TWI254697B - Microgripper for a micro-mechanism - Google Patents

Abstract

A microgripper for a micro-mechanism includes a microactuator and a microclamp. The microactuator has an actuating portion adapted to output power, thereby simplifying an operation of the microclamp. The microclamp includes a main body, an engaging portion, a pair of lateral arms and a clamp which simplifies the entire structure. The main body is used to accommodate the microactuator with which the engaging portion is connected. Each of the lateral arms has three connecting joints connecting to the main body, the engaging portion and the clamp respectively that generate a connecting movement. The clamp consists of a pair of clamping arms and a pair of pivot portions and each pivot portion connects to one end of each clamping arm while the other end of each clamping arm performing a clamping operation.

Description

1254697 V. INSTRUCTION DESCRIPTION OF THE INVENTION (1) Technical Field The present invention relates to a microelectromechanical jaw structure, which is particularly related to the use of a microactuator to directly actuate a micro-cooling claw element. The micro-pinch element can produce a mechanical micro-clamping action C mechanical 1y micr〇c1 amping operation]. [Prior Art] A conventional micro-electromechanical jaw structure, as disclosed in U.S. Patent No. 5,895, 082, issued to Maur, issued Apr. 20, 1999, which discloses a micro-claw element and a stepper motor (or servo motor). . The micro-grip element is a pliers-like element having a pair of resilient arms that are fixed at one end to a support portion that is used to grip and release tiny items. The stepper motor drives the micro-jaw element by a cam mechanism to cause a gripping and releasing action by the elastic arm of the micro-cooling jaw element. However, the resilient arm of the micro-jaw member must be actuated by the stepper motor in conjunction with other cam mechanisms to actuate the micro-clamping member. 'The other is a conventional micro-electromechanical jaw structure, as disclosed in U.S. Patent No. 5,5,383,5, issued to Conway et al. on July 23, 1986, which also discloses a micro-claw element and a Servo motor. The micro-jaw element has a pair of resilient arms for picking up and releasing tiny items. The servo motor drives the micro-claw element by a gearbox to create a gripping and releasing action by the resilient arms of the micro-claw element. However, the resilient arm of the micro-jaw element must be operated by the servo motor in conjunction with other gearboxes to actuate the micro-jaw element. In short, the micro-electromechanical jaws k of the 5985084 and 5 5 3 83 0 5 need to be further improved in addition to being powered by a motor.

1254697 V. INSTRUCTIONS (2) 'Original X' is controlled by other power modes to actuate the elastic arm of the micro-claw element. The other is a micro-electromechanical jaw structure, as disclosed in U.S. Patent No. 5,727,915 issued to SUZ Ukl et al. on March 17, 1999, which discloses a micro-claw element and a master control wheel. · 1. C master input apparatus〕 ° The micro t claws!! Ϊ ~ The elastic arms are used to pick up and release tiny items. The main device is driven by a magnetic energy generator to drive the micro-claw member to produce a gripping and releasing action by the resilient arms of the frustrating jaw member. However, in addition to the use of electromagnetic energy to provide power, the micro-claw 70 requires the use of other power modes to control the resilient arms that actuate the micro-jaw members. In view of the above, the present invention solves the above problems, and utilizes a micro-actuator element to directly move a micro-lost element having an abutting portion, two pair of side arm portions, and a clamping portion. When the side arm portion is pushed by the abutting portion, the expansion displacement of the side arm portion directly drives the clamping portion to take a clamping action, and when the side arm portion is displaced, the clamping portion generates a releasing action. . SUMMARY OF THE INVENTION The main object of the present invention is to provide a microelectromechanical jaw structure that requires only a micro-actuation 70 to directly actuate a micro-jaw element, the micro-claw element

The embossing portion, the pair of side arm portions and a nip portion are integrally formed, so that the invention has the effect of simplifying the overall structure. A secondary object of the present invention is to provide a microelectromechanical jaw structure that directly activates a micro-jaw element using a micro-actuating element, the micro-claw element having a clamping portion having a pair of pivots The rotating portion can be used for the clamping portion to produce a clamping action, so that the invention has the effect of simplifying the operation of the clamping action.

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1254697 V. INSTRUCTION DESCRIPTION OF THE INVENTION (3) According to the present invention, the m-grip structure and the micro-cooling claw element are used. The micro-actuating element has a "heavy weight": for output? The power 'actuates the micro-pinch element to simplify the operation: take action. The micro-claw includes a main frame body, an urging portion, an arm portion, and a - clamping portion 卩 to simplify the overall structure. The main frame can accommodate the micro-actuating element, and the urging portion is coupled to the micro-actuating element. Each of the side arm portions has three connecting portions respectively connected to the main frame body, the portion and the clamping portion so as to generate a interlocking relationship with each other. The clamping portion has two clamping arms and a pair of pivoting portions, and each of the pivoting portions is disposed at one end of the clamping portion, so that the other ends of the two clamping arms can be clamped and moved [Embodiment] The above and other objects, features, and advantages of the present invention will become more apparent from the <RTIgt; BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a perspective view showing the construction of a microelectromechanical jaw of a preferred embodiment of the present invention, which substantially comprises two basic components. a spectacles according to the first embodiment of the present invention, the microelectromechanical jaw structure of the present invention comprises a micro-actuating element 1 〇 and a micro-jaw element 20, the micro-actuating element 10 is accommodated in the Within the micro-claw 20, the micro-actuating element 丨〇 directly actuates the micro-jaw element 20 such that the micro-jaw element produces a gripping and releasing action. Fig. 2 is a perspective perspective view showing the microactuating member of the microelectromechanical jaw structure of the preferred embodiment of the present invention. Referring to Figures 1 and 2, the micro-actuating element 丨0 is usually made of polysilicon [polysi 1 icon], which has a predetermined thermal expansion coefficient [thermal

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Page 10 1254697 V. Description of the Invention (4) e X p a n s i ο n c 〇 e f f i c i e n t ] in order to cause deformation. Structurally, the micro-actuating element 10 forms a V-shaped element that is symmetrically disposed on either side of the longitudinal axis, the end of the micro-actuating element 1 being provided with an actuating portion 沿着 along the longitudinal axis. The micro-actuating element 10 further has a pair of side coupling plates 1 2 to form a V-shaped member, and the side bonding plates 12 are symmetrically disposed on both sides of the actuation portion ,1, and the side bonding plate 12 will be The micro-actuating element 1 is placed in the micro-claw 2 〇. Further, the micro-actuating element 10 is connected in series with a voltage source or a power source to input electric energy or kinetic energy to the micro-actuating element 1 〇 as shown in Fig. 2. Referring to FIG. 2 again, when the voltage source supplies a voltage to the side bonding plate 12, the actuator 11 of the micro-actuating element 1 generates thermal expansion deformation, so that the actuator 1 1 advances along the longitudinal axis. Move a longitudinal distance. On the contrary, when the voltage source is not supplied with voltage, the actuating portion of the micro-actuating element 1 丨丨 returns to its original shape, so that the actuating portion 1 1 moves backward by a longitudinal distance along the longitudinal axis. Referring to FIG. 1 again, in the structure, the micro-jaw member 2 includes a main frame 21, an abutting portion 22, a pair of side arm portions 23 and a clamping portion 24 along the longitudinal axis. The two sides are symmetrically disposed such that the overall configuration of the micro-pinch element 2 can create a balancing action along both sides of the longitudinal axis. Referring to Fig. 1, the main frame body 2 1 is slightly gate-shaped for accommodating the micro-actuating element 1 〇 and the urging portion 2 2 of the micro-jaw element 2 。. Basically, the structure of the main frame body 2 itself does not cause any mechanical deformation to ensure the accuracy of the action of the micro-jaw member 20. At the same time, the main frame body 2 1 allows the micro-actuating element 10 and the abutting portion 2 2 of the micro-pinch element 2 to move forward/backward along the longitudinal axis. Referring to FIG. 1 again, the urging portion 22 is provided for the micro-actuating element 1

C: \ Logo-5\l;i vc Cont inents\PK9472.pld Page 11 1254697 V. Invention Description (5) &quot;One - Actuating portion 1 1 abuts, so the output kinetic energy of the micro-actuating element 10 The micro-claw element 20 can be actuated whereby the micro-clamp element 20 can be rotated out of the gripping action. That is, the urging portion 2 2 of the micro-jaw member 20 and the actuating portion 微 of the micro-actuating member 产生 can move synchronously. In short, the urging portion 22 of the micro-jaw member 2 is configured to inevitably cause the movement of the side arm portion 23 and the nip portion 24 of the other portion. Referring to FIG. 1 again, each of the side arm portions 23 has a first connection 4 231. The first connection portion 232 and a third connection portion 233 are respectively connected to the main frame, 21, the pushing portion 22 and The clamping portions 24 are arranged to interlock with each other. The first connecting portion 213, the second connecting portion 263, and the third connecting portion 233 are separated from each other by an appropriate distance, and are disposed at the periphery of the side arm portion 23, so that the side arm portion 23 can The input kinetic energy of the urging portion 22 is transferred to the clip 24. Portion Referring again to Fig. 1, the grip portion 24 is located at one end of the micro-jaw member 2' to cause a gripping/releasing action. The nip portion 24 is composed of a / support base portion 241, a pair of grip arms 242, and a pair of pivot portions 243. The branch base 241 is formed in a lateral arrangement, and the two ends of the side arm portion 23 are respectively connected to the third connecting portion 233 of the side arm portion 23. The clamping arm 242 and the pivoting portion 243 are respectively disposed at the two ends of the supporting base 241. The third connecting portion 233 of the side arm portion 23 can be correspondingly actuated by the clamping arm 242 and the pivoting portion 243. The gripping arm 242 produces a gripping action. Fig. 3 is a view showing the operation of the microelectromechanical jaw structure of the preferred embodiment of the present invention, which mainly shows the gripping action of the microelectromechanical jaw structure. Referring to Fig. 3, when the gripping operation is performed, first, the actuating portion 11 of the microactuating element 10 starts to deform, so that the actuating portion 11 is longitudinally

C:\Logo-5\Fivc Coniinents\PK (M72.pid 1254697 V. Invention description (6) '~ The axis moves forward by a longitudinal distance, as indicated by the direction of the arrow, and then synchronizes the microclip; The portion 22 is moved forward by a longitudinal distance. - 隹 4, as shown in Figs. 1 and 3, structurally, since the first connecting portion 231 of each of the sides 23 is connected to the inner side of the main frame 21, The arm portion 2 3 is relatively moved to the main frame body 2 within a predetermined range. The second connecting portion 232 of each of the one portion 23 is connected to the abutting portion 22, so the resisting portion 22 can drive the side arm portion 23. Movement. Then, when the urging portion 22 is moved forward by a longitudinal distance, the two side arm portions 23 are caused to generate an expansion displacement, as shown by the year f. Once the two side arm portions 23 generate an expansion displacement. Same as = shearing stress is applied to the two pivoting portions 243 at both ends of the supporting base 241, thereby causing two of the pivoting portions 243 to rotate. At this time, the two pivoting portions 243 is connected to the two clamping arms 242. Finally, the two clamping arms 242 are driven by the two pivoting portions 2 4 3 in the middle. The inclination is generated, as indicated by the direction of the arrow, that is, the clamping is generated. m: When the releasing operation is performed, the actuating portion 1 of the micro-actuating element 1 is restored to the original opening y. Moving back along the longitudinal axis by a longitudinal distance, thereby synchronously eliminating the force of the micro-actuating element 丨〇 against the micro-claw element 2 接着. Then 'once the two side arms 23 generate a rest displacement, the synchronization is eliminated. The shear stress applied to the two pivot portions 243 at both ends of the base 241 of the branch 241 causes the two pivot portions 24 to generate a reciprocating rotation. Finally, two of the pivot portions 243 simultaneously drive the two The clamping arm 242 generates a recovery, that is, a release action. Fig. 4 discloses a manufacturing structure of a microelectromechanical jaw according to a preferred embodiment of the present invention.

\Logo-5\Fi vc Coiit incats\PK9472. ptd Page 13 1254697 V. Invention Description (7) Flow: "Figure, #实-质 contains four execution steps. $:知,第4图不'In terms of technical implementation, the preferred embodiment of the present invention ^ ^ ^ 耳 先 step private system respectively select micro-actuating components and ^ ^ 9 Π ^ 0 kg no, remotely take the micro-actuating component 10 and the micro-lost claw The basic shape structure, material and characteristics of the piece 2^0. Please refer to Figures 1 and 4 again, and pick up the gentleman, this ^ Φ , pick up, the preferred embodiment of the invention makes melon 1 Π » ^ ^ The construction mechanism combines the micro-actuation 70 pieces 10 and the jaw-claw pieces 2〇 by the gradual 埒撼 亍 亍 亍 亍 , , , , , , , 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。彳- _ on ^ ee ^ . ^ ^ y 隹 隹 彳 彳 促 促 促 促 〇 〇 〇 〇 〇 〇 〇 〇 基本 基本 基本 基本 基本 基本 基本 基本 基本 基本 基本 基本 基本 基本 基本 基本 基本 基本 基本 基本 基本 基本 基本 基本 基本 基本 基本 基本 基本Finding nn + winners The preferred embodiment of the present invention is to construct a micro-electromechanical jaw structure. The third step is to advance the moxibustion of the moxibustion cylinder, and the parameter of the parameter is determined by the jaw mechanism. The best action. Referring to Figures 1 and 4 again, after the 德 ,, 士 η Α η ϋ Φ ffl + r ^ ^ ^, the preferred embodiment of the present invention J:| Optimized calculus and structural analysis of the lamp to obtain the best optimization mode. The optimized structure and the preferred configuration of the component 10 and the micro-jaw element 20 are optimized. The present invention has been disclosed in the foregoing preferred embodiments, and it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the scope of the invention. The scope of the patent application is subject to change. ” σ视

C: \Logo-5\I;ivc Coin incnts\PKl)472.pld Page 14 1254697 Brief Description of the Drawings [Simple Description of the Drawings] FIG. 1 is a perspective view of a microelectromechanical jaw structure according to a preferred embodiment of the present invention. perspective. Fig. 2 is a perspective perspective view showing a microactuating element of a microelectromechanical jaw structure according to a preferred embodiment of the present invention. Fig. 3 is a schematic view showing the operation of the jaw structure of the microelectromechanical device according to the preferred embodiment of the present invention. Fig. 4 is a block diagram showing the construction of a microelectromechanical jaw according to a preferred embodiment of the present invention. No. Description: 10 micro-actuating element 11 actuating part 12 side joint plate 20 micro-claw element 21 main frame body 22 urging portion 2 3 side arm portion 231 first connecting portion 232 brother--connection 233 third connecting portion 24 Clamping portion 241 supporting base portion 242 clamping arm 243 pivoting portion

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Claims (1)

95. 2. 6 years of month 1254697 Amendment No. 93118809 VI. Patent application scope 1. A microelectromechanical jaw structure comprising: a micro-actuating element for outputting an urging force; and a U-claw The device includes a main frame body, an urging portion, a pair of side arm portions, and a clamping yoke. The urging portion, the side arm portion and the nip portion are disposed along a longitudinal axis of the main frame body. The frame body can accommodate the micro-actuating element, and the abutting portion is connected to the micro-actuating element, and each of the side arm portions is connected to the main frame body, the pushing portion and the clamping portion for mutual relationship; Wherein the clamping portion of the micro-clamping member is configured to generate a clamping/releasing action, and when the output of the micro-actuating member is applied to the urging portion of the micro-clamping member, the clamping member of the micro-clamping member The gripping portion generates a gripping action, and when the micro-actuating member stops outputting the urging force to the pushing portion of the micro-jaw member, the gripping portion of the micro-jaw member generates a releasing action. 2. According to the patent application scope ig, the micro-electromechanical use of the cool claw; the actuating element has an actuating part, and the actuating part is used for outputting the micro-electro-mechanical component for the micro-electromechanical according to item i of the patent application scope. Forming a ¥-shaped component, the mold is ^, the middle name is 兮, 兮 仞 - - 从 从 从 从 从 从 从 从 从 从 从 从 从 从 从 从 从 从 从 从 从 从 从 从 从 从 从 从 从 从 从 从 从 从 从Actuator 4 according to the i-th item of the patent application scope. The microactuating element additionally has a pair of side turns: a jaw configuration in which the two sides of the actuating element. </ RTI> </ RTI> </ RTI> </ RTI> y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y y C:\Logo-5\Five Continents\PK9472a.ptc 1254697 9δ· 2, 6 _ Case No. 93118809_This month __ VI. Patent application scope 6. Micro-electromechanical jaw structure according to item 1 of the patent application scope The clamping portion has a pair of clamping arms and a pair of pivoting portions, each of the pivoting portions being disposed at one end of the clamping arms, such that the other ends of the two clamping arms can generate a clamping action. 7. The microelectromechanical jaw structure according to claim 1, wherein the clamping portion is composed of a supporting base, a pair of clamping arms and a pair of pivoting portions, the supporting base forming a lateral arrangement, two of The ends are respectively connected to the side arm portion. The two ends of the support base are respectively provided with the clamping arm and the stick rotating portion C:\Logo-5\Five Continents\PK9472a. ptc Page 17