CN212445211U - Piezoelectric micro-clamp with twisting function - Google Patents
Piezoelectric micro-clamp with twisting function Download PDFInfo
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- CN212445211U CN212445211U CN201922116892.2U CN201922116892U CN212445211U CN 212445211 U CN212445211 U CN 212445211U CN 201922116892 U CN201922116892 U CN 201922116892U CN 212445211 U CN212445211 U CN 212445211U
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- centre gripping
- clamping
- piezoelectric ceramic
- seesaw
- gripping arm
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- 239000000919 ceramic Substances 0.000 claims description 26
- 230000000694 effects Effects 0.000 abstract description 5
- 230000007246 mechanism Effects 0.000 abstract description 5
- 210000000080 chela (arthropods) Anatomy 0.000 abstract description 4
- 238000010030 laminating Methods 0.000 abstract description 4
- 230000006870 function Effects 0.000 description 12
- 230000009471 action Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a piezoelectricity micro gripper with function of rubbing with hands, frame including the U shape, the inner wall that the frame upper end is relative has the centre gripping arm, two through flexible hinge movable mounting the equal fixedly connected with clamping head in centre gripping arm upper end, centre gripping arm lower extreme has the seesaw through flexible hinge movable mounting, the about hole of face of cylinder has been seted up to seesaw terminal surface center department. The utility model relates to a piezoelectricity pincers a little, in particular to piezoelectricity pincers a little with rub with hands function belongs to and receives processing technology field a little. The utility model discloses a relative motion control of centre gripping arm realizes that the holding head has relative motion when being close to each other, can realize rubbing with the hands the function a little, and the centre gripping head slope of piezoceramics pretension spring upper end sets up, makes two terminal surfaces laminating effectual, and the centre gripping is effectual, through setting up centre gripping arm pretension spring, the pretension effect of two centre gripping arms is better, and the mechanism is whole more stable.
Description
Technical Field
The utility model relates to a piezoelectricity pincers a little, in particular to piezoelectricity pincers a little with rub with hands function belongs to and receives processing technology field a little.
Background
As a key component of a micro-electro-mechanical system, the micro-clamp is a basic tool for communicating a macro world with a micro world, and can realize operations such as picking up, clamping and releasing, so that the micro-clamp is widely applied to the fields such as micro-assembly, biomedicine, aerospace, military and the like.
Compared with electrostatic comb drive, electrothermal drive, shape memory alloy drive and the like, the piezoelectric stack drive has the advantages of high resolution, large drive force, wide frequency response range, high response speed, good dynamic characteristic and the like, and is particularly suitable for driving the micro-clamp. In the technical field of micro assembly, rotation fine adjustment is often needed to be carried out on a clamped object, so that the micro clamp has a twisting function when being applied to clamping, on one hand, the micro rotation of the clamped object can be realized by utilizing the twisting function, on the other hand, the clamping force on the object can be increased by utilizing the micro twisting function, the object is prevented from falling off, and the existing micro clamp has no twisting function.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a piezoelectricity micro gripper with function is rubbed with hands to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a piezoelectricity micro gripper with function of rubbing with hands, includes the frame of U shape, the relative inner wall in frame upper end has the centre gripping arm, two through flexible hinge movable mounting the equal fixedly connected with clamping head in centre gripping arm upper end, centre gripping arm lower extreme has the seesaw through flexible hinge movable mounting, the about hole in face of cylinder has been seted up to seesaw terminal surface center department, and the seesaw uses the about hole in face of cylinder to be rotary motion as the axle, fixed mounting respectively has piezoceramics pretension spring and piezoceramics driver between seesaw both ends below and the inside bottom of frame, piezoceramics pretension spring and piezoceramics driver arrange in two respectively the clamping arm below is arranged in the clamping head terminal surface top of piezoceramics pretension spring top leans out, two fixedly connected with clamping arm pretension spring between the clamping arm.
As a preferred technical scheme of the utility model, centre gripping arm pretension spring is rectangular form elastic plate, and both ends are 90 degrees and buckle.
As a preferred technical scheme of the utility model, two mounting grooves have been seted up to the inside bottom of frame, install respectively two piezoceramics pretension spring and piezoceramics driver in the mounting groove.
As an optimal technical scheme of the utility model, two the centre gripping arm uses centre gripping arm pretension spring as the axisymmetric distribution.
As an optimized technical scheme of the utility model, the fixing bolt hole has been seted up to the frame terminal surface.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model discloses a relative motion control of centre gripping arm realizes that the holding head has relative motion when being close to each other, can realize rubbing with the hands the function a little, and the centre gripping head slope of piezoceramics pretension spring upper end sets up, makes two terminal surfaces laminating effectual, and the centre gripping is effectual, through setting up centre gripping arm pretension spring, the pretension effect of two centre gripping arms is better, and the mechanism is whole more stable.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural view of the pre-tightening spring of the middle clamping arm of the present invention.
In the figure: 1. a clamp arm; 2. a flexible hinge; 3. a seesaw; 4. a piezoelectric ceramic pre-tightening spring; 5. a clamping head; 6. the clamping arm pre-tensions the spring; 7. a frame; 8. a cylindrical surface restraining hole; 9. a piezoelectric ceramic driver; 10. and fixing the bolt hole.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-2, the utility model provides a piezoelectric micro-gripper with rubbing function, comprising a U-shaped frame 7, wherein the inner wall opposite to the upper end of the frame 7 is movably provided with a clamping arm 1 through a flexible hinge 2, the upper ends of the two clamping arms 1 are fixedly connected with a clamping head 5, the lower end of the clamping arm 1 is movably provided with a seesaw 3 through the flexible hinge 2, the center of the end surface of the seesaw 3 is provided with a cylindrical surface restriction hole 8, the seesaw 3 rotates around the cylindrical surface restriction hole 8, the seesaw 3 is restricted by a splicing bolt in the cylindrical surface restriction hole 8, a piezoelectric ceramic pre-tightening spring 4 and a piezoelectric ceramic driver 9 are respectively and fixedly arranged between the lower parts of the two ends of the seesaw 3 and the bottom end inside the frame 7, the piezoelectric ceramic pre-tightening spring 4 and the piezoelectric ceramic driver 9 are respectively arranged below the two clamping arms 1, the upper part of the clamping head 5 arranged above the piezoelectric ceramic pre-tightening spring, a clamping arm pre-tightening spring 6 is fixedly connected between the two clamping arms 1.
Centre gripping arm pretension spring 6 is rectangular form elastic plate, and both ends are 90 degrees and buckle, and convenient to its fixed mounting, two mounting grooves have been seted up to 7 inside bottoms in the frame, and piezoceramics pretension spring 4 and piezoceramics driver 9 are installed respectively in two mounting grooves, reduce the structure volume, and two centre gripping arms 1 use centre gripping arm pretension spring 6 to be axisymmetric distribution, and fixing bolt hole 10 has been seted up to 7 terminal surfaces in the frame for it is fixed.
The working principle of the present invention will be specifically explained below: firstly, assembling a mechanism according to a diagram, adjusting the pretightening force of a piezoelectric ceramic pretightening spring 4, then fixing an assembled clamp at the tail end of a micro-operation mechanism through four bolts and fixing bolt holes 10, wherein the bolts penetrate through a cylindrical surface constraint hole 8 to enable a seesaw 3 to rotate by taking the bolts in the cylindrical surface constraint hole 8 as axes, and converting the deformation of the piezoelectric ceramic pretightening spring 4 into the swing of the seesaw 3 through the constraint of the bolts only with tangential freedom degree through the constraint, when in use, firstly moving a macro-motion platform and a micro-motion platform to the initial position of a micro-clamping object, then applying a voltage amplified by a power amplifier to a piezoelectric ceramic driver 9, extending the piezoelectric ceramic driver 9, pushing one end of the seesaw 3 outwards through a flexible hinge 2, and enabling the seesaw 3 to swing inwards by taking the bolts in the cylindrical surface constraint hole 8 as fulcrums, under the action of a flexible hinge 2 between a clamping arm 1 and a frame 7, the lower end of the clamping arm 1 above a piezoelectric ceramic pre-tightening spring 4 also moves inwards, the upper end of the clamping arm 1 above a piezoelectric ceramic driver 9 moves outwards, meanwhile, under the action of the pre-tightening force of the piezoelectric ceramic pre-tightening spring 4, the two clamping arms 1 deform inwards, so that a clamping head 5 above the piezoelectric ceramic driver 9 moves inwards, a clamping head 5 above the piezoelectric ceramic pre-tightening spring 4 moves outwards, so that the swing of the clamping arm 1 is converted into the relative motion of the clamping head 5 through the flexible hinge 2, meanwhile, a clamping arm pre-tightening spring 6 on the clamping arm clamps the clamping arm 1, so that the twisting motion of the clamping head is formed, the end face of the clamping head 5 above the piezoelectric ceramic pre-tightening spring 4 is obliquely arranged, when the clamping head 5 at the upper end of the piezoelectric ceramic driver 9 is clamped with the clamping head 5 at the upper end of the piezoelectric ceramic, the end face is good in laminating effect and good in clamping effect.
To sum up, the utility model relates to a piezoelectricity micro gripper with rub function with hands for require to have the occasion of rotation a little, like the centre gripping of optic fibre bundle with rub with hands, the centre gripping of cell with rub with hands and move, relative motion control through the centre gripping arm realizes that the holding head has relative motion when being close to each other, can realize rubbing with hands the function a little, the holding head 5 slope setting of 4 upper ends of piezoceramics pretension spring makes two terminal surfaces laminating effectual, the centre gripping is effectual, through setting up centre gripping arm pretension spring 6, two pretension effects of centre gripping arm 1 are better, the whole more stable of mechanism.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments 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. The piezoelectric micro clamp with the rubbing function is characterized by comprising a U-shaped rack (7), wherein clamping arms (1) are movably mounted on the inner wall opposite to the upper end of the rack (7) through flexible hinges (2), clamping heads (5) are fixedly connected to the upper ends of the two clamping arms (1), a seesaw (3) is movably mounted at the lower end of each clamping arm (1) through the flexible hinges (2), a cylindrical surface constraint hole (8) is formed in the center of the end surface of the seesaw (3), the seesaw (3) rotates around the cylindrical surface constraint hole (8), piezoelectric ceramic pre-tightening springs (4) and piezoelectric ceramic drivers (9) are fixedly mounted between the lower portions of the two ends of the seesaw (3) and the bottom end inside the rack (7) respectively, the piezoelectric ceramic pre-tightening springs (4) and the piezoelectric ceramic drivers (9) are arranged below the two clamping arms (1) respectively, and the upper part of the end surface of the clamping head (5) above the piezoelectric ceramic pre-tightening spring (4) inclines outwards, and a clamping arm pre-tightening spring (6) is fixedly connected between the clamping arms (1).
2. The piezoelectric micro-gripper with the twisting function according to claim 1, wherein: the clamping arm pre-tightening spring (6) is a strip-shaped elastic plate, and two ends of the clamping arm pre-tightening spring are bent by 90 degrees.
3. The piezoelectric micro-gripper with the twisting function according to claim 1, wherein: two mounting grooves are formed in the bottom inside the rack (7), and the piezoelectric ceramic pre-tightening spring (4) and the piezoelectric ceramic driver (9) are mounted in the two mounting grooves respectively.
4. The piezoelectric micro-gripper with the twisting function according to claim 1, wherein: the two clamping arms (1) are axially and symmetrically distributed by taking the clamping arm pre-tightening springs (6) as axes.
5. The piezoelectric micro-gripper with the twisting function according to claim 1, wherein: and a fixing bolt hole (10) is formed in the end face of the rack (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922116892.2U CN212445211U (en) | 2019-12-02 | 2019-12-02 | Piezoelectric micro-clamp with twisting function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922116892.2U CN212445211U (en) | 2019-12-02 | 2019-12-02 | Piezoelectric micro-clamp with twisting function |
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| Publication Number | Publication Date |
|---|---|
| CN212445211U true CN212445211U (en) | 2021-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922116892.2U Expired - Fee Related CN212445211U (en) | 2019-12-02 | 2019-12-02 | Piezoelectric micro-clamp with twisting function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110936352A (en) * | 2019-12-02 | 2020-03-31 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Piezoelectric micro-clamp with twisting function |
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2019
- 2019-12-02 CN CN201922116892.2U patent/CN212445211U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110936352A (en) * | 2019-12-02 | 2020-03-31 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Piezoelectric micro-clamp with twisting function |
| CN110936352B (en) * | 2019-12-02 | 2024-05-03 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Piezoelectric micro-clamp with rubbing function |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210202 |