CN110587585A - Can freely snatch manipulator device to slide - Google Patents
Can freely snatch manipulator device to slide Download PDFInfo
- Publication number
- CN110587585A CN110587585A CN201910753373.9A CN201910753373A CN110587585A CN 110587585 A CN110587585 A CN 110587585A CN 201910753373 A CN201910753373 A CN 201910753373A CN 110587585 A CN110587585 A CN 110587585A
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- Prior art keywords
- axis
- slide
- movable frame
- clamping jaw
- support
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- 230000007246 mechanism Effects 0.000 claims abstract description 77
- 238000004043 dyeing Methods 0.000 abstract description 31
- 238000004801 process automation Methods 0.000 abstract 1
- 239000011521 glass Substances 0.000 description 12
- 238000010186 staining Methods 0.000 description 10
- 238000003780 insertion Methods 0.000 description 7
- 230000037431 insertion Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 238000000605 extraction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 210000000349 chromosome Anatomy 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007170 pathology Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001850 reproductive effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/30—Staining; Impregnating ; Fixation; Dehydration; Multistep processes for preparing samples of tissue, cell or nucleic acid material and the like for analysis
- G01N1/31—Apparatus therefor
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Biomedical Technology (AREA)
- Molecular Biology (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a manipulator device capable of freely grabbing slides, which comprises an X-axis mechanism, a Y-axis mechanism, a Z-axis mechanism and a slide grabbing mechanism, wherein the X-axis mechanism comprises an X-axis fixed bottom frame and an X-axis lead screw nut mechanism arranged on the X-axis fixed bottom frame; the Z-axis mechanism comprises a Z-axis movable frame and a Z-axis screw nut mechanism arranged on the Z-axis movable frame; the slide grabbing mechanism comprises a translation support and a rotary support, the translation support is fixed with a nut in the Y-axis screw nut mechanism, a clamping jaw for inserting and taking a slide is arranged on the rotary support, and the rotary support is rotatably assembled on the translation support and driven to rotate by a clamping jaw motor arranged on the translation support. The manipulator device that can freely snatch the slide can be snatched the slide and carry it to dyeing apparatus by slide storage device department to insert corresponding dyeing storehouse with it, operating personnel only need with the slide place at the slide box and with the slide box push in the slide storehouse can, dyeing process automation.
Description
Technical Field
The invention relates to the technical field of slide grabbing, in particular to a manipulator device capable of freely grabbing slides.
Background
In the fields of hematology staining, microbiology staining, pathology staining, cytology staining, reproductive medicine staining, nuclear chromosome staining and the like, artificial staining or instrument staining is generally adopted, but the following problems exist: in the existing manual dyeing method, different people can generate large artificial difference results when operating, and some dyeing methods have various steps and occupy a large amount of time and labor force. The automatic dyeing instrument has the problems of poor dyeing effect, large reagent dosage and the like.
In order to solve the problems of the existing dyeing, there is a related patent application, for example, an automatic constant-temperature high-definition dyeing apparatus (the same applicant as the present application) related to the patent application No. 201910451039.8, which is provided with a plurality of dyeing cabin units, and can insert a plurality of slides to realize batch dyeing. However, in the dyeing process, the operation of taking and inserting the slide depends on manpower, the workload is large, and the automation degree is low.
Disclosure of Invention
The invention aims to provide a manipulator device capable of freely grabbing a slide, so that the manipulator device can be matched with the existing dyeing device for use, and the automation degree is improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
the mechanical arm device capable of freely grabbing the slide comprises an X-axis mechanism, a Y-axis mechanism, a Z-axis mechanism and a slide grabbing mechanism, wherein the X-axis mechanism comprises an X-axis fixed bottom frame and an X-axis lead screw nut mechanism arranged on the X-axis fixed bottom frame;
the Z-axis mechanism comprises a Z-axis movable frame and a Z-axis screw nut mechanism arranged on the Z-axis movable frame, the lower part of the Z-axis movable frame is fixed with a nut in the X-axis screw nut mechanism, and the Z-axis movable frame is assembled on the X-axis fixed bottom frame in a sliding manner along the X-axis direction;
the Y-axis mechanism comprises a Y-axis movable frame and a Y-axis lead screw nut mechanism arranged on the Y-axis movable frame, and the Y-axis movable frame is fixed with a nut in the Z-axis lead screw nut mechanism;
the slide grabbing mechanism comprises a translation support and a rotary support, the translation support is fixed with a nut in the Y-axis screw nut mechanism, a clamping jaw for inserting and taking a slide is arranged on the rotary support, and the rotary support is rotatably assembled on the translation support and driven to rotate by a clamping jaw motor arranged on the translation support.
Furthermore, an X-axis sliding rail is arranged on the X-axis fixed underframe, and a Z-axis sliding block which is in sliding fit with the X-axis sliding rail is arranged on the Z-axis movable frame;
a Z-axis sliding rail is arranged on the Z-axis movable frame, and a Y-axis sliding block which is in sliding fit with the Z-axis sliding rail is arranged on the Y-axis movable frame;
the Y-axis movable frame is provided with a Y-axis slide rail, and the translation bracket is provided with a translation slide block matched with the Y-axis slide rail;
wherein, X axle slide rail, Y axle slide rail are the horizontal setting, and Z axle slide rail is vertical setting.
Further, the rotating bracket is assembled on the translation bracket through a rotating shaft, and the axial direction of the rotating shaft is perpendicular to the length direction of the Y-axis sliding rail.
Furthermore, the clamping jaw is an electric clamping jaw, the clamping jaw is fixed at the end part of the rotating support, and the rotating support is a rotating arm plate.
Further, the opening direction of the clamping jaw is perpendicular to the length direction of the rotating arm plate.
Furthermore, the clamping jaw motor is a stepping motor, and all lead screws in the X-axis screw rod nut mechanism, the Y-axis screw rod nut mechanism and the Z-axis screw rod nut mechanism are driven by the stepping motor.
Furthermore, an X-axis position sensor is respectively arranged at the extreme movement positions of the X-axis fixed underframe in the two directions of the Z-axis movable frame, a Z-axis position sensor is respectively arranged at the extreme movement positions of the Z-axis movable frame in the two directions of the Y-axis movable frame, and a Y-axis position sensor is respectively arranged at the extreme movement positions of the Y-axis movable frame in the two directions of the translation support;
and a rotary position sensor is arranged on the translation bracket and used for detecting the position of the rotation bracket, which is rotated to the position.
Furthermore, the X-axis position sensor, the Y-axis position sensor, the Z-axis position sensor and the rotation position sensor all adopt photoelectric sensors.
The invention has the beneficial effects that:
the manipulator device capable of freely grabbing the slide is provided with the X-axis mechanism, the Y-axis mechanism, the Z-axis mechanism and the slide grabbing mechanism, and can drive a clamping jaw in the slide grabbing mechanism to move in the direction of X, Y, Z under the control of the X-axis mechanism, the Y-axis mechanism and the Z-axis mechanism, so that the translation, lifting and conveying of the slide between the slide storage device and the slide dyeing device are realized. The clamping jaws can extract the slide from the slide storage device and send the slide to and insert the slide into a dyeing bin corresponding to the dyeing device; the clamping jaw can rotate with the rotating bracket for a certain angle so as to align the slide on the slide storage device for extraction and accurately insert the slide into a dyeing bin of the dyeing device. The manipulator device capable of freely grabbing the glass slide is matched with the glass slide storage device and the dyeing device, so that the automation of glass slide dyeing can be realized. The glass slide gripping device can also be used in cooperation with other automatic equipment, and the clamping jaws are used for accurately gripping the glass slide, so that the functions of transferring and the like are realized.
Drawings
FIG. 1 is a schematic perspective view of a robot apparatus for freely gripping slides (with the gripper jaws in a horizontal position);
FIG. 2 is a schematic perspective view of a second robot apparatus for freely gripping slides (with the gripper jaws in a horizontal position);
FIG. 3 is a schematic view of a slide gripping mechanism in the robot device that can freely grip a slide;
FIG. 4 is a schematic three-dimensional view of a robot apparatus capable of freely grasping slides (with the jaws in a vertical position);
FIG. 5 is a schematic view of the configuration of the slide storage device (not shown);
FIG. 6 is a schematic view of the configuration of the cassette of FIG. 5;
figure 7 is a schematic view of the slide storage device (with slides loaded and one slide cassette removed).
10. An X-axis fixed underframe, 11, an X-axis lead screw, 12, an X-axis nut, 13, an X-axis position sensor, 14, an X-axis slide rail, 20, a Z-axis movable frame, 21, a Z-axis lead screw, 22, a Z-axis nut, 23, a Z-axis position sensor, 24, a Z-axis slide rail, 25, a Z-axis slide block, 30, a Y-axis movable frame, 31, a Y-axis lead screw, 32, a Y-axis slide rail, 33, a Y-axis position sensor, 34, a Y-axis slide block, 41, a translation bracket, 42, the slide glass slide positioning device comprises a sensor sensing sheet, 43, a rotary position sensor, 44, a rotary support, 45, a clamping jaw, 46, a clamping jaw motor, 411, a motor fixing plate, 5, a stepping motor, 6, a slide bin support, 61, a slide box insertion opening, 611, a positioning sliding groove, 612, a lower concave part, 7, a slide box, 71, a slide inserting groove, 711, a left support part, 712, a left limiting part, 713, a right limiting part, 72, a bump, 8 and a slide.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Example (b):
as shown in fig. 1-4, the robot apparatus capable of freely gripping a slide includes an X-axis mechanism, a Y-axis mechanism, a Z-axis mechanism and a slide gripping mechanism, wherein the X-axis mechanism includes an X-axis fixed chassis 10 and an X-axis lead screw nut mechanism disposed on the X-axis fixed chassis 10; the X-axis lead screw nut mechanism comprises an X-axis lead screw 11 and an X-axis nut 12.
The Z-axis mechanism comprises a Z-axis movable frame 20 and a Z-axis screw rod nut mechanism arranged on the Z-axis movable frame 20, and the Z-axis screw rod nut mechanism comprises a Z-axis lead screw 21 and a Z-axis nut 22. The lower part of the Z-axis movable frame 20 is fixed with an X-axis nut 12 in the X-axis lead screw nut mechanism. The Z-axis movable frame 20 is assembled on the X-axis fixed bottom frame in a sliding mode along the X-axis direction, an X-axis sliding rail 14 is arranged on the X-axis fixed bottom frame 10, the X-axis sliding rail 14 is arranged horizontally, and a Z-axis sliding block 25 in sliding fit with the X-axis sliding rail 14 is arranged on the Z-axis movable frame 20.
The Z-axis movable frame 20 is provided with a Z-axis slide rail 24, the Z-axis slide rail 24 is vertically arranged, and the Y-axis movable frame 30 is provided with a Y-axis slide block 34 which is in sliding fit with the Z-axis slide rail 24.
The Y-axis mechanism comprises a Y-axis movable frame 30 and a Y-axis lead screw nut mechanism arranged on the Y-axis movable frame 30, and the Y-axis lead screw nut mechanism comprises a Y-axis lead screw 31 and a Y-axis nut. The Y-axis movable frame 30 is fixed to the Z-axis nut 22 in the Z-axis feed screw nut mechanism. The Y-axis movable frame 30 moves up and down along the Z-axis slide rail 24 in the up-down direction, i.e., the Z-axis direction. The Y-axis movable frame 30 is provided with a Y-axis slide rail 32, and the Y-axis slide rail 32 is horizontally arranged.
The slide grabbing mechanism comprises a translation bracket 41 and a rotating bracket 44, and the translation bracket 41 is fixed with a Y-axis nut in the Y-axis lead screw nut mechanism. The translation bracket 41 is provided with a translation slider matched with the Y-axis slide rail 32, and the translation bracket 41 can move horizontally, namely along the Y-axis direction.
The rotating bracket 44 is fitted to the translating bracket 41 through a rotating shaft having an axial direction perpendicular to the Y-axis direction and parallel to the X-axis direction. The rotation shaft is driven to rotate by a jaw motor 46, the jaw motor 46 being a stepping motor. The jaw motor 46 is fixed to the motor fixing plate 411 on the translation bracket 41.
The rotating bracket 44 is provided with a clamping jaw 45 for inserting and taking a slide, the rotating bracket 44 is a rotating arm plate, and the clamping jaw 45 is fixed at the end part of the rotating bracket 44. Clamping jaw 45 is electronic clamping jaw, and clamping jaw 45 is prior art, and what adopts in this embodiment is the electronic clamping jaw of WTEJ20-485 intelligence. The opening direction of the holding jaw 45 is perpendicular to the length direction of the rotating arm plate. Of course, in other embodiments, other types of electric clamping jaws can be adopted, the clamping and dismounting actions of the slide can be realized, and a pneumatic clamping jaw in the prior art can also be adopted.
And each screw in the X-axis screw rod nut mechanism, the Y-axis screw rod nut mechanism and the Z-axis screw rod nut mechanism is driven by a corresponding stepping motor 5.
An X-axis position sensor 13 is respectively arranged on the X-axis fixed base frame 10 at the extreme movement positions of the Z-axis movable frame 20 in two directions. A Z-axis position sensor 23 is provided on the Z-axis movable frame 20 at the extreme movement positions in both directions of the Y-axis movable frame 30, respectively. A Y-axis position sensor 33 is respectively arranged at the extreme movement positions of the translation bracket 41 in two directions on the Y-axis movable frame 30;
the translation bracket 41 is provided with a rotational position sensor 43 for detecting a position to which the rotational bracket 44 is rotated. The end of the rotary bracket 44 remote from the clamping jaw 45 is provided with a sensor sensing piece 42 which is matched with a rotary position sensor 43.
The X-axis position sensor 13, the Y-axis position sensor 33, the Z-axis position sensor 23, and the rotational position sensor 43 are all photoelectric sensors. In the embodiment, the ohm dragon micro photoelectric sensor is adopted, and the model is EE-SX 670. Although the sensor is not limited to this model.
At X, Y, Z, two position sensors are arranged in the moving direction of the shaft, and the maximum moving stroke is limited to prevent the collision between mechanisms in the device. X, Y, Z the stroke of the shaft in each moving direction is designed and adjusted according to the parameters of the width, height and the like of the slide bin.
To better understand how the above-described robot device that can grasp a slide works, it is exemplified below that it is used in conjunction with a slide storage device, which is part of an automated staining apparatus.
The slide storage device is constructed as shown in fig. 5 to 7 and includes a slide magazine including a slide magazine support 6, the slide magazine support 6 being provided with a plurality of rows of slide cassette receiving openings 61, each slide cassette receiving opening 61 being correspondingly provided with one slide cassette 7 in a drawing manner. The slide cassette 7 comprises a cassette body provided with rows of slide slots 71, the slide slots 71 having slot cavities into which slides 8 are inserted.
The slide slot 71 includes a left support part 711 and a right support part for supporting both sides of the slide in the width direction, respectively, an upper side surface of the left support part 711 of the same slide slot 71 is coplanar with an upper side surface of the right support part, and the left support part 711 and the right support part are formed by strip-shaped plates. The front part of the slide slot 71 is provided with a limit part, and the upper side surface of the limit part is higher than the upper side surface of the corresponding left support part 711, so that the part of the limit part higher than the left support part 711 forms a limit surface for stopping and limiting the front part of the slide. The stopper portions of the same slide insertion groove 71 are designated as a left stopper portion 712 and a right stopper portion 713, respectively.
The existence of the protruding limiting part can prevent the slide from falling off when being taken, and the slide cannot fall off as long as the slide box is not overturned to be taken.
The front portion of the lower side of the cassette body is provided with two projections 72, the projections 72 being downwardly projected from the lower side of the cassette body to form a stopper portion which is brought into stop-fit with a side wall of the cassette insertion opening 61 after the cassette 7 is loaded into the cassette insertion opening 61. The bottom wall of the slide insertion opening is provided with two positioning sliding grooves 611, and the positioning sliding grooves 611 are in guiding positioning fit with the protruding blocks 72. One end of the positioning channel 611 is provided with a recess 612, and the recess 612 is for the protrusion 72 to sink and engage, i.e. when the cassette is pushed inward and is quickly put in place, the protrusion 72 at the front of the cassette 7 sinks to the recess 612, and the cassette is limited under the stop of the recess 612. Through the design of the projection 72 at the lower part of the box body and the positioning sliding groove 611 at the insertion opening 61 of the slide box, the slide box 7 is convenient to fix and also plays a role in positioning, and after the slide box 7 is positioned, the slide 8 is also positioned, so that the clamping jaw is convenient to position and take out or insert the slide 8.
In the present embodiment, 4 slide cassettes 7 are designed, and each slide cassette 7 can hold 24 slides and 96 slides. The number of cassette openings and the number of slide slots per cassette can be varied as desired.
The operation process of the manipulator device is briefly described as follows:
in preparation before work, a basic position is determined by debugging, and in the present embodiment, when the rotating bracket 44 is in a horizontal position, the rotating position sensor 43 just detects the horizontal position. After the base position is set, the amount of re-rotation is controlled by the jaw motor 46. The glass slide storage device and the mechanical hand device are arranged well, the relationship between the glass slide storage device and the mechanical hand device satisfies that the clamping jaw can horizontally extract and insert a glass slide from a glass slide box, the mechanical hand device capable of grabbing the glass slide is matched with the dyeing device mentioned in the background technology, and the condition that the glass slide can be downwards and vertically inserted into the dyeing bin body unit of the dyeing device is satisfied.
Specifically, through the actions of the three screw mechanisms of the X axis, the Y axis and the Z axis, the clamping jaw 45 on the rotating bracket 44 can move to the slide position corresponding to the corresponding slide cassette, the clamping jaw motor 46 controls the rotating bracket 44 to be horizontal, the clamping jaw 45 can extract the slide, first lift to avoid the front limit part of the slide slot, then the clamping jaw 45 clamps the slide and draws out the slide outwards, the rotating bracket 44 rotates 90 degrees clockwise (shown in fig. 4), and further under the actions of the three screw mechanisms of the X axis, the Y axis and the Z axis, the clamping jaw 45 is controlled to move to the corresponding dyeing cabin unit of the dyeing device, then the clamping jaw 45 descends to insert the slide downwards, the dyeing operation is performed, and the automatic extraction and insertion of the slide are completed.
Under the action of the three screw mechanisms of the X-axis, the Y-axis and the Z-axis, the clamping jaw 45 can also take out the stained slide in the staining device and insert the slide back into the vacant slide slot of the slide box. Can replace manual dyeing, improve dyeing efficiency and reduce labor intensity of operators. The operator only needs to put the slide to be dyed into the slide box, and the dyeing process is automated.
In the above embodiment, the rotating bracket is mainly rotated by 90 degrees under the control of the clamping jaw motor, so that the clamping jaw can take the slide in the horizontal direction and insert the slide in the vertical direction.
The manipulator device can realize accurate grabbing of the slide, is not limited to the application in dyeing machine equipment, and realizes the function of accurately inserting and taking the slide in the dyeing equipment. The mechanical arm device can also be used on other matched equipment, such as equipment of a slide reader, a slide making machine and the like, and can grab the slide to realize the functions of transferring the slide and the like. But also for gripping other slide-like sheets.
The present invention is not limited to the above-mentioned preferred embodiments, and any other products in various forms can be obtained by anyone in the light of the present invention, but any changes in the shape or structure thereof, which have the same or similar technical solutions as those of the present application, fall within the protection scope of the present invention.
Claims (8)
1. Can freely snatch manipulator device to slide, its characterized in that: the device comprises an X-axis mechanism, a Y-axis mechanism, a Z-axis mechanism and a slide grabbing mechanism, wherein the X-axis mechanism comprises an X-axis fixed bottom frame and an X-axis lead screw nut mechanism arranged on the X-axis fixed bottom frame;
the Z-axis mechanism comprises a Z-axis movable frame and a Z-axis screw nut mechanism arranged on the Z-axis movable frame, the lower part of the Z-axis movable frame is fixed with a nut in the X-axis screw nut mechanism, and the Z-axis movable frame is assembled on the X-axis fixed bottom frame in a sliding manner along the X-axis direction;
the Y-axis mechanism comprises a Y-axis movable frame and a Y-axis lead screw nut mechanism arranged on the Y-axis movable frame, and the Y-axis movable frame is fixed with a nut in the Z-axis lead screw nut mechanism;
the slide grabbing mechanism comprises a translation support and a rotary support, the translation support is fixed with a nut in the Y-axis screw nut mechanism, a clamping jaw for inserting and taking a slide is arranged on the rotary support, and the rotary support is rotatably assembled on the translation support and driven to rotate by a clamping jaw motor arranged on the translation support.
2. The robot apparatus of claim 1, wherein: an X-axis sliding rail is arranged on the X-axis fixed underframe, and a Z-axis sliding block which is in sliding fit with the X-axis sliding rail is arranged on the Z-axis movable frame;
a Z-axis sliding rail is arranged on the Z-axis movable frame, and a Y-axis sliding block which is in sliding fit with the Z-axis sliding rail is arranged on the Y-axis movable frame;
the Y-axis movable frame is provided with a Y-axis slide rail, and the translation bracket is provided with a translation slide block matched with the Y-axis slide rail;
wherein, X axle slide rail, Y axle slide rail are the horizontal setting, and Z axle slide rail is vertical setting.
3. The robot apparatus for freely gripping a slide according to claim 2, wherein: the rotating support is assembled on the translation support through a rotating shaft, and the axis direction of the rotating shaft is perpendicular to the length direction of the Y-axis sliding rail.
4. The robot apparatus capable of freely gripping a slide according to any one of claims 1 to 3, wherein: the clamping jaw is an electric clamping jaw, the clamping jaw is fixed at the end part of the rotating support, and the rotating support is a rotating arm plate.
5. The robot apparatus of claim 4, wherein: the opening direction of the clamping jaw is vertical to the length direction of the rotating arm plate.
6. The robot apparatus of claim 1, wherein: the clamping jaw motor is a stepping motor, and all lead screws in the X-axis screw rod nut mechanism, the Y-axis screw rod nut mechanism and the Z-axis screw rod nut mechanism are driven by the stepping motor.
7. The robot apparatus capable of freely gripping a slide according to any one of claims 1 to 3, wherein: the X-axis fixed underframe is respectively provided with an X-axis position sensor at the extreme movement positions in two directions of the Z-axis movable frame, the Z-axis movable frame is respectively provided with a Z-axis position sensor at the extreme movement positions in two directions of the Y-axis movable frame, and the Y-axis movable frame is respectively provided with a Y-axis position sensor at the extreme movement positions in two directions of the translation support;
and a rotary position sensor is arranged on the translation bracket and used for detecting the position of the rotation bracket, which is rotated to the position.
8. The robot apparatus of claim 7, wherein: and the X-axis position sensor, the Y-axis position sensor, the Z-axis position sensor and the rotating position sensor adopt photoelectric sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910753373.9A CN110587585A (en) | 2019-08-15 | 2019-08-15 | Can freely snatch manipulator device to slide |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910753373.9A CN110587585A (en) | 2019-08-15 | 2019-08-15 | Can freely snatch manipulator device to slide |
Publications (1)
| Publication Number | Publication Date |
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| CN110587585A true CN110587585A (en) | 2019-12-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910753373.9A Pending CN110587585A (en) | 2019-08-15 | 2019-08-15 | Can freely snatch manipulator device to slide |
Country Status (1)
| Country | Link |
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| CN (1) | CN110587585A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113352308A (en) * | 2021-06-30 | 2021-09-07 | 杭州智微信息科技有限公司 | Mechanical arm for shooting bone marrow smear and working method thereof |
| CN115069325A (en) * | 2021-03-12 | 2022-09-20 | 平湖莱顿光学仪器制造有限公司 | Equipment for automatically taking and placing glass plate |
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| DE2903186A1 (en) * | 1978-01-31 | 1979-08-02 | Fujitsu Fanuc Ltd | DEVICE FOR INDEPENDENT TRANSPORTATION OF OBJECTS |
| US20080064543A1 (en) * | 2006-09-07 | 2008-03-13 | Nsk Ltd. | Three axis drive apparatus |
| CN204736009U (en) * | 2015-03-31 | 2015-11-04 | 湖北远蓝机器有限公司 | Automatic get drop feed mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115069325A (en) * | 2021-03-12 | 2022-09-20 | 平湖莱顿光学仪器制造有限公司 | Equipment for automatically taking and placing glass plate |
| CN115069325B (en) * | 2021-03-12 | 2023-10-31 | 平湖莱顿光学仪器制造有限公司 | Equipment for automatically taking and placing glass sheet disc |
| CN113352308A (en) * | 2021-06-30 | 2021-09-07 | 杭州智微信息科技有限公司 | Mechanical arm for shooting bone marrow smear and working method thereof |
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Application publication date: 20191220 |
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| RJ01 | Rejection of invention patent application after publication |