Vacuum adsorption type clamp holder based on flexible wrist structure

Abstract

The invention discloses a vacuum adsorption type clamp holder based on a flexible wrist structure. The vacuum adsorption type clamp holder based on the flexible wrist structure comprises a flexible wrist, an adsorber and an electromagnet, wherein the flexible wrist comprises an outer frame and a rotating part arranged in the outer frame; the adsorber comprises an air cylinder, a piston, an elastic piece, an air passage and an adsorption pipe; the air cylinder is mounted on the rotating part; the piston is arranged in the air cylinder; one end of the elastic piece is connected with the piston; the other end of the elastic piece is connected with the inner bottom wall of the air cylinder; the air passage communicates with the air cylinder; the adsorption pipe communicates with the air passage; and the electromagnet corresponds to the piston. According to the vacuum adsorption type clamp holder based on the flexible wrist structure provided by the invention, the air cylinder, the air passage and the adsorption pipe are all integrated together, so that the size of the vacuum adsorption type clamp holder is greatly reduced, and miniaturization of the adsorption type clamp holder is achieved; on the other hand, due to the fact that the size is reduced, the clamp holder can be completely integrated in a micro-force sensor, and the problem that an adsorption type clamp holder cannot complete micro-force detection is solved; the deflection detection of micro-newton-level micro stress is realized; and the piston is pulled through a spring, so that the inside of the air cylinder is always kept in a negative-pressure state.

Description

technical field [0001] The invention belongs to the technical field of micro-operation equipment, and in particular relates to a vacuum adsorption type holder based on a flexible wrist structure. Background technique [0002] In recent decades, the need for micromanipulation in the field of industrial assembly has increased due to technological advancements to the nature of microscale component assembly. Manipulating these micro-sized parts without the use of micromanipulation tools is a great challenge due to the extra attractive force of the micro, the difficulty of observation, and the high precision requirements. [0003] In order to improve efficiency and product quality, countries are studying the use of automated robots to support micro-operation equipment. As the key to micromanipulation, the microgripper is usually designed to ensure the compactness, accuracy, and controllability of dimensions, and due to these characteristics, it is widely used, especially in the ...

AI Technical Summary

Problems solved by technology

Due to the many components of the adsorption gripper, the gas pipe is required to connect the gas path, so it is difficult for the adsorption gripper to integrate sensors to detect external forces

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