Normal stress electromagnetic-driven microgripper
An electromagnetic drive and electromagnetic drive technology, applied in the fields of precision engineering and micro-object clamping, can solve the problems of reducing the output force and limiting the application of micro-grippers, and achieve high clamping accuracy, simple and reasonable structure, and large amplification ratio. Effect
Active Publication Date: 2020-05-29
NANJING UNIV OF SCI & TECH
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Problems solved by technology
On the other hand, with the increase of mechanism motion amplification ratio, the output force decreases, which limits the application of micro grippers.
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[0022] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0023] The main purpose of the invention is to grip and transfer tiny objects (in the size range from a few micrometers to a millimeter) with extremely high positioning accuracy. A compact flexible amplification mechanism and a high-performance normal stress electromagnetic driver are used to achieve the above goals.
[0024] A mechanical microgripper actuated by normal stress electromagnetics, such as figure 1 As shown, it can hold objects from several microns to one millimeter. It mainly consists of two parts: a positive stress electromagnetic driver 1 and a flexible amplification mechanism 2 . The positive stress electromagnetic driver 1 generates the required motion, and the flexible amplification mechanism 2 amplifies the generated motion with high precision and accuracy and transmits it to the jaw 6 . Such as figure 2 As shown, the...
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The invention discloses a normal stress electromagnetic-driven microgripper, which comprises a normal stress electromagnetic actuator and a flexible amplification mechanism, wherein the output end ofthe normal stress electromagnetic actuator is connected with the input end of the flexible amplification mechanism; the flexible amplification mechanism comprises a displacement amplification mechanism, two parallelogram guide mechanisms, a Scott-Russel mechanism and a gripping clamp; the input end of the displacement amplification mechanism is connected with the output end of the normal stress electromagnetic actuator; the output end of the displacement amplification mechanism is connected with one side of a force transferring base of the gripping clamp; the two parallelogram guide mechanismsare connected with the bottom of the force transferring base of the gripping clamp; the gripping clamp is positioned on the top of the force transferring base of the gripping clamp; and the upper part of one side of the Scott-Russel mechanism is connected with the upper part of the inner side of one parallelogram guide mechanism, and the lower part of the other side is connected with the lower part of the inner side of the other parallelogram guide mechanism. The parallelogram guide mechanism actuator disclosed by the invention has a large stroke which is about 10 times of the stroke of a piezoelectric actuator of the same size, and the parallelogram guide mechanism actuator has a high accelerated speed and a big bandwidth.
Description
technical field [0001] The invention belongs to the technical field of precision engineering and micro object clamping, and relates to a normal stress electromagnetically driven micro clamper. Background technique [0002] With the growing demand for miniaturized objects in the field of precision engineering, researchers have begun to explore different methods to safely grasp, hold and transfer miniaturized objects. Grasping and manipulating small objects has a wide range of applications, and is essential in applications such as microelectromechanical systems (MEMS), micromanipulation, microfabrication, microsurgery, microbiology, and microassembly. Compared with other non-contact micromanipulation and assembly techniques such as optical, electrostatic, Bernoulli, ultrasonic, etc., mechanical microgripper is favored because it can grasp objects of different shapes with high precision and low cost. In micromanipulation and microassembly systems, microgrippers are the end eff...
Claims
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IPC IPC(8): B25J7/00
CPCB25J7/00
Inventor 康苏朱志伟
Owner NANJING UNIV OF SCI & TECH