Auxiliary control apparatus for micro-manipulators used in ultrasonic bonding machines

Abstract

An auxiliary control apparatus mechanically couples forces exerted on a manually operable auxiliary hand control knob to an input member of a micro-manipulator of the type used to move a point of an object such as an ultrasonic bonding tool tip relative to a workpiece in scaled ratios of motions at an end of the micro-manipulator input member. The apparatus includes a 4-bar parallelogram linkage which is mounted to a structural support member of a micro-manipulator, and which includes a rear laterally disposed lateral linkage bar pivotably connected to inner and outer parallel longitudinally disposed linkage bars which are pivotably coupled at front ends thereof to a front laterally disposed linkage bar. An input control arm protrudes downwardly from and forward of the outer longitudinal linkage bar, and a connector arm protrudes laterally inwardly from an inner end of the front lateral linkage bar, inwardly of the inner longitudinal linkage bar; the inner lateral end of the connector arm is pivotably connected to a forward end of the micro-manipulator input member. The rear lateral linkage bar is pivotably mounted onto a pivot axle which protrudes laterally outwards from a trolley block rollably mounted on a fore-and-aft disposed linear bearing guide rail mounted to an outer longitudinal surface of the support structure. Motions of the hand control knob in fore-and-aft left and right, and up and down directions cause corresponding motions of the micro-manipulator input control member and tool tip.