CN117260753A - Direction-dependent transport robot for magnetic drive micro-pore plate array surface - Google Patents
Direction-dependent transport robot for magnetic drive micro-pore plate array surface Download PDFInfo
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- CN117260753A CN117260753A CN202311199698.XA CN202311199698A CN117260753A CN 117260753 A CN117260753 A CN 117260753A CN 202311199698 A CN202311199698 A CN 202311199698A CN 117260753 A CN117260753 A CN 117260753A
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- 239000000463 material Substances 0.000 claims abstract description 14
- 239000004205 dimethyl polysiloxane Substances 0.000 claims description 25
- 235000013870 dimethyl polysiloxane Nutrition 0.000 claims description 25
- 229920000435 poly(dimethylsiloxane) Polymers 0.000 claims description 25
- CXQXSVUQTKDNFP-UHFFFAOYSA-N octamethyltrisiloxane Chemical compound C[Si](C)(C)O[Si](C)(C)O[Si](C)(C)C CXQXSVUQTKDNFP-UHFFFAOYSA-N 0.000 claims description 20
- 238000004987 plasma desorption mass spectroscopy Methods 0.000 claims description 20
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 7
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The invention discloses a direction-dependent transportation robot for a material surface processing and micro-nano transportation, which comprises a supporting plate, wherein the top of the supporting plate is fixedly connected with a transportation robot mechanism, and the direction-dependent transportation robot for the material surface processing and micro-nano transportation is realized and enhanced by designing a magnetic asymmetric micro-pore plate array with a certain inclination angle. For objects of different weights, the transmission capacity in the forward stroke is higher than in the reverse stroke. The direction-dependent transport is due to an asymmetric structure which adjusts the kinetic energy in different transport directions, and the inclination of the microplates by a certain angle enhances the direction-dependent transport capacity. The technology can be used for transporting objects with different soft and hard rigidities and different shapes, and the transporting path can also be designed to be bent or inclined, and objects with different weights can be separated and screened.
Description
Technical Field
The invention relates to the technical field of material surface processing and micro-nano transportation, in particular to a direction-dependent transportation robot for a magnetic drive micro-pore plate array surface.
Background
The directional microstructure transportation is a method for realizing precise control under the micro-nano scale, and is mainly applied to the fields of biomedicine, micro robots and the like. The research of micro-structure transportation is derived from the requirement of micro-nano devices, and special technology is required to realize accurate control because the characteristics of physical, chemical, biological and other aspects at the micro-nano scale are different from those of macroscopic physics. Research on this technology still faces many challenges and difficulties. With the continuous progress of scientific technology in the future, the directional microstructure transportation technology is expected to realize wider application and development in the fields of biomedicine, micro-robots and the like.
In the biomedical field, the directional microstructure transportation technology is mainly applied to the aspects of cell manipulation, cell analysis, drug delivery and the like. By controlling the movement of the microstructure, accurate control is realized on the cell level, and revolutionary breakthrough is expected to be brought to the fields of cell therapy, cell diagnosis and the like. In the field of micro robots, directional microstructure transportation technology is widely applied to manufacturing micro-nano devices such as micro robots, micro sensors and the like. Through the directional transportation of the microstructure, the precise operation of the micro-robot can be realized, so that the micro-robot can finish various tasks such as micro-assembly, micro-processing, micro-detection and the like under the micro-nano scale.
The directional transport on the surface of the micro-nano structure driven by an external field has a very high potential application prospect in the fields of biomedicine, diagnosis and treatment and drug development or delivery. Conventional transport robots often require special treatments on the surface, such as coating special coatings or mounting rails, etc., to ensure the robot's motion profile. The microstructured transport robots do not require such additional processing, they use tiny structural features to move over the surface, they do not rely on conventional rails, etc. The micro-structure transportation robots can be controlled by means of surface tension, electromagnetic force and the like, have the advantages of high precision, low cost, easiness in manufacturing and the like, and are suitable for transportation tasks of various complex surfaces. The transportation mode has simple structure and high reliability, and has high practical application value. According to different driving modes, thermal driving, pH driving, optical driving, magnetic driving, electric driving, ultrasonic driving and the like are proposed. However, there are still many problems to be solved in the preparation of a transport system with good biocompatibility, remote operation, low cost and small volume.
Currently, methods for preparing magnetically driven microstructures mainly include mold replication, 3D printing, mold-free self-assembly, and the like. The 3D printing technology can directly convert the three-dimensional model into a physical microstructure through computer aided design and manufacture; the self-assembly technology without mould utilizes the self-assembly capability of the substance to self-assemble the required microstructure under the condition of no template. When Li et al use three-dimensional printing technology and template method to make magnetic drive micropore plate structure, its preparation technology is complicated, the cost is higher, and its direction dependence ability is relatively weaker.
In the aspect of existing microstructure transportation, a common driving mode has some limitations. Microstructures composed of, for example, pH-sensitive hydrogels are vulnerable to chemical species in pH actuation; the thermally driven application of thermally induced shape memory polymers is temperature limited; the lack of directional control of the sonic drive; optical driving requires higher optical resources; while electrically driven microstructures filled with charge-sensitive nanoparticles can be precisely controlled by remote manipulation and external electric fields, there are significant limitations in biological applications.
In terms of manufacturing microstructures that can be driven by external fields, the fabrication of microstructures on the micrometer and even nanometer scale using 3D printing techniques requires higher manufacturing accuracy and cost; the self-assembly technology without mould utilizes the self-assembly capability of the substance to self-assemble into a required microstructure without a template, and can manufacture a very complex structure. However, this method requires precise control of material properties, such as control of surface tension, solution concentration, etc., which is very demanding for stability of experimental conditions. And are prone to instability during manufacture, such as incomplete assembly, structural deformation, and the like.
In terms of the structure of the microstructure, the conventional structure has only a single function, and it is difficult to realize efficient directional transportation and direction-dependent transportation functions. In addition, their movement is susceptible to environmental factors and cannot be accurately controlled in position and velocity. Because the structures can not sense the external environment and the internal state and can not make corresponding intelligent regulation and control, the application of the magnetic-drive micro-pore plate array surface-dependent transportation robot is limited in complex environments, and the problems are solved.
Disclosure of Invention
The invention aims to provide a direction-dependent transport robot for the surface of a magnetically-driven micro-pore plate array, which has the advantage of direction-dependent transport, can indirectly control the transport speed by controlling the moving speed of a permanent magnet, can quickly respond, and realizes efficient and stable transport. The manufacturing flow is simple, a traditional mechanical device is not needed, and the failure rate and the maintenance cost are reduced. In addition, the transport robot is small in size, light in weight, low in power consumption and very suitable for conveying miniaturized objects. Therefore, the invention is suitable for a plurality of fields such as electronics, biomedicine, chemical industry and the like, and has the advantages of great market prospect, application value and the like.
The aim of the invention can be achieved by the following technical scheme:
the utility model provides a direction dependence transportation robot on magnetic drive micropore board array surface, includes the backup pad, the top fixedly connected with transportation robot mechanism of backup pad, transportation robot includes the PDMS baseplate with backup pad fixed connection, the top fixedly connected with of PDMS baseplate a plurality of have inclination's magnetism micropore board, a plurality of magnetism micropore board is asymmetric array, the bottom sliding connection of backup pad has actuating mechanism, the surface fixedly connected with of backup pad is connected with the support adjustment mechanism who actuating mechanism is connected.
As a further scheme of the invention: the driving mechanism comprises a mounting table, one side of the mounting table is fixedly connected with a first motor, the output end of the first motor is fixedly connected with a transmission shaft through a coupler, one end of the transmission shaft is fixedly connected with a first threaded rod which is rotationally connected with the mounting table, the outer surface of the first threaded rod is in threaded fit with two transmission blocks, the inner surface of the transmission blocks is slidably connected with a guide rod which is connected with the mounting table, the top of the transmission blocks is fixedly connected with a mounting frame through a connecting plate, a permanent magnet which is slidably connected with a support plate is slidably connected with the mounting frame, and the support adjusting mechanism is fixedly mounted on the mounting table.
As a further scheme of the invention: the support adjusting mechanism comprises a support frame fixedly connected with the mounting table, two second threaded rods are rotatably connected to the support frame, a transmission mechanism is connected to the outer surface of each second threaded rod in a transmission mode, and a connecting frame fixedly connected with the support plate is matched with the outer surface of each second threaded rod in a threaded mode.
As a further scheme of the invention: the transmission mechanism comprises a second motor fixedly connected with the support frame, the output end of the second motor is fixedly connected with a rotating shaft through a coupler, a first gear is fixedly sleeved on the outer surface of the rotating shaft, and a second gear fixedly sleeved on the second threaded rod is connected to the outer surface of the first gear in a meshed mode.
As a further scheme of the invention: the magnetic micropore plate is prepared from polydimethylsiloxane, a curing agent and carbonyl iron powder according to the weight ratio of 10:1:10, the mixed materials are placed into a micropore plate mold for casting and curing to obtain the magnetic micropore plate, meanwhile, in the casting process of the micropore plate mold, the micropore plate mold is placed into a magnetic field with uniform strength, the carbonyl iron powder in the uniform magnetic mixture is magnetized into magnetic dipoles, the magnetic dipoles tend to be aligned along magnetic induction lines and form a compact chain in the uniform magnetic field, and after the magnetic micropore plate is cured, the PDMS base plate is cast on one side of the magnetic micropore plate.
As a further scheme of the invention: the PDMS substrate plate material is prepared from polydimethylsiloxane and a curing agent according to the weight ratio of 10:1, and the magnetic micro-pore plate is fixedly connected to the PDMS substrate plate by placing the PDMS substrate plate mold on one side of the micro-pore plate mold and then pouring the PDMS substrate plate material into the PDMS substrate plate mold for fixing.
The invention has the beneficial effects that:
(1) By adopting the magnetic driving technology, remote control can be realized, and the magnetic driving device has good biocompatibility. As the magnets approach the surface of the array of magnetic microplates, the attractive force between them increases gradually, causing the asymmetric microplates to produce a bend angle greater than 90 ° while storing elastic energy in the inclined asymmetric microplates. When the magnet continues to move, the magnetic field direction of the space where the micro-pore plate is located changes, so that the magnetic micro-pore plate is magnetized again, the polarities of the two polarities of the magnetic micro-pore plate are reversed, the stored elastic energy of the magnetic micro-pore plate is rapidly released, a strong rebound effect is generated, the rebound time of the asymmetric micro-pore plate is within a few milliseconds, and the rebound direction is the same as the moving direction of the magnet. This method can convert most of the elastic potential energy into the kinetic energy of the object, thereby driving the object to be transported forward.
(2) By designing the magnetic asymmetric micro-pore plate array with a certain inclination angle, the direction-dependent transportation function is realized and enhanced. For objects of different weights, the transmission capacity in the forward stroke is higher than in the reverse stroke. The direction-dependent transport is due to an asymmetric structure which adjusts the kinetic energy in different transport directions, and the inclination of the microplates by a certain angle enhances the direction-dependent transport capacity. The technology can be used for transporting objects with different soft and hard rigidities and different shapes, and the transporting path can also be designed to be bent or inclined, and objects with different weights can be separated and screened. The technology can be connected with a micro-fluidic chip, a micro-sensor, a micro-robot and the like to realize the fields of object conveying, biological detection, micro-operation and the like.
(3) The invention places the uncured magnetic mixture in a magnetic field of uniform strength by introducing two permanent magnets. In this way, the carbonyl iron powder in the uncured magnetic mixture may be magnetized to form magnetic dipoles having S and N polarities that tend to align along the induction lines and form a tight chain in a uniform magnetic field. The magnetic grain distribution has better magnetic susceptibility and execution performance than random magnetic grain distribution.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a first perspective view of the external structure of the present invention;
FIG. 2 is a second view of the external structure of the present invention;
fig. 3 is a perspective view of the transport return of the transport robot of the present invention.
In the figure: 1. a support plate; 2. a transport robot mechanism; 3. a PDMS base plate; 4. a magnetic microplate; 11. a mounting table; 12. a first motor; 13. a transmission shaft; 14. a first threaded rod; 15. a transmission block; 16. a guide rod; 17. a mounting frame; 18. a permanent magnet; 21. a support frame; 22. a second threaded rod; 23. a connection frame; 24. a second motor; 25. a rotating shaft; 26. a first gear; 27. and a second gear.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-3, the invention discloses a direction-dependent transportation robot for magnetically driving the surface of a micro-pore plate array, which comprises a supporting plate 1, wherein the top of the supporting plate 1 is fixedly connected with a transportation robot mechanism 2, the transportation robot mechanism 2 comprises a PDMS base plate 3 fixedly connected with the supporting plate 1, the top of the PDMS base plate 3 is fixedly connected with a plurality of magnetic micro-pore plates 4 with inclination angles, the plurality of the magnetic micro-pore plates 4 are asymmetric arrays, the bottom of the supporting plate 1 is slidably connected with a driving mechanism, the outer surface of the supporting plate 1 is fixedly connected with a supporting and adjusting mechanism connected with the driving mechanism, the materials of the magnetic micro-pore plates 4 are prepared by polydimethylsiloxane, a curing agent and carbonyl iron powder according to the weight ratio of 10:1:10, and the materials are obtained by placing the mixed materials into a micro-pore plate mold for casting and curing, simultaneously, in the micro-pore plate mold casting process, the PDMS base plate mold is placed in a magnetic field with uniform intensity, carbonyl iron powder in the uniform magnetic mixture is magnetized into a magnetic particle, the magnetic particle is cast along a line and is arranged in the magnetic phase, the magnetic particle plate 4, and then the magnetic particle is tightly arranged on one side of the magnetic particle plate 4, and the magnetic particle size of the magnetic particle plate is fixed on one side of the magnetic base plate through the magnetic base plate 4, and the magnetic particle size is fixed to the magnetic particle plate 4, and the magnetic particle size is fixed on one side of the magnetic base plate by the magnetic base plate through the magnetic particle plate 3 and the magnetic particle base plate 4. During the forward travel, when the permanent magnet 18 approaches the transport robot mechanism 2 from the initial point, the magnetic micro-pore plate 4 is gradually inclined and bent towards the permanent magnet 6, the bending angle can exceed 90 degrees, energy is stored in the bent micro-pore plate, as the permanent magnet 18 continuously moves at a constant speed V, the magnetic micro-pore plate 4 starts to rebound continuously and singly, and driving force can be applied to the object 5 during each rebound, so that continuous and stable directional transport of the object is realized, and during the reverse travel, as shown in fig. 3, due to the special structure of the asymmetric magnetic micro-pore plate 4, when the permanent magnet approaches the array of the magnetic micro-pore plate 4 from the initial point, the inclination angle of the magnetic micro-pore plate 4 to the magnet is smaller than 90 degrees, and the object transporting capability is reduced, so that the direction-dependent transport function is realized.
The mechanism of deformation of the microplate, due to the magnetization of the magnetic microplate, which tends to align along the magnetic induction lines and form a tight chain in a uniform magnetic field, the magnetized magnetic microplate may be considered as a flexible magnetic rod with a high aspect ratio, and therefore, when the magnet approaches the magnetic microplate from the initial position, the microplate is magnetized to the top N-pole and the bottom S-pole, and the dynamic driving of the microplate is performed according to the law, which states that the opposite poles of the magnet attract and the same poles repel. When the magnets are close, the magnetic micro-pore plate 4 is inclined to the magnets due to the attraction force of the opposite poles of the magnets, the inclination angle is gradually increased to 90 degrees due to the increase of the attraction force, and when the inclination angle of the magnetic micro-pore plate 4 reaches 90 degrees and the direction of a magnetic line is continuously changed, the magnetic moment of magnetic particles in the magnetic micro-pore plate 4 is instantaneously reversed by 180 degrees, the magnetic moment of the magnetic particles is reversed by 180 degrees, elastic energy stored in the magnetic micro-pore plate 4 is released, and the magnetic micro-pore plate 4 rapidly rebounds. The rebound process of the microplate, after several small-scale swings, eventually tilts in the opposite direction due to repulsive force, and finally, the center of the magnet approaches the axis of the magnetic microplate 4, returns to the vertical direction due to the magnetic force in the corresponding direction.
Thus, the rebound of the magnetic microplate 4 is achieved by releasing the elastic energy (stored in the inclined magnetic microplate) and reversing the polarity of the microplate. During transport, the microplate bounces back and imparts an impact force on the object. Thus, the object can be transported due to the impact force of the magnet movement. Based on this mechanism, the method can be adapted for transportation of various geometries in different environments.
The driving mechanism comprises a mounting table 11, a first motor 12 is fixedly connected to one side of the mounting table 11, a transmission shaft 13 is fixedly connected to the output end of the first motor 12 through a coupler, a first threaded rod 14 which is rotationally connected with the mounting table 11 is fixedly connected to one end of the transmission shaft 13, two transmission blocks 15 are in threaded fit with the outer surface of the first threaded rod 14, a guide rod 16 which is connected with the mounting table 11 is slidably connected to the inner surface of the transmission block 15, a mounting frame 17 is fixedly connected to the top of the transmission block 15 through a connecting plate, a permanent magnet 18 which is slidably connected with the supporting plate 1 is slidably connected to the top of the mounting frame 17, the supporting and adjusting mechanism is fixedly mounted on the mounting table 11, the first motor is controlled through a PLC programming program, the first motor 12 can be controlled to rotate positively and negatively, the transmission shaft 13 is driven to rotate through the first motor 12, the first threaded rod 14 is driven by the transmission shaft 13 to rotate, the transmission block 15 is driven by the connecting plate to move left and right, and the mounting frame 17 and the permanent magnet 18 are driven by the transmission block 15 to move left and right through the connecting plate.
The support adjustment mechanism comprises a support frame 21 fixedly connected with the mounting table 11, two second threaded rods 22 are rotatably connected to the support frame 21, a transmission mechanism is connected to the outer surface of each second threaded rod 22 in a transmission mode, a connecting frame 23 fixedly connected with the support plate 1 is in threaded fit with the outer surface of each second threaded rod 22, the second threaded rods 22 are driven to positively and negatively rotate through the transmission mechanism, the connecting frame 23 is driven to move up and down by the second threaded rods 22, the connecting frame 23 drives the support plate 1 and the transport robot to move up and down, the distance between the transport robot 2 and the permanent magnet 18 is adjusted, and therefore the strength of the magnet where the transport adjustment robot is located is adjusted, the strength of the magnet is high, the transport capacity is high, and the mechanical transport capacity of the transport robot is adjusted.
The transmission mechanism comprises a second motor 24 fixedly connected with the support frame 21, the output end of the second motor 24 is fixedly connected with a rotating shaft 25 through a coupler, a first gear 26 is fixedly sleeved on the outer surface of the rotating shaft 25, a second gear 27 fixedly sleeved on the second threaded rod 22 is meshed and connected on the outer surface of the first gear 26, the second motor 24 is controlled through a PLC programming program, the second motor 24 can be controlled to rotate positively and negatively, the rotating shaft 25 is driven to rotate through the second motor 24, and the rotating shaft 25 drives the threaded rod 22 to rotate positively and negatively through the first gear 26 and the second gear 27.
The working principle of the invention is as follows: by placing the transported object on the surface of the transport robot 4. During the forward travel, when the permanent magnet 18 approaches the transport robot mechanism 2 from the initial point, the magnetic micro-pore plate 4 is gradually inclined and bent towards the permanent magnet 6, the bending angle can exceed 90 degrees, energy is stored in the bent micro-pore plate, as the permanent magnet 18 continuously moves at a constant speed V, the magnetic micro-pore plate 4 starts to rebound continuously and singly, and driving force can be applied to the object 5 during each rebound, so that continuous and stable directional transport of the object is realized, and during the reverse travel, as shown in fig. 3, due to the special structure of the asymmetric magnetic micro-pore plate 4, when the permanent magnet approaches the array of the magnetic micro-pore plate 4 from the initial point, the inclination angle of the magnetic micro-pore plate 4 to the magnet is smaller than 90 degrees, and the object transporting capability is reduced, so that the direction-dependent transport function is realized.
The foregoing describes one embodiment of the present invention in detail, but the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by the present invention.
Claims (6)
1. The utility model provides a direction dependence transportation robot on magnetic drive micropore board array surface, includes backup pad (1), its characterized in that, the top fixedly connected with transportation robot mechanism (2) of backup pad (1), transportation robot mechanism (2) include with backup pad (1) fixedly connected's PDMS base plate (3), the top fixedly connected with of PDMS base plate (3) a plurality of have inclination's magnetism micropore board (4), a plurality of magnetism micropore board (4) are asymmetric array, the bottom sliding connection of backup pad (1) has actuating mechanism, the surface fixedly connected with of backup pad (1) is connected with the support adjustment mechanism who actuating mechanism is connected.
2. The direction-dependent transport robot on the surface of the magnetically-driven micro-porous plate array according to claim 1, characterized in that the driving mechanism comprises a mounting table (11), one side of the mounting table (11) is fixedly connected with a first motor (12), an output end of the first motor (12) is fixedly connected with a transmission shaft (13) through a coupling, one end of the transmission shaft (13) is fixedly connected with a first threaded rod (14) rotationally connected with the mounting table (11), the outer surface of the first threaded rod (14) is in threaded fit with two transmission blocks (15), the inner surface of the transmission blocks (15) is in sliding connection with a guide rod (16) connected with the mounting table (11), the top of the transmission blocks (15) is fixedly connected with a mounting frame (17) through a connecting plate, a permanent magnet (18) in sliding connection with the support plate (1) is in sliding connection with the mounting frame (17), and the support adjusting mechanism is fixedly installed on the mounting table (11).
3. The direction-dependent transport robot of the surface of the magnetically driven micro-porous plate array according to claim 2, wherein the supporting and adjusting mechanism comprises a supporting frame (21) fixedly connected with the mounting table (11), two second threaded rods (22) are rotatably connected to the supporting frame (21), a transmission mechanism is connected to the outer surface of each second threaded rod (22) in a transmission manner, and a connecting frame (23) fixedly connected with the supporting plate (1) is in threaded fit with the outer surface of each second threaded rod (22).
4. A magnetically driven micro-porous plate array surface direction dependent transport robot as claimed in claim 3, characterized in that the transmission mechanism comprises a second motor (24) fixedly connected with the support frame (21), the output end of the second motor (24) is fixedly connected with a rotating shaft (25) through a coupling, the outer surface of the rotating shaft (25) is fixedly sleeved with a first gear (26), and the outer surface of the first gear (26) is in meshed connection with a second gear (27) fixedly sleeved with a second threaded rod (22).
5. A magnetically driven microplate array surface direction dependent transport robot as claimed in claim 1, wherein the magnetic microplate (4) material is formulated from polydimethylsiloxane, curing agent and carbonyl iron powder in a weight ratio of 10:1:10 and is obtained by casting and curing the mixed material in a microplate mold, while the microplate mold is placed in a uniform magnetic field during the microplate mold casting process, carbonyl iron powder in the uniform magnetic mixture is magnetized into magnetic dipoles which tend to align along the magnetic induction lines and form a tight chain in the uniform magnetic field, and the PDMS substrate plate (3) is cast on one side of the magnetic microplate (4) after curing.
6. The magnetically driven micro-plate array surface direction dependent transport robot of claim 5, wherein the PDMS base plate (3) material is prepared from polydimethylsiloxane and curing agent in a weight ratio of 10:1, and the magnetic micro-plate (4) is fixedly connected to the PDMS base plate (3) by placing the PDMS base plate mold on one side of the micro-plate mold, and then pouring the PDMS base plate material into the PDMS base plate mold for fixing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311199698.XA CN117260753A (en) | 2023-09-18 | 2023-09-18 | Direction-dependent transport robot for magnetic drive micro-pore plate array surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311199698.XA CN117260753A (en) | 2023-09-18 | 2023-09-18 | Direction-dependent transport robot for magnetic drive micro-pore plate array surface |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117260753A true CN117260753A (en) | 2023-12-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311199698.XA Pending CN117260753A (en) | 2023-09-18 | 2023-09-18 | Direction-dependent transport robot for magnetic drive micro-pore plate array surface |
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| Country | Link |
|---|---|
| CN (1) | CN117260753A (en) |
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2023
- 2023-09-18 CN CN202311199698.XA patent/CN117260753A/en active Pending
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