CN208409901U

CN208409901U - A kind of piezoelectric fabric driving micro-clamp

Info

Publication number: CN208409901U
Application number: CN201820995022.XU
Authority: CN
Inventors: 李欣悦
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-06-26
Filing date: 2018-06-26
Publication date: 2019-01-22
Anticipated expiration: 2028-06-26

Abstract

The utility model discloses a kind of piezoelectric fabrics to drive micro-clamp, micro-clamp matrix both ends equipped with a U-shaped are connected by flexible hinge with the rear end of bending-like micro-clamp postbrachium, the front end of bending-like micro-clamp postbrachium is connected by flexible hinge with the rear end of the forearm of a shape, gap-like jaw is formed between the front end of the forearm of one shape, it is characterised in that: the two sides of whole flexible hinges are respectively equipped with piezoelectric fabric piece.It only can also be equipped with piezoelectric fabric piece in the unilateral side of all flexible hinges, or only be respectively provided with piezoelectric fabric piece in the rear end bilateral of the bending-like micro-clamp postbrachium or unilateral side；Can also piezoelectric fabric piece only be respectively provided in the rear end bilateral of the forearm of all shape or unilateral side.The utility model realizes the clamping and release movement of micro-clamp, flexible operation, displacement is big, chucking power is strong, can be widely applied in Micro-Robot, micromachined and micro assemby with a kind of simple structure.

Description

A kind of piezoelectric fabric driving micro-clamp

Technical field

The utility model patent is related to a kind of executing agency of Micro-Robot.

Background technique

Micro-clamp is an advanced subject of domestic and international micromechanics area research, acts not only as holding for Micro-Robot Also there is relevant application in row mechanism in fields such as micromachined, assembly, microwelding, bio-engineering research, medicine, optics. The major function of micro-clamp is to clamp or grab small items and micro mechanism.Its mode of operation is broadly divided into absorption and clamping: Do not have when having strict demand to the shape of processing object and material using when suction type, and using method of clamping to processing object It is strict with, because this latter use scope is wider.

The mostly cooperation of flexible structure and piezoelectric ceramic actuator, has displacement in the micro-clamp using method of clamping The advantages that high resolution, response fast, without fretting wear.But this scheme also have the shortcomings that it is obvious: due to piezoelectric ceramics execute The output displacement of device is generally smaller, and in millimeter or the occasion of submillimeter, the flexible structure of micro-clamp is needed using displacement equations knot Structure certainly will increase the complexity of structure, and malfunction in this way, and jaw opening width is limited, so that its use scope is limited, Implementation effect is undesirable.The utility model devises a kind of micro-clamp of piezoelectric fabric piece driving, and structure is simple, jaw opens Degree is big, chucking power is big, flexible operation, has a wide range of application.

Utility model content

The purpose of this utility model is provide a kind of structure with application prospect against the above deficiency simple, flexible operation, tool The micro-clamp of standby big chucking power and big displacement, the technical solution of the utility model are achieved in that

A kind of piezoelectric fabric driving micro-clamp, the micro-clamp matrix equipped with a U-shaped, one end of micro-clamp matrix pass through soft Property hinge I be connected with the rear end of bending-like micro-clamp postbrachium I and the other end passes through after flexible hinge II and bending-like micro-clamp The rear end of arm II is connected, and the front end of bending-like micro-clamp postbrachium I is connected by the rear end of the forearm I of the shape of flexible hinge III and one It connects and the front end of bending-like micro-clamp postbrachium II is connect by flexible hinge I V with the rear end of the forearm II of a shape, a shape Forearm I front end and a shape forearm II front end between formed gap-like jaw, it is characterised in that: the two of flexible hinge I Side is respectively equipped with piezoelectric fabric piece I and piezoelectric fabric piece II, and the two sides of flexible hinge II are respectively equipped with piezoelectric fabric piece III and pressure Electric fibre plate I V, the two sides of flexible hinge III are respectively equipped with piezoelectric fabric piece V and piezoelectric fabric piece V I, flexible hinge I V Two sides are respectively equipped with piezoelectric fabric piece V II and piezoelectric fabric piece V III.It can be as needed in flexible hinge I, flexibility in present case Hinge II, flexible hinge III, flexible hinge I V unilateral side be equipped with piezoelectric fabric piece, or in bending-like micro-clamp postbrachium I, bending Shape micro-clamp postbrachium II, the forearm I of a shape, a shape forearm II rear end bilateral or unilateral be equipped with piezoelectric fabric piece.This All flexible hinges are arc-shaped in case, can according to need and are designed into the forms such as rectangular, trapezoidal, oval.This The driving method for mainly being directly driven flexible hinge joint part in case using piezoelectric fabric piece, is held with traditional piezoelectric ceramics The driving of row device compares, and piezoelectric fabric piece output displacement is bigger, and power output is also bigger, keeps micro-clamp operation more flexible, have compared with Big output displacement and biggish chucking power.

Due to the adoption of the above technical scheme, the utility model provides a kind of piezoelectric fabric driving micro-clamp, passes through a kind of letter Single structure makes micro-clamp have the characteristics that flexible movements, jaw opening width are big, displacement is big, chucking power is big, have a wide range of application, The actuator that can be used as Micro-Robot, micromachined makes it have better working performance.

Detailed description of the invention

Fig. 1 is the perspective view that a kind of piezoelectric fabric of the utility model drives micro-clamp；

Fig. 2 is the main view that a kind of piezoelectric fabric of the utility model drives micro-clamp；

Fig. 3 is the left view of Fig. 2.

In figure: 1, micro-clamp matrix, 2-1, micro-clamp postbrachium I, 2-2, micro-clamp postbrachium II, 3-1, forearm I are 3-2, preceding Arm II, 4, flexible hinge I, 5, flexible hinge II, 6, flexible hinge III, 7, flexible hinge I V, 8, piezoelectric fabric piece I, 9, piezoelectricity Fibre plate II, 10, piezoelectric fabric piece III, 11, piezoelectric fabric piece I V, 12, piezoelectric fabric piece V, 13, piezoelectric fabric piece V I, 14, piezoelectric fabric piece V II, 15, piezoelectric fabric piece V III, 16, micro-clamp jaw.

Specific embodiment

From attached drawing it can be seen that the utility model uses piezoelectric fabric piece as driver, micro-clamp postbrachium and forearm are realized Side-to-side movement, complete the clamping or grasping movement of micro-clamp.

Piezoelectric fabric drives micro-clamp, and the micro-clamp matrix 1 equipped with a U-shaped, one end of micro-clamp matrix 1 passes through flexibility Hinge I -4 is connected with the rear end of I -2-1 of bending-like micro-clamp postbrachium and the other end is micro- with bending-like by flexible hinge II -5 The rear end of II -2-2 of clamp postbrachium is connected, and the front end of I -2-1 of bending-like micro-clamp postbrachium passes through flexible hinge III -6 and a word The rear end of the I -3-1 of forearm of shape connects and the front end of II -2-2 of bending-like micro-clamp postbrachium passes through flexible hinge I V -7 and a word The rear end of the II -3-2 of forearm of shape connects, the front end of the II -3-2 of forearm of a front end and shape of the I -3-1 of forearm of a shape it Between formed gap-like jaw 16, it is characterised in that: the two sides of flexible hinge I -4 are respectively equipped with piezoelectric fabric piece I -8 and piezoelectric fabric Piece II -9, the two sides of flexible hinge II -5 are respectively equipped with piezoelectric fabric piece III -10 and piezoelectric fabric piece I V -11, flexible hinge III -6 two sides are respectively equipped with piezoelectric fabric piece V -12 and piezoelectric fabric piece V I -13, and the two sides of flexible hinge I V -7 are set respectively There are piezoelectric fabric piece V II -14 and piezoelectric fabric piece V III -15.

According to the inverse piezoelectric effect of piezoelectric fabric piece, under voltage effect, piezoelectric fabric piece can be completed to extend and shorten Movement.The piezoelectric fabric piece I -8 and piezoelectric fabric piece II -9 of I -4 two sides of flexible hinge and the piezoelectricity of II -5 two sides of flexible hinge Fibre plate III -10 and piezoelectric fabric piece I V -11 pass through piezoelectric fabric piece II -9, the shortening of piezoelectric fabric piece I V -11 and piezoelectricity I -2-1 of bending-like micro-clamp postbrachium, bending-like micro-clamp postbrachium may be implemented in fibre plate I -8, the elongation of piezoelectric fabric piece III -10 II -2-2 lateral bend inwardly passes through piezoelectric fabric piece II -9, the elongation of piezoelectric fabric piece I V -11 and piezoelectric fabric piece I -8, pressure I -2-1 of bending-like micro-clamp postbrachium, II -2-2 of bending-like micro-clamp postbrachium lateral bending outwardly may be implemented in the electric shortening of fibre plate III -10 Song, to realize the side-to-side movement of I -2-1 of bending-like micro-clamp postbrachium, II -2-2 of bending-like micro-clamp postbrachium.Flexible hinge III- The piezoelectric fabric piece V -12 and piezoelectric fabric piece V I -13 of 6 two sides and the piezoelectric fabric piece V II-of I V -7 two sides of flexible hinge 14 and piezoelectric fabric piece V III -15 pass through piezoelectric fabric piece V I -13, the shortening of piezoelectric fabric piece V III -15 and piezoelectric fabric piece V -12, piezoelectric fabric piece V II -14 extends the II -3-2 of forearm of I -3-1 of forearm, a shape that a shape may be implemented inwards Bending, passes through piezoelectric fabric piece V I -13, the elongation of piezoelectric fabric piece V III -15 and piezoelectric fabric piece V -12, piezoelectric fabric piece V II -14 shorten II -3-2 of the forearm lateral bend outwardly that the I -3-1 of forearm of a shape, a shape may be implemented, to realize one The side-to-side movement of the I -3-1 of forearm, the II -3-2 of forearm of a shape of shape.The forearm of the I -3-1 of forearm of one shape, a shape II -3-2, I -2-1 of bending-like micro-clamp postbrachium, II -2-2 of bending-like micro-clamp postbrachium are unanimously curved to the inside and micro- folder may be implemented The release movement of micro-clamp may be implemented in the holding action of pincers, consistent lateral bend outward, individually can also carry out bending completion by arm Clamping and the movement unclamped.I -2-1 of bending-like micro-clamp postbrachium, II -2-2 of bending-like micro-clamp postbrachium mainly provide output bit It moves, auxiliary offer chucking power, the I -3-1 of forearm of a shape, the II -3-2 of forearm of a shape mainly provide chucking power, auxiliary provides Output displacement.It can also be in flexible hinge I -4, flexible hinge II -5, flexible hinge III -6, flexible hinge I V -7 in present case Unilateral setting piezoelectric fabric piece.It can also be in I -2-1 of bending-like micro-clamp postbrachium, bending-like micro-clamp postbrachium in present case I -3-1 of II -2-2 and the forearm of a shape, a shape II -3-2 of forearm rear end sides or unilateral setting piezoelectric fabric piece.This All flexible hinges are arc-shaped in case, can according to need and are designed into the forms such as rectangular, trapezoidal, oval.

The application method of this piezoelectric fabric driving micro-clamp, its main feature is that: by the rigid structure of conventional pliers, by imitative The principle that green hand refers to carries out submissiveization to it using flexible hinge structure, increases flexible joint, while micro-clamp clamp arm being divided into Forearm and postbrachium；Using the driving method in control joint, micro-clamp flexible joint is carried out to directly drive control, it is new by controlling The elongation and shortening of type intellectual material piezoelectric fabric piece, directly control flexible joint-flexible hinge structure of micro-clamp, make micro- Clamp can flexibly be bent stretching, extension as finger.

The driving method of flexible hinge joint part is mainly directly driven using piezoelectric fabric piece in present case, and it is traditional Piezoelectric ceramic actuator driving compares, and piezoelectric fabric piece output displacement is bigger, and power output is also bigger, makes micro-clamp operation more Flexibly, clamping is accurate, and micro-clamp is made to have biggish output displacement and biggish chucking power, is applicable to a variety of occasions, The holding action of some complexity can be completed, operating characteristics is preferable.

In conclusion the piezoelectric fabric of the utility model drives micro-clamp, the inverse piezoelectric effect of piezoelectric fabric piece is utilized, The clamping and release movement of micro-clamp are realized with a kind of simple U-shaped structure, flexible movements, displacement is big, chucking power is big, can It is widely used in Micro-Robot, micromachined and micro assemby.

Claims

1. a kind of piezoelectric fabric driving micro-clamp, the micro-clamp matrix (1) equipped with a U-shaped, the one of the micro-clamp matrix (1) The other end that is connected by flexible hinge I (4) with the rear end of bending-like micro-clamp postbrachium I (2-1) is held to pass through flexible hinge II (5) it is connected with the rear end of bending-like micro-clamp postbrachium II (2-2), the front end of the bending-like micro-clamp postbrachium I (2-1) passes through Flexible hinge III (6) connect with the rear end of the forearm I (3-1) of a shape and before the bending-like micro-clamp postbrachium II (2-2) End is connect by flexible hinge I V (7) with the rear end of the forearm II (3-2) of a shape, the forearm I (3-1) of a shape Gap-like jaw (16) are formed between the front end of the forearm II (3-2) of front end and a shape, it is characterised in that: the flexible hinge I (4) two sides are respectively equipped with piezoelectric fabric piece I (8) and piezoelectric fabric piece II (9), the two sides difference of the flexible hinge II (5) Equipped with piezoelectric fabric piece III (10) and piezoelectric fabric piece I V (11), the two sides of the flexible hinge III (6) are respectively equipped with piezoelectricity fibre Dimension piece V (12) and piezoelectric fabric piece V I (13), the two sides of the flexible hinge I V (7) are respectively equipped with piezoelectric fabric piece V II (14) and piezoelectric fabric piece V III (15).

2. piezoelectric fabric according to claim 1 drives micro-clamp, it is characterised in that: only the flexible hinge I (4), Flexible hinge II (5), flexible hinge III (6), flexible hinge I V (7) unilateral side be respectively provided with piezoelectric fabric piece.

3. piezoelectric fabric according to claim 1 drives micro-clamp, it is characterised in that: only after the bending-like micro-clamp Arm I (2-1), bending-like micro-clamp postbrachium II (2-2) rear end bilateral be respectively provided with piezoelectric fabric piece.

4. piezoelectric fabric according to claim 1 drives micro-clamp, it is characterised in that: only after the bending-like micro-clamp Arm I (2-1), bending-like micro-clamp postbrachium II (2-2) rear end unilateral side be respectively provided with piezoelectric fabric piece.

5. piezoelectric fabric according to claim 1 drives micro-clamp, it is characterised in that: only in the forearm I of a shape The rear end bilateral of the forearm II (3-2) of (3-1), a shape is respectively provided with piezoelectric fabric piece.

6. piezoelectric fabric according to claim 1 drives micro-clamp, it is characterised in that: only in the forearm I of a shape The rear end unilateral side of the forearm II (3-2) of (3-1), a shape is respectively provided with piezoelectric fabric piece.

7. piezoelectric fabric according to claim 1 drives micro-clamp, it is characterised in that: the flexible hinge I (4), flexibility Hinge II (5), flexible hinge III (6), flexible hinge I V (7) shape be arc-shaped.

8. piezoelectric fabric according to claim 7 drives micro-clamp, it is characterised in that: the flexible hinge shape side of being Shape.