ceramic actuator (5) is arranged on the second In the bridge type amplification mechanism (4), the two ends of the transverse piezoelectric ceramic actuator (5) are in contact with the second fixed end and the second input end respectively, and a second A flexible beam (41), the second flexible beam (41) is connected to a second output end and a clamp arm (3) respectively, the length direction of the second flexible beam (41) is connected to the output direction of the second output end same. 2. a kind of two-degree-of-freedom large-stroke micro-clamp with rubbing operation as claimed in claim 1, is characterized in that, also comprises double parallelogram decoupling mechanism (6), described double parallelogram decoupling mechanism ( 6) One-to-one correspondence with the pincer arms (3), and the pincer arms (3) are respectively connected to the corresponding double parallelogram decoupling mechanisms (6). 3. A kind of two-degree-of-freedom large-stroke micro-clamp with rubbing operation as claimed in claim 1, is characterized in that, also comprises two first lever parallelogram displacement amplifying mechanisms (7), and described first lever parallelogram The quadrilateral displacement amplifying mechanism (7) is all parallel to the longitudinal piezoelectric ceramic actuator (2), and the first lever parallelogram displacement amplifying mechanism (7) corresponds to the pincer arm (3) one by one, and the pincer arm (3) ) are respectively connected with the first flexible beam (11) through the corresponding first lever parallelogram displacement amplifying mechanism (7). 4. A kind of two-degree-of-freedom large-stroke micro-clamp with rubbing operation as claimed in claim 1, is characterized in that, also comprises two second lever parallelogram displacement amplifying mechanisms (8), and described second lever parallelogram The quadrilateral displacement amplifying mechanism (8) is all parallel to the transverse piezoelectric ceramic actuator (5), and the second lever parallelogram displacement amplifying mechanism (8) corresponds to the pincer arm (3) one by one, and the pincer arm (3) ) are respectively connected with the second flexible beam (41) through the corresponding second lever parallelogram displacement amplifying mechanism (8). 5. a kind of two-degree-of-freedom large-stroke micro-clamp with rubbing operation as claimed in claim 1, is characterized in that, described longitudinal piezoelectric ceramic actuator (2) and transverse piezoelectric ceramic actuator ( 5) It is set in an inverted "T" shape.

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