CN112203810B - 夹持和移动系统 - Google Patents

夹持和移动系统

Info

Publication number
CN112203810B
CN112203810B CN201980036152.8A CN201980036152A CN112203810B CN 112203810 B CN112203810 B CN 112203810B CN 201980036152 A CN201980036152 A CN 201980036152A CN 112203810 B CN112203810 B CN 112203810B
Authority
CN
China
Prior art keywords
arms
pair
clamping
movement
bracket
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.)
Active
Application number
CN201980036152.8A
Other languages
English (en)
Chinese (zh)
Other versions
CN112203810A (zh
Inventor
什洛莫·图尔格曼
艾坦·谢夫
本·锡安·拉维
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Idea Machine Development Design and Production Ltd
Original Assignee
Idea Machine Development Design and Production Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Idea Machine Development Design and Production Ltd filed Critical Idea Machine Development Design and Production Ltd
Publication of CN112203810A publication Critical patent/CN112203810A/zh
Application granted granted Critical
Publication of CN112203810B publication Critical patent/CN112203810B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/109—Program-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Program-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/144—Linear actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/84—Star-shaped wheels or devices having endless travelling belts or chains, the wheels or devices being equipped with article-engaging elements
    • B65G47/846—Star-shaped wheels or wheels equipped with article-engaging elements
    • B65G47/847—Star-shaped wheels or wheels equipped with article-engaging elements the article-engaging elements being grippers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0401—Sample carriers, cuvettes or reaction vessels
    • G01N2035/0418—Plate elements with several rows of samples
    • G01N2035/042—Plate elements with several rows of samples moved independently, e.g. by fork manipulator

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
CN201980036152.8A 2018-03-27 2019-03-26 夹持和移动系统 Active CN112203810B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201862648922P 2018-03-27 2018-03-27
US62/648,922 2018-03-27
PCT/IB2019/052463 WO2019186406A1 (en) 2018-03-27 2019-03-26 Gripping and mobilizing system

Publications (2)

Publication Number Publication Date
CN112203810A CN112203810A (zh) 2021-01-08
CN112203810B true CN112203810B (zh) 2025-08-26

Family

ID=68062350

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980036152.8A Active CN112203810B (zh) 2018-03-27 2019-03-26 夹持和移动系统

Country Status (7)

Country Link
US (1) US20210016436A1 (https=)
EP (1) EP3774204B1 (https=)
JP (1) JP2021519220A (https=)
CN (1) CN112203810B (https=)
CA (1) CA3134797A1 (https=)
IL (1) IL277647B2 (https=)
WO (1) WO2019186406A1 (https=)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USD949219S1 (en) * 2020-08-20 2022-04-19 Grey Orange Pte. Ltd. Spatula gripper
CN112297050A (zh) * 2020-12-30 2021-02-02 季华科技有限公司 一种夹持范围增大型夹爪结构及机械抓手
EP4104929A1 (en) 2021-06-16 2022-12-21 Leica Microsystems CMS GmbH Microplate assembly for a plurality of samples
CN113564046B (zh) * 2021-07-22 2023-08-22 深圳先进技术研究院 细胞表型控制装置的辅助拆装机构及拆装系统

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107416446A (zh) * 2017-08-03 2017-12-01 哈尔滨工业大学 一种精密安装轨上机械臂装置

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DE2702974A1 (de) * 1977-01-25 1978-07-27 Maschf Augsburg Nuernberg Ag Einrichtung zum versetzen von gegenstaenden, insbesondere von werkstuecken hinueber zu einer werkzeugmaschine, und anordnung der einrichtung
JPS59146774A (ja) * 1983-02-04 1984-08-22 神鋼電機株式会社 物品のパレタイズ用多関節ロボツト
CA1231930A (en) * 1984-11-09 1988-01-26 Jack Solomon Apparatus for supporting an object in a desired position
US4769866A (en) * 1986-11-21 1988-09-13 International Shoe Machine Corporation Multi-station system to act upon footwear upper assemblies with transfer between stations thereof
US5292118A (en) * 1992-01-31 1994-03-08 Huffy Corporation Basketball backboard elevator system
JP2545725B2 (ja) * 1992-11-19 1996-10-23 工業技術院長 鍛造作業用ロボットの緩衝装置
AUPM901194A0 (en) * 1994-10-25 1994-11-17 Hood Computers Pty. Limited A support mechanism for a keyboard
GB2307213A (en) * 1995-11-18 1997-05-21 Robert Hester Transfer system for persons
US7390458B2 (en) * 2000-10-13 2008-06-24 Irm Llc High throughput processing system and method of using
US20060263270A1 (en) * 2005-05-18 2006-11-23 Beckman Coulter, Inc. Robotic grip and twist assembly
US8317453B2 (en) * 2008-05-15 2012-11-27 Ray Givens Compound-arm manipulator
FR2932273B1 (fr) * 2008-06-06 2011-10-07 Noviloire Sa Pince adaptee pour saisir un support d'echantillons biologiques, ensemble d'un support echantillons biologiques et d'une pince adaptee pour le saisir, et automate de traitement et/ou d'analyse d'echantillons biologiques
JP5352365B2 (ja) * 2008-08-28 2013-11-27 日産自動車株式会社 関節駆動装置、および多関節アーム装置
US8113557B2 (en) * 2009-05-19 2012-02-14 Artos Engineering Company Wire gripper jaw drive
GB2490526B (en) * 2011-05-04 2017-05-17 Dantzie Samuel Vehicle Suspension System
ITTO20120425A1 (it) * 2012-05-11 2013-11-12 Dalmec Spa Manipolatore pneumatico bilanciato
US20160023213A1 (en) * 2014-07-24 2016-01-28 Accel Biotech, Inc. Multi-channel pipette tools
EP3411620A4 (en) * 2016-02-01 2019-01-23 SZ DJI Technology Co., Ltd. SYSTEMS AND METHOD FOR UTILIZING UTILIZATION
CN107128439B (zh) * 2017-03-01 2019-06-21 武汉船用机械有限责任公司 一种调距桨桨毂装配工装
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Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107416446A (zh) * 2017-08-03 2017-12-01 哈尔滨工业大学 一种精密安装轨上机械臂装置

Also Published As

Publication number Publication date
EP3774204A1 (en) 2021-02-17
JP2021519220A (ja) 2021-08-10
IL277647B2 (en) 2025-05-01
EP3774204B1 (en) 2024-05-15
EP3774204C0 (en) 2024-05-15
US20210016436A1 (en) 2021-01-21
CN112203810A (zh) 2021-01-08
EP3774204A4 (en) 2022-01-19
IL277647A (en) 2020-11-30
IL277647B1 (en) 2025-01-01
WO2019186406A1 (en) 2019-10-03
CA3134797A1 (en) 2019-10-03

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