CN210704371U - Micro-operation and micro-force clamping device - Google Patents

Abstract

The utility model discloses a micro-operation, micro-power clamping device, including actuator, collet chuck, connecting rod, sleeve, expansion cover, little tweezers, the collet chuck is fixed on the shell of actuator, the one end that the actuator shell was kept away from to the collet chuck is connected with the expansion cover, little tweezers are connected to the front end of expansion cover, the telescopic sleeve is established on the collet chuck, the connecting rod runs through sleeve and collet chuck, the actuating shaft of actuator extends to and is connected with the connecting rod in the collet chuck, the actuating shaft drive connecting rod of actuator drives the sleeve and is linear motion along the axial of collet chuck and tightens up or loosen the expansion cover, the expansion cover tightens up or loosens and drives little tweezers and inwards extrude or outwards loosen. The utility model discloses a shell design turns into the motion that opens and shuts of pressing from both sides a little with linear motion, and the dynamics of centre gripping can be adjusted through the axle motion distance of actuator to can the accurate control to the centre gripping dynamics of miniature part.

Description

Micro-operation and micro-force clamping device

Technical Field

The utility model belongs to the technical field of micromechanical assembling tool, a micro-operation, power clamping device a little is related to.

Background

The rapid development of micro-electromechanical systems (MEMS) has shifted from the field of "micro-electronics-mechanics" to "micro-mechanics-electronics", and the increasing number and complexity of micro-mechanical structures in MEMS devices has brought about a great challenge to micro-mechanical assembly, especially to automated micro-mechanical assembly.

In view of the research results in the field of micro-holders at home and abroad at present, the micro-holders can be roughly classified into two types in terms of the manner of holding micro-parts. One type is an adsorption type micro-gripper that uses the suction force generated by vacuum, liquid, static electricity, etc. to grip the micro-part. The currently developed adsorption type micro-gripper mainly includes a vacuum adsorption type, an electrostatic adsorption type, a liquid adsorption type, and the like. Another type is mechanical micro-gripper, which typically has two or more fingers, and which provides greater flexibility in the manipulation of micro-objects by creating a gripping action and a gripping force through the movement of the gripper fingers. Mechanical micro-grippers can be further classified into shape memory alloy (SEM) micro-grippers, electrostatic force driven micro-grippers, piezoelectric ceramic driven micro-grippers, electromagnetic force driven micro-grippers, etc. according to the principle of the driving force generated.

In the prior art, the following problems exist:

1. the problem that the micro parts with complex surface appearance are unstable in vacuum leakage and even cannot be grabbed when being clamped and grabbed in a vacuum adsorption mode;

2. the vacuum adsorption type clamp grabs the micro part with the fragile structure on the upper surface to cause the mechanical damage of the fragile structure;

3. the problem of pollution on the surface of the part caused by residual liquid after the liquid adsorbs, clamps, grabs and releases the miniature part;

4. electrostatic adsorption clamping may cause breakdown failure of the electrostatic sensitive parts;

5. the shape memory alloy micro-clamp is sensitive to temperature and can deform when a clamped part is welded;

6. the device self-generated parasitic charge magnetic field of the electrostatic force driven micro-gripper, the piezoelectric ceramic driven micro-gripper, the electromagnetic force driven micro-gripper and the like and the electromagnetic interference of the external environment.

Disclosure of Invention

The utility model aims to provide a: the utility model provides a micro-operation, micro-power clamping device has solved above-mentioned problem, turns into the micro-clip motion that opens and shuts with linear motion through the tube design, and the dynamics of centre gripping can be adjusted through the axle movement distance of actuator to can the accurate control centre gripping dynamics.

The utility model adopts the technical scheme as follows:

a micro-operation and micro-force clamping device comprises an actuator, a collet chuck, a connecting rod, a sleeve, an expansion sleeve and micro-forceps, wherein the collet chuck is fixed on a shell of the actuator, one end, far away from the actuator, of the collet chuck is connected with the expansion sleeve, the front end of the expansion sleeve is connected with the micro-forceps, the sleeve is sleeved on the collet chuck, the connecting rod penetrates through the sleeve and the collet chuck, an actuating shaft of the actuator extends into the collet chuck to be connected with the connecting rod, the actuating shaft of the actuator drives the connecting rod to drive the sleeve to do linear motion along the axial direction of the collet chuck to tighten or loosen the expansion sleeve, and the tightening or loosening of the expansion sleeve drives the micro-forceps to extrude.

Furthermore, the collet chuck is provided with two parallel sliding grooves along the axial direction, and the connecting rod penetrates through the two sliding grooves to be connected with the collet chuck in a sliding mode.

Furthermore, two skewer holes are symmetrically formed in the sleeve, and the connecting rod penetrates through the two skewer holes to be detachably connected with the sleeve.

The connecting rod is provided with a mounting hole, and the connecting rod penetrates through the mounting hole through the fastening bolt to be in threaded connection with an actuating shaft of the actuator.

Furthermore, the micro forceps comprise two forceps bodies which are symmetrically arranged and two forceps tips which are arranged on the forceps bodies, the bottoms of the two forceps bodies are connected through a flexible hinge, the forceps bodies are fixedly connected with the inner wall of the expansion sleeve, and the forceps tips extend to the outside of the expansion sleeve.

Further, the central axes of the actuating shaft of the actuator, the collet, the sleeve and the expansion sleeve overlap.

To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:

the utility model relates to a micro-operation, power clamping device a little turns into the motion that opens and shuts of pressing from both sides a little with linear motion through the tube design, and the dynamics of centre gripping can be adjusted through the axle motion distance of actuator to can the accurate control centre gripping dynamics.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and that for those skilled in the art, other relevant drawings can be obtained according to the drawings without inventive effort, wherein:

FIG. 1 is a schematic view of a micro-manipulation, micro-force clamping device of the present invention;

FIG. 2 is a schematic view of the micro-operation and micro-force clamping device according to the present invention;

FIG. 3 is an exploded view of a micro-actuated, micro-force clamping device according to the present invention;

FIG. 4 is a schematic view of a micro-tweezers of a micro-manipulation, micro-force clamping device according to the present invention;

the labels in the figure are: 1-actuator, 2-collet chuck, 3-connecting rod, 4-sleeve, 5-expansion sleeve, 6-micro forceps, 601-forceps body, 602-forceps tip, 603-flexible hinge, 7-chute, 8-skewer hole, 9-fastening bolt and 10-mounting hole.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention, i.e., the described embodiments are only some, but not all embodiments of the invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.

It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Examples

As shown in fig. 1 and fig. 2, a micro-operation and micro-force clamping device according to a preferred embodiment of the present invention includes an actuator 1, a collet 2, a connecting rod 3, a sleeve 4, an expansion sleeve 5, and micro-tweezers 6, wherein the collet 2 is fixed on a housing of the actuator 1, one end of the collet 2, which is away from the actuator 1, is connected to the expansion sleeve 5, the micro-tweezers 6 is connected to a front end of the expansion sleeve 5, the sleeve 4 is sleeved on the collet 2, the connecting rod 3 penetrates through the sleeve 4 and the collet 2, an actuating shaft of the actuator 1 extends into the collet 2 and is connected to the connecting rod 3, the actuating shaft of the actuator 1 drives the connecting rod 3 to drive the sleeve 4 to make a linear motion along an axial direction of the collet 2 to tighten or loosen the expansion sleeve 5, and the expansion sleeve 5 tightens or loosens to drive the micro-tweezers 6.

The utility model discloses a theory of operation does: the actuating shaft of the actuator 1 does non-rotary axial linear motion under the control, and when the actuating shaft of the actuator 1 is pushed forwards, the sleeve 4 is driven by the connecting rod 3 to be pushed forwards along the axial direction of the collet chuck 2. As shown in fig. 2, when the micro-tweezers are pushed to a certain position, the sleeve 4 is located on the expansion sleeve 5 to extrude the expansion sleeve 5, so that the expansion sleeve 5 is contracted, and the expansion sleeve 5 is contracted to extrude the micro-tweezers 6 inwards to realize inward closing, so that the micro-parts can be clamped. Actuation of the actuator 1 retracts the sleeve 4 axially rearward, which pushes the collet 2 axially rearward. When the micro-tweezers 6 are pushed to a certain position, the sleeve 4 originally positioned on the expansion sleeve 5 is withdrawn to release the expansion sleeve 5, so that the expansion sleeve 5 is released, the micro-tweezers 6 are released outwards due to the release of the expansion sleeve 5, and the micro-tweezers 6 are released. Convert linear motion into the motion that opens and shuts of micro-clamp through the tube design, the dynamics of centre gripping can be adjusted through the axle movement distance of actuator 1 to can accurate control centre gripping dynamics.

As shown in fig. 3, in particular, the collet 2 is provided with two parallel sliding grooves 7 along the axial direction, and the connecting rod 3 is slidably connected with the collet 2 through the two sliding grooves 7. During implementation, the connecting rod 3 sequentially penetrates through the two sliding grooves 7 to be connected with the collet chuck 2, so that the connecting rod 3 can do linear reciprocating motion in the two sliding grooves 7 along the axial direction of the collet chuck 2, and the connecting rod 3 drives the sleeve 4 to do linear reciprocating motion along the axial direction of the collet chuck 2.

As shown in fig. 3, in particular, two skewer holes 8 are symmetrically arranged on the sleeve 4, and the connecting rod 3 passes through the two skewer holes 8 to be detachably connected with the sleeve 4. During implementation, the connecting rod 3 penetrates through the two inserting holes 8 to be detachably connected with the sleeve 4, so that the connecting rod is convenient to mount and dismount.

As shown in fig. 3, it preferably further includes a fastening bolt 9, a mounting hole 10 is provided on the connecting rod 3, and the connecting rod 3 is screwed with the actuating shaft of the actuator 1 through the mounting hole 10 by the fastening bolt 9. During implementation, the fastening bolt 9 penetrates through the mounting hole 10 formed in the connecting rod 3 to be in threaded connection with the actuating shaft of the actuator 1, so that the connecting rod 3 is stably connected with the actuating shaft of the actuator 1, and the mounting and dismounting are convenient.

As shown in fig. 4, in particular, the micro-forceps 6 comprises two forceps bodies 601 symmetrically arranged and two forceps tips 602 arranged on the forceps bodies 601, the bottoms of the two forceps bodies 601 are connected through a flexible hinge 603, the forceps bodies 601 are fixedly connected with the inner wall of the expansion sleeve 5, and the forceps tips 602 extend to the outside of the expansion sleeve 5. In implementation, the two symmetrically arranged forceps bodies 601 are installed in the expansion sleeve 5 and fixedly connected with the inner wall of the expansion sleeve 5, and the two symmetrically arranged forceps tips 602 extend to the outside of the expansion sleeve 5. When the sleeve 4 extrudes the expansion sleeve 5, the expansion sleeve 5 tightens the extrusion flexible link 603 to drive the two forceps bodies 601 to extrude inwards to drive the two forceps tips 602 to extrude inwards, so that the clamping action of clamping the tiny parts is realized. When the sleeve 4 releases the expansion sleeve 5, the expansion sleeve 5 releases to cause the position of the flexible link 603 to reset to drive the two forceps bodies 601 to release outwards and drive the two forceps tips 602 to release outwards, thereby realizing the action of releasing.

Preferably, the central axes of the actuating shaft of the actuator 1, the collet 2, the sleeve 4 and the expansion shell 5 overlap. In practice, the central axes of the actuating shaft of the actuator 1, the collet 2, the sleeve 4 and the expansion sleeve 5 are overlapped so as to ensure the clamping accuracy of the whole clamping device.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and any modifications, equivalents and improvements made by those skilled in the art within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (6)

1. A micro-operation and micro-force clamping device is characterized in that: the micro-tweezers are fixed on a shell of the actuator, one end, far away from the actuator, of the collet chuck is connected with the expansion sleeve, the front end of the expansion sleeve is connected with the micro-tweezers, the sleeve is sleeved on the collet chuck, the connecting rod penetrates through the sleeve and the collet chuck, an actuating shaft of the actuator extends into the collet chuck and is connected with the connecting rod, the actuating shaft of the actuator drives the connecting rod to drive the sleeve to do linear motion along the axial direction of the collet chuck to tighten or loosen the expansion sleeve, and the expansion sleeve is tightened or loosened to drive the micro-tweezers to extrude inwards or loosen outwards.

2. A micro-actuated, micro-force gripping device as claimed in claim 1, wherein: the collet chuck is provided with two parallel sliding grooves along the axial direction, and the connecting rod penetrates through the two sliding grooves to be in sliding connection with the collet chuck.

3. A micro-actuated, micro-force gripping device as claimed in claim 1, wherein: two skewer holes are symmetrically formed in the sleeve, and the connecting rod penetrates through the two skewer holes to be detachably connected with the sleeve.

4. A micro-actuated, micro-force gripping device as claimed in claim 1, wherein: the connecting rod is provided with a mounting hole, and the connecting rod penetrates through the mounting hole through the fastening bolt to be in threaded connection with an actuating shaft of the actuator.

5. A micro-actuated, micro-force gripping device as claimed in claim 1, wherein: the micro forceps comprise two forceps bodies which are symmetrically arranged and two forceps tips which are arranged on the forceps bodies, the bottoms of the two forceps bodies are connected through a flexible hinge, the forceps bodies are fixedly connected with the inner wall of the expansion sleeve, and the forceps tips extend to the outside of the expansion sleeve.

6. A micro-actuated, micro-force gripping device as claimed in claim 1, wherein: the central axes of the actuating shaft of the actuator, the collet, the sleeve and the expansion sleeve are overlapped.

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