Flexible clamp holder with rotary jaw

Abstract

The invention provides a flexible clamp holder with a rotary jaw, which comprises a flexible clamping mechanism and a displacement output mechanism, the flexible clamping mechanism comprises a base, an output block arranged on the base and a first piezoelectric stack arranged on the base and used for driving the output block to move, and the flexible clamping mechanism further comprises a first clamp finger and a second clamp finger which are arranged on one side of the base, a first parallel four-bar mechanism connected with the first clamp finger and a second parallel four-bar mechanism connected with the second clamp finger are arranged on the base, and the displacement output mechanism comprises a bridge type amplification mechanism arranged on one side of the fixing block, a second piezoelectric stack embedded in the bridge type amplification mechanism and an output rotor arranged on one side of the output end of the bridge type amplification mechanism. Through the successive action of the clamping effect generated by the first piezoelectric stack and the rotating effect generated by the second piezoelectric stack, the clamped tiny object can rotate, so that the angle of the tiny object is changed, and the tiny object can be conveniently assembled or operated.

Description

Technical Field

[0001] The invention relates to the field of micro-nano operation technology, and in particular to a compliant clamper with a rotating jaw. Background Art

[0002] In the field of micro-nano manipulation technology, the application of compliant grippers is becoming more and more widespread, especially in the field of MEMS (micro-electromechanical systems). During the assembly process of micro-motors, compliant grippers can be used to accurately grasp and position tiny parts, stably grasp these parts from specific storage locations or processing platforms, and accurately position them to the assembly position of the micro-motors.

[0003] However, in some specific cases, some parts have specific installation angles, such as micro gears with keyways. In this case, the traditional compliant gripper cannot adjust the angle after gripping, and can only adjust the angle of the tiny object after release, and then re-grip it, which brings a lot of inconvenience. At present, there are compliant grippers that can achieve the rubbing function, but the rubbing effect cannot be precisely controlled and the effect is not good. In addition, there is uneven stress in the rubbing process. For micro-mechanical parts, this uneven stress may cause tiny scratches or deformations on the surface, reducing the mechanical properties and service life of the parts. Summary of the invention

[0004] In view of the deficiencies of the prior art, an object of the present invention is to provide a flexible clamp with a rotating jaw, aiming to solve the technical problem in the prior art that the traditional flexible clamp cannot adjust the angle after clamping.

[0005] In order to achieve the above-mentioned object, the present invention is implemented through the following technical scheme: a compliant clamp of a rotary jaw, comprising a flexible clamping mechanism and a displacement output mechanism, wherein the flexible clamping mechanism comprises a base, an output block arranged on the base, and a first piezoelectric stack arranged on the base for driving the output block to move, the flexible clamping mechanism also comprises a first clamp finger and a second clamp finger arranged on one side of the base, a first parallel four-bar mechanism connected to the first clamp finger and a second parallel four-bar mechanism connected to the second clamp finger are arranged on the base, the first parallel four-bar mechanism and the output block are connected by a first connecting rod, and the second parallel four-bar mechanism is connected to the output block by a first connecting rod. The mechanism is connected to the output block through a second connecting rod, a fixed block is provided on the side of the first connecting rod and the second connecting rod close to the first finger, and the output block is fixed to the side of the first connecting rod and the second connecting rod away from the fixed block. The displacement output mechanism includes a bridge amplifier mechanism provided on one side of the fixed block, a second piezoelectric stack embedded in the bridge amplifier mechanism, and an output mover provided on one side of the output end of the bridge amplifier mechanism. A first finger rotor and a second finger rotor are respectively provided through threaded holes on the side of the first finger and the second finger close to each other, and the output mover is arranged close to the first finger rotor and the second finger rotor.

[0006] According to one aspect of the above technical solution, the output mover includes a fixed end arranged on one side of the bridge amplifier mechanism, and a pre-tightening end and a contact end respectively arranged on both sides of the fixed end, and the contact end is arranged close to the first clamp finger rotor and the second clamp finger rotor.

[0007] According to one aspect of the above technical solution, threaded holes are provided on the pre-tightening end and the contact end, and the output mover further includes a pre-tightening bolt threadedly provided on the threaded hole.

[0008] According to one aspect of the above technical solution, the bridge amplifier mechanism includes a first input beam and a second input beam disposed on opposite sides of the second piezoelectric stack, and four bridge arm beams connecting the first input beam and the second input beam.

[0009] According to one aspect of the above technical solution, the bridge amplifier mechanism also includes a first flexible hinge respectively arranged between the first input beam and the second input beam and the bridge arm beam, and a second flexible hinge arranged between the bridge arm beam and the fixed block.

[0010] According to one aspect of the above technical solution, a first through hole is provided on the base, and a first fixing bolt for fixing the base on the working platform is provided on the first through hole.

[0011] According to one aspect of the above technical solution, a second through hole is provided on the fixing block, and a second fixing bolt for fixing the fixing block on the working platform is provided on the second through hole.

[0012] According to one aspect of the above technical solution, the first connecting rod and the second connecting rod are respectively connected to the first parallel four-bar mechanism and the second parallel four-bar mechanism through a third flexible hinge.

[0013] Compared with the prior art, the beneficial effects of the present invention are: when the first piezoelectric stack generates an output displacement, it pushes the output block, driving the flexible lever amplification mechanism composed of the first connecting rod, the second connecting rod, the first parallel four-bar mechanism, and the second parallel four-bar mechanism through the flexible hinge to deform, and the output displacement of the first piezoelectric stack is amplified by the lever principle, so that the first clamp finger and the second clamp finger are displaced, and the first clamp finger and the second clamp finger are displaced toward the center, and the first clamp finger rotor and the second clamp finger rotor installed on the first clamp finger and the second clamp finger can clamp the tiny objects therein; the second piezoelectric stack generates an output displacement, pushing the bridge amplification mechanism, and the output mover generates a larger displacement, and the contact end of the output mover is in elastic contact with the first clamp finger rotor and the second clamp finger rotor. According to the stick-slip principle, it can drive the first clamp finger rotor and the second clamp finger rotor to rotate, thereby achieving the purpose of adjusting the angle of the clamped tiny object. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the structure of a compliant clamp of a rotating jaw according to an embodiment of the present invention; Figure 2 It is a structural schematic diagram of a flexible clamping mechanism in one embodiment of the present invention; Figure 3 It is a structural schematic diagram of a displacement output mechanism in one embodiment of the present invention; Figure 4 It is a schematic structural diagram of an output mover, a first clamp finger rotor and a second clamp finger rotor in one embodiment of the present invention; Figure 5 It is a structural schematic diagram of a working platform in one embodiment of the present invention; Description of main component symbols: Base 10, first connecting rod 2, first parallelogram 3, fixed block 4, first clamp finger 5, second clamp finger 6, second parallelogram 7, output block 8, second connecting rod 9, first piezoelectric stack 10, second piezoelectric stack 11, first input beam 12, output mover 13, second input beam 14, bridge arm beam 15, pre-tightening end 16, first clamp finger rotor 17, second clamp finger rotor 18, contact end 19, pre-tightening bolt 20, working platform 21; The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0015] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0016] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0017] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0018] See also Figures 1 to 5 , shown is a compliant clamp of a rotary jaw in an embodiment of the present invention, including a flexible clamping mechanism and a displacement output mechanism. The flexible clamping mechanism includes a base 1, an output block 8 arranged on the base 1, and a first piezoelectric stack 10 arranged on the base 1 for driving the output block 8 to move. The flexible clamping mechanism also includes a first clamp finger 5 and a second clamp finger 6 arranged on one side of the base 1. The base 1 is provided with a first parallel four-bar mechanism 3 connected to the first clamp finger 5, and a second parallel four-bar mechanism 7 connected to the second clamp finger 6. The first parallel four-bar mechanism 3 and the output block 8 are connected by a first connecting rod 2, and the second parallel four-bar mechanism 7 and the output block 8 are connected by a second connecting rod 9. The first connecting rod 2 and the second connecting rod 9 are connected to each other. A fixed block 4 is provided on the side of the second connecting rod 9 close to the first finger 5, and the output block 8 is fixed to the side of the first connecting rod 2 and the second connecting rod 9 away from the fixed block 4. The displacement output mechanism includes a bridge amplifier mechanism provided on one side of the fixed block 4, a second piezoelectric stack 11 embedded in the bridge amplifier mechanism, and an output mover 13 provided on one side of the output end of the bridge amplifier mechanism. A first finger rotor 17 and a second finger rotor 18 are respectively provided on the side of the first finger 5 and the second finger 6 close to each other through threaded holes, and the output mover 13 is arranged close to the first finger rotor 17 and the second finger rotor 18.

[0019] Specifically, in this embodiment, the first parallelogram mechanism 3 and the second parallelogram mechanism 7 are connected by a semicircular flexible hinge, and the lower end is connected to the base 1, and the upper end is vertically connected to the first clamp finger 5 and the second clamp finger 6. The first clamp finger 5 and the second clamp finger 6 are vertically connected to the first parallelogram mechanism 3 and the second parallelogram mechanism 7.

[0020] Furthermore, in this embodiment, the output mover 13 includes a fixed end provided on one side of the bridge amplifier mechanism, and a pre-tightening end 16 and a contact end 19 provided on both sides of the fixed end respectively, and the contact end 19 is provided close to the first finger rotor 17 and the second finger rotor 18 .

[0021] Furthermore, in this embodiment, threaded holes are provided on the pre-tightening end 16 and the contact end 19, and the output mover 13 further includes a pre-tightening bolt 20 threadedly provided on the threaded hole. The output mover 13 has an upper end face and a lower end face, the upper end face is the pre-tightening end 16, and the lower end face is the contact end 19. The pre-tightening end 16 and the contact end 19 have a same threaded hole, and the contact condition between the contact end 19 and the first and second finger rotors 17 and 18 can be adjusted by adjusting the tightness of a pre-tightening bolt 20.

[0022] Preferably, in this embodiment, the above-mentioned bridge amplifier mechanism includes a first input beam 12 and a second input beam 14 arranged on opposite sides of the second piezoelectric stack 11, and four bridge arm beams 15 connecting the first input beam 12 and the second input beam 14; the bridge amplifier mechanism also includes a first flexible hinge respectively arranged between the first input beam 12 and the second input beam 14 and the bridge arm beam 15, and a second flexible hinge arranged between the bridge arm beam 15 and the fixed block 4.

[0023] Further, in this embodiment, the first connecting rod 2 and the second connecting rod 9 are respectively connected to the first parallel four-bar mechanism 3 and the second parallel four-bar mechanism 7 through a third flexible hinge. The first flexible hinge, the second flexible hinge, and the third flexible hinge are all straight beam type flexible hinges.

[0024] Preferably, in this embodiment, a first through hole is provided on the base 1, and a first fixing bolt for fixing the base 1 to the working platform 21 is provided on the first through hole; a second through hole is provided on the fixing block 4, and a second fixing bolt for fixing the fixing block 4 to the working platform 21 is provided on the second through hole.

[0025] In some application scenarios of this embodiment, the working process of the compliant clamp of the rotating jaw is as follows: The compliant gripper is mounted on the working platform 21; the first piezoelectric stack 10 is mounted in the base 1, with the top end in contact with the output block 8; the first piezoelectric stack 10 is controlled by voltage to push the output block 8, thereby causing the flexible lever amplification mechanism composed of the first connecting rod 2, the second connecting rod 9, the first parallelogram mechanism 3, the second parallelogram mechanism 7 and the straight beam type flexible hinge to deform, and according to the lever amplification principle, the output displacement of the first piezoelectric stack 10 is amplified, so that the first clamp finger 5 and the second clamp finger 6 move toward the center, that is, the first clamp finger rotor 17 and the second clamp finger rotor 18 move toward the center; There is a certain distance between the first clamp finger 5 and the second clamp finger 6, and there is a certain distance between the first clamp finger rotor 17 and the second clamp finger rotor 18; Specifically, the first piezoelectric stack 10 pushes the output block 8 under the action of voltage, and the output block 8 moves and transmits to the first connecting rod 2 and the second connecting rod 9, and the first connecting rod 2 and the second connecting rod 9 shift upward in the horizontal direction and shift toward the center in the vertical direction, driving the first parallel four-bar mechanism 3 and the second parallel four-bar mechanism 7 to shift toward the center, and then forming a lever, according to the lever amplification principle, amplifying the output displacement of the first piezoelectric stack 10. The first clamp finger 5 and the second clamp finger 6 move toward the center, that is, the first clamp finger rotor 17 and the second clamp finger rotor 18 move toward the center, and the spacing between the first clamp finger rotor 17 and the second clamp finger rotor 18 is reduced, so as to achieve the purpose of clamping tiny objects; The second piezoelectric stack 11 is installed in the base 1, and its two ends are in contact with the first input beam 12 and the second input beam 14; The contact end 19 of the output mover 13 is in elastic contact with the first clamp finger rotor 17 and the second clamp finger rotor 18 by adjusting the pre-tightening bolt 20; In order to achieve better clamping and rotation effects, the flexible clamping mechanism, displacement output mechanism, first clamp finger rotor 17 and second clamp finger rotor 18 in the compliant clamp of the present invention are symmetrically designed. The first connecting rod 2, the first parallel four-bar mechanism 3 and the second connecting rod 9, the second parallel four-bar mechanism 7 are symmetrical, and the bridge amplification mechanism is bilaterally symmetrical.

[0026] Subsequently, the output of the second piezoelectric stack 11 is controlled by voltage to push the first input beam 12 and the second input beam 14, and the bridge amplifier mechanism is deformed to amplify the output displacement of the second piezoelectric stack 11, that is, the translational displacement of the output mover 13 is amplified.

[0027] It can be understood that please refer to the figure again. In the displacement output mechanism, since the voltage applied to the second piezoelectric stack 11 is a sawtooth waveform voltage that rises slowly and falls rapidly, the output displacement generated by the second piezoelectric stack 11 is amplified by the bridge amplifier mechanism, so that the output mover 13 is continuously displaced in the direction of the jaws and then restored to the initial state. According to the stick-slip principle, the contact end 19 of the output mover 13 is in elastic contact with the first clamp finger rotor 17 and the second clamp finger rotor 18. In the voltage rising stage, the displacement generated by the contact end 19 of the output mover 13 can drive the first clamp finger rotor 17 and the second clamp finger rotor 18 to rotate a large positive angle. In the voltage falling stage, the bridge amplifier mechanism and the output mover 13 are restored to the initial state. Since the contact end 19 of the output mover 13 is in elastic contact with the first clamp finger rotor 17 and the second clamp finger rotor 18, the contact end 19 of the output mover 13 is in elastic contact with the first clamp finger rotor 17 and the second clamp finger rotor 18. There is a certain friction force between the first and second finger rotors 17, 18, which will cause the first and second finger rotors 17, 18 to rotate a small negative angle, and the positive large angle is greater than the negative small angle. Therefore, during the whole process, the first and second finger rotors 17, 18 rotate positively. Through the periodic application of the sawtooth waveform voltage, the first and second finger rotors 17, 18 can rotate continuously, thereby realizing the rotation of the clamped tiny object and achieving the purpose of adjusting the angle of the clamped tiny object; through the sequential action of the clamping effect generated by the first piezoelectric stack 10 and the rotation effect generated by the second piezoelectric stack 11, the clamped tiny object can be rotated, thereby changing the angle of the tiny object, which is convenient for the assembly or operation of the tiny object.

[0028] In summary, in the above-mentioned embodiment of the present invention, a compliant gripper with a rotating jaw is used. When the first piezoelectric stack 10 generates an output displacement, it pushes the output block 8, driving the flexible lever amplification mechanism composed of the first connecting rod 2, the second connecting rod 9, the first parallel four-bar mechanism 3, and the second parallel four-bar mechanism 7 through the flexible hinge to deform, and the output displacement of the first piezoelectric stack 10 is amplified by the lever principle, so that the first clamp finger 5 and the second clamp finger 6 generate displacement, and the first clamp finger 5 and the second clamp finger 6 are displaced toward the center, and the first clamp finger rotor 17 and the second clamp finger rotor 18 installed on the first clamp finger 5 and the second clamp finger 6 can clamp the tiny object therein; the second piezoelectric stack 11 generates an output displacement, pushing the bridge amplification mechanism, and the output mover 13 generates a larger displacement. The contact end 19 of the output mover 13 is in elastic contact with the first clamp finger rotor 17 and the second clamp finger rotor 18. According to the stick-slip principle, the first clamp finger rotor 17 and the second clamp finger rotor 18 can be driven to rotate, thereby achieving the purpose of adjusting the angle of the clamped tiny object.

[0029] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0030] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A compliant gripper with a rotating jaw, characterized in that: The invention comprises a flexible clamping mechanism and a displacement output mechanism, wherein the flexible clamping mechanism comprises a base, an output block arranged on the base, and a first piezoelectric stack arranged on the base for driving the output block to move, the flexible clamping mechanism also comprises a first clamp finger and a second clamp finger arranged on one side of the base, a first parallel four-bar mechanism connected to the first clamp finger and a second parallel four-bar mechanism connected to the second clamp finger are arranged on the base, the first parallel four-bar mechanism and the output block are connected by a first connecting rod, the second parallel four-bar mechanism and the output block are connected by a second connecting rod, and the first parallel four-bar mechanism and the output block are connected by a second connecting rod. A fixed block is provided on the side of the first connecting rod and the second connecting rod close to the first finger, and the output block is fixed to the side of the first connecting rod and the second connecting rod away from the fixed block. The displacement output mechanism includes a bridge amplifier mechanism provided on one side of the fixed block, a second piezoelectric stack embedded in the bridge amplifier mechanism, and an output mover provided on one side of the output end of the bridge amplifier mechanism. A first finger rotor and a second finger rotor are respectively provided through threaded holes on the side where the first finger and the second finger are close to each other, and the output mover is arranged close to the first finger rotor and the second finger rotor.

2. The compliant gripper with a rotating jaw according to claim 1, characterized in that: The output mover includes a fixed end arranged at one side of the bridge amplifying mechanism, and a pre-tightening end and a contact end respectively arranged at both sides of the fixed end, and the contact end is arranged close to the first clamp finger rotor and the second clamp finger rotor.

3. The compliant gripper of the rotating jaw according to claim 2, characterized in that: The pre-tightening end and the contact end are both provided with threaded holes, and the output mover further comprises a pre-tightening bolt which is threadedly arranged on the threaded hole.

4. The compliant gripper with a rotating jaw according to claim 1, characterized in that: The bridge amplifier mechanism includes a first input beam and a second input beam disposed on opposite sides of the second piezoelectric stack, and four bridge arm beams connecting the first input beam and the second input beam.

5. The compliant gripper with rotating jaws according to claim 4, characterized in that: The bridge amplification mechanism further includes a first flexible hinge respectively arranged between the first input beam and the second input beam and the bridge arm beam, and a second flexible hinge arranged between the bridge arm beam and the fixed block.

6. The compliant gripper with rotating jaws according to claim 1, characterized in that: The base is provided with a first through hole, and the first through hole is provided with a first fixing bolt for fixing the base on the working platform.

7. The compliant gripper with a rotating jaw according to claim 1, characterized in that: The fixing block is provided with a second through hole, and the second through hole is provided with a second fixing bolt for fixing the fixing block on the working platform.

8. The compliant gripper with rotating jaws according to claim 1, characterized in that: The first connecting rod and the second connecting rod are respectively connected to the first parallel four-bar mechanism and the second parallel four-bar mechanism through a third flexible hinge.

Images