285results about "Micromanipulator" patented technology

The invention provides a touch and visual perception integrated micro-nano robot magnetic field control system and method, and the system comprises a camera which collects the image of a micro-nano robot in a pipeline in real time; the magnetic field generating device generates a gradient magnetic field for driving the micro-nano robot to move through a permanent magnet; the tail end of the mechanical arm is connected with the permanent magnet and adjusts the three-dimensional pose to change the magnetic field distribution; the force feedback equipment is used for providing a touch signal for the micro-nano robot to be in contact with the pipeline boundary; and the computer is configured to identify the aggregation state of the micro-nano robot according to the camera image, increase the resistance of the force feedback equipment and reduce the rotation speed of the permanent magnet when the dispersion state is detected, and reduce the resistance and recover the conventional magnetic field control after the aggregation state is recovered. According to the system, accurate control and abnormal state self-adaptive response of the micro-nano robot in a complex experiment scene are realized through touch-vision collaborative perception and dynamic magnetic field regulation and control.

A micromanipulator comprising: a first frame portion defining an axial direction extending from a first proximal end to a first distal end; a second frame portion; a tool holder coupled to the second frame portion; a first connecting portion coupling the second frame portion and the first frame portion at the first distal end in resilient pivotable coupling; and a second connecting portion coupling the second frame portion and the first frame portion at the first proximal end in resilient pivotable coupling. The first frame portion, the second frame portion, the first connecting portion, and a second connecting portion form a flexural frame. The flexural frame is resiliently biased to a first frame state in which the tool holder is in a retracted position.

An eyelash dispenser including one or more micro-robots, and one or more single eyelashes, eyelash clusters, or a combination thereof, where each micro-robot of the one or more micro-robots is configured to carry and apply a single eyelash or an eyelash cluster. Further, a method of applying eye lashes, the method including inserting an eyelash dispenser into an eyelash application system, releasing one or more micro-robots from the eyelash dispenser onto a printed circuit board (PCB), positioning the one or more micro-robots at a lash line of an eye, and applying one or more single eyelashes or eyelash clusters with the one or more micro-robots.

A magnetite-based micro / nanorobot and a preparation method and use thereof are provided. The magnetite-based micro / nanorobot uses a polydopamine-coated magnetite as a carrier that is loaded with an anti-inflammatory drug and is finally coated with sodium alginate. The magnetite-based micro / nanorobot of the present disclosure improves a loading effect of the drug resveratrol and has an excellent anti-inflammatory effect. The magnetite-based micro / nanorobot of the present disclosure does not have obvious cytotoxicity, and exhibits excellent biocompatibility and high safety performance. The magnetite-based micro / nanorobot of the present disclosure allows the responsive release according to different pH values of a gastrointestinal environment. Compared with the traditional drug carriers, the magnetite-based micro / nanorobot of the present disclosure has a high rate and prominent targetability, and can be prepared by a method involving simple steps and easy operations.

A transmission mechanism of a micro crawling robot and the micro crawling robot. The transmission mechanism is a parallel mechanism with three branch chains and two degrees of freedom, and comprises: a fixed platform; a moving platform; a constraint limb comprising a first rotating joint S11 and a second rotating joint S12, which generate the functions of restraining the lifting motion and the twisting motion of the moving platform, respectively; a first actuation limb comprising third to seventh rotating joints S21-S25, wherein the third rotating joint S21 is a actuation joint and the rest are transmission rotating joints; and a second actuation limb comprising eighth to twelfth rotating joints S31-S35, wherein the eighth rotating joint S31 is a actuation joint, and the rest are the transmission rotating joints.

The invention provides a multi-motion-mode miniature soft robot driven by shape memory alloy. The multi-motion-mode miniature soft robot comprises an elastic framework, an SMA driver and a mechanism bottom passive friction device. The SMA drivers are fixed to the front face and the back face of the elastic framework. The mechanism bottom passive friction device is fixed at the tail end of the elastic framework; the elastic framework is used for providing pre-deformation of the SMA driver at room temperature and enabling the SMA driver to recover to an initial pre-deformation form by utilizing elastic potential energy; the SMA driver is used for axial compression under heating of an external electric field, the elastic framework fixedly connected with the SMA driver is bent and deformed unidirectionally due to generated pulling force, and therefore propulsive force is generated to drive the robot to achieve a preset motion mode. The mechanism bottom passive friction device is used for achieving a one-way friction force structure, and directional crawling of the robot is achieved. The soft robot system has high motion flexibility and adaptability, and can perform diversified motion and exploration in a complex environment.

The invention discloses a conical asymmetric nano robot for deep tumor penetration as well as a preparation method and application of the conical asymmetric nano robot. The structure of the asymmetric nano robot is Fe3O4 (at) mPDA (at) MnO2amp; mSiO2, and is marked as FPMamp; s; an FPMamp (Fabry Perot Module); the S nano-robot is nano-particles of an asymmetric structure, one end of the asymmetric structure is of a core-shell structure, the core is spherical Fe3O4, and the shell is mesoporous polydopamine particles; one end of the rod-like structure, which is far away from the Fe3O4, is conical; mnO2 is loaded on the surface of the mesoporous polydopamine; the asymmetric structure with the conical tail part is constructed, so that the forward wedging capability of the nano-robot in the moving process is improved, and the deep tumor penetrating performance is fundamentally improved; through the same nanorobot, collaborative treatment of multiple mechanisms of photo-thermal-Fenton-GSH depletion in space and time is achieved, the overall treatment efficiency of a deep tumor area is improved, and the problems that an existing asymmetric micro / nanorobot is insufficient in deep tumor penetrating capacity, the collaborative efficiency of a treatment module is limited and the like are solved.

A method of operating a microlithographic projection exposure apparatus (10) is described. The exposure apparatus comprises a mask holder (20) for holding a mask (18), a substrate holder (26) for holding a substrate (24), a projection lens (30) having several optical elements (R1 - R4) for imaging mask structures of the mask onto the substrate and a manipulator system (34), wherein the optical elements, the mask holder and the substrate holder each are an optical path element in an exposure optical path of the projection exposure apparatus and the manipulator system is configured for adjusting several travels, defined by travel variables (68), at the optical path elements of the projection lens. The method comprises the following steps: providing a wave front deviation (50) of the projection lens, and determining a control command (42) comprising travels for the manipulator system for correcting the wave front deviation using a model (60). The model describes the wave front deviation as a function of the travel variables and for this comprises a group of offset coefficients (62), which are independent of the travel variables, a group of linear coefficients (64), which are each attributed to one of the travel variables to the power of one, and a group of quadratic coefficients (66), which are each attributed to a product of two of the travel variables or to a square of one of the travel variables. The offset coefficients (62) are calibrated more frequently than the linear coefficients (64).

The present invention relates to a method for fault and / or anomaly detection. To solve the problem of providing a method for fault and / or anomaly detection which eliminates the disadvantages of the prior art and in particular allows high precision in a handling or manipulation task of an industrial robot, the method comprises obtaining first torque-determining data (D1) for a first joint (G1) and second torque-determining data (D2) for a second joint (G2) of an industrial robot (1), and determining whether a fault or anomaly exists in the handling or manipulation task of the industrial robot (1) based on the first torque-determining data (D1) and the second torque-determining data (D2).Furthermore, the invention relates to a device comprising means for carrying out the method according to the invention, a system comprising an industrial robot (1) with at least one first joint (G1) and a second joint (G2), and means for carrying out the method according to the invention for error and / or anomaly detection in a handling or manipulation task of the industrial robot (1), a computer program product comprising program instructions to execute and / or control the method according to the invention when the program is executed on a processor (201), and a computer-readable storage medium (209, 210, 211, 212, 213, 214, 215) comprising a computer program product according to the invention.

Positioning system (1) for aligning a coupling component (B), in particular an optical fiber, relative to an optical or electronic application component (A), the positioning system (1) comprising: a base body (10) on which the application component (A) can be fixed, a magnetic field generating device (20) arranged on the base body (10) and designed to generate a levitation magnetic field (M), an actuating element (40) which is mechanically decoupled from the base body (10) and movable relative to it, and comprising: at least one permanent magnet (43) and a holding device (45) for holding the coupling component (B), a levitation control device (60) which, in conjunction with a control device (70) functionally connected to the levitation control device (60),a floating movement of the permanent magnet (43) relative to the base body (10) and a coupling of the coupling component (B) to the application component (A) causes, and methods for aligning a coupling component on an optical or electronic application component,

An automatic end effector tip position initialization mechanism for a micromanipulation system is provided. The method includes: S1, positioning a macro end effector tip, calculating a camera pose by using ArUco Tag, and realizing a three-dimensional positioning of the end effector tip by using a triangulation method, and moving the end effector to a area near a center of a focal plane based on a visual servo; S2, positioning a micro end effector tip; S3, acquiring calibration data based on a visual servo, calibrating the end effector tip and the petri dish, and obtaining a left calibration matrix and a right calibration matrix reflecting the transformation relationship between left and right micromanipulator coordinates and image coordinates; generating an intuitive human-computer interaction interface based on a mouse and a keyboard according to acquired position information. The method has obvious advantages in terms of operation accuracy, operation efficiency and repeatability.

The invention discloses a micro-robot joint driving mechanism and a multi-joint micro-robot, and relates to the technical field of micro-robots. According to the joint driving mechanism, through the axial integrated arrangement of the shell, the brushless outer rotor motor, the multi-stage meshing transmission assembly, the power output connecting piece and the circuit board and the integrated design of a stator of the brushless outer rotor motor and the circuit board, a compact micro structure is achieved; and a closed-loop position detection system formed by a magnetic encoder and a magnetic ring is matched, so that high torque output and high transmission efficiency are realized under the condition of miniaturized volume, and meanwhile, part redundancy is reduced so as to reduce the cost. The mechanism solves the problem that miniaturization, high torque and low cost are difficult to consider in the prior art, and can be widely applied to miniature multi-joint robots.

A micro-robot crane system including a microrobot crane having a back micro-robot, including a first plurality of magnets, a rotary bearing, and a separation arm, where the separation arm includes a separating tip, and a front micro-robot, including a second plurality of magnets, a mount configured to slide along the separation arm, and a mechanical stop, configured to prevent the separation arm from disengaging from the mount, and where the front micro-robot is configured to raise and lower the separation arm. Further, a method of separating an eyelash, the method including moving a first micro-robot crane to a first side of an eye, positioning a separator tip of a separator arm into a lash line of the eye by moving a front micro-robot of the first micro-robot crane, and moving the first micro-robot crane in a first direction to separate a first side of the eyelashes.

The application discloses a micro-nano robot based on a flexible hinge, a driving method and a preparation method, the micro-nano robot comprises a flexible hinge and a bubble capturing structure connected with the flexible hinge, and the flexible hinge comprises a plurality of flexible sections and rigid sections which are alternately connected; when a certain sound field is applied, the flexible sections vibrate and deform, and the rigid sections do not deform; when the sound field is stopped, the flexible sections restore the initial shape; in a liquid environment, the bubble capturing structure is used for capturing bubbles, the bubbles resonate in a sound field environment and drive the bubble capturing structure to move, and the flexible hinge deforms in the sound field environment to capture particles in the liquid, change the moving direction of the micro-nano robot or change the moving speed of the micro-nano robot.

The invention discloses a flexible manipulator with variable clamping force and constant-force rubbing and a using method thereof, and belongs to the technical field of micromanipulators, the flexible manipulator comprises a first driving mechanism, a second driving mechanism, a variable-rigidity clamping mechanism and a constant-force rubbing mechanism, the variable-rigidity clamping mechanism is formed by connecting a guide beam assembly, a variable-rigidity beam assembly and a decoupling beam assembly in series, and the constant-force rubbing mechanism is connected with the first driving mechanism. A first clamping end is arranged at the tail end, the rigidity of the constant force rubbing mechanism can be adjusted through embedded shape memory alloy, the constant force rubbing mechanism is composed of a positive rigidity structure and a negative rigidity structure, a second clamping end opposite to the first clamping end is arranged at the tail end, and the two mechanisms are connected through the decoupling beam assembly to achieve structural decoupling. The problems that an existing flexible manipulator is non-adjustable in clamping rigidity, slow in constant force response and mutual in function interference are solved, and self-adaptive grabbing and stable rubbing of micro-scale objects are achieved.

An eyelash dispenser including one or more micro-robots, and one or more single eyelashes, eyelash clusters, or a combination thereof, where each micro-robot of the one or more micro-robots is configured to carry and apply a single eyelash or an eyelash cluster. Further, a method of applying eyelashes, the method including inserting an eyelash dispenser into an eyelash application system, releasing one or more micro-robots from the eyelash dispenser onto a printed circuit board (PCB), positioning the one or more micro-robots at a lash line of an eye, and applying one or more single eyelashes or eyelash clusters with the one or more micro-robots.

The invention relates to a charged particle microscope (CPM) comprising a sample holder, for holding a sample; an ion beam column, for producing an ion beam that propagates along an ion axis onto said sample for creating a lamella in said sample; and a detector, for detecting radiation emanating from said lamella and / or said sample in response to irradiation by said ion beam. The CPM comprises a controller for at least partially controlling operation of said microscope. According to the invention, a manipulator device is provided that is arranged for transferring said lamella created in said sample out of said sample, wherein said manipulator device comprises a first elongated manipulator member with a first outer end, and a second elongated manipulator member with a second outer end. The outer ends are movable for mechanically gripping and releasing said lamella. In embodiments, the elongated manipulator members comprise off-set parts that increase manoeuvrability (accessibility) and monitorability of the manipulator device during use.

The application discloses a miniature chain actuator for humanoid robots, comprising: a miniature chain actuator body, the miniature chain actuator body comprising a driving module, a speed reduction module and a pushing module, the speed reduction module being arranged below the driving module, the pushing module being arranged on one side of the driving module and the speed reduction module, and the driving module being in transmission connection with the pushing module through the speed reduction module. The application provides a miniature chain actuator for humanoid robots, the pushing module being arranged on the other side of the driving module and the speed reduction module, the parallel arrangement mode giving consideration to the advantages of small longitudinal dimensions of the driving module and the speed reduction module, avoiding the disadvantage of large longitudinal dimension of the pushing module, and being capable of reducing the spatial size of the device as much as possible; meanwhile, the volume of the commonly used hollow cup motor integrated screw rod, electric cylinder and other actuators is greatly reduced, the machining difficulty, manufacturing and maintenance cost are avoided, and the effective extension stroke of the miniature chain actuator body is much larger than that of other linear actuators.

Exoskeleton for assisting at least one joint of an upper limb The invention relates mainly to an exoskeleton (1a) for assisting at least one joint (2, 3) of an upper limb comprising a system (4) for accompanying a movement of a part of the limb driven by the joint (2, 3), which accompanying system (4a) comprises: • a device for assisting the joint (6a, 6b, 6c) comprising at least one pivot (7a, 7b, 7c) comprising a bearing end on the front part of the joint (12a, 12b, 12c), and a lever (8a, 8b, 8c) pivotally connected (13a, 13b, 13c) to the pivot (7a, 7b, 7c) and movable between a position separated from and a position brought closer to the bearing end (12a, 12b, 12c) of the pivot (8a, 8b, 8c);• means (14) for applying an actuating force of the support lever (8a, 8b, 8c) towards its close position, and • means (15) for adjusting said actuating force as a function of the angular position of the lever (8a, 8b, 8c) relative to a vertical axis. Figure to be published with the abstract: Fig. 1;

Exoskeleton for assisting at least one joint of an upper limb. The invention relates mainly to an exoskeleton (1a) for assisting at least one joint (2, 3) of an upper limb, comprising a support system (4) for movement of a limb part driven by the joint (2, 3), which support system (4a) comprises: • a joint assistance device (6a, 6b, 6c) comprising at least one pivot (7a, 7b, 7c) having a support end on the anterior part of the joint (12a, 12b, 12c), and a lever (8a, 8b, 8c) pivotally connected (13a, 13b, 13c) to the pivot (7a, 7b, 7c) and movable between a position away from and a position close to the support end (12a, 12b, 12c) of the pivot (8a, 8b, 8c);• means for applying (14) an actuation force to the support lever (8a, 8b, 8c) towards its near position, and • means for adjusting (15) said actuation force as a function of the angular position of the lever (8a, 8b, 8c) with respect to a vertical axis. Figure to be published with the abbreviation: Fig. 1;

The invention belongs to the technical field of magnetic control micro-robots and intelligent control, and relates to a mudskipper-imitating magnetic control micro-robot and a control method thereof.The mudskipper-imitating magnetic control micro-robot system comprises a robot body and a control part, and the robot body is composed of two magnetic driving sub-modules and an energy storage module; the two magnetic driving sub-modules are symmetrically fixed at two ends of the energy storage module at a preset interval, and the energy storage module is used for realizing non-magnetic connection of the two magnetic driving sub-modules; the control part comprises a magnetic field generation module for forming a driving magnetic field around the robot body and a controller for adjusting the magnetic field generation module to change the magnetic field intensity and direction so as to drive the robot body to realize jumping motion; the robot designed by the invention can adapt to large deformation of intestinal peristalsis, efficiently cross mucous membrane wrinkles, adapt to unstructured characteristics of intestinal tracts, and can accurately reach a focus area to provide a path for accurate diagnosis and treatment of intestinal diseases.

In one aspect, a MEMS system is disclosed, which includes a first platform, a first two-dimensional material (2DM) structure coupled to the first platform, a second platform separated from the first platform, a second two-dimensional material coupled to the second platform, and a MEMS actuator mechanically coupled to said first platform and configured to provide displacement and rotation of the first platform relative to the second platform.

The application provides a shape memory alloy driven multi-motion mode micro soft robot, which comprises an elastic framework, an SMA driver and a mechanism bottom passive friction device; the SMA driver is fixed on the front and back surfaces of the elastic framework; the mechanism bottom passive friction device is fixed on the end of the elastic framework; the elastic framework is used for providing pre-deformation of the SMA driver at room temperature and restoring the SMA driver to the initial pre-deformation mode by using elastic potential energy; the SMA driver is used for axial compression under external electric field heating, the generated tension causes the unidirectional bending deformation of the elastic framework fixedly connected therewith, so as to generate a propelling force to drive the robot to realize a preset motion mode; and the mechanism bottom passive friction device is used for realizing a unidirectional friction force structure and realizing the directional crawling of the robot. The soft robot system of the application has high motion flexibility and adaptability and can perform diversified motion and exploration in a complex environment.

The present invention relates to a micro-robot for internal detection of the oil content in a transformer, which comprises a housing, a control module, an image acquisition module, a navigation module, a propulsion module and a power supply. The control module, the image acquisition module, the navigation module and the power supply are installed in the sealed housing. A groove for accommodating the propulsion module is formed in the housing. The control module is respectively connected to the image acquisition module, the navigation module and the propulsion module. Compared with the prior art, the present invention has the advantages of compact structure, convenient use, safety and reliability, etc.

The application provides a flexible flagellum-driven swimming micro-nano robot and a control method thereof, and relates to the technical field of micro-nano robots.The robot comprises a head and a flexible flagellum, the inside of the head is provided with a control component, a monitoring component, a driving component and a power source, the driving component is connected with the flexible flagellum, and the method comprises the following steps: a control chip reads chemical concentration or light field intensity information detected by an environmental sensor; the collected chemical concentration or light field intensity information is compared with historical time information; the driving frequency of a micro-actuator is switched according to the comparison result; and the swimming micro-nano robot is driven to swim.The application fully utilizes the complex fluid-structure coupling behavior between the flexible flagellum and the fluid, does not need a complex steering mechanism, only needs simple information storage and logical judgment to change the swing frequency of the flagellum, and can realize the autonomous navigation movement of the micro-nano robot in a complex environment, and gradually approaches the target along a variable-parameter spiral trajectory.

The application discloses a preparation and editing method of a magnetic micro-nano robot with in-situ re-editing capability, and belongs to the field of micro-nano devices. The method comprises the following steps: preparing a sacrifice layer by polyvinyl alcohol, spin-coating pNIPAM to prepare a flexible hinge layer by using a photoetching process, and preparing two magnetic driving modules by using SU-8 of pre-mixed nickel nanowires with different diameters, so as to obtain the micro-nano robot after releasing. When re-editing, one of the magnetic driving modules or both of the magnetic driving modules can be selectively magnetized by an external magnetic field, and the in-situ re-editing of the micro-nano robot is completed. The preparation process of the application is simple, the re-editing of the micro-nano robot can be realized by the simple external magnetic field, more movement modes are provided, the problems of the existing micro-nano device movement modes still being rigid and the like are solved, the flexibility is further improved, and the application has important application prospects in the fields of biological medicine, environmental detection and the like.

The present invention provides a method and a corresponding device for controlling a micro-nanorobot cluster, which adopts a driving method based on a rotating gradient magnetic field to drive a micro-nanorobot cluster with magnetic components as a carrier for precise drug or cell delivery. The present invention uses a plurality of electromagnetic coils driven by a programmable timing electrical signal, which can generate an equivalent centripetal force pointing to the target position in the working space area, thereby attracting the micro-cluster to converge from different directions to the target position including the diseased tissue. By changing the current input of the electromagnetic coil, the coordinates of the target position can be adjusted.

The present invention discloses a spin-type micro detection robot, which relates to the field of detection in narrow spaces. It includes a first detection mechanism, a second detection mechanism and a power supply wire. The first detection mechanism includes a first vehicle body, four spin travel wheels arranged on both sides of the first vehicle body, an endoscope located at the front end of the first vehicle body, a control chip and a driving mechanism located inside the first vehicle body. The driving mechanism and the endoscope are electrically connected to the control chip respectively; the second detection mechanism is provided with a defect detection module for detecting the defect condition of the area to be measured; the power supply wire is connected to the first detection mechanism and the second detection mechanism for providing power supply, and when the first detection mechanism and / or the second detection mechanism fails, it will be pulled back to the starting point. The present invention adapts to narrow spaces through miniaturized design and spin travel wheels, ensures image quality through high-definition camera and laser imaging technology, and improves data processing efficiency through deep learning and image algorithms, comprehensively improving the detection accuracy and efficiency.

This invention discloses a micro / nano robot, its fabrication method, and its applications. The ethyl cellulose micro / nano robot has a three-dimensional structure. It comprises a stacked magnetic layer and a functional layer. The functional layer includes a functional substance and ethyl cellulose. The functional substance is selected from at least one of drugs, fluorescent dyes, quantum dots, and catalysts. The magnetic layer includes a magnetic material and ethyl cellulose. The micro / nano robot of this invention loads a functional substance into ethyl cellulose and imparts a specific arc-shaped structure to the robot through infrared radiation post-processing. This allows the magnetically controlled micro / nano robot to achieve directional movement in a magnetic field, enabling intelligent actuation at a microscale. Furthermore, its different functional characteristics allow for better positioning and execution of functional tasks, thus possessing potential application value in precision biomedicine, visualization research, and real-time monitoring and detection.

The invention refers to a support substrate (1) comprising a set of cantilevers (13), wherein each cantilever of the set of cantilevers (13) extends along a longitudinal axis in a direction from the support substrate (1) to a free end (130) of the cantilever. The free end (130) of each cantilever of the set of cantilevers (13) comprises a flat surface area that is adapted to load the 0 nanostructure (2). The cantilevers of the set of cantilevers (13) are arranged along at least a curved or angular part of a circumference (11) of the support substrate (1). At least two cantilevers of the set of cantilevers (13) each extend in different directions.