Optical fiber clamp control system with clamping and vibrating functions

Abstract

The invention relates to the technical field of micro object control, in particular to an optical fiber clamp control system with clamping and vibrating functions. The three-dimensional motion assembly, the multi-view vision assembly, the lighting assembly, the clamping vibration assembly and the optical fiber tweezers are combined, and accurate control over micro-nano objects can be achieved. The three-dimensional motion assembly provides stable motion support for micro-operation; the multi-view vision assembly realizes high-precision space positioning of a target object through multi-angle stereo imaging; the light source module provides uniform and appropriate illumination through accurate light path design, and the imaging effect of the multi-view vision assembly is ensured and improved; the clamping vibration assembly is used in cooperation with the optical fiber tweezers, the optical fiber tweezers are driven by laser signals to generate clamping and releasing actions so as to control a tiny target object, periodic or high-frequency tiny vibration is generated on the optical fiber tweezers through the micro vibration device, the adhesive force or friction force on the surface of the target object can be overcome, and the surface of the target object can be cleaned.

Description

Technical Field

[0001] The invention relates to the technical field of tiny object manipulation, and in particular to an optical fiber clamp manipulation system with clamping and vibration functions. Background Art

[0002] With the development of micro-nano technology, the requirements for the manipulation of tiny objects are becoming increasingly smaller and more precise, even to the micrometer or even nanometer scale.

[0003] However, whether it is the traditional micromechanical gripper based on the piezoelectric effect or the emerging light-driven flexible microgripper, it can only clamp or fix tiny objects. For more complex three-dimensional manipulation of objects (such as clamping, assembly, measurement, etc.), it often requires the cooperation of precise motion control platforms. Based on this, high-precision manipulation systems have emerged, which often require multiple modules to cooperate with each other to achieve work in various complex environments.

[0004] Existing control systems usually include gripping modules, motion modules, lighting modules, imaging and sensing modules, etc., but they all have some shortcomings and deficiencies to a greater or lesser extent:

[0005] 1. The clamping module function cannot meet specific needs. For example, it cannot overcome the stickiness of the target object and cannot achieve real-time cleaning of the surface of the object; if the target object is a biological structure such as cells or bacteria, it is easy to damage the target object and reduce its biological activity;

[0006] 2. The motion module is limited to the X-Y plane and lacks motion in more dimensions;

[0007] 3. The lighting module is not set up properly, resulting in blurred imaging angles in some cases, and unable to clearly feedback the operation status;

[0008] 4. The perception module is prone to lose the phase information of the light field during imaging, resulting in the loss of depth information of the imaged object. Summary of the invention

[0009] In order to solve the above-mentioned structural shortcomings and deficiencies of the existing micro-gripper control system, the present invention provides a fiber optic clamp control system with clamping and vibration functions.

[0010] The present invention is implemented by the following technical solutions:

[0011] The invention discloses an optical fiber tweezers manipulation system with clamping and vibration functions, comprising: a stage, a three-dimensional motion component, a multi-eye vision component, a lighting component, a clamping vibration component, and optical fiber tweezers.

[0012] The three-dimensional motion component is connected to the stage and is used to drive the stage to move in three dimensions.

[0013] The multi-eye vision component is arranged around the stage to provide different viewing angles of the stage.

[0014] The lighting component is used in conjunction with the multi-eye vision component to provide uniform and appropriate lighting.

[0015] The clamping vibration assembly is arranged on one side of the stage, and includes: a fixing frame, a microvibrator, and an optical fiber. The optical fiber is arranged on the fixing frame; the microvibrator is used to generate a small vibration on the optical fiber; and the end of the optical fiber away from the stage is used to connect a controllable laser.

[0016] The optical fiber tweezers are arranged at one end of the optical fiber facing the stage, and are used to perform one or more of clamping, releasing, and vibrating operations on the target object on the stage under the action of the clamping and vibrating assembly.

[0017] The fiber optic tweezers open when the laser is passed through the optical fiber, and return to a closed state after the laser is turned off to achieve clamping.

[0018] The realization of the optical fiber clamp manipulation system with clamping and vibration functions is based on the method or process of the embodiment of the present disclosure.

[0019] The present invention has the following beneficial effects:

[0020] 1. The present invention designs a fiber optic tweezers manipulation system with clamping and vibration functions, which combines a three-dimensional motion component, a multi-eye vision component, an illumination component, a clamping and vibration component, and a fiber optic tweezers to achieve precise manipulation of micro-nano objects; wherein, the three-dimensional motion component provides stable motion support for micro-operation; the multi-eye vision component achieves high-precision spatial positioning of the target object through multi-angle stereo imaging; the light source module provides uniform and appropriate illumination through precise optical path design, thereby ensuring and improving the imaging effect of the multi-eye vision component; the clamping and vibration component is used in conjunction with the fiber optic tweezers, and is driven by laser signals to make the fiber optic tweezers produce "clamping" and "releasing" actions to manipulate tiny target objects, and a micro-vibrator is used to generate periodic or high-frequency tiny vibrations in the fiber optic tweezers, thereby helping to overcome the adhesion or friction on the surface of the target object and clean the surface of the target object.

[0021] 2. The fiber optic tweezers used in the present invention are in a self-clamping closed state when no external force is applied; then, when it is necessary to clamp a target object, the laser irradiation is first used to generate a photothermal effect to stimulate the driving part to contract and the clamping part to open, and then the laser can be turned off to eliminate the photothermal effect stimulation and reset the clamping part to a closed state to achieve clamping. In this way, there is no need to drive the laser for a long time, thereby protecting the clamped target object from the influence of high-energy density laser to the greatest extent, improving the problem of thermal damage to the target object and reduced biological activity, and improving the biocompatibility of the fiber optic tweezers. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 A structural diagram of a fiber optic clamp control system with clamping and vibration functions provided by an embodiment of the present invention;

[0024] Figure 2 for Figure 1 Structural diagram of the three-dimensional motion component;

[0025] Figure 3 for Figure 1 The structure diagram of the multi-viewing component in the figure;

[0026] Figure 4 for Figure 1 Structural diagram of the lighting assembly;

[0027] Figure 5 for Figure 1 Structural diagram of the middle clamping vibration assembly;

[0028] Figure 6 for Figure 5 The structure diagram of the optical fiber and optical fiber tweezers;

[0029] Figure 7 for Figure 1 The structure diagram of the fiber optic tweezers;

[0030] Figure 8 for Figure 1 The state diagram of the fiber optic clamp control system with clamping and vibration functions when opening and closing;

[0031] Fig. 9 for Figure 7 The structural diagram of the middle drive unit;

[0032] Fig.10 for Figure 7 Structural diagram of the middle clamping part;

[0033] Fig.11 for Figure 1 Working status diagram of the fiber optic clamp manipulation system with clamping and vibration functions operating the target object.

[0034] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0035] 1. Stage;

[0036] 2. Three-dimensional motion components;

[0037] 3. Multi-eye vision component, 301, camera one, 302, camera two, 303, camera three;

[0038] 4. Illumination assembly, 401. Laser source, 402. Half-wave plate, 403. Beam splitter prism 1, 404. Beam splitter prism 2, 405. Reflector 1, 406. Beam expander 1, 407. Reflector 2, 408. Beam expander 2, 409. Beam splitter prism 3, 410. Beam expander 3, 411. Reflector 3;

[0039] 5. Clamping vibration assembly, 501. Mounting arm, 502. Microvibrator, 503. Mounting rod;

[0040] 6. Optical fiber;

[0041] 7. Fiber optic tweezers, 701. clamping part, 702. driving part;

[0042] 7101, connecting seat, 7102, supporting column, 7103, gripping seat, 7104, gripping column;

[0043] 71041, outer end, 71042, inner end, 71043, triangular groove;

[0044] 7201, deformation bar, 7202, through hole. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0046] Example

[0047] See also Figure 1 , showing the fiber optic tweezers manipulation system with clamping and vibration functions proposed in this embodiment, which includes: a stage 1, a three-dimensional motion component, a multi-eye vision component 3, an illumination component 4, a clamping and vibration component 5, and a fiber optic tweezers 7.

[0048] The following explains them one by one:

[0049] 1. The stage 1 is used to place the target object to be clamped, and is generally made of a flat plate. Considering the subsequent lighting effect, the entire stage 1 can be processed with a transparent glass material, or a transparent glass can be inlaid in the center of the stage 1 as a loading area.

[0050] 2. The three-dimensional motion component 2 is connected to the stage 1 and is used to drive the stage 1 to move in three dimensions.

[0051] See also Figure 2The three-dimensional motion component 2 can adopt a commercially available high-precision XYZ three-axis motion module (for example, based on a screw design or a guide rail design) to achieve precise motion control in the XYZ direction (can achieve micron-level or even nanometer-level motion accuracy).

[0052] Of course, the three-dimensional motion component 2 can also adopt the following design, including: a double-layer motion platform and a bottom lifting platform. The stage 1 is installed on the double-layer motion platform (connected by a guide rail) to obtain motion control in the XY direction on the two-dimensional plane. The double-layer motion platform is connected to the support arm of the bottom lifting platform to obtain motion control in the Z direction. The double-layer motion platform and the bottom lifting platform both use high-precision stepper motors, and the step angle, number of steps, and speed of the stepper motors are controlled by a motion controller to ensure the synchronization and precise positioning of each axis movement. Manual coarse adjustment knobs can also be set on the double-layer motion platform and the bottom lifting platform to achieve faster collaborative positioning control.

[0053] 3. The multi-eye vision component 3 is arranged around the stage 1 to provide different viewing angles of the stage 1.

[0054] The multi-eye vision component 3 generally adopts three-eye vision, which includes: camera one 301, camera two 302, and camera three 303; camera one 301 and camera two 302 are arranged vertically to each other, and are used to obtain visual information of the object platform 1 under a horizontal perspective; camera three 303 is used to obtain the viewing angle information of the object platform 1 under a vertical perspective.

[0055] See also Figure 3 , camera one 301, camera two 302, and camera three 303 are placed in different positions: camera one 301 and camera two 302 are set parallel to stage 1, one is responsible for shooting stage 1 from the X-axis direction, and the other is responsible for shooting stage 1 from the Y-axis direction; camera three 303 is set perpendicular to stage 1, responsible for shooting stage 1 from the Z-axis direction. Then, based on the principle of multi-eye stereo vision, using the known position and viewing angle of the camera, the data of multi-eye viewing angles are fused to form high-precision three-dimensional coordinate information. Of course, the relative positions of the three cameras can be adjusted according to actual conditions, but fundamentally it is still based on the principle of multi-eye stereo vision.

[0056] It should be noted that:

[0057] The multi-angle characteristics of the multi-camera vision component 3 enable the system to observe the target object from different perspectives, thereby reducing the occlusion or distortion caused by a single perspective and improving the accuracy and stability of control. Compared with binocular or monocular vision, the multi-camera vision component 3 has higher spatial positioning accuracy and robustness, and is particularly suitable for micro-nano-level object manipulation that requires high precision and delicate operation.

[0058] Of course, the multi-eye vision component 3 can also add more directions, but care must be taken to avoid structural interference with other components.

[0059] 4. The lighting component 4 is used in conjunction with the multi-eye vision component 3 to provide uniform and appropriate lighting.

[0060] Taking the above three-eye vision as an example, see Figure 4 The lighting assembly 4 can be designed to include: a laser source 401, a half-wave plate 402, a beam splitter prism 1 403, a reflector 1 405, a beam expander 1 406, a beam splitter prism 2 404, a reflector 2 407, a beam expander 2 408, a beam splitter prism 3 409, a reflector 3 411, and a beam expander 3 410.

[0061] The laser source 401 is used to provide illumination light. The illumination light passes through the half-wave plate 402 and the beam splitter prism 1 403 in sequence, and is divided into beam 1 and beam 2. Among them, the half-wave plate 402 is used to adjust the polarization to change the splitting ratio; the beam splitter prism 1 403 is used to split the beam 1 into two. The beam 2 passes through the beam splitter prism 2 404 and the beam expander 2 408 in sequence, and illuminates the stage 1 in the Z direction. Among them, the beam splitter prism 2 404 can not only illuminate in the Z direction, but also enable the reflected light to smoothly return to the camera 3 303 to achieve imaging. The beam expander 2 408 is used to adjust the beam diameter. The beam 1 passes through the reflector 1 405 and the beam splitter prism 3 409 in sequence, and is divided into beam 3 and beam 4; among them, the reflector 1 405 is used to change the direction of the beam; the beam splitter prism 3 409 is used to split the beam 1 into two. The light beam 3 passes through the beam expander 1 406, and the light beam 4 passes through the reflector 2 407, the reflector 3 411, and the beam expander 3 410 in sequence, and illuminates the stage 1 in the X and Y directions. Among them, the beam expander 1 406 and the beam expander 3 410 are used to adjust the beam diameter; the reflector 2 407 and the reflector 3 411 are used to change the direction of the beam.

[0062] Of course, the lighting assembly 4 may also adopt other designs, but it should be able to provide lighting in the XYZ directions.

[0063] 5. The clamping vibration component 5 is arranged on one side of the stage 1.

[0064] See also Figure 5 The clamping vibration assembly 5 includes: a fixed frame, a microvibrator 502, and an optical fiber 6. The optical fiber 6 is arranged on the fixed frame; the microvibrator 502 is used to generate a small vibration on the optical fiber 6; and the end of the optical fiber 6 away from the stage 1 is used to connect a controllable laser (that is, whether the laser is passed in and the intensity of the laser passing in can be controlled).

[0065] The microvibrator 502 may be a vibration source based on a piezoelectric ceramic design, which generates precise micro vibrations through changes in voltage signals. Of course, the microvibrator 502 may also be a linear motor or other device that can generate micro vibrations.

[0066] Specifically, a mounting arm 501 is provided on the side of the fixing frame facing the stage 1; a microvibrator 502 is fixed on the mounting arm 501; and the mounting arm 501 is connected to the optical fiber 6 through the mounting rod 503. In this way, when the microvibrator 502 is working, the power is transmitted to the optical fiber 6 through the mounting arm 501 and the mounting rod 503.

[0067] 6. The optical fiber tweezers 7 are arranged at one end of the optical fiber 6 facing the stage 1, and are used to perform one or more of the following operations: clamping, releasing, and vibrating the target object on the stage 1 under the action of the clamping and vibrating assembly 5.

[0068] It should be noted that, as described in the background technology, the use of existing clamping modules will cause damage to the target object and reduce its biological activity. After analysis, if a micromechanical clamp based on the piezoelectric effect is used, the damage to the target object is physical damage - this is because the clamping force of this type of micromechanical clamp is too large, causing the target object to be over-extruded; if a light-driven flexible micro-clamp is used, the damage to the target is physical damage and thermal damage - the former is due to the unreasonable design of the clamping end, which leads to excessive force on the target object; the latter is because the laser, as a coherent light source with high energy density, will irradiate the target object for a long time when driving the micro-clamp, thereby causing thermal damage. Moreover, the laser has a high energy density, and after irradiating the target object for a long time, it will reduce its biological activity.

[0069] Therefore, the optical fiber tweezers 7 are designed to open when the laser is passed through the optical fiber 6, and to return to the closed state after the laser is turned off to achieve clamping.

[0070] like Figure 6 As shown, the optical fiber 6 includes: an internal core and an external cladding. The cladding protects the core, and the core can conduct laser: when the laser is passed into the core, the end face of the optical fiber 6 irradiates the optical fiber tweezers 7 with laser; once the laser is turned off, the end face of the optical fiber 6 no longer irradiates the optical fiber tweezers 7 with laser. Of course, considering the directionality of the laser, the optical fiber tweezers 7 are generally processed at the position where the end face corresponds to the core, so as to ensure the effect of laser irradiation.

[0071] like Figure 7 As shown, the optical fiber forceps 7 include: a driving part 702 and a clamping part 701. The driving part 702 is in contact with or connected to the clamping part 701; it should be noted that the relationship between the driving part 702 and the clamping part 701 should satisfy: if the driving part 702 is deformed, the clamping part 701 will also be driven and change accordingly. Of course, in order to ensure the reliability of the two functions, it is recommended to design: the driving part 702 is sleeved on the clamping part 701.

[0072] It should be noted that the driving part 702 is made of a hydrogel deposited with metal particles (such as silver ions, gold ions, copper ions, etc.); the clamping part 701 is made of a photoresist (which can be a commercial photoresist such as SU-8, IP-S, or other commercial types or self-configured photoresists). Both have a certain viscosity, so even if they are in contact, they can meet the above requirements based on the viscosity. Both also have a certain light transmittance, allowing the laser to pass through: for the driving part 702, after the laser is passed in, the metal particles in the hydrogel absorb the light energy of the laser and convert it into heat energy, that is, forming a photothermal effect stimulation; after the laser is turned off, the metal particles in the hydrogel no longer generate heat, and the photothermal effect stimulation disappears. In other words, the optical fiber tweezers 7 are irradiated by a controllable laser from the optical fiber 6 to generate or lose the photothermal effect stimulation.

[0073] For the optical fiber tweezers 7, it satisfies:

[0074] 1. When there is no external force acting on the clamping portion 701, it is in a self-clamping closed state.

[0075] “No external force” here means that when the driving part 702 does not undergo a volume change, the driving part 702 does not generate an external force on the clamping part 701 .

[0076] Second, the driving part 702 contracts in volume when stimulated by the photothermal effect, driving the clamping part 701 to open; after the photothermal effect stimulation disappears, the driving part 702 recovers in volume, driving the clamping part 701 to return to the closed state to achieve clamping.

[0077] That is:

[0078] ① When the laser is turned on, the metal particles cause deformation due to the temperature rise, and the water molecules in the hydrogel escape from the hydrogel network structure under the condition of temperature rise, causing the volume of the driving part 702 to shrink. When the driving part 702 shrinks, it will pull the clamping part 701 outwards, so that the clamping part 701 opens.

[0079] ② When the laser is turned off, the metal particles no longer generate heat, the temperature of the driving part 702 recovers, and the water molecules re-enter the hydrogel, causing the volume of the driving part 702 to recover. When the volume of the driving part 702 recovers, it pushes the clamping part 701 inward from all sides, so that the clamping part 701 returns to the closed state.

[0080] The schematic diagram of the above ① and ② processes is as follows Figure 8Then, when it is necessary to clamp the target object, the laser irradiation generates a photothermal effect to stimulate the driving part 702 to contract and the clamping part 701 to open. Then, the laser can be turned off to eliminate the photothermal effect stimulation and reset the clamping part 701 to a closed state to achieve clamping. In this way, there is no need to drive the laser for a long time.

[0081] See also Fig. 9 The clamping part 701 can be designed to include: a connection seat 7101, a gripping mechanism, and a support column 7102. The connection seat 7101 is connected to the end face of the optical fiber 6. Generally, the connection seat 7101 is designed to be a regular shape, such as a circle or a square, so that it has a sufficient contact area with the end face of the optical fiber 6 to achieve a firm attachment to the end face of the optical fiber 6.

[0082] like Fig. 9 As shown, the gripper mechanism includes: a gripper seat 7103 and N gripper columns 7104. The gripper seat 7103 includes N mounting plates; the N mounting plates are evenly distributed in a petal shape, the inner ends of which are connected together and serve as the center of the gripper seat 7103; the N gripper columns 7104 are arranged one by one on the side of the mounting plate facing away from the connecting seat 7101. The gripper seat 7103 adopts the above-mentioned petal design, rather than a full circle or full square like the connecting seat 7101: this not only reduces the weight, but also there is a gap between the mounting plates, and the deformation is freer when it is subsequently acted upon by the driving part 702.

[0083] One end of the support column 7102 is connected to the connection seat 7101, and the other end is connected to the center of the gripper seat 7103. Among them, the end of the support column 7102 connected to the connection seat 7101 can also be located at the center of the connection seat 7101 to ensure uniform force.

[0084] It should be noted that N is at least 3, so that the target object can be clamped from at least 3 directions. Fig. 9 As shown, it shows the case where N is 3. Of course, considering the actual design, the value of N should not be too large, and generally 3 or 4 is sufficient.

[0085] like Fig.10 As shown, the driving part 702 includes: N deformable bars 7201. The N deformable bars 7201 are evenly distributed in a petal shape, and their inner ends are connected together and provided with through holes 7202; the N deformable bars 7201 are sleeved on the support column 7102 through the through holes 7202, one end of which is in contact or connected with the connecting seat 7101, and the other end of which is in contact or connected with the N mounting plates one by one.

[0086] In this way, the driving part 702 is mounted on the support column 7102, which can effectively prevent the driving part 702 from being separated from the clamping part 701. Moreover, similar to the gripper seat 7103, the driving part 702 adopts a petal design, rather than a full circle or full square like the connecting seat 7101: this can not only reduce the weight, but also there are intervals between the deformation bars 7201, and the deformation is more free when stimulated by the photothermal effect.

[0087] Furthermore, one deformation bar 7201 is arranged correspondingly to one mounting plate, and can be regarded as forming a group of driving deformation components; there is no interference between different groups of driving deformation components - the direction of action is: pulling outward from the inside to the surroundings or squeezing inward from the surroundings. In other words: when the clamping part 701 is opened, the ends of the N gripping columns 7104 away from the mounting plate are away from each other; when the clamping part 701 is closed, the ends of the N gripping columns 7104 away from the mounting plate are close to each other to produce a clamping effect.

[0088] In addition, considering the usage scenario of the fiber optic tweezers 7, the gripper column 7104 can be designed to be arc-shaped, so that N gripper columns 7104 surround the internal space of an ellipsoid, so as to clamp the target object more stably in the closed state.

[0089] For the gripper column 7104, the end away from the gripper plate can be designed as a spherical crown-shaped outer end 71041, so that in the closed state, the area A surrounded by the outer end 71041 can be used to perform a tweezing action on the target object to minimize physical damage to the target object. In addition, a raised inner end 71042 is processed near the mounting plate on the inner circle of the gripper column 7104, so that when the target object is long, the outer end 71041 can be used to clamp the target object at both ends to prevent the object from falling off. In addition, a triangular groove 71043 can be processed between the inner end 71042 and the end of the gripper column 7104 connected to the mounting plate, which not only makes the inner end 71042 protrude, but also reduces the weight of the gripper structure, and provides a certain amount of deformation redundancy between the gripper column 7104 and the mounting plate to make the gripper mechanism softer when clamping.

[0090] It should be noted that after the fiber optic tweezers 7 has clamped the target object, the microvibrator 502 can be activated to generate micro vibrations. Since the fiber optic tweezers 7 is located at the end of the optical fiber 6, it will also be affected by the micro vibrations. Micro vibrations can enhance the manipulation force of the fiber optic tweezers 7: during micro-manipulation, micro vibrations can help the fiber optic tweezers 7 to better grasp, move or manipulate the target object; micro vibrations can generate additional force during the clamping process, helping the fiber optic tweezers 7 to overcome the adhesion or friction on the surface of the target object, making it easier to separate; micro vibrations can also act on the target object to clean its surface.

[0091] In addition, see Fig.11 , which shows the process of fiber optic tweezers 7 operating tiny target objects under high-powered lens: Figure 6 The area (a) in the middle shows that the stage 1 moves to the vicinity of the optical fiber forceps 7; Figure 6 The middle (b) area indicates that the optical fiber tweezers 7 are open and the target object is close to the optical fiber tweezers 7; Figure 6 The middle (c) area indicates that the optical fiber forceps 7 are closed and the target object is grasped by the forceps; Figure 6 The middle (d) area indicates that the target position (the support frame for assembly with the target object) moves to the vicinity of the optical fiber tweezers 7; Figure 6 The middle (e) area indicates the target position and the target object for assembly; Figure 6 The middle (f) area indicates that the assembly is completed and the stage 1 is removed.

[0092] It can be seen that the optical fiber clamp control system with clamping and vibration functions provided by the present invention can achieve high-precision operation on tiny target objects.

[0093] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An optical fiber clamp control system with clamping and vibration functions, comprising: The stage is characterized in that it also includes: A three-dimensional motion component, which is connected to the stage and is used to drive the stage to move in three dimensions; A multi-eye vision component is arranged around the stage to provide different viewing angles of the stage; A lighting component, which is used in conjunction with the multi-eye vision component to provide uniform and appropriate lighting; The clamping vibration assembly is arranged on one side of the stage, and includes: a fixing frame, a microvibrator, and an optical fiber; the optical fiber is arranged on the fixing frame; the microvibrator is used to generate a small vibration on the optical fiber; and the end of the optical fiber away from the stage is used to connect a controllable laser; as well as The optical fiber tweezers are arranged at one end of the optical fiber facing the stage, and are used to clamp, release, and vibrate the target object on the stage under the action of the clamping and vibration components; wherein the optical fiber tweezers open when the laser is passed through the optical fiber, and reset to a closed state after the laser is turned off to achieve clamping.

2. The optical fiber clamp control system with clamping and vibration functions according to claim 1, characterized in that: The three-dimensional motion component is an XYZ three-axis motion module.

3. The optical fiber clamp control system with clamping and vibration functions according to claim 1, characterized in that: The multi-eye vision components include: camera 1, camera 2, camera 3; Camera 1 and Camera 2 are arranged perpendicularly to each other and are used to obtain visual information of the stage under a horizontal viewing angle; Camera 3 is used to obtain viewing angle information of the stage under a vertical viewing angle.

4. The optical fiber clamp control system with clamping and vibration functions according to claim 1, characterized in that: The lighting assembly includes: a laser source, a half-wave plate, a beam splitter prism 1, a reflector 1, a beam expander 1, a beam splitter prism 2, a reflector 2, a beam expander 2, a beam splitter prism 3, a reflector 3, and a beam expander 3; The laser source is used to provide illumination light; the illumination light passes through the half-wave plate and the first beam splitter prism in sequence, and is divided into beam one and beam two; beam two passes through the second beam splitter prism and the second beam expander in sequence, and illuminates the stage in the Z direction; beam one passes through the first reflector and the third beam splitter prism in sequence, and is divided into beam three and beam four; beam three passes through the first beam expander, and beam four passes through the second reflector, the third reflector, and the third beam expander in sequence, and illuminates the stage in the X and Y directions.

5. The optical fiber clamp control system with clamping and vibration functions according to claim 1, characterized in that: A mounting arm is arranged on one side of the fixing frame facing the object stage; the microvibrator is fixed on the mounting arm; and the mounting arm is connected to the optical fiber through a mounting rod.

6. The optical fiber clamp control system with clamping and vibration functions according to claim 1, characterized in that: The optical fiber tweezers include: a driving part and a clamping part; the driving part is in contact with or connected to the clamping part; The driving part is made of hydrogel with metal particles deposited on it; the clamping part is made of photoresist; When there is no external force acting on the clamping part, it is in a self-clamping closed state; The fiber optic tweezers are stimulated by a controllable laser beam from the optical fiber to generate or lose photothermal effect. The driving part contracts in volume when stimulated by the photothermal effect, driving the clamping part to open; after the photothermal effect stimulation disappears, the driving part recovers in volume, driving the clamping part to return to a closed state to achieve clamping.

7. The optical fiber clamp control system with clamping and vibration functions according to claim 6, characterized in that: The driving part is sleeved on the clamping part.

8. The optical fiber clamp control system with clamping and vibration functions according to claim 7, characterized in that: The clamping part includes: Connecting seat, gripper mechanism, support column; Wherein, the connection seat is connected to the end face of the optical fiber; The gripper mechanism comprises: a gripper seat and N gripper columns; the gripper seat comprises N mounting plates; the N mounting plates are evenly distributed in a petal shape, the inner ends of which are connected together and serve as the center of the gripper seat; the N gripper columns are arranged one by one on the side of the mounting plate facing away from the connecting seat; N≥3; one end of the support column is connected to the connecting seat, and the other end is connected to the center of the gripper seat; The driving part includes: N deformation bars; Among them, N deformation strips are evenly distributed in a petal shape, their inner ends are connected together and are provided with through holes; the N deformation strips are mounted on the support column through the through holes, one end is in contact or connection with the connecting seat, and the other end is in contact or connection with the N mounting plates one by one.

9. The optical fiber clamp control system with clamping and vibration functions according to claim 8, characterized in that: When the clamping portion is opened, the ends of the N gripper columns away from the mounting plate are away from each other; When the clamping portion is closed, the ends of the N gripper columns away from the mounting plate approach each other to produce a clamping effect.

10. The optical fiber clamp control system with clamping and vibration functions according to claim 8, characterized in that: N gripper columns enclose the interior space of the ellipsoid; Or / and, the end of the gripping column away from the gripping plate is an outer end in the shape of a spherical crown; Or / and, a raised inner end is provided on the inner ring of the gripping column near the mounting plate; Or / and, a triangular groove is also provided between the inner end and one end of the gripping column connected to the mounting plate.

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