CN112476407B - Micro-operation device and method based on 3D printing micro-channel - Google Patents
Micro-operation device and method based on 3D printing micro-channel Download PDFInfo
- Publication number
- CN112476407B CN112476407B CN202011468665.7A CN202011468665A CN112476407B CN 112476407 B CN112476407 B CN 112476407B CN 202011468665 A CN202011468665 A CN 202011468665A CN 112476407 B CN112476407 B CN 112476407B
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- micro
- channel
- printing
- piezoelectric ceramic
- frame
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- 238000010146 3D printing Methods 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 20
- 239000000919 ceramic Substances 0.000 claims abstract description 31
- 239000007788 liquid Substances 0.000 claims abstract description 10
- 229920000642 polymer Polymers 0.000 claims abstract description 10
- 230000005489 elastic deformation Effects 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 12
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
Abstract
The invention provides a micro-operation device based on a 3D printing micro-channel, which comprises a flexible hinge mechanical arm, wherein a connecting frame is fixedly connected inside the flexible hinge mechanical arm, the micro-channel is arranged inside the flexible hinge mechanical arm, the top of the connecting frame is in threaded connection with a pre-tightening bolt, and the inner side of the connecting frame is movably connected with a piezoelectric ceramic driver; according to the micro-operation device and method based on the 3D printing micro-channel, the flexible hinge mechanical arm, the micro-channel and the connecting frame are processed through the technologies of polymer laser 3D printing, polymer two-photon 3D printing and the like, so that the processing efficiency is improved, then the movable frame is driven to move downwards through the pre-tightening bolt, the top of the piezoelectric ceramic driver is located in the limiting groove, then liquid or gas with certain pressure and flow rate is applied in the micro-channel, and the position and the gesture of cells in a liquid environment can be adjusted, so that the purpose of more convenient use is achieved.
Description
Technical Field
The invention belongs to the field of holders, and particularly relates to a micro-operation device and method based on a 3D printing micro-channel.
Background
The gripper is a device for holding an object and further manipulating the object, the gripper can clamp and unclamp the object while performing certain actions, the movement device often simulates the movement of a human body, the gripper is a finger, the finger does not belong to the gripper, the gripper is a special customizing tool for clamping the object, the gripper is called a clamping piece, the cell used gripper in the prior art is inconvenient to use, the gripper only improves the clamping function at present, and the gripper does not have the expansion control function.
Therefore, it is necessary to provide a micro-operation device and method based on a 3D printing micro-channel to solve the above technical problems.
Disclosure of Invention
The invention aims to: aiming at the problems in the prior art, the invention provides a micro-operation device and a method based on a 3D printing micro-channel.
The technical scheme is as follows: the utility model provides a little operating means based on 3D prints microchannel, includes flexible hinge arm, the inside fixedly connected with linking bridge of flexible hinge arm, the microchannel has been seted up to the inside of flexible hinge arm, the top threaded connection of linking bridge has the pretension bolt, the inboard swing joint of linking bridge has piezoceramics driver, the interior bottom wall fixedly connected with spacing frame of linking bridge, the bottom of piezoceramics driver is located the inside of spacing frame, the fixed slot has been seted up to the interior roof of linking bridge, the inside sliding connection of fixed slot has the movable frame, the spacing groove has been seted up to the bottom of movable frame, the top of piezoceramics driver is located the inside of spacing groove.
Preferably, the bottom of spacing frame both sides is all fixedly connected with installation piece, the top threaded connection of installation piece has fixing bolt, pass through fixing bolt fixed connection between installation piece and the connection frame.
Preferably, the top of the movable frame is fixedly connected with a bearing, and the bottom end of the pre-tightening bolt is fixedly connected with the inner ring of the bearing.
Preferably, the top of movable frame both sides is all fixedly connected with slider, the spout that corresponds with the slider has been seted up to the inner wall of fixed slot, slider sliding connection is in the inside of spout.
Preferably, the inner top wall of the limit groove is fixedly connected with an anti-slip pad, and the top of the piezoelectric ceramic driver is in contact with the anti-slip pad.
Preferably, the micro flow channel is curved, and the connecting frame is rectangular.
An operation method of a micro-operation device based on a 3D printing micro-channel comprises the following specific steps:
S1: processing the flexible hinge mechanical arm, the micro-channel and the connecting frame through polymer laser 3D printing, polymer two-photon 3D printing and other processes;
S2: mounting the piezoelectric ceramic driver in the connecting frame so that the bottom of the piezoelectric ceramic driver is positioned in the limiting frame;
S3: the pre-tightening bolt is manually rotated, and the movable frame is driven to move downwards through the pre-tightening bolt, so that the top of the piezoelectric ceramic driver is positioned in the limiting groove, and the piezoelectric ceramic driver is limited through the movable frame, so that the piezoelectric ceramic driver is more stably installed;
s4: during clamping, the piezoelectric ceramic driver stretches under the action of voltage, and the tail end of the micro-manipulator is clamped through elastic deformation of the flexible hinge mechanical arm;
S5: in the micro-operation process, the position and the posture of cells in the liquid environment can be adjusted by applying liquid or gas with certain pressure and flow rate in the micro-flow channel.
The invention has the beneficial effects that:
(1) According to the micro-operation device and method based on the 3D printing micro-channel, the flexible hinge mechanical arm, the micro-channel and the connecting frame are processed through the technologies of polymer laser 3D printing, polymer two-photon 3D printing and the like, so that the processing efficiency is improved, then the pre-tightening bolt drives the movable frame to move downwards, the top of the piezoelectric ceramic driver is positioned in the limiting groove, the movable frame is used for limiting the piezoelectric ceramic driver, the piezoelectric ceramic driver is installed more firmly, the clamping of the tail end of the micro-operator is realized through the elastic deformation of the flexible hinge mechanical arm, and then the position and the gesture of cells in a liquid environment can be adjusted through applying certain pressure and flow rate liquid or gas in the micro-channel, so that the purpose of more convenient use is achieved;
(2) According to the micro-operation device and method based on the 3D printing micro-channel, the limiting frame is fixed through the fixing bolts and the mounting blocks, so that the installation is more stable, the movable frame is limited through the bearings, the movable frame is prevented from rotating along with the pre-tightening bolts, the movable frame is limited through the sliding blocks and the sliding grooves, the movable frame is prevented from shifting in the vertical moving process, the piezoelectric ceramic driver is protected through the anti-slip pads, the installation is more stable, and meanwhile, the top of the movable frame and the movable frame are prevented from being collided greatly, so that the movable frame is prevented from being damaged.
Drawings
Fig. 1 is a schematic perspective view of a micro-operation device based on a 3D printing micro-channel according to the present invention;
FIG. 2 is a front cross-sectional view of the overall structure of the present invention;
FIG. 3 is a front cross-sectional view of the connection frame and pretension bolt connection of the present invention;
Fig. 4 is an enlarged view of the portion a in fig. 2 according to the present invention.
The reference numerals are: 1. a flexible hinge mechanical arm; 2. a connection frame; 3. a microchannel; 4. pre-tightening a bolt; 5. a piezoelectric ceramic driver; 6. a fixing groove; 7. a slide block; 8. a chute; 9. a limit groove; 10. an anti-slip pad; 11. a bearing; 12. a movable frame; 13. a limit frame; 14. a fixing bolt; 15. and (5) installing a block.
Detailed Description
The invention is further described in connection with the following detailed description in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
As shown in fig. 1-4, the micro-operation device based on the 3D printing micro-channel comprises a flexible hinge mechanical arm 1, wherein a connecting frame 2 is fixedly connected to the inside of the flexible hinge mechanical arm 1, a micro-channel 3 is arranged in the flexible hinge mechanical arm 1, a pre-tightening bolt 4 is connected to the top of the connecting frame 2 in a threaded manner, a piezoelectric ceramic driver 5 is movably connected to the inner side of the connecting frame 2, a limit frame 13 is fixedly connected to the inner bottom wall of the connecting frame 2, the bottom of the piezoelectric ceramic driver 5 is located in the limit frame 13, a fixed groove 6 is arranged on the inner top wall of the connecting frame 2, a movable frame 12 is connected to the inside of the fixed groove 6 in a sliding manner, a limit groove 9 is arranged at the bottom of the movable frame 12, and the top of the piezoelectric ceramic driver 5 is located in the limit groove 9.
Specifically, the bottom of spacing frame 13 both sides is all fixedly connected with installation piece 15, and the top threaded connection of installation piece 15 has fixing bolt 14, passes through fixing bolt 14 fixed connection between installation piece 15 and the connection frame 2, fixes spacing frame 13 through fixing bolt 14 and installation piece 15, makes its installation more firm.
Specifically, the top fixedly connected with bearing 11 of movable frame 12, the bottom and the inner circle fixed connection of bearing 11 of pretension bolt 4 carry out spacingly through bearing 11 to movable frame 12, avoid it to follow pretension bolt 4 rotation.
Specifically, the top of movable frame 12 both sides is all fixedly connected with slider 7, and spout 8 that corresponds with slider 7 has been seted up to the inner wall of fixed slot 6, and slider 7 sliding connection is in the inside of spout 8, carries out spacingly to movable frame 12 through slider 7 and spout 8, avoids its in-process that reciprocates to take place the skew.
Specifically, the inner top wall fixedly connected with slipmat 10 of spacing groove 9, the top and the slipmat 10 contact of piezoceramics driver 5, protect piezoceramics driver 5 through slipmat 10, make its installation more firm, avoid taking place great collision between its top and the movable frame 12 simultaneously, cause its damage.
Specifically, the micro flow channel 3 is curved, and the connection frame 2 is rectangular.
An operation method of a micro-operation device based on a 3D printing micro-channel comprises the following specific steps:
s1: the flexible hinge mechanical arm 1, the micro-channel 3 and the connecting frame 2 are processed through the polymer laser 3D printing, the polymer two-photon 3D printing and other processes, so that the processing efficiency and the processing precision are higher;
S2: the piezoelectric ceramic driver 5 is arranged in the connecting frame 2, so that the bottom of the piezoelectric ceramic driver 5 is positioned in the limiting frame 13, and the piezoelectric ceramic driver 5 is limited and fixed through the limiting frame 13, so that the piezoelectric ceramic driver is more stably arranged;
s3: the pre-tightening bolt 4 is manually rotated, the movable frame 12 is driven to move downwards through the pre-tightening bolt 4, the top of the piezoelectric ceramic driver 5 is positioned in the limiting groove 9, and the piezoelectric ceramic driver 5 is limited through the movable frame 12, so that the installation is more stable;
S4: during clamping, the piezoelectric ceramic driver 5 stretches under the action of voltage, and the clamping of the tail end of the micro-manipulator is realized through the elastic deformation of the flexible hinge mechanical arm 1;
S5: in the micro-operation process, the position and the posture of cells in the liquid environment can be adjusted by applying liquid or gas with certain pressure and flow rate in the micro-channel 3.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the specific details of the above embodiments, and various equivalent changes can be made to the technical solutions of the present invention within the scope of the technical concept of the present invention, and these equivalent changes all fall within the protection scope of the present invention.
Claims (5)
1. The utility model provides a micro-operation device based on 3D prints microchannel, its characterized in that, including flexible hinge arm (1), the inside fixedly connected with linking bridge (2) of flexible hinge arm (1), microchannel (3) have been seted up to the inside of flexible hinge arm (1), the top threaded connection of linking bridge (2) has pretension bolt (4), the inboard swing joint of linking bridge (2) has piezoceramics driver (5), the interior bottom wall fixedly connected with spacing frame (13) of linking bridge (2), the bottom of piezoceramics driver (5) is located the inside of spacing frame (13), fixed slot (6) have been seted up to the interior roof of linking bridge (2), the inside sliding connection of fixed slot (6) has movable frame (12), spacing groove (9) have been seted up to the bottom of movable frame (12), the top of piezoceramics driver (5) is located the inside of spacing groove (9).
An anti-slip pad (10) is fixedly connected to the inner top wall of the limit groove (9), and the top of the piezoelectric ceramic driver (5) is in contact with the anti-slip pad (10);
the micro flow channel (3) is in a curve shape, and the connecting frame (2) is in a rectangular shape.
2. The micro-operation device based on the 3D printing micro-channel according to claim 1, wherein the bottoms of two sides of the limiting frame (13) are fixedly connected with mounting blocks (15), the tops of the mounting blocks (15) are connected with fixing bolts (14) in a threaded manner, and the mounting blocks (15) are fixedly connected with the connecting frame (2) through the fixing bolts (14).
3. The micro-operation device based on the 3D printing micro-channel as claimed in claim 1, wherein the top of the movable frame (12) is fixedly connected with a bearing (11), and the bottom end of the pre-tightening bolt (4) is fixedly connected with the inner ring of the bearing (11).
4. The micro-operation device based on the 3D printing micro-channel according to claim 1, wherein the top parts of the two sides of the movable frame (12) are fixedly connected with sliding blocks (7), sliding grooves (8) corresponding to the sliding blocks (7) are formed in the inner walls of the fixed grooves (6), and the sliding blocks (7) are slidably connected in the sliding grooves (8).
5. A method of operating a micro-operation device based on a 3D printing micro-channel, characterized in that the method of operating is based on a micro-operation device according to any one of claims 1-4, comprising the following specific steps:
s1: processing the flexible hinge mechanical arm (1), the micro-channel (3) and the connecting frame (2) through a polymer laser 3D printing and polymer two-photon 3D printing process;
s2: the piezoelectric ceramic driver (5) is arranged in the connecting frame (2) so that the bottom of the piezoelectric ceramic driver (5) is positioned in the limiting frame (13);
S3: the pre-tightening bolt (4) is manually rotated, the movable frame (12) is driven to move downwards through the pre-tightening bolt (4), the top of the piezoelectric ceramic driver (5) is positioned in the limiting groove (9), and the piezoelectric ceramic driver (5) is limited through the movable frame (12), so that the piezoelectric ceramic driver is more stably installed;
s4: during clamping, the piezoelectric ceramic driver (5) stretches under the action of voltage, and the tail end of the micro-operation device is clamped through elastic deformation of the flexible hinge mechanical arm (1);
s5: in the micro-operation process, the position and the posture of cells in the liquid environment can be adjusted by applying liquid or gas with certain pressure and flow rate in the micro-flow channel (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011468665.7A CN112476407B (en) | 2020-12-15 | 2020-12-15 | Micro-operation device and method based on 3D printing micro-channel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011468665.7A CN112476407B (en) | 2020-12-15 | 2020-12-15 | Micro-operation device and method based on 3D printing micro-channel |
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| Publication Number | Publication Date |
|---|---|
| CN112476407A CN112476407A (en) | 2021-03-12 |
| CN112476407B true CN112476407B (en) | 2024-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011468665.7A Active CN112476407B (en) | 2020-12-15 | 2020-12-15 | Micro-operation device and method based on 3D printing micro-channel |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203077272U (en) * | 2011-12-28 | 2013-07-24 | 日本精工株式会社 | Piezoelectric actuator, control gear and control system |
| CN107457765A (en) * | 2017-08-18 | 2017-12-12 | 天津大学 | A kind of driving type piezoelectric actuator three-level displacement equations micro clamping device |
| JP2019217609A (en) * | 2018-06-22 | 2019-12-26 | 日本精工株式会社 | Piezoelectric actuator and manipulator |
| CN214213804U (en) * | 2020-12-15 | 2021-09-17 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Micro-operation device based on 3D prints miniflow channel |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4529012B2 (en) * | 2004-07-16 | 2010-08-25 | アオイ電子株式会社 | Nano gripper device |
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2020
- 2020-12-15 CN CN202011468665.7A patent/CN112476407B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203077272U (en) * | 2011-12-28 | 2013-07-24 | 日本精工株式会社 | Piezoelectric actuator, control gear and control system |
| CN107457765A (en) * | 2017-08-18 | 2017-12-12 | 天津大学 | A kind of driving type piezoelectric actuator three-level displacement equations micro clamping device |
| JP2019217609A (en) * | 2018-06-22 | 2019-12-26 | 日本精工株式会社 | Piezoelectric actuator and manipulator |
| CN214213804U (en) * | 2020-12-15 | 2021-09-17 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Micro-operation device based on 3D prints miniflow channel |
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| CN112476407A (en) | 2021-03-12 |
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