CN110509253B - Micro-nano robot for grabbing targeted drugs - Google Patents
Micro-nano robot for grabbing targeted drugs Download PDFInfo
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- CN110509253B CN110509253B CN201910801281.3A CN201910801281A CN110509253B CN 110509253 B CN110509253 B CN 110509253B CN 201910801281 A CN201910801281 A CN 201910801281A CN 110509253 B CN110509253 B CN 110509253B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
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Abstract
The invention discloses a micro-nano robot for grabbing targeted drugs, which comprises an installation seat, wherein the bottom of the installation seat is provided with an installation groove, a rotating block is rotatably installed in the installation groove, an installation plate is fixedly installed at the bottom of the rotating block, a rotating groove is formed in the bottom of the installation plate, a rotating plate is rotatably installed in the rotating groove, the bottom of the rotating plate is provided with a groove, two worms are rotatably installed in the groove, first clamping arms are fixedly installed on the outer sides of the two worms, a first clamping plate is fixedly installed at one end of each of the two first clamping arms, two rotating rods are rotatably installed in the groove, a worm wheel is fixedly installed on the outer side of one of the two rotating rods, the two worms are respectively meshed with the two worm wheels, the thread directions of the two worms are opposite, the micro-nano robot can control the clamping force, avoid damaging the medicine, can adjust the angle of centre gripping simultaneously, simple structure, convenient to use.
Description
Technical Field
The invention relates to the technical field of micro-nano robots, in particular to a micro-nano robot for grabbing targeted drugs.
Background
With the rapid development of robot science and technology, robots are widely applied to modern production and life. Robots are of various types, and the overall size varies from microscopic to macroscopic. In general, the figure of a macroscopic robot can be seen in industrial production, service industry and military war. However, in certain specific situations, such as in vivo interventional diagnosis and treatment, macroscopic robots tend to be limited in application due to their excessive size. Therefore, the micro-nano robot has come to be capable of executing tasks on a micro-nano scale and has excellent flexibility and adaptability, and in addition, the robot can also work cooperatively in a cluster mode. In the past decades, micro-nano robots have been apparently developed into a new research field. It has the widest application prospect in the biomedical field, such as targeted drug delivery and release, disease diagnosis and treatment, and the like. In addition, micro-nano robots are also playing a key role in military applications, and their applications in nano-machining, high-end manufacturing, and environmental monitoring are not small and varied.
The existing micro-nano robot cannot control clamping force according to the size of a clamped object, and the object is easily damaged, so that a micro-nano robot for grabbing targeted drugs is provided, and the problem is solved.
Disclosure of Invention
The invention aims to provide a micro-nano robot for grabbing targeted drugs, and the micro-nano robot is used for solving the problem that the micro-nano robot cannot control clamping force according to the size of a clamped object, so that the object is easily damaged.
In order to achieve the purpose, the invention provides the following technical scheme: a micro-nano robot for grabbing targeted drugs comprises an installation seat, wherein the bottom of the installation seat is provided with an installation groove, a rotating block is rotatably installed in the installation groove, the bottom of the rotating block is fixedly provided with an installation plate, the bottom of the installation plate is provided with a rotating groove, a rotating plate is rotatably installed in the rotating groove, the bottom of the rotating plate is provided with a groove, two worms are rotatably installed in the groove, first clamping arms are fixedly installed on the outer sides of the two worms, a first clamping plate is fixedly installed at one end of each of the two first clamping arms, two rotating rods are rotatably installed in the groove, two worm wheels are fixedly installed on the outer side of one of the two rotating rods, the two worms are respectively meshed with the two worm wheels, the thread directions of the two worms are opposite, first gears are fixedly installed on the outer sides of the two rotating rods, and, the equal fixed mounting in the outside of two dwangs has second centre gripping arm, and the equal fixed mounting in one end of two second centre gripping arms has the second splint, the cylindrical groove has been seted up on one side inner wall of recess, and the outside of dwang is rotated with the lateral wall in cylindrical groove and is connected, and the ring channel has been seted up to the inner wall in cylindrical groove, the annular groove internal rotation is installed the annular slab, and the inboard fixed mounting of annular slab has the dog, and the outside fixed mounting of a dwang in two dwangs has the fixed block, and one side of fixed block contacts with the dog, the outside fixed mounting of annular slab has annular rack, and fixed mounting has first motor on one side inner wall.
Preferably, a second motor is fixedly mounted on the inner wall of one side of the mounting groove, and an output shaft of the second motor is welded with one side of the rotating block.
Preferably, a first motor groove is formed in the inner wall of one side of the rotating groove, a third motor is fixedly mounted on the inner wall of one side of the first motor groove, and an output shaft of the third motor is welded to one side of the rotating plate.
Preferably, a second motor groove is formed in the inner wall of one side of the groove, a fourth motor is fixedly mounted on the inner wall of one side of the second motor groove, and an output shaft of the fourth motor is welded with one end of the rotating rod.
Preferably, annular grooves are formed in the inner walls of the two sides of the annular groove, two arc-shaped sliding blocks are fixedly mounted on the two sides of the annular plate, and the arc-shaped sliding blocks are connected with the side walls of the annular grooves in a sliding mode.
Preferably, a cylindrical groove is formed in the inner wall of one side of the rotating groove, a cylindrical block is rotatably mounted in the cylindrical groove, and one side of the cylindrical block is welded with the rotating plate.
Preferably, a second gear is fixedly mounted on an output shaft of the first motor, and the second gear is meshed with the annular rack.
Preferably, two connecting grooves are formed in the inner walls of the two sides of the groove, connecting blocks are fixedly mounted at the two ends of the two worms, and the connecting blocks are rotatably connected with the side walls of the connecting grooves.
Preferably, the specific using method is as follows:
(A1) when the clamping device is used, the fourth motor drives one rotating rod to rotate, the rotating rod drives one first gear to rotate, the two first gears are meshed, so that the other rotating rod can be driven to rotate, the rotating directions of the two rotating rods are opposite, the two rotating rods drive the two second clamping arms to rotate, and the two second clamping arms drive the two second clamping plates to approach each other;
(A2) the two worm wheels are driven to rotate by the rotating rod, the two worm wheels drive the two worms to rotate, and the thread turning directions of the two worms are opposite, so that the rotating directions of the two worms are opposite, the two worms drive the two first clamping arms to rotate, the two first clamping arms drive the two first clamping plates to be close to each other, the two second clamping plates are matched to clamp and fix the medicine, the rotating rod drives the fixed block to rotate, when the fixed block is contacted with the stop block, the fixed block cannot continuously rotate, and the rotating rod cannot rotate at the moment, so that the clamping force is controlled, and the medicine is prevented from being damaged;
(A3) the second gear is driven to rotate by the first motor, the annular rack drives the annular plate to rotate by the rotation of the second gear, the annular plate drives the stop dog to rotate, so that the position of the stop dog is adjusted, the position of the stop dog is adjusted according to the size of a clamped medicine, the rotating block is driven to rotate by the second motor, the left and right angles of clamping can be adjusted, and the rotating plate is driven to rotate by the third motor, so that the front and rear angles of clamping can be adjusted;
(A4) the clamping device can control the clamping force according to the size of the medicine, avoids damaging the medicine, can adjust the clamping angle, and is simple in structure and convenient to use.
Compared with the prior art, the invention has the beneficial effects that:
1. when the clamping device is used, the two second clamping arms are driven to rotate by the two rotating rods, and the two second clamping arms drive the two second clamping plates to approach each other.
2. The two first clamping arms are driven by the two worms to rotate, the two first clamping arms drive the two first clamping plates to approach each other, and the two second clamping plates are matched to clamp and fix the medicine.
3. The rotating rod cannot rotate through the stop block, so that the clamping force is controlled, and the medicine is prevented from being damaged.
4. The annular plate drives the stop block to rotate, so that the position of the stop block is adjusted, and the position of the stop block is adjusted according to the size of the clamped medicine;
5. the rotating block is driven to rotate by the second motor, so that the left and right angles of clamping can be adjusted, and the rotating plate is driven to rotate by the third motor, so that the front and rear angles of clamping can be adjusted;
6. the clamping device can control the clamping force according to the size of the medicine, avoids damaging the medicine, can adjust the clamping angle, and is simple in structure and convenient to use.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of part A of the present invention;
FIG. 3 is a schematic structural view of part B of the present invention;
FIG. 4 is a schematic side view of the rotating lever, annular plate, stop, fixed block and annular rack connection of the present invention;
fig. 5 is a schematic perspective view of the connection between the first clamping arm and the first clamping plate according to the present invention.
In the figure: 1. a mounting seat; 2. mounting grooves; 3. rotating the block; 4. mounting a plate; 5. a rotating groove; 6. a rotating plate; 7. a groove; 8. a worm; 9. a first clamp arm; 10. a first splint; 11. rotating the rod; 12. a second clamp arm; 13. a second splint; 14. a worm gear; 15. a first gear; 16. a first motor slot; 17. a third motor; 18. a second motor slot; 19. a fourth motor; 20. an annular groove; 21. an annular plate; 22. a stopper; 23. a fixed block; 24. an annular rack; 25. a first motor; 26. a second gear.
Detailed Description
The invention provides a micro-nano robot for grabbing targeted drugs, and aims to solve the problems that the micro-nano robot cannot control clamping force according to the size of a clamped article and the article is easy to damage. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1-5, the embodiment provides a micro-nano robot for grabbing a targeted drug, which includes an installation seat 1, an installation groove 2 is formed at the bottom of the installation seat 1, a rotation block 3 is rotatably installed in the installation groove 2, an installation plate 4 is fixedly installed at the bottom of the rotation block 3, a rotation groove 5 is formed at the bottom of the installation plate 4, a rotation plate 6 is rotatably installed in the rotation groove 5, a groove 7 is formed at the bottom of the rotation plate 6, two worms 8 are rotatably installed in the groove 7, first clamping arms 9 are fixedly installed at the outer sides of the two worms 8, a first clamping plate 10 is fixedly installed at one end of each of the two first clamping arms 9, two rotation rods 11 are rotatably installed in the groove 7, two worm wheels 14 are fixedly installed at the outer side of one rotation rod 11 of the two rotation rods 11, the two worms 8 are respectively engaged with the two worm wheels 14, equal fixed mounting in the outside of two dwangs 11 has first gear 15, two 15 meshes mutually of first gear, the equal fixed mounting in the outside of two dwangs 11 has second centre gripping arm 12, the equal fixed mounting in one end of two second centre gripping arms 12 has second splint 13, the cylindrical groove has been seted up on one side inner wall of recess 7, the outside of dwang 11 is rotated with the lateral wall in cylindrical groove and is connected, ring channel 20 has been seted up to the inner wall in cylindrical groove, ring channel 20 internal rotation installs annular plate 21, the inboard fixed mounting of ring channel 21 has dog 22, the outside fixed mounting of a dwang 11 in two dwangs 11 has fixed block 23, one side and the dog 22 of fixed block 23 contact, the outside fixed mounting of ring channel 21 has annular rack 24, fixed mounting has first motor 25 on one side inner wall of ring channel 20.
Wherein, the thread directions of the two worms 8 are opposite, so when the two worm wheels 14 rotate, the two worms 8 can rotate in opposite directions, the two first gears 15 are meshed, so the rotation directions of the two first gears 15 are opposite, thereby the rotation directions of the two rotating rods 11 can be opposite.
In this embodiment, when in use, the fourth motor 19 drives a rotating rod 11 to rotate, the rotating rod 11 drives a first gear 15 to rotate, since the two first gears 15 are engaged, the other rotating rod 11 can be driven to rotate, the rotating directions of the two rotating rods 11 are opposite, the two rotating rods 11 drive the two second clamping arms 12 to rotate, the two second clamping arms 12 drive the two second clamping plates 13 to approach each other, the rotating rod 11 drives the two worm wheels 14 to rotate, the two worm wheels 14 drive the two worms 8 to rotate, the screw threads on the two worms 8 are opposite, so the rotating directions of the two worms 8 are opposite, the two worms 8 drive the two first clamping arms 9 to rotate, the two first clamping arms 9 drive the two first clamping plates 10 to approach each other, the two second clamping plates 13 are matched to clamp and fix the medicine, and the rotating rod 11 drives the fixing block 23 to rotate, when the fixed block 23 contacts the stop block 22, the fixed block 23 cannot continue to rotate, and the rotating rod 11 cannot rotate at the moment, so that the clamping force is controlled, and the medicine is prevented from being damaged.
Example 2
Referring to fig. 1-5, a further improvement is made on the basis of embodiment 1: a second motor is fixedly arranged on the inner wall of one side of the mounting groove 2, the output shaft of the second motor is welded with one side of the rotating block 3, a first motor groove 16 is arranged on the inner wall of one side of the rotating groove 5, a third motor 17 is fixedly arranged on the inner wall of one side of the first motor groove 16, the output shaft of the third motor 17 is welded with one side of the rotating plate 6, a second motor groove 18 is arranged on the inner wall of one side of the groove 7, a fourth motor 19 is fixedly arranged on the inner wall of one side of the second motor groove 18, the output shaft of the fourth motor 19 is welded with one end of the rotating rod 11, annular grooves are respectively arranged on the inner walls of two sides of the annular groove 20, two arc-shaped sliding blocks are respectively fixedly arranged on two sides of the annular plate 21, the arc-shaped sliding blocks are slidably connected with the side wall of the annular groove, so that the annular plate 21 can stably rotate, a cylindrical groove is, one side and the rotor plate 6 of cylinder piece weld mutually, can make the stable rotation of rotor plate 6, and fixed mounting has second gear 26 on the output shaft of first motor 25, and second gear 26 meshes with annular rack 24 mutually, has all seted up two spread grooves on the both sides inner wall of recess 7, and the equal fixed mounting in both ends of two worms 8 has the connecting block, and the connecting block rotates with the lateral wall of spread groove to be connected, can make the stable rotation of two worms 8.
In this embodiment, drive second gear 26 through first motor 25 and rotate, second gear 26's rotation makes annular rack 24 drive annular plate 21 and rotates, annular plate 21 drives dog 22 and rotates, thereby adjust the position of dog 22, adjust the position of dog 22 according to the size of centre gripping medicine, drive turning block 3 through the second motor and rotate, thereby can adjust the angle about the centre gripping, drive rotor plate 6 through third motor 17 and rotate, thereby can adjust the front and back angle of centre gripping.
In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be further noted that, unless otherwise specifically stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, connected through an intermediate medium, or connected through the insides of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a receive robot a little for snatching targeting medicine, includes mount pad (1), its characterized in that: the bottom of the mounting seat (1) is provided with a mounting groove (2), a rotating block (3) is installed in the mounting groove (2) in a rotating mode, a mounting plate (4) is fixedly installed at the bottom of the rotating block (3), a rotating groove (5) is formed in the bottom of the mounting plate (4), a rotating plate (6) is installed in the rotating groove (5) in a rotating mode, a groove (7) is formed in the bottom of the rotating plate (6), two worms (8) are installed in the groove (7) in a rotating mode, first clamping arms (9) are fixedly installed on the outer sides of the two worms (8), first clamping plates (10) are fixedly installed at one ends of the two first clamping arms (9), two rotating rods (11) are installed in the groove (7) in a rotating mode, two worm wheels (14) are fixedly installed on the outer sides of one rotating rod (11) of the two rotating rods (11), and the two, the screw thread on two worms (8) is turned to opposite, the equal fixed mounting in the outside of two dwang (11) has first gear (15), two first gear (15) mesh mutually, the equal fixed mounting in the outside of two dwang (11) has second centre gripping arm (12), the equal fixed mounting in one end of two second centre gripping arm (12) has second splint (13), seted up the cylindrical groove on one side inner wall of recess (7), the outside of dwang (11) is connected with the lateral wall rotation in cylindrical groove, the inner wall in cylindrical groove has seted up ring channel (20), ring channel (20) internal rotation is installed and is had annular plate (21), the inboard fixed mounting of ring plate (21) has dog (22), the outside fixed mounting of one dwang (11) in two dwang (11) has fixed block (23), one side and dog (22) of fixed block (23) contact, an annular rack (24) is fixedly mounted on the outer side of the annular plate (21), and a first motor (25) is fixedly mounted on the inner wall of one side of the annular groove (20).
2. The micro-nano robot for grabbing the targeted drugs according to claim 1 is characterized in that: and a second motor is fixedly mounted on the inner wall of one side of the mounting groove (2), and an output shaft of the second motor is welded with one side of the rotating block (3).
3. The micro-nano robot for grabbing the targeted drugs according to claim 1 is characterized in that: a first motor groove (16) is formed in the inner wall of one side of the rotating groove (5), a third motor (17) is fixedly mounted on the inner wall of one side of the first motor groove (16), and an output shaft of the third motor (17) is welded with one side of the rotating plate (6).
4. The micro-nano robot for grabbing the targeted drugs according to claim 1 is characterized in that: a second motor groove (18) is formed in the inner wall of one side of the groove (7), a fourth motor (19) is fixedly mounted on the inner wall of one side of the second motor groove (18), and an output shaft of the fourth motor (19) is welded with one end of the rotating rod (11).
5. The micro-nano robot for grabbing the targeted drugs according to claim 1 is characterized in that: annular grooves are formed in the inner walls of the two sides of the annular groove (20), two arc-shaped sliding blocks are fixedly mounted on the two sides of the annular plate (21), and the arc-shaped sliding blocks are connected with the side walls of the annular grooves in a sliding mode.
6. The micro-nano robot for grabbing the targeted drugs according to claim 1 is characterized in that: and a cylindrical groove is formed in the inner wall of one side of the rotating groove (5), a cylindrical block is rotatably arranged in the cylindrical groove, and one side of the cylindrical block is welded with the rotating plate (6).
7. The micro-nano robot for grabbing the targeted drugs according to claim 1 is characterized in that: and a second gear (26) is fixedly mounted on an output shaft of the first motor (25), and the second gear (26) is meshed with the annular rack (24).
8. The micro-nano robot for grabbing the targeted drugs according to claim 1 is characterized in that: two connecting grooves are formed in the inner walls of the two sides of the groove (7), connecting blocks are fixedly mounted at the two ends of the two worms (8), and the connecting blocks are rotatably connected with the side walls of the connecting grooves.
9. The micro-nano robot for grabbing the targeted drugs according to claim 1, wherein the specific using method is as follows:
(A1) when the clamping device is used, one rotating rod (11) is driven to rotate through the fourth motor (19), the rotating rod (11) drives one first gear (15) to rotate, the other rotating rod (11) can be driven to rotate due to the fact that the two first gears (15) are meshed, the rotating directions of the two rotating rods (11) are opposite, the two second clamping arms (12) are driven to rotate through the two rotating rods (11), and the two second clamping arms (12) drive the two second clamping plates (13) to approach each other;
(A2) the two worm wheels (14) are driven to rotate through the rotating rod (11), the two worm wheels (14) drive the two worms (8) to rotate, the thread turning directions on the two worms (8) are opposite, so the rotating directions of the two worms (8) are opposite, the two worms (8) drive the two first clamping arms (9) to rotate, the two first clamping arms (9) drive the two first clamping plates (10) to be close to each other, the two second clamping plates (13) are matched to clamp and fix the medicine, the rotating rod (11) drives the fixing block (23) to rotate, when the fixing block (23) is in contact with the stop block (22), the fixing block (23) cannot continue to rotate, at the moment, the rotating rod (11) cannot rotate, so that the clamping force is controlled, and the medicine is prevented from being damaged;
(A3) the second gear (26) is driven to rotate through the first motor (25), the annular rack (24) is driven to drive the annular plate (21) to rotate through the rotation of the second gear (26), the annular plate (21) drives the stop block (22) to rotate, so that the position of the stop block (22) is adjusted, the position of the stop block (22) is adjusted according to the size of a clamped medicine, the rotating block (3) is driven to rotate through the second motor, the left and right angles of clamping can be adjusted, the rotating plate (6) is driven to rotate through the third motor (17), and the front and back angles of clamping can be adjusted;
(A4) the clamping device can control the clamping force according to the size of the medicine, avoids damaging the medicine, can adjust the clamping angle, and is simple in structure and convenient to use.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910801281.3A CN110509253B (en) | 2019-08-28 | 2019-08-28 | Micro-nano robot for grabbing targeted drugs |
| PCT/CN2020/089661 WO2021036342A1 (en) | 2019-08-28 | 2020-05-11 | Micro-nano robot for grabbing targeted drug |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910801281.3A CN110509253B (en) | 2019-08-28 | 2019-08-28 | Micro-nano robot for grabbing targeted drugs |
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| CN110509253A CN110509253A (en) | 2019-11-29 |
| CN110509253B true CN110509253B (en) | 2020-08-07 |
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| CN201910801281.3A Active CN110509253B (en) | 2019-08-28 | 2019-08-28 | Micro-nano robot for grabbing targeted drugs |
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| CN (1) | CN110509253B (en) |
| WO (1) | WO2021036342A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509253B (en) * | 2019-08-28 | 2020-08-07 | 南京驭逡通信科技有限公司 | Micro-nano robot for grabbing targeted drugs |
| CN113977616B (en) * | 2021-10-29 | 2023-04-21 | 九江学院 | Manipulator for producing electronic element |
| CN114933164A (en) * | 2022-06-20 | 2022-08-23 | 安徽工程大学 | Transfer robot for intelligent automobile manufacturing production line |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS58165986A (en) * | 1982-03-26 | 1983-10-01 | 株式会社日立製作所 | Extractor for part |
| US7126303B2 (en) * | 2003-07-08 | 2006-10-24 | Board Of Regents Of The University Of Nebraska | Robot for surgical applications |
| JP2012166297A (en) * | 2011-02-14 | 2012-09-06 | Seiko Epson Corp | Robot hand and robot apparatus |
| CN102785251B (en) * | 2012-07-06 | 2015-11-11 | 深圳先进技术研究院 | Make up a prescription the mechanical paw of robot |
| US20150151433A1 (en) * | 2013-12-02 | 2015-06-04 | Harris Corporation | Compact robotic gripper |
| CN104495376B (en) * | 2014-12-24 | 2016-08-17 | 任维华 | Inhale be applicable to the medicine-chest of automatic dispensary is adjusted automatically and grab device |
| CN204712041U (en) * | 2015-06-25 | 2015-10-21 | 中国工程物理研究院激光聚变研究中心 | Two jaw type micro clamping device |
| CN205837984U (en) * | 2016-06-30 | 2016-12-28 | 上海创司杰医疗科技有限公司 | Capture robot device and the blood taking tube conveyer device of blood taking tube |
| CN106671061B (en) * | 2016-07-29 | 2019-05-17 | 苏州大学 | Singly refer to structure, microoperation clamper and micro OS |
| CN106584494B (en) * | 2016-12-22 | 2018-11-30 | 江苏昱博自动化设备有限公司 | The self-centering grasping mechanism of manipulator |
| CN106625745A (en) * | 2016-12-30 | 2017-05-10 | 宁波市奥特曼自动化设备有限公司 | Multi-claw manipulator |
| CN107009380A (en) * | 2017-06-09 | 2017-08-04 | 成都众智优学教育咨询有限公司 | A kind of caliper brake manipulator |
| CN108582121A (en) * | 2018-01-29 | 2018-09-28 | 安徽机电职业技术学院 | A kind of bulb pick device of hydraulic oil cylinder driving |
| CN110509253B (en) * | 2019-08-28 | 2020-08-07 | 南京驭逡通信科技有限公司 | Micro-nano robot for grabbing targeted drugs |
-
2019
- 2019-08-28 CN CN201910801281.3A patent/CN110509253B/en active Active
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2020
- 2020-05-11 WO PCT/CN2020/089661 patent/WO2021036342A1/en active Application Filing
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| CN110509253A (en) | 2019-11-29 |
| WO2021036342A1 (en) | 2021-03-04 |
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