CN116408768A - Two-degree-of-freedom large-stroke micro-clamp with rubbing operation - Google Patents
Two-degree-of-freedom large-stroke micro-clamp with rubbing operation Download PDFInfo
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- CN116408768A CN116408768A CN202310592821.8A CN202310592821A CN116408768A CN 116408768 A CN116408768 A CN 116408768A CN 202310592821 A CN202310592821 A CN 202310592821A CN 116408768 A CN116408768 A CN 116408768A
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- 230000007246 mechanism Effects 0.000 claims abstract description 85
- 239000000919 ceramic Substances 0.000 claims abstract description 42
- 238000006073 displacement reaction Methods 0.000 claims description 39
- 238000000034 method Methods 0.000 description 6
- 230000003321 amplification Effects 0.000 description 4
- 238000003199 nucleic acid amplification method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000004075 alteration Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses a two-degree-of-freedom large-stroke micro-clamp with rubbing operation, and belongs to the technical field of micro-clamps. The two-degree-of-freedom large-stroke micro-clamp with rubbing operation comprises a butt clamp mechanism and a rubbing mechanism, wherein the butt clamp mechanism comprises a first bridge type amplifying mechanism, a longitudinal piezoelectric ceramic actuator and two clamp arms, the first bridge type amplifying mechanism comprises a first fixed end, a first input end and two first output ends, the rubbing mechanism comprises a second bridge type amplifying mechanism and a transverse piezoelectric ceramic actuator, and the second bridge type amplifying mechanism comprises a second fixed end, a second input end and two second output ends.
Description
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
As a key component of the micro-electromechanical system, the micro-clamp is a basic tool for communicating macroscopic and microscopic worlds, and can realize operations such as picking up, clamping and releasing, so that the micro-clamp is widely applied to the fields of micro-assembly, biomedicine, aerospace, military and the like, and in the technical field of micro-assembly, the clamped object is often required to be subjected to rotation fine adjustment, so that the micro-clamp is applied to have a rubbing function when clamping is completed, on one hand, the micro-rotation of the clamped object can be realized by using the rubbing function, and on the other hand, the clamping force on the object can be increased by using the micro-rubbing function, and the falling is prevented.
In the prior art, a micro-clamp with two degrees of freedom for clamping and rubbing operation is generally in an asymmetric structure, namely, one side clamp arm moves along the horizontal direction to realize the clamping operation, and the other side clamp arm moves along the vertical direction to realize the rubbing operation.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a two-degree-of-freedom large-stroke micro-clamp with rubbing operation, which can drive a butt clamp mechanism and a butt rubbing mechanism through two piezoelectric ceramic actuators respectively, so that the left clamp arm and the right clamp arm can simultaneously participate in clamping and rubbing operation, and the movement stroke of the micro-clamp is increased.
The invention provides a two-degree-of-freedom large-stroke micro-clamp with rubbing operation, which comprises:
the butt-clamping mechanism comprises a first bridge type amplifying mechanism, a longitudinal piezoelectric ceramic actuator and two clamp arms, wherein the first fixed end, a first input end and two first output ends of the first bridge type amplifying mechanism are arranged in the first bridge type amplifying mechanism, two ends of the longitudinal piezoelectric ceramic actuator are respectively contacted with the first fixed end and the first input end, a first flexible beam is arranged on each first output end, two ends of the first flexible beam are respectively connected with one first output end and one clamp arm, the length direction of the first flexible beam is the same as the output direction of the first output end, and the clamp arms are arranged along the output direction of the first output end;
the rubbing mechanism comprises 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, the second bridge type amplifying mechanism comprises 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 amplifying mechanism, two ends of the transverse piezoelectric ceramic actuator are respectively contacted with the second fixed end and the second input end, a second flexible beam is arranged on each second output end, the second flexible beam is respectively connected with a second output end and a clamp arm, and the length direction of the second flexible beam is identical to the output direction of the second output end.
Preferably, the dual-parallelogram decoupling mechanism is further included, the dual-parallelogram decoupling mechanism corresponds to the clamp arms one by one, and the clamp arms are respectively connected with the corresponding dual-parallelogram decoupling mechanism.
Preferably, the device further comprises two first lever parallelogram displacement amplifying mechanisms, wherein the first lever parallelogram displacement amplifying mechanisms are parallel to the longitudinal piezoelectric ceramic actuators, the first lever parallelogram displacement amplifying mechanisms are in one-to-one correspondence with the clamp arms, and the clamp arms are connected with the first flexible beams through the corresponding first lever parallelogram displacement amplifying mechanisms respectively.
Preferably, the device further comprises two second lever parallelogram displacement amplifying mechanisms, wherein the second lever parallelogram displacement amplifying mechanisms are parallel to the transverse piezoelectric ceramic actuators, the second lever parallelogram displacement amplifying mechanisms are in one-to-one correspondence with the clamp arms, and the clamp arms are connected with the second flexible beams through the corresponding second lever parallelogram displacement amplifying mechanisms respectively.
Preferably, the longitudinal piezoceramic actuator and the transverse piezoceramic actuator are arranged in an inverted T-shaped mode.
Compared with the prior art, the invention has the following advantages:
according to the two-degree-of-freedom large-stroke micro-clamp with rubbing operation, the opposite clamping mechanism and the opposite rubbing mechanism are arranged, longitudinal displacement is generated after the longitudinal piezoelectric ceramic actuator is electrified, the transverse displacement is generated after the transverse piezoelectric ceramic actuator is electrified, the two-side clamp arms are driven to move along opposite longitudinal directions, and the rubbing action on a clamped object is completed, and as the two clamp arms move towards opposite directions during each action, the movement stroke of the micro-clamp is greatly increased; by providing the double-parallelogram decoupling mechanism, the lateral parasitic displacement generated during the rubbing action can be reduced.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Reference numerals illustrate:
1. a first bridge amplification mechanism; 11. a first flexible beam; 2. a longitudinal piezoelectric ceramic actuator; 3. a clamp arm; 4. a second bridge amplification mechanism; 41. a second flexible beam; 5. a lateral piezoelectric ceramic actuator; 6. a double parallelogram decoupling mechanism; 7. a first lever parallelogram displacement amplifying mechanism; 8. the second lever parallelogram displacement amplifying mechanism.
Detailed Description
The following describes the embodiment of the present invention in detail with reference to fig. 1, but it should be understood that the scope of the present invention is not limited by the embodiment. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a two-degree-of-freedom large-stroke micro-clamp with rubbing operation, which comprises a clamp mechanism and a rubbing mechanism, wherein the clamp mechanism comprises a first bridge type amplifying mechanism 1, a longitudinal piezoelectric ceramic actuator 2 and two clamp arms 3, the first bridge type amplifying mechanism 1 comprises a first fixed end, a first input end and two first output ends, the longitudinal piezoelectric ceramic actuator 2 is arranged in the first bridge type amplifying mechanism 1, the longitudinal piezoelectric ceramic actuator 2 is longitudinally arranged, two ends of the longitudinal piezoelectric ceramic actuator 2 are respectively contacted with the first fixed end and the first input end, a first flexible beam 11 is arranged on each first output end, two ends of the first flexible beam 11 are respectively connected with the first output ends and the first clamp arms 3, the length direction of the first flexible beam 11 is the same as the output direction of the first output ends, the clamp arms 3 are arranged along the output direction of the first output ends, the opposite movement mechanism comprises 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, the second bridge type amplifying mechanism 4 comprises a second fixed end, two ends of the second bridge type amplifying mechanism 4 and two ends are respectively contacted with the first input ends and the first input ends, the second flexible beam 4 are respectively connected with the second flexible beam 41, the two ends are respectively, the two ends of the second flexible beam 4 are respectively contacted with the second flexible beam 4, and the two ends are respectively, the two ends are respectively connected with the two ends of the second flexible beam 4 are respectively, and the two ends are respectively, and the two flexible ends are respectively connected with the two ends are respectively, and the two ends are opposite and 4 and are opposite and has a 4 and has a high piezoelectric device.
Working principle:
the longitudinal piezoelectric ceramic actuator 2 is electrified, the longitudinal piezoelectric ceramic actuator 5 generates longitudinal displacement and transmits the longitudinal displacement to the first input end, the longitudinal displacement is amplified by the first bridge amplification mechanism 1 and transmitted to the first output end, the first output end moves towards the inner side transversely in opposite directions, and the first flexible beam 11 drives the two clamp arms 3 to move towards the inner side transversely in opposite directions simultaneously, so that the clamping operation is realized.
The transverse piezoelectric ceramic actuator 5 is electrified, the transverse piezoelectric ceramic actuator 8 generates transverse displacement and transmits the transverse displacement to the second input end, the transverse piezoelectric ceramic actuator is amplified by the second bridge amplification mechanism 4 and transmitted to the second output end, the second output end longitudinally moves towards the inner side in opposite directions, and the second flexible beam 21 drives the two clamp arms 3 to simultaneously move towards opposite longitudinal directions, so that rubbing operation can be realized.
By adopting the technical scheme, the two clamp arms can move towards opposite directions when each motion is carried out, and the motion stroke of the micro clamp is greatly increased under the condition of realizing the motion of two degrees of freedom in the transverse direction and the longitudinal direction.
As a preferable mode, the device further comprises double-parallelogram decoupling mechanisms 6, the double-parallelogram decoupling mechanisms 6 are in one-to-one correspondence with the clamp arms 3, the clamp arms 3 are respectively connected with the corresponding double-parallelogram decoupling mechanisms 6, and the double-parallelogram decoupling mechanisms 6 are pre-tightened through screws.
As a preferred mode, the clamping device further comprises two first lever parallelogram displacement amplifying mechanisms 7, wherein the first lever parallelogram displacement amplifying mechanisms 7 are parallel to the longitudinal piezoelectric ceramic actuators 2, the first lever parallelogram displacement amplifying mechanisms 7 are in one-to-one correspondence with the clamp arms 3, the clamp arms 3 are connected to one ends of the corresponding first lever parallelogram displacement amplifying mechanisms 7, the other ends of the first lever parallelogram displacement amplifying mechanisms 7 are connected with the second flexible beams 41, and the first flexible beams 11 are connected to the middle parts of the corresponding first lever parallelogram displacement amplifying mechanisms 7.
As a preferred mode, the device further comprises two second lever parallelogram displacement amplifying mechanisms 8, the second lever parallelogram displacement amplifying mechanisms 8 are parallel to the transverse piezoelectric ceramic actuators 5, the second lever parallelogram displacement amplifying mechanisms 8 are in one-to-one correspondence with the clamp arms 3, the second flexible beams 41 are connected to the middle parts of the corresponding second lever parallelogram displacement amplifying mechanisms 8, one ends of the second lever parallelogram displacement amplifying mechanisms 8 are respectively connected with the other ends of the first lever parallelogram displacement amplifying mechanisms 7, which are far away from the clamp arms 3, and the other ends of the second lever parallelogram displacement amplifying mechanisms are pre-tightened through screws.
By adopting the technical scheme, the space utilization rate can be improved, the integration level of the invention is improved, and meanwhile, the symmetrical structure is beneficial to reducing errors caused by processing and external environment, and the motion precision of the micro clamp can be improved.
It should be noted that the circles in fig. 1 are light holes, and the micro-clamp is fixed on the motion platform by screws, and in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or operation from another entity or operation without necessarily requiring or implying any actual such relationship or order between such entities or operations. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. A two degree of freedom large stroke micro gripper with a twisting operation comprising:
the butt-clamping mechanism comprises a first bridge type amplifying mechanism (1), a longitudinal piezoelectric ceramic actuator (2) and two clamp arms (3), wherein the first bridge type amplifying mechanism (1) comprises a first fixed end, a first input end and two first output ends, the longitudinal piezoelectric ceramic actuator (2) is arranged in the first bridge type amplifying mechanism (1), two ends of the longitudinal piezoelectric ceramic actuator (2) are respectively contacted with the first fixed end and the first input end, a first flexible beam (11) is arranged on each first output end, two ends of the first flexible beam (11) are respectively connected with one first output end and one clamp 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 clamp arms (3) are arranged along the output direction of the first output end;
the pair rubbing mechanism comprises a second bridge type amplifying mechanism (4) and a transverse piezoelectric ceramic actuator (5), wherein the transverse piezoelectric ceramic actuator (5) is perpendicular to the longitudinal piezoelectric ceramic actuator (2), the second bridge type amplifying mechanism (4) comprises a second fixed end, a second input end and two second output ends, the transverse piezoelectric ceramic actuator (5) is arranged in the second bridge type amplifying mechanism (4), two ends of the transverse piezoelectric ceramic actuator (5) are respectively contacted with the second fixed end and the second input end, a second flexible beam (41) is arranged on the second output end, the second flexible beam (41) is respectively connected with a second output end and a clamp arm (3), and the length direction of the second flexible beam (41) is the same as the output direction of the second output end.
2. A two-degree-of-freedom large stroke micro-pliers with twisting operation according to claim 1, further comprising double-parallelogram decoupling mechanisms (6), wherein the double-parallelogram decoupling mechanisms (6) are 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).
3. A two-degree-of-freedom large-stroke micro-gripper with twisting operation according to claim 1, further comprising two first lever parallelogram displacement amplifying mechanisms (7), wherein the first lever parallelogram displacement amplifying mechanisms (7) are all parallel to the longitudinal piezoelectric ceramic actuators (2), the first lever parallelogram displacement amplifying mechanisms (7) are in one-to-one correspondence with the gripper arms (3), and the gripper arms (3) are respectively connected with the first flexible beams (11) through the corresponding first lever parallelogram displacement amplifying mechanisms (7).
4. A two-degree-of-freedom large-stroke micro-gripper with twisting operation according to claim 1, further comprising two second lever parallelogram displacement amplifying mechanisms (8), wherein the second lever parallelogram displacement amplifying mechanisms (8) are all parallel to the transverse piezoelectric ceramic actuators (5), the second lever parallelogram displacement amplifying mechanisms (8) are in one-to-one correspondence with the gripper arms (3), and the gripper arms (3) are respectively connected with the second flexible beams (41) through the corresponding second lever parallelogram displacement amplifying mechanisms (8).
5. A two-degree-of-freedom large stroke micro-gripper with twisting operation according to claim 1, characterized in that the longitudinal piezo-ceramic actuator (2) and the transversal piezo-ceramic actuator (5) are arranged in an inverted "T" shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310592821.8A CN116408768A (en) | 2023-05-24 | 2023-05-24 | Two-degree-of-freedom large-stroke micro-clamp with rubbing operation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310592821.8A CN116408768A (en) | 2023-05-24 | 2023-05-24 | Two-degree-of-freedom large-stroke micro-clamp with rubbing operation |
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| Publication Number | Publication Date |
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| CN116408768A true CN116408768A (en) | 2023-07-11 |
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| CN202310592821.8A Withdrawn CN116408768A (en) | 2023-05-24 | 2023-05-24 | Two-degree-of-freedom large-stroke micro-clamp with rubbing operation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117944086A (en) * | 2024-03-26 | 2024-04-30 | 华东交通大学 | Piezoelectric driving flexible clamping mechanism with adjustable maximum jaw |
| CN118269024A (en) * | 2024-05-30 | 2024-07-02 | 华东交通大学 | Composite piezoelectric driving three-degree-of-freedom compliant micro gripper with low parasitic displacement |
-
2023
- 2023-05-24 CN CN202310592821.8A patent/CN116408768A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117944086A (en) * | 2024-03-26 | 2024-04-30 | 华东交通大学 | Piezoelectric driving flexible clamping mechanism with adjustable maximum jaw |
| CN118269024A (en) * | 2024-05-30 | 2024-07-02 | 华东交通大学 | Composite piezoelectric driving three-degree-of-freedom compliant micro gripper with low parasitic displacement |
| CN118269024B (en) * | 2024-05-30 | 2024-08-13 | 华东交通大学 | Composite piezoelectric driving three-degree-of-freedom compliant micro gripper with low parasitic displacement |
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Application publication date: 20230711 |
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