CN216180565U

CN216180565U - Microminiature part compliance control device based on multi-degree-of-freedom mechanical arm

Info

Publication number: CN216180565U
Application number: CN202122470499.0U
Authority: CN
Inventors: 黄聪聪; 范增华; 刘紫潇; 范明; 田业冰
Original assignee: Shandong University of Technology
Current assignee: Shandong University of Technology
Priority date: 2021-10-14
Filing date: 2021-10-14
Publication date: 2022-04-05
Anticipated expiration: 2031-10-14

Abstract

The utility model discloses a micro part flexible control device based on a multi-degree-of-freedom manipulator, which relates to the control of micro parts in the field of micro assembly and comprises a manipulator, an electrolyte tank, an end effector, two microscopes, a current controller, an operation substrate and a vibration isolation table, the end effector comprises a micro driving motor, a coupler, a ball screw, a threaded connecting piece, a composite inert electrode, a fixed mount, a glass tube, a part, a bracket, a total fixed mount and a screw, the end effector is arranged at the tail end of the manipulator, the upper end of the bracket is fixedly connected with the tail end of the manipulator, the lower end of the bracket is fixedly connected with the main fixing frame, the left end of the screw is inserted into the sliding groove of the fixing frame, the right end of the screw is in threaded connection with the threaded connecting piece, the composite inert electrode is composed of an outer electrode, a middle insulating layer and an inner electrode, and the outer electrode and the inner electrode are connected with the current controller through leads. The utility model is used for picking up, posture adjusting and active releasing operation of micro parts.

Description

Microminiature part compliance control device based on multi-degree-of-freedom mechanical arm

Technical Field

The utility model relates to the pick-up and release operation of a micro part in the field of micro assembly, and particularly provides a micro part compliant operating and controlling device based on a multi-degree-of-freedom manipulator.

Background

With the miniaturization and miniaturization of operating components in the fields of micro-electro-mechanical systems, biomedicine and the like, the precise control of components with the characteristic dimension of millimeter and micron is the key for realizing high-precision assembly, and a plurality of micro-component control methods are correspondingly generated. At present, the optimal method is to use the liquid bridge force generated by the liquid drop to control the micro-component, because of the dominant action of the liquid bridge force under the micro-scale, the reliable pick-up of the micro-component can be realized, and the flexibility of the liquid medium can avoid the damage of the mechanical stress contact to the surface of the micro-component. Nowadays, the manipulation of a micro-component based on liquid bridge force control mainly focuses on innovations in aspects such as a liquid drop acquisition mode, posture adjustment of the micro-component, and release of the micro-component. For example, in application No. 201210554568.9, patent "a droplet micromanipulator and control method" proposes a method of changing the posture of a micro-member based on a droplet, in which the posture of the micro-member is finally adjusted by changing the relative position of probes by increasing the number of manipulation probes, and the release of the micro-member cannot be achieved autonomously, though the operation is simple. Application No. 201510178041.4, patent "capillary force pick-up and vibration control micro-object operation device and method for hydrophobic surface droplet condensation" proposes a method for obtaining liquid droplets by condensing water in air, and after a high-temperature evaporation liquid bridge disappears, the release of a micro-component is realized by axial vibration, but the device is complex and inflexible and is not conveniently installed on a multi-degree-of-freedom manipulator. The patent application No. 202011229744.2, a cam-driven liquid medium micromanipulator, proposes an apparatus and method of operation that combines multiple needle probes with condensation to produce droplets, the reliable release of micro-structures remaining problematic. Compared with the traditional micro component operating device, the micro component is picked up by using liquid bridge force formed by liquid drops, the micro component can be automatically released through bubbles generated by an electrolyte bridge, the application of the multi-degree-of-freedom manipulator can meet the assembly requirements of different angles, the application range of the micro component operation is expanded, and the multi-degree-of-freedom manipulator has important theoretical significance and practical application value in the field of micro assembly.

Disclosure of Invention

The utility model provides a micro part flexible control device based on a multi-degree-of-freedom manipulator, which aims at controlling micro components with characteristic sizes in millimeter and micron scales and solves the problems of small operation range, inflexible operation, difficult release of the micro components after being picked and the like in the conventional liquid medium control method.

The technical scheme adopted by the utility model for solving the technical problems is as follows: the device comprises a manipulator, an electrolyte tank, an end effector, two microscopes, a current controller, an operation substrate and a vibration isolation platform, wherein the end effector comprises a micro driving motor, a coupler, a ball screw, a threaded connecting piece, a composite inert electrode, a fixing frame, a glass tube, a part, a support, a total fixing frame and a screw, the end effector is arranged at the tail end of the manipulator, the electrolyte tank, the two microscopes, the current controller and the operation substrate are all arranged on the vibration isolation platform, the upper end of the support is fixedly connected with the tail end of the manipulator, the lower end of the support is fixedly connected with the total fixing frame, the micro driving motor and the fixing frame are arranged on the total fixing frame, the ball screw is fixedly connected with the micro driving motor through the coupler, the upper end of the threaded connecting piece is connected with the ball screw in a threaded manner, and the lower end of the threaded connecting piece is fixedly connected with the composite inert electrode, the left end of the screw is inserted into the sliding groove of the fixing frame, the right end of the screw is in threaded connection with the threaded connecting piece, and the glass tube is fixedly connected with the fixing frame. The miniature driving motor, the shaft coupling, the ball screw, the threaded connecting piece, the composite inert electrode and the glass tube are all coaxially arranged. The composite inert electrode consists of an outer electrode, a middle insulating layer and an inner electrode, and the outer electrode and the inner electrode are connected with a current controller through leads.

The utility model can realize the control of the micro parts according to the following steps:

the method comprises the following steps: the mechanical arm drives the end effector to enable the end effector to be immersed in the dilute saline water in the electrolyte tank, the current controller controls the micro driving motor to rotate to drive the composite inert electrode to ascend to a proper position, and operation liquid drops are obtained;

step two: aligning the tail end of the actuator with the part through a microscope, controlling the composite inert electrode to ascend and descend, and forming a liquid bridge between the composite inert electrode and the part to realize the pickup of the part and the active control of the liquid bridge force;

step three: the current controller controls the composite inert electrode to be electrified, the electrolyte at the tail end of the composite inert electrode is electrolyzed, and the part is separated from the tail end of the device along with the reduction of the volume of the liquid bridge and the impact of bubbles to realize the release.

The utility model has the following obvious effects: 1. the micro part control actuator and the multi-degree-of-freedom manipulator are effectively integrated, the control requirements of different angles can be met, the application range of the micro part control actuator is expanded, and the flexibility of the actuator is improved. 2. After the liquid bridge is formed with the part, the current controller is used for controlling the rotation of the micro driving motor and driving the lifting motion of the composite inert electrode, so that the volume of the liquid bridge formed with the part can be controlled, and the active control of the liquid bridge force is realized. 3. When the part is released, the current controller controls the composite inert electrode to form a current path, the electrolyte at the tail end of the composite inert electrode is electrolyzed to generate bubbles, and the part is separated from the tail end of the actuator along with the reduction of the volume of the liquid bridge and the impact of the bubbles, so that the active release of the part is realized.

Drawings

Fig. 1 is a schematic view of the overall structure of a microminiature part compliant manipulation device based on a multi-degree-of-freedom manipulator.

Fig. 2 is a schematic structural diagram of an end effector of a micro part compliant manipulation device based on a multi-degree-of-freedom manipulator, namely an enlarged view of a part a in fig. 1.

FIG. 3 is a schematic view of a composite inert electrode structure of a microminiature part compliant manipulation device based on a multi-degree-of-freedom manipulator of the present invention.

FIG. 4 is a schematic diagram of the generation of liquid bridge and bubbles in a micro part compliant manipulation device based on a multi-degree-of-freedom manipulator according to the present invention.

Detailed Description

For a clear and complete description of the device of the present invention, reference is now made to fig. 1 and 2 for a detailed description, wherein the device comprises a manipulator 1-1, an electrolyte tank 1-2, an end effector 1-3, two microscopes 1-4, a current controller 1-5, a manipulation substrate 1-7, and a vibration isolation table 1-6, the end effector 1-3 comprises a micro-driving motor 2-1, a shaft coupling 2-2, a ball screw 2-3, a threaded connection 2-4, a composite inert electrode 2-5, a fixing frame 2-6, a glass tube 2-7, a part 2-8, a support 2-9, a total fixing frame 2-10, and a screw 2-11, the end effector 1-3 is mounted at the end of the manipulator 1-1, the electrolytic bath 1-2, the two microscopes 1-4, the current controller 1-5 and the operation substrate 1-7 are all placed on the vibration isolation table 1-6, the upper end of the support 2-9 is fixedly connected with the tail end of the manipulator 1-1, the lower end of the support is fixedly connected with the general fixing frame 2-10, the micro driving motor 2-1 and the fixing frame 2-6 are installed on the general fixing frame 2-10, the ball screw 2-3 is fixedly connected with the micro driving motor 2-1 through the coupler 2-2, the upper end of the threaded connecting piece 2-4 is in threaded connection with the ball screw 2-3, the lower end of the threaded connecting piece is fixedly connected with the composite inert electrode 2-5, the left end of the screw 2-11 is inserted into the chute of the fixing frame 2-6, and the right end of the screw is in threaded connection with the threaded connecting piece 2-4, the glass tube 2-7 is fixedly connected with the fixing frame 2-6.

As described with reference to fig. 1, the manipulator 1-1 according to the present embodiment is connected to the end effector 1-3 and can perform a complex trajectory motion with the end effector 1-3. KR210 library card robot can be selected for the manipulator 1-1, the effective load is 150 kg, and the maximum working range is 2700 mm.

As described in connection with fig. 1, 2 or 4, the two microscopes 1-4 according to the present embodiment are used for observation and focusing, and the acquired images can also be used for post-processing, such as calculating the volume of the liquid bridge between the device and the microminiature part. The model of the microscope is selected from MER-1070-14U3M of great constant water star series.

Referring to fig. 1 or 4, the liquid in the electrolyte tank 1-2 according to the present embodiment is diluted saline water, and hydrogen and oxygen are generated at the electrodes by electrolysis.

As described with reference to fig. 1 or fig. 3, the composite inert electrode 2-5 according to the present embodiment forms a path with the liquid bridge 4-2 at the end after being energized, and an electrolytic reaction occurs, and the component 2-8 is released following the impact of the generation and rupture of the bubble 4-1. The outer electrode 3-1 and the inner electrode 3-3 of the composite inert electrode 2-5 are made of inert materials such as metal platinum, and the intermediate insulating layer 3-2 is made of plastics.

In order to further describe the micro part compliant control device based on the multi-degree-of-freedom manipulator, the following specific working processes are described as follows:

the method comprises the following steps: the manipulator 1-1 drives the end effector 1-3 to immerse the end of the end effector in the dilute brine of the electrolyte tank 1-2, the current controller 1-5 controls the micro driving motor 2-1 to rotate to drive the composite inert electrode 2-5 to ascend to a proper position, and the acquisition of operation liquid drops is realized;

step two: aligning the tail end of the actuator 1-3 with the part 2-8 through the microscope 1-4, controlling the composite inert electrode 2-5 to ascend and descend, and forming a liquid bridge 4-2 between the composite inert electrode and the part 2-8 to realize the pickup of the part 2-8 and the active control of liquid bridge force;

step three: the current controller 1-5 controls the composite inert electrode 2-5 to be electrified, the electrolyte at the tail end of the composite inert electrode 2-5 is electrolyzed, and the part 2-8 is separated from the tail end of the actuator 1-3 along with the reduction of the volume of the liquid bridge 4-2 and the impact of the generation and the rupture of the bubble 4-1, so that the release is realized.

The above description is only a few preferred embodiments of the present invention, which is only for the purpose of assisting understanding of the method of the present invention and the core idea thereof, and is not intended to limit the present invention, and it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention in terms of specific embodiments and applications. Any modification, equivalent replacement, improvement and the like made to the present invention shall be included in the protection scope of the present invention.

Claims

1. A microminiature part compliance control device based on multi-degree-of-freedom mechanical arm is characterized in that: the device comprises a manipulator (1-1), an electrolyte tank (1-2), an end effector (1-3), two microscopes (1-4), a current controller (1-5), an operation substrate (1-7) and a vibration isolation table (1-6), wherein the end effector (1-3) comprises a micro driving motor (2-1), a coupler (2-2), a ball screw (2-3), a threaded connecting piece (2-4), a composite inert electrode (2-5), a fixing frame (2-6), a glass tube (2-7), a part (2-8), a support (2-9), a total fixing frame (2-10) and a screw (2-11), and the end effector (1-3) is arranged at the tail end of the manipulator (1-1), the electrolytic bath (1-2), the two microscopes (1-4), the current controller (1-5) and the operation substrate (1-7) are all placed on the vibration isolation table (1-6), the upper end of the support (2-9) is fixedly connected with the tail end of the manipulator (1-1), the lower end of the support is fixedly connected with the total fixing frame (2-10), the micro driving motor (2-1) and the fixing frame (2-6) are installed on the total fixing frame (2-10), the ball screw (2-3) is fixedly connected with the micro driving motor (2-1) through the coupler (2-2), the upper end of the threaded connecting piece (2-4) is in threaded connection with the ball screw (2-3), and the lower end of the threaded connecting piece is fixedly connected with the composite inert electrode (2-5), the left end of the screw (2-11) is inserted into the sliding groove of the fixing frame (2-6), the right end of the screw is in threaded connection with the threaded connecting piece (2-4), and the glass tube (2-7) is fixedly connected with the fixing frame (2-6).

2. The micro-miniature part compliant manipulation device based on multi-degree-of-freedom manipulator as claimed in claim 1, wherein: the miniature driving motor (2-1), the shaft coupling (2-2), the ball screw (2-3), the threaded connecting piece (2-4), the composite inert electrode (2-5) and the glass tube (2-7) are all coaxially arranged.

3. The micro part compliant manipulation device based on multi-degree-of-freedom manipulator as claimed in claim 1 or 2, wherein: the composite inert electrode (2-5) is composed of an outer electrode (3-1), a middle insulating layer (3-2) and an inner electrode (3-3), and the outer electrode (3-1) and the inner electrode (3-3) are connected with a current controller (1-5) through leads.