WO2004103647A1 - 電動ピンセット - Google Patents
電動ピンセット Download PDFInfo
- Publication number
- WO2004103647A1 WO2004103647A1 PCT/JP2003/006516 JP0306516W WO2004103647A1 WO 2004103647 A1 WO2004103647 A1 WO 2004103647A1 JP 0306516 W JP0306516 W JP 0306516W WO 2004103647 A1 WO2004103647 A1 WO 2004103647A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- shaft
- motor
- case
- gripping
- finger
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B9/00—Hand-held gripping tools other than those covered by group B25B7/00
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B9/00—Hand-held gripping tools other than those covered by group B25B7/00
- B25B9/02—Hand-held gripping tools other than those covered by group B25B7/00 without sliding or pivotal connections, e.g. tweezers, onepiece tongs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/30—Surgical pincettes without pivotal connections
Definitions
- the present invention relates to an improvement in tweezers for holding a micro component, and more particularly, to a simple bright electric tweezer having a displacement enlarging mechanism.
- the inventor has previously proposed a gripper having a very simple mechanism in International Publication No. WO99 / 08777.
- a gripper By applying the buckling phenomenon of the long column to the finger (gripping member), such a gripper can move a small amount of translational movement at the finger tip by a factor of 10 without having a special displacement expansion mechanism. It has the feature of being converted into an enlarged amount of bending displacement.
- An electric tweezer which can easily adjust the mounting of a gripping member having a function of enlarging a translational displacement amount and can easily adjust the opening / closing amount of the gripping member.
- An electric tweezer according to the present invention is a motor having a shaft, and is connected to the shaft, and converts the rotation of the shaft in one direction into a translational displacement in a predetermined reciprocating direction with respect to the shaft to move.
- a conversion mechanism having a moving part, a case part accommodating the conversion mechanism and the motor, one end connected to the case part, and the other end connected to the moving part,
- a gripping member for opening and gripping the object to be gripped, a switch means for rotating and stopping the motor, and a switch means for rotating and stopping the motor, based on the translational displacement amount of the moving portion, and one end face of the gripping member.
- An adjusting member that is connected to one end or the other end and is elastically deformed while the other end is connected to the moving portion or the case; and the one end and the other end by pressing the adjusting member by a predetermined amount.
- Distance in the direction of the translational displacement It is characterized in that and a pressing means for adjusting.
- the conversion mechanism converts the one-way rotation of the motor into a predetermined reciprocating translation displacement with respect to the other end of the gripping member, and the switch means rotates and stops the motor. It has the effect of 1. That is, the conversion mechanism sets the translational displacement of the other end of the gripping member to a predetermined value so that the opening and closing amount of the gripping member is constant. Therefore, for example, there is a first effect that electric tweezers for closing (holding) and opening a certain object can be easily obtained.
- the pressing means presses the elastic member by a predetermined amount to adjust the distance in the motor axis direction between one end and the other end of the gripping member, that is, the distance in the translational displacement direction of the moving part. Therefore, there is an effect that the opening / closing amount of the gripping member can be easily adjusted and the mounting adjustment of the gripping member can be performed.
- An electric tweezer is a motor having a shaft, which is connected to the shaft, and converts the rotation of the shaft in one direction into a translational displacement in a predetermined reciprocating direction with respect to the shaft to move.
- a conversion mechanism having a moving portion, a first case divided into at least two, and a second case screwed to the first case. One end is connected and fixed to the first case, the other end is connected to the moving part, and the amount of opening and closing of the tip is enlarged based on the amount of translational displacement of the moving part.
- the first operation and effect described above can be achieved.
- the screwing amount between the first case portion and the second case portion to deform the first elastic member.
- the opening / closing amount of the gripping member can be easily adjusted. That is, when the first elastic member contracts by adjusting the amount of screwing between the first case portion and the second case portion, the opening amount of the front end of the gripping member increases, and conversely, the first elastic member opens. When the elastic member expands, the amount of opening of the distal end of the gripping member decreases.
- An electric tweezer includes a motor having a shaft, a case for accommodating the motor, and one end connected and fixed to the case, and A gripping member for opening and gripping the object, a switch for rotating and stopping the motor, and a switch connected to the shaft; A conversion mechanism having a screw hole at an end of a moving unit that moves by converting one-directional rotation of the motor into a translational displacement in a predetermined reciprocating direction with respect to the other end of the gripping member; A screw member to be screwed in, and a second elastic member having a hollow portion, which is interposed between the screw member and the shank portion, is deformed in nature, and has a hollow portion. .
- the above first operation and effect are exhibited.
- the second elastic member is contracted by screwing the screw member into the screw hole, the amount of opening of the distal end of the gripping member is reduced.
- the second elastic member is narrowed, and the second elastic member is extended, the amount of opening of the distal end of the gripping member is increased. Therefore, there is an effect that the opening / closing amount of the gripping member can be easily adjusted and the mounting adjustment of the gripping member can be performed.
- a conversion mechanism in the kiln tweezers according to another invention is connected to a shaft, is connected to a cam having a lift portion, and is connected to the other end of the gripping member, and rotates the force in one direction in the other end. And a cam follower having a contact portion that comes into contact with the lift portion, and a cam follower that is housed in a case portion and pushes the cam or the cam follower. And a pressing member for bringing the lifting portion and the contact portion into contact with each other.
- a second case of the electric tweezers according to another invention houses a pressing member and a cam follower, and the first case fixes one end of a gripping member.
- the deformation of the first elastic member does not affect the contraction and extension of the pressing member, and the gripping force of the gripping member is kept constant while adjusting the opening / closing amount of the gripping member.
- the electric tweezers to be held can be obtained.
- An electric tweezer is a motor having a shaft, which is connected to the shaft, and converts the rotation of the shaft in one direction into a translational displacement in a predetermined reciprocating direction with respect to the shaft to move.
- a moving mechanism having a moving part, and one end part, the other end part being connected to the moving part, to enlarge the opening / closing amount of the front end based on the amount of translational displacement of the moving part, and
- a holder member provided with a screw on an inner side surface of the concave portion; switch means for rotating and stopping the motor; and a gripping member coupled to the shaft and rotating the motor in one direction.
- the above first operation and effect can be obtained.
- the third elastic member when the third elastic member is contracted by screwing the nut member into the screw hole, the amount of opening of the distal end of the gripping member is reduced.
- the third elastic member is extended, and the third elastic member is extended, the amount of opening of the distal end of the gripping member is increased. Therefore, the opening / closing amount of the gripping member can be easily adjusted and the gripping member can be easily adjusted. There is an effect that mounting adjustment can be performed.
- FIG. 1 is an overall sectional view of an electric tweezer according to an embodiment of the present invention.
- FIG. 2 is a perspective view of a finger unit used for the electric tweezer shown in FIG. . '
- Fig. 3 is a front view of the cam follower (a), a right side view of the force follower (b), a left side view of the cam (c), and a front view of the cam (d). You.
- FIG. 4 is a left side view (a), a front view (b), and a right side view (c) of the finger holder using the electric tweezers shown in FIG.
- FIG. 5 is a left side view (a) and a front view (b) of a finger holder used for electric tweezers according to another embodiment of the present invention.
- FIG. 6 is a left side view (a) and a front view (b) of a cam follower holder used for electric tweezers according to another embodiment of the present invention.
- FIG. 7 is an assembled sectional view of the finger holder shown in FIG. 5 and the cam follower holder shown in FIG.
- FIG. 8 is an exploded perspective view of an opening / closing amount adjusting mechanism of a gripping finger using electric tweezers in another embodiment of the present invention.
- FIG. 9 is a front view (a) and a right side view (b) in which the set screw and the elastic washer shown in FIG. 8 are assembled.
- FIG. 10 is an exploded perspective view of a mechanism for adjusting the opening / closing amount of a gripping finger using electric tweezers in another embodiment of the present invention.
- FIG. 11 is a left side view (a), a front view (b), and a right side view (c) of the finger holder shown in FIG.
- FIG. 12 is a plan view of the finger base shown in FIG.
- Fig. 13 shows the finger holder shown in Fig. 11 and the fin shown in Fig. 12. It is an assembly sectional view with a garbage etc.
- FIG. 1 is an overall sectional view of an electric tweezer according to one embodiment of the present invention
- FIG. 2 is a perspective view of a finger unit used for the electric tweezer shown in FIG. 1, and FIG.
- FIG. 1 In the cam mechanism shown in FIG. 1, a front view of the cam follower (a), a right side view of the cam follower (w), a left side view of the cam (c), a front view of the cam (d), and FIG.
- FIG. 1 is a left side view (a;), a front view (b), and a right side view (c) of the finger holder using the electric tweezers shown in FIG.
- the electric tweezers 1 includes a gripping finger 13 as a gripping member having one end and the other end, and a common part (the other end) of the finger unit 10 and the gripping finger 13.
- a driving unit 50 having a motor 52 for translating the common unit 13 g while being connected to the 13 g; and one direction on the shaft 52 a of the motor 52, that is, normal rotation or reverse rotation. Is converted into a translational displacement in a predetermined reciprocating direction with respect to the shared part 13 g of the gripping finger 13, and the translational displacement amount between the forward path and the return path is the same.
- the conversion mechanism 30 for converting the size into a size, the common screw 13 of the gripping finger 13 are fixed to the end of the conversion mechanism 30, the set screw 15, the driving section 50, and the conversion mechanism 30. While holding it, fix finger unit 10 and hold finger 13 and a case section 60 having a function of adjusting the opening and closing amount.
- the finger unit 10 is composed of a holding finger 13 as a holding member and a finger base 11 as a base member. It has a common part 13g as the other end with a hole 13e at the center, and the V-shaped 13V outer piece has a center at the center. It has a liter 13 s, and the tip 13 X expands (in the horizontal direction in Fig. 1) due to the common part 13 g being pulled or returned based on the translational displacement. It is formed to have two substantially V-shaped pieces 13 V that open and close, and are configured to grip and release the object by the V-shaped pieces 13 V. I have.
- the finger base 11 has a flat washer shape, a hole 11 e formed in the center, two projections 11 t are provided on the outer periphery, and a V-shaped piece 1 of the gripping finger 13. Two notches 11 c are provided which are engaged while sandwiching the end of 3 V, that is, one end of the gripping finger 13.
- the protruding piece lit is provided with a slit 11 s. When the side face of the protruding piece 11 t is pressed and sandwiched by the arc-shaped slit 11 g continuous with the slit 11 s, the slit 11 s is formed. In the opening direction.
- the side face of the projection piece 1 1 t is sandwiched and inserted into the groove of the finger holder 62, and by releasing the above-mentioned holding, the projection piece 1 1 t is restored by the spring force and engaged with the groove. It is formed as follows.
- the slit 11g is formed in the left and right circumference of the slit 11s with a predetermined length, but if either one of the protrusions 11t is subjected to a pressing restoring spring force, only one of them will be used. good.
- the conversion mechanism 30 is connected to the shaft 52 a of the motor 52, and includes a cam 33 and a cam follower 35 as a moving unit.
- the cam 33 has a cam profile 33 r on the end surface of the stepped shaft and a shaft 52 a of the same shape fitted and fixed to the shaft 52 a of the motor 52 at the shaft center.
- a detent hole 33 w is formed.
- the cam profile 33r is composed of a maximum head 33s and a minimum head 33t as heads composed of two planes, and variable areas 33u and 33V connecting these areas.
- the cam follower 35 has three stepped cylindrical sections 35a, 35b, 3
- the cylindrical portion 35a is provided with a through hole 35d partially extending to the other end surface.
- a parallel pin 37 is fitted into the hole 35d, and a part of the tip and a part of the side protrudes from the hole 35d.
- the contact portion 37 y is where the parallel pin 37 contacts the cam profile 33 r (lift portion) of the cam 35.
- the tip of the parallel pin 37 is inserted into the groove 62 u of the finger holder 62.
- the cylindrical portion 35 c as an end is provided with a screw hole 35 e for connecting the common portion 13 of the gripping finger 13 with a screw.
- First and second coil springs 21 and 22 are fitted around the cam 33 and the cam follower 35.
- the second coil spring 22 is between the stepped portion of the cam 33 and the case 61, and the first coil spring 21 as a pressing member is the cylindrical portion 35 a of the cam follower 35.
- the end of the cylindrical hollow portion 62 a of the finger holder 62 are both mounted in a compressed state.
- the first coil spring 21 is configured such that the compression force is larger than that of the second coil spring 22. This is to ensure that the cam 33 and the cam follower 35 come into contact with each other.
- the driving unit 50 includes a motor 52 and a battery 53 serving as a driving source thereof.
- the motor with a reduction gear by a planetary gear mechanism was used on May 52, and the motor with the reduction gear was used.
- the rotation speed was reduced to an appropriate value and the gripper fingers 13 were shared. This is for adjusting the moving speed of the translational displacement amount in the portion 13g to make the opening / closing speed of the gripping fingers 13 appropriate.
- the rotation of the motor 52 is kept stopped. This is to prevent the gripping fingers 13 from being released from the closed state.
- the switch 57 as a switch means is fixed to the case section 60 and connected and opened by connecting and opening the battery 53 of the DC power supply to the motor 52.
- the motor 52 is rotated and stopped.
- the motor 52 is configured to rotate and stop the motor 52 in a fixed direction while the polarity of the battery 53 remains the same.
- the case section 60 houses the conversion mechanism 30, fixes the finger base 11 of the finger unit 10, a finger holder 62 as a first case, and fixes the end of the motor 52, The motor case 66 as a second case for fixing the end of the finger holder 62, the drive case 64 for storing the motor 52 and the battery 53, the finger holder 62 and the motor case 66 And an elastic member made of rubber having a hollow portion interposed therebetween, and a cylinder 70 as an adjusting member.
- the ring 70 has one end face connected to the gripping finger 13 and the other end face connected to the motor case 66.
- the finger holder 62 has an external thread 62 n on the outer periphery, and the motor case 66 has the external thread 62 n and the internal thread along the inner surface of the end.
- the finger holder 62 and the motor case 66 are screwed (screw connection).
- the screwing amount between the finger holder 62 and the module case 66 it functions as a pressing means, and the elastic deformation amount of the pressed ring 70 changes, and the holding finger 13
- the translational displacement position at one end changes. Therefore, the distance between the one end and the other end of the gripping finger 13 in the translational displacement direction is reduced, so that the opening / closing amount of the gripping finger 13 can be adjusted.
- the finger holder 62 has a cylindrical hollow part 62 a and a hole 62 e into which the cylindrical part 35 c of the cam follower 35 is inserted at the center.
- 6 2a is provided with a semi-circular groove 62 u for sliding the parallel pin 37 of the cam follower 35 along the translational displacement direction of the cam follower 35. It is formed longer than the advance displacement amount.
- the reason why the parallel pin 37 of the cam follower 35 moves while sliding in the groove 62 u of the finger holder 62 is to prevent the rotation of the cam follower 35 due to the rotation of the cam 33. .
- the distal end cylindrical portion of the finger holder 62 is provided with six, ie, three sets of slits 67 in the diameter direction.
- the reason why a plurality of slit sets are provided is to select a slit corresponding to the position of the switch 57.
- the width of the slit 67 is slightly smaller than that of the projection 11 t of the finger base 11, and a pair of fingers—the projection 11 of the base 11 1 is formed on one set of the slit 67.
- the finger base 11 is fixed to the slit 67 with a predetermined spring force.
- the common portion 13 g of the gripping finger 13 is fixed to the screw hole 35 e of the cam follower 35 with the set screw 15.
- the opening / closing amount adjustment mechanism of the gripping fingers 13 is such that the common part 13 g of the gripping finger 13 is fixed to the screw hole 35 e of the cam follower 35 by the set screw 15. It comprises a finger holder 62 to which the unit 10 is fixed, a motor case 66, and a ring 70.
- first and second coil springs 2 1, 2 2 are formed by pressing the cylindrical portion 35 a of the cam follower 35 in the direction of arrow A by the compression spring force of the sum of the two, so that the contour 3 3 r And the parallel pin 37 of the cam follower 35 is always in contact. This is to ensure that the operation of the cam 33 due to the rotation of the motor 52 is transmitted to the cam follower 35.
- the second coil spring 22 reduces the thrust acting on the motor 52 from the compression force of the first coil spring 21 serving as a pressing member, so that the thrust in the thrust direction is applied to the shaft 52 a of the motor 52.
- the force is reduced and the axis 52 The burden is reduced.
- the finger holder 62 is rotated with respect to the motor case 66 with the tip of the gripping finger 13 being opened to the maximum extent, and a predetermined opening is selected. That is, when the finger holder 62 is rotated in the direction in which the ring 70 is compressed, the opening amount increases, and when the finger holder 62 rotates in the opposite direction, the opening amount decreases.
- the opening / closing amount of the gripping fingers 13 is increased by the number of times 10 times the axial displacement of the finger holder 62.
- the magnification is 15, it is sufficient that there is a translation displacement of 0.1 mm.
- the pitch of the screws of the finger holder 62 is 1 mm
- the gripping fingers 13 try to open back due to the spring restoring force, but the reverse rotation is prevented due to the frictional force of the motor 52 in the reduction gear. As a result, the closed state of the V-shaped piece 13 V of the gripping finger 13 is maintained, and the gripping of the object is continued.
- the closing amount of the gripping finger 13 is determined based on the lift amount of the cam profile 33r based on the maximum opening amount.
- the opening / closing amount of the gripping fingers 13 can be adjusted to a predetermined size in advance during the gripping operation. Therefore, the worker is released from the finger force for gripping the target object such as the component with the gripping finger 13 and can apply the optimum gripping force to the target object. In addition, no special skills are required for gripping work on fragile objects.
- the ring 70 is inserted between the finger holder 62 and the motor case 66.
- the elastic body has appropriate rigidity, for example, a wave washer (corrugated washer) or a rubber washer may be used. And so on.
- FIG. 5 is a left side view (a) and a front view (b) of a finger holder used for an electric tweezer according to another embodiment of the present invention
- FIG. 6 is an electric tweezer according to another embodiment of the present invention
- FIG. 7 is a left side view (a), a front view (b), and FIG. 7 of the cam follower holder used in the present invention.
- FIG. 7 is an assembly view showing the finger holder shown in FIG. 6 and the cam follower holder shown in FIG.
- the opening / closing amount adjusting mechanism of the gripping fingers 13 is configured such that the ring 70 is elastically deformed by screwing the finger holder 62 into the motor receiver 66, thereby forming one end of the gripping fingers 13. By adjusting the position, the release amount of the gripping fingers 13 was adjusted.
- the first coil spring 21 contracts and expands slightly due to the elastic deformation of the ring 70, so the gripping force of the gripping fingers 13 slightly changes.
- the elastic deformation of the ring 70 does not affect the contraction / extension of the first coil spring 21 as in the first embodiment, and the opening / closing amount of the gripping fingers 13 is adjusted.
- Another object of the present invention is to provide an electric tweezer having a ⁇ closed amount control ⁇ mechanism for keeping the gripping force of the gripping fingers 13 constant.
- the opening / closing amount adjusting mechanism is such that the finger holder 62 of the first embodiment is a finger holder 80 (first case in claim 5) and a cam follower holder 90 (claim 5).
- the second case in range 5).
- the finger holder 80 has a hole penetrated in the center, and a plurality of slits 87 in the diameter direction in the distal end cylindrical portion similarly to the finger holder 62 of FIG.
- a screw 80 f is formed on the side surface to which the tip of the cam follower holder 90 is connected, and the protrusion 1 1 t of the finger unit 10 is engaged and fixed to the slit 87 of the finger holder 80. As a result, it is connected and fixed to one end of the gripping finger 13.
- the screw 80 of the finger holder 80 is provided on the outer periphery of the cylindrical hollow portion 90a.
- a screw 90 f is formed.
- a finger holder 80 is screwed to a cam follower holder 90 via a first elastic member and a ring 71 as an adjusting member.
- the cam follower holder 90 includes a cam follower 35 and a first follower.
- the ring 71 is assembled in a state where it is slightly compressed and elastically deformed. Adjustment of the opening / closing amount of the gripping fingers 13 is performed by rotating the finger holder 80 with respect to the cam follower holder 90 with the tip of the gripping fingers 13 being opened to the maximum extent, and selecting a predetermined opening amount. That is, when the finger holder 80 is rotated in the direction in which the ring 71 is compressed, the opening increases, and when the finger holder 80 rotates in the opposite direction, the opening decreases. 'Since the operation of the electric tweezers is the same as that of the first embodiment, the description is omitted.
- FIG. 8 is an exploded perspective view of a mechanism for adjusting the opening / closing amount of a gripping finger using electric tweezers according to another embodiment
- FIG. 9 is a front view (a) in which a set screw and an elastic pusher shown in FIG. 8 are assembled.
- Right side view (b) is a front view (a) in which a set screw and an elastic pusher shown in FIG. 8 are assembled.
- the opening / closing amount of the gripper finger 13 is adjusted by adjusting the fixed position of one end of the gripper finger 13.
- the shared part 130 of the gripper finger 130 is adjusted. This is to adjust the fixed position of g.
- the opening / closing amount adjusting mechanism includes a second elastic member made of nitrile rubber, ethylene rubber, or the like, having a hollow portion and serving as a flat washer, an elastic pusher 110 as an adjusting member, and a cam follower 3.
- the central shared portion 130 g of the gripping finger 130 is fixed to the screw hole 35 e provided at the end of the pin 5 with the set screw 150 via the elastic mesh 110.
- it functions as a pressing means similar to the above.
- the set screw 150 has a stepped portion 150a as a screw member, and its length (thickness) is slightly larger than the thickness of the gripping finger 130, and The outer diameter of the hole is slightly smaller than the inner diameter of the hole 130 e in the central common part 130 g.
- the central shared portion 130 g of the grip finger 130 is loosely fitted to the stepped portion 150 a formed by the elastic pusher 110 and the set screw 150 as shown in FIG. Will be done. Therefore, even if the set screw 150 is rotated, the shared portion of the grip finger 130 is not twisted as the rotation is made.
- the configuration in which the protrusions 11 t of the finger base 11 of the finger unit 100 are engaged with the slits 67 of the finger holder 62 is the same as that of the first embodiment.
- FIG. 10 is an exploded perspective view of an opening / closing amount adjustment mechanism of a gripping finger by electric tweezers according to another embodiment.
- FIG. 11 is a left side view (a), a front view (b) of the finger holder shown in FIG. ), Right side view (c),
- FIG. 12 is a plan view of the finger base shown in FIG. 10
- FIG. 13 is a finger holder shown in FIG. 11 and a finger base shown in FIG. It is an assembly drawing.
- This embodiment is a modification of the second embodiment, and provides an electric tweezer having a slightly simpler configuration than the second embodiment.
- FIGS. 10 and 11 the opening / closing amount adjuster for the gripping fingers 13 is shown.
- the structure is a third flexible member having a hole, and a finger unit 180 is fixed via a ring 170 as an adjusting member, and a holder having a screw 160 i on the inner surface of the hollow portion 16 Oh is provided.
- a finger holder 160 as one member and a screw screwed with the screw 160 i are provided on the outer peripheral surface, and the ring 170 is elastically deformed by pressing the finger unit 180.
- a holding nut 190 serving as a nut member for adjusting the opening / closing amount of the grip finger 13 is provided.
- the holding nut 190 is screwed into the screw 160i of the finger holder 160 to function as a pressing hand or step.
- the finger holder 160 has a tip cylindrical portion 160 g at the tip, and the tip cylindrical portion 160 g has a slit 160 j formed in the diameter direction.
- Other configurations are the same as those of the finger holder 62 shown in FIG.
- the finger base 18 1 (base member) is a finger base 11 having a flat washer shape, a hole 18 1 e formed at the center, and two protrusions on the outer periphery. 181 t are provided, and two notches 1.8 1c are provided which are engaged while holding the end of the V-shaped piece 13 V of the gripping finger 13.
- the projecting piece 18 1 t is provided at a predetermined distance from the outer periphery, and is formed by an arc-shaped slit 18 1 g when the side face of the projecting piece 18 1 t is pressed and sandwiched. In the opening direction. For this reason, the side face of the projecting piece 1 1 t is pinched into the concave portion of the finger holder 160, and by releasing the above-mentioned pinching, the projecting piece 18 1t is restored by spring force and engaged with the concave portion. It is formed so that it may be combined.
- the holding nut 190 has two holes 190 h.
- the adjustment of the opening / closing amount of the gripping fingers 13 in the electric tweezers configured as described above will be described.
- gripping fingers 13 In this state, insert a rod-shaped member whose tip can be inserted into the hole 190h into the hole 190h of the holding nut 190, and rotate the holding nut 190 to select a predetermined opening amount. That is, when the holding nut 190 rotates slightly in the direction of compressing the ring 170, the amount of opening of the gripping finger 13 increases, and when it rotates in the opposite direction, it decreases.
- the operation of the electric tweezers is the same as that of the first embodiment, the description thereof is omitted.
- the electric tweezers according to the present invention is suitable for grasping and releasing an object.
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Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004572128A JP4356614B2 (ja) | 2003-05-26 | 2003-05-26 | 電動ピンセット |
PCT/JP2003/006516 WO2004103647A1 (ja) | 2003-05-26 | 2003-05-26 | 電動ピンセット |
CNB038265346A CN100408273C (zh) | 2003-05-26 | 2003-05-26 | 电动镊子 |
US10/546,984 US20060161202A1 (en) | 2003-05-26 | 2003-05-26 | Electric tweezers |
EP03730625A EP1627707A4 (en) | 2003-05-26 | 2003-05-26 | ELECTRICAL TYPOGRAPHIC CLAMPS |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2003/006516 WO2004103647A1 (ja) | 2003-05-26 | 2003-05-26 | 電動ピンセット |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004103647A1 true WO2004103647A1 (ja) | 2004-12-02 |
Family
ID=33463167
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2003/006516 WO2004103647A1 (ja) | 2003-05-26 | 2003-05-26 | 電動ピンセット |
Country Status (5)
Country | Link |
---|---|
US (1) | US20060161202A1 (ja) |
EP (1) | EP1627707A4 (ja) |
JP (1) | JP4356614B2 (ja) |
CN (1) | CN100408273C (ja) |
WO (1) | WO2004103647A1 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ES2384853B1 (es) * | 2010-12-17 | 2013-05-20 | Jesus HERNANDEZ JUANPERA | Dispositivo portable autónomo, en especial aplicable en cirugía, manipulación de micro-componentes y similares |
FR3053267B1 (fr) * | 2016-07-04 | 2018-09-07 | Percipio Robotics | Pince mecatronique |
CN108451586B (zh) * | 2018-03-30 | 2020-12-01 | 青岛市妇女儿童医院 | 一种便携式儿科专用呼吸道异物取出器 |
WO2021052448A1 (zh) * | 2019-09-20 | 2021-03-25 | 苏州软体机器人科技有限公司 | 一种夹具 |
CN111728668B (zh) * | 2020-07-09 | 2022-06-07 | 泸州市人民医院 | 一种医用电动取骨夹 |
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JPH05220684A (ja) * | 1992-02-10 | 1993-08-31 | Shimadzu Corp | チャック機構 |
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EP1116559A1 (en) * | 1999-02-08 | 2001-07-18 | Mitsubishi Denki Kabushiki Kaisha | Method of manufacturing micro gripper |
WO2002081364A1 (fr) * | 2001-03-30 | 2002-10-17 | Mitsubishi Denki Kabushiki Kaisha | Outil de prehension et procede de fabrication d'un tel outil |
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US4171701A (en) * | 1977-07-01 | 1979-10-23 | Clairol Incorporated | Tweezer |
CN2085959U (zh) * | 1990-08-14 | 1991-10-02 | 云南省地震局 | 一种电动真空镊子 |
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2003
- 2003-05-26 CN CNB038265346A patent/CN100408273C/zh not_active Expired - Fee Related
- 2003-05-26 EP EP03730625A patent/EP1627707A4/en not_active Withdrawn
- 2003-05-26 WO PCT/JP2003/006516 patent/WO2004103647A1/ja active Application Filing
- 2003-05-26 US US10/546,984 patent/US20060161202A1/en not_active Abandoned
- 2003-05-26 JP JP2004572128A patent/JP4356614B2/ja not_active Expired - Lifetime
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JPS6124162U (ja) * | 1984-07-18 | 1986-02-13 | 有限会社 三共エンジニアリング | 電動式つかみ具 |
JPH05220684A (ja) * | 1992-02-10 | 1993-08-31 | Shimadzu Corp | チャック機構 |
WO1999030877A1 (en) * | 1997-12-15 | 1999-06-24 | Mitsubishi Denki Kabushiki Kaisha | Microactuator |
EP1116559A1 (en) * | 1999-02-08 | 2001-07-18 | Mitsubishi Denki Kabushiki Kaisha | Method of manufacturing micro gripper |
WO2002081364A1 (fr) * | 2001-03-30 | 2002-10-17 | Mitsubishi Denki Kabushiki Kaisha | Outil de prehension et procede de fabrication d'un tel outil |
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Also Published As
Publication number | Publication date |
---|---|
JP4356614B2 (ja) | 2009-11-04 |
CN1771112A (zh) | 2006-05-10 |
JPWO2004103647A1 (ja) | 2006-07-20 |
EP1627707A1 (en) | 2006-02-22 |
US20060161202A1 (en) | 2006-07-20 |
EP1627707A4 (en) | 2010-02-24 |
CN100408273C (zh) | 2008-08-06 |
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