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Microminiature mobile robot system oriented to precise operation of micro electromechanical system

A technology of mobile robots and micro-electromechanical systems, applied in the field of robot systems, can solve problems such as difficult modular design, poor versatility, and large size

Inactive Publication Date: 2006-04-19
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problems that existing robots are large in size, composed of multiple parts, difficult to realize modular design, and poor in versatility, and provide a micro-miniature mobile robot system oriented to micro-electromechanical system precision operations. The present invention has Small size, light weight, low cost, strong environmental adaptability, strong versatility, and wide application range

Method used

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  • Microminiature mobile robot system oriented to precise operation of micro electromechanical system
  • Microminiature mobile robot system oriented to precise operation of micro electromechanical system
  • Microminiature mobile robot system oriented to precise operation of micro electromechanical system

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specific Embodiment approach 1

[0005] Specific embodiment one: (see Fig. 1) this embodiment is made up of macro-movement positioning unit 1, micro-movement positioning unit 2, torque motor 3, transition connecting plate 4, connecting column 5, micromanipulator unit 6: micro-movement positioning unit 2 Set in the macro mobile positioning unit 1, the transition connecting plate 4 is fixed on the upper side of the micro mobile positioning unit 2, the lower end of the connecting column 5 is fixedly connected with the upper side of the transition connecting plate 4, and the upper end of the connecting column 5 is connected to the micromanipulator The lower side of the unit 6 is fixedly connected, and the torque motor 3 is fixedly connected with the macro mobile positioning unit 1 .

specific Embodiment approach 2

[0006] Specific implementation mode two: (referring to Fig. 1~ image 3 ) The macro mobile positioning unit 1 of the present embodiment is made up of a left drive wheel 10, a left micro motor 11, two height-adjustable support balls 13, a right micro motor 14, a right drive wheel 15 and a body 16; the left micro motor 11 and Right micro-motor 14 is symmetrically fixed on both sides in the body 16, left drive wheel 10 is fixed on the output shaft of left micro-motor 11, and right drive wheel 15 is fixed on the output shaft of right micro-motor 14, and two can adjust height The support ball 13 is arranged on the bottom of the body 16, and two support balls 13 that can be adjusted in height are vertically arranged with the left drive wheel 10 and the right drive wheel 15, and the body 16 has a through hole 12. This embodiment adopts a symmetrical structure, and the center of two miniature SMOOVY motors is symmetrically installed on both sides to drive the robot to achieve all-roun...

specific Embodiment approach 3

[0007] Specific embodiment three: (referring to Fig. 1, Figure 4 , Figure 5 ) The micro-movement positioning unit 2 of the present embodiment consists of a mobile platform 20, a preload screw 21, a flexible beam 22, a first electromagnet B1, a second electromagnet B2, a third electromagnet A1, a fourth electromagnet A2, a first electromagnet Composed of piezoelectric ceramics I, second piezoelectric ceramics II, third piezoelectric ceramics III and fourth piezoelectric ceramics IV; the mobile platform 20 is formed by wire cutting as a whole, and is cut into four parts in the four corners of the mobile platform 20 The electromagnet holes 23 and four pairs of elliptical hinges 24 distributed in a "ten" shape, the flexible beam 22 is arranged in the middle of the mobile platform 20, the inside of the four corners of the flexible beam 22 has guide holes 25, and the center of the flexible beam 22 has a threaded hole 26. The first electromagnet B1, the second electromagnet B2, th...

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Abstract

A movable miniature robot system for the precise job of microchemico-electric system is disclosed. Its micromovement locating unit is arranged in the macromovement locating unit. The transition connecting plate is fixed above said micromovement locating unit and to the top ends of vertical connecting posts. Its torque motor is fixed to said macromovement locating unit. Its advantages are small size, light weight, modular design, and high adaptivity. Its highest speed and locating precision are 50 mm / s and 0.1 mm for macromovement and 0.5 mm / s and 0.1 micron for micromovement.

Description

technical field [0001] The present invention relates to a robot system. Background technique [0002] With the continuous development of micro-electromechanical systems (MEMS) technology and precision engineering, the development of micro-assembly, micro-operation and other industries has been promoted, and at the same time, there is an urgent need for robots that can complete various micro-operation tasks such as micro-operation. In the precision micro-operation process, its key technologies are: (1) precision micro-positioning technology; (2) precision micro-operation technology; (3) modular design technology. Traditional micro-manipulation robots often have disadvantages such as bulky, mostly dependent on imports, high cost, poor versatility and portability, and poor environmental adaptability. In terms of precision micro-positioning technology, there are usually three positioning methods: 1. Macro motion driven by motor; 2. Micro motion driven by functional material; 3....

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J7/00
Inventor 孙立宁李满天陈海初秦磊宋宇
Owner HARBIN INST OF TECH
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