阅读说明：本技术 一种二级放大气缸驱动微夹钳 (Two-stage amplification cylinder driving micro clamp ) 是由 谭惠丰 陈晓东 卫剑征 陈雪岩 于 2021-10-12 设计创作，主要内容包括：一种二级放大气缸驱动微夹钳,属于微夹钳技术领域,解决了目前微夹钳存在的输出位移无法进一步提升等问题,引入小型气缸驱动,通过汽缸活塞杆伸缩特性使微夹钳钳口实现张开和闭合,进一步提升了其输出位移；另一方面,针对现有驱动器存在的非线性特性、输出力小、寿命短、热膨胀量很难控制等问题,小型气缸作为驱动器不存在以上缺点；它包含气泵通过电磁阀来连接气缸,在气泵与电磁阀之间设置有精密减压阀,精密减压阀还与数字压力传感器连接,气缸的活塞杆与桥式放大器的输入端固定连接,桥式放大器的两个输出端分别通过支杆来与对应的夹臂连接,形成一整套调压系统,通过调节压力值,精确控制钳口咬合力大小；本发明用于微米级尺度零件操作。(A two-stage amplification cylinder driven micro clamp belongs to the technical field of micro clamps, solves the problems that the output displacement of the existing micro clamp cannot be further improved, introduces a small cylinder for driving, realizes the opening and closing of a micro clamp jaw through the telescopic characteristic of a cylinder piston rod, and further improves the output displacement; on the other hand, aiming at the problems of non-linear characteristic, small output force, short service life, difficult control of thermal expansion amount and the like of the existing driver, the small air cylinder as the driver does not have the defects; the device comprises an air pump, a cylinder, a precision pressure reducing valve, a digital pressure sensor, a bridge amplifier, a pressure regulating system and a control system, wherein the air pump is connected with the cylinder through an electromagnetic valve, the precision pressure reducing valve is arranged between the air pump and the electromagnetic valve and is also connected with the digital pressure sensor, a piston rod of the air cylinder is fixedly connected with the input end of the bridge amplifier, two output ends of the bridge amplifier are respectively connected with corresponding clamping arms through supporting rods to form a whole set of pressure regulating system, and the size of the bite force of a jaw is accurately controlled by regulating the pressure value; the invention is used for the operation of parts with micron-scale dimensions.)

1. A two-stage amplification air cylinder driving micro clamp is characterized by comprising an air pump (1), a precision pressure reducing valve (2), a digital pressure sensor (3), an electromagnetic valve (4), an air cylinder (5), a bridge amplifier (6), clamping arms (7) and a shell (8), wherein the air pump (1) is connected with the air cylinder (5) through the electromagnetic valve (4), the precision pressure reducing valve (2) is arranged between the air pump (1) and the electromagnetic valve (4), the precision pressure reducing valve (2) is also connected with the digital pressure sensor (3), a piston rod of the air cylinder (5) is fixedly connected with the input end of the bridge amplifier (6), a fixed end (6-1) of the bridge amplifier (6) is fixedly connected onto the shell (8), and the shell (8) is fixedly connected with a cylinder body of the air cylinder (5); two sides of the bridge amplifier (6) are respectively provided with a clamping arm (7), the root (7-1) of each clamping arm (7) is fixedly connected with the shell (8), and two output ends (6-2) of the bridge amplifier (6) are respectively connected with the corresponding clamping arms (7) through supporting rods (9).

2. The micro-gripper with the function of two-stage amplification and cylinder driving as claimed in claim 1, characterized in that the air outlet of the air pump (1) is connected with the air inlet of the precision pressure reducing valve (2), the probe of the digital pressure sensor (3) is inserted into the side hole of the precision pressure reducing valve (2), the air outlet of the precision pressure reducing valve (2) is connected with the two-position electromagnetic valve (4), the two air outlets of the two-position electromagnetic valve (4) are respectively connected with the two air inlets of the air cylinder (5), and the air cylinder (5) is connected with the bridge amplifier (6) through threads.

3. A two-stage amplification cylinder driven micro-gripper as claimed in claim 1 or 2, characterised in that the gripper arms (7) are of a parallel four-bar linkage configuration.

Technical Field

The invention belongs to the technical field of micro-clamps, and particularly relates to a secondary amplification cylinder driven micro-clamp.

Background

The micro clamp is a micron-scale part operating tool, the output displacement of the traditional micro clamp cannot be further improved, and drivers commonly used in the field of micro operation at present are piezoelectric drivers, electrostatic drivers, electrothermal drivers, shape memory alloy drivers and the like, and have the following defects:

the piezoelectric driver has the advantages of small volume, large output force, high sensitivity and the like; however, the input and the output of the piezoelectric driver have nonlinear characteristics, mainly hysteresis and creep;

electrostatic drivers were introduced earlier into microelectromechanical systems for a wide range of applications; however, the output force of the electrostatic actuator is small, usually measured in μ N, and the application range is limited;

the electrothermal drive has the advantages of large driving force which can reach more than hundreds of milli-newtons, low driving voltage and easy integration with an integrated circuit; however, the displacement change of the electric heating driver is realized through thermal expansion, but the thermal expansion amount is difficult to control, and the working temperature is high;

the shape memory alloy driver has the characteristics of extremely high working volume ratio, large deflection and high power output; however, the shape memory alloy actuator has a long lag time and a short life.

Disclosure of Invention

The invention aims to solve the problems that the output displacement of the existing micro clamp cannot be further improved, the non-linear characteristic is high, the output force is small, the service life is short, the thermal expansion amount is difficult to control and the like, and provides a two-stage amplification air cylinder driven micro clamp, which has the following technical scheme:

a two-stage amplification air cylinder driving micro clamp comprises an air pump, a precision pressure reducing valve, a digital pressure sensor, an electromagnetic valve, an air cylinder, a bridge amplifier and clamp arms, wherein the air pump is connected with the air cylinder through the electromagnetic valve, a piston rod of the air cylinder is controlled to stretch, the precision pressure reducing valve is arranged between the air pump and the electromagnetic valve, the air pressure output is precisely controlled, the precision pressure reducing valve is also connected with the digital pressure sensor, the air pressure is input by a feedback air cylinder, the piston rod of the air cylinder is fixedly connected with the input end of the bridge amplifier, the fixed end of the bridge amplifier is fixedly connected to a shell, and the shell is fixedly connected with a cylinder body of the air cylinder; two sides of the bridge amplifier are respectively provided with a clamping arm, the root of each clamping arm is fixedly connected with the shell, and two output ends of the bridge amplifier are respectively connected with the corresponding clamping arms through supporting rods to control the two clamping arms to open and close; because the clamping arm has elasticity, the cylinder controls the clamping arm to open and close through the bridge amplifier, forms a whole set of pressure regulating system, through adjusting the cylinder pressure value, accurate control is kept silent and is held the bite-force size.

The invention has the beneficial effects that: aiming at the problem that the output displacement of the existing micro-clamp cannot be further improved, a small-sized cylinder is introduced to serve as a driver, the jaw of the micro-clamp is opened and closed through the telescopic characteristic of a cylinder piston rod, secondary amplification is carried out through a bridge amplifier and a clamping arm, the output displacement of the micro-clamp is further improved, and the jaw can be driven to expand.

On the other hand, the problems of non-linear characteristic, small output force, short service life, difficult control of thermal expansion and the like of the existing driver are solved, and the air cylinder as the driver does not have the defects.

The air cylinder drives the micro clamp to open and close the jaw, and the output displacement of the micro clamp is greatly improved. The device has the advantages of large displacement, large output force, simple assembly, easy control, long-term use and the like;

the air cylinder is adopted as the driver to effectively solve the problems of non-linear characteristic, small output force, short service life, difficult control of thermal expansion and the like of the existing driver, and along with the mature technology of the micro air cylinder in recent years, the invention has the advantages of small volume, large output force, high sensitivity and the like of the piezoelectric driver; and is easy to assemble;

the problem of small output force of the electrostatic driver is also solved; for example, CQ2A20-5D type cylinder, the cylinder diameter is 20mm, after being amplified by a bridge amplifier, the theoretical output force can reach 157N under the air pressure of 0.5 MPa.

The output air pressure is effectively controlled between the air cylinder and the air source through a precise pressure reducing valve, the displacement change is easy to control, and the defect of high working temperature of electric heating drive is also overcome;

the invention solves the problems of long lag time and short service life of the shape memory alloy driver, and also has the characteristics of extremely high working volume ratio, large deflection and high power output.

Description of the drawings:

FIG. 1 is a schematic diagram of the overall construction of the present invention;

FIG. 2 is a schematic diagram of a cylinder controlling clamp arms through a bridge amplifier;

fig. 3 is an exploded schematic view of fig. 2 (housing not shown).

The specific implementation mode is as follows:

referring to fig. 1 to 3, a two-stage amplification cylinder driving micro-gripper comprises an air pump 1, a precision pressure reducing valve 2, a digital pressure sensor 3, an electromagnetic valve 4, an air cylinder 5, a bridge amplifier 6, a clamping arm 7 and a shell 8, wherein the air pump 1 is connected with the air cylinder 5 through the electromagnetic valve 4, a piston rod of the air cylinder 5 is controlled to stretch, the precision pressure reducing valve 2 is arranged between the air pump 1 and the electromagnetic valve 4, the air pressure output is precisely controlled, the precision pressure reducing valve 2 is also connected with the digital pressure sensor 3, the air pressure is fed back to the air cylinder 5, the piston rod of the air cylinder 5 is fixedly connected with the input end of the bridge amplifier 6, a fixed end 6-1 of the bridge amplifier 6 is fixedly connected to the shell 8, and the shell 8 is fixedly connected with a cylinder body of the air cylinder 5; two sides of the bridge amplifier 6 are respectively provided with a clamping arm 7, the root 7-1 of each clamping arm 7 is fixedly connected with the shell 8, and two output ends 6-2 of the bridge amplifier 6 are respectively connected with the corresponding clamping arms 7 through supporting rods 9 to control the two clamping arms 7 to open and close; because the clamping arm 7 has elasticity, the air cylinder 5 controls the clamping arm 7 to open and close through the bridge amplifier 6 to form a whole set of pressure regulating system, and the size of the bite force of the jaw is accurately controlled by regulating the pressure value of the air cylinder.

The housing 8 may also be a flat plate fixedly connected to the cylinder body of the cylinder 5, and may have a fixed connection function.

The air inlet of accurate relief pressure valve 2 is connected to the gas outlet of air pump 1, insert digital pressure sensor 3's probe in the side opening of accurate relief pressure valve 2, 2 gas outlets of accurate relief pressure valve link to each other with two solenoid valve 4, atmospheric pressure value through the atmospheric pressure control valve of adjusting accurate relief pressure valve 2, the atmospheric pressure value that corresponds can be through digital pressure sensor 3 feedback, two gas outlets of two solenoid valve 4 link to each other with two air inlets of cylinder 5 respectively, cylinder 5 passes through threaded connection with bridge amplifier 6, the displacement of micro clamp output can be looked over through laser displacement sensor.

The air pump 1 provides an air source to transfer air pressure to the air cylinder 5, a precise pressure reducing valve 2 is arranged to ensure the controllability of the output of the air cylinder 5, the digital pressure sensor 3 is used for feeding back the input air pressure of the air cylinder 5, and the push-pull action of the air cylinder 5 is controlled by the electromagnetic valve 4; the cylinder 5 is used as a driver of the micro-operation equipment and is directly connected with the bridge amplifier 6, the bridge amplifier 6 converts the input axial displacement into radial displacement, and the two clamping arms 7 are controlled to be opened and closed; two air outlets of the two-position electromagnetic valve 4 are respectively connected with two air inlets of the air cylinder 5, and when the pressure P on the upper side of the piston₁Greater than the lower pressure P₂The piston drives the piston rod to move downwards and simultaneously stretches the bridge amplifier 6, and the output end 6-2 expands to push the clamping arm to open the jaw; when P is present₂Greater than P₁The piston drives the piston rod to move upwards, and the jaw is closed; the final execution data of the micro-operation device may be obtained by the data measuring device.

Preferably, the clamping arm 7 is of a parallel four-bar structure, and the clamping arm 7 is provided with an I-shaped hollow part, so that the clamping opening can be horizontally moved and clamped.