US 11,813,759 B2
Intelligent micromanipulation system based on machine vision
Huijun Gao, Heilongjiang (CN); Mingsi Tong, Heilongjiang (CN); Gefei Zhang, Heilongjiang (CN); Gang Huang, Heilongjiang (CN); Songlin Zhuang, Heilongjiang (CN); Weiyang Lin, Heilongjiang (CN); and Xinghu Yu, Heilongjiang (CN)
Assigned to HARBIN INSTITUTE OF TECHNOLOGY, Heilongjiang (CN)
Filed by Harbin Institute of Technology, Heilongjiang (CN)
Filed on Jul. 15, 2020, as Appl. No. 16/929,449.
Claims priority of application No. 202010156073.5 (CN), filed on Mar. 9, 2020.
Prior Publication US 2021/0276196 A1, Sep. 9, 2021
Int. Cl. B25J 9/16 (2006.01); B25J 7/00 (2006.01); B25J 9/00 (2006.01); G02B 21/32 (2006.01)
CPC B25J 9/1697 (2013.01) [B25J 7/00 (2013.01); B25J 9/0096 (2013.01); G02B 21/32 (2013.01); G05B 2219/40193 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An intelligent micromanipulation system based on machine vision, comprising: a base, wherein a microscope, a rotating table and two lifting tables are arranged on the base, the microscope is located right above the rotating table, the two lifting tables are arranged at two sides of the rotating table, respectively, and each is provided with a mechanical arm, each of the two mechanical arm is provided with an end effector, the mechanical arm is capable of driving the corresponding end effector to perform fine adjustment in x, y and z directions, one of the end effectors clamps a suction holding needle which is in communication with a suction pump, while the other end effector clamps an injection needle which is in communication with an injection pump; and the rotating table comprises a tray, a rotating mechanism and a driving device, and the driving device is capable of driving the tray to rotate via the rotating mechanism.