CN111803089A - Miniature electromagnetic type unilateral positioning finger clamping jaw - Google Patents
Miniature electromagnetic type unilateral positioning finger clamping jaw Download PDFInfo
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- CN111803089A CN111803089A CN202010507278.3A CN202010507278A CN111803089A CN 111803089 A CN111803089 A CN 111803089A CN 202010507278 A CN202010507278 A CN 202010507278A CN 111803089 A CN111803089 A CN 111803089A
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- movable shaft
- fixed
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- 238000007906 compression Methods 0.000 claims abstract description 20
- 230000006835 compression Effects 0.000 claims abstract description 19
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 10
- 239000004677 Nylon Substances 0.000 claims description 11
- 229920001778 nylon Polymers 0.000 claims description 11
- 238000010241 blood sampling Methods 0.000 description 9
- 210000003462 vein Anatomy 0.000 description 6
- 239000008280 blood Substances 0.000 description 4
- 210000004369 blood Anatomy 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000002146 bilateral effect Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000003331 infrared imaging Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052755 nonmetal Inorganic materials 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
- A61B5/150007—Details
- A61B5/150015—Source of blood
- A61B5/15003—Source of blood for venous or arterial blood
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
- A61B5/150007—Details
- A61B5/150732—Needle holders, for instance for holding the needle by the hub, used for example with double-ended needle and pre-evacuated tube
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Hematology (AREA)
- Physics & Mathematics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Clamps And Clips (AREA)
Abstract
The utility model provides a miniature electromagnetic type unilateral location finger clamping jaw includes: the clamping device comprises a fixed seat, a fixed clamping jaw, a movable clamping jaw, a coil, a compression spring and a movable shaft; the fixed clamping jaw is fixed on one side of the fixed seat; the movable clamping jaw comprises a clamping part and an L-shaped part; the clamping part is opposite to the fixed clamping jaw; one end of the L-shaped part is connected with the clamping part, the corner of the L-shaped part is hinged to the fixed seat, and the other end of the L-shaped part is connected with one end of the movable shaft through the connecting structure; the other end of the movable shaft penetrates through the fixed seat, and a flange is fixed at the other end of the movable shaft; two ends of the compression spring are respectively abutted against the fixed seat and the flange; the coil is sleeved outside the movable shaft and fixed on the fixed seat, and a gap is formed between the inner wall of the coil and the movable shaft; the movable shaft in the coil is an iron core. The present disclosure maintains the movable jaws in a closed state initially by compressing the springs, thereby ensuring that the articles remain gripped also in the event of a power failure.
Description
Technical Field
The utility model relates to an automatic needle field of grabbing of blood sampling robot especially relates to a miniature electromagnetic type unilateral location finger clamping jaw.
Background
At present, the domestic medical environment is mostly automated, a nurse manual blood sampling method is adopted in the unique blood sampling link, and even semi-automatic blood sampling is not available. Thousands of people in China possess the number of nurses and rank the world last but six, and the shortage of nurses becomes the normal state of each large hospital. When epidemic outbreaks are infected, medical staff such as nurses and the like are a group with the highest infection rate. Therefore, the existing vein blood sampling robot needs further improvement and perfection in key technology.
VascuLogic, USA, has some reports on a vein blood sampling robot, which is provided with ultrasonic color Doppler imaging and infrared imaging, automatically determines the insertion position of a blood sampling needle, and adjusts the position and the depth after a needle head enters a body. Whole blood sampling process lasts about one minute, and its structure that presss from both sides tight and fixed vein blood taking needle adopts fixed draw-in groove structure, adopts artifical manual to go into the draw-in groove with needle handle part card and fixes the vein blood taking needle, and this vein blood taking robot's the degree of automation of grabbing the needle structure still remains to be further improved.
The intelligent medical blood sampling robot developed by the Beijing Meinaishi surgical robot technology company Limited and the Shanghai Meique medical robot technology company Limited is domestic. The structure of the device for grabbing the vein blood taking needle is a pneumatic clamping jaw, and the pneumatic clamping jaw utilizes compressed air as power and is used for clamping or grabbing an executing device of a workpiece. The needle grasping structure of the pneumatic clamping jaw has the defects that an air source and matched pneumatic elements (such as an air pipe connector, a pressure regulating valve, an electromagnetic valve, an air pipe and the like) are needed, and when the pneumatic clamping jaw is used in a matched mode, the size is large, and many needed parts are inconvenient to carry.
Chinese utility model patent 201520800903.8 introduces a novel electromagnetic structure jack catch, and this novel electromagnetic structure jack catch utilizes link mechanism principle, adopts the bilateral clamping jaw of symmetrical formula, because link mechanism has machining error, can not guarantee the uniformity of clamping jaw during operation middle clamping position, and this novel electromagnetic structure is when the outage simultaneously, and bilateral clamping jaw is in the open mode, can not keep the state of cliping article promptly.
Disclosure of Invention
To address at least one of the above issues, the present disclosure provides a miniature electromagnetic single-sided positioning finger grip.
According to one aspect of the present disclosure, a miniature electromagnetic single-sided positioning finger grip comprises: the clamping device comprises a fixed seat, a fixed clamping jaw, a movable clamping jaw, a coil, a compression spring and a movable shaft; the fixed clamping jaw is fixed on one side of the fixed seat; the movable clamping jaw comprises a clamping part and an L-shaped part; the clamping part is opposite to the fixed clamping jaw; one end of the L-shaped part is connected with the clamping part, the corner of the L-shaped part is hinged to the fixed seat, and the other end of the L-shaped part is connected with one end of the movable shaft through the connecting structure; the other end of the movable shaft penetrates through the fixed seat, and a flange is fixed at the other end of the movable shaft; two ends of the compression spring are respectively abutted against the fixed seat and the flange; the coil is sleeved outside the movable shaft and fixed on the fixed seat, and a gap is formed between the inner wall of the coil and the movable shaft; the movable shaft in the coil is an iron core.
According to at least one embodiment of the present disclosure, further comprising: a nylon tube; the nylon tube is sleeved outside the movable shaft and is in clearance fit with the movable shaft; the coil is sleeved outside the nylon tube.
According to at least one embodiment of the present disclosure, a pin shaft is inserted into the fixing seat; the corner of the L-shaped part is sleeved outside the pin shaft.
According to at least one embodiment of the present disclosure, the connection structure includes an elongated hole and a pin disposed in the elongated hole; one of the L-shaped part and the movable shaft is provided with a long hole, and the other is fixedly connected with the pin.
According to at least one embodiment of the present disclosure, the fixing base is in a rectangular frame shape, and the coil is placed in the fixing base.
According to at least one embodiment of the present disclosure, the end surface of the fixing seat is provided with mounting holes.
According to at least one embodiment of the disclosure, lugs are integrally formed on two outer side surfaces of the fixed seat, which are parallel to the sliding direction of the movable shaft; the lug is provided with the mounting hole.
According to at least one embodiment of the present disclosure, a pin hole in interference fit with a pin is formed in one end of the movable shaft away from the compression spring, and the pin is inserted into the pin hole; the L-shaped part is provided with a strip hole which is sleeved outside the pin.
According to at least one embodiment of the present disclosure, the fixing base is provided with a clamping groove adapted to the corner of the L-shaped portion, and two ends of the pin shaft are respectively inserted into two side walls opposite to the clamping groove.
According to at least one embodiment of the present disclosure, the two side walls of the clamping groove are both provided with a pin shaft hole in interference fit with the pin shaft.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
Figure 1 is a three-dimensional schematic view of a miniature normally open single-sided positioning finger grip according to an embodiment of the present disclosure.
Figure 2 is a front view of a miniature normally open single-sided positioning finger grip according to an embodiment of the present disclosure.
Figure 3 is a side view of a miniature normally open one-sided positioning finger grip according to an embodiment of the present disclosure.
Figure 4 is an exploded view of a miniature normally open single-sided positioning finger grip according to an embodiment of the present disclosure.
Figure 5 is a schematic view of a movable jaw of a miniature normally open one-sided positioning finger jaw according to an embodiment of the present disclosure.
Reference numerals:
1-a fixed seat; 2-fixing the clamping jaw; 3-movable clamping jaw; 4-mounting holes; 5-a coil; 6-compression spring; 7-a flange; 8-a pin shaft; 9-a movable shaft; 10-nylon tube; 11-pin shaft mounting holes; 12-elongated holes.
Detailed Description
The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
According to the clamping device, the fixed clamping jaw is fixed on the fixed seat, and compared with a symmetrical double-side clamping jaw, the problem that the grabbing center position is inconsistent due to errors existing in machining is solved; secondly, this disclosure is through running through the fixing base with the loose axle, and the one end fixed flange of activity clamping jaw is kept away from at the loose axle to set up compression spring between flange and fixing base, exert the power for the loose axle with compression spring, thereby under the circumstances of coil outage, the activity clamping jaw keeps the closure state, and then ensures that this disclosure still keeps cliping the state of article under the outage circumstances.
The first embodiment is as follows:
as shown in fig. 1-4, according to a first embodiment of the present disclosure, there is provided a miniature electromagnetic single-sided positioning finger grip, comprising: the device comprises a fixed seat 1, a fixed clamping jaw 2, a movable clamping jaw 3, a coil 5, a compression spring 6 and a movable shaft 9; the fixed clamping jaw 2 is fixed on one side of the fixed seat 1; the movable clamping jaw 3 comprises a clamping part and an L-shaped part; the clamping part is opposite to the fixed clamping jaw 2; one end of the L-shaped part is connected with the clamping part, the corner of the L-shaped part is hinged to the fixed seat 1, and the other end of the L-shaped part is connected with one end of the movable shaft 9 through a connecting structure; the other end of the movable shaft 9 penetrates through the fixed seat 1, and a flange 7 is fixed at the other end of the movable shaft 9; two ends of the compression spring 6 respectively abut against the fixed seat 1 and the flange 7; the coil 5 is sleeved outside the movable shaft 9, the coil 5 is fixed on the fixed seat 1, and a gap is formed between the inner wall of the coil 5 and the movable shaft 9; at least a part of the movable shaft 9 located in the coil 5 is an iron core.
As shown in fig. 1 and 4, in this embodiment, the fixing base 1 is in a rectangular frame shape, the coil 5 is disposed inside the rectangular frame shape, two side faces of the rectangular frame shape parallel to the sliding direction of the movable shaft 9 are integrally formed with lugs, and the lugs are all provided with mounting holes 4 for fixing the miniature normally open type single-side positioning finger clamping jaw to other devices, wherein the mounting holes 4 may be unthreaded holes or threaded holes. By forming the lugs on the outer side of the rectangular frame, the wall thickness of the rectangular frame can be reduced, thereby saving material and reducing the overall weight of the present disclosure.
As shown in fig. 2 and 4, in the present embodiment, a pin 8 is inserted on the fixing base 1; the corner of the L-shaped part is sleeved outside the pin shaft 8. The pin shaft 8 can be in interference fit with the pin shaft hole 11, and the pin shaft 8 is in clearance fit with the fixed seat 1; or the pin shaft 8 is in clearance fit with the pin shaft hole 11, and the pin shaft 8 is in interference fit with the fixed seat 1; the pin shaft 8 and the pin shaft hole 11 and the pin shaft 8 and the fixed seat 1 can be in clearance fit, and the clamp springs for the shaft are clamped at the two ends of the pin shaft 8 or the clamp springs for the hole are clamped in the hole where the fixed seat 1 is matched with the pin shaft 8, so that the hinged connection between the L-shaped part and the fixed seat 1 is realized.
The fixed clamping jaw 2 can be fixed on the fixed seat 1 by welding or bolt connection and other modes.
Because the movable shaft 9 moves linearly and the movable clamping jaw 3 rotates, in order to avoid the interference between the movable shaft 9 and the movable clamping jaw 3 in the movement direction perpendicular to the movable shaft 9, the connecting structure may be a connecting rod, specifically, two ends of the connecting rod are respectively hinged to one end of the movable shaft 9 far away from the compression spring 6 and one end of the L-shaped portion far away from the clamping portion.
The whole movable shaft 9 can be an iron core, and when the whole movable shaft 9 is the iron core, a non-metal material can be sleeved outside the movable shaft 9; the movable shaft 9 can also be partially made of iron core, and when the movable shaft 9 is partially made of iron core, the non-iron core part and the iron core part can be connected together by welding, screw connection and the like.
As shown in fig. 2, 3 and 4, in the present embodiment, the compression spring 6 is sleeved outside the movable shaft 9, so that the compression spring 6 can be guided by the movable shaft 9, and the compression spring 6 is prevented from buckling under force.
The working principle is as follows:
in an initial state, namely when the coil 5 is in an unpowered state, the compression spring 6 is in a compressed state, and under the action of the compression spring 6, the movable shaft 9 slides away from the movable clamping jaw 3, so that the movable clamping jaw 3 is pushed to be in a closed state to clamp an object, namely when the coil 5 is not powered, the movable clamping jaw 3 is in a closed state; when the object needs to be loosened, the coil 5 is electrified, and the movable shaft 9 moves towards the movable clamping jaw 3, so that the movable clamping jaw 3 is driven to be opened, and the object is loosened.
Example two:
the main difference from the first miniature electromagnetic single-side positioning finger grip embodiment is that, in this embodiment, as shown in fig. 4, the method further includes: a nylon tube 10; the nylon tube 10 is sleeved outside the movable shaft 9 and is in clearance fit with the movable shaft 9; the coil 5 is sleeved outside the nylon tube 10. The nylon material has self-lubricating function, so that the movable shaft 9 can move smoothly.
Example three:
the main difference from the first miniature electromagnetic single-sided positioning finger grip embodiment is that in this embodiment, as shown in fig. 4 and 5, the connecting structure includes a slot 12 and a pin disposed in the slot 12; one of the L-shaped part and the movable shaft 9 is provided with a long hole 12, and the other is fixedly connected with the pin. By providing the elongated hole 12 and the pin instead of the link, the number of parts can be reduced, simplifying the structure of the present disclosure.
Since the opening direction of the elongated hole 12 cannot be parallel to the moving direction of the movable shaft 9, if the movable shaft 9 opens the elongated hole 12, the diameter of the movable shaft 9 needs to be increased, thereby increasing the size of the structure of the present disclosure. For this purpose, as shown in fig. 4 and 5, in this embodiment, a pin hole which is in interference fit with a pin is formed at one end of the movable shaft 9 away from the compression spring 6, and the pin is inserted into the pin hole; the L-shaped part is provided with a long hole 12, and the long hole 12 is sleeved outside the pin.
Example four: the main difference from the first embodiment of the miniature electromagnetic type single-side positioning finger grip is that, in this embodiment, as shown in fig. 3 and 4, a through slot is formed in the fixed base 1 along a direction perpendicular to the sliding direction of the movable shaft 9. The corner of L type portion and fixed clamping jaw 2 all with the draw-in groove adaptation to ensure the relative position between fixed clamping jaw 2, activity clamping jaw 3 and the 1 three of fixing base.
The both ends of round pin axle 8 are inserted respectively and are established on two lateral walls that the draw-in groove is relative, specifically, two lateral walls of draw-in groove all set up with 8 interference fit's of round pin axle round pin shaft hole, fix round pin axle 8 on fixing base 1 through interference fit promptly, and the corner clearance fit of round pin axle 8 and L type portion to realize the articulated connection between movable clamping jaw 3 and the fixing base 1.
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.
Claims (10)
1. The utility model provides a miniature electromagnetic type unilateral location finger clamping jaw which characterized in that includes: the clamping device comprises a fixed seat, a fixed clamping jaw, a movable clamping jaw, a coil, a compression spring and a movable shaft; the fixed clamping jaw is fixed on one side of the fixed seat; the movable clamping jaw comprises a clamping part and an L-shaped part; the clamping part is opposite to the fixed clamping jaw; one end of the L-shaped part is connected with the clamping part, the corner of the L-shaped part is hinged to the fixed seat, and the other end of the L-shaped part is connected with one end of the movable shaft through the connecting structure; the other end of the movable shaft penetrates through the fixed seat, and a flange is fixed at the other end of the movable shaft; two ends of the compression spring are respectively abutted against the fixed seat and the flange; the coil is sleeved outside the movable shaft and fixed on the fixed seat, and a gap is formed between the inner wall of the coil and the movable shaft; the movable shaft in the coil is an iron core.
2. The miniature electromagnetic single-sided positioning finger grip of claim 1, further comprising: a nylon tube; the nylon tube is sleeved outside the movable shaft and is in clearance fit with the movable shaft; the coil is sleeved outside the nylon tube.
3. The miniature electromagnetic single-sided positioning finger grip of claim 1, wherein a pin shaft is inserted into said holder; the corner of the L-shaped part is sleeved outside the pin shaft.
4. The miniature electromagnetic single-sided positioning finger grip of claim 1, wherein said attachment structure comprises an elongated aperture and a pin disposed within said elongated aperture; one of the L-shaped part and the movable shaft is provided with a long hole, and the other is fixedly connected with the pin.
5. The miniature electromagnetic single-sided positioning finger grip of claim 1, wherein said mounting base is in the form of a rectangular frame and the coil is disposed within the mounting base.
6. The miniature electromagnetic single-sided positioning finger grip of claim 5, wherein the end surfaces of said mounting seats are provided with mounting holes.
7. The miniature electromagnetic single-sided positioning finger grip of claim 6, wherein two outer side surfaces of said fixed base parallel to the sliding direction of said movable shaft are integrally formed with a lug; the lug is provided with the mounting hole.
8. The miniature electromagnetic type single-side positioning finger grip of claim 4, wherein one end of said movable shaft remote from said compression spring is provided with a pin hole in interference fit with a pin, and said pin is inserted into said pin hole; the L-shaped part is provided with a strip hole which is sleeved outside the pin.
9. The miniature electromagnetic type unilateral positioning finger grip jaw of claim 3, wherein the fixing seat is provided with a slot adapted to a corner of the L-shaped portion, and two ends of the pin shaft are respectively inserted into two opposite side walls of the slot.
10. The miniature electromagnetic single-sided positioning finger grip of claim 9, wherein both side walls of said locking slot are provided with pin holes for interference fit with said pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010507278.3A CN111803089A (en) | 2020-06-05 | 2020-06-05 | Miniature electromagnetic type unilateral positioning finger clamping jaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010507278.3A CN111803089A (en) | 2020-06-05 | 2020-06-05 | Miniature electromagnetic type unilateral positioning finger clamping jaw |
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| Publication Number | Publication Date |
|---|---|
| CN111803089A true CN111803089A (en) | 2020-10-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010507278.3A Pending CN111803089A (en) | 2020-06-05 | 2020-06-05 | Miniature electromagnetic type unilateral positioning finger clamping jaw |
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| CN (1) | CN111803089A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112999511A (en) * | 2021-03-10 | 2021-06-22 | 中国科学院半导体研究所 | Flexible electrode lead-in device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030083685A1 (en) * | 2001-06-12 | 2003-05-01 | Freeman Dominique M. | Sampling module device and method |
| CN103369853A (en) * | 2012-04-11 | 2013-10-23 | 鸿富锦精密工业（深圳）有限公司 | Clamping tool |
| CN206296921U (en) * | 2016-12-26 | 2017-07-04 | 刘俊忠 | Mechanical arm for medical use |
| CN110434889A (en) * | 2019-08-16 | 2019-11-12 | 珠海格力智能装备有限公司 | Automatic change mechanical clamping jaw and robot |
| CN210189832U (en) * | 2019-06-20 | 2020-03-27 | 济南市第五人民医院 | Medical instrument clamping device |
-
2020
- 2020-06-05 CN CN202010507278.3A patent/CN111803089A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030083685A1 (en) * | 2001-06-12 | 2003-05-01 | Freeman Dominique M. | Sampling module device and method |
| CN103369853A (en) * | 2012-04-11 | 2013-10-23 | 鸿富锦精密工业（深圳）有限公司 | Clamping tool |
| CN206296921U (en) * | 2016-12-26 | 2017-07-04 | 刘俊忠 | Mechanical arm for medical use |
| CN210189832U (en) * | 2019-06-20 | 2020-03-27 | 济南市第五人民医院 | Medical instrument clamping device |
| CN110434889A (en) * | 2019-08-16 | 2019-11-12 | 珠海格力智能装备有限公司 | Automatic change mechanical clamping jaw and robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112999511A (en) * | 2021-03-10 | 2021-06-22 | 中国科学院半导体研究所 | Flexible electrode lead-in device |
| CN112999511B (en) * | 2021-03-10 | 2024-03-19 | 中国科学院半导体研究所 | Flexible electrode lead-in device |
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Application publication date: 20201023 |
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