CN110744581A - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN110744581A CN110744581A CN201911191638.7A CN201911191638A CN110744581A CN 110744581 A CN110744581 A CN 110744581A CN 201911191638 A CN201911191638 A CN 201911191638A CN 110744581 A CN110744581 A CN 110744581A
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- CN
- China
- Prior art keywords
- bottom plate
- clamping hand
- shell
- transmission assembly
- transmission
- 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
- 230000005540 biological transmission Effects 0.000 claims abstract description 85
- 230000000670 limiting effect Effects 0.000 claims abstract description 21
- 238000012546 transfer Methods 0.000 abstract description 8
- 238000002474 experimental method Methods 0.000 abstract description 4
- 238000012360 testing method Methods 0.000 abstract description 2
- 102000039446 nucleic acids Human genes 0.000 description 15
- 108020004707 nucleic acids Proteins 0.000 description 15
- 150000007523 nucleic acids Chemical class 0.000 description 15
- 230000033001 locomotion Effects 0.000 description 14
- 230000000694 effects Effects 0.000 description 4
- 238000000605 extraction Methods 0.000 description 3
- 239000012488 sample solution Substances 0.000 description 3
- 239000003153 chemical reaction reagent Substances 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 208000005623 Carcinogenesis Diseases 0.000 description 1
- 208000026350 Inborn Genetic disease Diseases 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000036952 cancer formation Effects 0.000 description 1
- 231100000504 carcinogenesis Toxicity 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 208000016361 genetic disease Diseases 0.000 description 1
- 230000002068 genetic effect Effects 0.000 description 1
- 238000010353 genetic engineering Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 108090000623 proteins and genes Proteins 0.000 description 1
- 102000004169 proteins and genes Human genes 0.000 description 1
- 238000000746 purification Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
Images
Classifications
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the field of experimental equipment, and particularly relates to a manipulator. The manipulator includes: the device comprises a shell, a transmission assembly, a first clamping hand, a second clamping hand, a limiting assembly and a bottom plate; the bottom plate is fixedly arranged on the shell; the transmission assembly is arranged in the shell; the first clamping hand is fixed on the bottom plate, the second clamping hand is fixedly connected with the transmission assembly and moves in the opposite direction or the opposite direction to the first clamping hand under the control of the transmission assembly; the limiting assembly is arranged in the shell, and the transmission of the transmission assembly is controlled by detecting the position of the transmission assembly. The manipulator provided by the invention can efficiently transfer various reaction plates required by biological experiments, is simple and easy to operate, and avoids the pollution to test samples. Solves the problems of low efficiency, complex operation and sample pollution caused by manual transfer of the biological reaction plate.
Description
Technical Field
The invention belongs to the field of experimental equipment, and particularly relates to a manipulator.
Background
Nucleic acid, which is a carrier of genetic information, is the material basis for gene expression, and has a very important role in the normal growth, development and reproduction of organisms, and other life activities, and is also closely related to life abnormalities, such as tumorigenesis, radiation damage, genetic diseases, and the like. Therefore, nucleic acid molecules are the main subject of research in the fields of genetic engineering, protein engineering, and the like.
A nucleic acid extractor is an instrument which automatically finishes the extraction work of nucleic acid by using a matched nucleic acid extraction reagent, and the nucleic acid extractor is divided into two types: one is a large automated nucleic acid extractor, commonly referred to as an automated liquid workstation; the other type is a small automatic nucleic acid extractor which automatically finishes the extraction and purification process by using a packaged matched reagent. The automatic liquid workstation is high in equipment cost and operation cost, and is suitable for extracting thousands of samples of the same type at a time, so that the number of the samples is reduced. The small automatic nucleic acid extractor has low operation cost and convenient operation, and is widely applied. .
Before extracting nucleic acid in a nucleic acid extractor, it is usually necessary to manually transfer a well plate or a PCR plate containing a nucleic acid sample solution to the nucleic acid extractor. The manual transfer of the nucleic acid sample solution can cause the nucleic acid sample solution to be polluted, and has low efficiency and complex operation, thereby influencing the progress of the experiment and the accuracy of the experiment result.
Disclosure of Invention
The invention aims to provide a manipulator, which solves the problems of low efficiency, complex operation and sample pollution caused by manual transfer of a biological reaction plate.
The technical scheme for solving the technical problems is as follows: a manipulator, comprising: the device comprises a shell, a transmission assembly, a first clamping hand, a second clamping hand, a limiting assembly and a bottom plate;
the bottom plate is fixedly arranged on the shell; the transmission assembly is arranged in the shell;
the first clamping hand is fixed on the bottom plate, the second clamping hand is fixedly connected with the transmission assembly and moves in the opposite direction or the opposite direction to the first clamping hand under the control of the transmission assembly;
the limiting assembly is arranged in the shell, and the transmission of the transmission assembly is controlled by detecting the position of the transmission assembly.
The transmission assembly can control the second clamping hand to move towards the first clamping hand in the opposite direction or in the opposite direction through the limiting assembly. Through the cooperation of first tong and second tong, can realize the automation of biological reaction plate transfer. The bottom plate provides a supporting function for the transmission assembly. The shell has supporting and protecting functions on the internal transmission assembly and the limiting assembly. The limiting assembly can control the transmission of the transmission assembly.
Further, the transmission assembly includes: the device comprises a motor, a transmission shaft, a lead screw nut, a guide rail and a sliding block;
the transmission shaft is arranged on the motor, and the lead screw nut is arranged on the transmission shaft; and is movably connected with the bracket;
the sliding block is fixedly arranged on the bottom plate, and the guide rail is arranged on the sliding block and is movably connected with the sliding block; the second clamping hand is arranged between the guide rail and the screw nut and fixedly connected with the guide rail and the screw nut.
The motor provides power for the rotation of transmission shaft, and screw nut passes through swing joint with the transmission shaft, can realize screw nut at the epaxial lateral motion of transmission. Because the second tong is fixedly connected with the screw nut, the screw nut can drive the second tong to move together. The slider sets up on the bottom plate, and the guide rail setting has guaranteed that the second tong can only carry out lateral movement between slider and the second tong.
The limiting assembly comprises a distance measuring sensor and a sensor contact piece, the distance measuring sensor is fixedly arranged on the shell, and the sensor contact piece is fixedly arranged on the lead screw nut; the control system is electrically connected with the motor.
The sensor contact is arranged on the screw nut, and when the sensor contact and the screw nut move together, the distance measuring sensor can detect the position of the sensor contact. The distance measuring sensor transmits the position information of the sensor contact to a control system by detecting the position of the sensor contact. And the control system controls the transmission of the transmission assembly according to the position information of the sensor contact piece.
Further, the manipulator further comprises a motor flange, the motor flange is fixedly arranged between the shell and the bottom plate, and the motor is fixed on the motor flange.
The motor flange plays a role in fixing the motor. And the motor flange is fixedly connected with the shell and the bottom plate, so that the connection between the bottom plate and the shell is reinforced.
Further, the manipulator further comprises a bearing with a seat, the bearing with the seat is fixedly arranged on the bottom plate, and the bearing with the seat is rotatably connected with the tail end of the transmission shaft.
The bearing with the seat has a limiting effect on a transmission shaft of the transmission assembly, and ensures that the transmission shaft can only do circular motion on one horizontal line. Meanwhile, the bearing with the seat also ensures that the lead screw nut does transverse motion on a horizontal line.
Further, the casing is cuboid, and the bottom plate be with casing matched with rectangle, the transmission shaft sets up the central point of casing width direction puts.
The shell is cuboid, and the bottom plate is rectangular. Specifically, the motor is disposed at a central position on one side of the housing. The transmission shaft is connected with the motor and horizontally arranged along the center of the width direction of the shell. Such an arrangement may provide for the robot arm to have two second grippers symmetrically arranged.
Further, the guide rail, the sliding block and the second clamping hand are symmetrically arranged along the transmission shaft;
the manipulator provided by the invention respectively comprises two guide rails, a sliding block and a second clamping hand which are symmetrically arranged along a transmission shaft. Namely, the two guide rails, the two sliding blocks and the two second clamping hands are respectively arranged at two sides of the transmission shaft. When the two clamping hands hold the biological reaction plate, the two second clamping hands move synchronously, so that the clamping effect is enhanced, and the clamping stability is improved.
Further, the first clamping hand comprises a fixed seat and two clamping components;
the fixing seat is fixedly connected with the bottom plate, and the two clamping components are oppositely arranged at two ends of the fixing seat.
The first clamping hand is fixedly connected with the bottom plate, so that the first clamping hand cannot move freely. First tong passes through fixing base and bottom plate fixed connection to the fixing base still even has two centre gripping parts, can realize with the cooperation of two second tongs, common centre gripping biological reaction plate.
Further, the second clamping hand comprises a fixed arm and a clamping arm which are perpendicular to each other;
the fixed arm with guide rail, lead screw nut fixed connection, the centre gripping arm with the fixing base sets up perpendicularly.
The second clamping hand consists of a fixed arm and a clamping arm which are perpendicular to each other. Through the fixed arm, the second tong can realize the fixed connection with guide rail, screw nut. Through the clamping arm, the second tong can realize the centre gripping to the biological reaction plate.
The invention has the beneficial effects that: the present invention provides a manipulator including: the device comprises a shell, a transmission assembly, a first clamping hand, a second clamping hand, a limiting assembly and a bottom plate. The transmission assembly controls the first clamping hand and the second clamping hand to be closed, so that the transfer of the biological reaction plate is automated. The invention can efficiently transfer various reaction plates required by biological experiments, has simple and easy operation and avoids the pollution of test samples.
Drawings
Fig. 1 is an overall schematic view of a manipulator provided by the invention;
in the drawings, the components represented by the respective reference numerals are listed below:
1. the device comprises a shell, 2, a first clamping hand, 3, a second clamping hand, 4, a bottom plate, 5, a motor, 6, a transmission shaft, 7, a screw nut, 8, a guide rail, 9, a sliding block, 10, a distance measuring sensor, 11, a sensor contact piece, 12, a motor flange, 13, a fixed seat, 14, a clamping part, 15, a fixed arm, 16, a clamping arm, 17 and a bearing with a seat.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "center", "inner", "outer", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the invention.
In the description of the invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1, the present invention provides a robot hand including: the device comprises a shell 1, a transmission assembly, a first clamping hand 2, a second clamping hand 2, a limiting assembly and a bottom plate 4; the bottom plate 4 is fixedly arranged on the shell 1; the transmission assembly is arranged in the shell 1; the first clamping hand 2 is fixed on the bottom plate 4, the second clamping hand 2 is fixedly connected with the transmission assembly, and moves in the opposite direction or the opposite direction to the first clamping hand 2 under the control of the transmission assembly; the limiting assembly is arranged in the shell 1, and the transmission of the transmission assembly is controlled by detecting the position of the transmission assembly.
The bottom plate 4 and the shell 1 provide protection and support for the transmission assembly and the limiting assembly, the transmission assembly can drive the second clamping hand 2 to move, and the limiting assembly can control the movement distance of the second clamping hand 2. Through the cooperation of transmission assembly and spacing subassembly, can control second tong 2 and do the opposite direction motion to first tong 2, can realize the automation that the biological reaction plate shifted.
In some preferred embodiments, the transmission assembly further comprises: the device comprises a motor 5, a transmission shaft 6, a lead screw nut 7, a guide rail 9 and a sliding block; the transmission shaft 6 is arranged on the motor 5, and the lead screw nut 7 is arranged on the transmission shaft 6; and is movably connected with the bracket; the sliding block is fixedly arranged on the bottom plate 4, and the guide rail 9 is arranged on the sliding block and is movably connected with the sliding block; the second clamping hand 2 is arranged between the guide rail 9 and the screw nut 7 and is fixedly connected with the guide rail 9 and the screw nut 7.
The motor 5 is a power device of the manipulator and provides power for the rotation of the transmission shaft 6. The lead screw nut 7 is arranged on the transmission shaft 6, and when the transmission shaft 6 performs circular motion, the lead screw nut 7 can perform transverse motion on the transmission shaft 6.
The second clamping hand 2 is fixedly connected with the screw nut 7, and the screw nut 7 can drive the second clamping hand 2 to move together. The slider sets up on bottom plate 4, and guide rail 9 sets up between slider and second tong 2, and the slider has guaranteed that second tong 2 can only carry out lateral movement for guide rail 9 and second tong 2 provide the support.
In order to achieve the technical effect of intelligently controlling the whole manipulator, on the basis of the scheme, the manipulator is more preferably further provided with a control system, the limiting assembly comprises a distance measuring sensor 10 and a sensor contact piece 11, the distance measuring sensor 10 is fixedly arranged on the shell 1, and the sensor contact piece 11 is fixedly arranged on the screw nut 7; the control system is electrically connected with the motor 5.
Set up sensor contact 11 on screw nut 7, when screw nut 7 drove sensor contact 11 motion, range sensor 10 can respond to the position of sensor contact 11. The distance measuring sensor 10 transmits the detected position information of the sensor contact 11 to a control system, and the control system finally controls the transmission of the transmission assembly by controlling the motor 5.
In order to realize effective fixation of the motor 5, on the basis of the scheme, the motor fixing device further comprises a motor flange 12, the motor flange 12 is fixedly arranged between the shell 1 and the bottom plate 4, and the motor 5 is fixed on the motor flange 12.
The motor flange 12 fixes the motor 5 inside the casing 1, so as to prevent the motor 5 from vibrating when acting, and the motion direction of the screw nut 7 is not affected. The motor flange 12 is fixedly connected to the housing 1 and the base plate 4, thereby reinforcing the connection between the base plate 4 and the housing 1.
In order to support and limit the transmission of the transmission shaft 6, in some preferred embodiments, the transmission device further comprises a bearing 17 with a seat, the bearing 17 with the seat is fixedly arranged on the bottom plate 4, and the bearing 17 with the seat is rotatably connected with the tail end of the transmission shaft 6.
The tail end of the transmission shaft 6 is provided with the bearing 17 with a seat fixed on the bottom plate 4, so that the function of limiting and supporting the transmission shaft 6 can be realized, and the transmission shaft 6 can only do circular motion on one horizontal line. And moreover, the screw nut 7 is ensured to drive the second clamping hand 2 to horizontally move.
In some more preferred embodiments, the housing 1 has a rectangular parallelepiped shape, the bottom plate 4 has a rectangular shape to be fitted to the housing 1, and the transmission shaft 6 is provided at a central position in a width direction of the housing 1.
The housing 1 has a rectangular parallelepiped shape, the bottom plate 4 has a rectangular shape, and the transmission shaft 6 is provided at a center position in a width direction of the housing 1. The bottom plate 4 is matched with the shell 1 and is in a regular shape, so that the transmission assembly can control the second clamping hand 2 to do regular movement. Moreover, the arrangement mode creates conditions for symmetrically arranging the two second clamping hands 2 for the mechanical arm.
In order to enhance the clamping effect of the clamping hand, on the basis of the scheme, the guide rail 9, the sliding block and the second clamping hand 2 are symmetrically arranged along the transmission shaft 6;
two second clamping hands 2, a guide rail 9 and a sliding block are symmetrically arranged, so that the stability of the second clamping hands 2 and the first clamping hands 2 for clamping the pore plates or the PCR reaction plates and other biological reaction plates is ensured. So that the clamped biological reaction plate does not fall off or fall.
In order to fix the first gripper 2 to the base plate 4, on the basis of the above scheme, the first gripper 2 comprises a fixed seat 13 and two clamping components 14;
the fixing seat 13 is fixedly connected with the bottom plate 4, and the two clamping components 14 are oppositely arranged at two ends of the fixing seat 13.
The fixing seat 13 can fix the clamping component 14 below the bottom plate 4, and the clamping component 14 can cooperate with the second clamping hand 2 to clamp the biological reaction plate.
In some preferred embodiments, the second gripper 2 comprises a fixed arm 15 and a gripping arm 16 perpendicular to each other;
the fixing arm 15 is fixedly connected with the guide rail 9 and the lead screw nut 7, and the clamping arm 16 is perpendicular to the fixing seat 13.
The fixing arm 15 can fix the guide rail 9 on the second gripper 2 and realize the fixed connection of the second gripper 2 with the spindle nut 7. The clamping arm 16 can cooperate with the first clamping arm 2 to clamp the biological reaction plate.
On the basis of the scheme, two grooves are formed in one side of the shell 1 adjacent to the second clamping hand 2. The side of the shell 1 is provided with a groove, so that the second clamping hand 2 can enter and exit, and the shell 1 is prevented from limiting the movement of the second clamping hand 2.
In some preferred embodiments, a card slot is also provided on the backplane board 4. The clamping groove is arranged, so that the motor 5 can be prevented from being displaced due to vibration during working.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A manipulator, characterized by comprising: the device comprises a shell (1), a transmission assembly, a first clamping hand (2), a second clamping hand (3), a limiting assembly and a bottom plate (4);
the bottom plate (4) is fixedly arranged on the shell (1); the transmission assembly is arranged in the shell (1);
the first clamping hand (2) is fixed on the bottom plate (4), the second clamping hand (3) is fixedly connected with the transmission assembly and moves in the opposite direction or the opposite direction to the first clamping hand (2) under the control of the transmission assembly;
the limiting assembly is arranged in the shell (1), and the transmission of the transmission assembly is controlled by detecting the position of the transmission assembly.
2. The robot of claim 1, wherein the transmission assembly comprises: the device comprises a motor (5), a transmission shaft (6), a screw nut (7), a guide rail (8) and a sliding block (9);
the transmission shaft (6) is arranged on the motor (5), and the lead screw nut (7) is arranged on the transmission shaft (6); and is movably connected with the bracket;
the sliding block (9) is fixedly arranged on the bottom plate (4), and the guide rail (8) is arranged on the sliding block (9) and movably connected with the sliding block (9); the second clamping hand (3) is arranged between the guide rail (8) and the screw nut (7) and fixedly connected with the guide rail (8) and the screw nut (7).
3. The manipulator of claim 2, further comprising a control system, and the limit assembly comprises a distance measuring sensor (10) and a sensor contact (11);
the distance measuring sensor (10) is fixedly arranged on the shell (1), and the sensor contact piece (11) is fixedly arranged on the screw nut (7); the control system is electrically connected with the motor (5).
4. The manipulator according to claim 2, further comprising a motor flange (12), wherein the motor flange (12) is fixedly arranged between the housing (1) and the bottom plate (4), and the motor (5) is fixed on the motor flange (12).
5. The manipulator according to claim 2, characterized by further comprising a bearing with a seat (17), wherein the bearing with a seat (17) is fixedly arranged on the bottom plate (4), and the bearing with a seat (17) is rotatably connected with the tail end of the transmission shaft (6).
6. The manipulator according to any one of claims 1 to 5, wherein the housing (1) has a rectangular parallelepiped shape, the bottom plate (4) has a rectangular shape to fit the housing (1), and the transmission shaft (6) is provided at a center position in a width direction of the housing (1).
7. The manipulator according to claim 6, characterized in that the guide (8), the slide (9) and the second gripper (3) are all arranged symmetrically along the transmission shaft (6).
8. The manipulator according to claim 7, characterized in that the first gripper (2) comprises one fixed seat (13) and two gripping members (14);
the fixing seat (13) is fixedly connected with the bottom plate (4), and the two clamping parts (14) are oppositely arranged at two ends of the fixing seat (13).
9. Manipulator according to claim 8, characterized in that the second gripper (3) comprises a fixed arm (15) and a gripping arm (16) perpendicular to each other;
the fixing arm (15) is fixedly connected with the guide rail (8) and the lead screw nut (7), and the clamping arm (16) is perpendicular to the fixing seat (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911191638.7A CN110744581A (en) | 2019-11-28 | 2019-11-28 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911191638.7A CN110744581A (en) | 2019-11-28 | 2019-11-28 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110744581A true CN110744581A (en) | 2020-02-04 |
Family
ID=69284931
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911191638.7A Pending CN110744581A (en) | 2019-11-28 | 2019-11-28 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110744581A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007222971A (en) * | 2006-02-22 | 2007-09-06 | Nissan Motor Co Ltd | Robot hand, and finger exchanging device of robot hand |
| CN107627319A (en) * | 2017-10-11 | 2018-01-26 | 佛山市新鹏机器人技术有限公司 | A kind of robot clamp of parallel clamping |
| CN207087896U (en) * | 2017-07-06 | 2018-03-13 | 深圳市海目星激光科技有限公司 | A kind of battery grabbing device |
| CN207104954U (en) * | 2017-08-24 | 2018-03-16 | 金石机器人银川有限公司 | Bent axle catching robot |
| CN108161920A (en) * | 2017-12-01 | 2018-06-15 | 苏州科爱佳自动化科技有限公司 | A kind of contractile running gear of manipulator |
| CN209140918U (en) * | 2018-12-12 | 2019-07-23 | 威奥博仕机器人（昆山）有限公司 | A kind of manipulator clamping jaw |
| CN211729232U (en) * | 2019-11-28 | 2020-10-23 | 天津擎科生物技术有限公司 | Mechanical arm |
-
2019
- 2019-11-28 CN CN201911191638.7A patent/CN110744581A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007222971A (en) * | 2006-02-22 | 2007-09-06 | Nissan Motor Co Ltd | Robot hand, and finger exchanging device of robot hand |
| CN207087896U (en) * | 2017-07-06 | 2018-03-13 | 深圳市海目星激光科技有限公司 | A kind of battery grabbing device |
| CN207104954U (en) * | 2017-08-24 | 2018-03-16 | 金石机器人银川有限公司 | Bent axle catching robot |
| CN107627319A (en) * | 2017-10-11 | 2018-01-26 | 佛山市新鹏机器人技术有限公司 | A kind of robot clamp of parallel clamping |
| CN108161920A (en) * | 2017-12-01 | 2018-06-15 | 苏州科爱佳自动化科技有限公司 | A kind of contractile running gear of manipulator |
| CN209140918U (en) * | 2018-12-12 | 2019-07-23 | 威奥博仕机器人（昆山）有限公司 | A kind of manipulator clamping jaw |
| CN211729232U (en) * | 2019-11-28 | 2020-10-23 | 天津擎科生物技术有限公司 | Mechanical arm |
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