CN202185917U

CN202185917U - Micro-gripper based on flexible hinge

Info

Publication number: CN202185917U
Application number: CN2011200470066U
Authority: CN
Inventors: 夏尊凤
Original assignee: Individual
Current assignee: Individual
Priority date: 2011-02-25
Filing date: 2011-02-25
Publication date: 2012-04-11
Anticipated expiration: 2021-02-25

Abstract

The utility model discloses a novel-structured micro-gripper based on a flexible hinge, which belongs to the technical field of micro-operation and micro electromechanical systems and comprises a drive, a base, a first lower left rigid component, a first lower right rigid component, a second lower left rigid component, a second lower right rigid component, a left rigid component, a right rigid component, a first upper left rigid component, a first upper right rigid component, a second upper left rigid component, a second upper right rigid component, a flexible hinge and clamping arms. The micro-gripper based on the flexible hinge is in a symmetric integral structure, simple in machining, higher in rigidity and reliable in clamping. The structural features of the rigid components enable motion to be amplified effectively by means of the triangle amplification principle, and the flexible hinge and the clamping arms also have the motion amplifying function.

Description

A kind of micro clamping device based on submissive hinge

Affiliated technical field

The utility model relates to a kind of terminal microactuator of micro OS, and a kind of flexible micro clamping device based on submissive hinge belongs to microoperation and field of micro electromechanical technology.

Background technology

The terminal executing agency of micro OS is processing, assembling, photoelectric project and the bioengineering etc. that micro clamping device is widely used in micromechanical parts; The development and the application of MEMS technology are increasingly high to the various performance requirements of terminal executing agency; Characteristics such as submissive linkage has and do not have friction, no gap, nothing assembling, movement sensitive; But the existing micro clamping device that utilizes submissive linkage to design exists rigidity little; The deficiency that the Motion Resolution rate is low, and limited amount are difficult to satisfy the fast development on the practical applications.

Summary of the invention

The utility model provides a kind of micro clamping device based on submissive hinge, monolithic construction, and processing is simple, and it is higher to have rigidity, and motion is amplified and the clamping reliable characteristics.

The utility model solves the technical scheme that its technical problem adopted: micro clamping device is an overall structure; Left-right symmetric; Form by piezoelectric ceramic actuator, matrix, rigid member, submissive hinge and clamper tong arm; Hypotenuse and the reciprocal angle of X axle are less than 30 ° under the left side on the matrix; The angle of bottom right hypotenuse on the matrix and X axle positive direction is less than 30 °, and upper left hypotenuse on the matrix and the reciprocal angle of Y axle are less than 30 °, and upper right hypotenuse on the matrix and the reciprocal angle of Y axle are less than 30 °; First left side rigid member, the first bottom right rigid member, left side rigid member, right side rigid member, the second upper left rigid member, the second upper right rigid member down links to each other with two submissive hinges of matrix adopting respectively.

The second upper left rigid member, the second upper right rigid member contact with clamper tong arm circular arc respectively.

Second left side rigid member down adopts submissive hinge to link to each other with the first left rigid member down with the left side rigid member; Rigid member is parallel with the hypotenuse on the matrix down on second left side; The second bottom right rigid member adopts submissive hinge to link to each other with the first bottom right rigid member and right side rigid member, and the second bottom right rigid member is parallel with the hypotenuse on the matrix; The first upper left rigid member adopts submissive hinge to link to each other with the second upper left rigid member and left side rigid member; The first upper left rigid member is parallel with the hypotenuse on the matrix; The first upper right rigid member adopts submissive hinge to link to each other with the second upper right rigid member and right side rigid member, and the first upper right rigid member is parallel with the hypotenuse on the matrix.

First left side is the rigid member and the first bottom right rigid member down; Arrange along X-direction (horizontal level), link to each other, do parallel motion with two submissive hinges of matrix adopting; Left side rigid member and right side rigid member; Arrange along Y direction (upright position), link to each other, do parallel motion with two submissive hinges of matrix adopting.

Second left side is rigid member down; Adopt submissive hinge to link to each other with rigid member under first left side with the left side rigid member, and must be parallel with the hypotenuse on the matrix, and the angle of hypotenuse on the matrix and X axle opposite direction (horizontal level) is less than 30 °; The second bottom right rigid member; Adopt submissive hinge to link to each other with the first bottom right rigid member and right side rigid member, and must be parallel with the hypotenuse on the matrix, and the angle of hypotenuse on the matrix and X axle positive direction (horizontal level) is less than 30 °.

The first upper left rigid member; Adopt submissive hinge to link to each other with the second upper left rigid member and left side rigid member, and must be parallel with the hypotenuse on the matrix, and the angle of hypotenuse on the matrix and Y axle opposite direction (upright position) is less than 30 °; The first upper right rigid member; Adopt submissive hinge to link to each other with the second upper right rigid member and right side rigid member, and must be parallel with the hypotenuse on the matrix, and the angle of hypotenuse on the matrix and Y axle opposite direction (upright position) is less than 30 °.

The second upper left rigid member and the second upper right rigid member; Arrange along X-direction (horizontal level); Link to each other with two submissive hinges of matrix adopting, do parallel motion, contact with the tong arm circular arc; Gap, circular arc contact position is not essential and as much as possible little, and two tong arms link to each other with a submissive hinge with matrix A respectively.

The beneficial effect of the utility model is, can carry out effective amplification of displacement, on monolithic thin slice blank, processes, and globality is strong, and rigidity is big, and clamping is reliable, novel structure, and size is changeable.

Description of drawings

Below in conjunction with accompanying drawing and embodiment the utility model is further specified.

Accompanying drawing is the utility model structural representation.

In the accompanying drawings; The 1st, piezoelectric ceramic actuator; 2 and 3 is clamper tong arms; A is a matrix, and 4 is that rigid member, 5 is that the first bottom right rigid member, 6 is that rigid member, 7 is second bottom right rigid members, the 8th under second left side under first left side, left side rigid member, the 9th, and right side rigid member, 10 is that the first upper left rigid member, 11 is that the first upper right rigid member, 12 is that the second upper left rigid member, 13 is second upper right rigid members, A is as a whole with matrix.

A is that matrix A goes up left side hypotenuse down, and b is that matrix A goes up the bottom right hypotenuse, and c is that matrix A goes up upper left hypotenuse, and d is that matrix A goes up upper right hypotenuse.

The specific embodiment

In the accompanying drawings, shown in flexible micro clamping device be overall structure, left-right symmetric, 1 is piezoelectric ceramic actuator, 2 and 3 is the clamper tong arm.

First left side rigid member 4 down contacts installation with driver 1; When driver produces motion; Two submissive hinges that rigid member 4 links to each other with matrix A under first left side produce flexural deformations, make the first left rigid member down 4 produce parallel motion, through the second left rigid member 6 down; Drive two submissive hinges generation flexural deformations that left side rigid member 8 links to each other with matrix A; Make left side rigid member 8 produce parallel motion, the first upper left rigid member 10 that moves through that left side rigid member 8 produces drives two submissive hinges generation flexural deformations that the second upper left rigid member 12 links to each other with matrix A, makes the second upper left rigid member 12 produce parallel motion; Thereby drive the submissive hinge generation distortion that tong arm 2 links to each other with matrix A, the motion that makes tong arm 2 produce clampings and loosen.The joint gap of the tong arm 2 and the second upper left rigid member 12 is as much as possible little.

The first bottom right rigid member 5 contacts installation with driver 1; When driver produces motion; Two submissive hinges that the first bottom right rigid member 5 links to each other with matrix A produce flexural deformation, make the first bottom right rigid member 5 produce parallel motion, through the second bottom right rigid member 7; Drive two submissive hinges generation flexural deformations that right side rigid member 9 links to each other with matrix A; Make right side rigid member 9 produce parallel motion, the first upper right rigid member 11 that moves through that right side rigid member 9 produces drives two submissive hinges generation flexural deformations that the second upper right rigid member 13 links to each other with matrix A, makes the second upper right rigid member 13 produce parallel motions; Thereby drive the submissive hinge generation distortion that tong arm 3 links to each other with matrix A, the motion that makes tong arm 3 produce clampings and loosen.The joint gap of the tong arm 3 and second upper right rigid member 13 members is as much as possible little.

Because rigid member 6 is parallel with a limit on the matrix A down on second left side; And the angle of a limit and X axle opposite direction (horizontal level) is less than 30 °; The second bottom right rigid member 7 is parallel with the b limit on the matrix A, and the angle of b limit and X axle positive direction (horizontal level) is less than 30 °, and the first upper left rigid member 10 is parallel with the c limit on the matrix A; And the angle of c limit and Y axle opposite direction (upright position) is less than 30 °; The first upper right rigid member 11 is parallel with the d limit on the matrix A, and the angle of d limit and Y axle opposite direction (upright position) can utilize the triangle amplification principle that motion is effectively amplified less than 30 ° like this.

Can process screwed hole on the matrix A, so that link to each other with other pedestals with screw.

Claims

1. novel micro clamping device based on submissive hinge; It is characterized in that: micro clamping device is an overall structure; Left-right symmetric; Be made up of piezoelectric ceramic actuator, matrix, rigid member, submissive hinge and clamper tong arm, hypotenuse (a) and the reciprocal angle of X axle are less than 30 ° under the left side on the matrix (A), and the bottom right hypotenuse (b) on the matrix (A) and the angle of X axle positive direction are less than 30 °; Upper left hypotenuse (c) on the matrix (A) and the reciprocal angle of Y axle are less than 30 °, and upper right hypotenuse (d) on the matrix (A) and the reciprocal angle of Y axle are less than 30 °; First left side rigid member (4), the first bottom right rigid member (5), left side rigid member (8), right side rigid member (9), the second upper left rigid member (12), the second upper right rigid member (13) down links to each other with two submissive hinges of matrix adopting respectively.

2. the micro clamping device based on submissive hinge according to claim 1 is characterized in that: member (12) contacts with tong arm (2) circular arc, and member (13) contacts with tong arm (3) circular arc.

3. the micro clamping device based on submissive hinge according to claim 1; It is characterized in that: second left side rigid member (6) down adopts submissive hinge to link to each other with the first left rigid member (4) down with left side rigid member (8); Rigid member (6) is parallel with (a) limit on the matrix (A) down on second left side; The second bottom right rigid member (7) adopts submissive hinge to link to each other with the first bottom right rigid member (5) and right side rigid member (9), and the second bottom right rigid member (7) is parallel with (b) limit on the matrix (A); The first upper left rigid member (10) adopts submissive hinge to link to each other with the second upper left rigid member (12) and left side rigid member (8); The first upper left rigid member (10) is parallel with (c) limit on the matrix (A); The first upper right rigid member (11) adopts submissive hinge to link to each other with the second upper right rigid member (13) and right side rigid member (9), and the first upper right rigid member (11) is parallel with (d) limit on the matrix (A).