CN107379011A - Manipulator - Google Patents

Manipulator Download PDF

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Publication number
CN107379011A
CN107379011A CN201710649834.9A CN201710649834A CN107379011A CN 107379011 A CN107379011 A CN 107379011A CN 201710649834 A CN201710649834 A CN 201710649834A CN 107379011 A CN107379011 A CN 107379011A
Authority
CN
China
Prior art keywords
sucker
bearing
unit
manipulator
arm
Prior art date
Application number
CN201710649834.9A
Other languages
Chinese (zh)
Other versions
CN107379011B (en
Inventor
徐建刚
朱滨
邢军芬
王斌宾
王静
Original Assignee
上海百傲科技股份有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 上海百傲科技股份有限公司 filed Critical 上海百傲科技股份有限公司
Priority to CN201710649834.9A priority Critical patent/CN107379011B/en
Publication of CN107379011A publication Critical patent/CN107379011A/en
Application granted granted Critical
Publication of CN107379011B publication Critical patent/CN107379011B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/06Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum

Abstract

The present invention provides a kind of manipulator, including arm part and crawl section, arm part is configured to move crawl section, in arm part end, turntable is set, crawl section includes rotating turret and grasping element, rotating turret is rotatably arranged on turntable, grasping element is arranged on rotating turret, grasping element includes suction cup carrier and the first sucker and the second sucker that are disposed in suction cup carrier, according to the present invention, crawl section is moved by arm part, slide is captured by the first sucker on crawl section, simultaneously because the second sucker is provided with crawl section, label can also be captured using the second sucker, slide both flexibly can be captured and move so as to realize, it can capture again and mobile tag.

Description

Manipulator
Technical field
The present invention relates to a kind of manipulator, more particularly to a kind of manipulator for capturing slide or label.
Background technology
Genetic chip (also known as DNA chip, biochip) technology refers to largely (usual reticular density every square centimeter is higher than 400) hybridized after probe molecule is fixed on holder with the sample molecule marked, by detecting the miscellaneous of each probe molecule Hand over signal intensity and then obtain the quantity and sequence information of sample molecule.Generally, be exactly by micro-processing technology, by number with The branch such as film, slide is fixed in the DNA fragmentation (gene probe) of the particular sequence of ten thousand meters or even million meters, regularly arrangement Hold on thing.Probe deposition techniques are typically realized by biochip point sample instrument at present, and deposition process is needed in print table Place and slide and the slide in print table removed and is placed into predetermined position, it is therefore desirable to predetermined region it Between shift slide, in addition it is also necessary to the label for display information is attached at into slide, at present usually using artificial side Formula shifts slide, and not only point sample speed is slow, efficiency is low, can not meet to industrialize genetic chip production requirement, and easily make It is damaged into slide, needed in addition after point sample is completed to slide attachment labels, need also exist for using manual type, also face Face above mentioned problem.
The content of the invention
Therefore, the present invention in view of above-mentioned technical problem and propose, and it is an object of the present invention to provide a kind of manipulator, can stablize and jail Admittedly shift slide or attachment labels, improve operating efficiency and the breakage of slide will not be caused.
The manipulator of the present invention, including arm part and the crawl section that is connected with the arm part, in the arm part End is provided with turntable, and the crawl section includes the rotating turret and grasping element being rotatably coupled relative to the turntable, The grasping element includes suction cup carrier, the first sucker and the second sucker, and first sucker and second sucker are separatedly It is arranged in the suction cup carrier.
Further, one end of the bearing is connected in the connected unit, the other end to away from the connected unit side To extension.
Further, the rotating turret includes connected unit and the bearing being arranged in the connected unit, the connected unit phase For the turntable rotatably arranged with.
Further, the bearing is provided with multiple and equally spaced configured around the connected unit, and the grasping element is set It is set to identical with the bearing quantity and is individually fixed in the bearing.
Further, the arm part includes at least three lever arms, and movable pass is provided with each lever arm Section, so as to provide at least three frees degree.
Further, link is provided between the connected unit and the bearing, the external diameter of the link is more than The external diameter of the connected unit, the bearing are arranged on the link, and the link is either permanently or detachably arranged on In connected unit.
Further, the bearing is configured to relative to the link adjusting position.
Further, the first sucker stand is provided between first sucker and the suction cup carrier, described first inhales Disk is arranged on first sucker stand, and the second sucker stand, institute are additionally provided between second sucker and suction cup carrier The second sucker is stated to be arranged on second sucker stand.
Further, it is provided with retractor device between second sucker stand and the suction cup carrier.
Further, be provided with distributing valve, first sucker and second sucker all with the distributing valve pipeline Connection.
Invention effect
The embodiment of the present invention provides a kind of manipulator, including arm part and crawl section, arm part are configured to move crawl Portion, turntable is set in arm part end, crawl section includes rotating turret and grasping element, and rotating turret is rotatably arranged in turntable On, grasping element is arranged on rotating turret, grasping element include suction cup carrier and the first sucker for being disposed in suction cup carrier and Second sucker, the second sucker are micropore sucker, move crawl section by arm part, are captured and carried by the first sucker on crawl section Slide, simultaneously because being provided with the second sucker of micropore sucker on crawl section, label can be captured with the second sucker, so as to real Slide now both flexibly can be captured and moved, can be captured again and mobile tag.
Brief description of the drawings
Fig. 1 is the structural representation of the manipulator of embodiment of the present invention.
Fig. 2 is the enlarged diagram of the part A in Fig. 1.
Fig. 3 is the left view of the part B in Fig. 2.
Embodiment
Hereinafter, the embodiment of the present invention will be further illustrated with reference to accompanying drawing.
Fig. 1-Fig. 3 is refer to, the present invention provides a kind of manipulator, can be used in capturing article, uses in the present embodiment Capture in crawl slide or crawl label or simultaneously slide and label, additionally it is possible to shift slide or label or be slide Attachment labels, the slide refer to usually used 10cm*3cm sheet glass, naturally it is also possible to are the thin of other appropriate sizes Piece, such as sheet glass, quartz plate, plastic sheet, aluminium flake, the label is papery or the tab of plastic material, naturally it is also possible to is Other suitable sheet materials, the manipulator include arm part and crawl section.
The arm part is arranged in frame 10, is configured to the crawl section and is provided support and drive the crawl section It is mobile so that the crawl section can reach predetermined region, capture slide or label.The arm part includes multiple activities Arm, turning joint is provided with the lever arm, for moving lever arm, such as in the present embodiment, from the frame 10 It is disposed with the first lever arm 11 (swivel base), the second lever arm 12, the 3rd lever arm 13, the activity of the 4th lever arm the 14, the 5th The lever arm 16 of arm 15 and the 6th, wherein the first lever arm 11 is arranged in frame 10 with horizontally rotating, first lever arm 11 The first turning joint 111 is provided between frame 10 so that the first lever arm 11 forms the free degree horizontally rotated.It can manage Solution, the second turning joint, the second lever arm 12 and the 3rd activity are provided between the first lever arm 11 and the second lever arm 12 The 3rd turning joint is provided between arm 13, i.e., is provided with turning joint between adjacent lever arm, will not be repeated here.
It should be understood that in order that the crawl section for being arranged on arm part end be neatly moved in three dimensions it is predetermined Region, the arm part include at least three lever arms and three turning joints so that the arm part forms at least three certainly By spending.Preferably, three turning joint including one horizontally rotate joint, one rotate upwardly and downwardly that joint and one are vertical to be turned Movable joint, it is described horizontally rotate joint so that and horizontally rotate joint connection lever arm formed one horizontally rotate the free degree, It is described rotate upwardly and downwardly joint so that and rotate upwardly and downwardly the lever arm of joint connection and form one and rotate upwardly and downwardly the free degree, it is vertical to rotate The lever arm that joint to be connected with vertical cradle head forms a vertical rotational freedom.It is highly preferred that the arm part Including at least five lever arms and five turning joints, and form at least five frees degree, in the present embodiment, the arm part Including six lever arms and six turning joints, six-freedom degree is formed, wherein between first lever arm 11 and frame 10 Including horizontal anomalous movement joint, between the lever arm 12 of the first lever arm 11 and second, second lever arm 12 and the 3rd live Include between swing arm 13, between the 3rd lever arm 13 and the 4th lever arm 14, between the 5th lever arm 15 and the 6th lever arm 16 Up and down joint, vertical rotation turning joint is included between the 4th lever arm 14 and the 5th lever arm 15.
Further, the turning joint also includes power set and transmission device, to drive the turning joint to transport It is dynamic, and the lever arm motion being connected with turning joint is driven, the power set are usually motor, air motor, hydraulic motor Deng the transmission device is decelerator.It should be understood that the motor can be various motors of the prior art, such as direct current Motor, synchronous motor, asynchronous machine, the decelerator are gear reduction unit, planet-gear speed reducer, worm decelerating machine or harmonic wave Decelerator, each turning joint transmission device described in the present embodiment is harmonic speed reducer.It should be understood that the power dress Put to be the device of the stretching structures such as cylinder, hydraulic cylinder, feed screw nut, linear electric motors, electromagnet.
The crawl section is rotatably arranged in the end of arm part, and the end of the arm part is provided with turntable 161, As in the present embodiment, the turntable 161 is arranged on the end of the 6th lever arm 16.The crawl section includes rotating turret 20 and grabbed Element 30 is taken, the rotating turret 20 is rotatably arranged on turntable 161, and the rotating turret 20 includes connected unit 201 and bearing 202, the connected unit 201 is rotatably arranged on turntable 161, and the connected unit 201 is in the cylindric of end face, the branch Seat 202 is in cantilever-shaped, and one end is connected directly between the end face of the connected unit 201 or connected via link 203 described below The end face of the connected unit 201 is connected on, the other end extends to the direction of the end face away from connected unit 201 along its length, institute State pivot center of the length direction parallel to the connected unit 201 of bearing 202.Preferably, the bearing 202 surrounds connected unit 201 are arranged on the edge part of connected unit 201, and the grasping element 30 is arranged on the bearing 202.
It should be understood that power set are additionally provided with the turntable 161 or connected unit 201 to drive connection platform 201 Rotated on turntable 161, so as to drive the rotating turret 20 to be rotated on turntable 161, the power set can be motor, One kind in air motor, hydraulic motor.Certainly can also be taken through setting bearing between turntable 161 and connected unit 201 Etc. the measure of resistance is reduced, will not be repeated here.
In order that crawl section can capture multiple slides simultaneously, multiple grasping elements 30 are provided with the rotating turret 20. It should be understood that when being provided with multiple grasping elements 30 on rotating turret 20, in the connected unit 201 with multiple grasping elements 30 are correspondingly provided with multiple bearings 202.Preferably, the bearing 202 is evenly arranged along the periphery of connected unit 201, such as in this reality Apply and four grasping elements 30 are provided with rotating turret 20 described in example, the periphery of connected unit 201 of the rotating turret 20 is evenly arranged There are four bearings 202, four grasping elements 30 are arranged in correspondence with four bearings 202.
Further, link 203 is additionally provided between the connected unit 201 and bearing 202, the link 203 External diameter is more than the external diameter of the connected unit 201, and the bearing 202 is arranged on the link 203, so as to expand bearing 202 The distance between pivot center of connected unit 201, improve the convenience of operation.The link 203 is fixedly connected or detachably Ground is arranged in connected unit 201, can easily on the whole when link 203 is removably disposed in connected unit 201 Change grasping element 30, can use the threaded connection of prior art, the connected mode such as snap connection realize it is described detachably Setting.
Further, the position of the bearing 202 is configured to adjust relative to link 203, so as to adjust crawl The distance between element 30 and the pivot center of connected unit 201, or the distance between adjacent grasping element 30 of regulation, so as to adapt to Different crawls needs, it is highly preferred that the bearing 202 can be adjusted to the radial motion along connected unit 201.
Further, holder adjustment device 204 is provided with the link 203 to adjust bearing 202 in link Position on 203 (relative to link 203), the holder adjustment device 204 include bearing regulation drive device 204a and branch Seat guider 204b, the bearing adjust drive device 204a and are used to drive the bearing 202 to move on link 203, So as to adjust position of the bearing 202 on link 203, the bearing guider 204b is making the bearing 202 along branch The direction motion that seat guider 204b is limited.It should be understood that radial direction of the direction limited as connected unit 201.Institute It is a cylinder in the present embodiment to state bearing regulation drive device 204a, and the cylinder includes cylinder sleeve and piston, the cylinder Cylinder sleeve is fixed on link 203, and described cylinder piston one end is connected with bearing 202, when the cylinder piston stretches out or shrinks When, drive the bearing 202 along cylinder-bore axis direction to the direction of the pivot center away from connected unit 201 or close to connected unit The direction motion of 201 pivot center, the bearing guider 204b include guide groove and the setting being arranged on link 203 Guide pillar on bearing 202, the guide pillar are contained in the guide groove, and the guide pillar matches with the guide groove.It is appreciated that , the length direction of the guide groove is parallel to the axis of the cylinder, and the length direction of the guide groove is connected unit 201 Radially so that bearing 202 can be stably along the radial motion of connected unit 201.It should be understood that the bearing regulation driving dress It can also be that device, the bearing guider 204b such as feed screw nut, linear electric motors, hydraulic cylinder, electromagnet also may be used to put 204a Think the structures such as guide groove guide wheel, guide hole guide pillar.
The position adjustments mode of bearing 202 is not limited to the mode of cylinder driving, can also be uniform in the end face of link 203 Multiple screws are set, and the bearing 202 is fixed in screw threadably, by the way that the bearing 202 is fixed on The screw of diverse location, it can equally adjust position of the bearing 202 on link 203.
The grasping element 30 is arranged on the bearing 202, and the grasping element 30 includes suction cup carrier 23, the first sucker 21 and second sucker 22, the sucker 22 of the first sucker 21 and second be disposed in suction cup carrier 23, the suction cup carrier 23 is set Put on the bearing 202, in the present embodiment, the suction cup carrier 23 is plate-like, and the suction cup carrier 23 is arranged in bearing 202 Remote link 203 one end, and the suction cup carrier 23 is perpendicular to the length direction of the bearing 202 so that the sucker For frame 23 parallel to the link 203, the sucker 22 of the first sucker 21 and second is separately positioned on the both ends of suction cup carrier 23, and First sucker 21 is identical with the opening direction of the second sucker 22, each parallel to the pivot center of connected unit 201, and direction Direction away from the end face of connected unit 201, the sucker 22 of the first sucker 21 and second are vacuum cup, and second sucker 22 be micropore sucker, and when the first sucker 21 is close to slide, first sucker 21 adsorbs slide, when second sucker 22 close to label when, adsorb label.It should be understood that the surface of the second sucker 22 is provided with some micropores, for adsorbing During label, prevent label to be rolled into sucker and absorption affinity can be equably provided, some micropores are in the second sucker 22 Surface array is arranged, and the micropore size is less than or equal to 2mm, it is highly preferred that the micropore size is less than or equal to 1mm.
Further, it is additionally provided with the first sucker stand 211 between first sucker 21 and suction cup carrier 23, described first Sucker 21 is arranged on first sucker stand 211, in order to prevent the first sucker 21 from, when adsorbing slide, causing slide Damage, first sucker stand 211 could be arranged to elastomer, made using elastomeric material, and slide is rushed with reducing Hit.It should be understood that the elastomeric material can be plastics, rubber, foam etc..In addition, in second sucker 22 and sucker The second sucker stand 221 is additionally provided between frame 23, second sucker 22 is arranged on second sucker stand 221, together Sample, second sucker stand 221 can also be elastomer, be made using elastomeric material, and the elastomeric material can be modeling Material, rubber, foam etc..
In order to more easily make the first sucker 21 and the second sucker 22 close to slide or label, so that the first sucker 21 or second sucker 22 adsorb slide or label, the suction cup carrier 23 and be movably arranged as on bearing 202, the suction cup carrier 23 Drive device 24 is provided between bearing 202, to drive the grasping element 30 to be transported to close to slide or tag orientation It is dynamic, so as to facilitate the first sucker 21 and the second sucker 22 to adsorb slide or label, in the present embodiment, the drive device 24 For a cylinder, the cylinder includes cylinder sleeve and piston, and the cylinder sleeve is fixed on bearing 202, described piston one end and sucker Frame 23 connects, when piston stretches out, the suction cup carrier 23 to moving away from the direction of bearing 202, so as to drive the first sucker 21 and Second sucker 22 moves to away from the direction of bearing 202, so as to facilitate the first sucker 21 and the second sucker 22 to adsorb slide or mark Label, the drive device 24 can also be the devices such as hydraulic cylinder, linear electric motors, feed screw nut, electromagnet.
It should be understood that it is arranged to height be present between the sucker mouth of the sucker mouth of first sucker 21 and the second sucker 22 Degree is poor, to prevent that the second sucker 22 encounters slide to the first sucker 21 when adsorbing slide, it is highly preferred that described second inhales Retractor device 222 is additionally provided between disk 22 and suction cup carrier 23, when the first sucker 21 adsorbs slide, the retractor device 222 the second suckers 22 of drive move to close to the direction of suction cup carrier 23 so that between the sucker mouth and suction cup carrier 23 of the second sucker 22 Distance be less than the distance between the sucker mouth of the first sucker 21 and suction cup carrier 23, so as to prevent the first sucker 21 close to slide When, the second sucker 22 encounters slide, and when needing the second sucker 22 absorption label, the retractor device 222 drives described Second sucker 22 moves to the direction away from suction cup carrier 23, to cause the second sucker 22 when adsorbing label so that the second sucker The distance between 22 sucker mouth and suction cup carrier 23 are more than the distance between sucker mouth and suction cup carrier 23 of the first sucker 21, so as to Prevent that the first sucker 21 meets other labels to the second sucker 22 when close to label.Preferably, the retractor device 222 can be with For a cylinder, the cylinder includes cylinder sleeve and piston, and the cylinder sleeve is fixed in suction cup carrier 23, one end of the piston and the Two sucker stands 221 are connected, and second sucker 22 is arranged on the second sucker stand 221, when piston stretches out, described second Sucker 22 is moved to away from the direction of suction cup carrier 23, and when piston retraction, second sucker 22 is transported to close to the direction of suction cup carrier 23 It is dynamic.It should be understood that the retractor device 222 can also be the devices such as hydraulic cylinder, linear electric motors, feed screw nut, electromagnet.
It should be understood that the sucker 22 of the first sucker 21 and second is also connected with vavuum pump by tracheae 25, to for First sucker 21 and the second sucker 22 provide vacuum.It should be understood that because grasping element 30 is arranged on rotating turret 20, rotate Frame 20 is rotatably connected on turntable 161, in order to prevent in the rotation process of rotating turret 20 with the first sucker 21 and the second sucker The tied up in knots of tracheae 25 of 22 connections, is provided with distributing valve 26, first sucker on the pivot center of the turntable 161 21 are connected with the second sucker 22 with the pipeline of distributing valve 26, and the central distributing valve 26 is the rotation positioned at the center of turntable 161 Distributing valve.Certainly, as long as tracheae 25 does not produce winding problem and can also set distributing valve in other positions as needed.
Further, when the drive device 24 is cylinder, and the retractor device 222 is cylinder, the drive device 24 are connected on central air valve by tracheae 25, and the retractor device 222 is connected on distributing valve 26 with pipeline.
Further, the manipulator also includes control unit, described control unit and the arm part and crawl section electricity Connection or gas connection, for controlling the motion of arm part and crawl section, described control unit includes controller, when the control is single First when electrically connect with the transhipment unit, the controller can (Programmable Logic Controller, can for PLC Programmed logic controller), FPGA (Field Programmable Gate Array, element programmable logic gate array), CPU One kind in (Central Processing Unit, central processing unit).
Further, the manipulator also includes sensor unit, for monitor arm part, crawl section the letter such as position Breath, the sensor unit can be the various sensors of prior art, such as photoelectric sensor, ultrasonic sensor, radar, electricity Magnetic Sensor, Hall sensor, gyroscope, accelerometer etc..
In addition, those skilled in the art can also do other changes in spirit of the invention, certainly, these are according to the present invention The change that spirit is done, it should all be included within scope of the present invention.
Description of reference numerals
10 frames
11 first lever arms
12 second lever arms
13 the 3rd lever arms
14 the 4th lever arms
15 the 5th lever arms
16 the 6th lever arms
111 first turning joints
161 turntables
20 rotating turrets
201 connected units
202 bearings
203 links
204 holder adjustment devices
204a bearings adjust drive device
204b bearing guiders
30 grasping elements
21 first suckers
211 first sucker stands
22 second suckers
221 second sucker stands
222 retractor devices
23 suction cup carriers
24 drive devices
25 tracheaes
26 central distributing valves.

Claims (10)

1. a kind of manipulator, including arm part and the crawl section that is connected with the arm part, set in the end of the arm part Turntable is equipped with, the crawl section includes the rotating turret and grasping element being rotatably coupled relative to the turntable, described to grab Element is taken to include suction cup carrier, the first sucker and the second sucker, first sucker is separatedly arranged on second sucker In the suction cup carrier.
2. manipulator as claimed in claim 1, it is characterised in that the rotating turret includes connected unit and is arranged on the connection Bearing on platform, the connected unit relative to the turntable rotatably arranged with.
3. manipulator as claimed in claim 2, it is characterised in that one end of the bearing is connected in the connected unit, separately One end extends to the direction away from the connected unit.
4. manipulator as claimed in claim 3, it is characterised in that the bearing is provided with multiple and between described connected unit etc. Configured every ground, the grasping element is arranged to identical with the bearing quantity and is individually fixed in the bearing.
5. manipulator as claimed in claim 1, it is characterised in that the arm part includes at least three lever arms, each Turning joint is provided with the lever arm, so as to provide at least three frees degree.
6. the manipulator as described in any one of claim 2-4, it is characterised in that between the connected unit and the bearing Link is provided with, the external diameter of the link is more than the external diameter of the connected unit, and the bearing is arranged on the link, The link is either permanently or detachably arranged in connected unit.
7. manipulator as claimed in claim 6, it is characterised in that the position of the bearing is configured to relative to the company Frame is connect to be adjusted.
8. manipulator as claimed in claim 1, it is characterised in that be provided between first sucker and the suction cup carrier First sucker stand, first sucker are arranged on first sucker stand, between second sucker and suction cup carrier The second sucker stand is additionally provided with, second sucker is arranged on second sucker stand.
9. manipulator as claimed in claim 8, it is characterised in that set between second sucker stand and the suction cup carrier It is equipped with retractor device.
10. manipulator as claimed in claim 1, it is characterised in that be provided with distributing valve, first sucker and described Two suckers are all connected with the distributing valve pipeline.
CN201710649834.9A 2017-08-02 2017-08-02 Manipulator Active CN107379011B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710649834.9A CN107379011B (en) 2017-08-02 2017-08-02 Manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710649834.9A CN107379011B (en) 2017-08-02 2017-08-02 Manipulator

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Publication Number Publication Date
CN107379011A true CN107379011A (en) 2017-11-24
CN107379011B CN107379011B (en) 2019-11-15

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Application Number Title Priority Date Filing Date
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CN (1) CN107379011B (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108466227A (en) * 2018-03-13 2018-08-31 郭考香 A kind of lamps and lanterns cleaning equipment
CN108638026A (en) * 2018-04-08 2018-10-12 广东谷麦光电科技股份有限公司 A kind of optical mould divides mould feeding device
CN109013403A (en) * 2018-06-27 2018-12-18 芜湖汉科信息技术有限公司 A kind of movable electronic sorting equipment

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Publication number Priority date Publication date Assignee Title
US6796014B2 (en) * 2000-09-18 2004-09-28 The Boeing Company Method for coupling first and second structures
CN203181420U (en) * 2013-04-09 2013-09-04 阳程(佛山)科技有限公司 Sucker of reinforcing surface mounting machine
CN104290254A (en) * 2014-09-18 2015-01-21 宁波安信数控技术有限公司 Automatic in-mold labeling equipment of injection molding machine
CN104440895A (en) * 2014-11-13 2015-03-25 苏州经贸职业技术学院 Grabbing mechanical arm with rotating mechanism
CN104889983A (en) * 2015-05-15 2015-09-09 南京协辰电子科技有限公司 Material taking device
CN204686873U (en) * 2015-05-20 2015-10-07 杭州厚达自动化系统有限公司 Room door vanning robot
CN105108748A (en) * 2015-10-13 2015-12-02 广州市柯西机械设备有限公司 Two-section folding arm type semi-automatic feeding manipulator
CN204997683U (en) * 2015-09-14 2016-01-27 昆山龙腾光电有限公司 Vacuum chuck and manipulator that has vacuum chuck
CN205889230U (en) * 2016-07-08 2017-01-18 苏州德机自动化科技有限公司 Mechanical hand tool

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6796014B2 (en) * 2000-09-18 2004-09-28 The Boeing Company Method for coupling first and second structures
CN203181420U (en) * 2013-04-09 2013-09-04 阳程(佛山)科技有限公司 Sucker of reinforcing surface mounting machine
CN104290254A (en) * 2014-09-18 2015-01-21 宁波安信数控技术有限公司 Automatic in-mold labeling equipment of injection molding machine
CN104440895A (en) * 2014-11-13 2015-03-25 苏州经贸职业技术学院 Grabbing mechanical arm with rotating mechanism
CN104889983A (en) * 2015-05-15 2015-09-09 南京协辰电子科技有限公司 Material taking device
CN204686873U (en) * 2015-05-20 2015-10-07 杭州厚达自动化系统有限公司 Room door vanning robot
CN204997683U (en) * 2015-09-14 2016-01-27 昆山龙腾光电有限公司 Vacuum chuck and manipulator that has vacuum chuck
CN105108748A (en) * 2015-10-13 2015-12-02 广州市柯西机械设备有限公司 Two-section folding arm type semi-automatic feeding manipulator
CN205889230U (en) * 2016-07-08 2017-01-18 苏州德机自动化科技有限公司 Mechanical hand tool

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108466227A (en) * 2018-03-13 2018-08-31 郭考香 A kind of lamps and lanterns cleaning equipment
CN108638026A (en) * 2018-04-08 2018-10-12 广东谷麦光电科技股份有限公司 A kind of optical mould divides mould feeding device
CN109013403A (en) * 2018-06-27 2018-12-18 芜湖汉科信息技术有限公司 A kind of movable electronic sorting equipment

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