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Constant-force-adjustable multi-freedom-degree flexible micro-gripper

A degree of freedom, micro-clamping technology, used in workpiece clamping devices, manufacturing tools, etc., can solve the problems of the micro-gripper being unable to output constant force, aggravating the deflection of the operated object, and unable to change the constant force, etc., to achieve machining accuracy. The effect of easy to guarantee, light structure and convenient operation

Active Publication Date: 2018-07-24
NINGBO UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At the same time, the end of the micro-gripper is often output by rotation or approximately translational output through a unilateral parallelogram mechanism, and the translational effect is also limited.
The detection of the clamping force at the end of the micro-gripper is also done by pasting a single strain gauge on the root of the flexible clamping arm at the end, which will further intensify the deflection of the manipulated object during detection
In addition, the current micro grippers usually cannot output constant force, let alone change the constant force to output another constant force; existing micro grippers usually have one or two degrees of freedom, and when gripping the object to be manipulated, the operation not flexible enough

Method used

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Embodiment Construction

[0035] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. It should be noted that the specific embodiments are only detailed descriptions and are not intended to limit the present invention.

[0036] The invention provides a multi-degree-of-freedom flexible micro-gripper with adjustable constant force, including a micro-gripping unit, such as figure 1 As shown, the micro-clamping unit includes a clamping member 6 and a degree of freedom adjustment member. The clamping member 6 is mounted on the degree of freedom adjustment member and can be driven by the degree of freedom adjustment member to achieve up and down, left and right, and front and rear directions. Move, the clamping part 6 is connected with the degree of freedom adjustment part through a connecting block 8. The degree of freedom adjustment part is fixed on the base 9 on the different surface through the base 1, so that the degree of fr...

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Abstract

The invention provides a constant-force-adjustable multi-freedom-degree flexible micro-gripper. The constant-force-adjustable multi-freedom-degree flexible micro-gripper comprises a micro-gripping unit; the micro-gripping unit comprises a gripping component and a freedom degree regulating component; the gripping component is installed on the freedom degree regulating component and can move in theup-down direction, the left-right direction and the front-back direction under the driving of the freedom degree regulating component; the gripping component is connected with the freedom degree regulating component through a connecting block; the freedom degree regulating component is fixed to an abnormal-surface pedestal through a substrate, and thus the freedom degree regulating component moving in different directions is different in installation directions on the abnormal-surface pedestal. The constant-force-adjustable multi-freedom-degree flexible micro-gripper provided by the inventionrealizes constant-force output and constant-force adjustability of the micro-gripping unit, and simultaneously makes the gripper have a plurality of freedom degrees. The constant-force-adjustable multi-freedom-degree flexible micro-gripper provided by the invention is small in structure weight, convenient to operate and applicable to a micro-operation robot system and a micro-electromechanical system.

Description

Technical field [0001] The present invention relates to micro holders. Background technique [0002] As a key component connecting the macro system and the micro system, the micro gripper plays a vital role in the field of micro manipulation and micro assembly technology. The micro gripper is used to realize the micro manipulation tasks such as clamping, holding and releasing. , Such as the movement and arrangement of cells, assembly of small parts, and fiber optic docking. [0003] Compared with shape memory alloy drive, vacuum drive, electrostatic comb drive, thermal drive and electromagnetic drive, piezoelectric drive has the advantages of high resolution, large driving force, fast response speed and good dynamic characteristics, and is widely used in Various high-precision micro-grippers. On the other hand, for many micro-manipulation tasks and micro-assembly tasks, the manipulated objects are often irregular in shape, ranging from micrometers to millimeters in size. When us...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25B11/00
CPCB25B11/00
Inventor 吴高华杨依领娄军强崔玉国林煌旭张振振
Owner NINGBO UNIV
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