CN214187170U - Dual-drive micro-nano operating device with clamping and drawing functions - Google Patents
Dual-drive micro-nano operating device with clamping and drawing functions Download PDFInfo
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- CN214187170U CN214187170U CN202022997608.XU CN202022997608U CN214187170U CN 214187170 U CN214187170 U CN 214187170U CN 202022997608 U CN202022997608 U CN 202022997608U CN 214187170 U CN214187170 U CN 214187170U
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Abstract
The utility model provides a dual-drive micro-nano operating device with clamping and drawing functions, which comprises a flexible hinge mechanical arm, wherein the flexible hinge mechanical arm comprises a bottom plate, two sides of the top of the bottom plate are fixedly connected with a first flexible hinge, the dual-drive micro-nano operating device with the clamping and drawing functions can drive an operating arm to move together with a first piezoelectric ceramic driver by taking the first piezoelectric ceramic driver as a power output mechanism, and pulls the operating arm inwards by a fourth flexible hinge at two sides in a bridge type amplifying mechanism, so that the clamping of the operating arm is realized in the process, a second piezoelectric ceramic driver works and extends under the action of voltage, the second flexible hinge guides the operating arm to move in the same direction, the drawing function of the operating arm in a clamping state is realized, and the clamping and drawing functions are realized, the matching of the structures is suitable for the separation operation of the micro-nano object on the matrix mechanism.
Description
Technical Field
The utility model belongs to the holder field, especially, dual drive receives operating means a little with press from both sides tight function of drawing.
Background
The gripper is a device for holding an object and further controlling the object, and can clamp and release the object while performing certain actions, the motion device usually simulates the motion of a human body, and the motion of fingers is simulated in terms of the gripper, the fingers do not belong to the gripper, and the fingers are only special customized tools for clamping the object, namely clamping pieces, and the gripper only improves the clamping function at present, does not have the clamping-pulling function, and is inconvenient to replace a piezoelectric ceramic driver, so that the double-drive micro-nano operating device with the clamping-pulling function is needed to solve the technical problems.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: to the problem among the prior art, the utility model provides a dual drive receives operating means a little with press from both sides tight function of drawing.
The technical scheme is as follows: a dual-drive micro-nano operating device with a clamping and drawing function comprises a flexible hinge mechanical arm, wherein the flexible hinge mechanical arm comprises a bottom plate, two sides of the top of the bottom plate are fixedly connected with first flexible hinges, the tops of the two first flexible hinges are fixedly connected with connecting rods, two sides of the surface of each connecting rod are respectively provided with a second flexible hinge, two sides of the top of each connecting rod are respectively fixedly connected with a third flexible hinge, the top of each third flexible hinge is fixedly connected with a fixed block, one opposite side of the two fixed blocks is respectively fixedly connected with a fourth flexible hinge, one side of each fourth flexible hinge far away from the fixed block is respectively fixedly connected with a diamond-shaped mounting frame, an inner cavity of the diamond-shaped mounting frame is provided with a first piezoelectric ceramic driver, the top of the fixed block is fixedly connected with a fifth flexible hinge, and the top of the fifth flexible hinge is fixedly connected with an operating arm, the bottom of connecting rod and the top of bottom plate all are provided with second piezoceramics driver, the axle center department on connecting rod surface is provided with the bolt hole.
Preferably, first mounting grooves are formed in the top and the bottom of the inner cavity of the rhombic mounting frame, and the first piezoelectric ceramic drivers are located in the inner cavities of the first mounting grooves.
Preferably, the bottom of connecting rod and the top of bottom plate have all been seted up the second mounting groove, second piezoceramics driver is located two the inner chamber of second mounting groove.
Preferably, the top of the rhombic installation frame and the bottom of the bottom plate are both in threaded connection with pre-tightening bolts.
The utility model has the advantages that:
(1) the utility model discloses a dual drive micro-nano operating means with press from both sides tight function of drawing, through first piezoceramics driver as power take off mechanism, can drive the action arm along with first piezoceramics driver is with moving, and the fourth flexible hinge of both sides draws the action arm to the inboard in the bridge type mechanism of amplification, realize the clamp of action arm in this process, and second piezoceramics driver work extension under the voltage effect, lead through the second flexible hinge, drive the action arm with the equidirectional motion, realize the function of drawing under the action arm clamping state, realize having the centre gripping-function of drawing from this, the cooperation of above structure, be applicable to the operation that breaks away from at the base member mechanism of object that receives the nanometer scale, for example, draw out the cellosilk from the base material;
(2) the utility model discloses a dual drive micro-nano operating device with press from both sides tight function of drawing, through setting up first mounting groove, can conveniently carry out the dismouting to first piezoceramics driver;
the second piezoelectric ceramic driver can be conveniently disassembled and assembled by arranging the second mounting groove;
through setting up pretension bolt, can carry out the pretension to first piezoceramics driver or second piezoceramics driver.
Drawings
Fig. 1 is an overall schematic view of a dual-drive micro-nano operating device with clamping and drawing functions according to the present invention;
FIG. 2 is a perspective view of the flexible hinge robot arm shown in FIG. 1;
FIG. 3 is an enlarged view of a portion of FIG. 1;
fig. 4 is a partially enlarged view of B shown in fig. 1.
The reference signs are: 1. a flexible hinge mechanical arm; 2. a base plate; 3. a first flexible hinge; 4. a connecting rod; 5. a second flexible hinge; 6. a third flexible hinge; 7. a fixed block; 8. a fourth flexible hinge; 9. installing a frame in a diamond shape; 10. a first piezoelectric ceramic driver; 11. a fifth flexible hinge; 12. an operating arm; 13. a second piezoelectric ceramic driver; 14. bolt holes; 15. a first mounting groove; 16. a second mounting groove; 17. and pre-tightening the bolts.
Detailed Description
In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand and understand, the present invention is further described below with reference to the following embodiments.
As shown in figures 1-4, the utility model discloses a dual-drive micro-nano operating device with clamping and drawing functions, which comprises a flexible hinge mechanical arm 1, the flexible hinge mechanical arm 1 comprises a bottom plate 2, both sides of the top of the bottom plate 2 are fixedly connected with first flexible hinges 3, the tops of the two first flexible hinges 3 are fixedly connected with connecting rods 4, both sides of the surface of the connecting rod 4 are provided with second flexible hinges 5, both sides of the top of the connecting rod 4 are fixedly connected with third flexible hinges 6, the top of the third flexible hinge 6 is fixedly connected with a fixed block 7, both opposite sides of the two fixed blocks 7 are fixedly connected with fourth flexible hinges 8, one sides of the two fourth flexible hinges 8 far away from the fixed block 7 are fixedly connected with a diamond-shaped mounting frame 9, the inner cavity of the diamond-shaped mounting frame 9 is provided with a first piezoelectric ceramic driver 10, the top of the fixed block 7 is fixedly connected with a fifth flexible hinge 11, an operating arm 12 is fixedly connected to the top of the fifth flexible hinge 11, a second piezoelectric ceramic driver 13 is arranged at the bottom of the connecting rod 4 and the top of the bottom plate 2, a bolt hole 14 is arranged at the axis of the surface of the connecting rod 4, the first piezoelectric ceramic driver 10 is used as a power output mechanism, the operating arm 12 can be driven to move along with the first piezoelectric ceramic driver 10, the operating arm 12 is pulled inwards by the fourth flexible hinges 8 at two sides in the bridge type amplification mechanism, in the process, the clamping of the operating arm 12 is realized, the second piezoelectric ceramic driver 13 extends under the action of voltage, the second flexible hinge 5 is used for guiding, the operating arm 12 is driven to move in the same direction, the drawing function of the operating arm 12 in the clamping state is realized, and the clamping-drawing function is realized, the matching of the structures is suitable for the separation operation of micro-nano-scale objects on the base body mechanism, for example, by drawing the filaments from the base material.
Preferably, first mounting groove 15 has all been seted up to 9 inner chambers of rhombus installing frame's top and bottom, and first piezoceramics driver 10 is located the inner chamber of two first mounting grooves 15, through setting up first mounting groove 15, can conveniently carry out the dismouting to first piezoceramics driver 10.
Preferably, second mounting groove 16 has all been seted up with the top of bottom plate 2 to the bottom of connecting rod 4, and second piezoceramics driver 13 is located the inner chamber of two second mounting grooves 16, through setting up second mounting groove 16, can conveniently carry out the dismouting to second piezoceramics driver 13.
Preferably, the top of the rhombic installation frame 9 and the bottom of the bottom plate 2 are both connected with a pre-tightening bolt 17 in a threaded manner, and the first piezoelectric ceramic driver 10 or the second piezoelectric ceramic driver 13 can be pre-tightened by the pre-tightening bolts 17.
An operation method of a dual-drive micro-nano operation device with a clamping and drawing function comprises the following specific steps:
s1: firstly, the rhombic installation frame 9 is extruded, the first piezoelectric ceramic driver 10 can be installed in the rhombic installation frame 9 and clamped through the first installation groove 15 and the first piezoelectric ceramic driver 10, then the connecting rod 4 and the bottom plate 2 are pulled in opposite directions, and the second piezoelectric ceramic driver 13 can be installed between the connecting rod 4 and the bottom plate 2 and positioned in the second installation groove 16 and clamped;
s2: when the first piezoelectric ceramic driver 10 or the second piezoelectric ceramic driver 13 needs to be disassembled, otherwise, the operation is performed, so that the first piezoelectric ceramic driver 10 or the second piezoelectric ceramic driver 13 is convenient to replace;
s3: the device is connected with an external micro-motion mechanism through a bolt hole 14, and then the first piezoelectric ceramic driver 10 or the second piezoelectric ceramic driver 13 is pre-tightened in the cavity by rotating two pre-tightening bolts 17, so that the first piezoelectric ceramic driver 10 or the second piezoelectric ceramic driver 13 can be tightly attached to the flexible hinge mechanical arm 1;
s4: then, plugs of a first piezoelectric ceramic driver 10 and a second piezoelectric ceramic driver 13 are electrified, an external controller of the first piezoelectric ceramic driver 10 is started firstly, the first piezoelectric ceramic driver 10 is made to extend under the action of voltage, the first piezoelectric ceramic driver 10 moves axially, an operating arm 12 is driven by a third flexible hinge 6 and a fourth flexible hinge 8 to move together with the first piezoelectric ceramic driver 10, the operating arm 12 is pulled inwards by the fourth flexible hinges 8 on two sides in a bridge type amplification mechanism, and clamping of the operating arm 12 is achieved in the process;
s5: and then starting an external controller of the second piezoelectric ceramic driver 13 to enable the second piezoelectric ceramic driver 13 to work and extend under the action of voltage, guiding the second flexible hinge 5 to drive the operating arm 12 to move in the same direction, and realizing the drawing function of the operating arm 12 in a clamping state, so that the clamping-drawing function is realized, the clamping-drawing function is realized through the matching of the first piezoelectric ceramic driver 10 and the second piezoelectric ceramic driver 13, the object with the micro-nano scale can be conveniently drawn out from the base material, the structure is matched, the method is suitable for the separation operation of the object with the micro-nano scale on the base mechanism, for example, a fiber wire is drawn out from the base material, and a strain gauge is pasted at the fifth flexible hinge 11, so that the force feedback function can be realized, the structure is compact, the cost is low, and the control is simple.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the details of the above embodiments, and the technical concept of the present invention can be modified to perform various equivalent transformations, which all belong to the protection scope of the present invention.
Claims (4)
1. The utility model provides an operating means is received a little to dual drive with press from both sides tight function of drawing, includes flexible hinge arm (1), its characterized in that: the flexible hinge mechanical arm (1) comprises a bottom plate (2), wherein first flexible hinges (3) are fixedly connected to two sides of the top of the bottom plate (2), connecting rods (4) are fixedly connected to the tops of the first flexible hinges (3), second flexible hinges (5) are arranged on two sides of the surface of each connecting rod (4), third flexible hinges (6) are fixedly connected to two sides of the top of each connecting rod (4), fixing blocks (7) are fixedly connected to the tops of the third flexible hinges (6), fourth flexible hinges (8) are fixedly connected to one opposite sides of the two fixing blocks (7), rhombic installing frames (9) are fixedly connected to one sides, far away from the fixing blocks (7), of the four flexible hinges (8), first piezoelectric ceramic drivers (10) are arranged in inner cavities of the rhombic installing frames (9), the top fixedly connected with of fixed block (7) is flexible hinge (11) fifth, the top fixedly connected with operating arm (12) of flexible hinge (11) fifth, the bottom of connecting rod (4) and the top of bottom plate (2) all are provided with second piezoceramics driver (13), the axle center department on connecting rod (4) surface is provided with bolt hole (14).
2. The dual-drive micro-nano operating device with the clamping and drawing functions according to claim 1 is characterized in that: first mounting groove (15) have all been seted up to the top and the bottom of rhombus installing frame (9) inner chamber, first piezoceramics driver (10) are located two the inner chamber of first mounting groove (15).
3. The dual-drive micro-nano operating device with the clamping and drawing functions according to claim 1 is characterized in that: second mounting grooves (16) have all been seted up with the top of bottom plate (2) to the bottom of connecting rod (4), second piezoceramics driver (13) are located two the inner chamber of second mounting groove (16).
4. The dual-drive micro-nano operating device with the clamping and drawing functions according to claim 1 is characterized in that: the top of the rhombic installation frame (9) and the bottom of the bottom plate (2) are both in threaded connection with pre-tightening bolts (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022997608.XU CN214187170U (en) | 2020-12-15 | 2020-12-15 | Dual-drive micro-nano operating device with clamping and drawing functions |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022997608.XU CN214187170U (en) | 2020-12-15 | 2020-12-15 | Dual-drive micro-nano operating device with clamping and drawing functions |
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| CN214187170U true CN214187170U (en) | 2021-09-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112659096A (en) * | 2020-12-15 | 2021-04-16 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Dual-drive micro-nano operation device and method with clamping and drawing functions |
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- 2020-12-15 CN CN202022997608.XU patent/CN214187170U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112659096A (en) * | 2020-12-15 | 2021-04-16 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Dual-drive micro-nano operation device and method with clamping and drawing functions |
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