CN101543991B - Three-dimensional mechanical hand - Google Patents
Three-dimensional mechanical hand Download PDFInfo
- Publication number
- CN101543991B CN101543991B CN2008100353544A CN200810035354A CN101543991B CN 101543991 B CN101543991 B CN 101543991B CN 2008100353544 A CN2008100353544 A CN 2008100353544A CN 200810035354 A CN200810035354 A CN 200810035354A CN 101543991 B CN101543991 B CN 101543991B
- Authority
- CN
- China
- Prior art keywords
- belt wheel
- rotating shaft
- installation frame
- crank
- drives
- 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.)
- Expired - Fee Related
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 54
- 238000005070 sampling Methods 0.000 claims abstract description 13
- 238000009434 installation Methods 0.000 claims description 50
- 239000000523 sample Substances 0.000 claims description 31
- 230000003028 elevating effect Effects 0.000 claims description 10
- 239000002184 metal Substances 0.000 claims description 6
- 230000005693 optoelectronics Effects 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a three-dimensional mechanical hand, which is characterized in that: the three-dimensional mechanical hand comprises a tail end mechanical arm, a front end mechanical arm, a first driving mechanism, a second driving mechanism, a mounting framework, and a lifting mechanism, wherein the front end mechanical arm is movably connected with the tail end mechanical arm; the first driving mechanism is connected with the tail end mechanical arm and drives the tail end mechanical arm to swing; the second driving mechanism is connected with the front end mechanical arm and drives the front end mechanical arm to swing; the first driving mechanism and the second driving mechanism are mounted on the mounting framework; and the lifting mechanism is connected with the mounting framework, and controls the lifting of the mounting framework. The three-dimensional mechanical hand solves the problem that the prior mechanical arm can only realize sampling samples which are arranged in a line or a curve in the spacial state.
Description
Technical field
The present invention relates to a kind of three-dimensional mechanical hand.
Background technology
The sample arm of existing testing instruments all is a two-dimentional system, promptly can only realize spatiality is arranged to straight line, perhaps is arranged as the sample sampling of curve.For being the sample that the face type is arranged, then need rely on moving of sample to realize, be about to sample and move in line (comprising straight line, the camber line) track that sample arm works.Otherwise sample arm can't be accomplished the automatic sampling of sample, and device in the past in use; Matching requirements to auxiliary is higher, and, when operating personnel use; Need apace sample to be placed into corresponding position, therefore in due course; Operation is had relatively high expectations, and have certain danger.
Summary of the invention
Technical problem to be solved by this invention is to propose a kind of three-dimensional mechanical hand, and this three-dimensional mechanical hand can be to being the sample sampling that the face type is arranged.
The present invention solves the problems of the technologies described above through following technical scheme:
A kind of three-dimensional mechanical hand is characterized in that, comprising:
Terminal mechanical arm;
The front end robot arm, said front end robot arm and said terminal mechanical arm flexibly connect;
First driving mechanism, said first driving mechanism is connected with said terminal mechanical arm, drives said terminal mechanical arm swing;
Second driving mechanism, said second driving mechanism is connected with said front end robot arm, drives said front end robot arm swing;
Installation frame, said first driving mechanism, second driving mechanism are installed on the said installation frame;
Elevating mechanism, said elevating mechanism is connected with said installation frame, controls the up-down of said installation frame.
The present invention adjusts the operating angle of terminal mechanical arm through first driving mechanism; Adjust the operating angle of front end robot arm through second driving mechanism; Thereby realize the accurate location of the front end of front end robot arm at horizontal plane; Realize terminal mechanical arm and front end robot arm in the accurate location of vertical direction through elevating mechanism up-down installation frame, so just can realize that three-dimensional mechanical hand of the present invention is to being the sample sampling of face type layout and the sample that spues.
Said first driving mechanism comprises:
Rotating shaft I, said installation frame is provided with bearing, and said rotating shaft I is arranged in the said bearing, and the upper end of said rotating shaft I is fixedly connected with said terminal mechanical arm;
Drive unit I, said drive unit I is arranged on the said installation frame; The lower end of said rotating shaft I is connected with said drive unit I; Under the driving of said drive unit I, said rotating shaft I rotates in said bearing.
Drive unit I drives rotating shaft I and rotates, thereby realizes the swing of I around the shaft of terminal mechanical arm.Can adjust the operating angle of terminal mechanical arm like this.
Said second driving mechanism comprises:
Rotating shaft II, said rotating shaft I hollow, said rotating shaft II is arranged among the said rotating shaft I, and the upper end of said rotating shaft II is fixedly connected said front end robot arm through linkage;
Drive unit II, said drive unit II is arranged on the said installation frame; Said rotating shaft II lower end is connected with said drive unit II; Under the driving of drive unit II, said rotating shaft II rotates in said rotating shaft I.
Drive unit II drives rotating shaft II and rotates, thereby realizes that the front end robot arm is around the swing of the junction of front end robot arm and terminal mechanical arm.Can adjust the operating angle of terminal mechanical arm like this.
Said drive unit I comprises:
Drive motors I, said drive motors I is installed on the said installation frame;
Belt wheel Ia, said belt wheel Ia is arranged on the output shaft of said drive motors I;
Belt wheel Ib, said belt wheel Ib fixed cover is located at the lower end of said rotating shaft I;
Cog belt I, said cog belt I connect said belt wheel Ia and said belt wheel Ib.
Drive motors I drives belt wheel Ia and rotates, and belt wheel Ia drives belt wheel Ib through cog belt I and rotates, thereby realizes the driving of countershaft I.
Said drive unit II comprises:
Drive motors II, said drive motors II is installed on the said installation frame;
Belt wheel IIa, said belt wheel IIa is arranged on the output shaft of said drive motors II;
Belt wheel IIb, said belt wheel IIb fixed cover is located at the lower end of said rotating shaft II;
Cog belt II, said profile of tooth II band connects said belt wheel IIa and said belt wheel IIb.
Drive motors II drives belt wheel IIa and rotates, and belt wheel IIa drives belt wheel IIb through cog belt II and rotates, thereby realizes the driving of countershaft II.
Said elevating mechanism comprises:
Frame, said frame comprise base plate, top board, vertical mobile guide axle; The upper end of said vertical mobile guide axle is arranged on the said top board, and the lower end is arranged on the said base plate; Said installation frame is arranged on the said vertical mobile guide axle and can moves up and down;
Drive lead screw, said base plate is provided with lower bearing, and said top board is provided with upper bearing (metal); Said drive lead screw lower end is arranged in the said lower bearing, and the upper end is arranged in the said upper bearing (metal);
The drive lead screw driving mechanism, said drive lead screw driving mechanism is arranged on the said base plate;
Slide block, said slide block are arranged on the said drive lead screw and can move up and down; Said slide block is fixedly connected with said installation frame.
Under the driving of drive link driving mechanism, drive lead screw rotates, and slide block is moved up and down, and then installation frame moves up and down, thereby realizes moving up and down of terminal mechanical arm and front end robot arm.Can realize terminal mechanical arm and front end robot arm accurate location like this at vertical direction.
Three-dimensional mechanical hand of the present invention also comprises sensor groups, and said sensor groups is made up of two optoelectronic switches, and said two optoelectronic switches are installed in the circuit board, and said wiring board is fixed on the said installation frame.Can constantly carry out the correction at work zero point of front end robot arm and terminal mechanical arm like this, reduce accumulated error.
Three-dimensional mechanical hand of the present invention also comprises sampling probe, and said sampling probe is arranged on the front end of said front end robot arm.
Said linkage comprises:
Connecting rod;
First crank; Said first crank is through being bolted to said rotating shaft II upper end; Be provided with first crank axle at the upper surface of first crank, the position of departing from the said first crank axis of rotation, an end of said connecting rod is through said first crank axle and the flexible connection of said first crank;
Second crank; Said second crank is fixedly connected with the pin of the end of said front end robot arm; Be provided with second crank axle at the upper surface of said second crank, the position of departing from the said second crank axis of rotation, the other end of said connecting rod is through said second crank axle and the flexible connection of said second crank.
Description of drawings
Further specify the present invention below in conjunction with the accompanying drawing and the specific embodiment.
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a cutaway view of the present invention.
Fig. 3 is a working region of the present invention sketch map.
The specific embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect and be easy to understand and understand, below in conjunction with the specific embodiment, further set forth the present invention.
Referring to Fig. 1.A kind of three-dimensional mechanical hand comprises: terminal mechanical arm 1, front end robot arm 2, the first driving mechanisms 3, the second driving mechanisms 4, installation frame 5, elevating mechanism 6; Also comprise sensor groups 7, sampling probe 8.
The terminal upper surface of front end robot arm 2 has pin 21, and the front end of terminal mechanical arm 2 has installing hole, and pin 21 injects the installing hole of the front end of terminal mechanical arm 2 from terminal mechanical arm 2 belows, and front end robot arm 1 and terminal mechanical arm 2 are flexibly connected.Like this, front end robot arm 1 just can be around the swing of the junction of front end robot arm 1 and terminal mechanical arm 2.
Specifically, second driving mechanism 4 mainly is made up of rotating shaft II 41, drive unit II 42.Rotating shaft I 31 hollows, rotating shaft II 41 is arranged among the rotating shaft I 31, and driving shaft I 31 is stretched out at two.Rotating shaft II 41 upper ends connect the bearing pin of the end of front end robot arm 2 through linkage; There is the first circular crank rotating shaft II 41 upper ends through bolt specifically; Circular first crank and rotating shaft II 41 are coaxial; The upper surface of the first circular crank is provided with first crank axle at the position of departing from the center of circle, and an end of connecting rod flexibly connects through first crank axle and first crank; The second circular crank is fixedly connected with the pin 21 of the end of front end robot arm at circle centre position, and the upper surface of the second circular crank is provided with second crank axle at the position of departing from the center of circle, and the other end of connecting rod flexibly connects through second crank axle and second crank.Drive unit II 42 comprises: drive motors II 421, belt wheel II a422, belt wheel II b423, cog belt II 424.Have the hole on the installation frame base plate, drive motors II 421 is installed in the bottom surface of installation frame base plate through bolt, and the output shaft of drive motors II 421 puts in the installation frame 5 through the installing hole of installation frame base plate; Belt wheel II a422 is arranged on the output shaft of drive motors II 421; Belt wheel II b423 fixed cover is located at the lower end of rotating shaft II 41; Cog belt II 424 connects belt wheel II a422 and belt wheel II b423.Drive motors II 421 drives belt wheel II a422 and rotates, and belt wheel II a422 drives belt wheel II b423 through cog belt II 424 and rotates, thereby realizes the driving of drive unit II 42 countershaft II 41.Drive unit II 42 drives rotating shaft II 41 and rotates, thereby realizes that front end robot arm 2 is around the swing of the junction of front end robot arm 2 and terminal mechanical arm 1.
Drive lead screw driving mechanism 63 is arranged on the base plate 611.Specifically, drive lead screw driving mechanism 63 mainly comprises: drive motors III 631, belt wheel III a632, belt wheel III b633, cog belt III 634.Have the hole on the base plate 611, drive motors III 631 is installed on base plate 611 upper surfaces, and the output shaft extension of drive motors III 631 is crossed the hole on the base plate 611; Belt wheel III a632 is arranged on the output shaft of drive motors III 631.Belt wheel III b633 fixed cover is located at the lower end of drive lead screw 62; Cog belt 624 connects belt wheel III a632 and belt wheel III b633.Drive motors III 631 drives belt wheel III a632 and rotates, and belt wheel III a632 drives belt wheel IIIb633 through cog belt III 634 and rotates, thereby realizes the driving of 63 pairs of drive lead screws 62 of drive lead screw driving mechanism.
Slide block 64 is arranged on the drive lead screw 62 and can moves up and down; Slide block 64 and installation frame 5 are fixedly connected through screw.
Under the driving of drive link driving mechanism 63, drive lead screw 62 rotates, and slide block 64 is moved up and down, and then installation frame 5 moves up and down, thereby realizes moving up and down of terminal mechanical arm 1 and front end robot arm 2.Terminal mechanical arm 1 and the accurate location of front end robot arm 2 have so just been realized at vertical direction.Three-dimensional mechanical hand of the present invention also comprises sensor groups 7, and sensor groups 7 is made up of two optoelectronic switches, and two optoelectronic switches are installed in the circuit board, and wiring board is fixed on the installation frame 5.Can constantly carry out the correction at work zero point of front end robot arm 2 and terminal mechanical arm 1 like this, reduce accumulated error.
Three-dimensional mechanical hand of the present invention also comprises sampling probe 8, and sampling probe 8 is arranged on the front end of front end robot arm 2.
Also be provided with liquid level sensor on the mechanical arm 1 endways, be used for sampling needle perception liquid level.
When three-dimensional mechanical hand of the present invention was worked, the position according to sample carried out coordinate Calculation by controller, calculated terminal mechanical arm 1 operating angle and front end robot arm 2 operating angles of gained.Drive motors III drives drive lead screw 62 work through belt wheel III a632, cog belt III 634, belt wheel III b633 then; Slide block 64 moves upward; After moving to the extreme higher position of setting; Drive motors I drives belt wheel I a322, cog belt I 324, belt wheel I b323 rotation; Terminal mechanical arm 1 swings to the operating angle of setting, and drive motors II drives belt wheel II a422, cog belt II 424, belt wheel II b423 rotation, and rotating shaft II drives the operating angle that front end robot arm 2 swings to setting through linkage.Drive motors III drives drive lead screw 62 work through belt wheel III a632, cog belt III 634, belt wheel III b633 then, and slide block 64 moves downward, move to the sample position of setting after, draw sample.Drive motors III drives drive lead screw 6 work through belt wheel III a632, cog belt III 634, belt wheel III b633 then; Slide block 64 moves upward; Move to the extreme higher position of setting; Drive motors I drives belt wheel I a322, cog belt I 324, belt wheel I b323 rotation; Terminal mechanical arm 1 swings to another operating angle of setting, and drive motors II drives belt wheel II a422, cog belt II 424, belt wheel II b423 rotation, and rotating shaft II drives another operating angle that front end robot arm 2 swings to setting through linkage.Drive motors III drives drive lead screw 62 work through belt wheel III a632, cog belt III 634, belt wheel III b633 then, and slide block 64 moves downward, move to the operating position of setting after, sample spues.So Zhou Er renews.In motion process, through sensor groups, can constantly carry out the correction at work zero point of front end robot arm and terminal mechanical arm, reduce accumulated error.
Outstanding feature of the present invention is that the working region of three-dimensional mechanical hand of the present invention is the zone that curve wrapped up shown in Figure 3, in this zone, places sample; All can effectively be gathered by this device, sample need not in the track of specific mechanical arm, to arrange, and relies on the method that moves sample to cater to mechanical arm; Be effective collection; Adopt this device, can reduce the danger of sample operations, it is more convenient to operate.
More than show and described basic principle of the present invention, principal character and advantage of the present invention.The technical staff of the industry should understand; The present invention is not restricted to the described embodiments; That describes in the foregoing description and the specification just explains principle of the present invention; The present invention also has various changes and modifications under the prerequisite that does not break away from spirit and scope of the invention, and these variations and improvement all fall in the scope of the invention that requires protection.The present invention requires protection domain to be defined by appending claims and equivalent thereof.
Claims (4)
1. a three-dimensional mechanical hand is characterized in that, comprising:
Terminal mechanical arm;
The front end robot arm, said front end robot arm and said terminal mechanical arm flexibly connect;
First driving mechanism, said first driving mechanism is connected with said terminal mechanical arm, drives said terminal mechanical arm swing;
Second driving mechanism, said second driving mechanism is connected with said front end robot arm, drives said front end robot arm swing;
Installation frame, said first driving mechanism, second driving mechanism are installed on the said installation frame;
Elevating mechanism, said elevating mechanism is connected with said installation frame, controls the up-down of said installation frame, and said first driving mechanism comprises:
Rotating shaft I, said installation frame is provided with bearing, and said rotating shaft I is arranged in the said bearing, and said rotating shaft I upper end is fixedly connected with said terminal mechanical arm;
Drive unit I, said drive unit I is arranged on the said installation frame; Said rotating shaft I lower end is connected with said drive unit I; Under the driving of drive unit I, said rotating shaft I rotates in said bearing, and said second driving mechanism comprises:
Rotating shaft II, said rotating shaft I hollow, said rotating shaft II is arranged among the said rotating shaft I, and said rotating shaft II is fixedly connected said front end robot arm through linkage;
Drive unit II, said drive unit II is arranged on the said installation frame; Said rotating shaft II lower end is connected with said drive unit II; Under the driving of drive unit II, said rotating shaft II rotates in said rotating shaft I, and said drive unit I comprises:
Drive motors I, said drive motors I is installed on the said installation frame;
Belt wheel Ia, said belt wheel Ia is arranged on the output shaft of said drive motors I;
Belt wheel Ib, said belt wheel Ib fixed cover is located at the lower end of said rotating shaft I;
Cog belt I, said cog belt I connect said belt wheel Ia and said belt wheel Ib, and said drive unit II comprises:
Drive motors II, said drive motors II is installed on the said installation frame;
Belt wheel IIa, said belt wheel IIa is arranged on the output shaft of said drive motors II;
Belt wheel IIb, said belt wheel IIb fixed cover is located at the lower end of said rotating shaft II;
Cog belt II, said cog belt II connect said belt wheel IIa and said belt wheel IIb, and said elevating mechanism comprises:
Frame, said frame comprise base plate, top board, vertical mobile guide axle; The upper end of said vertical mobile guide axle is arranged on the said top board, and the lower end is arranged on the said base plate; Said installation frame is arranged on the said vertical mobile guide axle and can moves up and down;
Drive lead screw, said base plate is provided with lower bearing, and said top board is provided with upper bearing (metal), and said drive lead screw lower end is arranged in the said lower bearing, and the upper end is arranged in the said upper bearing (metal);
The drive lead screw driving mechanism, said drive lead screw driving mechanism is arranged on the said base plate;
Slide block, said slide block are arranged on the said drive lead screw and can move up and down; Said slide block is fixedly connected with said installation frame, during three-dimensional mechanical hand work, according to the position of sample; Carry out coordinate Calculation by controller, calculate terminal mechanical arm (1) operating angle and front end robot arm (2) operating angle of gained, drive motors III drives drive lead screw (62) work through belt wheel IIIa (632), cog belt III (634), belt wheel IIIb (633) then; Slide block (64) moves upward, move to the extreme higher position of setting after, drive motors I drives belt wheel Ia (322), cog belt I (324), belt wheel Ib (323) and rotates; Terminal mechanical arm (1) swings to the operating angle of setting, and drive motors II drives belt wheel IIa (422), cog belt II (424), belt wheel IIb (423) rotation, and rotating shaft II drives the operating angle that front end robot arm (2) swings to setting through linkage; Drive motors III drives drive lead screw (62) work through belt wheel IIIa (632), cog belt III (634), belt wheel IIIb (633) then; Slide block (64) moves downward, move to the sample position of setting after, draw sample; Drive motors III drives drive lead screw (6) work through belt wheel IIIa (632), cog belt III (634), belt wheel IIIb (633) then; Slide block (64) moves upward, and moves to the extreme higher position of setting, and drive motors I drives belt wheel Ia (322), cog belt I (324), belt wheel Ib (323) rotation; Terminal mechanical arm (1) swings to another operating angle of setting; Drive motors II drives belt wheel IIa (422), cog belt II (424), belt wheel IIb (423) rotation, and rotating shaft II drives another operating angle that front end robot arm (2) swings to setting through linkage, and drive motors III drives drive lead screw (62) work through belt wheel IIIa (632), cog belt III (634), belt wheel IIIb (633) then; Slide block (64) moves downward; After moving to the operating position of setting, the sample that spues, so Zhou Er renews.
2. a kind of three-dimensional mechanical hand according to claim 1 is characterized in that: sensor groups is made up of two optoelectronic switches, and said two optoelectronic switches are installed in the circuit board, and said wiring board is fixed on the said installation frame.
3. a kind of three-dimensional mechanical hand according to claim 1 is characterized in that: also comprise sampling probe, said sampling probe is arranged on the front end of said front end robot arm.
4. a kind of three-dimensional mechanical hand according to claim 1 is characterized in that: said linkage comprises:
Connecting rod;
First crank; Said first crank is through being bolted to said rotating shaft II upper end; Be provided with first crank axle at the upper surface of first crank, the position of departing from the said first crank axis of rotation, an end of said connecting rod is through said first crank axle and the flexible connection of said first crank;
Second crank; Said second crank is fixedly connected with the pin of the end of said front end robot arm; Be provided with second crank axle at the upper surface of said second crank, the position of departing from the said second crank axis of rotation, the other end of said connecting rod is through said second crank axle and the flexible connection of said second crank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100353544A CN101543991B (en) | 2008-03-28 | 2008-03-28 | Three-dimensional mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100353544A CN101543991B (en) | 2008-03-28 | 2008-03-28 | Three-dimensional mechanical hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101543991A CN101543991A (en) | 2009-09-30 |
| CN101543991B true CN101543991B (en) | 2012-07-18 |
Family
ID=41191499
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008100353544A Expired - Fee Related CN101543991B (en) | 2008-03-28 | 2008-03-28 | Three-dimensional mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101543991B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103659807A (en) * | 2012-09-12 | 2014-03-26 | 上海通彩自动化设备有限公司 | Three-dimensional mechanical arm automatic production equipment |
| CN103825398B (en) * | 2013-11-21 | 2016-03-30 | 上海宇航系统工程研究所 | The split type motor of a kind of mechanical arm |
| CN105035724A (en) * | 2015-08-10 | 2015-11-11 | 苏州听毅华自动化设备有限公司 | Sampling device |
| CN110076762A (en) * | 2019-04-17 | 2019-08-02 | 安徽奥博智能科技有限公司 | A kind of glass gripper |
| CN113376391A (en) * | 2021-07-09 | 2021-09-10 | 广州蓝勃生物科技有限公司 | Get liquid device and full-automatic immunoassay appearance |
| CN113376392A (en) * | 2021-07-09 | 2021-09-10 | 广州蓝勃生物科技有限公司 | Control method of liquid taking device, liquid taking device and full-automatic immunoassay analyzer |
| CN117621022B (en) * | 2024-01-25 | 2024-03-26 | 广东铭钰科技股份有限公司 | Manipulator clamp and manipulator |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1344194A (en) * | 1999-01-15 | 2002-04-10 | 阿西斯特技术公司 | Workpiece handling robot |
| CN1617789A (en) * | 2001-12-04 | 2005-05-18 | 罗兹株式会社 | Scalar type robot for carrying flat plate-like object, and flat plate-like object processing system |
| CN1935469A (en) * | 2006-10-17 | 2007-03-28 | 大连理工大学 | Purifying robot |
| CN1970246A (en) * | 2005-11-23 | 2007-05-30 | 沈阳新松机器人自动化股份有限公司 | Planar multiple-articulation robot |
-
2008
- 2008-03-28 CN CN2008100353544A patent/CN101543991B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1344194A (en) * | 1999-01-15 | 2002-04-10 | 阿西斯特技术公司 | Workpiece handling robot |
| CN1617789A (en) * | 2001-12-04 | 2005-05-18 | 罗兹株式会社 | Scalar type robot for carrying flat plate-like object, and flat plate-like object processing system |
| CN1970246A (en) * | 2005-11-23 | 2007-05-30 | 沈阳新松机器人自动化股份有限公司 | Planar multiple-articulation robot |
| CN1935469A (en) * | 2006-10-17 | 2007-03-28 | 大连理工大学 | Purifying robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101543991A (en) | 2009-09-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101543991B (en) | Three-dimensional mechanical hand | |
| CN105830755B (en) | High branch trimming machinery dynamic counter weight device and control method | |
| CN103084765A (en) | Cantilever type slide rail mechanism applied to rectangular coordinate system robot welding | |
| CN201184863Y (en) | Full-automatic double-gauge-head blood rheogeniometer | |
| CN204789636U (en) | Elevating system is used in wafer test | |
| CN1967979A (en) | Alignment device of out shaft of rotor axis of electric engine | |
| CN201770021U (en) | Grabbing and charging device for vibrating type tray charging machine | |
| CN107290123A (en) | The big angle of attack device of multiple degrees of freedom wind-tunnel | |
| CN105538300A (en) | Full-automatic plate installation manipulator device | |
| CN208358800U (en) | Multiaxis feeding manipulator | |
| CN104795712B (en) | Lead access mechanism for stator winding | |
| CN111661646A (en) | Material taking device | |
| CN209858166U (en) | Photovoltaic module hailstone multi-angle impact test device | |
| CN203403007U (en) | Automatic glass clamping and positioning mechanism | |
| CN107186498B (en) | A kind of five-shaft numerical control drilling lathe for aircraft wing box numeric terminal | |
| CN206369955U (en) | A kind of High-precision angle automatically adjusts platform | |
| CN220006512U (en) | Welding platform | |
| CN107907306A (en) | A kind of camshaft optical detection apparatus | |
| CN206561507U (en) | A kind of vertical rope saw | |
| CN205895141U (en) | Intelligence location blast hole drilling rig | |
| CN105538921A (en) | Adjusting device for marking machine and steel needle marking machine | |
| CN209312787U (en) | A kind of solar battery sheet laser ablation and printing integrative apparatus | |
| CN209125945U (en) | Height adjustment mechanism and wiring board round-corner cutter | |
| CN206511259U (en) | A kind of double-suction head for PCB labelling machines people is with the same attaching mechanism of suction | |
| CN203033427U (en) | Rotating feeding apparatus capable of rotating fulcrum adjustment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| ASS | Succession or assignment of patent right |
Owner name: CHANGZHOU HONGZHEN ELECTRONIC TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: SHANGHAI HONGZHEN ELECTRONIC TECHNOLOGY CO., LTD. Effective date: 20120516 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 200072 ZHABEI, SHANGHAI TO: 213164 CHANGZHOU, JIANGSU PROVINCE |
|
| TA01 | Transfer of patent application right |
Effective date of registration: 20120516 Address after: 213164 building A, block 7, Changzhou Research Institute, Dalian University of Technology, Changzhou science and Education City, Jiangsu Province Applicant after: CHANGZHOU HONGZHEN ELECTRONICS TECHNOLOGY CO., LTD. Address before: 200072, room 4, building 799, 508 Hu Tai Road, Shanghai, Zhabei District Applicant before: Shanghai Hongzhen Electronic Technology Co., Ltd. |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: ANYOU MEDICAL TECHNOLOGY (WUHAN) CO., LTD. Effective date: 20140218 |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20140218 Address after: 213164 building A, block 7, Changzhou Research Institute, Dalian University of Technology, Changzhou science and Education City, Jiangsu Province Patentee after: CHANGZHOU HONGZHEN ELECTRONICS TECHNOLOGY CO., LTD. Patentee after: Safe medical technology (Wuhan) Co., Ltd. Address before: 213164 building A, block 7, Changzhou Research Institute, Dalian University of Technology, Changzhou science and Education City, Jiangsu Province Patentee before: CHANGZHOU HONGZHEN ELECTRONICS TECHNOLOGY CO., LTD. |
|
| TR01 | Transfer of patent right | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120718 Termination date: 20130328 |