Microgripper with integrated airbag and jaw

Abstract

The application discloses a kind of air bag and gripper integrated micro-gripper, including bearing seat and drive clamping mechanism, drive clamping mechanism includes two drive clamping components oppositely arranged, each drive clamping component includes one end setting on the main air bag of bearing seat, gripper integrally formed in the other end of main air bag, each main air bag is communicated with bearing seat, and two grippers are driven to open or close by two main air bags inflation or deflation.The main air bag of the application is integrally formed with gripper, improves the stability of connection between main air bag and gripper, and the high printing yield rate is obtained;Reduce the alignment deviation between the two gripper ends, so that the ends of the two grippers are well aligned, and the clamping stability is good;Main air bag and gripper are on the same extension line, the structure is very compact, and it is convenient to operate in small space;It can be operated in solution;The overall size of the application is about millimeter, the resolution of opening and closing amount can reach sub-micron, the clamping precision is high, and fine operation on biological microstructure can be realized.

Description

Technical Field

[0001] The present invention relates to the field of micro-manipulation technology, and in particular to an airbag and clamping claw integrated micro-gripper. Background Art

[0002] Microgrippers directly contact the object being gripped during micromanipulation or microassembly, and their performance directly impacts the quality and efficiency of the operation or assembly. Existing microgrippers include electrostatically actuated microgrippers, shape memory alloy actuated microgrippers, piezoelectrically actuated microgrippers, electrothermal actuated microgrippers, electromagnetically actuated microgrippers, and fluidic actuated microgrippers. Electrostatic actuation produces satisfactory force output but has difficulty operating in ion-rich liquids. Shape memory alloy actuation, while generating high force and displacement, presents problems in liquid environments due to heat losses associated with the high surface-to-volume ratio of the microdevice, potentially damaging the biological environment. Furthermore, the displacement of shape memory alloys is difficult to control due to their thermomechanical nonlinearity. Piezoelectric actuation offers high speed and good motion resolution, but the displacement output is limited, and the required applied voltage can damage biological systems. Electrothermal actuation can provide high force output, but the jaw temperature is easily affected by the actuator, thus impacting the biological environment. Electromagnetically actuated microgrippers have low force output due to unfavorable magnetic field structure, and their performance is also limited by heat dissipation and leakage potential of the conductive material. Furthermore, electromagnetic fields can have disruptive effects on very weak electrophysiological signals (in the picoampere range) from cells and organoids.

[0003] While some pneumatic flexible manipulators exist, they are large and difficult to miniaturize. Even if they are scaled down, they are still prone to problems such as airbag rupture, jaw breakage, or airway blockage during manufacturing due to structural limitations. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a micro-gripper integrating an airbag and a gripper.

[0005] In order to achieve the above-mentioned purpose, the technical solution provided by one embodiment of the present invention is as follows:

[0006] A micro-gripper with an integrated airbag and clamping jaws includes a supporting seat and a driving clamping mechanism. The driving clamping mechanism includes two driving clamping assemblies arranged opposite to each other. Each of the driving clamping assemblies includes a main airbag with one end arranged on the supporting seat and a clamping jaw integrally formed at the other end of the main airbag. Each of the main airbags is connected to the supporting seat, and the two clamping jaws are driven to open or close by inflating or deflating the two main airbags.

[0007] As a further improvement of the present invention, the smaller the wall thickness of the main airbag is, the larger the distance between the two opposite inner walls of the main airbag and the distance between the two main airbags are.

[0008] As a further improvement of the present invention, the wall thickness of the main airbag is 15-25 μm, the distance between the two opposite inner walls of the main airbag is 65-110 μm, and the distance between two main airbags is 65-90 μm.

[0009] As a further improvement of the present invention, the main airbag has a first side portion and a second side portion opposite to the first side portion, the wall thickness of the first side portion is smaller than the wall thickness of the second side portion, the wall thickness of the first side portion is 15-25 μm, the spacing between the inner side wall of the first side portion and the inner side wall of the second side portion is 65-110 μm, and the spacing between adjacent first side portions is 65-90 μm.

[0010] As a further improvement of the present invention, the cross section of the main airbag is rectangular.

[0011] As a further improvement of the present invention, a first vent is connected between the two main airbags, and the first vent extends to the bearing seat.

[0012] As a further improvement of the present invention, at least one auxiliary airbag is connected between the two main airbags.

[0013] As a further improvement of the present invention, a second vent is connected between the auxiliary airbag and the main airbag, and the second vent extends to the bearing seat.

[0014] As a further improvement of the present invention, a receiving cavity is provided at the center of the end of the clamping jaw, and at least one liquid leakage channel is opened at the end of the clamping jaw, and the liquid leakage channel is connected to the receiving cavity.

[0015] As a further improvement of the present invention, an air passage, a reduced diameter hole and a mounting hole which are connected in sequence are provided in the bearing seat, and the air passage is connected to the main airbag.

[0016] The beneficial effects of the present invention are:

[0017] (1) The main airbag and the clamping claw of the present invention are integrally formed, which improves the stability of the connection between the airbag and the clamping claw and increases the printing yield rate.

[0018] (2) Reduce the alignment deviation between the ends of the two clamping jaws, so that the ends of the two clamping jaws are well aligned and the clamping stability is good.

[0019] (3) The main airbag and the gripper are on the same extension line, and the structure is very compact, which is convenient for operation in a small space.

[0020] (4) The airbag is pneumatically inflated to drive the jaws to open, which is flexible and convenient to use and has the advantages of large output force, large driving displacement, high power density, and high resolution of opening and closing volume.

[0021] (5) The pneumatically driven microgripper can not only operate in solution, but also has excellent biocompatibility and has very broad application prospects.

[0022] (6) The overall size of the present invention is about millimeters, which can achieve a larger maximum opening and closing amount under the condition of smaller size. The opening and closing amount resolution can reach sub-micron, and the clamping accuracy is high. The clamping object is about micron and the clamping force reaches 14mN, which can realize the fine operation of biological microstructures. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 This is a schematic structural diagram of a preferred embodiment of the present invention;

[0025] Figure 2 It is a front view of a preferred embodiment 1 of the present invention;

[0026] Figure 3 A side view of a preferred embodiment 1 of the present invention;

[0027] Figure 4 A vertical cross-sectional view of a preferred embodiment 1 of the present invention;

[0028] Figure 5 It is a transverse cross-sectional view of a preferred embodiment 1 of the present invention;

[0029] Figure 6 This is a schematic structural diagram of the end portion of the clamping jaw according to a preferred embodiment of the present invention;

[0030] Figure 7 This is a schematic structural diagram of the preferred embodiment 1 of the present invention with two clamping jaws opened;

[0031] Figure 8 This is a simulation diagram of the total deformation of a single clamping jaw according to the first preferred embodiment of the present invention;

[0032] Figure 9 This is a deformation simulation diagram along the X-axis of the preferred embodiment 1 of the present invention;

[0033] Figure 10This is a simulation diagram of equivalent elastic strain of the first preferred embodiment of the present invention;

[0034] Figure 11 This is an equivalent stress simulation diagram of the preferred embodiment 1 of the present invention;

[0035] Figure 12 This is a structural diagram of a preferred embodiment 2 of the present invention;

[0036] Figure 13 This is a front view of a second preferred embodiment of the present invention;

[0037] Figure 14 It is a side view of a second preferred embodiment of the present invention;

[0038] Figure 15 A vertical cross-sectional view of a second preferred embodiment of the present invention;

[0039] Figure 16 It is a transverse cross-sectional view of a second preferred embodiment of the present invention;

[0040] Figure 17 This is a schematic structural diagram of a preferred embodiment 2 of the present invention with two clamping jaws opened;

[0041] Figure 18 Schematic diagram of the closed and open states of the two clamping jaws under a microscope according to the second preferred embodiment of the present invention;

[0042] Figure 19 This is a diagram of the state of two grippers under a microscope gripping and sorting living ICR mouse oocytes according to the second preferred embodiment of the present invention;

[0043] Figure 20 This is a simulation diagram of the total deformation of a single clamping jaw according to the second preferred embodiment of the present invention;

[0044] Figure 21 This is a deformation simulation diagram along the X-axis of the preferred embodiment 2 of the present invention;

[0045] Figure 22 This is a simulation diagram of equivalent elastic strain of the second preferred embodiment of the present invention;

[0046] Figure 23 This is an equivalent stress simulation diagram of the second preferred embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0048] Example 1

[0049] See also Figure 1-Figure 5 The embodiment of the present application discloses a micro-gripper with an integrated airbag and a clamping jaw, including a supporting seat 1 and a driving clamping mechanism. The driving clamping mechanism includes two driving clamping components 2 arranged opposite to each other. Each driving clamping component 2 includes a main airbag 21 with one end arranged on the supporting seat 1 and a clamping jaw 22 integrally formed at the other end of the main airbag 21. Each main airbag 21 is connected to the supporting seat 1, and the two clamping jaws 22 are driven to open or close by inflating or deflating the two main airbags 21. The main airbag 21 and the clamping jaw 22 are integrally formed, which improves the stability of the connection between the main airbag 21 and the clamping jaw 22, and has a high printing yield. At the same time, it improves the consistency and stability of the movement of the clamping jaw 22 when the main airbag 21 is inflated, and can quickly and accurately transmit the driving force of the main airbag 21 when it is inflated to the clamping jaw 22, with high movement accuracy and improved clamping accuracy; at the same time, it reduces the alignment deviation between the ends of the two clamping jaws 22, so that the ends of the two clamping jaws 22 are well aligned and the clamping stability is good; the main airbag 21 and the clamping jaw 22 are on the same extension line, and the structure is very compact, which is convenient for operation in a small space; it can be operated in a solution and has good biocompatibility.

[0050] In order to avoid adhesion during printing and ensure the printing yield, it is preferred that the smaller the wall thickness of the main airbag 21 is, the larger the distance between the two opposite inner walls of the main airbag 21 and the distance between the two main airbags 21 are.

[0051] Preferably, the wall thickness of the main airbag 21 is 15-25μm, the spacing between the two opposite inner walls of the main airbag 21 is 65-110μm, and the spacing between the two main airbags 21 is 65-90μm. This can prevent the main airbag 21 from rupturing, ensure that the main airbag 21 can be printed and formed, improve the yield rate, and at the same time ensure that the main airbag 21 has a large deformation so that the driving stroke is large.

[0052] The main airbag 21 includes a first side portion 211 and a second side portion 212 opposite the first side portion 211. The wall thickness d1 of the first side portion 211 is less than the wall thickness d2 of the second side portion 212. The wall thickness d1 of the first side portion 211 is 15-25 μm. The distance d3 between the inner sidewalls of the first side portion 211 and the inner sidewalls of the second side portion 212 is 65-110 μm, and the distance d4 between adjacent first side portions 211 is 65-90 μm. To ensure stable deformation and large deformation of the main airbag 21, the wall thickness d1 of the first side portion 211 is preferably 20 μm. To better prevent adhesion between the two main airbags 21 and maintain structural compactness, the distance d3 between the inner sidewalls of the first side portion 211 and the inner sidewalls of the second side portion 212 is 100 μm, and the distance d4 between adjacent first side portions 211 is 90 μm. The wall thickness d2 of the second side portion 212 is preferably 20-270 μm. This allows for better alignment of the two jaws 22 when closed, improving the clamping force while ensuring the full range of opening and closing of the two jaws 22, reducing the size of the jaws 22, and lowering material consumption and costs. The wall thickness d2 of the second side portion 212 is further preferably 70 μm.

[0053] The cross section of the main airbag 21 is preferably rectangular, which increases the deformation of the main airbag 21 , thereby increasing the driving stroke of the main airbag 21 and increasing the opening and closing amount of the clamping jaws 22 .

[0054] Preferably, adjacent main airbags 21 are connected by a first vent 4 that extends to the support seat 1 , allowing airflow to flow quickly between the two main airbags 21 while ensuring deformation of the main airbags 21 . Specifically, the first vent 4 is connected between the two first side portions 211 .

[0055] See also Figure 6 The center of the distal end of the clamping jaw 22 is provided with a receiving cavity 221. The distal end of the clamping jaw 22 is provided with at least one leakage channel 222, which is in communication with the receiving cavity 221. During cell clamping, the cell is contained within the receiving cavity 221, while the solution can leak out of the leakage channel 222, thereby improving the stability of the cell clamping and facilitating the clamping operation of the cell in the solution. Specifically, there are two leakage channels 222. The receiving cavity 221 is preferably arc-shaped to facilitate cooperation with the cell and further improve the stability of the cell clamping.

[0056] To facilitate ventilation, the support base 1 is preferably provided with an air duct 11, a reduced diameter hole 12, and a mounting hole 13 that are sequentially connected. The air duct 11 is connected to the main airbag 21. The mounting hole 13 is used for inserting the trachea to assemble the trachea, and the trachea is connected to the external inflation and discharge air source. The provision of the reduced diameter hole 12 can pre-tighten the trachea inserted into the mounting hole 13. The trachea seals the connection between the mounting hole 13 and the reduced diameter hole 12, preventing glue from flowing into the air duct 11 and blocking it when the trachea is fixed, thereby ensuring smooth ventilation. Specifically, the air duct 11 faces the first vent 4 and is connected to the first vent 4, so that the airflow in the trachea passes through the air duct 11 and the first vent 4 and quickly enters the two main airbags 21.

[0057] The upper cross-section of the support base 1 is hexagonal, and a groove 14 is formed on the upper side wall of the support base 1. When assembling the air pipe, the support base 1 can be clamped at multiple angles, which is convenient for assembly. The lower part of the support base 1 is cylindrical.

[0058] The airbag and gripper-integrated micro-gripper of this embodiment is printed using a micro-nanoscale 3D printer utilizing sub-pixel scanning technology (SMS) and the principle of photocuring. Prismlab's MP series micro-nanoscale 3D printers are preferably used, and the models may be MP-36-3L or MP-200-17DL. The parameters of the MP-36-3L and MP-200-17DL 3D printers are shown in Table 1. The MP-36-3L model is preferably used, with a printing accuracy of 3.2 μm and a printing resolution of 1.6 μm, which improves print quality and yield rate.

[0059] Table 1 Parameters of micro-nanoscale 3D printer

[0060]

[0061] In order for the microgripper to be applicable for biological manipulation and to provide sufficient deformation to drive the jaws 22 to open without rupturing the main airbag 21, the molding material must be carefully selected. The material must be biocompatible and have a low elastic modulus. Preferred materials are shown in Table 2.

[0062] Table 2 Selected material parameters

[0063]

[0064] The airbag and gripper integrated micro-gripper of this embodiment has a length L1 of 1 mm, a width W1 of 1 mm, a height H1 of 3.15 mm, and a height H2 of 4.45 mm.

[0065] During use, when the natural opening and closing of the two jaws 22 is greater than or equal to the size of the clamped object, stable clamping is achieved by generating negative pressure within the main airbag 3. If the natural opening and closing of the two jaws 22 is less than the size of the clamped object, clamping is achieved by generating positive pressure within the main airbag 3. The air pressure within the main airbag 3 can be controlled by using a syringe connected to the trachea. By pushing and pulling the syringe's piston, the air pressure within the main airbag 3 can be varied. The control accuracy of the opening and closing of the jaws 22 can reach 1μm, but this method is not limited to this. Other control structures that can vary the air pressure within the airbag 2 are also acceptable.

[0066] The two main airbags 21 of the airbag and gripper integrated micro gripper are inflated so that the two grippers 22 are opened. Figure 7 The following simulation is performed on the airbag and gripper integrated micro-gripper of this embodiment. The simulation results are all based on the results obtained under the pressure drive of one atmospheric pressure. The simulation diagram is shown in FIG. Figures 8-11 In practical applications, when the driving pressure is greater than one atmosphere, the opening and closing amount will also increase. Experiments have shown that the opening and closing amount of the micro gripper can reach 1mm at this size.

[0067] Figure 8 This reflects the total deformation of a single clamping jaw 22 , with the maximum deformation being 121.65 μm. Figure 9 It is reflected that the maximum deformation along the X-axis is 121.53 μm. Figure 10 It reflects that the maximum equivalent elastic strain is 0.0295. When the tension is large enough, that is, Figure 8 and Figure 9 When the maximum value of is large enough, the main airbag 21 will not rupture. Figure 11 This indicates that the maximum equivalent stress is 69.86 MPa, and the main airbag 21 will not rupture.

[0068] Example 2

[0069] See also Figure 12-16 The difference between this embodiment and the first embodiment is that:

[0070] An auxiliary airbag 23 is connected between the two main airbags 21. When air is ventilated or deflated through the supporting base 1, the two main airbags 21 and the auxiliary airbag 23 are expanded or reset, driving the two clamping jaws 22 to open or close.

[0071] The auxiliary airbag 23 has a wall thickness d5 of 15-25 μm, a spacing d6 between the two opposing inner walls of the auxiliary airbag 23 of 65-110 μm, and a spacing d7 between the auxiliary airbag 23 and the main airbag 21 of 65-90 μm. This prevents adhesion during printing and ensures a high print yield. Specifically, the wall thickness d5 of the auxiliary airbag 23 is 20 μm, the spacing d6 between the two opposing inner walls of the auxiliary airbag 23 of 100 μm, and the spacing d7 between the auxiliary airbag 23 and the main airbag 21 of 90 μm.

[0072] The auxiliary airbag 23 has a rectangular cross section, which increases the deformation of the auxiliary airbag 23, thereby increasing the driving stroke and the opening and closing of the clamping jaws 22. A second vent 5 is connected between the auxiliary airbag 23 and the main airbag 21, and the second vent 5 extends to the bearing seat 1.

[0073] Specifically, the airway 11 faces the auxiliary airbag 23 and is connected to the auxiliary airbag 23 , so that the airflow in the trachea enters the auxiliary airbag 23 through the airway 11 and then quickly enters the two main airbags 21 through the second ventilation portion 5 .

[0074] The airbag and gripper integrated micro-gripper of this embodiment has a length L2 of 1.8 mm, a width W2 of 1.8 mm, a height H3 of 3.22 mm, and a height H4 of 4.52 mm.

[0075] The two main air bags 21 and one auxiliary air bag 23 of the air bag and gripper integrated micro gripper are inflated so that the two grippers 22 are opened. Figure 17 、 Figure 18 shown. Figure 18 (a) is the closed state diagram of the two grippers. Figure 18 (b) is a diagram of the two jaws in the open state. Figure 19 This is a state diagram of using the clamper of this embodiment to clamp and sort ICR mouse living oocytes. Figure 19 (a) is a diagram showing the two claws open and approaching the oocyte. Figure 19 (b) is a state diagram of two clamps closing and clamping and sorting out oocytes. The following is a simulation of the airbag and clamping integrated micro-gripper of this embodiment. The simulation results are all based on the results obtained under the pressure drive of one atmosphere. The simulation diagram is shown in FIG. Figure 20-23 In practical applications, when the driving pressure is greater than one atmosphere, the opening and closing amount will also increase. Experiments have shown that the opening and closing amount of the micro gripper can reach 1mm at this size.

[0076] Figure 20 This reflects the total deformation of a single clamping jaw 22 , with the maximum deformation being 158.45 μm. Figure 21 It is reflected that the maximum deformation along the X-axis is 158.23 μm. Figure 22It reflects that the maximum equivalent elastic strain is 0.0438. When the tension is large enough, that is, Figure 20 and Figure 21 When the maximum value of is large enough, the main airbag 21 and the auxiliary airbag 23 will not rupture. Figure 23 It reflects that the maximum equivalent stress is 103.39 MPa, and the main airbag 21 and the auxiliary airbag 23 will not rupture.

[0077] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0078] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A micro-gripper with integrated airbag and gripper, characterized in that: It includes a bearing seat and a drive clamping mechanism, the drive clamping mechanism includes two drive clamping components arranged opposite to each other, each drive clamping component includes a main airbag with one end arranged on the bearing seat and a clamping claw integrally formed at the other end of the main airbag, each main airbag is connected to the bearing seat, and at least one auxiliary airbag is connected between the two main airbags, and the two clamping claws are driven to open or close by inflation or deflation of the two main airbags and the auxiliary airbags.

2. The airbag and gripper integrated micro gripper according to claim 1, characterized in that: The smaller the wall thickness of the main airbag is, the larger the distance between the two opposite inner side walls of the main airbag and the distance between the two main airbags are.

3. The airbag and gripper integrated micro gripper according to claim 2, characterized in that: The wall thickness of the main airbag is 15-25 μm, the distance between the two opposite inner walls of the main airbag is 65-110 μm, and the distance between the two main airbags is 65-90 μm.

4. The airbag and gripper integrated micro gripper according to claim 3, characterized in that: The main airbag has a first side portion and a second side portion opposite to the first side portion. The wall thickness of the first side portion is smaller than the wall thickness of the second side portion. The wall thickness of the first side portion is 15-25 μm. The distance between the inner side wall of the first side portion and the inner side wall of the second side portion is 65-110 μm, and the distance between adjacent first side portions is 65-90 μm.

5. The airbag and gripper integrated micro gripper according to claim 1, characterized in that: The cross section of the main airbag is rectangular.

6. The airbag and gripper integrated micro gripper according to claim 1, characterized in that: A first vent is connected between the two main airbags, and the first vent extends to the bearing seat.

7. The airbag and gripper integrated micro gripper according to claim 1, characterized in that: A second vent is connected between the auxiliary airbag and the main airbag, and the second vent extends to the bearing seat.

8. The airbag and gripper integrated micro gripper according to claim 1, characterized in that: An accommodating cavity is provided at the center of the end of the clamping jaw, and at least one liquid leakage channel is opened at the end of the clamping jaw, and the liquid leakage channel is communicated with the accommodating cavity.

9. The airbag and gripper integrated micro gripper according to claim 1, characterized in that: An air passage, a reduced diameter hole and a mounting hole which are connected in sequence are provided in the bearing seat, and the air passage is connected to the main airbag.

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