CN107379011B - Manipulator - Google Patents

Manipulator Download PDF

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Publication number
CN107379011B
CN107379011B CN201710649834.9A CN201710649834A CN107379011B CN 107379011 B CN107379011 B CN 107379011B CN 201710649834 A CN201710649834 A CN 201710649834A CN 107379011 B CN107379011 B CN 107379011B
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CN
China
Prior art keywords
sucker
support
unit
arm
connection frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201710649834.9A
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Chinese (zh)
Other versions
CN107379011A (en
Inventor
徐建刚
朱滨
邢军芬
王斌宾
王静
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Bioon Technology Co Ltd
Original Assignee
Shanghai Bioon Technology Co Ltd
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 Shanghai Bioon Technology Co Ltd filed Critical Shanghai Bioon Technology Co Ltd
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 mobile 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 arranged at intervals in suction cup carrier, according to the present invention, pass through the mobile crawl section of arm part, glass slide is grabbed by the first sucker on crawl section, simultaneously because being provided with the second sucker on crawl section, label can also be grabbed using the second sucker, glass slide both flexibly can be grabbed and move to realize, it can grab again and mobile tag.

Description

Manipulator
Technical field
The present invention relates to a kind of manipulator, in particular to the manipulator of a kind of crawl glass slide or label.
Background technique
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 support with the sample molecule of label, by detecting the miscellaneous of each probe molecule It hands over signal strength and then obtains the quantity and sequence information of sample molecule.Generally, be exactly by micro-processing technology, by number with The DNA fragmentation (gene probe) of the particular sequence of ten thousand meters or even million meters, regularly the branch such as film, slide is fixed in arrangement It holds on object.Probe spotting technology is generally realized by biochip point sample instrument at present, and deposition process needs in print table Place and glass slide and the glass slide in print table removed and is placed into scheduled position, it is therefore desirable to scheduled region it Between shift glass slide, in addition it is also necessary to the label for being used to show information is attached at glass slide, at present usually using artificial side Formula shifts glass slide, and not only point sample speed is slow, low efficiency, is unable to satisfy industrialization genetic chip production requirement, and be easy to make It at glass slide breakage, in addition needs after point sample completion to glass slide attachment labels, also needs using manual type, also face Face the above problem.
Summary of the invention
Therefore, the present invention is proposed in view of above-mentioned technical problem, and it is an object of the present invention to provide a kind of manipulator, can stablize and firm Admittedly shift glass slide or attachment labels, improve operating efficiency and not will cause the breakage of glass slide.
Manipulator of the invention, including arm part and the crawl section being connect 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 support is connected in the connected unit, the other end to far from the connected unit side To extension.
Further, the rotating turret includes connected unit and the support that is arranged in the connected unit, the connected unit phase The turntable can be rotatably set.
Further, the support is provided with multiple and equally spaced configures around the connected unit, and the grasping element is set It is set to identical as the support quantity and is individually fixed in the support.
Further, the arm part includes at least three lever arms, is provided with movable pass on each lever arm Section, to provide at least three degree of freedom.
Further, connection frame is provided between the connected unit and the support, the outer diameter of the connection frame is greater than The outer diameter of the connected unit, the support are arranged on the connection frame, and the connection frame is either permanently or detachably arranged in In connected unit.
Further, the support is configured to relative to the connection frame 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, telescopic device is provided 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, and arm part is configured to mobile crawl Turntable is arranged in arm part end in portion, and crawl section includes rotating turret and grasping element, and rotating turret is rotatably arranged in turntable On, grasping element be arranged on rotating turret, grasping element include suction cup carrier and the first sucker being arranged at intervals in suction cup carrier and Second sucker, the second sucker are micropore sucker, by the mobile crawl section of arm part, are grabbed and are carried by the first sucker on crawl section Slide can grab label with the second sucker simultaneously because being provided with the second sucker of micropore sucker on crawl section, thus real Glass slide now not only flexibly can be grabbed and be moved, but also can be grabbed and mobile tag.
Detailed description of the invention
Fig. 1 is the structural schematic diagram 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.
Specific embodiment
Hereinafter, a specific embodiment of the invention will be further illustrated in conjunction with attached drawing.
Fig. 1-Fig. 3 is please referred to, the present invention provides a kind of manipulator, can be used in grabbing article, use in the present embodiment Grab glass slide and label in crawl glass slide or crawl label or simultaneously, additionally it is possible to shift glass slide or label or for glass slide Attachment labels, the glass slide refer to the sheet glass of usually used 10cm*3cm, naturally it is also possible to be the thin of other appropriate sizes Piece, such as sheet glass, quartz plate, plastic sheet, aluminium flake, the label is the marker of papery or plastic material, naturally it is also possible to be Other suitable sheet materials, the manipulator include arm part and crawl section.
The arm part is arranged in rack 10, is configured to the crawl section and provides support and drive the crawl section It is mobile, enable the crawl section to reach scheduled region, grabs glass slide or label.The arm part includes multiple activities Arm is provided with turning joint on the lever arm, for moving lever arm, such as in the present embodiment, from the rack 10 It is disposed with the first lever arm 11 (swivel base), the second lever arm 12, third lever arm 13, the 14, the 5th activity of the 4th lever arm Arm 15 and the 6th lever arm 16, wherein the first lever arm 11 is arranged in rack 10 with horizontally rotating, first lever arm 11 The first turning joint 111 is provided between rack 10, so that the first lever arm 11 forms the freedom degree horizontally rotated.It can manage Solution, the second turning joint, the second lever arm 12 and third activity are provided between the first lever arm 11 and the second lever arm 12 It is provided with third turning joint between arm 13, i.e., is provided with turning joint between adjacent lever arm, details are not described herein.
It should be understood that predetermined in order to be moved to the crawl section that arm part end is arranged in neatly in three-dimensional space Region, the arm part includes at least three lever arms and three turning joints, so that the arm part forms at least three certainly By spending, it is preferable that three turning joint include 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 make and horizontally rotate joint connect lever arm formed one horizontally rotate freedom degree, The joint that rotates upwardly and downwardly makes and rotates upwardly and downwardly the lever arm formation one of joint connection to rotate upwardly and downwardly freedom degree, vertical to rotate Joint makes the lever arm connecting with vertical cradle head form 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 freedom degrees, 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 rack 10 Including horizontal anomalous movement joint, between first lever arm 11 and the second lever arm 12, second lever arm 12 and third it is living Include between swing arm 13, between third 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 includes vertical rotation turning joint between the 4th lever arm 14 and the 5th lever arm 15.
Further, the turning joint further includes power device and transmission device, to drive the turning joint to transport It is dynamic, and the lever arm movement connecting with turning joint is driven, the power device is usually motor, air motor, hydraulic motor It is retarder Deng, the transmission device.The motor being understood that can be various motors in the prior art, such as direct current Machine, synchronous motor, asynchronous machine, the retarder are that gear reduction unit, planet-gear speed reducer, worm decelerating machine or harmonic wave subtract Fast device, each turning joint transmission device described in the present embodiment is harmonic speed reducer.It should be understood that the power device Or the device of the stretching structures such as cylinder, hydraulic cylinder, feed screw nut, linear motor, 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 end of the 6th lever arm 16 is arranged in the turntable 161.The crawl section includes rotating turret 20 and grabs Element 30 is taken, the rotating turret 20 is rotatably arranged on turntable 161, and the rotating turret 20 includes connected unit 201 and support 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 In cantilever-shaped, one end is connected directly between the end face of the connected unit 201 or connects via connection frame 203 described below seat 202 It connects in the end face of the connected unit 201, the other end extends to the direction of the end face far from connected unit 201 along its length, institute The length direction for stating support 202 is parallel to the pivot center of the connected unit 201, it is preferable that the support 202 surrounds connected unit 201 are arranged in the edge part of connected unit 201, and the grasping element 30 is arranged on the support 202.
It should be understood that being additionally provided with power device in the turntable 161 or connected unit 201 to be drivingly connected platform 201 It is rotated on turntable 161, so that the rotating turret 20 be driven to rotate on turntable 161, the power device can be motor, gas One of dynamic motor, hydraulic motor.Certainly setting bearing etc. can also be taken through between turntable 161 and connected unit 201 Reduce the measure of resistance, details are not described herein.
In order to enable crawl section to grab multiple glass slides simultaneously, multiple grasping elements 30 are provided on 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 supports 202.Preferably, the support 202 is evenly arranged along 201 periphery of connected unit, such as in this reality Applying setting on rotating turret 20 described in example, there are four grasping elements 30, and 201 periphery of connected unit of the rotating turret 20 is evenly arranged There are four support 202, four grasping elements 30 are arranged in correspondence on four supports 202.
Further, connection frame 203 is additionally provided between the connected unit 201 and support 202, the connection frame 203 Outer diameter is greater than the outer diameter of the connected unit 201, and the support 202 is arranged on the connection frame 203, to expand support 202 The distance between 201 pivot center of connected unit, improves the convenience of operation.The connection frame 203 is fixedly connected or detachably Ground be arranged in connected unit 201, when connection frame 203 is removably disposed in connected unit 201, can be convenient on the whole Grasping element 30 is replaced, it is described detachable to realize the connection types such as the threaded connection of the prior art to can be used, snap connection Setting.
Further, the position of the support 202 is configured to adjust relative to connection frame 203, to adjust crawl The distance between the distance between the pivot center of element 30 and connected unit 201, or adjust adjacent grasping element 30, to adapt to Different crawls needs, it is highly preferred that the support 202 can be adjusted to the radial motion along connected unit 201.
Further, holder adjustment device 204 is provided with to adjust support 202 in connection frame on the connection frame 203 Position on 203 (relative to connection frame 203), the holder adjustment device 204 include that support adjusts driving device 204a and branch Seat guiding device 204b, the support adjust driving device 204a and are used to that the support 202 to be driven to move on connection frame 203, To adjust position of the support 202 on connection frame 203, the support guiding device 204b is to make the support 202 along branch Direction movement defined by seat guiding device 204b.It should be understood that the radial direction of connected unit 201 is in the direction limited.Institute Stating support and adjusting driving device 204a is a cylinder in the present embodiment, and the cylinder includes cylinder sleeve and piston, the cylinder Cylinder sleeve is fixed on connection frame 203, and described cylinder piston one end is connect with support 202, when the cylinder piston stretches out or shrinks When, drive the support 202 along cylinder-bore axis direction to the direction of the pivot center far from connected unit 201 or close to connected unit The direction of 201 pivot center moves, and the support guiding device 204b includes the guide groove being arranged on connection frame 203 and setting Guide post on support 202, the guide post are accommodated in the guide groove, and the guide post matches with the guide groove.It is understood 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 the diameter of connected unit 201 To enabling radial motion of the support 202 steadily along connected unit 201.It should be understood that the support adjusts driving device 204a may be the devices such as feed screw nut, linear motor, hydraulic cylinder, electromagnet, and the support guiding device 204b can also be with For structures such as guide groove guide wheel, guide hole guide posts.
The position regulative mode of support 202 is not limited to the mode of cylinder driving, can also uniformly set in 203 end face of connection frame Multiple screw holes are set, the support 202 is fixed in screw hole threadably, by the way that the support 202 to be fixed on not With the screw hole of position, same position of the adjustable support 202 on connection frame 203.
The grasping element 30 is arranged on the support 202, and the grasping element 30 includes suction cup carrier 23, the first sucker 21 and second sucker 22, first sucker 21 and the second sucker 22 be arranged at intervals in suction cup carrier 23, the suction cup carrier 23 is set It sets on the support 202, in the present embodiment, the suction cup carrier 23 is plate-like, and the suction cup carrier 23 is arranged in support 202 Separate connection frame 203 one end, and the suction cup carrier 23 is perpendicular to the length direction of the support 202, so that the sucker Frame 23 is parallel to the connection frame 203, and first sucker 21 and the second sucker 22 are separately positioned on the both ends of suction cup carrier 23, and First sucker 21 is identical as the opening direction of the second sucker 22, each parallel to the pivot center of connected unit 201, and towards remote Direction from 201 end face of connected unit, first sucker 21 and the second sucker 22 are vacuum chuck, and second sucker 22 For micropore sucker, when the first sucker 21 is close to glass slide, first sucker 21 adsorbs glass slide, when second sucker 22 When close to label, label is adsorbed.It should be understood that 22 surface of the second sucker is provided with several micropores, for marking in absorption When label, prevents label to be rolled into sucker and adsorption capacity can be equably provided, several micropores are in 22 table of the second sucker Face array arrangement, 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, and the first sucker 21 leads to glass slide when adsorbing glass slide in order to prevent Damage, first sucker stand 211 can be set to elastomer, made of elastic material, be rushed with reducing to glass slide It hits.It should be understood that the elastic 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 or elastomer are made of elastic material, and the elastic 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 glass slide or label, so that the first sucker 21 or second sucker 22 adsorb glass slide or label, the suction cup carrier 23 and be movably arranged as on support 202, the suction cup carrier 23 Driving device 24 is provided between support 202, to drive the grasping element 30 to transport to close to glass slide or tag orientation It is dynamic, so that the first sucker 21 and the second sucker 22 be facilitated to adsorb glass slide or label, in the present embodiment, the driving device 24 For a cylinder, the cylinder includes cylinder sleeve and piston, and the cylinder sleeve is fixed on support 202, described piston one end and sucker Frame 23 connects, when piston stretches out, the suction cup carrier 23 to move far from 202 direction of support, thus the first sucker 21 of drive and Second sucker 22 is moved to far from 202 direction of support, so that the first sucker 21 and the second sucker 22 be facilitated to adsorb glass slide or mark The devices such as label, the driving device 24 or hydraulic cylinder, linear motor, feed screw nut, electromagnet.
It should be understood that being set as the presence of height between the sucker mouth of first sucker 21 and the sucker mouth of the second sucker 22 It is poor to spend, and to prevent the first sucker 21 when adsorbing glass slide, the second sucker 22 encounters glass slide, it is highly preferred that described second inhales Telescopic device 222 is additionally provided between disk 22 and suction cup carrier 23, when the first sucker 21 adsorbs glass slide, the telescopic device 222 the second suckers 22 of drive are moved to close to 23 direction of suction cup carrier, so that between the sucker mouth and suction cup carrier 23 of the second sucker 22 Distance less than the distance between 21 sucker mouth of the first sucker and suction cup carrier 23, to prevent the first sucker 21 close to glass slide When, the second sucker 22 encounters glass slide, and when needing the second sucker 22 absorption label, the telescopic device 222 drives described Second sucker 22 is moved to far from the direction of suction cup carrier 23, so that the second sucker 22 is when adsorbing label, so that the second sucker The distance between 22 sucker mouth and suction cup carrier 23 are greater than the distance between sucker mouth and suction cup carrier 23 of the first sucker 21, thus Prevent the second sucker 22 when close to label, the first sucker 21 meets other labels.Preferably, the telescopic 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 The connection of two sucker stands 221, second sucker 22 are arranged on the second sucker stand 221, when piston stretches out, described second Sucker 22 is moved to far from 23 direction of suction cup carrier, and when piston retraction, second sucker 22 is transported to close to 23 direction of suction cup carrier It is dynamic.It should be understood that the devices such as the telescopic device 222 or hydraulic cylinder, linear motor, feed screw nut, electromagnet.
It should be understood that first sucker 21 and the second sucker 22 are also connected with vacuum pump by tracheae 25, to for First sucker 21 and the second sucker 22 provide vacuum.It should be understood that since grasping element 30 is arranged on rotating turret 20, rotation Frame 20 is rotatably connected on turntable 161, in order to prevent in 20 rotation process of rotating turret with the first sucker 21 and the second sucker 25 tied up in knots of tracheae of 22 connections, is provided with distributing valve 26, first sucker on the pivot center of the turntable 161 21 and second sucker 22 and 26 piping connection of distributing valve, the distributing valve 26 be the rotation distribution positioned at 161 center of turntable Valve.Certainly, as long as tracheae 25 does not lead to the problem of winding and distributing valve can also be arranged in other positions as needed.
Further, when the driving device 24 is cylinder, and the telescopic device 222 is cylinder, the driving device 24 are connected on central air valve by tracheae 25, and the telescopic device 222 and piping connection are on distributing valve 26.
Further, the manipulator further includes control unit, described control unit and the arm part and crawl section electricity Connection or gas connection, for controlling the movement of arm part and crawl section, described control unit includes controller, when the control is single First when being electrically connected 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 of (Central Processing Unit, central processing unit).
Further, the manipulator further includes sensor unit, the letter such as position for monitoring arm part, crawl section Breath, the sensor unit can be the various sensors of the 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 variations in spirit of that invention, certainly, these are according to the present invention The variation that spirit is done, all should be comprising within scope of the present invention.
Description of symbols
10 racks
11 first lever arms
12 second lever arms
13 third 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 supports
203 connection frames
204 holder adjustment devices
204a support adjusts driving device
204b support guiding device
30 grasping elements
21 first suckers
211 first sucker stands
22 second suckers
221 second sucker stands
222 telescopic devices
23 suction cup carriers
24 driving devices
25 tracheaes
26 distributing valves

Claims (5)

1. a kind of manipulator is set including arm part and the crawl section connecting with the arm part in the end of the arm part It is equipped with turntable, the crawl section includes the rotating turret and multiple grasping elements being rotatably coupled relative to the turntable, often A grasping element includes suction cup carrier, the first sucker and the second sucker, and first sucker is separated with second sucker Ground is arranged in the suction cup carrier, and first sucker is for constituting outer layer adsorbent equipment, and second sucker is in constituting Layer adsorbent equipment, first sucker are respectively used to adsorb different workpiece from second sucker;
The rotating turret includes connected unit and the support that is arranged in the connected unit, and the connected unit can relative to the turntable Rotationally it is arranged, first sucker rotation identical and each parallel to the connected unit with the opening direction of second sucker Axis;
The support is provided with multiple and equally spaced configures around the connected unit, and the grasping element is set as and the support Quantity is identical and is individually fixed in the support;
Connection frame is provided between the connected unit and the support, the outer diameter of the connection frame is greater than the outer of the connected unit Diameter, the support are arranged on the connection frame, and the connection frame is either permanently or detachably arranged in connected unit;
Holder adjustment device is provided on the connection frame to adjust position of the support on the connection frame, the branch Seat regulating device includes that support adjusts driving device and support guiding device, and the support guiding device is to make the support edge Direction defined by the support guiding device movement, defined by direction be along the connected unit radial direction, the support Adjusting driving device drives the support to turn to the direction of the pivot center far from the connected unit or close to the connected unit The direction of shaft line moves;
The second sucker stand is additionally provided between second sucker and suction cup carrier, second sucker is arranged described second On sucker stand, telescopic device is provided between second sucker stand and the suction cup carrier.
2. manipulator as described in claim 1, which is characterized in that one end of the support is connected on the connection frame, separately One end extends to the direction far from the connected unit.
3. manipulator as described in claim 1, which is characterized in that the arm part includes at least three lever arms, each It is provided with turning joint on the lever arm, to provide at least three degree of freedom.
4. manipulator as described in claim 1, which is characterized in that be provided between first sucker and the suction cup carrier First sucker stand, first sucker are arranged on first sucker stand.
5. manipulator as described in claim 1, which is characterized in that be provided with distributing valve, first sucker and described Two suckers all with the distributing valve piping connection.
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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CN107379011A CN107379011A (en) 2017-11-24
CN107379011B true CN107379011B (en) 2019-11-15

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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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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
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

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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
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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
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
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

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