RU2423223C1 - Nanostructured gripping device for manipulating microscopic objects made from electroconductive materials - Google Patents

Abstract

FIELD: physics, robotics.

SUBSTANCE: invention relates to microrobotics and can be used as the actuating device of a manipulator for manipulating microscopic objects made from electroconductive materials. The nanostructured gripping device for the manipulator has a base made from electroconductive material, an attachment device, a working surface of the gripping device made from nanostructured material and a dielectric layer.

EFFECT: invention simplifies the design and also broadens functional capabilities associated with more efficient gripping and holding of microscopic objects with bumpy and flat surfaces.

2 cl, 3 dwg

Description

The invention relates to the field of microrobotics and can be used as a working body of a micromanipulator.

A vacuum gripper is known comprising a vacuum source and a vacuum suction system in the form of a suction cup. As a vacuum source, we used our own vacuum source, made in the form of a pneumatic piezo pump, consisting of a deformable element in the form of a power piezocrystal and an elastic structural element, which is made in the form of a cylinder of elastic material. At the same time, valve piezoelectric mechanisms are installed in the main cavity of the pneumatic piezo pump in the form of the first and second valves, which are the first and second distribution piezo crystals located between the main cavity of the pneumatic piezo pump and, accordingly, the external cavity of the pneumatic piezo pump, that is, the atmosphere, and the pneumatic suction cup cavity [RF patent No. 2210493, IPC. B25J 15/06, B25J 7/00, publ. 08/20/2003, b. No. 23].

The disadvantage of this device is the need to use a source of overpressure, which unnecessarily complicates the entire structure.

A micromanipulator grip is also known, comprising a grip base, a grip brush, elastically deformable clamping fingers, a drive made in the form of a linear electromagnetic motor containing an armature of ferromagnetic material and a single electromagnet winding system, a rod made in the form of a retractable link with a tubular end, and the linear armature an electric motor rigidly connects the grip base with a brush, to which clamping fingers are rigidly fixed, interconnected by a return spring, and the winding of the electromagnet updated in a retractable link located coaxially with an anchor and a gripping brush [RF patent No. 2259915, class. B25J 7/00, publ. 09/10/2005, b. No. 25].

Of the main disadvantages of this device, structural complexity can be noted, as well as a high probability of electromagnetic interference from an electromagnetic motor to microenvironment objects.

Closest to the technical nature of the claimed invention is a nanostructured gripping device of a micromanipulator, containing a base, a fixture, the working surface of the gripping device made of nanostructured material, the piezoelectric elements are evenly installed in the base in a grid order [RF patent No. 2331505, class. B25J 7/00, B25J 15/00, B82B 1/00, publ. 08/20/2008, b. No. 23].

A significant disadvantage of the prototype is the structural complexity and relative complexity of the implementation of operations for the release of micro-objects. In addition, the prototype provides the ability to work effectively only with flat microobjects.

The task to which the invention is directed is to simplify the design, as well as expand the functionality associated with a more efficient capture and retention of microobjects with convex and flat surfaces.

The solution to this problem is achieved by the fact that in a nanostructured gripping device containing a base, a fixture, a working surface of nanostructured material, in contrast to the prototype, the base is made of an electrically conductive material and is insulated from the working surface by a dielectric.

A nanostructured gripping device for manipulating microobjects made of electrically conductive materials can be made with a working surface in the form of a concave spherical surface.

Figure 1 shows the design of a nanostructured gripper (with a working surface in the form of a concave spherical surface); figure 2 - capture of the micro-object; figure 3 - the release of the micro-object.

The nanostructured gripping device for manipulating microobjects made of electrically conductive materials of the micromanipulator (Fig. 1) comprises a base 1 of electrically conductive material, a mounting device 2, a working surface 3 of the gripping device of nanostructured material, a dielectric layer 4.

A nanostructured gripping device for manipulating microobjects made of conductive materials works as follows.

The principle of the device’s operation during the capture and retention of microobjects is based on the inter-molecular forces of Van der Waals (see the detailed description of the theory in RF patent No. 2331505, class B25J 7/00, B25J 15/00, B82B 1/00, publ. . 20.08.2008, B. No. 23). In the manufacture of the surface of the working body to achieve maximum smoothness and, accordingly, the highest values of the forces of van der Waals in the claimed invention, the use of nanostructured materials is proposed. An important advantage of using nanostructured materials in comparison with their coarse-grained analogues is the very small grain size (0.1 μm or less). This will significantly reduce roughness, increase Van der Waals forces by several orders of magnitude, and also provide a more predictable nature of the change in effective retention force.

To capture and subsequent retention of the micro-object using the claimed invention, it is necessary to ensure contact of the working surface 3 of the gripper with the surface of the micro-object (figure 2). At the moment of contact, the micro-object adheres to the working surface 3 of the gripping device and is held thereon by the action of van der Waals forces. To neutralize residual charges, the base 1 of the gripper is grounded.

For more effective retention of microobjects with convex shapes, the working surface of the gripping device is made in the form of a concave spherical surface. When working with microobjects having flat surfaces, the working surface of the gripper is also flat.

To implement the release operation, electrostatic forces are used. It is assumed that micro-objects are made of electrically conductive materials. After transferring the micro-object to the target point and performing some assembly operation for pairing the micro-object with some part (Fig. 3), a positive electric potential is supplied to the part. At the same time, a positive electrical potential is supplied to the base of the gripper. The dielectric layer 4 does not allow the potentials of the micro-object and the base to equalize, and an electrostatic interaction arises between them. At the point in time when the magnitude of the electrostatic repulsive forces of the microobject and the base of the gripper exceeds the value of the effective holding forces (Van der Waals forces), the microobject “detaches” from the working surface of the gripper and retains its position at the target point.

It should be noted that the claimed invention can be used especially effectively when working with microobjects that are fully or partially (surface) made of nanostructured metal materials. In this case, there will be the highest values of the Van der Waals forces between the surfaces of the microobject and the working surface of the gripper, which will make it possible to more reliably hold the microobject during micromanipulation operations.

Thus, the claimed invention has a simple design, the operation of releasing microobjects is more easily implemented in the gripper, and the functionality for more efficient gripping and holding microobjects with convex surfaces is expanded.

Claims (2)

1. Nanostructured gripping device for handling microobjects made of electrically conductive materials, comprising a base, a fastening device, a working surface of nanostructured material, characterized in that the base is made of an electrically conductive material and is insulated from the working surface by a dielectric. 2. The nanostructured gripper according to claim 1, characterized in that the working surface has the shape of a concave spherical surface.

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