Symmetrical three-dimensional micromanipulator with three-stage motion amplification mechanism
A three-dimensional, micro-manipulator technology, applied in the field of micro-nano robots, can solve the problems of increasing the difficulty of motion control of the mechanical arm, limiting the application scope of micro-manipulation robots, etc., and achieves the effect of compact structure, improved motion accuracy, and simplified motion path.
A three-dimensional, micro-manipulator technology, applied in the field of micro-nano robots, can solve the problems of increasing the difficulty of motion control of the mechanical arm, limiting the application scope of micro-manipulation robots, etc., and achieves the effect of compact structure, improved motion accuracy, and simplified motion path.
CN109909976BActive Publication Date: 2021-12-24TIANJIN UNIV
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[0028] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0029] The structure diagram of the symmetrical three-dimensional micro-manipulator with three-stage motion amplification mechanism of the present invention is as follows: Figure 1-Figure 5 As shown, it consists of a base 1 and a plurality of enlarged clamping modules, and the number of enlarged clamping modules can be determined according to the needs of use. figure 1 It is a structural schematic diagram of an embodiment with four enlarged clamping modules. Each amplifying clamping module includes a piezoelectric ceramic driver 6 , a bridge-type displacement amplifying mechanism 3 , two lever displacement amplifying mechanisms 2 , a Z-beam displacement amplifying mechanism 7 , two flexible guide mechanisms 8 and clamping jaws 4 . The two lever displacement amplifying mechanisms 2 are symmetrically arranged on both sides of the bridge type ...
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The invention discloses a symmetrical space three-dimensional micro-manipulator with a three-stage motion amplification mechanism, and aims to provide a micro-manipulator with small volume, compact structure, stable and reliable clamping force and high motion precision. It consists of a base and multiple clamping modules, and each clamping module includes a piezoelectric ceramic driver, a bridge-type displacement amplification mechanism, two lever displacement amplification mechanisms, a Z-beam displacement amplification mechanism, two flexible guide mechanisms and Gripper; the piezoelectric ceramic driver is arranged between the base and the movable end of the bridge-type displacement amplifying mechanism; the piezoelectric ceramic driver drives the movable end of the bridge-type displacement amplifying mechanism, and the output end of the bridge-type displacement amplifying mechanism drives the lever displacement amplifying mechanism The input end of each lever displacement amplifying mechanism respectively drives the input end of the Z-beam displacement amplifying mechanism, and the output end of the Z-beam displacement amplifying mechanism is fixedly connected with the jaws. The micromanipulator has the advantages of compact structure, stable and reliable clamping force, low cost and high motion precision.
Description
technical field [0001] The invention belongs to the technical field of micro-nano robots, and more specifically relates to a symmetrical three-dimensional micro-manipulator with a three-stage motion amplification mechanism. Background technique [0002] In recent years, with the rapid development of microelectronics, life science and robotics, the application of micro-nano devices has become more and more extensive. The integration of micro-nano manufacturing, packaging and testing, and precision operation with other basic disciplines has become increasingly close, and has become one of the important cutting-edge science and technology leading scientific development and engineering applications, and has attracted extensive attention from many experts and scholars. Micro-nano manipulation technology has been widely used in many fields such as bioengineering, micro-device bonding, optical device assembly and optical fiber docking. [0003] As the end effector of the micro-ope...
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Patent Timeline
24 Dec 2021
Publication
CN109909976B
- IPC
- B25J9/00; B25J9/10; B25J9/16; B25J19/02; B25J15/00
- Inventors
- 王福军; 时贝超