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Self-calibration liquid drop manipulator structure and micro-operation method

A manipulator, self-calibration technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of inability to automatically calibrate tiny objects, not widely used, complex application environments, etc., to achieve simple processing and precise control The effect of simple control method and overall structure

Pending Publication Date: 2021-09-17
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In addition to the above-mentioned methods, micro-robots are used more and more in micro-assembly, but due to the complexity of the system and the limitations of the application environment, it has not been widely used yet.
On the basis of previous studies, the research team proposed a multi-rod droplet micromanipulator. This invention can change the attitude of tiny objects. However, since each tungsten rod of the manipulator is distributed uniformly , unable to achieve automatic calibration for tiny objects of specific shapes

Method used

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  • Self-calibration liquid drop manipulator structure and micro-operation method
  • Self-calibration liquid drop manipulator structure and micro-operation method
  • Self-calibration liquid drop manipulator structure and micro-operation method

Examples

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Effect test

Embodiment 1

[0046] A self-calibrating droplet manipulator structure such as figure 1 , figure 2 , image 3 , Figure 4 As shown, it includes end effector assembly, droplet injection assembly, microtube drive assembly, support assembly, and control and feedback assembly;

[0047] The end effector assembly includes nine capillary glass microtubes 12; the droplet injection assembly includes a syringe 2, a propeller 1 of the syringe 2, and a hose 3; The transmission connecting plate 11 nested with the drive nut 16 of the output shaft 17; each capillary glass microtube 12 is connected to the corresponding syringe 2 through the corresponding hose 3; each capillary glass microtube 12 is driven by the microtube Components move up and down;

[0048] The bracket assembly fixes and supports the end effector assembly, the droplet injection assembly, the microtube drive assembly, and the control and feedback assembly; the control and feedback assembly controls the microtube drive assembly and the...

Embodiment 2

[0072] In this embodiment, taking the adsorption of blocky rectangular objects as an example, the whole process is shown in FIG. 5 . First, control the micro stepper motor 10 to adjust the end faces of the nine capillary glass microtubes 12 to be even. Assume that the size of the rectangular object is 2.4mm×1.6mm×0.5mm, the distance between the surface center of the rectangular object and the center of the liquid droplet manipulator in the x direction is 0.3mm in the initial state, and the distance in the y direction is 0.2mm, clockwise around the center point Rotated 10 °, according to its rectangular shape, by controlling the micro stepper motor 10, the capillary glass microtubes 12 numbered g, h, i move up 2mm together, and the selected numbers are a, b, c, d, e , f capillary glass microtube 12 remains motionless. By means of the liquid drop volume control device, the capillary glass microtubes 12 respectively numbered as a, b, c, d, e, f inject equal amounts of liquid dro...

Embodiment 3

[0074]In this embodiment, taking the adsorption of a block-shaped triangular object as an example, the whole process is shown in FIG. 6 . First, control the micro stepper motor 10 to adjust the end faces of the nine capillary glass microtubes 12 to be even. Assume that the waist length of an isosceles right triangle object is 1.6mm, the height is 0.3mm, the distance between the midpoint of the hypotenuse of the triangle object in the initial state and the center of the droplet manipulator in the x direction is 0.3mm, and the distance in the y direction is 0.2mm , rotated 10° clockwise around the midpoint of the hypotenuse, according to its triangular shape, the capillary glass microtubes 12 numbered f, h, and i move up 2mm together by controlling the micro stepping motor 10, and the selected number is a , b, c, d, e, g The capillary glass microtube 12 remains still. Through the liquid drop volume control device, the equal amount of liquid droplets are injected into the capill...

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Abstract

The invention provides a self-calibration liquid drop manipulator structure and a micro-operation method. The liquid drop manipulator structure comprises a tail end execution assembly, a liquid drop injection assembly, a microtube driving assembly, a support assembly and a control and feedback assembly. The control and feedback assembly controls the microtube driving assembly and the liquid drop injection assembly, so that liquid drops are generated at the tail ends of capillary glass microtubes, and the self-calibration process of tiny object is completed. Compared with the prior art, the method is simple and easy to implement, adsorbed tiny objects are automatically calibrated, control is stable and accurate, and the method is suitable for lossless operation of the tiny objects in any shape.

Description

technical field [0001] The invention relates to the field of droplet micro-operation, in particular to a self-calibrating droplet manipulator structure and a micro-operation method. Background technique [0002] With the continuous development of micro-electromechanical systems (MEMS), the size characteristics of the components are getting smaller and smaller, and the internal structure is becoming more and more complex. In the assembly of micro-components, the assembly accuracy is getting higher and higher. Picking up of micro-components, attitude adjustment, Release is often the focus and difficulty in micro-assembly operations. At present, the operation methods for micro-component assembly at home and abroad are mainly micro-clamp method, vacuum adsorption method and surface tension-based method. [0003] The micro-clamp method means that the micro-manipulation tool is designed to have a structure similar to the macro-clamp to achieve operations such as grasping, handlin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J9/16
CPCB25J11/00B25J9/1697B25J9/1602
Inventor 张勤马赐文胡艳
Owner SOUTH CHINA UNIV OF TECH
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