CN214724385U - Micro-operation robot system for space standing on-orbit life science experiment - Google Patents
Micro-operation robot system for space standing on-orbit life science experiment Download PDFInfo
- Publication number
- CN214724385U CN214724385U CN202120833784.1U CN202120833784U CN214724385U CN 214724385 U CN214724385 U CN 214724385U CN 202120833784 U CN202120833784 U CN 202120833784U CN 214724385 U CN214724385 U CN 214724385U
- Authority
- CN
- China
- Prior art keywords
- micro
- space
- sliding table
- axis sliding
- assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
- Microscoopes, Condenser (AREA)
Abstract
The utility model relates to a manned space station science experimental facilities, in particular to a little operation robot system that is used for space station in orbit life science experiment. The system comprises a space station scientific glove box and a micro-operation robot system arranged in the space station scientific glove box; the micro-robot system includes: the three-dimensional object stage has X, Y, Z three-axis motion function; the microscopic vision system is arranged on the three-dimensional objective table and is used for carrying out microscopic observation on the space biological experiment sample and outputting image data in real time; the operating mechanism is used for operating the space biological experiment sample; the clamping mechanism is used for clamping and moving the space biological experiment sample; and the adsorption and injection mechanism is connected with the operating mechanism and the clamping mechanism and is used for providing positive pressure pneumatic power and negative pressure pneumatic power. The utility model discloses possess and carry out dexterous, meticulous multi freedom autonomous operation function on the rail to reach the purpose of carrying out the life science experiment at the space station.
Description
Technical Field
The utility model relates to a manned space station science experimental facilities, in particular to a little operation robot system that is used for space station in orbit life science experiment.
Background
Space life science and biotechnology are one of the most important and representative research fields in space science, and have very important meanings for enriching and deepening natural science knowledge systems, improving human medical science and biological cognition, guiding and promoting human health and new agricultural technology development, and serving scientific and technological innovation and national economic construction. The space life science experimental equipment is one of important components for developing space life science and biotechnology research, the depth and the breadth of the space life science and the biotechnology research are determined by the function and the technical index of the space life science experimental equipment, and the space life science experimental equipment plays an important role in the completion condition and the completion capability of an experimental task.
The micro-operation experiment is a basic method for life science exploration, generally relates to operations such as holding, injecting and cutting biological cells, and the operation precision requirement reaches the micron level. Under the ground environment, at present, a mature set of commercial biological micro-operation equipment is available, but the equipment has large volume and weight and more consumed resources, and is difficult to be used in the space on-orbit environment. Therefore, a set of micro operating system with small volume, light weight and low resource consumption needs to be designed for the space station. In addition, since the on-orbit fine operation of the astronaut is extremely difficult, and there is no reference case in the world, the micro-operation system of the space station needs to have an autonomous operation capability independent of participation of the astronaut, and can autonomously complete actions such as fixing and holding of an operation object, and adjustment of the posture and position of an operation tool in the operation process. According to the task requirement of performing life science experiments in an on-orbit space station, a set of micro-operation robot system with autonomous operation capability is urgently needed to be designed to realize cell-level operation experiments in a space microgravity environment.
SUMMERY OF THE UTILITY MODEL
To the above problem, an object of the utility model is to provide a little operation robot system that is used for space station in orbit life science experiment, this system possess carry out dexterous, meticulous multi freedom autonomous operation function in the orbit to reach the purpose of carrying out the life science experiment at the space station.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a micro-operation robot system for space station on-orbit life science experiments comprises a space station science glove box and a micro-operation robot system arranged in the space station science glove box;
the micro-robot system includes:
the three-dimensional object stage has X, Y, Z three-axis motion function;
the microscopic vision system is arranged on the three-dimensional objective table and is used for carrying out microscopic observation on the space biological experiment sample and outputting image data in real time;
the operating mechanism is used for operating the space biological experiment sample;
the clamping mechanism is used for clamping and moving the space biological experiment sample;
the adsorption and injection mechanism is connected with the operating mechanism and the clamping mechanism and is used for providing positive pressure pneumatic force for the operating mechanism and providing negative pressure pneumatic force for the clamping mechanism.
The operating mechanism comprises a macro operating arm, a micromanipulator and an injection needle assembly, wherein the macro operating arm is a six-degree-of-freedom motion mechanism, and the micromanipulator is arranged at the tail end of the macro operating arm; the injection needle assembly is arranged at the tail end of the micromanipulator and is used for injecting liquid into the space biological experiment sample through the positive pressure pneumatic power provided by the adsorption and injection mechanism.
The micromanipulator comprises three micro sliding table assemblies which are sequentially connected in series, and has X, Y, Z three-axis translational freedom degrees.
The fixture comprises an X-axis sliding table assembly II, a Y-axis sliding table assembly II, a Z-axis sliding table assembly II and a holding needle assembly which are sequentially connected, wherein the holding needle assembly captures and fixes the space biological experiment sample through the negative pressure aerodynamic force provided by the adsorption and injection mechanism.
The clamping mechanism further comprises a base, and the X-axis sliding table assembly II is arranged on the base.
The adsorption and injection mechanism comprises a positive pressure injector and a negative pressure injector, wherein the positive pressure injector is connected with the operating mechanism through a positive pressure air pipe; the negative pressure injector is connected with the clamping mechanism through a negative pressure air pipe.
And pressure sensors are arranged in the positive pressure injector and the negative pressure injector.
The microscopic vision system comprises a microscopic lens, a lens barrel, a camera and a mounting rack, wherein the mounting rack is connected with the three-dimensional objective table, and the lens barrel is mounted on the mounting rack; the microscope lens is arranged at the lower end of the lens cone and used for imaging the space biological experiment sample; the camera is arranged at the upper end of the lens barrel and used for receiving the image and transmitting the image to the controller.
The three-dimensional objective table comprises an X-axis sliding table assembly I, a Y-axis sliding table assembly I, a Z-axis sliding table assembly I, a culture dish, a bottom plate and an upright post, wherein the X-axis sliding table assembly I and the upright post are arranged on the bottom plate;
the Z-axis sliding table assembly I is arranged on the stand column, and is provided with an interface board used for installing the microscopic vision system.
And a light source is arranged at the bottom of the culture dish.
The utility model has the advantages and beneficial effects that:
the utility model discloses more be applicable to the space station in orbit resource constraint: the space station has strict constraints on the weight, the volume and the power consumption of an uplink system, and the existing commercial micro-operation equipment, no matter the weight, the volume or the power consumption, can not meet the on-orbit use requirement of the space station. The utility model provides a micro-operation robot system, in minimum space range, integrated functions such as operation, removal, micro-vision observation, satisfy the resource constraint requirement of space station.
The utility model discloses the function is more comprehensive: the operating mechanism adopts a macro-micro double-drive robot method, so that not only can the micro-operation function in the three-axis direction be realized, but also the azimuth angle adjustment of the micro-operation can be realized through the flexible motion capability of the macro-operating mechanism, and the requirement of complex micro-operation can be better met.
The utility model discloses the operation is safer: the system has the visual servo and autonomous operation capabilities, the participation of astronauts is not required in the biological experiment process, the experiment can be carried out in a closed box body, the safety of the astronauts is guaranteed, and the safety of the environment in the space station cabin is also guaranteed.
Drawings
FIG. 1 is a schematic structural diagram of a micro-robot system for space-station in-orbit life science experiment according to the present invention;
FIG. 2 is a schematic structural diagram of a micro-robot system according to the present invention;
fig. 3 is a schematic structural view of a three-dimensional stage according to the present invention;
FIG. 4 is a schematic structural diagram of a mesoscopic vision system of the present invention;
fig. 5 is a schematic structural diagram of the operating mechanism of the present invention;
FIG. 6 is a schematic structural view of the clamping mechanism of the present invention;
fig. 7 is a schematic structural view of the middle adsorption and injection mechanism of the present invention.
In the figure: the system comprises a micro-operation robot system 1, a space station scientific glove box 2, a three-dimensional object stage 11, an X-axis sliding table assembly I111, a Y-axis sliding table assembly I112, a Z-axis sliding table assembly I113, a culture dish 114, a light source 115, a bottom plate 116, a column 117, an interface plate 118, a micro-vision system 12, a microscope lens 121, a lens barrel 122, a camera 123, a mounting rack 124, an operating mechanism 13, a macro operating arm 131, a micro-operator 132, an injection needle assembly 133, a clamping mechanism 14, an X-axis sliding table assembly II 141, a Y-axis sliding table assembly II 142, a Z-axis sliding table assembly II 143, a suction needle assembly 144, a base 145, an adsorption and injection mechanism 15, a positive pressure injector 151, a negative pressure injector 152, a positive pressure air pipe 153 and a negative pressure air pipe 154.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, the utility model provides a micro-operation robot system for space station on-orbit life science experiment, which comprises a space station science glove box 2 and a micro-operation robot system 1 arranged in the space station science glove box 2; the micromanipulation robot system 1 includes: the device comprises a three-dimensional object stage 11, a micro-vision system 12, an operating mechanism 13, a clamping mechanism 14 and an adsorption and injection mechanism 15, wherein the three-dimensional object stage 11 has a X, Y, Z triaxial movement function; the microscopic vision system 12 is arranged on the three-dimensional objective table 11 and used for carrying out microscopic observation on a space biological experiment sample and outputting image data in real time; the operating mechanism 13 is used for operating the space biological experiment sample; the clamping mechanism 14 is used for clamping and moving the space biological experiment sample; the adsorption and injection mechanism 15 is connected with the operating mechanism 13 and the clamping mechanism 14, and the adsorption and injection mechanism 15 is used for providing positive pressure pneumatic power for the operating mechanism 13 and providing negative pressure pneumatic power for the clamping mechanism 14.
As shown in fig. 3, in the embodiment of the present invention, the three-dimensional stage 11 includes an X-axis sliding table assembly i 111, a Y-axis sliding table assembly i 112, a Z-axis sliding table assembly i 113, a culture dish 114, a bottom plate 116 and a column 117, wherein the X-axis sliding table assembly i 111 and the column 117 are disposed on the bottom plate 116, the Y-axis sliding table assembly i 112 is disposed on the X-axis sliding table assembly i 111, the culture dish 114 is disposed on the Y-axis sliding table assembly i 112, and the culture dish 114 serves as a worktable for biological cell operation; upright column 117 is located one side of X-axis sliding table assembly I111, and is installed on bottom plate 116 through spacing interface, guarantees the straightness that hangs down between upright column 117 and bottom plate 116. The Z-axis sliding table assembly I113 is arranged on the upright column 117, an interface board 118 is arranged on the Z-axis sliding table assembly I113, and the interface board 118 is used for installing the microscopic vision system 12.
Further, a light source 115 is disposed at the bottom of the culture dish 114, and the light source 115 disposed at the lower portion of the culture dish 114 is used for providing illumination during the operation experiment, and the illumination can be adjusted by the controller.
The three-dimensional stage 11 mainly provides X, Y, Z three-axis motion functions, can realize micron-scale accurate positioning at any position in a stroke range, and meets the requirements of mobile positioning of a biological sample in an XY plane and mobile positioning of the micro-vision system 12 in a Z-axis direction.
As shown in fig. 4, in the embodiment of the present invention, the micro vision system 12 includes a micro lens 121, a lens barrel 122, a camera 123 and a mounting frame 124, wherein the mounting frame 124 is connected to the interface board 118 of the three-dimensional stage 11, and the lens barrel 122 is mounted on the mounting frame 124; the micro lens 121 is disposed at the lower end of the lens barrel 122 and is used for imaging a spatial biological experimental sample (biological cell). The Z-axis of the three-dimensional stage 11 is adjusted so that the cells on the culture dish 114 are in the focal plane of the microscope, and thus, the cells can be clearly imaged. A magnification adjustment knob is provided on the barrel 122, and the optical magnification can be adjusted within a certain range. The camera 123 is disposed at an upper end of the lens barrel 122, and receives an image and transmits it to the controller.
In this embodiment, the microscopic vision system 12 mainly provides a microscopic observation function for the spatial biological experimental sample, and outputs image data to the display system in real time, and the lens barrel 122 thereof is provided with an optical magnification adjusting knob, so as to meet requirements for different magnifications.
As shown in fig. 5, in the embodiment of the present invention, the operating mechanism 13 includes a macro operating arm 131, a micro-operator 132 and a needle assembly 133, wherein the macro operating arm 131 is a six-degree-of-freedom moving mechanism, and mainly provides position movement and posture adjustment in a wide range. The micromanipulator 132 is arranged at the tail end of the macro operation arm 131 to form a macro and micro double-drive robot system; the needle assembly 133 is disposed at the end of the micromanipulator 132, and the needle assembly 133 injects the liquid into the spatial biological experimental sample by the positive pressure pneumatic force provided by the adsorption and injection mechanism 15.
In this embodiment, the micromanipulator 132 includes three micro sliding table assemblies connected in series in sequence, and the three micro sliding table assemblies form an orthogonal motion mechanism in a stacked manner, have X, Y, Z three-axis translational degree of freedom, and are used for micron-scale fine operation in a small range. The needle assembly 133 is an injection needle having a function of generating positive pressure, and can inject a specific liquid into the cells by an external positive pressure source.
The operation mechanism 13 mainly provides an operation function for the biological sample, and can perform micron-scale operation on biological cells from different directions and at any position.
As shown in fig. 6, in the embodiment of the present invention, the clamping mechanism 14 includes an X-axis sliding table assembly ii 141, a Y-axis sliding table assembly ii 142, a Z-axis sliding table assembly ii 143, and a holding needle assembly 144, which are connected in sequence, wherein the holding needle assembly 144 captures and fixes the space biological experimental sample by the negative pressure aerodynamic force provided by the adsorption and injection mechanism 15.
Further, the clamping mechanism 14 further includes a base 145, and the X-axis sliding table assembly ii 141 is disposed on the base 145. The inside of the base 145 is a hollow structure, and a controller is installed.
The X-axis sliding table assembly II 141, the Y-axis sliding table assembly II 142 and the Z-axis sliding table assembly II 143 are identical in composition principle, are supported by rolling guide rails, are driven by stepping motors to move to achieve micron-sized movement and positioning, and are combined in a three-axis mode to achieve a space positioning function for clamped cells. The holding needle assembly 144 is a holding needle with negative pressure function, and can capture and fix the operation cells by an external negative pressure gas source.
The clamping mechanism 14 mainly provides the functions of clamping and moving biological cells, and after the cells are sucked by the negative pressure device, the cells can be moved to any position in the stroke by the XYZ three-axis moving platform, so that the requirements of capturing and fixing the cells and micron-scale moving and positioning in the micro-operation process are met.
In this embodiment, the operating mechanism 13 and the clamping mechanism 14 are respectively disposed on two opposite sides of the three-dimensional stage 11, and do not interfere with each other in a specific operation process.
As shown in fig. 7, in the embodiment of the present invention, the adsorbing and injecting mechanism 15 includes a positive pressure syringe 151 and a negative pressure syringe 152, wherein the positive pressure syringe 151 is connected to the injection needle assembly 133 of the operating mechanism 13 through a positive pressure air tube 153, so as to provide positive pressure pneumatic power for the injection needle assembly 133, thereby realizing the function of pushing the injection into cells; the negative pressure injector 152 is connected to the holding needle assembly 144 of the holding mechanism 14 through a negative pressure air tube 154 to provide negative pressure pneumatic force for the holding needle assembly 144, and the negative pressure pneumatic force realizes the function of fixing the cells on the holding mechanism.
The embodiment of the utility model provides an in, adsorb and injection mechanism 15 is used for realizing holding and high accuracy injection to the absorption of operation target, under the initial condition, a certain amount of air is all sealed with negative pressure syringe 152 inside to malleation syringe 151, and malleation syringe 151 adopts step motor to drive the inside piston of lead screw drive forward motion and produces the normal pressure, and negative pressure syringe 152 adopts step motor to drive the inside piston backward motion of lead screw drive and produces the negative pressure. The positive pressure air tube 153 has one end connected to the output port of the positive pressure syringe 151 and the other end connected to the input port of the needle assembly 133. The negative pressure air tube 154 has one end connected to the output port of the negative pressure syringe 152 and the other end connected to the input port of the suction needle assembly 144. Each of the positive pressure syringe 151 and the negative pressure syringe 152 is equipped with a high-precision pressure sensor to monitor the pressure in the trachea in real time.
The embodiment of the utility model provides an in, X axle slip table subassembly I111 adopts biserial cross roller guide rail to do bilateral symmetry and supports, can realize high rigidity and support to drive ball screw drive slip table motion through step motor. And a photoelectric switch is respectively arranged at the positive limit position and the negative limit position of the X-axis movement for signal feedback of limit position protection. Y axle slip table subassembly I112 forms series connection, stack formula XY kinematic mechanism with X axle slip table subassembly I111. The design principle of the Y-axis sliding table assembly I112 is similar to that of the X-axis sliding table assembly I111, double-row crossed roller guide rails are adopted for bilateral symmetrical support, and a ball screw is driven by a stepping motor to drive the sliding table to move. And a photoelectric switch is respectively arranged at the positive limit position and the negative limit position of the Y-axis motion for signal feedback of limit position protection. Z axle slip table subassembly I113 is installed on stand 117, and its slip table passes through the biserial ball guide to drive ball screw drive through step motor, set up a photoelectric switch respectively at positive and negative extreme position and do the signal feedback of extreme position protection. An interface board 118 arranged on the sliding table of the Z-axis sliding table assembly I113 is provided with an installation interface with the microscopic vision system 12. The X, Y, Z axes of the three-dimensional stage 11 can realize micron-sized positioning accuracy, the X, Y axes jointly move to realize position adjustment of an operation object under a microscope view field, and the Z axis moves to realize object distance adjustment so that the microscope can accurately focus.
The embodiment of the utility model provides an in, space station science glove box 2's main frame is made for aluminum alloy material, inlays the transparent glass panel on aluminum alloy frame, forms a sealed, inside considerable box.
The utility model provides a pair of a little operation robot system for space station is at rail life science experiment will be applied to the biological experiment on the china space station for the first time, and the innovative design can satisfy the macroscopically little two robot system that drives of space station multi-resource restraint, has solved the difficult problem of taking one's place at the rail and carrying out the life science experiment. In order to ensure the safety of in-orbit biological experiments, the experiments need to be carried out in a closed space so as to prevent biological samples from polluting other areas of the space station in the experimental process, particularly avoid influencing the safety of astronauts, and therefore, the whole micro-operation robot system is placed in a space station scientific glove box with a closed function. The utility model, through the ingenious configuration design, enables the injection needle to move in a large range and also to perform fine operation in a small range in the micro-operation process; the three-axis translation operation can be carried out, the operation direction and the operation posture can be adjusted, the complex operation capability which is not available in ground mature commercial products is achieved, and the requirements of dexterous and fine operation in space life science experiments are met. Through visual servo control, autonomous operation can be realized, and the safety of astronauts is effectively protected without the participation of astronauts in experiments.
The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.
Claims (10)
1. A micro-operation robot system for space station on-orbit life science experiments is characterized by comprising a space station science glove box (2) and a micro-operation robot system (1) arranged in the space station science glove box (2);
the micromanipulation robot system (1) includes:
a three-dimensional stage (11) having X, Y, Z three-axis motion function;
the microscopic vision system (12) is arranged on the three-dimensional objective table (11) and is used for carrying out microscopic observation on the space biological experiment sample and outputting image data in real time;
an operating mechanism (13) for operating the space biological experiment sample;
the clamping mechanism (14) is used for clamping and moving the space biological experiment sample;
and the adsorption and injection mechanism (15) is connected with the operating mechanism (13) and the clamping mechanism (14), and the adsorption and injection mechanism (15) is used for providing positive pressure pneumatic force for the operating mechanism (13) and negative pressure pneumatic force for the clamping mechanism (14).
2. The micro-robotic manipulation system for space-standing orbital bioscience experiments according to claim 1, wherein said manipulation mechanism (13) comprises a macro manipulation arm (131), a micro-manipulator (132) and an injection needle assembly (133), wherein the macro manipulation arm (131) is a six-degree-of-freedom motion mechanism, and the micro-manipulator (132) is disposed at a distal end of the macro manipulation arm (131); an injection needle assembly (133) is arranged at the tail end of the micromanipulator (132), and the injection needle assembly (133) injects liquid to the space biological experimental sample through positive pressure air power provided by the adsorption and injection mechanism (15).
3. A micro-robotic system for space-standing on-orbit life sciences experiments as claimed in claim 2, characterized in that said micro-manipulator (132) comprises three micro-motion stage assemblies in series in turn, with X, Y, Z three-axis translational degrees of freedom.
4. The micro-manipulator system for space-standing on-orbit life science experiments as claimed in claim 1, wherein the clamping mechanism (14) comprises an X-axis slide assembly II (141), a Y-axis slide assembly II (142), a Z-axis slide assembly II (143) and a suction needle assembly (144) which are connected in sequence, wherein the suction needle assembly (144) captures and fixes the space biological experiment sample through negative pressure aerodynamic force provided by the adsorption and injection mechanism (15).
5. The micro-robotic manipulation system for space-standing on-orbit life sciences experiments as claimed in claim 4, wherein said fixture (14) further comprises a base (145), said X-axis slide assembly II (141) being disposed on said base (145).
6. The micro-robotic manipulation system for space-standing on-orbit life sciences experiments as claimed in claim 1, wherein said suction and injection mechanism (15) comprises a positive pressure syringe (151) and a negative pressure syringe (152), wherein the positive pressure syringe (151) is connected with said manipulation mechanism (13) through a positive pressure air tube (153); the negative pressure injector (152) is connected with the clamping mechanism (14) through a negative pressure air pipe (154).
7. The micro-robotic manipulation system for space standing on-orbit life sciences experiments as claimed in claim 6, wherein both the positive pressure syringe (151) and the negative pressure syringe (152) have pressure sensors disposed therein.
8. The micro-robotic manipulation system for space-standing on-orbit life sciences experiments as claimed in claim 1, wherein the micro-vision system (12) comprises a micro-lens (121), a lens barrel (122), a camera (123) and a mounting bracket (124), wherein the mounting bracket (124) is connected with the three-dimensional stage (11), and the lens barrel (122) is mounted on the mounting bracket (124); the microscope lens (121) is arranged at the lower end of the lens barrel (122) and is used for imaging a space biological experiment sample; the camera (123) is arranged at the upper end of the lens barrel (122) and is used for receiving images and transmitting the images to the controller.
9. The micro-operation robot system for space-standing rail life science experiments according to claim 1, wherein the three-dimensional object stage (11) comprises an X-axis sliding table assembly I (111), a Y-axis sliding table assembly I (112), a Z-axis sliding table assembly I (113), a culture dish (114), a bottom plate (116) and a vertical column (117), wherein the X-axis sliding table assembly I (111) and the vertical column (117) are arranged on the bottom plate (116), the Y-axis sliding table assembly I (112) is arranged on the X-axis sliding table assembly I (111), and the culture dish (114) is arranged on the Y-axis sliding table assembly I (112);
the Z-axis sliding table assembly I (113) is arranged on the upright column (117), an interface board (118) is arranged on the Z-axis sliding table assembly I (113), and the interface board (118) is used for installing the microscopic vision system (12).
10. The micro-robotic manipulation system for space-standing orbital life-science experiments according to claim 9, characterized in that the bottom of the culture dish (114) is provided with a light source (115).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120833784.1U CN214724385U (en) | 2021-04-22 | 2021-04-22 | Micro-operation robot system for space standing on-orbit life science experiment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120833784.1U CN214724385U (en) | 2021-04-22 | 2021-04-22 | Micro-operation robot system for space standing on-orbit life science experiment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214724385U true CN214724385U (en) | 2021-11-16 |
Family
ID=78612140
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120833784.1U Active CN214724385U (en) | 2021-04-22 | 2021-04-22 | Micro-operation robot system for space standing on-orbit life science experiment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214724385U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305885A (en) * | 2021-04-22 | 2021-08-27 | 中国科学院沈阳自动化研究所 | Micro-operation robot system for space standing on-orbit life science experiment |
-
2021
- 2021-04-22 CN CN202120833784.1U patent/CN214724385U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305885A (en) * | 2021-04-22 | 2021-08-27 | 中国科学院沈阳自动化研究所 | Micro-operation robot system for space standing on-orbit life science experiment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113305885A (en) | Micro-operation robot system for space standing on-orbit life science experiment | |
| CN106029310B (en) | Redundant parallel positioning table equipment | |
| CN102744590A (en) | Assembling adhesive-dispensing device applied to micron order microtube and micropore | |
| CN101706446B (en) | Micro-operation device for automatically screening Caenorhabditis elegans | |
| CN101481653B (en) | Single cell microoperation apparatus for microscopic injection | |
| CN214724385U (en) | Micro-operation robot system for space standing on-orbit life science experiment | |
| CN103170823B (en) | Control device and method of inserting micro-pipe into micro-hole through monocular microscopy visual guidance | |
| CN103264385B (en) | Automatic microoperation device | |
| CN104049095B (en) | Ight soil detector and ight soil detection method | |
| WO2017049671A1 (en) | Micro operating system based on scanning electron microscope | |
| CN105034017B (en) | A kind of reconfigurable modularization robot cellular construction | |
| CN219831506U (en) | Microscope convenient to control observe thing is diversified | |
| CN104959971B (en) | A kind of assembly system towards micron order flexible pipe Yu microsphere assembly | |
| CN208596028U (en) | A kind of camera module test equipment | |
| CN201402815Y (en) | Thin-film solar battery marking apparatus | |
| CN208297826U (en) | A kind of cell detection microscope | |
| CN209132637U (en) | Orient guide mechanism and equipment | |
| CN216180521U (en) | Manipulator structure with clamping jaw and liquid transfer function | |
| CN218824063U (en) | Single cell analysis system | |
| CN219675879U (en) | Modularized multifunctional X-ray inspection system | |
| CN220085181U (en) | Single-channel driven automatic focusing equipment | |
| CN205069577U (en) | Novel little operation platform | |
| CN214988642U (en) | Transfer device | |
| CN220407771U (en) | Transfer platform for auxiliary assembly of inertial sensor | |
| CN109143563B (en) | micro-motion tracking system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |