CN209986937U - Space micro-gripper with multistage amplification and guide mechanism - Google Patents
Space micro-gripper with multistage amplification and guide mechanism Download PDFInfo
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- CN209986937U CN209986937U CN201920426016.7U CN201920426016U CN209986937U CN 209986937 U CN209986937 U CN 209986937U CN 201920426016 U CN201920426016 U CN 201920426016U CN 209986937 U CN209986937 U CN 209986937U
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Abstract
The utility model provides a little holder in space with multistage enlargies and guiding mechanism, it can solve the problem that current little holder can't realize parallel output completely. The device comprises a base, a plane clamping branched chain and a microprobe, wherein the plane clamping branched chain comprises a first amplifying mechanism, a second amplifying mechanism and a guide mechanism which are sequentially connected in series; the guide mechanism comprises two pairs of vertically arranged and mutually parallel flexible reeds I, two ends of a first pair of flexible reeds I are respectively and fixedly connected with the fixed platform and the transition platform, the fixed platform is fixedly connected with the base, a second pair of flexible reeds I are symmetrically arranged on the outer side of the first pair of flexible reeds I, two ends of the second pair of flexible reeds I are respectively and fixedly connected with the transition platform and the movable platform, and the microprobe is fixedly connected to the movable platform; the output end of the second amplifying mechanism is hinged with the movable platform, and the rotating center of the output end of the second amplifying mechanism and the height center of the first flexible reed are located on the same horizontal line.
Description
Technical Field
The utility model relates to a little holder field specifically is a little holder in space with multistage enlargies and guiding mechanism.
Background
The micro-gripper is used as an execution end of a micro-operation system, and can realize operations such as picking up, clamping and releasing, so that the micro-gripper is widely applied to various fields such as a micro-electro-mechanical system, a scanning probe microscope, ultra-precision machining, optical adjustment, biological cell operation and the like. For example, in the field of microelectromechanical systems, micro-clampers may be used to assemble micro-parts such as micro-gears into micro-components; in the field of biological cell manipulation, a component can be injected into or extracted from a cell in conjunction with a microprobe. The tiny objects operated in the above fields are mostly rigid objects with irregular shapes, and in order to ensure the stability and reliability of micro-operation and micro-assembly clamping, a parallel clamping mode is adopted, which requires that the tail end of the micro-gripper should keep parallel output.
The invention patent with publication number CN 105619377A discloses a space micro-gripper based on a compliant mechanism, which comprises two plane gripping branched chains with symmetrical structures and four micro-probes, wherein the gripping branched chains adopt a two-stage lever structure, the input displacement is amplified twice through the lever principle, the tail ends of the gripping branched chains are connected with the micro-probes, and the four micro-probes are symmetrically arranged to form a square space gripping opening which can be in four-point contact with an object to be gripped to grip the object with irregular shape. However, the micro-gripper completely amplifies input displacement by adopting a lever principle, and two ends of a lever necessarily rotate around a fulcrum, so that a clamping branch chain also necessarily rotates to output when outputting displacement, and a microprobe at the output end of the clamping branch chain cannot completely realize parallel output, thereby influencing the clamping stability of the micro-gripper.
The utility model discloses a utility model with publication number CN207643111U discloses a gentle and agreeable piezoelectricity of three degrees of freedom micro gripper, it comprises at least three single degree of freedom clamping unit, every single degree of freedom clamping unit is including the compound bridge type mechanism of establishing ties in proper order, lever mechanism and double-rocker mechanism, wherein, compound bridge type mechanism can carry out first time to the input displacement and enlarge and the direction, lever mechanism can carry out the second time to the input displacement and enlarge, double-rocker mechanism can carry out the third time to the input displacement and enlarge, and when hinge G, hinge H, when hinge I is on a straight line, can guarantee micro gripper's pure translation output. In practice, however, the micro-gripper can only achieve a theoretical pure translational output because: the hinge G, the hinge H and the hinge I are double-notch straight circular flexible hinges, belong to a centralized flexibility type flexible hinge, the ideal model of the flexible hinge is pure rotation around a rotation center, the rotation center does not move, in the actual process, the rotation center of the flexible hinge can move transversely, and the transverse movement distance of the rotation center of each hinge is different due to different stress, so that the three hinges after transverse movement cannot be kept on a straight line, errors are generated, and the tail end of the micro-gripper cannot realize complete pure translational output in the actual process.
Disclosure of Invention
To the technical problem that the parallel output can't be realized completely to current little holder, the utility model provides a little holder in space with multistage enlargies and guiding mechanism, it can guarantee to realize parallel output completely by little holder, ensures that the stability that micro-operation, little assembly clamp were got and is reliable.
The technical scheme is as follows: the utility model provides a space micro gripper with multistage enlargies and guiding mechanism, its includes base, plane centre gripping branch chain and microprobe, its characterized in that: the three first amplifying mechanisms are connected with the base and a displacement input platform into a whole, and the displacement input platform is driven by a motion input device; the first amplification mechanism is used for converting the vertical displacement input by the motion input device into horizontal displacement, outputting the horizontal displacement and amplifying the horizontal displacement, and the second amplification mechanism is used for converting the horizontal displacement into vertical rotary displacement, outputting the vertical rotary displacement and amplifying the vertical rotary displacement; the guide mechanism comprises two pairs of vertically arranged and mutually parallel flexible reeds I, two ends of a first pair of the flexible reeds I are fixedly connected with a fixed platform and a transition platform respectively, the fixed platform is fixedly connected with the base, a second pair of the flexible reeds I are symmetrically arranged on the outer side of the first pair of the flexible reeds I, two ends of the second pair of the flexible reeds I are fixedly connected with the transition platform and the movable platform respectively, and three microprobes are arranged and are fixedly connected to the three movable platforms respectively; the output end of the second amplification mechanism is hinged with the movable platform, and the rotation center of the output end of the second amplification mechanism and the height center of the first flexible reed are located on the same horizontal line.
It is further characterized in that:
the motion input device is a piezoelectric ceramic driver.
The three plane clamping branched chains are arranged in a regular triangle.
The first amplification mechanism comprises two flexible spring plates II and a displacement output platform, the two flexible spring plates II are symmetrically arranged on the upper side and the lower side of the displacement output platform and are obliquely arranged, and included angles between the flexible spring plates II and the vertical direction are equal and are smaller than 45 degrees; one end of each of the two flexible reeds II is fixedly connected to the displacement output platform, the other end of each of the two flexible reeds II is fixedly connected with the base and the displacement input platform respectively, and the displacement input platform is located between the three first amplification mechanisms and arranged above the base in parallel; the second flexible reed on the three first amplifying mechanisms is enclosed to form a space diamond structure, the motion input device is arranged in the space diamond structure, the fixed end at the bottom of the motion input device is fixedly connected with the base, and the driving end at the top of the motion input device is fixedly connected with the displacement input platform.
The base is formed by three horizontal bottom plate head ends connected jointly, and is three horizontal bottom plate is triangle-shaped and arranges, and is three plane centre gripping branched chain and three horizontal bottom plate one-to-one sets up, and is three horizontal bottom plate's junction is equipped with the arch, is located displacement output platform below the lower extreme fixed connection of flexible reed two is in the arch.
The second amplifying mechanism is a lever amplifying mechanism and comprises a connecting rod, a lever and a supporting rod, wherein the connecting rod is horizontally arranged, and the lever and the supporting rod are vertically arranged; one end of the connecting rod is hinged with the corresponding displacement output platform through a first flexible hinge, and the other end of the connecting rod is hinged with a rod part on one side of the lever through a second flexible hinge; the lower end of the other side of the lever is hinged with the support rod through a third flexible hinge, and the upper end of the other side of the lever is hinged with the movable platform through a fourth flexible hinge; the support rod is fixedly connected to the base; and the rotation center of the fourth flexible hinge and the height center of the first flexible reed are positioned on the same horizontal line.
The first flexible hinge, the second flexible hinge, the third flexible hinge and the fourth flexible hinge are double-notch right-circular flexible hinges.
The fixed platform is of a vertically arranged plate-shaped structure, the lower end of the fixed platform is fixedly connected with the base, and the upper end of the fixed platform is connected with the lower end of the first pair of flexible reeds; the transition platform is of a horizontally arranged rod-shaped structure, and the upper ends of the two pairs of first flexible reeds are respectively and fixedly connected to the bottom surface of the transition platform; the movable platform is of a U-shaped structure with a downward opening, the movable platform is sleeved on the outer sides of the two pairs of first flexible reeds, support arms of the movable platform are parallel to the first flexible reeds, a space for the first flexible reeds to deform is reserved between two sides of the transition platform and the movable platform, and the lower ends of the second pair of first flexible reeds are fixedly connected with the lower ends of the two support arms of the movable platform respectively; the output end of the second amplification mechanism is hinged with one support arm side surface of the movable platform; and a displacement output rod which is obliquely arranged is further formed on one side, close to the second amplification mechanism, of the upper end of the movable platform, the microprobes are fixed on the displacement output rod, and the tips of the three microprobes are opposite.
The displacement output rod is characterized in that a threaded hole is machined in the upper end face of the displacement output rod, an external thread is machined at the lower end of the microprobe, and the microprobe is connected with the threaded hole through the external thread.
The base, the three plane clamping branched chains and the displacement input platform are integrally processed.
The utility model has the advantages that:
the utility model discloses a space micro-gripper, its plane centre gripping branch chain comprises the first mechanism of amplification, the second mechanism of amplification and guiding mechanism that establish ties in proper order, can amplify the input displacement twice through first mechanism of amplification, the second mechanism of amplification, guarantee space micro-gripper has big stroke, the displacement after twice amplification inputs guiding mechanism, guiding mechanism leads the input displacement through the deformation of flexible reed, because the flexible reed belongs to equipartition flexibility type flexible component, compare with concentrated flexibility type flexible hinge, the actual error of equipartition flexibility type flexible component is littleer, and the guiding mechanism in the utility model adopts two pairs of flexible reeds that are vertical setting and are parallel to each other, the second pair of flexible reeds symmetry sets up the outside of first pair of flexible reeds simultaneously, the center of rotation of the output of second mechanism of amplification and the center of height of flexible reed lie in the same horizontal line, therefore, parasitic torque and parasitic force of the four flexible reeds can be exactly and completely offset when the flexible reeds deform, parasitic movement and rotation generated by the second amplifying mechanism are completely eliminated, and a pure translation guide effect is achieved, so that the tail end of the whole micro-gripper can realize completely parallel output, the micro-probe can realize completely parallel movement, the clamping precision is high, and the clamping is stable and reliable; in addition, three plane clamping branched chains are arranged in a triangular mode, so that three microprobes can clamp tiny objects from three directions, the clamping of the tiny objects with irregular shapes can be adapted, and the clamping stability is ensured.
Drawings
Fig. 1 is a front view of the present invention;
FIG. 2 is a schematic diagram of the connection of three first amplification mechanisms;
FIG. 3 is a front view of a second enlarged mechanism and a guide mechanism;
FIG. 4 is a schematic view of the overall structure of the guide mechanism;
FIG. 5 is a front view of a microprojection;
FIG. 6 is a schematic view of the overall structure of the space micro-gripper of the present invention before displacement input;
fig. 7 is a schematic diagram of the overall structure of the space micro-gripper according to the present invention after the input displacement.
Reference numerals:
1-a base; 11-a horizontal floor; 12-a bump;
2-plane clamping branched chain;
21-a first amplification mechanism; 211-flexible reed two; 212-displacement output stage;
22-a second amplification mechanism; 221-connecting rod; 222-a lever; 223-strut; 224-a first flexible hinge; 225-a second flexible hinge; 226-a third flexible hinge; 227-a fourth flexible hinge;
23-a guide mechanism; 231-a first pair of flexible springs one; 232-a second pair of flexible reeds one; 233-fixing the platform; 234-a transition platform; 235-moving the platform; 236-a displacement output rod; 237-threaded hole;
3-a microprobe; 31-external threads;
4-displacement input platform.
Detailed Description
Referring to fig. 1 to 7, the space micro-gripper with multi-stage amplification and guiding mechanism of the present invention comprises a base 1, three plane gripping branched chains 2 and three micro-probes 3; the base 1 is formed by jointly connecting the head ends of three horizontal bottom plates 11, the three horizontal bottom plates 11 are arranged in a triangular shape, the three plane clamping branched chains 2 and the three horizontal bottom plates 11 are arranged in a one-to-one correspondence manner, and bulges 12 are arranged at the joints of the three horizontal bottom plates 11; the plane clamping branched chain 2 comprises a first amplification mechanism 21, a second amplification mechanism 22 and a guide mechanism 23 which are sequentially connected in series, the three first amplification mechanisms 21 are connected with the base 1 and the displacement input platform 4 into a whole, the displacement input platform 4 is driven by a motion input device, and the motion input device is a piezoelectric ceramic driver; the first amplification mechanism 21 is used for converting the vertical displacement input by the motion input device into horizontal displacement, outputting the horizontal displacement and amplifying the horizontal displacement, and the second amplification mechanism 22 is used for converting the horizontal displacement into vertical rotation displacement, outputting the vertical rotation displacement and amplifying the vertical rotation displacement; the guide mechanism 23 comprises two pairs of vertically arranged and mutually parallel flexible reeds I, two ends of a first pair of flexible reeds I231 are respectively and fixedly connected with a fixed platform 233 and a transition platform 234, the fixed platform 233 is fixedly connected with the base 1, a second pair of flexible reeds I232 are symmetrically arranged at the outer side of the first pair of flexible reeds I231, two ends of the second pair of flexible reeds I232 are respectively and fixedly connected with the transition platform 234 and the movable platform 235, and the three microprobes 3 are respectively and fixedly connected to the three movable platforms 235; the output end of the second amplification mechanism 22 is hinged with the movable platform 235, and the rotation center of the output end of the second amplification mechanism 22 and the height center of the first flexible reed are located on the same horizontal line A.
Referring to fig. 1 and 2, the first amplification mechanism 21 includes two flexible spring pieces 211 and a displacement output platform 212, the two flexible spring pieces 211 are symmetrically arranged on the upper side and the lower side of the displacement output platform 212 and are arranged obliquely, and the included angles α between the flexible spring pieces 211 and the vertical direction are equal to each other and are smaller than 45 °; one ends of the two flexible reeds 211 are fixedly connected to the displacement output platform 212 together, the other ends of the two flexible reeds are fixedly connected with the bulge 12 on the base 1 and the displacement input platform 4 respectively, and the displacement input platform 4 is positioned among the three first amplification mechanisms 21 and arranged above the base 1 in parallel; the two flexible reeds 211 on the three first amplification mechanisms 21 are enclosed to form a space diamond structure, the motion input device is arranged in the space diamond structure, the fixed end at the bottom of the motion input device is fixedly connected with the protrusion 12 on the base 1, and the driving end at the top of the motion input device is fixedly connected with the displacement input platform 4 so as to drive the displacement input platform 4 to move up and down (the motion input device is not shown in figures 1 to 7). By the design, the first amplifying mechanism is simple in structure and convenient to process. The displacement input platform is driven to vertically move upwards through the motion input device, under the action of the second flexible reed, the whole space diamond structure shrinks inwards (see fig. 6 and 7), the three displacement output platforms simultaneously output horizontal displacement with the same size, and the included angle alpha between the second flexible reed and the vertical direction is smaller than 45 degrees, so that the output horizontal displacement is larger than the input displacement, the first-stage amplification of the input displacement is realized, the smaller the included angle alpha is, and the better the amplification effect is.
Referring to fig. 1 and 3, the second amplification mechanism 22 is a lever amplification mechanism, and includes a connecting rod 221, a lever 222, and a supporting rod 223, the connecting rod 221 is disposed horizontally, and the lever 222 and the supporting rod 223 are disposed vertically; one end of the connecting rod 221 is hinged with the corresponding displacement output platform 212 through a first flexible hinge 224, and the other end is hinged with one side rod part of the lever 222 through a second flexible hinge 225; the lower end of the other side of the lever 222 is hinged to the supporting rod 223 through a third flexible hinge 226, and the upper end of the other side of the lever 222 is hinged to the movable platform 235 through a fourth flexible hinge 227 (i.e., the second flexible hinge 225 and the third flexible hinge 226 are respectively located on two sides of the lever 222, and the third flexible hinge 226 and the fourth flexible hinge 227 are located on the same side of the lever 222); the support rod 223 is fixedly connected to the base 1; the rotation center of the fourth flexible hinge 227 and the height center of the first flexible reed are positioned on the same horizontal line A; the first flexible hinge 224, the second flexible hinge 225, the third flexible hinge 226, and the fourth flexible hinge 227 are all double-slit right circular flexible hinges. By the design, the second amplifying mechanism is simple in structure and convenient to process. The first flexible hinge is used as the input end of the lever amplification mechanism, the third flexible hinge is used as the fulcrum of the lever amplification mechanism, the fourth flexible hinge is used as the output end of the lever amplification mechanism, after the first flexible hinge is subjected to horizontal displacement, the fourth flexible hinge can convert the first flexible hinge into vertical rotation displacement to be output (see fig. 6 and 7), and the second flexible hinge is hinged with the rod part of the lever, so that the vertical distance between the first flexible hinge and the third flexible hinge is less than the vertical distance between the fourth flexible hinge and the third flexible hinge, the second-stage amplification of input displacement can be realized, and the amplification effect is better along with the reduction of the vertical distance between the first flexible hinge and the third flexible hinge. The double-notch straight-circular flexible hinge is selected, so that the clamping precision of the micro-clamp holder can be improved while the large stroke is ensured.
Referring to fig. 1 and 4, the fixed platform 233 is a vertically arranged plate-shaped structure, the lower end of the fixed platform 233 is fixedly connected with the base 1, and the upper end is connected with the lower ends of the first pair of flexible springs 231; the transition platform 234 is a horizontally arranged rod-shaped structure, and the upper ends of the two pairs of first flexible reeds are respectively and fixedly connected to the bottom surface of the transition platform 234; the movable platform 235 is of a U-shaped structure with a downward opening, the movable platform 235 is sleeved on the outer sides of the two pairs of first flexible reeds, support arms of the movable platform 235 are arranged in parallel with the first flexible reeds, a space for the first flexible reeds to deform is reserved between two sides of the transition platform 234 and the movable platform 235, and the lower ends of the second pair of first flexible reeds 232 are fixedly connected with the lower ends of the two support arms of the movable platform 235 respectively; the fourth flexible hinge 227 is fixedly connected with one arm side surface of the movable platform 235; the upper end of the movable platform 235 is also formed with a displacement output rod 236 which is obliquely arranged on one side close to the second amplification mechanism 22, a threaded hole 237 is processed on the upper end surface of the displacement output rod 236, an external thread 31 is processed on the lower end of the microprobe 3, the microprobe 3 is connected with the threaded hole 237 through the external thread 31, and the tips of the three microprobes 3 relatively form a triangular clamping opening. So design, guiding mechanism's simple structure, and the processing of being convenient for. Through making the microprobe threaded fixation on the displacement output pole, the extension volume of regulation microprobe that can be convenient, and then the size of convenient regulation centre gripping mouth makes the size range of the little object that little holder can the centre gripping wider.
As shown in fig. 6, the three plane clamping branched chains 2 are arranged in a regular triangle, so that the clamping of the tiny objects is more stable; the base 1, the three plane clamping branched chains 2 and the displacement input platform 4 are integrally processed, so that the assembly error can be reduced.
Claims (10)
1. The utility model provides a space micro gripper with multistage enlargies and guiding mechanism, its includes base, plane centre gripping branch chain and microprobe, its characterized in that: the three first amplifying mechanisms are connected with the base and a displacement input platform into a whole, and the displacement input platform is driven by a motion input device; the first amplification mechanism is used for converting the vertical displacement input by the motion input device into horizontal displacement, outputting the horizontal displacement and amplifying the horizontal displacement, and the second amplification mechanism is used for converting the horizontal displacement into vertical rotary displacement, outputting the vertical rotary displacement and amplifying the vertical rotary displacement; the guide mechanism comprises two pairs of vertically arranged and mutually parallel flexible reeds I, two ends of a first pair of the flexible reeds I are fixedly connected with a fixed platform and a transition platform respectively, the fixed platform is fixedly connected with the base, a second pair of the flexible reeds I are symmetrically arranged on the outer side of the first pair of the flexible reeds I, two ends of the second pair of the flexible reeds I are fixedly connected with the transition platform and the movable platform respectively, and three microprobes are arranged and are fixedly connected to the three movable platforms respectively; the output end of the second amplification mechanism is hinged with the movable platform, and the rotation center of the output end of the second amplification mechanism and the height center of the first flexible reed are located on the same horizontal line.
2. A spatial microclamper with multistage amplification and guidance mechanism as claimed in claim 1, wherein: the motion input device is a piezoelectric ceramic driver.
3. A spatial microclamper with multistage amplification and guidance mechanism according to claim 1 or 2, characterized in that: the first amplification mechanism comprises two flexible spring plates II and a displacement output platform, the two flexible spring plates II are symmetrically arranged on the upper side and the lower side of the displacement output platform and are obliquely arranged, and included angles between the flexible spring plates II and the vertical direction are equal and are smaller than 45 degrees; one end of each of the two flexible reeds II is fixedly connected to the displacement output platform, the other end of each of the two flexible reeds II is fixedly connected with the base and the displacement input platform respectively, and the displacement input platform is located between the three first amplification mechanisms and arranged above the base in parallel; the second flexible reed on the three first amplifying mechanisms is enclosed to form a space diamond structure, the motion input device is arranged in the space diamond structure, the fixed end at the bottom of the motion input device is fixedly connected with the base, and the driving end at the top of the motion input device is fixedly connected with the displacement input platform.
4. A spatial microclamper with multistage amplification and guidance mechanism as claimed in claim 3, wherein: the base is formed by three horizontal bottom plate head ends connected jointly, and is three horizontal bottom plate is triangle-shaped and arranges, and is three plane centre gripping branched chain and three horizontal bottom plate one-to-one sets up, and is three horizontal bottom plate's junction is equipped with the arch, is located displacement output platform below the lower extreme fixed connection of flexible reed two is in the arch.
5. A spatial microclamper with multistage amplification and guidance mechanism as claimed in claim 3, wherein: the second amplifying mechanism is a lever amplifying mechanism and comprises a connecting rod, a lever and a supporting rod, wherein the connecting rod is horizontally arranged, and the lever and the supporting rod are vertically arranged; one end of the connecting rod is hinged with the corresponding displacement output platform through a first flexible hinge, and the other end of the connecting rod is hinged with a rod part on one side of the lever through a second flexible hinge; the lower end of the other side of the lever is hinged with the support rod through a third flexible hinge, and the upper end of the other side of the lever is hinged with the movable platform through a fourth flexible hinge; the support rod is fixedly connected to the base; and the rotation center of the fourth flexible hinge and the height center of the first flexible reed are positioned on the same horizontal line.
6. A spatial microclamper with multistage amplification and guidance mechanism as claimed in claim 5, wherein: the first flexible hinge, the second flexible hinge, the third flexible hinge and the fourth flexible hinge are double-notch right-circular flexible hinges.
7. A spatial microclamper with multistage amplification and guidance mechanism as claimed in claim 1, wherein: the fixed platform is of a vertically arranged plate-shaped structure, the lower end of the fixed platform is fixedly connected with the base, and the upper end of the fixed platform is connected with the lower end of the first pair of flexible reeds; the transition platform is of a horizontally arranged rod-shaped structure, and the upper ends of the two pairs of first flexible reeds are respectively and fixedly connected to the bottom surface of the transition platform; the movable platform is of a U-shaped structure with a downward opening, the movable platform is sleeved on the outer sides of the two pairs of first flexible reeds, support arms of the movable platform are parallel to the first flexible reeds, a space for the first flexible reeds to deform is reserved between two sides of the transition platform and the movable platform, and the lower ends of the second pair of first flexible reeds are fixedly connected with the lower ends of the two support arms of the movable platform respectively; the output end of the second amplification mechanism is hinged with one support arm side surface of the movable platform; and a displacement output rod which is obliquely arranged is further formed on one side, close to the second amplification mechanism, of the upper end of the movable platform, the microprobes are fixed on the displacement output rod, and the tips of the three microprobes are opposite.
8. A spatial microclamp having a multistage amplification and guidance mechanism as claimed in claim 7, wherein: the displacement output rod is characterized in that a threaded hole is machined in the upper end face of the displacement output rod, an external thread is machined at the lower end of the microprobe, and the microprobe is connected with the threaded hole through the external thread.
9. A spatial microclamper with multistage amplification and guidance mechanism as claimed in claim 1, wherein: the three plane clamping branched chains are arranged in a regular triangle.
10. A spatial microclamper with multistage amplification and guidance mechanism as claimed in claim 3, wherein: the base, the three plane clamping branched chains and the displacement input platform are integrally processed.
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| CN201920426016.7U CN209986937U (en) | 2019-04-01 | 2019-04-01 | Space micro-gripper with multistage amplification and guide mechanism |
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| CN201920426016.7U CN209986937U (en) | 2019-04-01 | 2019-04-01 | Space micro-gripper with multistage amplification and guide mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109834694A (en) * | 2019-04-01 | 2019-06-04 | 江南大学 | Space micro clamping device with multistage amplification and guiding mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109834694A (en) * | 2019-04-01 | 2019-06-04 | 江南大学 | Space micro clamping device with multistage amplification and guiding mechanism |
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