CN108000497A - Development of intelligent laboratory with lifting arm - Google Patents
Development of intelligent laboratory with lifting arm Download PDFInfo
- Publication number
- CN108000497A CN108000497A CN201711485740.9A CN201711485740A CN108000497A CN 108000497 A CN108000497 A CN 108000497A CN 201711485740 A CN201711485740 A CN 201711485740A CN 108000497 A CN108000497 A CN 108000497A
- Authority
- CN
- China
- Prior art keywords
- lifting arm
- arm
- component
- development
- assembly
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L1/00—Enclosures; Chambers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L9/00—Supporting devices; Holding devices
- B01L9/02—Laboratory benches or tables; Fittings therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Clinical Laboratory Science (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Manipulator (AREA)
Abstract
The present invention provides the Development of intelligent laboratory with lifting arm, including casing assembly, workbench and robot assembly, workbench and robot assembly to be arranged in casing assembly, and workbench is used to set the Instrument assembly for robot assembly's operation；Robot assembly includes lifting arm component, and the tail end for lifting arm component is lifted in casing assembly, and the front end for lifting arm component is provided with manipulator.Compared with prior art, the present invention compared with vertical robot in existing laboratory, can reduce the components such as trunk, column, and can save space so that Development of intelligent laboratory can minimize using the Instrument assembly below the robot manipulation with lifting arm component.Further, when the quantity for lifting arm component is two or more, the manipulator of robot can two Handball Associations as people it is same, flexibly cooperation so that people can be substituted by robot completely in laboratory.
Description
Technical field
The present invention relates to smart machine field, more particularly to the Development of intelligent laboratory with lifting arm.
Background technology
In hospital and chemical engineering center, as soon as laboratory is an important facility, for hospital, in laboratory, and doctor
It is raw to carry out the separation and Extraction of the material such as inhereditary material and serum, the culture of cell and other microorganisms, medicine detection, medical experiment
It is high etc. a variety of operations, these operating technology contents, it is desirable to which that each single item operation is all extremely accurate, cannot occur any mistake in operation
By mistake.Medical resource anxiety is additionally, since, is typically to operate at full capacity in the laboratory of hospital, has aggravated the work load of doctor,
Easily fatigue and error.
Robot (Robot) is the installations of automated execution work.It can not only receive mankind commander, but also can run
The program of advance layout, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as production industry, construction industry, or dangerous work.With robot technology sustainable development into
Step, robot have gradually started to start to work instead of the mankind in all trades and professions, and the laboratory of hospital also begins to introducing machine
Device people is operated.But what how much the robot in existing hospital designed to perform one or some operation, only
Doctor can be replaced to carry out part operation, can not replace doctor completely, and comprehensive Development of intelligent laboratory volume it is big, it is complicated,
It is of high cost, it is difficult to realize commercial application.
The content of the invention
For overcome the deficiencies in the prior art, the present invention provides the Development of intelligent laboratory with lifting arm.
Specifically, its technical solution is as follows：
A kind of Development of intelligent laboratory of band lifting arm, including casing assembly, workbench and robot assembly, the workbench
It is arranged on the robot assembly in the casing assembly, the workbench is used to set for robot assembly operation
Instrument assembly；
The robot assembly includes lifting arm component, and the tail end of the lifting arm component is lifted on the shell group
In part, the front end of the lifting arm component is provided with manipulator.
In some preferred embodiments, it is provided with the casing assembly above the workbench removable flat
Platform component, the tail end of the lifting arm component are lifted on the moveable platform component.
In some preferred embodiments, the quantity of the lifting arm component be two or more, including first lifts
Arm component and the second lifting arm component, the tail end of the first lifting arm component and the second lifting arm component
Tail end is lifted in the casing assembly respectively, the front end of the first lifting arm component and the second lifting arm component
Front end be respectively arranged with a manipulator.
In some preferred embodiments, the Instrument assembly includes liquid-transfering gun, test tube, rack for test tube, centrifugal device, perseverance
One or more in warm device, refrigerator, oscillator, spectrophotometer, PCR instrument and incubator.
In some preferred embodiments, the moveable platform component includes crossbearer, sliding block and arm mounting bracket, institute
State crossbearer to be fixed in the casing assembly, the sliding block is held slideably in the lower section of the crossbearer, the sliding block
Lower section is fixedly connected with the arm mounting bracket；
The tail end of the lifting arm component is lifted on the lower section of the arm mounting bracket.
In some preferred embodiments, the first lifting arm component is sequentially rotatablely connected by multiple arm monomers
Form, wherein, the pivot center for having the arm monomer of more than three is not parallel to each other；
And/or the second lifting arm component is sequentially rotatablely connected by multiple arm monomers and formed, wherein, there are three
The pivot center of arm monomer above is not parallel to each other.
In some preferred embodiments, the first lifting arm component is sequentially rotatablely connected by eight arm monomers
Form, the arm monomer of tail end is lifted in the casing assembly, and the pivot center of the arm monomer of tail end is vertically, first
The arm monomer at end is fixedly connected with the manipulator；
And/or the second lifting arm component is sequentially rotatablely connected by eight arm monomers and formed, the arm list of tail end
Body is lifted in the casing assembly, and the pivot center of the arm monomer of tail end vertically, fix by the arm monomer of head end
Connect the manipulator.
In some preferred embodiments, the manipulator includes robot base, front end camera, first straight line driving
Mechanism and clamp assemblies, the robot base are arranged on the first lifting arm component or the second lifting arm group
The front end of part, the front end camera are arranged in the robot base, and the first straight line driving mechanism is arranged on the machine
In tool hand pedestal, the output terminal of the first straight line driving mechanism is provided with respectively to be pressed from both sides for installing and driving in the clamp assemblies
Hold slide block assembly of the block along rectilinear movement；
The shape of each grip block matches in the clamp assemblies, folder during for mutually closing up between the grip block
The grasping part for clamping part to be held can be formed between block by holding.
In some preferred embodiments, guide rod is provided with the crossbearer, the sliding block is slideably set in
On the guide rod.
In some preferred embodiments, rack for test tube positioning clamping device is provided with the workbench, for positioning
And clamp the rack for test tube.
The present invention at least has the advantages that：
The Development of intelligent laboratory of the band lifting arm provided according to the present invention, including casing assembly, workbench and robot group
Part, workbench and robot assembly are arranged in casing assembly, and workbench is used to set the instrument group for robot assembly's operation
Part；Robot assembly includes lifting arm component, and the tail end for lifting arm component is lifted in casing assembly, lifts arm component
Front end be provided with manipulator.Compared with prior art, the present invention is using with below the robot manipulation for lifting arm component
Instrument assembly, compared with vertical robot in existing Development of intelligent laboratory, can reduce the components such as trunk, column, and can save
Space so that Development of intelligent laboratory can minimize.Further, when the quantity for lifting arm component is two or more, robot
Manipulator can two Handball Associations as people it is same, flexibly cooperation so that people can be substituted by robot completely in laboratory.Separately
On the one hand, since the tail end for lifting arm component is lifted on moveable platform component, the length of arm can not increased
Under the premise of expand arm activity space, further simplify the structure of robot.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the overall oblique view of the Development of intelligent laboratory with lifting arm in the embodiment of the present invention；
It is first oblique after the panel of casing assembly that Fig. 2 is that Development of intelligent laboratory with lifting arm in the embodiment of the present invention removes
View；
It is second oblique after the panel of casing assembly that Fig. 3 is that Development of intelligent laboratory with lifting arm in the embodiment of the present invention removes
View；
Fig. 4 is the first explosive view of moveable platform component in the embodiment of the present invention；
Fig. 5 is the second explosive view of moveable platform component in the embodiment of the present invention；
Fig. 6 is the oblique view of the first lifting arm component in the embodiment of the present invention；
Fig. 7 is the oblique view of the first manipulator of the first in the embodiment of the present invention；
Fig. 8 is the explosive view of the first manipulator of the first in the embodiment of the present invention；
Fig. 9 is the oblique view of second of first manipulators in the embodiment of the present invention；
Figure 10 is the explosive view of second of first manipulators in the embodiment of the present invention；
Figure 11 is the first oblique view of positioning clamping device in the embodiment of the present invention；
Figure 12 is the second oblique view of positioning clamping device in the embodiment of the present invention；
Figure 13 is the first explosive view of positioning clamping device in the embodiment of the present invention；
Figure 14 is the second explosive view of positioning clamping device in the embodiment of the present invention；
Figure 15 is the first oblique view that positioning clamping device hides after pedestal cover board in the embodiment of the present invention.
Main element symbol description：
Development of intelligent laboratory of the 10- with lifting arm；1000- manipulators；1001- strip sources；1100- pedestals；1110- bases
Shell；1120- backboards；1130- side plates；1140- bottom plates；1200- first straight line driving mechanisms；The first sliding blocks of 1310-；1320-
Two sliding blocks；The first grip blocks of 1410-；The second grip blocks of 1420-；The first grasping parts of 1510-；The second grasping parts of 1520-；
The 3rd grasping parts of 1530-；The first fixed blocks of 1610-；The second fixed blocks of 1620-；1700- front ends camera；1800- through slots；
1900- columns；4100- first lifts arm component；4110- the first arm monomers；4120- the second arm monomers；4130- the 3rd
Arm monomer；The 4th arm monomers of 4140-；The 5th arm monomers of 4150-；The 6th arm monomers of 4160-；The 7th arms of 4170-
Monomer；The 8th arm monomers of 4180-；4200- second lifts arm component；200- casing assemblies；210- panels；211- windows；
220- frames；230- pedestals；240- transparent panels；250- partition plates；300- pipette holders；400- workbench；500- centrifugal devices；
600- rack for test tubes；700- positioning clamping devices；7001- hornblocks；7002- connection sheets；7100- positioning pedestals；7110- base seat lids
Plate；7120- base bodies；7130- bottom plates；7200- second straight line driving mechanisms；7300- impeller-hubs；The first pressing plates of 7410-；
The second pressing plates of 7420-；The 3rd pressing plates of 7430-；The 4th pressing plates of 7440-；The 5th pressing plates of 7450-；7510- first connecting rods；7520-
Two connecting rods；7530- third connecting rods；7540- fourth links；The 5th connecting rods of 7550-；7560- six-bar linkages；The first pressing plates of 7610-
Mounting base；7620- the second pressing plate mounting bases；The 3rd pressing plate mounting bases of 7630-；The 4th pressing plate mounting bases of 7640-；7710- first
Positioning and guiding component；7711- fixinig plates；7712- axle sleeves；7713- connecting rod guiding axis；7720- the second positioning and guiding components；800-
De- gun rack；900- moveable platform components；910- crossbearers；920- sliding blocks；930- arm mounting brackets；940- guide rods.
Embodiment
Hereinafter, various embodiments of the present invention will be described more fully.The present invention can have various embodiments, and
It can adjust and change wherein.It should be understood, however, that：There is no various embodiments of the present invention are limited to spy disclosed herein
Determine the intention of embodiment, but should invention is construed as covering falling into the spirit and scope of various embodiments of the present invention
All adjustment, equivalent and/or alternatives.
Embodiment
A kind of Development of intelligent laboratory 10 of band lifting arm is present embodiments provided, please refers to Fig.1-Fig. 3, band lifting arm
Development of intelligent laboratory 10 include casing assembly 200, workbench 400 and robot assembly, workbench 400 and robot assembly are set
In casing assembly 200, workbench 400 is used to set the Instrument assembly for robot assembly's operation.
Wherein, robot assembly includes lifting arm component.Preferably, lifting arm component includes the first lifting arm group
Part 4100 and second lifts arm component 4200.The top of workbench 400 is provided with moveable platform group in casing assembly 200
The tail end of part 900, the tail end of the first lifting arm component 4100 and the second lifting arm component 4200 is lifted on removable respectively
The front end difference of the lower section of platform assembly 900, the front end of the first lifting arm component 4100 and the second lifting arm component 4200
It is provided with a manipulator 1000.
The present embodiment uses the robot manipulation with lifting arm component to test indoor Instrument assembly, using lifting mode
Arm operation lower section Instrument assembly when, compared with vertical robot in existing Development of intelligent laboratory, trunk, column can be reduced
Deng component, and space can be saved so that Development of intelligent laboratory can minimize.
Further, since preferably using double lifting arm components, the present embodiment is using pair machine of lifting arm components
Instrument assembly in people's operation experiments room, this pair lifting arm component robot manipulator can as people two Handball Associations
Together, flexibly cooperation so that people can be substituted by robot completely in laboratory.
Preferably, Instrument assembly includes liquid-transfering gun, test tube, rack for test tube 600, centrifugal device 500, thermostat, refrigerator, vibration
One or more in device, spectrophotometer, PCR instrument and incubator.Wherein, liquid-transfering gun is placed on pipette holder, and test tube is placed in
On rack for test tube 600.
In the present embodiment, casing assembly 200 is used for the laboratory environment and installment work platform 400, machine for forming closing
Device people component and other annexes.As a kind of preferable casing assembly 200, its by frame 220, panel 210, pedestal 230 and every
Plate 250 forms.Wherein, frame 220 as with lifting arm Development of intelligent laboratory 10 support mechanism, preferably by more it is solid or
Hollow column, spreader overlap to form square box.Polylith panel 210 mode such as is fastened by bolts or welds and is arranged on frame
On 220, and each panel 210 surrounds at least one enclosure space together with frame 220, for installment work platform in the enclosed space
400th, robot assembly and other annexes.Preferably, opening is provided with least a portion panel 210, is provided with opening
Isotropic disk 240 so that user can be from external observation.Preferably, at least a portion panel is flexibly connected with frame 220.
Wherein, the quantity of pedestal 230 is multiple to be arranged on the bottom of frame 220, and contacts ground or other pedestals.
Preferably, 230 component of pedestal includes parallel arrangement of wheel group and can adjust the support component with ground distance between the surface.
Wherein, partition plate 250 is located at the inside of frame 220, for by with lifting arm Development of intelligent laboratory 10 inside points
If it is cut into dried layer region so that mechanical, electric attachments required for the Development of intelligent laboratory 10 with lifting arm (such as power supply, relay
Device, source of the gas etc.) with workbench 400 not in same region, can prevent interference, it is easy to maintain.
Preferably, as shown in Figure 4 and Figure 5, moveable platform component 900 includes crossbearer 910, sliding block 920 and arm installation
Frame 930.Wherein, crossbearer 910 is fixed in casing assembly 200, specifically, is had in casing assembly 200 in the top of workbench 400
There is partition plate 250, crossbearer 910 is fixed on the lower surface of partition plate 250.Wherein, sliding block 920 is held slideably in crossbearer 910
Lower section, specifically, the lower section of crossbearer 910 are provided with track or locating part so that sliding block 920 is limited in the movement of vertical direction
System, can only move in the horizontal direction.The lower section of sliding block 920 is fixedly connected with arm mounting bracket 930, it is preferable that arm mounting bracket 930 is
Platy structure, it is fixed on the lower surface of sliding block 920.In the present embodiment, the movement of sliding block 920 can by linear motor, electric cylinders,
The driving mechanisms such as hydraulic cylinder are realized.Due to the tail end of the first lifting arm component 4100 and the tail of the second lifting arm component 4200
End is lifted on moveable platform component respectively, and the activity that can expand arm on the premise of the length of arm is not increased is empty
Between, it further simplify the structure of robot.
Preferably, the surface of at least a portion panel 210 is provided with window 211, can lift arm toward band by window 211
Development of intelligent laboratory 10 in be sent into article or be taken out article.Further preferably, window 211, which is configured with, can open and close
The door-plate of window 211.
In the present embodiment, the tail end lifting of the tail end of the first lifting arm component 4100 and the second lifting arm component 4200
In the lower section of arm mounting bracket 930.
Preferably, guide rod 940 is provided with crossbearer 910, sliding block 920 is slideably set on guide rod 940.Due to
Guide rod 940 is provided with, sliding block 920 can only be moved along fixed-direction, improve machine in the Development of intelligent laboratory 10 with lifting arm
The motion control accuracy of device people's component.
Preferably, the first lifting arm component 4100 is sequentially rotatablely connected by multiple arm monomers forms, wherein, there are three
The pivot center of arm monomer above is not parallel to each other.By above-mentioned setting, first in the present embodiment lifts arm component
4100 can be any movable in three dimensions so that the first lifting arm component 4100 has high degree of flexibility.
Preferably, the second lifting arm component 4200 is sequentially rotatablely connected by multiple arm monomers forms, wherein, there are three
The pivot center of arm monomer above is not parallel to each other.By above-mentioned setting, second in the present embodiment lifts arm component
4200 can be any movable in three dimensions so that the second lifting arm component 4200 has high degree of flexibility.
Preferably, the first lifting arm component 4100 is sequentially rotatablely connected by eight arm monomers forms, the arm of tail end
The lower section of moveable platform component 900 is lifted on, vertically, the arm of head end is fixed to be connected the pivot center of the arm of tail end
Welding manipulator 1000.Since with eight arm monomers, the degree of flexibility of the first lifting arm component 4100 is far above human body
Arm, and foldable between arm monomer, save the occupied space of the first lifting arm component 4100.
Preferably, the second lifting arm component 4200 is sequentially rotatablely connected by eight arm monomers forms, the arm of tail end
The lower section of moveable platform component 900 is lifted on, vertically, the arm of head end is fixed to be connected the pivot center of the arm of tail end
Welding manipulator 1000.Since with eight arm monomers, the degree of flexibility of the second lifting arm component 4200 is far above human body
Arm, and foldable between arm monomer, save the occupied space of the second lifting arm component 4200.
Preferably, in the present embodiment, the first lifting arm component 4100 and second lifts the structure of arm component 4200
Identical, i.e., the arm monomer positioned at same level is of similar shape, size, and identical with adjacent level arm monomer
Connection relation.
When the first lifting arm component 4100 and second lifts arm component 4200 by eight arm monomers sequentially company of rotation
Connect into when, by first lifting arm component 4100 exemplified by, it includes the first arm monomer 4110, second being sequentially rotatablely connected
Arm monomer 4120, the 3rd arm monomer 4130, the 4th arm monomer 4140, the 5th arm monomer 4150, the 6th arm monomer
4160th, the 7th arm monomer 4170 and the 8th arm monomer 4180, above-mentioned arm monomer are hollow rod structure, it is internally provided with
The devices such as cable, sensor, its end set have device of rotation driving, such as motor.Wherein, the first arm monomer 4110 is located at
Tail end, it is lifted on the lower surface of arm mounting bracket 930, its extending direction is straight down, its pivot center is also straight down.
Second arm monomer 4120 is rotatablely connected with the first arm monomer 4110, the pivot center edge level side of the second arm monomer 4120
To extension, specifically, the connecting portion between the second arm monomer 4120 and the first arm monomer 4110 is provided with a driving
Tumbler, such as motor, the mover and stator of motor are separately positioned on the second arm monomer 4120 and the first arm monomer
In 4110, thus when the motor is energized, its output revolving shaft is just driven in the second arm monomer 4120 and the first arm monomer 4110
Between one around another rotation.
Based on similar principles, the second arm monomer 4120, the 3rd arm monomer 4130, the 4th arm monomer the 4140, the 5th
Arm monomer 4150, the 6th arm monomer 4160, the 7th arm monomer 4170 and the 8th arm monomer 4180 are sequentially rotatablely connected.
And the first arm monomer 4110, the second arm monomer 4120, the 3rd arm monomer 4130, the 4th arm monomer the 4140, the 5th
In arm monomer 4150, the 6th arm monomer 4160, the 7th arm monomer 4170 and the 8th arm monomer 4180, there are more than three
The pivot center of arm monomer be not parallel to each other, and be configured to along multiple directions so that the first lifting arm component
4100 have multiple frees degree in three dimensions.
8th arm monomer 4180 positioned at first lifting arm component 4100 front end, and the 8th arm monomer 4180 from
Manipulator 1000 is provided with by end.Alternatively, rotation driving dress is provided between the 8th arm monomer 4180 and manipulator 1000
Put so that can be relatively rotated between the 8th arm monomer 4180 and manipulator 1000.
Preferably, device of rotation driving is servomotor in the present embodiment.Since servomotor has feedback characteristics, thus
The rotational angle between each arm can be accurately controlled, realizes the exact localization operation of manipulator 1000.
Preferably, in the present embodiment, gyroscope is provided with least a portion arm monomer, for accurate measurement arm list
The rotational angle of body, easy to accurately control the athletic posture of robot assembly.
As shown in Figure 7, Figure 8, the first preferable manipulator 1000 is present embodiments provided, manipulator 1000 includes machinery
Hand positioning pedestal 1100, first straight line driving mechanism 1200 and clamp assemblies, first straight line driving mechanism 1200 are arranged on machinery
In hand positioning pedestal 1100, the output terminal of first straight line driving mechanism 1200 is provided with for installing and driving in clamp assemblies respectively
Slide block assembly of the grip block along rectilinear movement.
Wherein, as a kind of preferable manipulator positioning pedestal 1100, it includes base enclosure 1110, backboard 1120 and side plate
1130.The main body of base enclosure 1110 is U-shaped structure,
When first straight line driving mechanism 1200 is arranged in manipulator positioning pedestal 1100, base enclosure 1110 can cover
On one straight line driving mechanism 1200, the surface of left, lower three sides.Backboard 1120 is arranged on the back of base enclosure 1110, and side plate 1130 is set
The side for the side that is open in base enclosure 1110 is put, the front of base enclosure 1110 is provided with opening, for supplying first straight line driving mechanism
1200 output terminal stretches out.
In the present embodiment, first straight line driving mechanism 1200 is used to provide each grip block edge rectilinear movement in clamp assemblies
Power.As a kind of preferable first straight line driving mechanism 1200, first straight line driving mechanism 1200 includes electric cylinders, electric cylinders
Primary structure includes driving motor, transmission mechanism, line slideway and slide block assembly.Wherein, it is preferably servomotor to drive motor
Or stepper motor, due to using the driving motor of servomotor or stepper motor as electric cylinders, can accurately control driving motor
Output quantity, such as the rotational angle of motor output shaft, and then the displacement of accurate control slide block.Wherein, transmission mechanism is preferably
Leading screw or tooth band, their input terminal are engaged with the gear in driving motor output shaft, their output terminal output straight line fortune
It is dynamic.The output terminal connection of sliding block and transmission mechanism in slide block assembly, it is thus possible to along rectilinear movement.Sliding block in slide block assembly
It is arranged on line slideway so that sliding block can only be moved linearly under the limitation of line slideway.
In the present embodiment, the shape of each grip block matches in clamp assemblies, during for mutually closing up between grip block
The grasping part for clamping part to be held can be formed between grip block.
As a kind of preferable clamp assemblies and slide block assembly, clamp assemblies include the first grip block 1410 and the second clamping
Block 1420, slide block assembly include the first sliding block 1310 and the second sliding block 1320.Wherein, the first grip block 1410 is fixed on the first cunning
On block 1310, the second grip block 1420 is fixed on the second sliding block 1320, the first grip block 1410 and the second grip block 1420
Shape matches, and it is empty can to form clamping when mutually closing up for the first grip block 1410 and the second grip block 1420 therebetween
Between.
Preferably, it is integral on the first grip block 1410 to be provided with the first fixed block 1610, the first fixed block 1610 and
It is fixedly connected between one sliding block 1310 by fasteners such as bolts.It is integral on second grip block 1420 to be provided with the second fixed block
1620, it is fixedly connected between the second fixed block 1620 and the second sliding block 1320 by fasteners such as bolts.
Further preferably, the quantity of grasping part is multiple that multiple grasping parts edges are from clamp assemblies away from slide block assembly
One end set respectively to one end close to slide block assembly.Further preferably, it is interconnected between adjacent grasping part.
Further preferably, it is empty to include the first grasping part 1510, the second grasping part 1520 and the 3rd clamping for grasping part
Between 1530.Wherein, the first grasping part 1510 is by the remote slide block assembly of the first grip block 1410 and the second grip block 1420
One end is formed, in the first grasping part 1510, the cooperation of the first grip block 1410 and the second grip block 1420 and part to be held
Face is a pair of plane being parallel to each other.
Further preferably, the first grip block 1410 and second one end of grip block 1420 away from slide block assembly are respectively provided with one
Protrusion, the first grasping part 1510 are formed by plane opposite between protrusion.By in the first grip block 1410 and the second clamping
The one end of block 1420 away from slide block assembly sets protrusion, can not only play the role of forming the first grasping part 1510, additionally it is possible to
Pressing is performed using the finger of embossed mould personification, stirs, the action such as twist.
Wherein, the 3rd grasping part 1530 by the first grip block 1410 and the second grip block 1420 close to slide block assembly
One end is formed, in the 3rd grasping part 1530, the cooperation of the first grip block 1410 and the second grip block 1420 and part to be held
Face is a pair of plane being parallel to each other.
Further preferably, in the 3rd grasping part 1530, the first grip block 1410 and the second grip block 1420 are pressed from both sides with waiting
Spacing between the mating surface of gripping member be more than in the first grasping part 1,510 first grip block 1410 and the second grip block 1420 with
Spacing between the mating surface of part to be held.Thus, it is possible to the root using the first grip block 1410 and the second grip block 1420
Clamping needs the part to be held of larger chucking power.
It should be noted that in the present embodiment, in the first grasping part 1510 and in the 3rd grasping part 1530, the
Spacing between one grip block 1410 and the second grip block 1420 and the mating surface of part to be held refers to, the first grip block 1410 with
Distance of the contact surface of part to be held to the second grip block 1420 and the contact surface of part to be held.
Wherein, the second grasping part 1520 between the first grasping part 1510 and the 3rd grasping part 1530 and is distinguished
The first grasping part 1510 and the 3rd grasping part 1530 are connected, in the second grasping part 1520,1410 He of the first grip block
It is empty along being clamped from the first grasping part 1510 to the 3rd that the mating surface of second grip block 1420 and part to be held includes a pair of of spacing
Between 1530 the directions inclined-plane, a pair of plane being parallel to each other and a pair of of the cambered surface that gradually increase.
It should be noted that in the present embodiment, in the second grasping part 1520, the inclined-plane on the first grip block 1410
All it is arranged in pairs with the inclined-plane on the second grip block 1420, the plane being parallel to each other, cambered surface, when on the first grip block 1410
When inclined-plane is contacted with part to be held, the inclined-plane on the second clamping piece is also contacted with part to be held, plane, the cambered surface being parallel to each other
It is to use same pairing mechanism, is no longer further discussed below in the present embodiment.
In the present embodiment, since 1,520 first grip block 1410 of the second grasping part and the second grip block 1420 are pressed from both sides with waiting
The mating surface of gripping member had both included a pair of of spacing edge and had gradually increased from the first grasping part 1510 to 1530 direction of the 3rd grasping part
Inclined-plane, and including the plane that is parallel to each other of a pair and a pair of of cambered surface, thus the second grasping part 1520 can be used in fixture
There is the part to be held of various shapes, it is circular or square, it is regular or irregular.With setting multiple sets of fixtures in the prior art
Or manipulator 1000 is designed to that imitative finger shape is compared, structure is greatly simplify, and be easy to position, control program letter
It is single, service life length.
Further preferably, through slot 1800, through slot are both provided with the first grip block 1410 and the second grip block 1420
1800 run through the first grip block 1410 and the second grip block 1420, can be used in wearing cable, the object of column class.
Further preferably, the outer surface of the first grip block 1410 and the second grip block 1420 is both provided with column 1900, stands
Column 1900 is extended perpendicularly out by a side external surface of the first grip block 1410 and the second grip block 1420, can be used in performing positioning,
The actions such as suspension, pressing.
Further preferably, the main body of the first grip block 1410 and the second grip block 1420 is slab construction, the first grip block
1410 and second are each provided with more than two columns 1900 on grip block 1420.When the first grip block 1410 and the second grip block
1420 when closing up, and each column 1900 surrounds the shape such as square, circular, thus, it is possible to utilize the first grip block 1410 and the second folder
The apish palm bearing tray of plate face, the barreled thing of block 1420 are held, and column 1900 is then positioned at the periphery progress of carried thing
It is spacing.
Preferably, manipulator 1000 further includes front end camera 1700, for gathering the image in front of clamp assemblies.Wherein,
Front end camera 1700 is located in manipulator positioning pedestal 1100, and the camera lens of front end camera 1700 stretches out manipulator positioning pedestal
1100.Further preferably, the camera lens of front end camera 1700 is stretched out from the top of line slideway, and the direction of camera lens and the first clamping
Block 1410, the direction of the second grip block 1420 are identical.It can be gathered due to being provided with manipulator 1000 in front of clamp assemblies
Image.When manipulator 1000 is installed on the arm of robot, the essence in the front of 1700 collection machinery hand of front end camera 1000
True image is accurately positioned manipulator 1000 for robot.
Preferably, the quantity of front end camera 1700 is multiple, for obtaining the stereo-picture of clamp assemblies front space.It is logical
Cross using multiple front end cameras 1700, the even more mesh shootings of binocular can be carried out as human eye, stereo-picture are obtained, easy to machine
Device people accurately manipulates manipulator 1000 in three dimensions.
As shown in Figure 9, Figure 10, the present embodiment additionally provides second of manipulator 1000, with the first 1000 phase of manipulator
Than the main distinction of second of manipulator 1000 is：The quantity of front end camera 1700 is one, it is arranged on line slideway
Top.Moreover, the lower section of front end camera 1700 is provided with strip source 1001.
In the present embodiment, manipulator positioning pedestal 1100 includes base enclosure 1110, backboard 1120 and bottom plate 1140.Base enclosure
1110 main body is U-shaped structure, when first straight line driving mechanism 1200 is arranged in manipulator positioning pedestal 1100, base enclosure
1110 can cover in first straight line driving mechanism 1200, the surface of left and right three side.
The further feature of second of manipulator 1000 is identical with the first manipulator 1000 in the present embodiment, no longer into one
Step narration.
In the present embodiment, the concrete structure of the second manipulator 2000 can be identical with manipulator 1000, can also be with machine
Tool hand 1000 is different, is selected in the first manipulator 1000 and second of manipulator 1000 that can also be provided from the present embodiment
One the second manipulator of conduct 2000.
Preferably, the positioning clamping device 700 for clamping rack for test tube is provided with workbench 400.
As a kind of preferable positioning clamping device 700, as shown in Figure 11-Figure 15, including positioning pedestal 7100, second is straight
Line driving mechanism 7200, impeller-hub 7300, linkage and Anchor plate kit.Wherein, as a kind of preferable positioning pedestal 7100,
Positioning pedestal 7100 includes positioning pedestal body 7120, pedestal cover board 7110 and pedestal bottom plate 7130.Positioning pedestal body 7120
Preferably cyclic structure, more preferably Q-RING, pedestal bottom plate 7130 are arranged on the lower surface of positioning pedestal body 7120,
Pedestal cover board 7110 is arranged on the upper surface of positioning pedestal body 7120.
In the present embodiment, second straight line driving mechanism 7200 and impeller-hub 7300 are arranged in positioning pedestal 7100.It is excellent
Selection of land, the lower surface of pedestal bottom plate 7130 are fixed with several hornblocks 7001, and second straight line driving mechanism 7200 passes through bolt etc.
Fastener is fixed on hornblock 7001.Preferably, the positioning pedestal body 7120 of cyclic structure is arranged to have enough thickness
Degree, is preferably greater than the diameter of impeller-hub 7300, the axis hole for disposing impeller-hub 7300 is provided with positioning pedestal body 7120,
Impeller-hub 7300 is moved back and forth in axis hole, and the upper and lower surface of impeller-hub 7300 does not expose positioning pedestal body
7120。
In the present embodiment, the pressing plate in Anchor plate kit is distributed in multiple sides of part to be clamped, thus, it is possible to be distributed in
The pressing plate of the multiple sides of part to be clamped can clamp multiple sides of part to be clamped, obtain more preferably clamping effect.
In the present embodiment, second straight line driving mechanism 7200 is configured to drive impeller-hub 7300 to move back and forth.
As a kind of preferable kind of drive therebetween, positioning pedestal body 7120, telescoping mechanism are stretched out in one end of impeller-hub 7300
Mover and impeller-hub 7300 7120 one end homonymy of stretching positioning pedestal body, and also stretch out positioning pedestal body 7120, push away
Connection sheet 7002 is fixedly connected between 7120 one end of stretching positioning pedestal body of moving axis 7300 and the mover of telescoping mechanism, by
This, when the mover of second straight line driving mechanism 7200 moves back and forth, impeller-hub 7300 can also move back and forth therewith.
In the present embodiment, the quantity of linkage is one or more, and each linkage is configured as the pressure that is sequentially connected
One or more of plate component pressing plate so that when impeller-hub 7300 moves linkage drive corresponding pressing plate simultaneously clamp on and
Unclamp part to be clamped.
Include as preferable drive connection mode, linkage between preferable linkage and linkage and pressing plate
7510 mechanism of first connecting rod, 7510 mechanism of first connecting rod include first connecting rod 7510, second connecting rod 7520 and third connecting rod 7530.
Wherein, the middle part of first connecting rod 7510 is arranged and is fixed on impeller-hub 7300, and the both ends of first connecting rod 7510 are respectively articulated with second
Connecting rod 7520 and third connecting rod 7530, i.e. second connecting rod 7520 and third connecting rod 7530 are distributed in the both sides of impeller-hub 7300.The
The head of two connecting rods 7520 is hinged with the first pressing plate mounting base 7610, and the head of third connecting rod 7530 is hinged with the installation of the second pressing plate
Seat 7620.
In the present embodiment, Anchor plate kit includes the first pressing plate 7410 and the second pressing plate 7420, the first pressing plate 7410 and second
Pressing plate 7420 is distributed in the opposite both sides of part to be clamped, and the first pressing plate 7410 is fixed in the first pressing plate mounting base 7610, the
Two pressing plates 7420 are fixed in the second pressing plate mounting base 7620.
When impeller-hub 7300 moves in the axis hole of positioning pedestal body 7120, due to each in 7510 mechanism of first connecting rod
Power transmission between connecting rod, just can drive the first pressing plate 7410 and the second pressing plate 7420 to move, and then clamps and unclamp and wait to press from both sides
Tight part.
Preferably, positioning clamping device 700 further includes the first positioning and guiding component 7710, the first positioning and guiding component 7710
It is arranged in positioning pedestal 7100, for being oriented to the first pressing plate 7410.As a kind of preferable first positioning and guiding component
7710, it includes connecting rod guiding axis 7713, axle sleeve 7712 and fixinig plate 7711.Wherein, the quantity of connecting rod guiding axis 7713 is preferred
For two or more, it is provided with the first pressing plate mounting base 7610 and is led with 7713 one-to-one axis hole of connecting rod guiding axis, connecting rod
Wear and be fixed in corresponding axis hole to axis 7713.The inside of axle sleeve 7712 wears connecting rod guiding axis 7713, axle sleeve 7712
Outside includes two parts, and a part is installed on positioning pedestal body 7120 in corresponding mounting hole, and another part is sheet knot
Structure and stretching positioning pedestal body 7120, the part that axle sleeve 7712 stretches out positioning pedestal body 7120 passes through the fasteners such as bolt
On positioning pedestal body 7120, for fixed hub 7712.It is provided with fixinig plate 7711 and connecting rod guiding axis 7713
Corresponding through hole, the end set of connecting rod guiding axis 7713 have threaded hole, for enabling the fasteners such as bolt to be passed through from through hole
Simultaneously screw thread is locked in connecting rod guiding axis 7713 fixinig plate 7711, thus, it is possible to which fixinig plate 7711 is oriented to fixed to each connecting rod
The end of axis 7713, makes each 7713 synchronizing moving of connecting rod guiding axis or synchronous fixed.
Preferably, positioning clamping device 700 further includes the second positioning and guiding component 7720, the second positioning and guiding component 7720
It is arranged in positioning pedestal 7100, for being oriented to the second pressing plate 7420.Preferably, the second positioning and guiding component 7720 have with
The identical structure of first positioning and guiding component 7710, i.e., also include connecting rod guiding axis 7713, axle sleeve 7712 and fixinig plate 7711, this
Connection relation between a little structures is identical with the first positioning and guiding component 7710, is no longer further discussed below in the present embodiment.
Preferably, in the first positioning and guiding component 7710 and the second positioning and guiding component 7720 connecting rod guiding axis 7713 shifting
Dynamic direction is perpendicular to impeller-hub 7300.
Preferably, linkage includes 7520 mechanism of second connecting rod, and 7520 mechanism of second connecting rod includes fourth link 7540
With the 5th connecting rod 7550, fourth link 7540 is arranged and is fixed on impeller-hub 7300, one end of fourth link 7540 connection the
Five connecting rods 7550, the head of the 5th connecting rod 7550 are fixedly connected with the 3rd pressing plate mounting base 7630.
Anchor plate kit includes the 3rd pressing plate 7430, and the 3rd pressing plate 7430 is fixed in the 3rd pressing plate mounting base 7630, and the
Three pressing plates 7430 are configured as in the same direction with the moving direction of impeller-hub 7300.
Preferably, 7520 mechanism of second connecting rod further includes six-bar linkage 7560, and the middle part of fourth link 7540 is arranged and consolidates
It is scheduled on impeller-hub 7300, six-bar linkage 7560 connects the other end of fourth link 7540, and the head of six-bar linkage 7560 is fixed
It is connected with the 4th pressing plate mounting base 7640.
Anchor plate kit includes the 4th pressing plate 7440, and the 4th pressing plate 7440 is located at the same of part to be clamped with the 3rd pressing plate 7430
Side, the 4th pressing plate 7440 are fixed in the 4th pressing plate mounting base 7640.
Preferably, the 5th connecting rod 7550 and fourth link 7540 are hinged；
And/or six-bar linkage 7560 is hinged with fourth link 7540.
Preferably, Anchor plate kit includes the 5th pressing plate 7450, and the 5th pressing plate 7450 is distributed in being pressed with the 3rd for part to be clamped
The opposite side of plate 7430, the 4th pressing plate 7440, the 5th pressing plate 7450 are fixed in positioning pedestal 7100.
Preferably, between the 5th connecting rod 7550 and positioning pedestal 7100 and six-bar linkage 7560 and positioning pedestal 7100 it
Between be provided with axle sleeve 7712.
Preferably, second straight line driving mechanism 7200 includes cylinder, and the telescopic rod of cylinder is fixed by connection sheet 7002 to be connected
Connect impeller-hub 7300.
Preferably, rear end camera (not shown) is provided with crossbearer 910.Due to being provided with rear end camera, rear end phase
Machine can gather the image of surrounding, and utilize the self-contained picture recognition module positioning target of robot and manipulator 1000.
Preferably, rear end camera is stereoscopic camera.
Preferably, de- gun rack 800 is provided with workbench 400, taking off gun rack 800 includes the column of a setting on the table
With the top for being arranged on column and with the spreader of uprights vertical.
It will be appreciated by those skilled in the art that attached drawing is a schematic diagram for being preferable to carry out scene, module in attached drawing or
Flow is not necessarily implemented necessary to the present invention.
It will be appreciated by those skilled in the art that the module in device in implement scene can be described according to implement scene into
Row is distributed in the device of implement scene, can also carry out one or more dresses that respective change is disposed other than this implement scene
In putting.The module of above-mentioned implement scene can be merged into a module, can also be further split into multiple submodule.
The invention described above sequence number is for illustration only, does not represent the quality of implement scene.
Disclosed above is only several specific implementation scenes of the present invention, and still, the present invention is not limited to this, Ren Heben
What the technical staff in field can think change should all fall into protection scope of the present invention.
Claims (10)
- A kind of 1. Development of intelligent laboratory of band lifting arm, it is characterised in that including casing assembly, workbench and robot assembly, The workbench and the robot assembly are arranged in the casing assembly, and the workbench, which is used to set, supplies the robot The Instrument assembly of component operation；The robot assembly includes lifting arm component, and the tail end of the lifting arm component is lifted on the casing assembly Interior, the front end of the lifting arm component is provided with manipulator.
- 2. the Development of intelligent laboratory of band lifting arm according to claim 1, it is characterised in that in institute in the casing assembly State and moveable platform component is provided with above workbench, the tail end of the lifting arm component is lifted on the moveable platform On component.
- 3. the Development of intelligent laboratory of band lifting arm according to claim 1, it is characterised in that the lifting arm component Quantity is two or more, including the first lifting arm component and the second lifting arm component, the first lifting arm component The tail end of tail end and the second lifting arm component is lifted in the casing assembly respectively, the first lifting arm component Front end and it is described second lifting arm component front end be respectively arranged with a manipulator.
- 4. the Development of intelligent laboratory of band lifting arm according to claim 1, it is characterised in that the Instrument assembly includes moving One kind in liquid rifle, test tube, rack for test tube, centrifugal device, thermostat, refrigerator, oscillator, spectrophotometer, PCR instrument and incubator It is or a variety of.
- 5. the Development of intelligent laboratory module of band lifting arm according to claim 2, it is characterised in that the moveable platform Component includes crossbearer, sliding block and arm mounting bracket, and the crossbearer is fixed in the casing assembly, the sliding block slideably by The lower section of the crossbearer is maintained at, the arm mounting bracket is fixedly connected with below the sliding block；The tail end of the lifting arm component is lifted on the lower section of the arm mounting bracket.
- 6. the Development of intelligent laboratory of band lifting arm according to claim 3, it is characterised in that the first lifting arm group Part is sequentially rotatablely connected by multiple arm monomers and formed, wherein, the pivot center for having the arm monomer of more than three is not parallel to each other；And/or the second lifting arm component is sequentially rotatablely connected by multiple arm monomers and formed, wherein, there are more than three The pivot center of arm monomer be not parallel to each other.
- 7. the Development of intelligent laboratory of band lifting arm according to claim 6, it is characterised in that the first lifting arm group Part is sequentially rotatablely connected by eight arm monomers and formed, and the arm monomer of tail end is lifted in the casing assembly, the hand of tail end Vertically, the arm monomer of head end is fixedly connected with the manipulator to the pivot center of arm monomer；And/or the second lifting arm component is sequentially rotatablely connected by eight arm monomers and formed, the arm monomer of tail end is hung In the casing assembly, vertically, the arm monomer of head end is fixedly connected the pivot center of the arm monomer of tail end The manipulator.
- 8. the Development of intelligent laboratory of the band lifting arm according to any one of claim 1-7, it is characterised in that the machinery Hand includes robot base, front end camera, first straight line driving mechanism and clamp assemblies, and the robot base is arranged on described The front end of first lifting arm component or the second lifting arm component, the front end camera are arranged on the manipulator base On seat, the first straight line driving mechanism is arranged in the robot base, the output terminal of the first straight line driving mechanism It is provided with for installing and driving slide block assembly of each grip block along rectilinear movement in the clamp assemblies；The shape of each grip block matches in the clamp assemblies, grip block during for mutually closing up between the grip block Between can form the grasping part for clamping part to be held.
- 9. the Development of intelligent laboratory of band lifting arm according to claim 5, it is characterised in that be provided with and lead on the crossbearer To bar, the sliding block is slideably set on the guide rod.
- 10. the Development of intelligent laboratory of band lifting arm according to claim 4, it is characterised in that set on the workbench There is rack for test tube positioning clamping device, for positioning and clamping the rack for test tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711485740.9A CN108000497A (en) | 2017-12-30 | 2017-12-30 | Development of intelligent laboratory with lifting arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711485740.9A CN108000497A (en) | 2017-12-30 | 2017-12-30 | Development of intelligent laboratory with lifting arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108000497A true CN108000497A (en) | 2018-05-08 |
Family
ID=62049689
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711485740.9A Pending CN108000497A (en) | 2017-12-30 | 2017-12-30 | Development of intelligent laboratory with lifting arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108000497A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942985A (en) * | 2018-08-17 | 2018-12-07 | 珠海格力智能装备有限公司 | Clamping device and robot with it |
| CN109732621A (en) * | 2019-02-27 | 2019-05-10 | 陈利娟 | Dangerous material use for laboratory intelligent robot and its control method based on Internet of Things |
| CN111001454A (en) * | 2019-12-19 | 2020-04-14 | 苏州和福汽车饰件有限公司 | Composite leather anti-static central test bed and working method thereof |
| CN112724359A (en) * | 2020-12-29 | 2021-04-30 | 宿迁嘉禾塑料金属制品有限公司 | Preparation method and intelligent production equipment of environment-friendly antibacterial polyurethane composite material |
-
2017
- 2017-12-30 CN CN201711485740.9A patent/CN108000497A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942985A (en) * | 2018-08-17 | 2018-12-07 | 珠海格力智能装备有限公司 | Clamping device and robot with it |
| CN109732621A (en) * | 2019-02-27 | 2019-05-10 | 陈利娟 | Dangerous material use for laboratory intelligent robot and its control method based on Internet of Things |
| CN109732621B (en) * | 2019-02-27 | 2021-06-29 | 上海鑫玺实业有限公司 | Intelligent robot for hazardous material laboratory based on Internet of things and control method thereof |
| CN111001454A (en) * | 2019-12-19 | 2020-04-14 | 苏州和福汽车饰件有限公司 | Composite leather anti-static central test bed and working method thereof |
| CN111001454B (en) * | 2019-12-19 | 2023-10-20 | 苏州和福汽车饰件有限公司 | Composite leather antistatic central test bed and working method thereof |
| CN112724359A (en) * | 2020-12-29 | 2021-04-30 | 宿迁嘉禾塑料金属制品有限公司 | Preparation method and intelligent production equipment of environment-friendly antibacterial polyurethane composite material |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108000497A (en) | Development of intelligent laboratory with lifting arm | |
| CN108333112A (en) | Modularization intelligent laboratory system and biochemical test method | |
| CN208229931U (en) | Development of intelligent laboratory | |
| CN108187770A (en) | Manipulate method, robot and the liquid-transfering gun control system of liquid-transfering gun | |
| CN206357258U (en) | A kind of multi-functional handgrip for realizing circuit board automatically collecting | |
| CN107720247B (en) | Spinning cake clamp | |
| CN108247608A (en) | Tow-armed robot | |
| CN108638114A (en) | Adjustable more fingerstall tube kind part picking manipulator pawls | |
| CN107973132A (en) | Stripping off device | |
| CN207788943U (en) | Tow-armed robot | |
| CN109319476A (en) | A kind of automatic clamping feeding machinery clamp hand | |
| CN109648595A (en) | A kind of end flexible mechanical grabbing device for industrial robot | |
| CN108279314A (en) | Method, system and the laboratory of separation detection cancer cell | |
| CN204935640U (en) | The robot that a kind of view-based access control model vibration feeding is drawn | |
| CN206306116U (en) | A kind of teaching and produce six dual-purpose shaft devices | |
| CN208896102U (en) | A kind of mechanical arm learning from instruction system | |
| CN219657945U (en) | Immune agglutination reaction observation plate | |
| CN108326863A (en) | The Development of intelligent laboratory of rifle recycling module is taken off with suction nozzle | |
| CN104959971B (en) | A kind of assembly system towards micron order flexible pipe Yu microsphere assembly | |
| CN108220122A (en) | Method, system and the laboratory of PCR reactions are carried out using robot | |
| CN108187781A (en) | Rack for test tube mobile system and Development of intelligent laboratory | |
| CN208497004U (en) | The Development of intelligent laboratory of rifle recycling module is taken off with suction nozzle | |
| CN203805533U (en) | Automatic adhering equipment for card books | |
| CN109531563A (en) | A kind of gear fluids robot hand device | |
| CN207731014U (en) | A kind of full microscope microscopy instrument replaces glass slide system automatically |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180508 |
|
| WD01 | Invention patent application deemed withdrawn after publication |